Xenomai 2 to 3 migration says "RTDM drivers implementing differentiated ioctl() support for both domains should serve all real-time only requests from ioctl_rt(), returning -ENOSYS for any unrecognized request, which will cause the adaptive switch to take place automatically to the ioctl_nrt() handler. The ioctl_nrt() should then implement all requests which may be valid from the regular Linux domain exclusively."
#
# EtherCAT master kernel modules
#
[Unit]
Description=EtherCAT Master Kernel Modules
#
# Uncomment this, if the generic Ethernet driver is used. It assures, that the
# network interfaces are configured, before the master starts.
#
#Requires=network.service # Stop master, if network is stopped
#After=network.service # Start master, after network is ready
#
# Uncomment this, if a native Ethernet driver is used. It assures, that the
# network interfaces are configured, after the Ethernet drivers have been
# replaced. Otherwise, the networking configuration tools could be confused.
#
#Before=network.service
[Service]
Type=oneshot
RemainAfterExit=yes
ExecStart=@prefix@/sbin/ethercatctl start
ExecStop=@prefix@/sbin/ethercatctl stop
[Install]
WantedBy=multi-user.target