[etherlab-users] Problem with getting yaskawa sigma 7 into op state

[Rahul Deshpande]

Hi,

I am trying to use the yaskawa sigma 7 servopack with the igh master. I am
unable to get it into op state. It always gets stuck at pre-op state. Also
there are many datagram timeouts. I have attached logs as well as my
xenomai application which I am using for this. It would be really helpful
if somebody could guide me in the right direction.

Regards,
Rahul
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  Linux version 2.6.33 (root at linux-0mmn) (gcc version 4.3.6 (Buildroot 2011.11) ) #1 Tue Apr 11 09:38:47 CDT 2017
CPU: ARM926EJ-S [41069265] revision 5 (ARMv5TEJ), cr=00053177
CPU: VIVT data cache, VIVT instruction cache
Machine: Atmel AT91SAM9G20-EK
Memory policy: ECC disabled, Data cache writeback
Clocks: CPU 396 MHz, master 132 MHz, main 18.432 MHz
Built 1 zonelists in Zone order, mobility grouping on.  Total pages: 16256
Kernel command line: console=ttyS1,115200 root=/dev/mtdblock1 mtdparts=at91_nand:128k(bootstrap)ro,256k(uboot)ro,128k(env1)ro,128k(env2)ro,2M(linux),-(root) rw rootfstype=jffs2
PID hash table entries: 256 (order: -2, 1024 bytes)
Dentry cache hash table entries: 8192 (order: 3, 32768 bytes)
Inode-cache hash table entries: 4096 (order: 2, 16384 bytes)
Memory: 64MB = 64MB total
Memory: 61120KB available (3196K code, 333K data, 128K init, 0K highmem)
Hierarchical RCU implementation.
RCU-based detection of stalled CPUs is enabled.
NR_IRQS:192
AT91: 96 gpio irqs in 3 banks
AT91 I-pipe timer: div: 128, freq: 1.032000 MHz, wrap: 63.503875 ms
I-pipe 1.16-01: pipeline enabled.
Console: colour dummy device 80x30
Calibrating delay loop... 197.83 BogoMIPS (lpj=989184)
Mount-cache hash table entries: 512
CPU: Testing write buffer coherency: ok
devtmpfs: initialized
NET: Registered protocol family 16
AT91: Power Management
AT91: Starting after user reset
bio: create slab <bio-0> at 0
SCSI subsystem initialized
usbcore: registered new interface driver usbfs
usbcore: registered new interface driver hub
usbcore: registered new device driver usb
Advanced Linux Sound Architecture Driver Version 1.0.21.
Switching to clocksource at91_tc0
NET: Registered protocol family 2
IP route cache hash table entries: 1024 (order: 0, 4096 bytes)
TCP established hash table entries: 2048 (order: 2, 16384 bytes)
TCP bind hash table entries: 2048 (order: 1, 8192 bytes)
TCP: Hash tables configured (established 2048 bind 2048)
TCP reno registered
UDP hash table entries: 256 (order: 0, 4096 bytes)
UDP-Lite hash table entries: 256 (order: 0, 4096 bytes)
NET: Registered protocol family 1
RPC: Registered udp transport module.
RPC: Registered tcp transport module.
RPC: Registered tcp NFSv4.1 backchannel transport module.
NetWinder Floating Point Emulator V0.97 (double precision)
I-pipe: Domain Xenomai registered.
Xenomai: hal/arm started.
Xenomai: scheduling class idle registered.
Xenomai: scheduling class rt registered.
Xenomai: real-time nucleus v2.5.6 (Wormhole Wizards) loaded.
Xenomai: starting native API services.
Xenomai: starting POSIX services.
Xenomai: starting RTDM services.
JFFS2 version 2.2. (NAND) (SUMMARY)  Ā© 2001-2006 Red Hat, Inc.
msgmni has been set to 119
io scheduler noop registered (default)
atmel_usart.0: ttyS0 at MMIO 0xfefff200 (irq = 1) is a ATMEL_SERIAL
atmel_usart.1: ttyS1 at MMIO 0xfffb0000 (irq = 6) is a ATMEL_SERIAL
console [ttyS1] enabled
atmel_usart.2: ttyS2 at MMIO 0xfffb4000 (irq = 7) is a ATMEL_SERIAL
brd: module loaded
loop: module loaded
ssc ssc.0: Atmel SSC device at 0xc48c0000 (irq 14)
NAND device: Manufacturer ID: 0x2c, Chip ID: 0xda (Micron NAND 256MiB 3,3V 8-bit)
AT91 NAND: 8-bit, Software ECC
Scanning device for bad blocks
Creating 3 MTD partitions on "atmel_nand":
0x000000000000-0x000000400000 : "Bootstrap"
0x000000400000-0x000004000000 : "Partition 1"
0x000004000000-0x000010000000 : "Partition 2"
atmel_spi atmel_spi.0: Atmel SPI Controller at 0xfffc8000 (irq 12)
usbmon: debugfs is not available
ohci_hcd: USB 1.1 'Open' Host Controller (OHCI) Driver
at91_ohci at91_ohci: AT91 OHCI
at91_ohci at91_ohci: new USB bus registered, assigned bus number 1
at91_ohci at91_ohci: irq 20, io mem 0x00500000
hub 1-0:1.0: USB hub found
hub 1-0:1.0: 2 ports detected
Initializing USB Mass Storage driver...
usbcore: registered new interface driver usb-storage
USB Mass Storage support registered.
udc: at91_udc version 3 May 2006
mice: PS/2 mouse device common for all mice
input: gpio-keys as /devices/platform/gpio-keys/input/input0
rtc-at91sam9 at91_rtt.0: rtc core: registered at91_rtt as rtc0
IRQ 1/rtc0: IRQF_DISABLED is not guaranteed on shared IRQs
rtc-at91sam9 at91_rtt.0: rtc0: SET TIME!
Registered led device: ds5
Registered led device: ds1
usbcore: registered new interface driver usbhid
usbhid: USB HID core driver
ALSA device list:
  No soundcards found.
TCP cubic registered
NET: Registered protocol family 17
rtc-at91sam9 at91_rtt.0: hctosys: unable to read the hardware clock
Empty flash at 0x001fe914 ends at 0x001ff000
VFS: Mounted root (jffs2 filesystem) on device 31:1.
devtmpfs: mounted
Freeing init memory: 128K
ec_rt_dpr: module license 'unspecified' taints kernel.
Disabling lock debugging due to kernel taint
EtherCAT: Master driver 1.5.2 2eff7c993a63
EtherCAT 0: Registering RTDM device EtherCAT.
EtherCAT: 1 master waiting for devices.
 (null): invalid hw address, using random
EtherCAT: Accepting C2:08:C4:78:DD:95 as main device for master 0.
EtherCAT 0: Starting EtherCAT-IDLE thread.
ecdev_open was successful
EtherCAT 0: Link state of ecm0 changed to UP.
EtherCAT WARNING 0: 1 datagram TIMED OUT!
EtherCAT WARNING 0: 17 datagrams TIMED OUT!
EtherCAT WARNING 0: 17 datagrams TIMED OUT!
EtherCAT WARNING 0: 17 datagrams TIMED OUT!
EtherCAT WARNING 0: 17 datagrams TIMED OUT!
EtherCAT WARNING 0: 17 datagrams TIMED OUT!


Welcome to Buildroot

buildroot login: EtherCAT WARNING 0: 17 datagrams TIMED OUT!
EtherCAT WARNING 0: 17 datagrams TIMED OUT!
EtherCAT WARNING 0: 17 datagrams TIMED OUT!
EtherCAT WARNING 0: 17 datagrams TIMED OUT!
EtherCAT WARNING 0: 17 datagrams TIMED OUT!
EtherCAT WARNING 0: 17 datagrams TIMED OUT!
EtherCAT WARNING 0: 17 datagrams TIMED OUT!
EtherCAT WARNING 0: 17 datagrams TIMED OUT!
EtherCAT WARNING 0: 17 datagrams TIMED OUT!
EtherCAT WARNING 0: 17 datagrams TIMED OUT!
EtherCAT WARNING 0: 17 datagrams TIMED OUT!
EtherCAT WARNING 0: 17 datagrams TIMED OUT!
EtherCAT WARNING 0: 17 datagrams TIMED OUT!
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