I've been working with the SOEM/Orocos master stack (http://www.ros.org/wiki/soem) in a gnulinux Orocos target (kernel 220.127.116.11) with no problems. Now, I started working with Xenomai (linux kernel 18.104.22.168.8, Xenomai 2.6.0, ROS orocos_toolchain_ros stack + Xenomai 2.6 patch), but I've had some problems with the SOEM/Orocos master component.
When I configure the master component it manages to set the EtherCat slave and put it in the Operational state. Nevertheless, when I start it, the process data is not reaching the slave. Sometimes I see that the slave receives a first frame, but after that it stops. I have tried with periods from 0.001 to 0.01 seconds in the master without results, and when I print the 'outputs' of the slave image, I see that the data is there.
Is there any complication when working with the SOEM/Orocos master stack in a Xenomai environment? If not, did I miss some kernel configuration or something like that?