(please keep CCs) Frank Tkalcevic wrote: > Yes, that's an option. However, the way the application is structured, the > EMC core is responsible for controlling a whole series of plug in modules. > It doesn't know if the module is going to use rtnet, or needs to be > re-sync'ed. Either way, it sounds like I need to add a method to get one of > them to move their sync time. >
I don't know how EMC2 is structured in details. But if it lacks a way to trigger cyclic jobs on external events instead of its internal clock, that sounds like a deficit. Consider you had to synchronize on a hardware-based (Ethernet) fieldbus that is not as tunable as RTmac/TDMA... Jan > > >> -----Original Message----- >> From: jan.kis...@web.de [mailto:jan.kis...@web.de] >> Sent: Wednesday, 16 December 2009 10:46 AM >> To: Frank Tkalcevic >> Cc: rtnet-users@lists.sourceforge.net >> Subject: Re: Synchronising the sync frame >> >> 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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