[etherlab-users] problem in loading Beckhoff Serialport module EL6002, solved.
Jason Xu
jason at motiondesign.co.nz
Thu Jun 10 02:36:28 CEST 2010
Hi:
I should write this email a bit early. The problem I mentioned before about
loading EL6002 serial module has been solved. The main problem was creating
a RTAI shared memory in my kernel module. Now it is solved. The Beckhoff
EL6002 seems working fine.
Cheers.
Jason Xu
On 4 June 2010 22:00, <etherlab-users-request at etherlab.org> wrote:
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> 1. problem in loading Beckhoff Serialport module EL6002 (Jason Xu)
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> ----------------------------------------------------------------------
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> Message: 1
> Date: Fri, 4 Jun 2010 18:19:34 +1200
> From: Jason Xu <jason at motiondesign.co.nz>
> Subject: [etherlab-users] problem in loading Beckhoff Serialport
> module EL6002
> To: etherlab-users at etherlab.org
> Message-ID:
> <AANLkTilBEVCb6xcZpWWpvr_18wbPBx05vy0PntlHsCbe at mail.gmail.com>
> Content-Type: text/plain; charset="iso-8859-1"
>
> 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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--
Jason Xu
Motion Design Ltd
New Zealand
Tel: +64 9 411 8230
Fax: +64 9 411 8237
Email: jason at motiondesign.co.nz
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