[etherlab-users] How to install and use Etherlab for a Xenomaitarget

[Graeme Foot]

Hi,

 

We are using a Beckhoff CX2020 computer.  We are running it as a non-gui
controller with:

 

Linux 2.6.32.11

RTAI 3.8.1

EtherLabs 1.5.2

 

The CX2020 has two e1000e NICs for the office network.  The EtherCAT NIC
is part of the CX2100-0004 power module but this is specialised hardware
and we needed to write our own driver for it (submitted to the etherlab
forum a while ago).

 

We are building our Linux environment using Buildroot so that it is very
small.

 

 

Linux 2.6.32 does not support the graphics card for this PC but we are
running it headless so not a problem for us.  In the future we are
intending to integrate our gui onto the same PC but we are waiting on
RTAI and a few other things to come together first.

 

 

Regards,

 

Graeme Foot

 

________________________________

From: Steffen Dalgard [mailto:steffen.sint at gmail.com] 
Sent: Thursday, 20 June 2013 00:42
To: Graeme Foot
Subject: Re: [etherlab-users] How to install and use Etherlab for a
Xenomaitarget

 

Hi,

Thank you for your feedback,

We have tried to find a release supporting newer HW that has support for
Ehterlab, Ubuntu and Xenomai.

It seems to be hard ot find, maybe a dead end.

  We found working Xenomai using Ubuntu 12.04 with a patched 3.5 kernel,
but it is not supported by Etherlab

 

We do need a kernel with RT support but not necessarily Xenomai...

 

You wrote that you were using Etherlab master via RTDM, but using RTAI.

Can you share which releases / kernels that you are using?

 

Best regards

Steffen Dalgard

SINTEF ICT

Norway

 

On Thu, May 16, 2013 at 1:11 AM, Graeme Foot <GraemeF at touchcut.com>
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Hi,

 

I have a user space application connecting to the Etherlab master via
RTDM, but using RTAI.  In theory xenomai should be pretty similar.

 

If you are using the latest 1.5.2 Etherlab master you won't need a
patch.  The patch was to give partial RTDM support before it was fully
supported.

 

 

To get RTDM working you will need to specify the correct flags when
compiling the master:

  --with-xenomai-dir=<xenomai directory>

  --enable-rtdm

 

All going well you should get a library: /usr/lib/libethercat_rtdm.so

 

When compiling your application link to the library using:
-lethercat_rtdm

 

 

With RTAI you can check your application is using RTDM by calling 'cat
/proc/rtai/scheduler'.  The syscalls value should remain zero.

 

 

Regards,

Graeme Foot.

 

________________________________

From: etherlab-users-bounces at etherlab.org
[mailto:etherlab-users-bounces at etherlab.org] On Behalf Of Steffen
Dalgard
Sent: Wednesday, 15 May 2013 21:50
To: etherlab-users at etherlab.org
Subject: [etherlab-users] How to install and use Etherlab for a
Xenomaitarget

 

Hi,

We are trying to install Etherlab on a Xenomai target together with ROS
and OROCOS.

The plan is to have a user space rt-application calling the Igh master.

 

Does it exist a procedure for how to get this working?

 

I have tried to read through the mail archive and the examples, but have
only found piecewise information.

   I have found mails mentioning patching of driver connecting Etherlab
master to user space

   It seems to be special lib libetherkat_rtdm.so

 

Hope someone can help :-)

 

Best regards

Steffen Dalgard

SINTEF ICT

Norway

 

 

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