[etherlab-users] WARNINGS: "Working counter changed" and "datagram UNMATCHED"
matthieu bec
mbec at gmto.org
Sat May 18 05:36:18 CEST 2013
Hello Marcel,
Two things you might want to check:
- have a look at the 'dc_user' example (mlockall, nanosleep cycle). The
'user' example works with setitimer, that might be less deterministic
somehow
- are you using the 'generic' driver? have a look at patch drivers if
your NIC is supported
Regards,
Matthieu
On 05/02/2013 02:06 PM, rothgaenger at tecodrive.com wrote:
>
> Hello everybody!
>
> I am trying to build an etherlab-application based on the user-example.
> I modified the source code for my bus configuration. After compiling and
> running the program I received the following output:
>
> Configuring PDOs...
> Activating master...
> Starting timer...
> Started.
> 5 slave(s).
> AL states: 0x02.
> Link is up.
> Domain1: WC 1.
> Domain1: State 1.
> Domain1: WC 4.
> Domain1: WC 5.
> Domain1: WC 6.
> Domain1: State 2.
> AL states: 0x08.
> Domain1: WC 0.
> Domain1: State 0.
> Domain1: WC 6.
> Domain1: State 2.
> Domain1: WC 0.
> Domain1: State 0.
> Domain1: WC 6.
> Domain1: State 2.
>
> The program works, the digital outputs are blinking/toggleing. I paid
> attention to the domain working counter- and state changes. This
> messages appear when the program is running a few seconds. The kernel
> logs showed the following messages:
>
> tux at terminal:~$ sudo dmesg -c
> [29842.462777] EtherCAT 0: Domain 0: Working counter changed to 0/6.
> [29842.752788] EtherCAT WARNING: Datagram f73b59c0 (domain0-0) was
> SKIPPED 2 times.
> [29843.076180] EtherCAT WARNING 0: 1 datagram UNMATCHED!
> [29843.472786] EtherCAT 0: Domain 0: Working counter changed to 6/6.
> tux at terminal:~$ sudo dmesg -c
> [29855.462831] EtherCAT 0: Domain 0: Working counter changed to 0/6.
> [29855.882832] EtherCAT WARNING: Datagram f73b59c0 (domain0-0) was
> SKIPPED 2 times.
> [29856.084222] EtherCAT WARNING 0: 1 datagram UNMATCHED!
> [29856.472779] EtherCAT 0: Domain 0: Working counter changed to 6/6.
>
> Here some infos about the system: Ubuntu 10.04 LTS with Kernel 2.6.31.6
> and PREEMPT patch but same warnings also appear on a system without RT
> PREEMPT.
> etherlab version info:
> tux at terminal:~$ sudo /opt/etherlab/bin/ethercat version
> IgH EtherCAT master 1.5.1 0f7a243b03e4
>
> I can imagine there are timing problems because program is working and
> the messages appear irregular. On the other side, EtherCAT is a
> real-time capable system but does not require real-time, isn't it? Can
> you tell me what's wrong in the program or what is the reason for warnings?
>
> Below you can see the program.
>
> Best Regards,
> Marcel
>
>
>
>
> #include <errno.h>
> #include <signal.h>
> #include <stdio.h>
> #include <string.h>
> #include <sys/resource.h>
> #include <sys/time.h>
> #include <sys/types.h>
> #include <unistd.h>
>
> /****************************************************************************/
>
>
> #include "ecrt.h"
>
> /****************************************************************************/
>
>
> // Application parameters
> #define FREQUENCY 100
> #define PRIORITY 1
>
> // Optional features
> #define CONFIGURE_PDOS 1
> #define SDO_ACCESS 0
>
> /****************************************************************************/
>
>
> // EtherCAT
> static ec_master_t *master = NULL;
> static ec_master_state_t master_state = {};
>
> static ec_domain_t *domain1 = NULL;
> static ec_domain_state_t domain1_state = {};
>
> static ec_slave_config_t *sc_ana_in = NULL;
> static ec_slave_config_state_t sc_ana_in_state = {};
>
> // Timer
> static unsigned int sig_alarms = 0;
> static unsigned int user_alarms = 0;
>
> /****************************************************************************/
>
>
> // process data
> static uint8_t *domain1_pd = NULL;
>
> #define BusCouplerPos 0, 0
> #define PotentialPos 0, 1
> #define DigOutSlavePos 0, 2
> #define DigInSlavePos 0, 2
> #define AnaInSlavePos 0, 3
> #define ThermoSlavePos 0, 4
>
> #define Beckhoff_EK1100 0x00000002, 0x044c2c52
> #define Beckhoff_EL9110 0x00000002, 0x23963052
> #define Beckhoff_EL1859 0x00000002, 0x07433052
> #define Beckhoff_EL3111 0x00000002, 0x0c273052
> #define Beckhoff_EL3311 0x00000002, 0x0cef3052
>
>
> // offsets for PDO entries
> static unsigned int off_potential_status;
> static unsigned int off_dig_out;
> static unsigned int off_dig_in;
> static unsigned int off_ana_in;
> static unsigned int off_thermo_in;
>
> const static ec_pdo_entry_reg_t domain1_regs[] = {
> {PotentialPos, Beckhoff_EL9110, 0x6000, 1, &off_potential_status},
> {DigOutSlavePos, Beckhoff_EL1859, 0x7080, 1, &off_dig_out},
> {DigInSlavePos, Beckhoff_EL1859, 0x6000, 1, &off_dig_in},
> {AnaInSlavePos, Beckhoff_EL3111, 0x6000, 0x11, &off_ana_in},
> {ThermoSlavePos, Beckhoff_EL3311, 0x6000, 0x11, &off_thermo_in},
> {}
> };
>
> static unsigned int counter = 0;
> static unsigned int blink = 0;
>
> /*****************************************************************************/
>
>
> #if CONFIGURE_PDOS
>
> /* Master 0, Slave 1, "EL9110"
> * Vendor ID: 0x00000002
> * Product code: 0x23963052
> * Revision number: 0x00100000
> */
>
> ec_pdo_entry_info_t slave_1_pdo_entries[] = {
> {0x6000, 0x01, 1}, /* Input */
> };
>
> ec_pdo_info_t slave_1_pdos[] = {
> {0x1a00, 1, slave_1_pdo_entries + 0}, /* PowerOK */
> };
>
> ec_sync_info_t slave_1_syncs[] = {
> {0, EC_DIR_INPUT, 1, slave_1_pdos + 0, EC_WD_DISABLE},
> {0xff}
> };
>
> /* Master 0, Slave 2, "EL1859"
> * Vendor ID: 0x00000002
> * Product code: 0x07433052
> * Revision number: 0x00100000
> */
>
> ec_pdo_entry_info_t slave_2_pdo_entries[] = {
> {0x7080, 0x01, 1}, /* Output */
> {0x7090, 0x01, 1}, /* Output */
> {0x70a0, 0x01, 1}, /* Output */
> {0x70b0, 0x01, 1}, /* Output */
> {0x70c0, 0x01, 1}, /* Output */
> {0x70d0, 0x01, 1}, /* Output */
> {0x70e0, 0x01, 1}, /* Output */
> {0x70f0, 0x01, 1}, /* Output */
> {0x6000, 0x01, 1}, /* Input */
> {0x6010, 0x01, 1}, /* Input */
> {0x6020, 0x01, 1}, /* Input */
> {0x6030, 0x01, 1}, /* Input */
> {0x6040, 0x01, 1}, /* Input */
> {0x6050, 0x01, 1}, /* Input */
> {0x6060, 0x01, 1}, /* Input */
> {0x6070, 0x01, 1}, /* Input */
> };
>
> ec_pdo_info_t slave_2_pdos[] = {
> {0x1608, 1, slave_2_pdo_entries + 0}, /* Channel 9 */
> {0x1609, 1, slave_2_pdo_entries + 1}, /* Channel 10 */
> {0x160a, 1, slave_2_pdo_entries + 2}, /* Channel 11 */
> {0x160b, 1, slave_2_pdo_entries + 3}, /* Channel 12 */
> {0x160c, 1, slave_2_pdo_entries + 4}, /* Channel 13 */
> {0x160d, 1, slave_2_pdo_entries + 5}, /* Channel 14 */
> {0x160e, 1, slave_2_pdo_entries + 6}, /* Channel 15 */
> {0x160f, 1, slave_2_pdo_entries + 7}, /* Channel 16 */
> {0x1a00, 1, slave_2_pdo_entries + 8}, /* Channel 1 */
> {0x1a01, 1, slave_2_pdo_entries + 9}, /* Channel 2 */
> {0x1a02, 1, slave_2_pdo_entries + 10}, /* Channel 3 */
> {0x1a03, 1, slave_2_pdo_entries + 11}, /* Channel 4 */
> {0x1a04, 1, slave_2_pdo_entries + 12}, /* Channel 5 */
> {0x1a05, 1, slave_2_pdo_entries + 13}, /* Channel 6 */
> {0x1a06, 1, slave_2_pdo_entries + 14}, /* Channel 7 */
> {0x1a07, 1, slave_2_pdo_entries + 15}, /* Channel 8 */
> };
>
> ec_sync_info_t el1859_syncs[] = {
> {0, EC_DIR_OUTPUT, 8, slave_2_pdos + 0, EC_WD_ENABLE},
> {1, EC_DIR_INPUT, 8, slave_2_pdos + 8, EC_WD_DISABLE},
> {0xff}
> };
>
> /* Master 0, Slave 3, "EL3111"
> * Vendor ID: 0x00000002
> * Product code: 0x0c273052
> * Revision number: 0x00100000
> */
>
> ec_pdo_entry_info_t slave_3_pdo_entries[] = {
> {0x6000, 0x01, 1}, /* Underrange */
> {0x6000, 0x02, 1}, /* Overrange */
> {0x6000, 0x03, 2}, /* Limit 1 */
> {0x6000, 0x05, 2}, /* Limit 2 */
> {0x6000, 0x07, 1}, /* Error */
> {0x0000, 0x00, 1}, /* Gap */
> {0x0000, 0x00, 5}, /* Gap */
> {0x1c32, 0x20, 1},
> {0x1800, 0x07, 1}, /* TxPDO State */
> {0x1800, 0x09, 1}, /* TxPDO Toggle */
> {0x6000, 0x11, 16}, /* Value */
> };
>
> ec_pdo_info_t slave_3_pdos[] = {
> {0x1a00, 11, slave_3_pdo_entries + 0}, /* AI TxPDO-Map Standard
> Ch.1 */
> };
>
> ec_sync_info_t el3111_syncs[] = {
> {0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE},
> {1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE},
> {2, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE},
> {3, EC_DIR_INPUT, 1, slave_3_pdos + 0, EC_WD_DISABLE},
> {0xff}
> };
>
> /* Master 0, Slave 4, "EL3311"
> * Vendor ID: 0x00000002
> * Product code: 0x0cef3052
> * Revision number: 0x00120000
> */
>
> ec_pdo_entry_info_t slave_4_pdo_entries[] = {
> {0x6000, 0x01, 1}, /* Underrange */
> {0x6000, 0x02, 1}, /* Overrange */
> {0x6000, 0x03, 2}, /* Limit 1 */
> {0x6000, 0x05, 2}, /* Limit 2 */
> {0x6000, 0x07, 1}, /* Error */
> {0x0000, 0x00, 7}, /* Gap */
> {0x6000, 0x0f, 1}, /* TxPDO State */
> {0x1800, 0x09, 1},
> {0x6000, 0x11, 16}, /* Value */
> };
>
> ec_pdo_info_t slave_4_pdos[] = {
> {0x1a00, 9, slave_4_pdo_entries + 0}, /* TC TxPDO-MapCh.1 */
> };
>
> ec_sync_info_t slave_4_syncs[] = {
> {0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE},
> {1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE},
> {2, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE},
> {3, EC_DIR_INPUT, 1, slave_4_pdos + 0, EC_WD_DISABLE},
> {0xff}
> };
>
> #endif
>
> /*****************************************************************************/
>
>
> #if SDO_ACCESS
> static ec_sdo_request_t *sdo;
> #endif
>
> /*****************************************************************************/
>
>
> void check_domain1_state(void)
> {
> ec_domain_state_t ds;
>
> ecrt_domain_state(domain1, &ds);
>
> if (ds.working_counter != domain1_state.working_counter)
> printf("Domain1: WC %u.\n", ds.working_counter);
> if (ds.wc_state != domain1_state.wc_state)
> printf("Domain1: State %u.\n", ds.wc_state);
>
> domain1_state = ds;
> }
>
> /*****************************************************************************/
>
>
> void check_master_state(void)
> {
> ec_master_state_t ms;
>
> ecrt_master_state(master, &ms);
>
> if (ms.slaves_responding != master_state.slaves_responding)
> printf("%u slave(s).\n", ms.slaves_responding);
> if (ms.al_states != master_state.al_states)
> printf("AL states: 0x%02X.\n", ms.al_states);
> if (ms.link_up != master_state.link_up)
> printf("Link is %s.\n", ms.link_up ? "up" : "down");
>
> master_state = ms;
> }
>
> /*****************************************************************************/
>
>
> void check_slave_config_states(void)
> {
> ec_slave_config_state_t s;
>
> ecrt_slave_config_state(sc_ana_in, &s);
>
> if (s.al_state != sc_ana_in_state.al_state)
> printf("AnaIn: State 0x%02X.\n", s.al_state);
> if (s.online != sc_ana_in_state.online)
> printf("AnaIn: %s.\n", s.online ? "online" : "offline");
> if (s.operational != sc_ana_in_state.operational)
> printf("AnaIn: %soperational.\n",
> s.operational ? "" : "Not ");
>
> sc_ana_in_state = s;
> }
>
> /*****************************************************************************/
>
>
> #if SDO_ACCESS
> void read_sdo(void)
> {
> switch (ecrt_sdo_request_state(sdo)) {
> case EC_REQUEST_UNUSED: // request was not used yet
> ecrt_sdo_request_read(sdo); // trigger first read
> break;
> case EC_REQUEST_BUSY:
> fprintf(stderr, "Still busy...\n");
> break;
> case EC_REQUEST_SUCCESS:
> fprintf(stderr, "SDO value: 0x%04X\n",
> EC_READ_U16(ecrt_sdo_request_data(sdo)));
> ecrt_sdo_request_read(sdo); // trigger next read
> break;
> case EC_REQUEST_ERROR:
> fprintf(stderr, "Failed to read SDO!\n");
> ecrt_sdo_request_read(sdo); // retry reading
> break;
> }
> }
> #endif
>
> /****************************************************************************/
>
>
> void cyclic_task()
> {
> int i;
>
> // receive process data
> ecrt_master_receive(master);
> ecrt_domain_process(domain1);
>
> // check process data state (optional)
> check_domain1_state();
>
> if (counter) {
> counter--;
> } else { // do this at 1 Hz
> counter = FREQUENCY;
>
> // calculate new process data
> blink = !blink;
>
> // check for master state (optional)
> check_master_state();
>
> // check for islave configuration state(s) (optional)
> //check_slave_config_states();
>
> #if SDO_ACCESS
> // read process data SDO
> read_sdo();
> #endif
>
> }
>
> #if 0
> // read process data
> printf("AnaIn: state %u value %u\n",
> EC_READ_U8(domain1_pd + off_ana_in_status),
> EC_READ_U16(domain1_pd + off_ana_in_value));
> #endif
>
> #if 1
> // write process data
> EC_WRITE_U8(domain1_pd + off_dig_out, blink ? 0x06 : 0x09);
> #endif
>
> // send process data
> ecrt_domain_queue(domain1);
> ecrt_master_send(master);
> }
>
> /****************************************************************************/
>
>
> void signal_handler(int signum) {
> switch (signum) {
> case SIGALRM:
> sig_alarms++;
> break;
> }
> }
>
> /****************************************************************************/
>
>
> int main(int argc, char **argv)
> {
> ec_slave_config_t *sc;
> struct sigaction sa;
> struct itimerval tv;
>
> master = ecrt_request_master(0);
> if (!master)
> return -1;
>
> domain1 = ecrt_master_create_domain(master);
> if (!domain1)
> return -1;
>
> if (!(sc_ana_in = ecrt_master_slave_config(
> master, AnaInSlavePos, Beckhoff_EL3111))) {
> fprintf(stderr, "Failed to get slave configuration.\n");
> return -1;
> }
>
> #if SDO_ACCESS
> fprintf(stderr, "Creating SDO requests...\n");
> if (!(sdo = ecrt_slave_config_create_sdo_request(sc_ana_in, 0x3102,
> 2, 2))) {
> fprintf(stderr, "Failed to create SDO request.\n");
> return -1;
> }
> ecrt_sdo_request_timeout(sdo, 500); // ms
> #endif
>
> #if CONFIGURE_PDOS
> printf("Configuring PDOs...\n");
> if (ecrt_slave_config_pdos(sc_ana_in, EC_END, el3111_syncs)) {
> fprintf(stderr, "Failed to configure PDOs.\n");
> return -1;
> }
>
> if (!(sc = ecrt_master_slave_config(
> master, DigOutSlavePos, Beckhoff_EL1859))) {
> fprintf(stderr, "Failed to get slave configuration.\n");
> return -1;
> }
>
> if (ecrt_slave_config_pdos(sc, EC_END, el1859_syncs)) {
> fprintf(stderr, "Failed to configure PDOs.\n");
> return -1;
> }
> #endif
>
> // Create configuration for bus coupler
> sc = ecrt_master_slave_config(master, BusCouplerPos, Beckhoff_EK1100);
> if (!sc)
> return -1;
>
> if (ecrt_domain_reg_pdo_entry_list(domain1, domain1_regs)) {
> fprintf(stderr, "PDO entry registration failed!\n");
> return -1;
> }
>
> printf("Activating master...\n");
> if (ecrt_master_activate(master))
> return -1;
>
> if (!(domain1_pd = ecrt_domain_data(domain1))) {
> return -1;
> }
>
> #if PRIORITY
> pid_t pid = getpid();
> if (setpriority(PRIO_PROCESS, pid, -19))
> fprintf(stderr, "Warning: Failed to set priority: %s\n",
> strerror(errno));
> #endif
>
> sa.sa_handler = signal_handler;
> sigemptyset(&sa.sa_mask);
> sa.sa_flags = 0;
> if (sigaction(SIGALRM, &sa, 0)) {
> fprintf(stderr, "Failed to install signal handler!\n");
> return -1;
> }
>
> printf("Starting timer...\n");
> tv.it_interval.tv_sec = 0;
> tv.it_interval.tv_usec = 1000000 / FREQUENCY;
> tv.it_value.tv_sec = 0;
> tv.it_value.tv_usec = 1000;
> if (setitimer(ITIMER_REAL, &tv, NULL)) {
> fprintf(stderr, "Failed to start timer: %s\n", strerror(errno));
> return 1;
> }
>
> printf("Started.\n");
> while (1) {
> pause();
>
> #if 0
> struct timeval t;
> gettimeofday(&t, NULL);
> printf("%u.%06u\n", t.tv_sec, t.tv_usec);
> #endif
>
> while (sig_alarms != user_alarms) {
> cyclic_task();
> user_alarms++;
> }
> }
>
> return 0;
> }
>
> /****************************************************************************/
>
>
>
> _______________________________________________
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> etherlab-users at etherlab.org
> http://lists.etherlab.org/mailman/listinfo/etherlab-users
--
Matthieu Bec GMTO Corp.
cell : +1 626 354 9367 P.O. Box 90933
phone: +1 626 204 0527 Pasadena, CA 91109-0933
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