Hi:<br><br>I should write this email a bit early. The problem I mentioned before about loading EL6002 serial module has been solved. The main problem was creating a RTAI shared memory in my kernel module. Now it is solved. The Beckhoff EL6002 seems working fine. <br>
<br>Cheers.<br>Jason Xu<br><br><br><div class="gmail_quote">On 4 June 2010 22:00, <span dir="ltr"><<a href="mailto:etherlab-users-request@etherlab.org">etherlab-users-request@etherlab.org</a>></span> wrote:<br><blockquote class="gmail_quote" style="border-left: 1px solid rgb(204, 204, 204); margin: 0pt 0pt 0pt 0.8ex; padding-left: 1ex;">
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Today's Topics:<br>
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1. problem in loading Beckhoff Serialport module EL6002 (Jason Xu)<br>
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----------------------------------------------------------------------<br>
<br>
Message: 1<br>
Date: Fri, 4 Jun 2010 18:19:34 +1200<br>
From: Jason Xu <<a href="mailto:jason@motiondesign.co.nz">jason@motiondesign.co.nz</a>><br>
Subject: [etherlab-users] problem in loading Beckhoff Serialport<br>
module EL6002<br>
To: <a href="mailto:etherlab-users@etherlab.org">etherlab-users@etherlab.org</a><br>
Message-ID:<br>
<<a href="mailto:AANLkTilBEVCb6xcZpWWpvr_18wbPBx05vy0PntlHsCbe@mail.gmail.com">AANLkTilBEVCb6xcZpWWpvr_18wbPBx05vy0PntlHsCbe@mail.gmail.com</a>><br>
Content-Type: text/plain; charset="iso-8859-1"<br>
<br>
Hi Florian:<br>
<br>
I have a strange problem when I load Beckhoff Serialport module EL6002. The<br>
story is as this.<br>
<br>
I write a c kernal module following your example code in rtai and tty folder<br>
(CoE). The running master version is 1.4.0-rc3 in my test pc.<br>
<br>
I have 3 Beckhoff Serialport module EL6002 in the slave bank plus 60 other<br>
Beckhoff digital I/O slaves (modules). The 3 EL6002 modules (6 serial ports)<br>
working fine when I connect them with only 20 of the 60 digital I/O modules.<br>
However, if I connect all the 60 digital I/O slaves (modules) with the 3<br>
EL6002 modules, the ethercat kernal module crashed during initialization.<br>
<br>
All the digital I/Os and 3 EL6002 are scanned in 1000Hz scan rate in<br>
realtime. I did not use virtual ectty port method. Instead, I use a seperate<br>
share memory to story the read/write buffer. I think that should not be a<br>
problem, plus I have checked the reading/sending are correct when there is<br>
less module connected in the bank.<br>
<br>
Below are the dmesg, can you give some suggestion on this problem. Thanks in<br>
advance.<br>
<br>
Jason<br>
<br>
<br>
[ 137.976768] ec_md_ethercat v1.05-70:Starting...<br>
[ 137.976774] EtherCAT: Requesting master 0...<br>
[ 137.977009] EtherCAT: Successfully requested master 0.<br>
[ 137.977016] ec_md_ethercat v1.05-70:Registering domain...<br>
[ 137.977452] ec_md_ethercat v1.05-70:Registering Pdo entries...<br>
[ 137.978062] ec_md_ethercat v1.05-70:Activating master...<br>
[ 137.978084] EtherCAT: Domain0: Logical address 0x00000000, 344 byte,<br>
expected working counter 102.<br>
[ 137.978090] EtherCAT: Datagram domain0-0: Logical offset 0x00000000,<br>
344 byte, type LRW.<br>
[ 137.978128] EtherCAT: Master thread exited.<br>
[ 137.978133] EtherCAT: Starting EtherCAT-OP thread.<br>
[ 137.978184] ec_md_ethercat v1.05-70:Starting cyclic sample thread...<br>
[ 137.978199] ec_md_ethercat v1.05-70:RT timer started with 999925/999925<br>
ticks.<br>
[ 137.978228] ec_md_ethercat v1.05-70:Initialized.<br>
[ 137.979274] ec_md_ethercat v1.05-70:kernel module thread called<br>
[ 137.979281] ec_md_ethercat v1.05-70:64 slave(s).<br>
[ 137.979284] ec_md_ethercat v1.05-70:AL states: 0x02.<br>
[ 137.979287] ec_md_ethercat v1.05-70:Link is up.<br>
[ 137.997238] EtherCAT: Domain 0: Working counter changed to 2/102.<br>
[ 137.997245] ec_md_ethercat v1.05-70:Domain1: WC 2.<br>
[ 137.997248] ec_md_ethercat v1.05-70:Domain1: State 1.<br>
[ 138.025234] ec_md_ethercat v1.05-70:Domain1: WC 4.<br>
[ 138.051240] ec_md_ethercat v1.05-70:Domain1: WC 6.<br>
[ 138.077245] ec_md_ethercat v1.05-70:Domain1: WC 8.<br>
[ 138.105247] ec_md_ethercat v1.05-70:Domain1: WC 10.<br>
[ 138.133226] ec_md_ethercat v1.05-70:Domain1: WC 12.<br>
[ 138.161224] ec_md_ethercat v1.05-70:Domain1: WC 14.<br>
[ 138.185219] ec_md_ethercat v1.05-70:Domain1: WC 16.<br>
[ 138.209217] ec_md_ethercat v1.05-70:Domain1: WC 18.<br>
[ 138.233215] ec_md_ethercat v1.05-70:Domain1: WC 20.<br>
[ 138.257215] ec_md_ethercat v1.05-70:Domain1: WC 22.<br>
[ 138.281211] ec_md_ethercat v1.05-70:Domain1: WC 24.<br>
[ 138.305210] ec_md_ethercat v1.05-70:Domain1: WC 26.<br>
[ 138.329209] ec_md_ethercat v1.05-70:Domain1: WC 28.<br>
[ 138.354207] ec_md_ethercat v1.05-70:Domain1: WC 30.<br>
[ 138.378203] ec_md_ethercat v1.05-70:Domain1: WC 32.<br>
[ 138.402201] ec_md_ethercat v1.05-70:Domain1: WC 34.<br>
[ 138.442202] ec_md_ethercat v1.05-70:Domain1: WC 37.<br>
[ 138.448206] ec_md_ethercat v1.05-70:alias=61 term=0 : Init successful.<br>
[ 138.448213] ec_md_ethercat v1.05-70:alias=61 term=1 : Init successful.<br>
[ 138.470198] ec_md_ethercat v1.05-70:Domain1: WC 40.<br>
[ 138.476212] ec_md_ethercat v1.05-70:alias=62 term=0 : Init successful.<br>
[ 138.476218] ec_md_ethercat v1.05-70:alias=62 term=1 : Init successful.<br>
[ 138.498196] ec_md_ethercat v1.05-70:Domain1: WC 43.<br>
[ 138.504208] ec_md_ethercat v1.05-70:alias=63 term=0 : Init successful.<br>
[ 138.504214] ec_md_ethercat v1.05-70:alias=63 term=1 : Init successful.<br>
[ 138.505199]<br>
[ 138.505201] LXRT CHANGED MODE (TRAP), PID = 1223, VEC = 14, SIGNO = 11.<br>
[ 138.505218] BUG: unable to handle kernel paging request at virtual<br>
address de87c148<br>
[ 138.516929] printing eip: df2b53f2 *pde = 1c0d7067 *pte = 00000000<br>
[ 138.528899] Oops: 0000 [#1]<br>
[ 138.540681] Modules linked in: ec_md_ethercat(F) rtai_sem rtai_shm<br>
rtai_fifos rtai_usi rtai_lxrt rtai_hal rtai_smi usbhid usbscanner mxuport<br>
mxusbserial ec_8139too ec_master<br>
[ 138.567837]<br>
[ 138.581230] Pid: 1223, comm: U:HARD:0:11 Tainted: GF (2.6.24.4 #12)<br>
[ 138.595246] EIP: 0060:[<df2b53f2>] EFLAGS: 00010297 CPU: 0<br>
[ 138.609439] EIP is at el60xx_port_run+0x4e/0x21c [ec_md_ethercat]<br>
[ 138.623904] EAX: 00000000 EBX: de87bf40 ECX: de87bf40 EDX: daa5e800<br>
[ 138.638490] ESI: df2ba5ac EDI: daa50000 EBP: daa5e800 ESP: daa6df78<br>
[ 138.653090] DS: 007b ES: 007b FS: 0000 GS: 0033 SS: 0068<br>
[ 138.667860] Process U:HARD:0:11 (pid: 1223, ti=daa6c000 task=daa12560<br>
task.ti=daa6c000)<0><br>
[ 138.668517] I-pipe domain Linux<br>
[ 138.683608] Stack: 0000003b dc1f9800 df2ba64c 00ad3120 daa5e8f2 0084996c<br>
de87c150 df2ba5a4<br>
[ 138.699673] daa5e800 00000000 df2b55d7 0000003a df2c10d8 df2ba5a4<br>
df2b5c9b df2c0800<br>
[ 138.716002] df2c0380 00000000 00000000 df2a0d87 df2b3a00 df2a7501<br>
00000000 0000000b<br>
[ 138.732524] Call Trace:<br>
[ 138.765162] [<df2b55d7>] el6002_run+0x17/0x28 [ec_md_ethercat]<br>
[ 138.782233] [<df2b5c9b>] run+0x225/0x2a6 [ec_md_ethercat]<br>
[ 138.799560] [<df2a0d87>] kthread_fun+0x113/0x181 [rtai_lxrt]<br>
[ 138.817052] [<df2a0c74>] kthread_fun+0x0/0x181 [rtai_lxrt]<br>
[ 138.834563] [<c0104087>] kernel_thread_helper+0x7/0x10<br>
[ 138.852162] =======================<br>
[ 138.869659] Code: 0f 84 92 01 00 00 0f 82 6e 01 00 00 83 f8 02 0f 85 b5<br>
01 00 00 89 f8 88 44 24 0f 83 e0 01 88 44 24 17 3a 46 39 0f 84 b6 00 00 00<br>
<83> b9 08 02 00 00 00 0f 84 8d 00 00 00 83 b9 00 02 00 00 00 0f<br>
[ 138.908603] EIP: [<df2b53f2>] el60xx_port_run+0x4e/0x21c [ec_md_ethercat]<br>
SS:ESP 0068:daa6df78<br>
[ 138.928341] ---[ end trace 9d389a8bf40e7b52 ]---<br>
[ 138.948159] EtherCAT: Slave states: PREOP, OP.<br>
-bash-3.2#<br>
-bash-3.2#<br>
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</blockquote></div><br><br clear="all"><br>-- <br>Jason Xu<br>Motion Design Ltd<br>New Zealand<br>Tel: +64 9 411 8230<br>Fax: +64 9 411 8237<br>Email: <a href="mailto:jason@motiondesign.co.nz">jason@motiondesign.co.nz</a><br>