Hello, we also use the RTDM-interface. I've patched the current stable release with the RTDM-interface-patch from Graeme Foot. We use it with kernel 2.6.32.11 and rtai-3.8.1 without any problems at the time of this writing. Thanks to Graeme Foot for the great job. I can provide a patch for the current stable version (1.5.0) during the next week.
I've some further suggestions for the RTDM-Interface development: - Usage of rtdm-types (rtdm_sem_t,...) in the rtdm-module (realtime system independent) - Integration of the sdo-interface-functions We also like to know the state of the integration into the stable release. Ralf Wiegand Hexagon Metrology GmbH Siegmund-Hiepe-Str. 2-12 35578 Wetzlar Deutschland Phone: +49 6441 207-410 Fax: +49 6441 207-387 E-Mail: [email protected] Hauptgeschäftsführer: Holger Fritze Geschäftsführer: Per Holmberg - Erik Steinbacher - Arno Seuren Amtsgericht Wetzlar, HRB 1201 -----Ursprüngliche Nachricht----- Von: [email protected] im Auftrag von Graeme Foot Gesendet: Di 1/10/2012 22:43 An: [email protected] Cc: George Broz Betreff: Re: [etherlab-users] API questions (plaintext repost) Hi, Re: RTDM patch for 2124 I did the update to RTDM to get the multiple domains going. I haven't heard the latest status either. As for SDO's via RTDM, I was about to add some of them to the RTDM api, in the next couple of weeks probably. SDO requests take a bit of time to process and you don't want to block the realtime thread, so you have a couple of options with SDO's via a realtime thread: 1) pass off a request to a helper thread to get/set SDO information then poll for a response. 2) make the SDO methods available via RTDM and set up a state machine to monitor the SDO's progress. For my application I'm thinking #2 is the slightly better option. Graeme. -----Original Message----- From: [email protected] [mailto:[email protected]] On Behalf Of George Broz Sent: Tuesday, 10 January 2012 23:16 To: [email protected] Subject: [etherlab-users] API questions (plaintext repost) Hello, I'm running a recent version (month or two old) of the IgH master stack (it supports the e1000e driver on Linux 2.6.37.6) on Xenomai 2.5.6. I had a handful of questions. The information returned by ecrt_master_state() (slaves responding, al_states, and link_up) returns stale information if the first slave is unplugged after a slave network is brought up. The master has to be restarted (/etc/init.d/ethercat restart) before the slave count is accurate (and even then link_up reads incorrectly). Typical behavior or a bug? When do I need to use ecrt_master_callbacks()? I've read the docs and source. An internal mutex protects the datagram queue. If I'm doing PDO exchange (receive/process/queue/send) in one thread and want to piggyback short SDO commands from another thread onto the cyclic packet, do I need to use ecrt_master_callbacks() to coordinate? The source already adds fsm packets asynchronously with respect to the cyclic thread. The state-machine implementation of the IgH stack is a pleasure to follow. It would be helpful to have access to the state flags of these state machines to integrate better with application code. Any plans for that? In October, 2011 a patch (2124) was submitted for multi-domain support through the RTDM interface. Can anyone comment on its status? I'd be happy to help test this for the "default, (Xenomai-enabled)" branch. Are there any plans to include RTDM and Xenomai support in the "stable" branch? The RTDM interface doesn't include support for SDOs b/c *configuration* is not needed during realtime. But often you need to *query* for additional information during realtime, e.g. the detailed cause of a raised error bit in the PDO. AFAIK, without an RTDM interface, this would drive the calling Xenomai task into secondary (Linux) mode introducing other issues... for another newsgroup. Thanks in advance for any answers/comments, --George Broz Moog, Inc. Industrial Group _______________________________________________ etherlab-users mailing list [email protected] http://lists.etherlab.org/mailman/listinfo/etherlab-users _______________________________________________ etherlab-users mailing list [email protected] http://lists.etherlab.org/mailman/listinfo/etherlab-users _______________________________________________ etherlab-users mailing list [email protected] http://lists.etherlab.org/mailman/listinfo/etherlab-users
