Each board, and I presume each one is a master, can be accessed by a
separate process. They are identified by ecrt_request_master(0) and
ecrt_request_master(1). The masters run autonomously so you will not
have adverse effects using 2 masters in 2 processes, you don't even need
locking.
Using domains having different sample times from the same master is
another case. Then you will need to do threading as well as locking when
accessing the domain queue, i.e. when using ecrt_domain_process() and
ecrt_domain_queue().
Am 11/14/2013 02:36 PM, schrieb Jürgen Kunz:
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
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