4.18. Xenomai

The system must be setup first the same way as for EC-Master for Linux, especially installation of the atemsys module and Real-time Ethernet Driver usage preparation.

4.18.1. Setting up and running EcMasterDemo

Prepare system
Prepare the system to run EcMasterDemo on Linux as described in chapter Linux
Compile EcMasterDemo
As a starting point there is the Eclipse project for EcMasterDemo for Xenomai located at Workspace/Xenomai/. Ensure OPERATING_SYSTEM, ARCH, CFLAGS, LDFLAGS, LD_LIBRARY_PATH are set accordingly (export ARCH=x86, …) when compiling using Eclipse! For Xenomai 4 the environment variable ELV_PATH should contain path of the libevl. Also ensure the following define is present:
EC_VERSION_XENOMAI=4

Run using GDB

Provide search path for Xenomai libraries and prevent GDB to stop execution on SIGXCPU:

$ export LD_LIBRARY_PATH=../../Bin/Xenomai/x86:/usr/xenomai/lib:.
$ gdb --args ./EcMasterDemo -intelgbe 2 1 -f eni.xml -v 3
$ [...]
$ (gdb) handle SIGXCPU nostop noprint nopass
$ (gdb) run

4.18.2. OS compiler settings

Besides the general settings from Compiling the EcMasterDemo the following settings are necessary to build the example application for Xenomai.

Extra include paths

<InstallPath>/SDK/INC/Xenomai
<InstallPath>/Examples/Common/Xenomai

Extra source paths

<InstallPath>/Examples/Common/Xenomai
<InstallPath>/Sources/OsLayer/Xenomai

Extra library paths to the main EtherCAT components

Xenomai 2 and 3:

<InstallPath>/SDK/LIB/Xenomai

Xenomai 4:

<InstallPath>/SDK/LIB/Xenomai4

Extra libraries (in this order)

Xenomai 2:

EcMasterRasServer EcMaster pthread dl rt native xenomai

Xenomai 3:

EcMasterRasServer EcMaster pthread dl rt

xeno-config --cflags and xeno-config --ldflags of the Xenomai installation return the needed CFLAGS and LDFLAGS. If further information is needed, please refer to http://xenomai.org/ .

Xenomai 4:

EcMasterRasServer EcMaster pthread evl dl