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Linux/TIDM-DELFINO-ETHERCAT: EtherCAT Master issue

Other Parts Discussed in Thread: BEAGLEBOARD-X15

Tool/software: Linux

Hi everyone,

I have installed the IgH master (ethercat-1.5.2)on my beagleboard-X15 with linux kernel 4.4.113-ti-rt-r147 ,but it is no enough well at  REALTIME performance.

According to ethercat-1.5.2.pdf described, it is necessary for the network driver(I guess it is cpsw.c) to be modified. 

But I still have no idea about it ,can anybody give me a hand?