Quick Start
ECS-CPCIs/FPGA
Hardware Manual Doc.-Nr.: E.1108.21/ 1.0
Page 11 of 28
1.3.3 QNX
The QNX EtherCAT slave driver is implemented as a resource manager and can be started easily.
"
use devecs-XXX
" (
XXX
= board name) provides the call syntax of the driver, e.g. for an ECS-
PCIe/FPGA board:
# use devecs-pexesc
devecs-pexesc - EtherCAT Slave Driver for esd PCIe boards devecs-pexesc [options]
Options:
-v[v...] Verbose level
-u unit Set unit number (default 0 for /dev/ecs0)
-P number Prio of irq thread(default: 22) -d device options ...
did=device-id esd pci device id
pci=index pci index of device
irq=no irq overload
nomsi Do not use msi interrupt
#
The "
devecs-XXX
" driver can simply be started at system startup, e.g. for an ECS-PCIe/FPGA
board:
# devecs-pexesc -v
init_driver: Asked for MSI Interrupt
init_driver: Got MSI Interrupt 0x102
card_probe_esc: ESC Type 0x04, 60 kB, 8 SMs, 8 FMMUs.
#
The sample applications are installed as source code only. Please refer to the Slave Stack manual
for details on how to
build it. This document refers to the “
complex.c
” sample.
This sample application contains input and output variables:
- Input variables are set by the application, i.e., they will be read by the Workbench.
- Output variables are written by the Workbench (and the sample application displays them when
changed).
The Slave and all its variables etc. are described in the Slave’s ESI (EtherCAT Slave Information).
This ESI exists as binary within the card’s EtherCAT EEPROM and as
.xml
file for configuration
tools such as the EtherCAT Workbench.
In case of changes to the application the EEPROM content and
.xml
ESI file must be adapted
accordingly.
1.4 Sample Slave Application
