[etherlab-users] Unmatched/Skipped Datagrams
Gary Grobe
ggrobe at houstonmechatronics.com
Mon Dec 16 22:29:52 CET 2019
The ec_igb doesn't seem to be available for 4.19. If nothing else works,
I may try to roll back the kernel as a last resort, but according to
recent mailings, it would appear that others are running 4.19 LTS w/o
issue.
I did just give things a try on new hardware:
- Linux 4.19.82-rt30 #1 SMP PREEMPT RT x86_64 GNU/Linux
- IgH EtherCAT master 1.5.2 6258f7d85afb+
- Intel(R) Core(TM) i7-7700T CPU @ 2.90GHz
- ec_e1000e using the following NIC:
00:1f.6 Ethernet controller [0200]: Intel Corporation Ethernet
Connection I219-LM [8086:156f] (rev 31)
Subsystem: Intel Corporation Ethernet Connection I219-LM
[8086:0000]
Kernel driver in use: ec_e1000e
Kernel modules: e1000e
Also replaced cables, but even at 50Hz, I'm still seeing the following
with the e1000e.
[11576.944102] EtherCAT WARNING 0: 7 datagrams UNMATCHED!
[11577.940744] EtherCAT WARNING: Datagram 000000004e9cc6e1
(domain0-0-main) was SKIPPED 13 times.
[11577.944111] EtherCAT WARNING 0: 13 datagrams UNMATCHED!
[11578.944115] EtherCAT WARNING 0: 13 datagrams UNMATCHED!
[11578.944153] EtherCAT WARNING: Datagram 000000004e9cc6e1
(domain0-0-main) was SKIPPED 20 times.
[11579.944090] EtherCAT WARNING 0: 17 datagrams UNMATCHED!
[11580.940728] EtherCAT WARNING: Datagram 000000004e9cc6e1
(domain0-0-main) was SKIPPED 25 times.
[11580.944071] EtherCAT WARNING 0: 9 datagrams UNMATCHED!
[11581.944077] EtherCAT WARNING 0: 31 datagrams UNMATCHED!
[11581.944091] EtherCAT WARNING: Datagram 000000004e9cc6e1
(domain0-0-main) was SKIPPED 32 times.
[11582.944104] EtherCAT WARNING 0: 4 datagrams UNMATCHED!
[11583.940692] EtherCAT WARNING: Datagram 000000004e9cc6e1
(domain0-0-main) was SKIPPED 18 times.
[11583.944069] EtherCAT WARNING 0: 19 datagrams UNMATCHED!
[11584.944048] EtherCAT WARNING 0: 3 datagrams UNMATCHED!
[11584.944179] EtherCAT WARNING: Datagram 000000004e9cc6e1
(domain0-0-main) was SKIPPED 8 times.
[11585.944076] EtherCAT WARNING 0: 30 datagrams UNMATCHED!
I've also replaced the controllers w/ a few in-house as well as Elmo
motion controllers, but to no avail. Is it common/ok to have a small
percentage of these messages to appear?
Any other thoughts?
On 12/15/19 3:55 PM, Gavin Lambert wrote:
> 1kHz cycle is typically too fast for the generic driver. Try using the ec_igb driver instead, or reduce your cycle to 250 Hz or less.
>
> Otherwise, there may be some other issue with your network wiring, or your hardware. Have you tried it on other hardware?
>
>
> Gavin Lambert
> Senior Software Developer
>
>
>
>
> COMPAC SORTING EQUIPMENT LTD | 4 Henderson Pl | Onehunga | Auckland 1061 | New Zealand
> Switchboard: +49 2630 96520 | https://www.tomra.com
>
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> -----Original Message-----
> From: Gary Grobe
> Sent: Saturday, 14 December 2019 11:19
> To: etherlab-users at etherlab.org
> Subject: [etherlab-users] Unmatched/Skipped Datagrams
>
> My configuration is:
> - Linux 4.19.82-rt30 #1 SMP PREEMPT RT x86_64 GNU/Linux
> - IgH EtherCAT master 1.5.2 6258f7d85afb+
> - Intel(R) Celeron(R) CPU J1900 @ 1.99GHz
> - ec_generic based on the following NIC:
>
> 03:00.0 Ethernet controller [0200]: Intel Corporation I211 Gigabit Network Connection [8086:1539] (rev 03)
> Subsystem: Intel Corporation I211 Gigabit Network Connection [8086:0000]
> Kernel driver in use: igb
>
> The app is a user-space client. The following is the cyclic task cut down to a minimum, and yet still shows the issue.
>
> {
> // ...
>
> struct sched_param param = { };
>
> param.sched_priority = sched_get_priority_max(SCHED_FIFO);
>
> if (mlockall(MCL_CURRENT | MCL_FUTURE) == -1) {
> std::cout << "Warning: Failed to lock memory: " <<
> strerror(errno) <<
> std::endl;
> }
>
> stack_prefault();
>
> clock_gettime(CLOCK_MONOTONIC, &wakeup_time);
> wakeup_time.tv_sec += 1;
> wakeup_time.tv_nsec = 0;
>
> while (running) {
> ret = clock_nanosleep(CLOCK_MONOTONIC, TIMER_ABSTIME, &wakeup_time,
> NULL);
>
> if (ret) {
> std::cerr << "clock_nanosleep(): " << strerror(ret) << std::endl;
>
> break;
> }
>
> task_cycle();
>
> wakeup_time.tv_nsec += PERIOD_NS;
>
> while (wakeup_time.tv_nsec >= NSEC_PER_SEC) {
> wakeup_time.tv_nsec -= NSEC_PER_SEC;
> wakeup_time.tv_sec++;
> }
> }
> }
>
> inline void TestChain::task_cycle()
> {
> ecrt_master_receive(master);
> ecrt_domain_process(domain);
>
> ecrt_master_application_time(master, TIMESPEC2NS(wakeup_time));
> ecrt_master_sync_reference_clock(master);
> ecrt_master_sync_slave_clocks(master);
>
> if (counter) {
> counter--;
> }
> else {
> counter = FREQUENCY;
> }
>
> ecrt_domain_queue(domain);
> ecrt_master_send(master);
> }
>
> The following messages from dmesg were taken at 1kHz. Doesn't matter if it's doing 10Hz or 1kHz, the UNMATCHED and SKIPPED numbers are quite large. I've only seen 1Hz work w/o issue.
>
> [ 4132.457210] EtherCAT 0: Domain 0: 268 working counter changes - now 1/2.
> [ 4133.373743] EtherCAT WARNING 0: 657 datagrams UNMATCHED!
> [ 4133.461587] EtherCAT WARNING: Datagram 000000002f1447da
> (domain0-0-main) was SKIPPED 736 times.
> [ 4133.461593] EtherCAT 0: Domain 0: 395 working counter changes - now 0/2.
> [ 4134.374131] EtherCAT WARNING 0: 643 datagrams UNMATCHED!
> [ 4134.465961] EtherCAT WARNING: Datagram 000000002f1447da
> (domain0-0-main) was SKIPPED 776 times.
> [ 4134.465968] EtherCAT 0: Domain 0: 232 working counter changes - now 0/2.
> [ 4135.374332] EtherCAT WARNING 0: 850 datagrams UNMATCHED!
> [ 4135.470468] EtherCAT WARNING: Datagram 000000002f1447da
> (domain0-0-main) was SKIPPED 722 times.
> [ 4135.470476] EtherCAT 0: Domain 0: 331 working counter changes - now 1/2.
> [ 4136.374860] EtherCAT WARNING 0: 649 datagrams UNMATCHED!
> [ 4136.475180] EtherCAT WARNING: Datagram 000000002f1447da
> (domain0-0-main) was SKIPPED 858 times.
> [ 4136.475187] EtherCAT 0: Domain 0: 282 working counter changes - now 1/2.
> [ 4137.375178] EtherCAT WARNING 0: 757 datagrams UNMATCHED!
> [ 4138.319869] EtherCAT WARNING: Datagram 000000002f1447da
> (domain0-0-main) was SKIPPED 745 times.
> [ 4138.319877] EtherCAT 0: Domain 0: 208 working counter changes - now 1/2.
> [ 4138.375593] EtherCAT WARNING 0: 972 datagrams UNMATCHED!
> [ 4139.324269] EtherCAT WARNING: Datagram 000000002f1447da
> (domain0-0-main) was SKIPPED 911 times.
>
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