[etherlab-dev] "ecrt_master_write_idn(...)" and "invalid opcode: 0000"

[Koch Daniel]

Good morning, 

Everytime I try to reset a slave-error on a BoschRexroth Servo-Drive by
sendig a SoE-Message (S-0-0099) via ecrt_master_write_idn, i am facing a
kernel issue (see below) on my rtai-system (version 3.6.1 on a patched
linux 2.6.24 with ethercat-master 1.5.2). Has anybody ever faced this
issue as well? Hopefully, anyone knows a hint getting rid off of this?

Counter-question: has anybody set up a system in rtai or xenomai getting
work sending acyclic ethercat-"messages" (like EoE, FoE, VoE, SoE) w/o
any random kernel crashes or bug?

Kindly regards, 

Daniel

P.s. I know this versions are not state of the art, but as far as I
know, it should work in this environment as well as an up-to-date one...


________________________________
Feb 13 15:15:20 pc-wt1 kernel: ------------[ cut here ]------------
Feb 13 15:15:20 pc-wt1 kernel: kernel BUG at kernel/ipipe/core.c:322!
Feb 13 15:15:20 pc-wt1 kernel: invalid opcode: 0000 [#1] PREEMPT SMP
Feb 13 15:15:20 pc-wt1 kernel: Modules linked in: r7912 cifs parport_pc
lp parport rtai_rtdm rtai_sem rtai_math rtai_shm rtai_fifos rtai_usi
rtai_lxrt rtai_hal ec_8139too snd_pcm_oss snd_mixer_oss ec_master
snd_seq snd_seq_device iptable_filter ip_tables ip6table_filter
ip6_tables x_tables ipv6 dm_crypt loop dm_mod ohci1394 forcedeth
i2c_nforce2 i2c_core ieee1394 snd_hda_intel evdev snd_pcm snd_timer mii
snd soundcore snd_page_alloc k8temp hwmon ohci_hcd ehci_hcd usbcore ssb
edd
Feb 13 15:15:20 pc-wt1 kernel:
Feb 13 15:15:20 pc-wt1 kernel: Pid: 4035, comm: U:HARD:0:5 Not tainted
(2.6.24.7-rtai-3.6.1-smp #8)
Feb 13 15:15:20 pc-wt1 kernel: EIP: 0060:[<c0145ef7>] EFLAGS: 00010202
CPU: 0
Feb 13 15:15:20 pc-wt1 kernel: EIP is at __ipipe_restore_root+0x17/0x39
Feb 13 15:15:20 pc-wt1 kernel: EAX: c0491508 EBX: 00000000 ECX: 00000001
EDX: 012f8000
Feb 13 15:15:20 pc-wt1 kernel: ESI: f7c00080 EDI: 00000063 EBP: 000000d0
ESP: f6253e64
Feb 13 15:15:20 pc-wt1 kernel:  DS: 007b ES: 007b FS: 00d8 GS: 0033 SS:
0068
Feb 13 15:15:20 pc-wt1 kernel: Process U:HARD:0:5 (pid: 4035,
ti=f6252000 task=f7c640f0 task.ti=f6252000)<0>
Feb 13 15:15:20 pc-wt1 kernel: I-pipe domain Linux
Feb 13 15:15:20 pc-wt1 kernel: Stack: c0162967 f5ad8820 c023750c
f6253eac 00000002 00000063 00000002 f91b4144
Feb 13 15:15:20 pc-wt1 kernel:        c04c2c40 0000000a f6f4c000
00000000 f91af8d2 f9881fc9 00000100 00020000
Feb 13 15:15:20 pc-wt1 kernel:        00130060 00000286 f6253eac
f6253eac 00630000 00000001 00000000 00000000
Feb 13 15:15:20 pc-wt1 kernel: Call Trace:
Feb 13 15:15:20 pc-wt1 kernel:  [<c0162967>] __kmalloc+0x9c/0xd5
Feb 13 15:15:20 pc-wt1 kernel:  [<c023750c>] vscnprintf+0x14/0x20
Feb 13 15:15:20 pc-wt1 kernel:  [<f91b4144>]
ec_soe_request_alloc+0x23/0x52 [ec_master]
Feb 13 15:15:20 pc-wt1 kernel:  [<f91af8d2>]
ecrt_master_write_idn+0x62/0x2d1 [ec_master]
Feb 13 15:15:20 pc-wt1 kernel:  [<f986bfc8>] calc_idn+0x52/0x5c [r7912]
Feb 13 15:15:20 pc-wt1 kernel:  [<f9869076>] reset_hcs01+0x50/0xd9
[r7912]
Feb 13 15:15:20 pc-wt1 kernel:  [<f9874c87>] task_2ms+0x10c/0x21d
[r7912]
Feb 13 15:15:20 pc-wt1 kernel:  [<f986b4c7>] worker+0x4b8/0x5b8 [r7912]
Feb 13 15:15:20 pc-wt1 kernel:  [<c0118990>] context_switch+0x3ca/0x42a
Feb 13 15:15:20 pc-wt1 kernel:  [<f91fafba>] kthread_fun+0x123/0x193
[rtai_lxrt]
Feb 13 15:15:20 pc-wt1 kernel:  [<f91fae97>] kthread_fun+0x0/0x193
[rtai_lxrt]
Feb 13 15:15:20 pc-wt1 kernel:  [<c0104e87>]
kernel_thread_helper+0x7/0x10
Feb 13 15:15:20 pc-wt1 kernel:  =======================
Feb 13 15:15:20 pc-wt1 kernel: Code: f1 48 c0 83 7c 02 04 00 74 08 83 c8
ff e8 e0 fa ff ff fb c3 89 c1 b8 08 15 49 c0 64 8b 15 10 f1 48 c0 81 3c
02 80 7e 50 c0 74 04 <0f> 0b eb fe 85 c9 74 15 9c fa 64 a1 10 f1 48 c0
8d 80 a8 01 49
Feb 13 15:15:20 pc-wt1 kernel: EIP: [<c0145ef7>]
__ipipe_restore_root+0x17/0x39 SS:ESP 0068:f6253e64
Feb 13 15:15:20 pc-wt1 kernel: ---[ end trace c75ffcaa215598d4 ]---