Hello Aiser, you can do this in one process with different threads. One of your thread, maybe your main thread, calls ecrt_request_master(). You register each EtherCAT board in a separate domain. Then you are able to access the different boards individually through the different domains. The only thing you have to consider is that every time you call the master with one thread, you need to lock it with a global mutex, so that it cannot be accessed the same time by different threads.
Best regards, Jürgen Am 14.11.2013 13:37, schrieb Asier Tamayo: > > Hello all, > > > > I'm a new user to the EtherCAT Master, so I beg your pardon if this > question has already been answered or it is a RT*M type question. I'm > using the master with Xenomai. > > > > I want to access EtherCAT from two different tasks, each one accessing > to different EtherCAT boards. Is there any way I can do it? The > ecrt_request_master() function reserves the EtherCAT master for > exclusive use, and therefore I can't call it again from the second > task. Do I have to create a Xenomai RTDM driver that would reserve the > master for itself and then let the tasks execute ioctl's to that > driver? Is it possible? > > > > Best regards, > > > > Asier > > > > > > _______________________________________________ > etherlab-users mailing list > [email protected] > http://lists.etherlab.org/mailman/listinfo/etherlab-users -- Dipl.-Inform. Jürgen Kunz Technische Universität Darmstadt <http://www.tu-darmstadt.de> FG Simulation, Systemoptimierung und Robotik <http://www.sim.tu-darmstadt.de> Hochschulstr. 10 64289 Darmstadt Tel.: ++49 (0) 6151-16-70383 Fax: ++49 (0) 6151-16-6648 E-Mail: kunz(at)sim.tu-darmstadt.de Homepage: http://www.sim.tu-darmstadt.de
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