[etherlab-users] problem in loading Beckhoff Serialport module EL6002

Fri Jun 4 08:19:34 CEST 2010

Hi Florian:

I have a strange problem when I load Beckhoff Serialport module EL6002. The
story is as this.

I write a c kernal module following your example code in rtai and tty folder
(CoE). The running master version is  1.4.0-rc3 in my test pc.

I have 3 Beckhoff Serialport module EL6002 in the slave bank plus 60 other
Beckhoff digital I/O slaves (modules). The 3 EL6002 modules (6 serial ports)
working fine when I connect them with only 20 of the 60 digital I/O modules.
However, if I connect all the 60 digital I/O slaves (modules) with the 3
EL6002 modules, the ethercat kernal module crashed during initialization.

All the digital I/Os and 3 EL6002 are scanned in 1000Hz scan rate in
realtime. I did not use virtual ectty port method. Instead, I use a seperate
share memory to story the read/write buffer. I think that should not be a
problem, plus I have checked the reading/sending are correct when there is
less module connected in the bank.

Below are the dmesg, can you give some suggestion on this problem. Thanks in
advance.

Jason

[  137.976768] ec_md_ethercat v1.05-70:Starting...
[  137.976774] EtherCAT: Requesting master 0...
[  137.977009] EtherCAT: Successfully requested master 0.
[  137.977016] ec_md_ethercat v1.05-70:Registering domain...
[  137.977452] ec_md_ethercat v1.05-70:Registering Pdo entries...
[  137.978062] ec_md_ethercat v1.05-70:Activating master...
[  137.978084] EtherCAT: Domain0: Logical address 0x00000000, 344 byte,
expected working counter 102.
[  137.978090] EtherCAT:   Datagram domain0-0: Logical offset 0x00000000,
344 byte, type LRW.
[  137.978128] EtherCAT: Master thread exited.
[  137.978133] EtherCAT: Starting EtherCAT-OP thread.
[  137.978184] ec_md_ethercat v1.05-70:Starting cyclic sample thread...
[  137.978199] ec_md_ethercat v1.05-70:RT timer started with 999925/999925
ticks.
[  137.978228] ec_md_ethercat v1.05-70:Initialized.
[  137.979274] ec_md_ethercat v1.05-70:kernel module thread called
[  137.979281] ec_md_ethercat v1.05-70:64 slave(s).
[  137.979284] ec_md_ethercat v1.05-70:AL states: 0x02.
[  137.979287] ec_md_ethercat v1.05-70:Link is up.
[  137.997238] EtherCAT: Domain 0: Working counter changed to 2/102.
[  137.997245] ec_md_ethercat v1.05-70:Domain1: WC 2.
[  137.997248] ec_md_ethercat v1.05-70:Domain1: State 1.
[  138.025234] ec_md_ethercat v1.05-70:Domain1: WC 4.
[  138.051240] ec_md_ethercat v1.05-70:Domain1: WC 6.
[  138.077245] ec_md_ethercat v1.05-70:Domain1: WC 8.
[  138.105247] ec_md_ethercat v1.05-70:Domain1: WC 10.
[  138.133226] ec_md_ethercat v1.05-70:Domain1: WC 12.
[  138.161224] ec_md_ethercat v1.05-70:Domain1: WC 14.
[  138.185219] ec_md_ethercat v1.05-70:Domain1: WC 16.
[  138.209217] ec_md_ethercat v1.05-70:Domain1: WC 18.
[  138.233215] ec_md_ethercat v1.05-70:Domain1: WC 20.
[  138.257215] ec_md_ethercat v1.05-70:Domain1: WC 22.
[  138.281211] ec_md_ethercat v1.05-70:Domain1: WC 24.
[  138.305210] ec_md_ethercat v1.05-70:Domain1: WC 26.
[  138.329209] ec_md_ethercat v1.05-70:Domain1: WC 28.
[  138.354207] ec_md_ethercat v1.05-70:Domain1: WC 30.
[  138.378203] ec_md_ethercat v1.05-70:Domain1: WC 32.
[  138.402201] ec_md_ethercat v1.05-70:Domain1: WC 34.
[  138.442202] ec_md_ethercat v1.05-70:Domain1: WC 37.
[  138.448206] ec_md_ethercat v1.05-70:alias=61 term=0 : Init successful.
[  138.448213] ec_md_ethercat v1.05-70:alias=61 term=1 : Init successful.
[  138.470198] ec_md_ethercat v1.05-70:Domain1: WC 40.
[  138.476212] ec_md_ethercat v1.05-70:alias=62 term=0 : Init successful.
[  138.476218] ec_md_ethercat v1.05-70:alias=62 term=1 : Init successful.
[  138.498196] ec_md_ethercat v1.05-70:Domain1: WC 43.
[  138.504208] ec_md_ethercat v1.05-70:alias=63 term=0 : Init successful.
[  138.504214] ec_md_ethercat v1.05-70:alias=63 term=1 : Init successful.
[  138.505199]
[  138.505201] LXRT CHANGED MODE (TRAP), PID = 1223, VEC = 14, SIGNO = 11.
[  138.505218] BUG: unable to handle kernel paging request at virtual
address de87c148
[  138.516929] printing eip: df2b53f2 *pde = 1c0d7067 *pte = 00000000
[  138.528899] Oops: 0000 [#1]
[  138.540681] Modules linked in: ec_md_ethercat(F) rtai_sem rtai_shm
rtai_fifos rtai_usi rtai_lxrt rtai_hal rtai_smi usbhid usbscanner mxuport
mxusbserial ec_8139too ec_master
[  138.567837]
[  138.581230] Pid: 1223, comm: U:HARD:0:11 Tainted: GF       (2.6.24.4 #12)
[  138.595246] EIP: 0060:[<df2b53f2>] EFLAGS: 00010297 CPU: 0
[  138.609439] EIP is at el60xx_port_run+0x4e/0x21c [ec_md_ethercat]
[  138.623904] EAX: 00000000 EBX: de87bf40 ECX: de87bf40 EDX: daa5e800
[  138.638490] ESI: df2ba5ac EDI: daa50000 EBP: daa5e800 ESP: daa6df78
[  138.653090]  DS: 007b ES: 007b FS: 0000 GS: 0033 SS: 0068
[  138.667860] Process U:HARD:0:11 (pid: 1223, ti=daa6c000 task=daa12560
task.ti=daa6c000)<0>
[  138.668517] I-pipe domain Linux
[  138.683608] Stack: 0000003b dc1f9800 df2ba64c 00ad3120 daa5e8f2 0084996c
de87c150 df2ba5a4
[  138.699673]        daa5e800 00000000 df2b55d7 0000003a df2c10d8 df2ba5a4
df2b5c9b df2c0800
[  138.716002]        df2c0380 00000000 00000000 df2a0d87 df2b3a00 df2a7501
00000000 0000000b
[  138.732524] Call Trace:
[  138.765162]  [<df2b55d7>] el6002_run+0x17/0x28 [ec_md_ethercat]
[  138.782233]  [<df2b5c9b>] run+0x225/0x2a6 [ec_md_ethercat]
[  138.799560]  [<df2a0d87>] kthread_fun+0x113/0x181 [rtai_lxrt]
[  138.817052]  [<df2a0c74>] kthread_fun+0x0/0x181 [rtai_lxrt]
[  138.834563]  [<c0104087>] kernel_thread_helper+0x7/0x10
[  138.852162]  =======================
[  138.869659] Code: 0f 84 92 01 00 00 0f 82 6e 01 00 00 83 f8 02 0f 85 b5
01 00 00 89 f8 88 44 24 0f 83 e0 01 88 44 24 17 3a 46 39 0f 84 b6 00 00 00
<83> b9 08 02 00 00 00 0f 84 8d 00 00 00 83 b9 00 02 00 00 00 0f
[  138.908603] EIP: [<df2b53f2>] el60xx_port_run+0x4e/0x21c [ec_md_ethercat]
SS:ESP 0068:daa6df78
[  138.928341] ---[ end trace 9d389a8bf40e7b52 ]---
[  138.948159] EtherCAT: Slave states: PREOP, OP.
-bash-3.2#
-bash-3.2#
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