[etherlab-dev] EtherCAT 0 :Domain 0: 2 working counter changes -now 3/3

[xiaoliang.li at scbd.com.cn]

         When I configure rati-enable = yes, use /example/Rtai-rtdm-dc as a
reference ,I use rt_get_time_ns() to get the system time and
rt_sleep_until() to sleep the realtime task . It work well with BECKHOFF's
driver AX5101.

But, when I configure xenomai-enable =yes , use
rt_timer_tsc2ns(rt_timer_tsc()) to get the system time and
rt_task_sleep_until() to sleep the realtime task. The master laways print:

 

         EtherCAT 0 :Domain 0: 2 working counter changes -now 3/3

 

And sometimes:

 

         "Synchronization error"

 

Why? 

 

Thanks

 

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