Work on Xenomai Posix interface, to be tested

Further work on RTAI rtdm interface needed

configure.ac

@@ -688,6 +688,7 @@ AC_CONFIG_FILES([
         examples/tty/Makefile
         examples/user/Makefile
         examples/xenomai/Makefile
+        examples/xenomai_posix/Makefile
         include/Makefile
         lib/Makefile
         m4/Makefile

examples/Makefile.am

@@ -42,7 +42,8 @@ endif
 
 if ENABLE_RTDM
 SUBDIRS += \
-	xenomai
+	xenomai \
+	xenomai_posix
 endif
 
 DIST_SUBDIRS = \
@@ -52,6 +53,7 @@ DIST_SUBDIRS = \
 	rtai \
 	tty \
 	xenomai \
+	xenomai_posix \
 	user
 
 EXTRA_DIST = \

examples/xenomai/main.c

@@ -2,7 +2,7 @@
  *
  *  $Id$
  *
- *  usermdtest.c	Copyright (C) 2009-2010  Moehwald GmbH B.Benner
+ *  main.c	        Copyright (C) 2009-2010  Moehwald GmbH B.Benner
  *                                2011       IgH Andreas Stewering-Bone
  *
  *  This file is part of ethercatrtdm interface to IgH EtherCAT master 
@@ -59,16 +59,13 @@ RT_TASK my_task;
 int rt_fd = -1;
 int run=0;
 
-//struct timeval tv;
 unsigned int sync_ref_counter = 0;
 
 CstructMstrAttach MstrAttach;
 
 /****************************************************************************/
 
-// Application parameters
-//#define FREQUENCY 1000
-//#define PRIORITY 1
+
 
 // Optional features
 #define CONFIGURE_PDOS  1
@@ -577,7 +574,7 @@ void my_task_proc(void *arg)
   float period;
 
 
-  period=1E-4;
+  period=1E-3; //1kHz
 
   
   periodns=(RTIME)(((double)period * 1E9) + 0.4999999);

examples/xenomai_posix/Makefile.am

@@ -0,0 +1,39 @@
+#------------------------------------------------------------------------------
+#
+#  $Id$
+#
+#  Copyright (C) 2006-2008  Florian Pose, Ingenieurgemeinschaft IgH
+#
+#  This file is part of the IgH EtherCAT Master.
+#
+#  The IgH EtherCAT Master is free software; you can redistribute it and/or
+#  modify it under the terms of the GNU General Public License version 2, as
+#  published by the Free Software Foundation.
+#
+#  The IgH EtherCAT Master is distributed in the hope that it will be useful,
+#  but WITHOUT ANY WARRANTY; without even the implied warranty of
+#  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General
+#  Public License for more details.
+#
+#  You should have received a copy of the GNU General Public License along with
+#  the IgH EtherCAT Master; if not, write to the Free Software Foundation,
+#  Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
+#
+#  ---
+#  
+#  The license mentioned above concerns the source code only. Using the
+#  EtherCAT technology and brand is only permitted in compliance with the
+#  industrial property and similar rights of Beckhoff Automation GmbH.
+#
+#------------------------------------------------------------------------------
+
+
+AM_CFLAGS = -Wall
+
+noinst_PROGRAMS = ec_xenomai_posix_example
+
+ec_xenomai_posix_example_SOURCES = main.c
+ec_xenomai_posix_example_CFLAGS = -I/opt/etherlab/xenomai/include -D_GNU_SOURCE -D_REENTRANT -Wall -pipe -D__XENO__ -I/opt/etherlab/xenomai/include/posix -I$(top_srcdir)/include
+ec_xenomai_posix_example_LDFLAGS = -Wl,@/opt/etherlab/xenomai/lib/posix.wrappers -L/opt/etherlab/xenomai/lib -lpthread_rt -lrtdm -L$(top_builddir)/lib/.libs -lethercat -L/opt/etherlab/xenomai/lib -lrtdk -lxenomai -lpthread
+
+#------------------------------------------------------------------------------