Reconfiguring slaves with DC Sync enabled about soem

[nakarlsson]

What error is reported when trying to enter OP?

@ArthurKetels : What do you say?

[ArthurKetels]

The local clock offset is reset to zero after a power cycle. As is the local clock itself.

So after reconfig the master needs to read the local clock value. Then compute the (almost) correct offset to pull the clock back / forward to the reference clock. Then program the clock offset register.

The DC packet will then take care to lock the local clock again to the reference clock. The 0x92c register should now drop to low values very quickly. If not fast enough send a burst of DC packets.

When you pull this off you are superior to most of the masters out there ;-)

[jespersmith]

@nakarlsson No AL error reported, only the clock offset stays large.

@ArthurKetels Looking at the complexity, I'll leave it as a nice-to-have feature for later. If a slave goes offline I think the safe thing to do is disable all others and bring our robots to a safe state.