[etherlab-users] Time issues with EtherCAT functions

[Carlos Jiménez Leal]

Hi Graeme, thanks for your answer

A 2012-11-08 02:32, Graeme Foot escrigué:
> Hi,
>
> Do you have the latest EtherLab 1.5.1 release (with the RTDM
> updates)?
Yes, I downloaded dev version: etherlabmaster-960cc1bb6b4a.tar.bz2


> Do you have RTDM enabled in the ethercat master build?
> (with the --enable-rtdm option.)
Yes,
./configure --enable-8139too --enable-e100 --enable-r8169 
--with-linux-dir=/usr/src/linux --with-rtai-dir=/usr/realtime

>
> Check if you have any traps / syscalls in RTAI using the command "cat
> /proc/rtai/scheduler".  If you do, then the RTDM calls probably 
> aren't
> configured correctly and you are losing realtime.
Are many syscalls,
root at debian:~/RTAI_EtherCAT/src# cat /proc/rtai/scheduler

RTAI LXRT Real Time Task Scheduler.

     Calibrated Time Base Frequency: 1800035000 Hz
     Calibrated interrupt to scheduler latency: 2943 ns
     Calibrated oneshot timer setup_to_firing time: 999 ns

Number of RT CPUs in system: 4 (sized for 4)

Real time kthreads in resorvoir (cpu/#): (0/1): (1/1): (2/1): (3/1)

Global heap: size =    2097152, used =       2304; <BSD>.
Kstack heap: size =     524288, used =      32768; <BSD>.

Number of forced hard/soft/hard transitions: traps 0, syscalls 278090

Priority  Period(ns)  FPU  Sig  State  CPU  Task  HD/SF  PID  RT_TASK * 
TIME
------------------------------------------------------------------------------
0          0           No   No  0x5    0:1   1      1    0     f8b40780 
  0
1          99999       Yes  No  0x1    0:1   2      1    1306  f8903220 
  185
TIMED
> f8b40780
READY
> f8903220 0          0           No   No  0x5    1:2   3      1    0   
>  f8b40c80   0
TIMED
> f8b40c80
READY
0          0           No   No  0x5    2:4   4      1    0     f8b41180 
  0
TIMED
> f8b41180
READY
0          0           No   No  0x5    3:8   5      1    0     f8b41680 
  0
TIMED
> f8b41680
READY

I have compiled RTAI with RTDM support, the EtherCATMaster too, and 
forces me to load the module rtai_rtdm to start the master.
How to configure the RTDM?

Thank you in advance

>
>
> Regards,
> Graeme.
>
>
> -----Original Message-----
> From: etherlab-users-bounces at etherlab.org
> [mailto:etherlab-users-bounces at etherlab.org] On Behalf Of Carlos
> Jiménez Leal
> Sent: Thursday, 8 November 2012 05:00
> To: EtherLAB Users
> Subject: [etherlab-users] Time issues with EtherCAT functions
>
> Hello,
>
> I have some problems with the execution time of the EtherCAT 
> functions
> in user space.
> I'm using the version of the EtherLAB dated 06/11/2012, linux 
> 2.6.29.5
> and RTAI 3.8.1 (with RTDM) for one cycle at 10kHz,
> in a system with the following Beckohff modules: EK1100, EL2004,
> EL1004, EL4132, EL3102, 2xEL3356-0010, EL9510
> on a 1.80GHz Intel Atom D525, with a Realtek 8139too
>
> The cycle would be something like this:
>
> cycle () {
> 	ecrt_master_receive ()
> 	ecrt_domain_process ()
> 	phases ()
> 	ecrt_domain_queue ()
> 	ecrt_master_send ()
> 	wait_next_cycle ()
> }
>
> I picked up the time it takes each and is far superior to that
> specified in the etherlab manual
> 
> (http://www.etherlab.org/download/ethercat/ethercat-1.5-6129a5f715fb.pdf)
>
> 			Retrieved 	Manual
> Receive Master 		21micro-s 	2.2micro-s
> Domain Process 	        11.5micro-s 	1micro-s
> Domain Queue 		13.6micro-s 	1micro-s
> Master Send 		14.3micro-s 	2.5micro-s
>
> Besides occasionally one of them takes much longer, reaching 
> 3_mili-s_
> Master Receive
> (attached compressed csv file data)
>
> Anyone have any idea what could be happening?
>
> Thank you in advance
>
> --
> Carlos Jiménez
>
> ENCOPIM S.L.
> C/. del Parc 5 (nau 13), P.I. Els Pinetons
> E-08291 RIPOLLET (Barcelona)
> Tel: (+34) 935 94 23 47
> Fax: (+34) 935 94 64 15
>
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-- 
Carlos Jiménez

ENCOPIM S.L.
C/. del Parc 5 (nau 13), P.I. Els Pinetons
E-08291 RIPOLLET (Barcelona)
Tel: (+34) 935 94 23 47
Fax: (+34) 935 94 64 15

==========================================================
La información contenida en la presente transmisión es confidencial y 
su
uso únicamente está permitido a su(s) destinatario(s). Si Ud. no es la
persona destinataria de la presente transmisión, rogamos nos lo
comunique de manera inmediata por teléfono (+34 935 942 347) y destruya
cualquier copia de la misma (tanto digitales como en papel).

The information contained in this transmission is confidential and is
intended only for the use of the addressee(s). If you are not the
designated recipient of this transmission, please advise us immediately
by telephone (+34 935 942 347) and destroy any copies (digital and
paper).
==========================================================