Ethercat random jitter fix

The PR has been merged to linuxcnc-ethercat I have some testing modifications which I have not been able to test yet, will update here after I test myself, might be another PR before everything is proper.

If you will test it .. please share some visual results before and after{for example scope printscreen) .. We are all interested in your pr I think !

thanks

The new PR is up, this fixes everything, i will post some pictures later
Edit:
Still got a few kinks to iron out, probably tomorrow for finalized PR

github.com/linuxcnc-ethercat/linuxcnc-ethercat/pull/465

new PR with pictures, which I don't want to repost here, look at explanation on github, I'm available for questions. code has been tested, everything should be way better now, and possibly can even use not so good hardware and achieve decent ethercat no grinding.

Posting here with some pictures and any stylization is hell, trust me ...

it looks pretty ... reduction of any jitter in the rt system is more than welcome ... pll is very critical stuff for system and it is nice to see its major improvement 

Which driver for network card are you usig for testing it for now? jittering can be produce by generic drivers too i think

I saw it was merged in the master ... we will wait for scott to public new feed or version? 

I use Intel I225 with ec_igc driver, but I also tested generic and seems ok, I plan to do more extensive testing on something worse, just to see how bad I can go before I hit any issue, to have an idea on how cheap a system I can make lol.

The newest PR has not been merged yet at this time, you can get the code from my repo, or wait a few weeks for Scott, he mentioned he was going out of town.

I really think now the code respects the ethercat standard as closely as possible, it might just be a matter of exposing some phasing paramets for picky applications, but visualiziotion with halscope and sync0shift gets you all the way there too, and you have two options to choose from syncToRefClock true or false, if your latency is decent I advise to keep it false, with a refClockSyncCycles of 2, or 10 if you can wait a bit before start moving.