Frank Tkalcevic wrote: > Is there any way to set when the TDMA Sync frame is output? > > I'm using RTNet with EMC2, the enhanced machine controller. It works in > realtime by scheduling a "servo thread" to run at a predefined interval, 1ms > in my case. In the servo-thread, emc gathers data, processes the data, then > generates outputs. To get this to work with my slave device, I need to have > the latest status data ready when the servo thread starts - that is, I need > to be able to set the sync frame to begin about 100us before the EMC servo > thread starts. > > Is there anyway to "adjust" the sync frame?
Why this way around? Why not establishing the system period via TDMA and synchronizing EMC2 on it? TDMA has an API for this (see examples/xenomai/native/tdma-api.c). Jan
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