Andreas B. wrote: > On Tue, 2006-10-10 at 10:21 +0200, Jan Kiszka wrote: > > ... >> Again, there is no difference in the basic idea, we could just enhance >> the clock synchronisation in a way that it can provide more stable >> clocks without having to resync every few miliseconds. You can already >> schedule time-triggered jobs on distributed RTnet/TDMA nodes far into >> the future. > ... >> Jan > > > Hello Jan, > > I'm not too deep into RTnet/TDMA. I actually read the TDMA2.1 Spec. > In wich way do I have access to the Time-Services provided in TDMA? > Or is the global Systemtime set to the time provided through the TDMA-Service?
You can obtain the clock offset (local RT clock vs. master RT clock) via the TDMA discipline device, see this header for available IOCTLs: http://www.rts.uni-hannover.de/rtnet/lxr/source/stack/include/rtmac.h Here is an example how to use it when also synchronising the task execution on the TDMA cycle. I guess you will more likely be interested in RTMAC_RTIOC_TIMEOFFSET, but the prologue/epilogue is similar. http://www.rts.uni-hannover.de/rtnet/lxr/source/examples/xenomai/native/tdma-api.c > > Can you give me additional information about how to schedule Tasks to > the future? > rt_task_sleep_until, clock_nanosleep, or whatever your favourite RT API looks like...? Jan
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