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<p class="MsoNormal">ec_generic can be a mixed bag at 1kHz, depending on your hardware and other processing load. It usually works, but not always.<o:p></o:p></p>
<p class="MsoNormal"><o:p> </o:p></p>
<p class="MsoNormal">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.)<o:p></o:p></p>
<p class="MsoNormal"><o:p> </o:p></p>
<p class="MsoNormal">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.<o:p></o:p></p>
<p class="MsoNormal"><o:p> </o:p></p>
<P
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<p class="MsoNormal"><b><span lang="EN-US" style="mso-fareast-language:EN-NZ">From:</span></b><span lang="EN-US" style="mso-fareast-language:EN-NZ"> Viola Roberto<br>
<b>Sent:</b> Tuesday, 21 May 2019 02:39<br>
<b>To:</b> etherlab-users@etherlab.org<br>
<b>Subject:</b> [etherlab-users] Random Datagram Unmatched<o:p></o:p></span></p>
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<p class="MsoNormal"><o:p> </o:p></p>
<p class="MsoNormal"><span lang="IT">Hi everybody,<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="IT"> i’m playing with this great library and it’s just works!<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="IT">I’m running it on a Intel Atom E3930 Dual Core 1.3GHz with 4.14.109 preemptive + xenomai 3.1.<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="IT"><o:p> </o:p></span></p>
<p class="MsoNormal"><span lang="IT">So i started compiling the xenomai example over the ec_generic module. It works, but sometimes (randomly) i saw a classic “datagram UNMATCHED”
<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="IT"><o:p> </o:p></span></p>
<p class="MsoNormal"><span lang="IT">[ 4187.708617] EtherCAT WARNING 0: 1 datagram UNMATCHED!<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="IT">[ 4187.844433] EtherCAT WARNING: Datagram ffff89b4783bc798 (domain0-0-main) was SKIPPED 1 time.<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="IT">[ 4188.392447] EtherCAT 0: Domain 0: Working counter changed to 3/3<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="IT"><o:p> </o:p></span></p>
<p class="MsoNormal"><span lang="IT">The error is not deterministic but it occurs often if i increase the load of the system.<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="IT">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?<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="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).<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="IT"><o:p> </o:p></span></p>
<p class="MsoNormal"><span lang="IT">I’ve also tried to playing with the ethernet IRQ throttling but they make no differences.<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="IT"><o:p> </o:p></span></p>
<p class="MsoNormal"><span lang="IT">ifname="enp2s0"<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="IT">ifconfig $ifname up<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="IT">ethtool -L $ifname combined 1<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="IT">ethtool -C $ifname rx-usecs 0 # default 3<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="IT">ethtool -C $ifname tx-usecs 0 # default 3<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="IT"><o:p> </o:p></span></p>
<p class="MsoNormal"><span lang="IT">I’ve tried to change the thread RT priority with 50-82-… but the issue is always there.<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="IT"><o:p> </o:p></span></p>
<p class="MsoNormal"><span lang="IT">When it happens, looking the stats from “ifconfig”, there aren’t any drop of packages (rx and tx go together correctly).<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="IT"><o:p> </o:p></span></p>
<p class="MsoNormal"><span lang="IT">I have no other idea except compiling with –enable-rtdm: i’ve tried but the compiling/linking process fails.<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="IT">Here are my steps:<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="IT"><o:p> </o:p></span></p>
<p class="MsoNormal"><span lang="IT">./bootstrap<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="IT">CFLAGS=`/usr/xenomai/bin/xeno-config --alchemy --rtdm --compat --cflags`<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="IT">LDFLAGS=`/usr/xenomai/bin/xeno-config --alchemy --rtdm --compat --ldflags`<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="IT">./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/<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="IT">make all modules<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="IT"><o:p> </o:p></span></p>
<p class="MsoNormal"><span lang="IT">/usr/xenomai/lib/xenomai/bootstrap.o: In function `xenomai_main':<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="IT">bootstrap.c:(.text+0x0): multiple definition of `xenomai_main'<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="IT">/usr/xenomai/lib/xenomai/bootstrap.o:bootstrap.c:(.text+0x0): first defined here<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="IT">/usr/xenomai/lib/xenomai/bootstrap.o:(.rodata+0x0): multiple definition of `xenomai_auto_bootstrap'<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="IT">/usr/xenomai/lib/xenomai/bootstrap.o:(.rodata+0x0): first defined here<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="IT">/root/ethercat/lib/.libs/libethercat_rtdm.so: undefined reference to `rt_printk'<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="IT">/root/ethercat/lib/.libs/libethercat_rtdm.so: undefined reference to `rt_dev_ioctl'<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="IT">/root/ethercat/lib/.libs/libethercat_rtdm.so: undefined reference to `rt_dev_open'<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="IT">/root/ethercat/lib/.libs/libethercat_rtdm.so: undefined reference to `rt_dev_close'<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="IT">collect2: error: ld returned 1 exit status<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="IT">Makefile:421: recipe for target 'ec_xenomai_example' failed<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="IT">make[4]: *** [ec_xenomai_example] Error 1<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="IT">make[4]: Leaving directory '/root/ethercat/examples/xenomai'<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="IT">Makefile:454: recipe for target 'all-recursive' failed<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="IT">make[3]: *** [all-recursive] Error 1<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="IT">make[3]: Leaving directory '/root/ethercat/examples'<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="IT">Makefile:406: recipe for target 'all' failed<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="IT">make[2]: *** [all] Error 2<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="IT">make[2]: Leaving directory '/root/ethercat/examples'<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="IT">Makefile:515: recipe for target 'all-recursive' failed<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="IT">make[1]: *** [all-recursive] Error 1<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="IT">make[1]: Leaving directory '/root/ethercat'<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="IT">Makefile:441: recipe for target 'all' failed<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="IT">make: *** [all] Error 2<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="IT">make: *** Waiting for unfinished jobs....<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="IT"> CC [M] /root/ethercat/master/rtdm.o<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="IT">In file included from include/xenomai/cobalt/kernel/thread.h:27:0,<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="IT"> from include/xenomai/cobalt/kernel/sched.h:24,<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="IT"> from include/xenomai/rtdm/driver.h:37,<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="IT"> from /root/ethercat/master/rtdm.c:37:<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="IT">include/xenomai/cobalt/kernel/timer.h:28:34: fatal error: asm/xenomai/wrappers.h: No such file or directory<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="IT">#include <asm/xenomai/wrappers.h><o:p></o:p></span></p>
<p class="MsoNormal"><span lang="IT"> ^<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="IT">compilation terminated.<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="IT">scripts/Makefile.build:326: recipe for target '/root/ethercat/master/rtdm.o' failed<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="IT">make[3]: *** [/root/ethercat/master/rtdm.o] Error 1<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="IT">scripts/Makefile.build:585: recipe for target '/root/ethercat/master' failed<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="IT">make[2]: *** [/root/ethercat/master] Error 2<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="IT">Makefile:1535: recipe for target '_module_/root/ethercat' failed<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="IT">make[1]: *** [_module_/root/ethercat] Error 2<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="IT">make[1]: Leaving directory '/usr/src/linux-headers-4.14.109'<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="IT">Makefile:936: recipe for target 'modules' failed<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="IT">make: *** [modules] Error 2<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="IT"><o:p> </o:p></span></p>
<p class="MsoNormal"><span lang="IT">Thanks in advance<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="IT">R.<o:p></o:p></span></p>
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<p><span style="font-size:7.0pt;font-family:"Verdana",sans-serif;color:gray">Risposte al presente messaggio: si avvisa il destinatario che eventuali sue risposte, potranno essere lette dall’intera azienda /ufficio /reparto di appartenenza del mittente.<o:p></o:p></span></p>
<p><span style="font-size:7.0pt;font-family:"Verdana",sans-serif;color:gray">The information contained in this e-mail, including attachments, is confidential and exclusively for the use of the intended recipient. If you received this communication by mistake
you are not authorized to copy, send and/or publish this message and its attachments, in whole or in part and therefore please delete this message.
<o:p></o:p></span></p>
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