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

[Graeme Foot]

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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