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</o:shapelayout></xml><![endif]--></head><body lang=EN-NZ link=blue vlink=purple><div class=WordSection1><p class=MsoNormal><span style='font-size:11.0pt;font-family:"Calibri",sans-serif;mso-fareast-language:EN-US'>On </span><span lang=EN-US style='font-size:11.0pt;font-family:"Calibri",sans-serif'>20 October 2016 02:57, quoth Mathias Thiele:<o:p></o:p></span></p><div><div><div style='margin-left:12.0pt'><div id=gmail-collapsible550><div><div style='margin-left:12.0pt'><div id=gmail-collapsible551><div><div><p class=MsoNormal style='margin-left:36.0pt'><span class=gmail-html-tag><span style='font-size:10.0pt;font-family:"Courier New";color:black'><OpMode></span></span><span style='font-size:10.0pt;font-family:"Courier New";color:black'><o:p></o:p></span></p></div><div style='margin-left:12.0pt'><div><p class=MsoNormal style='margin-left:36.0pt'><span class=gmail-html-tag><span style='font-size:10.0pt;font-family:"Courier New";color:black'><Name></span></span><span class=gmail-text><span style='font-size:10.0pt;font-family:"Courier New";color:black'>DcOn</span></span><span class=gmail-html-tag><span style='font-size:10.0pt;font-family:"Courier New";color:black'></Name></span></span><span style='font-size:10.0pt;font-family:"Courier New";color:black'><o:p></o:p></span></p></div><div><p class=MsoNormal style='margin-left:36.0pt'><span class=gmail-html-tag><span style='font-size:10.0pt;font-family:"Courier New";color:black'><Desc></span></span><span class=gmail-text><span style='font-size:10.0pt;font-family:"Courier New";color:black'>DC active</span></span><span class=gmail-html-tag><span style='font-size:10.0pt;font-family:"Courier New";color:black'></Desc></span></span><span style='font-size:10.0pt;font-family:"Courier New";color:black'><o:p></o:p></span></p></div><div><p class=MsoNormal style='margin-left:36.0pt'><span class=gmail-html-tag><span style='font-size:10.0pt;font-family:"Courier New";color:black'><AssignActivate></span></span><span class=gmail-text><span style='font-size:10.0pt;font-family:"Courier New";color:black'>#x0300</span></span><span class=gmail-html-tag><span style='font-size:10.0pt;font-family:"Courier New";color:black'></AssignActivate></span></span><span style='font-size:10.0pt;font-family:"Courier New";color:black'><o:p></o:p></span></p></div><div><p class=MsoNormal style='margin-left:36.0pt'><span class=gmail-html-tag><span style='font-size:10.0pt;font-family:"Courier New";color:black'><CycleTimeSync0</span></span><span class=gmail-html-attribute><span style='font-size:10.0pt;font-family:"Courier New";color:black'> </span></span><span class=gmail-html-attribute-name><span style='font-size:10.0pt;font-family:"Courier New";color:black'>Factor</span></span><span class=gmail-html-attribute><span style='font-size:10.0pt;font-family:"Courier New";color:black'>="</span></span><span class=gmail-html-attribute-value><span style='font-size:10.0pt;font-family:"Courier New";color:black'>1</span></span><span class=gmail-html-attribute><span style='font-size:10.0pt;font-family:"Courier New";color:black'>"</span></span><span class=gmail-html-tag><span style='font-size:10.0pt;font-family:"Courier New";color:black'>></span></span><span class=gmail-text><span style='font-size:10.0pt;font-family:"Courier New";color:black'>0</span></span><span class=gmail-html-tag><span style='font-size:10.0pt;font-family:"Courier New";color:black'></CycleTimeSync0></span></span><span style='font-size:10.0pt;font-family:"Courier New";color:black'><o:p></o:p></span></p></div><div><p class=MsoNormal style='margin-left:36.0pt'><span class=gmail-html-tag><span style='font-size:10.0pt;font-family:"Courier New";color:black'><ShiftTimeSync0></span></span><span class=gmail-text><span style='font-size:10.0pt;font-family:"Courier New";color:black'>0</span></span><span class=gmail-html-tag><span style='font-size:10.0pt;font-family:"Courier New";color:black'></ShiftTimeSync0></span></span><span style='font-size:10.0pt;font-family:"Courier New";color:black'><o:p></o:p></span></p></div></div><div><p class=MsoNormal style='margin-left:36.0pt'><span class=gmail-html-tag><span style='font-size:10.0pt;font-family:"Courier New";color:black'></OpMode><o:p></o:p></span></span></p><p class=MsoNormal><span style='font-size:11.0pt;font-family:"Calibri",sans-serif'>…<o:p></o:p></span></p></div></div></div></div></div></div></div></div><div><p class=MsoNormal style='margin-left:36.0pt'><span class=gmail-html-tag><span style='font-family:"Arial",sans-serif;color:black'> ecrt_slave_config_dc(sc, 0x0300, 0, 0, 0, 0);</span></span><o:p></o:p></p></div><div><p class=MsoNormal><o:p> </o:p></p><p class=MsoNormal><span style='font-size:11.0pt;font-family:"Calibri",sans-serif'>This is not a correct translation of that configuration.<o:p></o:p></span></p><p class=MsoNormal><span style='font-size:11.0pt;font-family:"Calibri",sans-serif'><o:p> </o:p></span></p><p class=MsoNormal><span style='font-size:11.0pt;font-family:"Calibri",sans-serif'>“Factor=1” means that the DC cycle time is expected to match your SM cycle time, ie. the rate at which you will be posting domain datagrams, which is typically the cycle rate of your real-time task.<o:p></o:p></span></p><p class=MsoNormal><span style='font-size:11.0pt;font-family:"Calibri",sans-serif'><o:p> </o:p></span></p><p class=MsoNormal><span style='font-size:11.0pt;font-family:"Calibri",sans-serif'>For example, if you have a 1ms (1,000,000ns, 1kHz) realtime cycle rate, then your config should be:<o:p></o:p></span></p><p class=MsoNormal><span style='font-size:11.0pt;font-family:"Calibri",sans-serif'> </span><span style='font-size:11.0pt;font-family:"Courier New"'>ecrt_slave_config_dc(sc, 0x0300, 1000000, 0, 0, 0);<o:p></o:p></span></p><p class=MsoNormal><span style='font-size:11.0pt;font-family:"Calibri",sans-serif'><o:p> </o:p></span></p><p class=MsoNormal><span style='font-size:11.0pt;font-family:"Calibri",sans-serif'>Some slaves are less forgiving than others about the DC and SM cycles getting out of sync once in OP, so if you have further issues then you might need to adjust the way you sleep in your realtime task, slow your cycle rate, or use a more latency-guaranteed realtime framework.<o:p></o:p></span></p><p class=MsoNormal><span style='font-size:11.0pt;font-family:"Calibri",sans-serif'><o:p> </o:p></span></p></div></div></div></body></html>