[etherlab-users] mini.c modify
Drew Bertwistle
Drew.Bertwistle at lightsource.ca
Mon Jun 29 23:20:34 CEST 2009
Florian,
I have changed the device position to 0. I now get this error: Jun 28
21:48:22 bertwistle kernel: [ 503.590840] EtherCAT ERROR: Failed to
determine PDO sync manager for FMMU on slave 0!
I have posted the syslog below.
Thanks.
Jun 28 21:48:08 bertwistle kernel: [ 489.420078] EtherCAT: Master debug
level set to 1.
Jun 28 21:48:08 bertwistle kernel: [ 489.423984] EtherCAT DEBUG: File
closed.
Jun 28 21:48:22 bertwistle kernel: [ 503.395978] ec_mini: no version
for "ecrt_request_master" found: kernel tainted.
Jun 28 21:48:22 bertwistle kernel: [ 503.403956] ec_mini: Starting...
Jun 28 21:48:22 bertwistle kernel: [ 503.403962] EtherCAT: Requesting
master 0...
Jun 28 21:48:22 bertwistle kernel: [ 503.403966] EtherCAT DEBUG: IDLE
-> OPERATION.
Jun 28 21:48:22 bertwistle kernel: [ 503.403969] EtherCAT: Successfully
requested master 0.
Jun 28 21:48:22 bertwistle kernel: [ 503.403973] EtherCAT DEBUG:
ecrt_master_callbacks(master = 0xf4da8800, request_cb = 0xf895d010,
release_cb = 0xf895d000, cb_data = 0x0)
Jun 28 21:48:22 bertwistle kernel: [ 503.403976] ec_mini: Registering
domain...
Jun 28 21:48:22 bertwistle kernel: [ 503.403980] EtherCAT DEBUG:
ecrt_master_create_domain(master = 0xf4da8800)
Jun 28 21:48:22 bertwistle kernel: [ 503.403986] EtherCAT DEBUG:
Created domain 0.
Jun 28 21:48:22 bertwistle kernel: [ 503.403990] EtherCAT DEBUG:
ecrt_master_slave_config(master = 0xf4da8800, alias = 0, position = 0,
vendor_id = 0x40, product_code = 0x26483052)
Jun 28 21:48:22 bertwistle kernel: [ 503.403994] EtherCAT DEBUG:
Creating slave configuration for 0:0, 0x00000040/0x26483052.
Jun 28 21:48:22 bertwistle kernel: [ 503.403998] EtherCAT DEBUG:
Attached slave 0 to config 0:0.
Jun 28 21:48:22 bertwistle kernel: [ 503.404002] ec_mini: Configuring
PDOs...
Jun 28 21:48:22 bertwistle kernel: [ 503.404005] EtherCAT DEBUG:
ecrt_slave_config_pdos(sc = 0xf775d400, n_syncs = 4294967295, syncs =
0xf895e260)
Jun 28 21:48:22 bertwistle kernel: [ 503.404009] EtherCAT DEBUG:
ecrt_slave_config_sync_manager(sc = 0xf775d400, sync_index = 3, dir = 2)
Jun 28 21:48:22 bertwistle kernel: [ 503.404012] EtherCAT DEBUG:
ecrt_slave_config_pdo_assign_clear(sc = 0xf775d400, sync_index = 3)
Jun 28 21:48:22 bertwistle kernel: [ 503.404016] EtherCAT DEBUG:
ecrt_slave_config_pdo_assign_add(sc = 0xf775d400, sync_index = 3,
pdo_index = 0x1A00)
Jun 28 21:48:22 bertwistle kernel: [ 503.404020] EtherCAT DEBUG:
Loading default mapping for PDO 0x1A00 in config 0:0.
Jun 28 21:48:22 bertwistle kernel: [ 503.404023] EtherCAT DEBUG: No
default mapping found.
Jun 28 21:48:22 bertwistle kernel: [ 503.404027] EtherCAT DEBUG:
ecrt_slave_config_pdo_mapping_clear(sc = 0xf775d400, pdo_index = 0x1A00)
Jun 28 21:48:22 bertwistle kernel: [ 503.404031] EtherCAT DEBUG:
ecrt_slave_config_pdo_mapping_add(sc = 0xf775d400, pdo_index = 0x1A00,
entry_index = 0x3101, entry_subindex = 0x01, entry_bit_length = 16)
Jun 28 21:48:22 bertwistle kernel: [ 503.404036] EtherCAT DEBUG:
ecrt_slave_config_pdo_mapping_add(sc = 0xf775d400, pdo_index = 0x1A00,
entry_index = 0x3101, entry_subindex = 0x02, entry_bit_length = 32)
Jun 28 21:48:22 bertwistle kernel: [ 503.404040] EtherCAT DEBUG:
ecrt_slave_config_pdo_mapping_add(sc = 0xf775d400, pdo_index = 0x1A00,
entry_index = 0x3101, entry_subindex = 0x03, entry_bit_length = 32)
Jun 28 21:48:22 bertwistle kernel: [ 503.404044] ec_mini: Registering
PDO entries...
Jun 28 21:48:22 bertwistle kernel: [ 503.404047] EtherCAT DEBUG:
ecrt_domain_reg_pdo_entry_list(domain = 0xebc1c200, regs = 0xf895d3a0)
Jun 28 21:48:22 bertwistle kernel: [ 503.404051] EtherCAT DEBUG:
ecrt_master_slave_config(master = 0xf4da8800, alias = 0, position = 0,
vendor_id = 0x40, product_code = 0x26483052)
Jun 28 21:48:22 bertwistle kernel: [ 503.404056] EtherCAT DEBUG:
ecrt_slave_config_reg_pdo_entry(sc = 0xf775d400, index = 0x3101,
subindex = 0x01, domain = 0xebc1c200, bit_position = 0x0)
Jun 28 21:48:22 bertwistle kernel: [ 503.404060] EtherCAT DEBUG: Domain
0: Added 10 bytes, total 10.
Jun 28 21:48:22 bertwistle kernel: [ 503.404063] ec_mini: Activating
master...
Jun 28 21:48:22 bertwistle kernel: [ 503.404066] EtherCAT DEBUG:
ecrt_master_activate(master = 0xf4da8800)
Jun 28 21:48:22 bertwistle kernel: [ 503.404071] EtherCAT: Domain0:
Logical address 0x00000000, 10 byte, expected working counter 1.
Jun 28 21:48:22 bertwistle kernel: [ 503.404074] EtherCAT: Datagram
domain0-0: Logical offset 0x00000000, 10 byte, type LRD.
Jun 28 21:48:22 bertwistle kernel: [ 503.404078] EtherCAT DEBUG:
Stopping master thread.
Jun 28 21:48:22 bertwistle kernel: [ 503.406921] EtherCAT DEBUG: Master
IDLE thread exiting...
Jun 28 21:48:22 bertwistle kernel: [ 503.415080] EtherCAT: Master
thread exited.
Jun 28 21:48:22 bertwistle kernel: [ 503.415087] EtherCAT DEBUG: FSM
datagram is f4da8acc.
Jun 28 21:48:22 bertwistle kernel: [ 503.415090] EtherCAT: Starting
EtherCAT-OP thread.
Jun 28 21:48:22 bertwistle kernel: [ 503.440426] ec_mini: Starting
cyclic sample thread.
Jun 28 21:48:22 bertwistle kernel: [ 503.440432] ec_mini: Started.
Jun 28 21:48:22 bertwistle kernel: [ 503.442231] EtherCAT DEBUG:
Operation thread running.
Jun 28 21:48:22 bertwistle kernel: [ 503.478891] ec_mini: 1 slave(s).
Jun 28 21:48:22 bertwistle kernel: [ 503.478895] ec_mini: AL states:
0x02.
Jun 28 21:48:22 bertwistle kernel: [ 503.478899] ec_mini: Link is up.
Jun 28 21:48:22 bertwistle kernel: [ 503.478902] ec_mini: AnaIn: State
0x02.
Jun 28 21:48:22 bertwistle kernel: [ 503.404020] EtherCAT DEBUG:
Loading default mapping for PDO 0x1A00 in config 0:0.
Jun 28 21:48:22 bertwistle kernel: [ 503.404023] EtherCAT DEBUG: No
default mapping found.
Jun 28 21:48:22 bertwistle kernel: [ 503.404027] EtherCAT DEBUG:
ecrt_slave_config_pdo_mapping_clear(sc = 0xf775d400, pdo_index = 0x1A00)
Jun 28 21:48:22 bertwistle kernel: [ 503.404031] EtherCAT DEBUG:
ecrt_slave_config_pdo_mapping_add(sc = 0xf775d400, pdo_index = 0x1A00,
entry_index = 0x3101, entry_subindex = 0x01, entry_bit_length = 16)
Jun 28 21:48:22 bertwistle kernel: [ 503.404036] EtherCAT DEBUG:
ecrt_slave_config_pdo_mapping_add(sc = 0xf775d400, pdo_index = 0x1A00,
entry_index = 0x3101, entry_subindex = 0x02, entry_bit_length = 32)
Jun 28 21:48:22 bertwistle kernel: [ 503.404040] EtherCAT DEBUG:
ecrt_slave_config_pdo_mapping_add(sc = 0xf775d400, pdo_index = 0x1A00,
entry_index = 0x3101, entry_subindex = 0x03, entry_bit_length = 32)
Jun 28 21:48:22 bertwistle kernel: [ 503.404044] ec_mini: Registering
PDO entries...
Jun 28 21:48:22 bertwistle kernel: [ 503.404047] EtherCAT DEBUG:
ecrt_domain_reg_pdo_entry_list(domain = 0xebc1c200, regs = 0xf895d3a0)
Jun 28 21:48:22 bertwistle kernel: [ 503.404051] EtherCAT DEBUG:
ecrt_master_slave_config(master = 0xf4da8800, alias = 0, position = 0,
vendor_id = 0x40, product_code = 0x26483052)
Jun 28 21:48:22 bertwistle kernel: [ 503.404056] EtherCAT DEBUG:
ecrt_slave_config_reg_pdo_entry(sc = 0xf775d400, index = 0x3101,
subindex = 0x01, domain = 0xebc1c200, bit_position = 0x0)
Jun 28 21:48:22 bertwistle kernel: [ 503.404060] EtherCAT DEBUG: Domain
0: Added 10 bytes, total 10.
Jun 28 21:48:22 bertwistle kernel: [ 503.404063] ec_mini: Activating
master...
Jun 28 21:48:22 bertwistle kernel: [ 503.404066] EtherCAT DEBUG:
ecrt_master_activate(master = 0xf4da8800)
Jun 28 21:48:22 bertwistle kernel: [ 503.404071] EtherCAT: Domain0:
Logical address 0x00000000, 10 byte, expected working counter 1.
Jun 28 21:48:22 bertwistle kernel: [ 503.404074] EtherCAT: Datagram
domain0-0: Logical offset 0x00000000, 10 byte, type LRD.
Jun 28 21:48:22 bertwistle kernel: [ 503.404078] EtherCAT DEBUG:
Stopping master thread.
Jun 28 21:48:22 bertwistle kernel: [ 503.406921] EtherCAT DEBUG: Master
IDLE thread exiting...
Jun 28 21:48:22 bertwistle kernel: [ 503.415080] EtherCAT: Master
thread exited.
Jun 28 21:48:22 bertwistle kernel: [ 503.415087] EtherCAT DEBUG: FSM
datagram is f4da8acc.
Jun 28 21:48:22 bertwistle kernel: [ 503.415090] EtherCAT: Starting
EtherCAT-OP thread.
Jun 28 21:48:22 bertwistle kernel: [ 503.440426] ec_mini: Starting
cyclic sample thread.
Jun 28 21:48:22 bertwistle kernel: [ 503.440432] ec_mini: Started.
Jun 28 21:48:22 bertwistle kernel: [ 503.442231] EtherCAT DEBUG:
Operation thread running.
Jun 28 21:48:22 bertwistle kernel: [ 503.478891] ec_mini: 1 slave(s).
Jun 28 21:48:22 bertwistle kernel: [ 503.478895] ec_mini: AL states:
0x02.
Jun 28 21:48:22 bertwistle kernel: [ 503.478899] ec_mini: Link is up.
Jun 28 21:48:22 bertwistle kernel: [ 503.478902] ec_mini: AnaIn: State
0x02.
Jun 28 21:48:22 bertwistle kernel: [ 503.478906] ec_mini: AnaIn:
online.
Jun 28 21:48:22 bertwistle kernel: [ 503.494876] EtherCAT DEBUG:
Changing state of slave 0 from PREOP to OP.
Jun 28 21:48:22 bertwistle kernel: [ 503.494880] EtherCAT DEBUG:
Configuring slave 0...
Jun 28 21:48:22 bertwistle kernel: [ 503.526908] EtherCAT DEBUG: Slave
0 is now in INIT.
Jun 28 21:48:22 bertwistle kernel: [ 503.526911] EtherCAT DEBUG:
Clearing FMMU configurations of slave 0...
Jun 28 21:48:22 bertwistle kernel: [ 503.542866] EtherCAT DEBUG:
Configuring mailbox sync managers of slave 0.
Jun 28 21:48:22 bertwistle kernel: [ 503.542870] EtherCAT DEBUG: Slave
0 does not provide mailbox sync manager configurations.
Jun 28 21:48:22 bertwistle kernel: [ 503.542874] EtherCAT DEBUG: SM0:
Addr 0x1800, Size 192, Ctrl 0x26, En 1
Jun 28 21:48:22 bertwistle kernel: [ 503.542878] EtherCAT DEBUG: SM1:
Addr 0x1C00, Size 192, Ctrl 0x22, En 1
Jun 28 21:48:22 bertwistle kernel: [ 503.590830] EtherCAT DEBUG: Slave
0 is now in PREOP.
Jun 28 21:48:22 bertwistle kernel: [ 503.590836] EtherCAT WARNING: PDOs
configured for SM3, but slave 0 does not provide the sync manager
information!
Jun 28 21:48:22 bertwistle kernel: [ 503.590840] EtherCAT ERROR: Failed
to determine PDO sync manager for FMMU on slave 0!
(END)
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