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Hi all,<br>
<br>
I'm testing some beckhoff ethercat modules to work with our
linux+xenomai setup.<br>
I've just modified the xenomai_posix example to work with our
modules<br>
here some system info<br>
<br>
Linux 2.6.38.8_xenomai-ipipe-2.6.1 #3 SMP PREEMPT<br>
<br>
embedded@ccub-deb-test:~$ lsmod<br>
Module Size Used by<br>
ec_rtdm 6089 0 <br>
ec_e1000e 102195 0 <br>
ec_master 181422 2 ec_rtdm,ec_e1000e<br>
xeno_16550A 7123 0 <br>
xeno_rtipc 32935 0 <br>
xeno_posix 230848 0 <br>
xeno_rtdm 36622 4
ec_rtdm,xeno_16550A,xeno_rtipc,xeno_posix<br>
xeno_native 135141 1 ec_rtdm<br>
nfsd 66183 11 <br>
exportfs 2426 1 nfsd<br>
i2c_dev 3441 2 <br>
8250 21164 2 <br>
serial_core 12482 1 8250<br>
uhci_hcd 14455 0 <br>
ehci_hcd 25985 0 <br>
usbcore 78042 2 uhci_hcd,ehci_hcd<br>
e100 20931 0 <br>
rng_core 2258 0<br>
<br>
embedded@ccub-deb-test:~$ ethercat slaves<br>
0 0:0 PREOP + EK1100 EtherCAT-Koppler (2A E-Bus)<br>
1 1:0 PREOP + EL3104 4K. Ana. Eingang +/-10V Diff.<br>
2 1:1 PREOP + EL4134 4K. Ana. Ausgang -10/+10V. 16bit<br>
3 1:2 PREOP + EL5101 1K. Inc. Encoder 5V<br>
4 1:3 PREOP + EL5001 1K. SSI Encoder<br>
<br>
the ethercat service start fine and find the slaves ....<br>
EtherCAT 0: Link state changed to UP.<br>
EtherCAT 0: 5 slave(s) responding.<br>
EtherCAT 0: Slave states: INIT.<br>
EtherCAT 0: Scanning bus.<br>
EtherCAT 0: Bus scanning completed in 911 ms.<br>
EtherCAT 0: Slave states: INIT, PREOP.<br>
EtherCAT 0: Slave states: PREOP.<br>
<br>
I've got some warning like this .... <br>
<br>
EtherCAT WARNING 0-3: SDO information error response while fetching
SDO entry 0x1800:07!<br>
EtherCAT ERROR 0-3: SDO abort message 0x06090011: "Subindex does not
exist".<br>
EtherCAT WARNING 0-3: SDO information error response while fetching
SDO entry 0x1800:09!<br>
EtherCAT ERROR 0-3: SDO abort message 0x06090011: "Subindex does not
exist".<br>
<br>
when I run the test with a cycle time of 2000 ms I got <br>
<br>
EtherCAT: Requesting master 0...<br>
EtherCAT: Successfully requested master 0.<br>
EtherCATrtdm 0: Master attach start!<br>
EtherCAT: Requesting master 0...<br>
EtherCAT: attaching Master 0!<br>
EtherCATrtdm 0: Master searching for domain!<br>
EtherCATrtdm 0: Creating Master mutex ETHrtdmLOCK0!<br>
Xenomai: registered exported object ETHrtdmLOCK0 (mutexes)<br>
EtherCATrtdm 0: MSTR ATTACH done domain=4107057984!<br>
EtherCAT 0: Domain0: Logical address 0x00000000, 24 byte, expected
working counter 3.<br>
EtherCAT 0: Datagram domain0-0: Logical offset 0x00000000, 24
byte, type LRW.<br>
EtherCAT 0: Master thread exited.<br>
EtherCAT 0: Starting EtherCAT-OP thread.<br>
EtherCAT WARNING 0: 1 datagram UNMATCHED!<br>
EtherCAT 0: Domain 0: Working counter changed to 1/3.<br>
EtherCAT 0: Slave states: PREOP, OP.<br>
EtherCAT 0: Domain 0: Working counter changed to 3/3.<br>
<br>
that seems fine but I have rt context switch <br>
<br>
embedded@ccub-deb-test:~$ cat /proc/xenomai/stat <br>
CPU PID MSW CSW PF STAT %CPU NAME<br>
0 0 0 43755184 0 00500080 99.4 ROOT/0<br>
1 0 0 0 0 00500080 99.8 ROOT/1<br>
0 1931 10434525 10442555 0 00b00380 0.2 test_ec<br>
0 1934 56787 113572 0 00b00184 0.0 test_ec<br>
1 0 0 15072128 0 00000000 0.1 IRQ521:
[timer]<br>
<br>
and If I run the test with a cycle time of 500 us I got some
message like this<br>
<br>
EtherCAT: Requesting master 0...<br>
EtherCAT: Successfully requested master 0.<br>
EtherCATrtdm 0: Master attach start!<br>
EtherCAT: Requesting master 0...<br>
EtherCAT: attaching Master 0!<br>
EtherCATrtdm 0: Master searching for domain!<br>
EtherCATrtdm 0: Creating Master mutex ETHrtdmLOCK0!<br>
Xenomai: registered exported object ETHrtdmLOCK0 (mutexes)<br>
EtherCATrtdm 0: MSTR ATTACH done domain=4107057408!<br>
EtherCAT 0: Domain0: Logical address 0x00000000, 24 byte, expected
working counter 3.<br>
EtherCAT 0: Datagram domain0-0: Logical offset 0x00000000, 24
byte, type LRW.<br>
EtherCAT 0: Master thread exited.<br>
EtherCAT 0: Starting EtherCAT-OP thread.<br>
EtherCAT WARNING 0: 1 datagram UNMATCHED!<br>
EtherCAT 0: Domain 0: Working counter changed to 1/3.<br>
EtherCAT 0: Slave states: PREOP, OP.<br>
EtherCAT 0: Domain 0: Working counter changed to 3/3.<br>
EtherCAT 0: Domain 0: Working counter changed to 0/3.<br>
EtherCAT WARNING 0: 48 datagrams UNMATCHED!<br>
EtherCAT WARNING: Datagram f4b88c80 (domain0-0) was SKIPPED 46
times.<br>
EtherCAT 0: Domain 0: 15 working counter changes - now 3/3.<br>
EtherCAT WARNING 0: 54 datagrams UNMATCHED!<br>
EtherCAT WARNING: Datagram f4b88c80 (domain0-0) was SKIPPED 5 times.<br>
EtherCAT 0: Domain 0: Working counter changed to 0/3.<br>
EtherCAT WARNING 0: 14 datagrams UNMATCHED!<br>
EtherCAT WARNING: Datagram f4b88c80 (domain0-0) was SKIPPED 7 times.<br>
EtherCAT 0: Domain 0: 15 working counter changes - now 3/3.<br>
EtherCAT WARNING 0: 136 datagrams UNMATCHED!<br>
EtherCAT WARNING: Datagram f4b88c80 (domain0-0) was SKIPPED 68
times.<br>
<br>
so this means I'm loosing data ?<br>
why I have rt context switch ? <br>
Am I missiing something configuring ethercat ?<br>
<br>
TIA<br>
<br>
Alessio<br>
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<p><span class="style8">ISTITUTO ITALIANO<br>
DI TECNOLOGIA</span></p>
<p class="style10">Alessio Margan<br>
<em>Senior Technician</em><br>
<em>Advanced Robotics</em><br>
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<a href="mailto:alessio.margan@iit.it">alessio.margan[at]iit</a>
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