Ethercat random jitter fix

I seems the initial delay is caused by lcec setting a bad initial reference time to the slaves.
Here is a listing of the first five lines, from lcec.write-all.
Data is cycle number, pll-err, reference clock time, application timelcec reads reference time of 3.53 second, and then sets it to 2.80 seconds. (lower 32 bits).
Now, speculating a bit, the clock is not changed right away, instead the clock is slowly changed
and the slave maintains a system time offset register 0x92c. It can then report and accurate
time by using the clock, that is off until in sync, and add the system time offset.
Must say it is speculation this though.

Anyway, the initial time setting in rt_app_main, or possibly the first few rounds in lcec_write should be looked at.
 

Good morning everyone. This is very likely the problem. I've noticed that sometimes the problem occurs on the first reboot. I start LinuxCNC, with automatic startup at system startup. If I restart LinuxCNC with the system running, the problem goes away, but sometimes it doesn't. Tomorrow I'll try to test Grandixximo's latest fix. If it doesn't work, I'll reverse the bus sequence, install the SLA and I/O last, make sure the drives are the first node, and modify HAL.