[etherlab-users] Configure distributed clocks fail
damien
damien at dmp.com.tw
Thu Jun 11 13:02:56 CEST 2015
Hello EtherLab users,
I got an unearthly problem during configuring distributed clocks. When I
used function "ecrt_slave_config_dc(sc_dig_out_01, 0x0300, 1000000,
150000, 0, 0);" to configure distributed clocks, the segmentation fault
happened. I set the level of debug to 1, and type "dmesg" to get error
message:
[ 290.459588] EtherCAT DEBUG 0 0:0: ecrt_slave_config_dc(sc =
0xebfd8800, assign_activate = 0x0300, sync0_cycle = 1, sync0_shift =
-1078770036, sync1_cycle = 3958398640, sync1_shift = -128554713
Why are the parameters of ecrt_slave_config_dc different? I tried to
check the value of sc_dig_out_01, and it was always different from sc.
Did anyone meet the same situation?
Here is my whole error message:
[ 290.458486] EtherCAT: Requesting master 0...
[ 290.458499] EtherCAT DEBUG 0: IDLE -> OPERATION.
[ 290.458509] EtherCAT: Successfully requested master 0.
[ 290.458524] EtherCAT DEBUG 0: ecrt_master_create_domain(master =
0xf1c48000)
[ 290.458535] EtherCAT DEBUG 0: Created domain 0.
[ 290.458570] EtherCAT DEBUG 0: ecrt_master_slave_config(master =
0xf1c48000, alias = 0, position = 0, vendor_id = 0x00000083,
product_code = 0x00000007)
[ 290.458587] EtherCAT DEBUG 0: Creating slave configuration for 0:0,
0x00000083/0x00000007.
[ 290.458602] EtherCAT DEBUG 0 0:0: Attached slave 0.
[ 290.458662] EtherCAT DEBUG 0 0:0: ecrt_slave_config_sync_manager(sc =
0xebfd8800, sync_index = 0, dir = 1, watchdog_mode = 2)
[ 290.458682] EtherCAT DEBUG 0 0:0: ecrt_slave_config_sync_manager(sc =
0xebfd8800, sync_index = 1, dir = 2, watchdog_mode = 2)
[ 290.458701] EtherCAT DEBUG 0 0:0: ecrt_slave_config_sync_manager(sc =
0xebfd8800, sync_index = 2, dir = 1, watchdog_mode = 1)
[ 290.458722] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_assign_clear(sc = 0xebfd8800, sync_index = 2)
[ 290.458744] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_assign_add(sc
= 0xebfd8800, sync_index = 2, pdo_index = 0x1701)
[ 290.458759] EtherCAT DEBUG 0 0:0: Loading default mapping for PDO 0x1701.
[ 290.458770] EtherCAT DEBUG 0 0:0: Found PDO name "258th receive PDO
Mapping".
[ 290.458785] EtherCAT DEBUG 0 0:0: Entry 0x6040:00.
[ 290.458794] EtherCAT DEBUG 0 0:0: Entry 0x607A:00.
[ 290.458803] EtherCAT DEBUG 0 0:0: Entry 0x60B8:00.
[ 290.458813] EtherCAT DEBUG 0 0:0: Entry 0x60FE:01.
[ 290.458829] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_mapping_clear(sc = 0xebfd8800, pdo_index = 0x1701)
[ 290.458852] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_mapping_add(sc = 0xebfd8800, pdo_index = 0x1701,
entry_index = 0x6040, entry_subindex = 0x00, entry_bit_length = 16)
[ 290.458877] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_mapping_add(sc = 0xebfd8800, pdo_index = 0x1701,
entry_index = 0x607A, entry_subindex = 0x00, entry_bit_length = 32)
[ 290.458900] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_mapping_add(sc = 0xebfd8800, pdo_index = 0x1701,
entry_index = 0x60B8, entry_subindex = 0x00, entry_bit_length = 16)
[ 290.458923] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_mapping_add(sc = 0xebfd8800, pdo_index = 0x1701,
entry_index = 0x60FE, entry_subindex = 0x01, entry_bit_length = 32)
[ 290.458946] EtherCAT DEBUG 0 0:0: ecrt_slave_config_sync_manager(sc =
0xebfd8800, sync_index = 3, dir = 2, watchdog_mode = 2)
[ 290.458963] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_assign_clear(sc = 0xebfd8800, sync_index = 3)
[ 290.458984] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_assign_add(sc
= 0xebfd8800, sync_index = 3, pdo_index = 0x1B01)
[ 290.458998] EtherCAT DEBUG 0 0:0: Loading default mapping for PDO 0x1B01.
[ 290.459009] EtherCAT DEBUG 0 0:0: Found PDO name "258th transmit PDO
Mapping".
[ 290.459027] EtherCAT DEBUG 0 0:0: Entry 0x603F:00.
[ 290.459036] EtherCAT DEBUG 0 0:0: Entry 0x6041:00.
[ 290.459045] EtherCAT DEBUG 0 0:0: Entry 0x6064:00.
[ 290.459055] EtherCAT DEBUG 0 0:0: Entry 0x6077:00.
[ 290.459064] EtherCAT DEBUG 0 0:0: Entry 0x60F4:00.
[ 290.459073] EtherCAT DEBUG 0 0:0: Entry 0x60B9:00.
[ 290.459083] EtherCAT DEBUG 0 0:0: Entry 0x60BA:00.
[ 290.459092] EtherCAT DEBUG 0 0:0: Entry 0x60BC:00.
[ 290.459102] EtherCAT DEBUG 0 0:0: Entry 0x60FD:00.
[ 290.459115] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_mapping_clear(sc = 0xebfd8800, pdo_index = 0x1B01)
[ 290.459136] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_mapping_add(sc = 0xebfd8800, pdo_index = 0x1B01,
entry_index = 0x603F, entry_subindex = 0x00, entry_bit_length = 16)
[ 290.459160] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_mapping_add(sc = 0xebfd8800, pdo_index = 0x1B01,
entry_index = 0x6041, entry_subindex = 0x00, entry_bit_length = 16)
[ 290.459183] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_mapping_add(sc = 0xebfd8800, pdo_index = 0x1B01,
entry_index = 0x6064, entry_subindex = 0x00, entry_bit_length = 32)
[ 290.459206] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_mapping_add(sc = 0xebfd8800, pdo_index = 0x1B01,
entry_index = 0x6077, entry_subindex = 0x00, entry_bit_length = 16)
[ 290.459230] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_mapping_add(sc = 0xebfd8800, pdo_index = 0x1B01,
entry_index = 0x60F4, entry_subindex = 0x00, entry_bit_length = 32)
[ 290.459253] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_mapping_add(sc = 0xebfd8800, pdo_index = 0x1B01,
entry_index = 0x60B9, entry_subindex = 0x00, entry_bit_length = 16)
[ 290.459277] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_mapping_add(sc = 0xebfd8800, pdo_index = 0x1B01,
entry_index = 0x60BA, entry_subindex = 0x00, entry_bit_length = 32)
[ 290.459300] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_mapping_add(sc = 0xebfd8800, pdo_index = 0x1B01,
entry_index = 0x60BC, entry_subindex = 0x00, entry_bit_length = 32)
[ 290.459323] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_mapping_add(sc = 0xebfd8800, pdo_index = 0x1B01,
entry_index = 0x60FD, entry_subindex = 0x00, entry_bit_length = 32)
[ 290.459350] EtherCAT DEBUG 0: ecrt_master_slave_config(master =
0xf1c48000, alias = 0, position = 0, vendor_id = 0x00000083,
product_code = 0x00000007)
[ 290.459376] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc
= 0xebfd8800, index = 0x6040, subindex = 0x00, domain = 0xebf8ad80,
bit_position = 0xebf05db0)
[ 290.459394] EtherCAT DEBUG 0: Domain 0: Added 12 bytes, total 12.
[ 290.459409] EtherCAT DEBUG 0: ecrt_master_slave_config(master =
0xf1c48000, alias = 0, position = 0, vendor_id = 0x00000083,
product_code = 0x00000007)
[ 290.459432] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc
= 0xebfd8800, index = 0x607A, subindex = 0x00, domain = 0xebf8ad80,
bit_position = 0xebf05db0)
[ 290.459453] EtherCAT DEBUG 0: ecrt_master_slave_config(master =
0xf1c48000, alias = 0, position = 0, vendor_id = 0x00000083,
product_code = 0x00000007)
[ 290.459476] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc
= 0xebfd8800, index = 0x60B8, subindex = 0x00, domain = 0xebf8ad80,
bit_position = 0xebf05db0)
[ 290.459496] EtherCAT DEBUG 0: ecrt_master_slave_config(master =
0xf1c48000, alias = 0, position = 0, vendor_id = 0x00000083,
product_code = 0x00000007)
[ 290.459519] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc
= 0xebfd8800, index = 0x60FE, subindex = 0x01, domain = 0xebf8ad80,
bit_position = 0xebf05db0)
[ 290.459588] EtherCAT DEBUG 0 0:0: ecrt_slave_config_dc(sc =
0xebfd8800, assign_activate = 0x0300, sync0_cycle = 1, sync0_shift =
-1078770036, sync1_cycle = 3958398640, sync1_shift = -128554713
[ 290.459613] __ratelimit: 18 callbacks suppressed
[ 290.459625] lt-ec_rtai_rtdm[1539]: segfault at 0 ip (null) sp
bfb347c0 error 4 in ld-2.11.1.so[158000+1b000]
[ 290.467394] BUG: unable to handle kernel paging request at 0102976c
[ 290.467415] IP: [<f8547952>]
ec_fsm_master_action_process_sdo+0x62/0x190 [ec_master]
[ 290.467468] *pde = 00000000
[ 290.467478] Oops: 0000 [#1] SMP
[ 290.467489] last sysfs file:
/sys/devices/pci0000:00/0000:00:0a.1/usb1/1-4/1-4:1.0/host2/target2:0:0/2:0:0:0/block/sdb/sdb1/uevent
[ 290.467504] Modules linked in: ec_generic ec_master rtai_rtdm hal_lib
rtapi rtai_math rtai_sem rtai_fifos rtai_sched rtai_hal binfmt_misc
ppdev dm_crypt psmouse r8168 joydev serio_raw r6040 lp shpchp mii
parport dm_raid45 xor fbcon tileblit font bitblit usbhid hid softcursor
usb_storage vga16fb vgastate pata_rdc
[ 290.467600]
[ 290.467611] Pid: 1483, comm: EtherCAT-IDLE Not tainted
(2.6.32-122-rtai #rtai) EMKORE
[ 290.467624] EIP: 0060:[<f8547952>] EFLAGS: 00000292 CPU: 0
[ 290.467662] EIP is at ec_fsm_master_action_process_sdo+0x62/0x190
[ec_master]
[ 290.467674] EAX: 0102976c EBX: f1c48204 ECX: ebfd8800 EDX: ebfd8b2c
[ 290.467686] ESI: f1dd5400 EDI: 0102976c EBP: eb531eb4 ESP: eb531e90
[ 290.467697] DS: 007b ES: 007b FS: 00d8 GS: 00e0 SS: 0068
[ 290.467709] Process EtherCAT-IDLE (pid: 1483, ti=eb530000
task=f1d826a0 task.ti=eb530000)
[ 290.467719] I-pipe domain Linux
[ 290.467725] Stack:
[ 290.467731] 00000001 f1dcc060 bf23fce7 00000001 00000640 f1c48000
f1c48204 f1dd5400
[ 290.467755] <0> f1c48000 eb531ed8 f8547ba7 f2b5d01a 00000002 f1c48000
f1c48064 f1c48204
[ 290.467780] <0> f1dd5400 f1c48000 eb531ee8 f8547d27 eb531ef4 f1c48204
eb531f5c f8547e8e
[ 290.467808] Call Trace:
[ 290.467850] [<f8547ba7>] ? ec_fsm_master_action_idle+0x17/0x160
[ec_master]
[ 290.467892] [<f8547d27>] ?
ec_fsm_master_action_next_slave_state+0x37/0x90 [ec_master]
[ 290.467935] [<f8547e8e>] ? ec_fsm_master_action_configure+0x8e/0x190
[ec_master]
[ 290.467953] [<f809a0c8>] ? ec_gen_device_poll+0x88/0xa0 [ec_generic]
[ 290.467998] [<f85480e5>] ? ec_fsm_master_state_read_state+0xd5/0x140
[ec_master]
[ 290.468016] [<c01990ed>] ? __ipipe_restore_root+0x2d/0x40
[ 290.468016] [<c0569c67>] ? _spin_unlock_irqrestore+0x17/0x30
[ 290.468016] [<f8546bbf>] ? ec_fsm_master_exec+0x1f/0x30 [ec_master]
[ 290.468016] [<f8559c8d>] ? ec_master_idle_thread+0x8d/0x160 [ec_master]
[ 290.468016] [<f8559c00>] ? ec_master_idle_thread+0x0/0x160 [ec_master]
[ 290.468016] [<c015e814>] ? kthread+0x74/0x80
[ 290.468016] [<c015e7a0>] ? kthread+0x0/0x80
[ 290.468016] [<c0104087>] ? kernel_thread_helper+0x7/0x10
[ 290.468016] Code: 60 85 c9 0f 84 d4 00 00 00 8b b9 2c 03 00 00 8b 07
0f 18 00 90 8d 91 2c 03 00 00 39 d7 75 20 e9 b9 00 00 00 90 8d 74 26 00
89 c7 <8b> 00 0f 18 00 90 8d 91 2c 03 00 00 39 d7 0f 84 92 00 00 00 83
[ 290.468016] EIP: [<f8547952>]
ec_fsm_master_action_process_sdo+0x62/0x190 [ec_master] SS:ESP 0068:eb531e90
[ 290.468016] CR2: 000000000102976c
[ 290.468430] ---[ end trace 340bc7b1ba5f6851 ]---
Regards,
Damien.
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