Thanks for the example at http://www.rts.uni-hannover.de/rtnet/lxr/source/examples/xenomai/native/tdma-api.c?v=SVN
It seems that we can use this concept with RTAI too (without a native Xenomai task).
If I'm right, then waitinfo.clock_offset is the offset between master and slave clock (system clocks) for the current cycle.
The returned time offset is a difference between two timestamps at that moment when the ioctl function is called or it gives a time with the (included) execution time of the task?
Imre
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