[etherlab-users] Random Datagram Unmatched

Gavin Lambert gavin.lambert at tomra.com
Tue May 21 01:34:26 CEST 2019


ec_generic can be a mixed bag at 1kHz, depending on your hardware and other processing load.  It usually works, but not always.

If you haven’t already, you can try using ec_igb with a PREEMPT_RT kernel; that’s usually more stable than ec_generic.  (Xenomai would be even more stable, but is usually not required at 1kHz.)

Another possibility to consider is that it might be your cables; they could be getting a noise spike from somewhere and corrupting the packet.  Check the error counters in the slaves (“ethercat crc” and/or “ethercat diag”) and try using STP cable if you can rather than UTP, and avoid running it alongside power or motor cables.


Gavin Lambert
Senior Software Developer

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From: Viola Roberto
Sent: Tuesday, 21 May 2019 02:39
To: etherlab-users at etherlab.org
Subject: [etherlab-users] Random Datagram Unmatched

Hi everybody,
  i’m playing with this great library and it’s just works!
I’m running it on a Intel Atom E3930 Dual Core 1.3GHz with 4.14.109 preemptive + xenomai 3.1.

So i started compiling the xenomai example over the ec_generic module. It works, but sometimes (randomly) i saw a classic “datagram UNMATCHED”

[ 4187.708617] EtherCAT WARNING 0: 1 datagram UNMATCHED!
[ 4187.844433] EtherCAT WARNING: Datagram ffff89b4783bc798 (domain0-0-main) was SKIPPED 1 time.
[ 4188.392447] EtherCAT 0: Domain 0: Working counter changed to 3/3

The error is not deterministic but it occurs often if i increase the load of the system.
Reading the ML i understood that at 1KHz everything should run fine even with the ec_generic (i have 2 igb port BTW), isn’t it?
I’ve tried 1KHz, 500Hz, 100Hz but the issue is always there (stepping down the frequency of the main loop causing the issue be less visible).

I’ve also tried to playing with the ethernet IRQ throttling but they make no differences.

ifname="enp2s0"
ifconfig $ifname up
ethtool -L $ifname combined 1
ethtool -C $ifname rx-usecs 0 # default 3
ethtool -C $ifname tx-usecs 0 # default 3

I’ve tried to change the thread RT priority with 50-82-… but the issue is always there.

When it happens, looking the stats from “ifconfig”, there aren’t any drop of packages (rx and tx go together correctly).

I have no other idea except compiling with –enable-rtdm: i’ve tried but the compiling/linking process fails.
Here are my steps:

./bootstrap
CFLAGS=`/usr/xenomai/bin/xeno-config --alchemy --rtdm --compat --cflags`
LDFLAGS=`/usr/xenomai/bin/xeno-config --alchemy --rtdm --compat --ldflags`
./configure --enable-kernel --enable-generic --enable-ccat --disable-8139too --disable-e100 --disable-e1000 --disable-e1000e --disable-r8169 --enable-sii-assign --enable-hrtimer --enable-igb --with-linux-dir=/usr/src/linux-headers-4.14.109/ --prefix=/usr --enable-rtdm --with-xenomai-dir=/usr/xenomai/
make all modules

/usr/xenomai/lib/xenomai/bootstrap.o: In function `xenomai_main':
bootstrap.c:(.text+0x0): multiple definition of `xenomai_main'
/usr/xenomai/lib/xenomai/bootstrap.o:bootstrap.c:(.text+0x0): first defined here
/usr/xenomai/lib/xenomai/bootstrap.o:(.rodata+0x0): multiple definition of `xenomai_auto_bootstrap'
/usr/xenomai/lib/xenomai/bootstrap.o:(.rodata+0x0): first defined here
/root/ethercat/lib/.libs/libethercat_rtdm.so: undefined reference to `rt_printk'
/root/ethercat/lib/.libs/libethercat_rtdm.so: undefined reference to `rt_dev_ioctl'
/root/ethercat/lib/.libs/libethercat_rtdm.so: undefined reference to `rt_dev_open'
/root/ethercat/lib/.libs/libethercat_rtdm.so: undefined reference to `rt_dev_close'
collect2: error: ld returned 1 exit status
Makefile:421: recipe for target 'ec_xenomai_example' failed
make[4]: *** [ec_xenomai_example] Error 1
make[4]: Leaving directory '/root/ethercat/examples/xenomai'
Makefile:454: recipe for target 'all-recursive' failed
make[3]: *** [all-recursive] Error 1
make[3]: Leaving directory '/root/ethercat/examples'
Makefile:406: recipe for target 'all' failed
make[2]: *** [all] Error 2
make[2]: Leaving directory '/root/ethercat/examples'
Makefile:515: recipe for target 'all-recursive' failed
make[1]: *** [all-recursive] Error 1
make[1]: Leaving directory '/root/ethercat'
Makefile:441: recipe for target 'all' failed
make: *** [all] Error 2
make: *** Waiting for unfinished jobs....
  CC [M]  /root/ethercat/master/rtdm.o
In file included from include/xenomai/cobalt/kernel/thread.h:27:0,
                 from include/xenomai/cobalt/kernel/sched.h:24,
                 from include/xenomai/rtdm/driver.h:37,
                 from /root/ethercat/master/rtdm.c:37:
include/xenomai/cobalt/kernel/timer.h:28:34: fatal error: asm/xenomai/wrappers.h: No such file or directory
#include <asm/xenomai/wrappers.h>
                                  ^
compilation terminated.
scripts/Makefile.build:326: recipe for target '/root/ethercat/master/rtdm.o' failed
make[3]: *** [/root/ethercat/master/rtdm.o] Error 1
scripts/Makefile.build:585: recipe for target '/root/ethercat/master' failed
make[2]: *** [/root/ethercat/master] Error 2
Makefile:1535: recipe for target '_module_/root/ethercat' failed
make[1]: *** [_module_/root/ethercat] Error 2
make[1]: Leaving directory '/usr/src/linux-headers-4.14.109'
Makefile:936: recipe for target 'modules' failed
make: *** [modules] Error 2

Thanks in advance
R.
Roberto Viola

Technical Dept

+39 0536836680


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