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<p class="MsoNormal"><span style="color:#1F497D">Hi Gavin,<o:p></o:p></span></p>
<p class="MsoNormal"><span style="color:#1F497D"> first of all, thanks for the answer.<o:p></o:p></span></p>
<p class="MsoNormal"><span style="color:#1F497D">I’ve already tried ec_igb (with your patch for kernel 4.14 BTW) and it gives me the same issue with about the same frequency: i guess it’s not a matter for ec_generic itself.<o:p></o:p></span></p>
<p class="MsoNormal"><span style="color:#1F497D">I’m working on my desk so no motor cables or power in the neighborhoods (for the moment
</span><span style="font-family:Wingdings;color:#1F497D">J</span><span style="color:#1F497D"> )<o:p></o:p></span></p>
<p class="MsoNormal"><span style="color:#1F497D">I’ve checked the “ethercat crc” (i have no ethercat diag option, is it ok?) and the counters are always set to 0 even when i have the issue (just to be sure i let it run for 1 hour, and CRC counters are always
0 but i see several Unmatched datagrams)<o:p></o:p></span></p>
<p class="MsoNormal"><span style="color:#1F497D"><o:p> </o:p></span></p>
<p class="MsoNormal"><span style="font-family:Consolas;color:#1F497D"> |Port 0 |Port 1 |Port 2 |Port 3 |<o:p></o:p></span></p>
<p class="MsoNormal"><span style="font-family:Consolas;color:#1F497D"> |CRC PHY FWD NXT|CRC PHY FWD NXT|CRC PHY FWD NXT|CRC PHY FWD NXT|<o:p></o:p></span></p>
<p class="MsoNormal"><span style="font-family:Consolas;color:#1F497D"> 0| 0 0 0 | | | |<o:p></o:p></span></p>
<p class="MsoNormal"><span style="color:#1F497D"><o:p> </o:p></span></p>
<p class="MsoNormal"><span style="color:#1F497D"><o:p> </o:p></span></p>
<p class="MsoNormal"><span style="color:#1F497D">This crc thing plus the packet’s counter thing by ifconfig push me to think that sometimes the ec module ignores a packet even if ethernet card receives it. Is is possible?<o:p></o:p></span></p>
<p class="MsoNormal"><span style="color:#1F497D"><o:p> </o:p></span></p>
<p class="MsoNormal"><span style="color:#1F497D">What happen when EC gives me this warning? I mean, i will lost the informations inside the unmatched packet for sure, but if this issue happens when i write a SDO instead of a PDO the EC will retry automatically
to send another SDO packet?<o:p></o:p></span></p>
<p class="MsoNormal"><span style="color:#1F497D">So, it’s just a performance loss or it’s a real issue that could create logic issue to the upper software levels?<o:p></o:p></span></p>
<p class="MsoNormal"><span style="color:#1F497D">Thanks<o:p></o:p></span></p>
<p class="MsoNormal"><span style="color:#1F497D">Roberto<o:p></o:p></span></p>
<p class="MsoNormal"><span style="color:#1F497D"><o:p> </o:p></span></p>
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<p class="MsoNormal"><b><span style="mso-fareast-language:IT">Da:</span></b><span style="mso-fareast-language:IT"> Gavin Lambert [mailto:gavin.lambert@tomra.com]
<br>
<b>Inviato:</b> martedì 21 maggio 2019 01:34<br>
<b>A:</b> Viola Roberto <roberto.viola@systemceramics.com>; etherlab-users@etherlab.org<br>
<b>Oggetto:</b> RE: 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="EN-NZ">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></span></p>
<p class="MsoNormal"><span lang="EN-NZ"><o:p> </o:p></span></p>
<p class="MsoNormal"><span lang="EN-NZ">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></span></p>
<p class="MsoNormal"><span lang="EN-NZ"><o:p> </o:p></span></p>
<p class="MsoNormal"><span lang="EN-NZ">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></span></p>
<p class="MsoNormal"><span lang="EN-NZ"><o:p> </o:p></span></p>
<p><strong><span lang="EN-NZ" style="font-family:"Calibri",sans-serif;color:#595959">Gavin Lambert</span></strong><b><span lang="EN-NZ" style="font-family:"Calibri",sans-serif;color:#595959"><br>
</span></b><span lang="EN-NZ" style="font-family:"Calibri",sans-serif;color:#595959">Senior Software Developer<o:p></o:p></span></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> <a href="mailto:etherlab-users@etherlab.org">etherlab-users@etherlab.org</a><br>
<b>Subject:</b> [etherlab-users] Random Datagram Unmatched<o:p></o:p></span></p>
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<p class="MsoNormal"><span lang="EN-NZ"><o:p> </o:p></span></p>
<p class="MsoNormal">Hi everybody,<o:p></o:p></p>
<p class="MsoNormal"> i’m playing with this great library and it’s just works!<o:p></o:p></p>
<p class="MsoNormal">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></p>
<p class="MsoNormal"><o:p> </o:p></p>
<p class="MsoNormal">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></p>
<p class="MsoNormal"><o:p> </o:p></p>
<p class="MsoNormal">[ 4187.708617] EtherCAT WARNING 0: 1 datagram UNMATCHED!<o:p></o:p></p>
<p class="MsoNormal">[ 4187.844433] EtherCAT WARNING: Datagram ffff89b4783bc798 (domain0-0-main) was SKIPPED 1 time.<o:p></o:p></p>
<p class="MsoNormal">[ 4188.392447] EtherCAT 0: Domain 0: Working counter changed to 3/3<o:p></o:p></p>
<p class="MsoNormal"><o:p> </o:p></p>
<p class="MsoNormal">The error is not deterministic but it occurs often if i increase the load of the system.<o:p></o:p></p>
<p class="MsoNormal">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></p>
<p class="MsoNormal">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></p>
<p class="MsoNormal"><o:p> </o:p></p>
<p class="MsoNormal">I’ve also tried to playing with the ethernet IRQ throttling but they make no differences.<o:p></o:p></p>
<p class="MsoNormal"><o:p> </o:p></p>
<p class="MsoNormal">ifname="enp2s0"<o:p></o:p></p>
<p class="MsoNormal">ifconfig $ifname up<o:p></o:p></p>
<p class="MsoNormal">ethtool -L $ifname combined 1<o:p></o:p></p>
<p class="MsoNormal">ethtool -C $ifname rx-usecs 0 # default 3<o:p></o:p></p>
<p class="MsoNormal">ethtool -C $ifname tx-usecs 0 # default 3<o:p></o:p></p>
<p class="MsoNormal"><o:p> </o:p></p>
<p class="MsoNormal">I’ve tried to change the thread RT priority with 50-82-… but the issue is always there.<o:p></o:p></p>
<p class="MsoNormal"><o:p> </o:p></p>
<p class="MsoNormal">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></p>
<p class="MsoNormal"><o:p> </o:p></p>
<p class="MsoNormal">I have no other idea except compiling with –enable-rtdm: i’ve tried but the compiling/linking process fails.<o:p></o:p></p>
<p class="MsoNormal">Here are my steps:<o:p></o:p></p>
<p class="MsoNormal"><o:p> </o:p></p>
<p class="MsoNormal">./bootstrap<o:p></o:p></p>
<p class="MsoNormal">CFLAGS=`/usr/xenomai/bin/xeno-config --alchemy --rtdm --compat --cflags`<o:p></o:p></p>
<p class="MsoNormal">LDFLAGS=`/usr/xenomai/bin/xeno-config --alchemy --rtdm --compat --ldflags`<o:p></o:p></p>
<p class="MsoNormal">./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></p>
<p class="MsoNormal">make all modules<o:p></o:p></p>
<p class="MsoNormal"><o:p> </o:p></p>
<p class="MsoNormal">/usr/xenomai/lib/xenomai/bootstrap.o: In function `xenomai_main':<o:p></o:p></p>
<p class="MsoNormal">bootstrap.c:(.text+0x0): multiple definition of `xenomai_main'<o:p></o:p></p>
<p class="MsoNormal">/usr/xenomai/lib/xenomai/bootstrap.o:bootstrap.c:(.text+0x0): first defined here<o:p></o:p></p>
<p class="MsoNormal">/usr/xenomai/lib/xenomai/bootstrap.o:(.rodata+0x0): multiple definition of `xenomai_auto_bootstrap'<o:p></o:p></p>
<p class="MsoNormal">/usr/xenomai/lib/xenomai/bootstrap.o:(.rodata+0x0): first defined here<o:p></o:p></p>
<p class="MsoNormal">/root/ethercat/lib/.libs/libethercat_rtdm.so: undefined reference to `rt_printk'<o:p></o:p></p>
<p class="MsoNormal">/root/ethercat/lib/.libs/libethercat_rtdm.so: undefined reference to `rt_dev_ioctl'<o:p></o:p></p>
<p class="MsoNormal">/root/ethercat/lib/.libs/libethercat_rtdm.so: undefined reference to `rt_dev_open'<o:p></o:p></p>
<p class="MsoNormal">/root/ethercat/lib/.libs/libethercat_rtdm.so: undefined reference to `rt_dev_close'<o:p></o:p></p>
<p class="MsoNormal">collect2: error: ld returned 1 exit status<o:p></o:p></p>
<p class="MsoNormal">Makefile:421: recipe for target 'ec_xenomai_example' failed<o:p></o:p></p>
<p class="MsoNormal">make[4]: *** [ec_xenomai_example] Error 1<o:p></o:p></p>
<p class="MsoNormal">make[4]: Leaving directory '/root/ethercat/examples/xenomai'<o:p></o:p></p>
<p class="MsoNormal">Makefile:454: recipe for target 'all-recursive' failed<o:p></o:p></p>
<p class="MsoNormal">make[3]: *** [all-recursive] Error 1<o:p></o:p></p>
<p class="MsoNormal">make[3]: Leaving directory '/root/ethercat/examples'<o:p></o:p></p>
<p class="MsoNormal">Makefile:406: recipe for target 'all' failed<o:p></o:p></p>
<p class="MsoNormal">make[2]: *** [all] Error 2<o:p></o:p></p>
<p class="MsoNormal">make[2]: Leaving directory '/root/ethercat/examples'<o:p></o:p></p>
<p class="MsoNormal">Makefile:515: recipe for target 'all-recursive' failed<o:p></o:p></p>
<p class="MsoNormal">make[1]: *** [all-recursive] Error 1<o:p></o:p></p>
<p class="MsoNormal">make[1]: Leaving directory '/root/ethercat'<o:p></o:p></p>
<p class="MsoNormal">Makefile:441: recipe for target 'all' failed<o:p></o:p></p>
<p class="MsoNormal">make: *** [all] Error 2<o:p></o:p></p>
<p class="MsoNormal">make: *** Waiting for unfinished jobs....<o:p></o:p></p>
<p class="MsoNormal"> CC [M] /root/ethercat/master/rtdm.o<o:p></o:p></p>
<p class="MsoNormal">In file included from include/xenomai/cobalt/kernel/thread.h:27:0,<o:p></o:p></p>
<p class="MsoNormal"> from include/xenomai/cobalt/kernel/sched.h:24,<o:p></o:p></p>
<p class="MsoNormal"> from include/xenomai/rtdm/driver.h:37,<o:p></o:p></p>
<p class="MsoNormal"> from /root/ethercat/master/rtdm.c:37:<o:p></o:p></p>
<p class="MsoNormal">include/xenomai/cobalt/kernel/timer.h:28:34: fatal error: asm/xenomai/wrappers.h: No such file or directory<o:p></o:p></p>
<p class="MsoNormal">#include <asm/xenomai/wrappers.h><o:p></o:p></p>
<p class="MsoNormal"> ^<o:p></o:p></p>
<p class="MsoNormal">compilation terminated.<o:p></o:p></p>
<p class="MsoNormal">scripts/Makefile.build:326: recipe for target '/root/ethercat/master/rtdm.o' failed<o:p></o:p></p>
<p class="MsoNormal">make[3]: *** [/root/ethercat/master/rtdm.o] Error 1<o:p></o:p></p>
<p class="MsoNormal">scripts/Makefile.build:585: recipe for target '/root/ethercat/master' failed<o:p></o:p></p>
<p class="MsoNormal">make[2]: *** [/root/ethercat/master] Error 2<o:p></o:p></p>
<p class="MsoNormal">Makefile:1535: recipe for target '_module_/root/ethercat' failed<o:p></o:p></p>
<p class="MsoNormal">make[1]: *** [_module_/root/ethercat] Error 2<o:p></o:p></p>
<p class="MsoNormal">make[1]: Leaving directory '/usr/src/linux-headers-4.14.109'<o:p></o:p></p>
<p class="MsoNormal">Makefile:936: recipe for target 'modules' failed<o:p></o:p></p>
<p class="MsoNormal">make: *** [modules] Error 2<o:p></o:p></p>
<p class="MsoNormal"><o:p> </o:p></p>
<p class="MsoNormal">Thanks in advance<o:p></o:p></p>
<p class="MsoNormal">R.<o:p></o:p></p>
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<p class="MsoNormal"><span style="font-size:10.0pt;font-family:"Arial",sans-serif;mso-fareast-language:EN-NZ"><a href="mailto:info@system-electronics.it">info@system-electronics.it</a></span><span style="mso-fareast-language:EN-NZ"><o:p></o:p></span></p>
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<p class="MsoNormal"><span style="font-size:10.0pt;font-family:"Arial",sans-serif;mso-fareast-language:EN-NZ"><a href="https://eur02.safelinks.protection.outlook.com/?url=http%3A%2F%2Fwww.system-electronics.it&data=02%7C01%7Cgavin.lambert%40tomra.com%7C33b29781c25643a4092008d6dd30f446%7C4308d118edd143008a37cfeba8ad5898%7C0%7C1%7C636939599670767372&sdata=CqCy8kez7Q%2FLsTeStW1bbai%2B1lbGRAYFg6XJZAmqcfc%3D&reserved=0">www.system-electronics.it</a></span><span style="mso-fareast-language:EN-NZ"><o:p></o:p></span></p>
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<p><span style="font-size:7.0pt;font-family:"Verdana",sans-serif;color:gray">Le informazioni contenute in questa email, inclusi i suoi allegati, sono riservate e ad uso esclusivo del destinatario. Qualora le fosse pervenuta per errore, lei non è autorizzato
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<p><span style="font-size:7.0pt;font-family:"Verdana",sans-serif;color:gray">Avvertenza: la presente casella e-mail ed i messaggi da essa derivanti, sono di esclusivo utilizzo aziendale /lavorativo e mai personale.<o:p></o:p></span></p>
<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>
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<td style="COLOR: #0093d3">Roberto Viola</td>
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<td>Technical Dept</td>
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<td style="FONT-SIZE: 10px">+39 0536836680 </td>
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<td><strong>SYSTEM CERAMICS S.p.A.</strong></td>
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<td><font size="2" face="Arial">Via Ghiarola Vecchia, 73</font></td>
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<td><font size="2" face="Arial">41042 Fiorano (Mo) ITALY</font></td>
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<td><font size="2" face="Arial">+39 0536 836111</font></td>
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<td><font size="2" face="Arial"><span style="font-family:Arial;font-size:10pt;"><a href="mailto:info@system-electronics.it" title="" target="" style="font-family:Arial;font-size:10pt;"><span style="font-family:Arial; font-size:10pt;">info@system-electronics.it</span></a></span></font></td>
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<td><span style="font-family:Arial;font-size:10pt;"><a href="http://www.system-electronics.it" title="" target="" style="font-family:Arial;font-size:10pt;"><span style="font-family:Arial; font-size:10pt;">www.system-electronics.it</span></a></span></td>
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<p>Le informazioni contenute in questa email, inclusi i suoi allegati, sono riservate e ad uso esclusivo del destinatario. Qualora le fosse pervenuta per errore, lei non è autorizzato a copiare, inoltrare e/o rendere nota questa email e i suoi allegati, totalmente
o parzialmente, e pertanto la preghiamo di cancellarla immediatamente senza visionarne il contenuto e gli allegati.</p>
<p>Avvertenza: la presente casella e-mail ed i messaggi da essa derivanti, sono di esclusivo utilizzo aziendale /lavorativo e mai personale.</p>
<p>Risposte al presente messaggio: si avvisa il destinatario che eventuali sue risposte, potranno essere lette dall’intera azienda /ufficio /reparto di appartenenza del mittente.</p>
<p>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
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