When I configure rati-enable = yes, use /example/Rtai-rtdm-dc as a reference
,I use rt_get_time_ns() to get the system time and rt_sleep_until() to sleep
the realtime task . It work well with BECKHOFF's driver AX5101.
But, when I configure xenomai-enable =yes , use
rt_timer_tsc2ns(rt_timer_tsc()) to get the system time and
rt_task_sleep_until() to sleep the realtime task. The master laways print:
EtherCAT 0 :Domain 0: 2 working counter changes -now 3/3
And sometimes:
"Synchronization error"
Why?
Thanks
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