[Etherlab-users] Received upload response for wrong SDO
Merkel, Amos
Amos.Merkel at ifas.rwth-aachen.de
Mon Sep 20 15:53:53 CEST 2021
Hi there,
Apparently, your slave is already in an error state before you start your control job (see 11.887758 in your logs). Without knowing your specific slave, I can only guess, but I have had similar effects with a step motor driver from a different company.
In my case, the driver had its own state machine and needed a shutdown command. If the control job was ended without sending the shutdown command, the controller would go into an emergency state and had to be reset via power on/off. Maybe you have a similar effect?
Regards,
Amos
--
Amos Merkel, M.Sc.
Group leader
Digitalization & Automation
ifas – Institute for Fluid Power Drives and Systems
RWTH Aachen University
Campus-Boulevard 30
52074 Aachen
Tel: +49 241 80-47737
Fax: +49 241 80-647712
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Von: Etherlab-users <etherlab-users-bounces at etherlab.org> Im Auftrag von ?????
Gesendet: Freitag, 17. September 2021 15:50
An: etherlab-users at etherlab.org
Betreff: [Etherlab-users] Received upload response for wrong SDO
Hello everyone,
There is a wired problem in my controller and Panasonic driver.
If the parameter of driver is not modified, there is no problem with Ethercat connection. But when it running more than 1 slaves which feed constant(0x6092) are modified, error will occur in the second time of connection.
There is no problem in first time connection after reboot controller and slaves, but if I only reboot controller in this moment, there is error. That is the reason I said “the second time of connection”.
Here is the log when occur the error. I think this
[ 12.814985] EtherCAT ERROR 0-1: Received upload response for wrong SDO (0x1001:00, requested: 0x1C12:00).
maybe is the main error of the problem of connection.
Because it is the first error in log and it doesn’t appear in first connection.
And after this log
[ 33.959979] EtherCAT: Requesting master 0...
my program is started.
[ 0.000000] Booting Linux on physical CPU 0x0
[ 0.000000] Linux version 3.14.26 (felix at C006) (gcc version 4.7.3 20130226 (prerelease) (crosstool-NG linaro-1.13.1-4.7-2013.03-20130313 - Linaro GCC 2013.03) ) #1 Wed Jul 12 11:26:53 CST 2017
[ 0.000000] CPU: ARMv7 Processor [413fc082] revision 2 (ARMv7), cr=10c5387d
[ 0.000000] CPU: PIPT / VIPT nonaliasing data cache, VIPT aliasing instruction cache
[ 0.000000] Machine model: TI AM335x BeagleBone
[ 0.000000] cma: CMA: reserved 24 MiB at 9d800000
[ 0.000000] Memory policy: Data cache writeback
[ 0.000000] On node 0 totalpages: 130560
[ 0.000000] free_area_init_node: node 0, pgdat c090f7e8, node_mem_map df9ee000
[ 0.000000] Normal zone: 1024 pages used for memmap
[ 0.000000] Normal zone: 0 pages reserved
[ 0.000000] Normal zone: 130560 pages, LIFO batch:31
[ 0.000000] CPU: All CPU(s) started in SVC mode.
[ 0.000000] AM335X ES2.1 (neon )
[ 0.000000] pcpu-alloc: s0 r0 d32768 u32768 alloc=1*32768
[ 0.000000] pcpu-alloc: [0] 0
[ 0.000000] Built 1 zonelists in Zone order, mobility grouping on. Total pages: 129536
[ 0.000000] Kernel command line: console=ttyO1,115200n8 root=/dev/mmcblk0p2 ro rootfstype=ext4 rootwait
[ 0.000000] PID hash table entries: 2048 (order: 1, 8192 bytes)
[ 0.000000] Dentry cache hash table entries: 65536 (order: 6, 262144 bytes)
[ 0.000000] Inode-cache hash table entries: 32768 (order: 5, 131072 bytes)
[ 0.000000] Memory: 483208K/522240K available (6435K kernel code, 326K rwdata, 2212K rodata, 274K init, 499K bss, 39032K reserved, 0K highmem)
[ 0.000000] Virtual kernel memory layout:
vector : 0xffff0000 - 0xffff1000 ( 4 kB)
fixmap : 0xfff00000 - 0xfffe0000 ( 896 kB)
vmalloc : 0xe0800000 - 0xff000000 ( 488 MB)
lowmem : 0xc0000000 - 0xe0000000 ( 512 MB)
pkmap : 0xbfe00000 - 0xc0000000 ( 2 MB)
modules : 0xbf000000 - 0xbfe00000 ( 14 MB)
.text : 0xc0008000 - 0xc087a0a4 (8649 kB)
.init : 0xc087b000 - 0xc08bfa54 ( 275 kB)
.data : 0xc08c0000 - 0xc0911a80 ( 327 kB)
.bss : 0xc0911a80 - 0xc098e760 ( 500 kB)
[ 0.000000] NR_IRQS:16 nr_irqs:16 16
[ 0.000000] IRQ: Found an INTC at 0xfa200000 (revision 5.0) with 128 interrupts
[ 0.000000] Total of 128 interrupts on 1 active controller
[ 0.000000] OMAP clockevent source: timer2 at 24000000 Hz
[ 0.000013] sched_clock: 32 bits at 24MHz, resolution 41ns, wraps every 178956969942ns
[ 0.000032] I-pipe, 24.000 MHz clocksource, wrap in 178956 ms
[ 0.000062] OMAP clocksource: timer1 at 24000000 Hz
[ 0.000523] Interrupt pipeline (release #8)
[ 0.000800] Console: colour dummy device 80x30
[ 0.000834] Calibrating delay loop... 795.44 BogoMIPS (lpj=3977216)
[ 0.089453] pid_max: default: 32768 minimum: 301
[ 0.089554] Security Framework initialized
[ 0.089612] Mount-cache hash table entries: 1024 (order: 0, 4096 bytes)
[ 0.089624] Mountpoint-cache hash table entries: 1024 (order: 0, 4096 bytes)
[ 0.096473] CPU: Testing write buffer coherency: ok
[ 0.096858] Setting up static identity map for 0x8064f188 - 0x8064f1e0
[ 0.098092] devtmpfs: initialized
[ 0.100096] VFP support v0.3: implementor 41 architecture 3 part 30 variant c rev 3
[ 0.108489] omap_hwmod: tptc0 using broken dt data from edma
[ 0.108585] omap_hwmod: tptc1 using broken dt data from edma
[ 0.108671] omap_hwmod: tptc2 using broken dt data from edma
[ 0.113038] omap_hwmod: debugss: _wait_target_disable failed
[ 0.168426] pinctrl core: initialized pinctrl subsystem
[ 0.169576] regulator-dummy: no parameters
[ 0.171845] NET: Registered protocol family 16
[ 0.173944] DMA: preallocated 256 KiB pool for atomic coherent allocations
[ 0.183476] syscon 44e10000.control_module: regmap [mem 0x44e10000-0x44e107fb] registered
[ 0.185063] platform 49000000.edma: alias fck already exists
[ 0.185088] platform 49000000.edma: alias fck already exists
[ 0.185103] platform 49000000.edma: alias fck already exists
[ 0.185994] gpiochip_add: registered GPIOs 0 to 31 on device: gpio
[ 0.186307] OMAP GPIO hardware version 0.1
[ 0.187222] gpiochip_add: registered GPIOs 32 to 63 on device: gpio
[ 0.188295] gpiochip_add: registered GPIOs 64 to 95 on device: gpio
[ 0.189393] gpiochip_add: registered GPIOs 96 to 127 on device: gpio
[ 0.199251] No ATAGs?
[ 0.199273] hw-breakpoint: debug architecture 0x4 unsupported.
[ 0.230222] bio: create slab <bio-0> at 0
[ 0.246905] edma-dma-engine edma-dma-engine.0: TI EDMA DMA engine driver
[ 0.247599] of_get_named_gpiod_flags: can't parse gpios property of node '/fixedregulator at 0[0]'
[ 0.247902] vmmcsd_fixed: 3300 mV
[ 0.250918] vgaarb: loaded
[ 0.251472] i2c-core: driver [palmas] using legacy suspend method
[ 0.251484] i2c-core: driver [palmas] using legacy resume method
[ 0.252256] SCSI subsystem initialized
[ 0.252828] libata version 3.00 loaded.
[ 0.253849] usbcore: registered new interface driver usbfs
[ 0.254049] usbcore: registered new interface driver hub
[ 0.254260] usbcore: registered new device driver usb
[ 0.255269] omap_i2c 44e0b000.i2c: could not find pctldev for node /pinmux at 44e10800/pinmux_i2c0_pins, deferring probe
[ 0.255299] platform 44e0b000.i2c: Driver omap_i2c requests probe deferral
[ 0.255686] pps_core: LinuxPPS API ver. 1 registered
[ 0.255697] pps_core: Software ver. 5.3.6 - Copyright 2005-2007 Rodolfo Giometti <mailto:giometti at linux.it>
[ 0.255837] PTP clock support registered
[ 0.257919] omap-mailbox 480c8000.mailbox: omap mailbox rev 0x400
[ 0.258775] Advanced Linux Sound Architecture Driver Initialized.
[ 0.260564] cfg80211: Calling CRDA to update world regulatory domain
[ 0.261508] Switched to clocksource ipipe_tsc
[ 0.282662] NET: Registered protocol family 2
[ 0.283490] TCP established hash table entries: 4096 (order: 2, 16384 bytes)
[ 0.283541] TCP bind hash table entries: 4096 (order: 2, 16384 bytes)
[ 0.283588] TCP: Hash tables configured (established 4096 bind 4096)
[ 0.283656] TCP: reno registered
[ 0.283679] UDP hash table entries: 256 (order: 0, 4096 bytes)
[ 0.283698] UDP-Lite hash table entries: 256 (order: 0, 4096 bytes)
[ 0.283897] NET: Registered protocol family 1
[ 0.284296] RPC: Registered named UNIX socket transport module.
[ 0.284307] RPC: Registered udp transport module.
[ 0.284313] RPC: Registered tcp transport module.
[ 0.284320] RPC: Registered tcp NFSv4.1 backchannel transport module.
[ 0.284335] PCI: CLS 0 bytes, default 64
[ 0.285404] hw perfevents: enabled with ARMv7 Cortex-A8 PMU driver, 5 counters available
[ 0.288177] futex hash table entries: 256 (order: -1, 3072 bytes)
[ 0.463664] I-pipe: head domain Xenomai registered.
[ 0.463700] Xenomai: hal/arm started.
[ 0.464945] Xenomai: scheduling class idle registered.
[ 0.464968] Xenomai: scheduling class rt registered.
[ 0.473453] Xenomai: real-time nucleus v2.6.5 (Lost in a Memory) loaded.
[ 0.473465] Xenomai: debug mode enabled.
[ 0.473939] Xenomai: starting native API services.
[ 0.473952] Xenomai: starting POSIX services.
[ 0.474111] Xenomai: starting RTDM services.
[ 0.474914] VFS: Disk quotas dquot_6.5.2
[ 0.474981] Dquot-cache hash table entries: 1024 (order 0, 4096 bytes)
[ 0.475532] NFS: Registering the id_resolver key type
[ 0.475611] Key type id_resolver registered
[ 0.475620] Key type id_legacy registered
[ 0.475660] jffs2: version 2.2. (NAND) (SUMMARY) © 2001-2006 Red Hat, Inc.
[ 0.475850] msgmni has been set to 991
[ 0.477485] NET: Registered protocol family 38
[ 0.477530] io scheduler noop registered
[ 0.477539] io scheduler deadline registered
[ 0.477561] io scheduler cfq registered (default)
[ 0.479199] pinctrl-single 44e10800.pinmux: 142 pins at pa f9e10800 size 568
[ 0.484308] Serial: 8250/16550 driver, 4 ports, IRQ sharing enabled
[ 0.487351] of_get_named_gpiod_flags: can't parse gpios property of node '/ocp/serial at 44e09000[0]'
[ 0.487391] omap_uart 44e09000.serial: no wakeirq for uart0
[ 0.487405] of_get_named_gpiod_flags: can't parse gpios property of node '/ocp/serial at 44e09000[0]'
[ 0.487552] 44e09000.serial: ttyO0 at MMIO 0x44e09000 (irq = 88, base_baud = 3000000) is a OMAP UART0
[ 0.488246] of_get_named_gpiod_flags: can't parse gpios property of node '/ocp/serial at 48022000[0]'
[ 0.488275] omap_uart 48022000.serial: no wakeirq for uart0
[ 0.488287] of_get_named_gpiod_flags: can't parse gpios property of node '/ocp/serial at 48022000[0]'
[ 0.488405] 48022000.serial: ttyO1 at MMIO 0x48022000 (irq = 89, base_baud = 3000000) is a OMAP UART1
[ 1.195547] console [ttyO1] enabled
[ 1.200618] omap_rng 48310000.rng: OMAP Random Number Generator ver. 20
[ 1.208031] [drm] Initialized drm 1.1.0 20060810
[ 1.224306] brd: module loaded
[ 1.233612] loop: module loaded
[ 1.237445] (hci_tty): inside hci_tty_init
[ 1.242302] (hci_tty): allocated 249, 0
[ 1.250197] mtdoops: mtd device (mtddev=name/number) must be supplied
[ 1.260405] usbcore: registered new interface driver asix
[ 1.266356] usbcore: registered new interface driver ax88179_178a
[ 1.272966] usbcore: registered new interface driver cdc_ether
[ 1.279303] usbcore: registered new interface driver smsc95xx
[ 1.285503] usbcore: registered new interface driver net1080
[ 1.291664] usbcore: registered new interface driver cdc_subset
[ 1.298017] usbcore: registered new interface driver zaurus
[ 1.304137] usbcore: registered new interface driver cdc_ncm
[ 1.310586] ehci_hcd: USB 2.0 'Enhanced' Host Controller (EHCI) Driver
[ 1.317473] ehci-pci: EHCI PCI platform driver
[ 1.322363] ehci-omap: OMAP-EHCI Host Controller driver
[ 1.328333] usbcore: registered new interface driver cdc_wdm
[ 1.334525] usbcore: registered new interface driver usb-storage
[ 1.342013] mousedev: PS/2 mouse device common for all mice
[ 1.349803] i2c-core: driver [rtc-ds1307] using legacy suspend method
[ 1.356610] i2c-core: driver [rtc-ds1307] using legacy resume method
[ 1.364133] omap_rtc 44e3e000.rtc: rtc core: registered 44e3e000.rtc as rtc0
[ 1.371675] 44e3e000.rtc: already running
[ 1.376687] i2c /dev entries driver
[ 1.380517] Driver for 1-wire Dallas network protocol.
[ 1.388320] omap_wdt: OMAP Watchdog Timer Rev 0x01: initial timeout 60 sec
[ 1.396879] of_get_named_gpiod_flags exited with status 0
[ 1.396896] of_get_named_gpiod_flags: can't parse gpios property of node '/ocp/mmc at 48060000[0]'
[ 1.431694] of_get_named_gpiod_flags: can't parse gpios property of node '/ocp/mmc at 481d8000[0]'
[ 1.431713] of_get_named_gpiod_flags: can't parse gpios property of node '/ocp/mmc at 481d8000[0]'
[ 1.472255] of_get_named_gpiod_flags exited with status 0
[ 1.472278] of_get_named_gpiod_flags exited with status 0
[ 1.472291] of_get_named_gpiod_flags exited with status 0
[ 1.472303] of_get_named_gpiod_flags exited with status 0
[ 1.472317] of_get_named_gpiod_flags exited with status 0
[ 1.472727] of_get_named_gpiod_flags exited with status 0
[ 1.476269] of_get_named_gpiod_flags exited with status 0
[ 1.476667] of_get_named_gpiod_flags exited with status 0
[ 1.477693] ledtrig-cpu: registered to indicate activity on CPUs
[ 1.484532] omap-aes 53500000.aes: OMAP AES hw accel rev: 3.2
[ 1.492104] omap-sham 53100000.sham: hw accel on OMAP rev 4.3
[ 1.502917] usbcore: registered new interface driver usbhid
[ 1.508772] usbhid: USB HID core driver
[ 1.513100] platform 44d00000.wkup_m3: Driver wkup_m3 requests probe deferral
[ 1.524272] oprofile: using arm/armv7
[ 1.528421] TCP: cubic registered
[ 1.531973] Initializing XFRM netlink socket
[ 1.536554] mmc1: BKOPS_EN bit is not set
[ 1.540862] NET: Registered protocol family 17
[ 1.545632] NET: Registered protocol family 15
[ 1.550455] Key type dns_resolver registered
[ 1.556340] PM: Voltage scaling data blob not provided from DT.
[ 1.562900] PM: bootloader does not support rtc-only!
[ 1.568253] ThumbEE CPU extension supported.
[ 1.572837] mmc1: new high speed MMC card at address 0001
[ 1.578838] Registering SWP/SWPB emulation handler
[ 1.584325] mmcblk0: mmc1:0001 P1XXXX 3.60 GiB
[ 1.590101] mmcblk0boot0: mmc1:0001 P1XXXX partition 1 2.00 MiB
[ 1.597006] regulator-dummy: disabling
[ 1.602605] mmcblk0boot1: mmc1:0001 P1XXXX partition 2 2.00 MiB
[ 1.611247] mmcblk0: p1 p2
[ 1.618231] mmcblk0boot1: unknown partition table
[ 1.625157] DCDC1: at 1500 mV
[ 1.628728] mmcblk0boot0: unknown partition table
[ 1.636554] vdd_mpu: 925 <--> 1325 mV at 1275 mV
[ 1.644377] vdd_core: 925 <--> 1150 mV at 1125 mV
[ 1.652222] LDO1: at 1800 mV
[ 1.658124] LDO2: at 3300 mV
[ 1.663981] LDO3: 1800 mV
[ 1.669564] LDO4: at 3300 mV
[ 1.674542] tps65217 0-0024: TPS65217 ID 0xe version 1.2
[ 1.680754] at24 0-0050: 32768 byte 24c256 EEPROM, writable, 1 bytes/write
[ 1.688108] omap_i2c 44e0b000.i2c: bus 0 rev0.11 at 100 kHz
[ 1.694582] remoteproc0: wkup_m3 is available
[ 1.699252] remoteproc0: Note: remoteproc is still under development and considered experimental.
[ 1.708699] remoteproc0: THE BINARY FORMAT IS NOT YET FINALIZED, and backward compatibility isn't yet guaranteed.
[ 1.719717] remoteproc0: Direct firmware load failed with error -2
[ 1.726322] remoteproc0: Falling back to user helper
[ 1.732872] omap_rtc 44e3e000.rtc: setting system clock to 2017-08-17 02:55:56 UTC (1502938556)
[ 1.745520] ALSA device list:
[ 1.748653] No soundcards found.
[ 1.762465] EXT4-fs (mmcblk0p2): mounted filesystem with ordered data mode. Opts: (null)
[ 1.771027] VFS: Mounted root (ext4 filesystem) readonly on device 179:2.
[ 1.778956] devtmpfs: mounted
[ 1.782463] Freeing unused kernel memory: 272K (c087b000 - c08bf000)
[ 1.934431] random: systemd urandom read with 36 bits of entropy available
[ 1.943309] systemd[1]: systemd 215 running in system mode. (+PAM +AUDIT +SELINUX +IMA +SYSVINIT +LIBCRYPTSETUP +GCRYPT +ACL +XZ -SECCOMP -APPARMOR)
[ 1.957677] systemd[1]: Detected architecture 'arm'.
[ 2.014393] systemd[1]: Failed to insert module 'autofs4'
[ 2.020251] systemd[1]: Failed to insert module 'ipv6'
[ 2.027106] systemd[1]: Set hostname to <arm>.
[ 2.351821] systemd[1]: Cannot add dependency job for unit display-manager.service, ignoring: Unit display-manager.service failed to load: No such file or directory.
[ 2.370753] systemd[1]: Expecting device dev-ttyO1.device...
[ 2.391773] systemd[1]: Starting Forward Password Requests to Wall Directory Watch.
[ 2.400120] systemd[1]: Started Forward Password Requests to Wall Directory Watch.
[ 2.408226] systemd[1]: Starting Remote File Systems (Pre).
[ 2.431679] systemd[1]: Reached target Remote File Systems (Pre).
[ 2.438350] systemd[1]: Starting Arbitrary Executable File Formats File System Automount Point.
[ 2.447768] systemd[1]: Failed to open /dev/autofs: No such file or directory
[ 2.455325] systemd[1]: Failed to initialize automounter: No such file or directory
[ 2.501663] systemd[1]: Failed to set up automount Arbitrary Executable File Formats File System Automount Point.
[ 2.512521] systemd[1]: Unit proc-sys-fs-binfmt_misc.automount entered failed state.
[ 2.520772] systemd[1]: Starting Dispatch Password Requests to Console Directory Watch.
[ 2.529477] systemd[1]: Started Dispatch Password Requests to Console Directory Watch.
[ 2.537910] systemd[1]: Starting Paths.
[ 2.561665] systemd[1]: Reached target Paths.
[ 2.566334] systemd[1]: Starting Encrypted Volumes.
[ 2.591652] systemd[1]: Reached target Encrypted Volumes.
[ 2.597437] systemd[1]: Starting Swap.
[ 2.621650] systemd[1]: Reached target Swap.
[ 2.626231] systemd[1]: Starting Root Slice.
[ 2.651657] systemd[1]: Created slice Root Slice.
[ 2.656692] systemd[1]: Starting User and Session Slice.
[ 2.681667] systemd[1]: Created slice User and Session Slice.
[ 2.687802] systemd[1]: Starting Delayed Shutdown Socket.
[ 2.711679] systemd[1]: Listening on Delayed Shutdown Socket.
[ 2.717817] systemd[1]: Starting /dev/initctl Compatibility Named Pipe.
[ 2.741657] systemd[1]: Listening on /dev/initctl Compatibility Named Pipe.
[ 2.749066] systemd[1]: Starting Journal Socket (/dev/log).
[ 2.771666] systemd[1]: Listening on Journal Socket (/dev/log).
[ 2.778034] systemd[1]: Starting udev Control Socket.
[ 2.801669] systemd[1]: Listening on udev Control Socket.
[ 2.807473] systemd[1]: Starting udev Kernel Socket.
[ 2.831671] systemd[1]: Listening on udev Kernel Socket.
[ 2.837390] systemd[1]: Starting Journal Socket.
[ 2.861677] systemd[1]: Listening on Journal Socket.
[ 2.867116] systemd[1]: Starting System Slice.
[ 2.891678] systemd[1]: Created slice System Slice.
[ 2.897004] systemd[1]: Starting File System Check on Root Device...
[ 2.923848] systemd[1]: Starting system-getty.slice.
[ 2.951797] systemd[1]: Created slice system-getty.slice.
[ 2.958664] systemd[1]: Starting system-serial\x2dgetty.slice.
[ 2.970965] systemd[1]: Created slice system-serial\x2dgetty.slice.
[ 2.982560] systemd[1]: Starting Increase datagram queue length...
[ 2.993495] systemd[1]: Mounted Huge Pages File System.
[ 3.000833] systemd[1]: Starting Create list of required static device nodes for the current kernel...
[ 3.018230] systemd[1]: Mounting POSIX Message Queue File System...
[ 3.040730] systemd[1]: Mounting Debug File System...
[ 3.096542] systemd[1]: Started Set Up Additional Binary Formats.
[ 3.129159] systemd[1]: Starting Load Kernel Modules...
[ 3.142390] systemd[1]: Starting udev Coldplug all Devices...
[ 3.155885] systemd[1]: Starting Slices.
[ 3.201884] systemd[1]: Reached target Slices.
[ 3.221844] systemd[1]: Mounted Debug File System.
[ 3.241842] systemd[1]: Mounted POSIX Message Queue File System.
[ 3.271830] systemd[1]: Started File System Check on Root Device.
[ 3.301840] systemd[1]: Started Increase datagram queue length.
[ 3.331725] systemd[1]: Started Create list of required static device nodes for the current kernel.
[ 3.361739] systemd[1]: Started Load Kernel Modules.
[ 3.529772] systemd[1]: Mounted FUSE Control File System.
[ 3.537613] systemd[1]: Starting Apply Kernel Variables...
[ 3.564563] systemd[1]: Mounted Configuration File System.
[ 3.570822] systemd[1]: Starting Create Static Device Nodes in /dev...
[ 3.614232] systemd[1]: Starting Syslog Socket.
[ 3.631904] systemd[1]: Listening on Syslog Socket.
[ 3.637260] systemd[1]: Starting Journal Service...
[ 3.691937] systemd[1]: Started Journal Service.
[ 3.808892] EXT4-fs (mmcblk0p2): re-mounted. Opts: errors=remount-ro
[ 4.018357] systemd-udevd[1458]: starting version 215
[ 4.298055] systemd-journald[1384]: Received request to flush runtime journal from PID 1
[ 4.494168] remoteproc0: powering up wkup_m3
[ 4.499434] remoteproc0: Booting fw image am335x-pm-firmware.elf, size 154412
[ 4.595531] PM: CM3 Firmware Version = 0x190
[ 4.600095] remoteproc0: remote processor wkup_m3 is now up
[ 4.702327] of_get_named_gpiod_flags: can't parse gpios property of node '/ocp/usb at 47400000/usb-phy at 47401300[0]'
[ 4.702408] 47401300.usb-phy supply vcc not found, using dummy regulator
[ 4.772304] of_get_named_gpiod_flags: can't parse gpios property of node '/ocp/usb at 47400000/usb-phy at 47401b00[0]'
[ 4.772385] 47401b00.usb-phy supply vcc not found, using dummy regulator
[ 5.006287] random: nonblocking pool is initialized
[ 5.968366] musb-hdrc: ConfigData=0xde (UTMI-8, dyn FIFOs, bulk combine, bulk split, HB-ISO Rx, HB-ISO Tx, SoftConn)
[ 5.968394] musb-hdrc: MHDRC RTL version 2.0
[ 5.968404] musb-hdrc: setup fifo_mode 4
[ 5.968422] musb-hdrc: 28/31 max ep, 16384/16384 memory
[ 5.968547] musb-hdrc musb-hdrc.0.auto: MUSB HDRC host driver
[ 6.021929] musb-hdrc musb-hdrc.0.auto: new USB bus registered, assigned bus number 1
[ 6.076540] usb usb1: New USB device found, idVendor=1d6b, idProduct=0002
[ 6.083772] usb usb1: New USB device strings: Mfr=3, Product=2, SerialNumber=1
[ 6.091355] usb usb1: Product: MUSB HDRC host driver
[ 6.096583] usb usb1: Manufacturer: Linux 3.14.26 musb-hcd
[ 6.102354] usb usb1: SerialNumber: musb-hdrc.0.auto
[ 6.132853] hub 1-0:1.0: USB hub found
[ 6.136903] hub 1-0:1.0: 1 port detected
[ 6.151625] musb-hdrc: ConfigData=0xde (UTMI-8, dyn FIFOs, bulk combine, bulk split, HB-ISO Rx, HB-ISO Tx, SoftConn)
[ 6.151649] musb-hdrc: MHDRC RTL version 2.0
[ 6.151659] musb-hdrc: setup fifo_mode 4
[ 6.151675] musb-hdrc: 28/31 max ep, 16384/16384 memory
[ 6.151808] musb-hdrc musb-hdrc.1.auto: MUSB HDRC host driver
[ 6.170147] musb-hdrc musb-hdrc.1.auto: new USB bus registered, assigned bus number 2
[ 6.190237] usb usb2: New USB device found, idVendor=1d6b, idProduct=0002
[ 6.197476] usb usb2: New USB device strings: Mfr=3, Product=2, SerialNumber=1
[ 6.205080] usb usb2: Product: MUSB HDRC host driver
[ 6.210290] usb usb2: Manufacturer: Linux 3.14.26 musb-hcd
[ 6.216062] usb usb2: SerialNumber: musb-hdrc.1.auto
[ 6.236913] hub 2-0:1.0: USB hub found
[ 6.244827] hub 2-0:1.0: 1 port detected
[ 7.636001] udc musb-hdrc.0.auto: registering UDC driver [g_multi]
[ 7.701391] EtherCAT: Master driver 1.5.2 unknown
[ 7.728499] using random self ethernet address
[ 7.733300] using random host ethernet address
[ 7.737971] using host ethernet address: EC:24:B8:B7:64:FD
[ 7.743563] using self ethernet address: EC:24:B8:B7:64:F0
[ 7.771921] using random self ethernet address
[ 7.776616] using random host ethernet address
[ 7.781287] using host ethernet address: EC:24:B8:B7:64:FD
[ 7.786915] using self ethernet address: EC:24:B8:B7:64:F0
[ 7.799882] EtherCAT 0: Registering RTDM device EtherCAT.
[ 7.822960] EtherCAT: 1 master waiting for devices.
[ 7.985269] usb0: HOST MAC ec:24:b8:b7:64:fd
[ 7.990445] usb0: MAC ec:24:b8:b7:64:f0
[ 8.138527] userial_init: registered 4 ttyGS* devices
[ 8.182474] Number of LUNs=8
[ 8.185977] Mass Storage Function, version: 2009/09/11
[ 8.229037] LUN: removable file: (no medium)
[ 8.288095] Number of LUNs=1
[ 8.291326] lun0: open backing file: /dev/mmcblk0p1
[ 8.291343] LUN: removable file: /dev/mmcblk0p1
[ 8.296187] Number of LUNs=1
[ 8.299223] g_multi gadget: adding config #1 'Multifunction with RNDIS'/bf09779c
[ 8.321654] davinci_mdio 4a101000.mdio: davinci mdio revision 1.6
[ 8.328077] davinci_mdio 4a101000.mdio: detected phy mask fffffff5
[ 8.357423] g_multi gadget: adding 'rndis'/dd4d72c0 to config 'Multifunction with RNDIS'/bf09779c
[ 8.357485] g_multi gadget: adding 'acm'/dd4d7200 to config 'Multifunction with RNDIS'/bf09779c
[ 8.357509] g_multi gadget: acm ttyGS0: dual speed IN/ep3in OUT/ep2out NOTIFY/ep4in
[ 8.374819] g_multi gadget: I/O thread pid: 1812
[ 8.374853] g_multi gadget: adding 'Mass Storage Function'/dbe28480 to config 'Multifunction with RNDIS'/bf09779c
[ 8.374888] g_multi gadget: cfg 1/bf09779c speeds: high full
[ 8.374897] g_multi gadget: interface 0 = rndis/dd4d72c0
[ 8.374906] g_multi gadget: interface 1 = rndis/dd4d72c0
[ 8.374914] g_multi gadget: interface 2 = acm/dd4d7200
[ 8.374922] g_multi gadget: interface 3 = acm/dd4d7200
[ 8.374939] g_multi gadget: interface 4 = Mass Storage Function/dbe28480
[ 8.374991] g_multi gadget: adding config #2 'Multifunction with CDC ECM'/bf097840
[ 8.375130] g_multi gadget: adding 'cdc_ethernet'/dd4d7140 to config 'Multifunction with CDC ECM'/bf097840
[ 8.375162] g_multi gadget: CDC Ethernet: dual speed IN/ep1in OUT/ep1out NOTIFY/ep2in
[ 8.375177] g_multi gadget: adding 'acm'/dd4d7080 to config 'Multifunction with CDC ECM'/bf097840
[ 8.375199] g_multi gadget: acm ttyGS0: dual speed IN/ep3in OUT/ep2out NOTIFY/ep4in
[ 8.377776] g_multi gadget: I/O thread pid: 1813
[ 8.377806] g_multi gadget: adding 'Mass Storage Function'/dbe28200 to config 'Multifunction with CDC ECM'/bf097840
[ 8.377837] g_multi gadget: cfg 2/bf097840 speeds: high full
[ 8.377846] g_multi gadget: interface 0 = cdc_ethernet/dd4d7140
[ 8.377855] g_multi gadget: interface 1 = cdc_ethernet/dd4d7140
[ 8.377863] g_multi gadget: interface 2 = acm/dd4d7080
[ 8.377871] g_multi gadget: interface 3 = acm/dd4d7080
[ 8.377879] g_multi gadget: interface 4 = Mass Storage Function/dbe28200
[ 8.377899] g_multi gadget: Multifunction Composite Gadget
[ 8.383772] g_multi gadget: g_multi ready
[ 8.653120] libphy: 4a101000.mdio: probed
[ 8.657412] davinci_mdio 4a101000.mdio: phy[1]: device 4a101000.mdio:01, driver TLK110
[ 8.665833] davinci_mdio 4a101000.mdio: phy[3]: device 4a101000.mdio:03, driver TLK110
[ 8.712128] ec_cpsw 4a100000.ethernet: Detected MACID = ec:24:b8:b7:64:fb
[ 8.736472] g_multi gadget: high-speed config #1: Multifunction with RNDIS
[ 8.743757] usb0: qlen 10
[ 8.743788] g_multi gadget: activate acm ttyGS0
[ 8.743805] g_multi gadget: acm ttyGS0 serial state 0000
[ 8.743835] g_multi gadget: set_config: interface 4 (Mass Storage Function) requested delayed status
[ 8.743843] g_multi gadget: delayed_status count 1
[ 8.744055] g_multi gadget: usb_composite_setup_continue
[ 8.744071] g_multi gadget: usb_composite_setup_continue: Completing delayed status
[ 8.749399] EtherCAT: Accepting EC:24:B8:B7:64:FB as main device for master 0.
[ 8.765667] (null): initializing cpsw version 1.12 (0)
[ 8.863165] (null): phy found : id is : 0x2000a211
[ 8.886893] EtherCAT 0: Starting EtherCAT-IDLE thread.
[ 9.725140] usb0: eth_open
[ 9.725167] usb0: eth_start
[ 11.862199] libphy: 4a101000.mdio:01 - Link is Up - 100/Full
[ 11.868169] EtherCAT 0: Link state of ecm0 changed to UP.
[ 11.881696] EtherCAT 0: 2 slave(s) responding on main device.
[ 11.887758] EtherCAT 0: Slave states on main device: SAFEOP + ERROR.
[ 11.911760] EtherCAT 0: Scanning bus.
[ 11.915695] EtherCAT WARNING 0-0: Slave has state error bit set (SAFEOP + ERROR)!
[ 12.411916] EtherCAT WARNING 0-1: Slave has state error bit set (SAFEOP + ERROR)!
[ 12.814985] EtherCAT ERROR 0-1: Received upload response for wrong SDO (0x1001:00, requested: 0x1C12:00).
[ 12.825104] EtherCAT DEBUG: 00 30 4F 01 10 00 10 00 00 00
[ 12.912056] EtherCAT 0: Bus scanning completed in 1020 ms.
[ 12.917841] EtherCAT 0: Using slave 0 as DC reference clock.
[ 12.923838] EtherCAT ERROR 0: Failed to calculate bus topology.
[ 12.951774] EtherCAT ERROR 0-0: AL status message 0x001B: "Sync manager watchdog".
[ 12.971763] EtherCAT 0-0: Acknowledged state SAFEOP.
[ 13.001807] EtherCAT ERROR 0-1: AL status message 0x001B: "Sync manager watchdog".
[ 18.021584] EtherCAT ERROR 0-1: Timeout while acknowledging state SAFEOP + ERROR.
[ 18.029463] EtherCAT ERROR 0-1: Failed to acknowledge state change.
[ 33.959979] EtherCAT: Requesting master 0...
[ 33.964543] EtherCAT: Successfully requested master 0.
[ 34.486799] EtherCAT ERROR 0-0: Reception of CoE SDO description request failed: No response.
[ 34.510722] EtherCAT 0: Slave states on main device: PREOP, SAFEOP + ERROR.
[ 34.538630] EtherCAT WARNING 0-0: CoE Emergency Request received:
Error code 0xA000, Error register 0x10, data:
[ 34.550732] EtherCAT DEBUG: 08 06 00 06 00
[ 34.552021] EtherCAT ERROR 0-0: Failed to set SAFEOP state, slave refused state change (PREOP + ERROR).
[ 34.562578] EtherCAT ERROR 0-0: AL status message 0x001D: "Invalid output configuration".
[ 34.574697] EtherCAT 0-0: Acknowledged state PREOP.
[ 34.582233] EtherCAT ERROR 0-1: AL status message 0x001B: "Sync manager watchdog".
[ 34.594618] EtherCAT 0-1: Acknowledged state SAFEOP.
[ 34.617360] EtherCAT ERROR 0-1: Failed to set SAFEOP state, slave refused state change (PREOP + ERROR).
[ 34.627834] EtherCAT ERROR 0-1: AL status message 0x001D: "Invalid output configuration".
[ 34.640617] EtherCAT 0-1: Acknowledged state PREOP.
[ 34.651587] EtherCAT 0: Slave states on main device: PREOP.
[ 35.521551] EtherCAT ERROR 0-0: Timeout after 1000 ms while waiting for SDO 0x100a:0 upload response.
[ 35.531242] EtherCAT ERROR 0-0: Failed to process SDO request.
[ 35.871551] EtherCAT ERROR 0-0: SDO upload 0x1011:01 aborted.
[ 35.877602] EtherCAT ERROR 0-0: SDO abort message 0x06020000: "This object does not exist in the object directory".
[ 35.888578] EtherCAT ERROR 0-0: Failed to process SDO request.
[ 35.931556] EtherCAT WARNING 0-1: CoE Emergency Request received:
Error code 0xA000, Error register 0x10, data:
[ 35.943648] EtherCAT DEBUG: 08 06 00 06 00
[ 36.281549] EtherCAT ERROR 0-1: SDO upload 0x1011:01 aborted.
[ 36.287598] EtherCAT ERROR 0-1: SDO abort message 0x06020000: "This object does not exist in the object directory".
[ 36.298582] EtherCAT ERROR 0-1: Failed to process SDO request.
[ 38.421328] EtherCAT ERROR 0-1: Received unknown response while uploading SDO 0x607D:02.
[ 38.429877] EtherCAT DEBUG: 00 80 82 00 05 00 01 00 00 10 01 10 08 10 09 10
[ 38.429912] EtherCAT DEBUG: 0A 10 10 10 18 10 F3 10 00 16 01 16 02 16 03 16
[ 38.429942] EtherCAT DEBUG: 00 1A 01 1A 02 1A 03 1A 00 1C 12 1C 13 1C 32 1C
[ 38.429971] EtherCAT DEBUG: 33 1C 00 30 01 30 02 30 03 30 04 30 08 30 09 30
[ 38.430000] EtherCAT DEBUG: 10 30 11 30 12 30 13 30 14 30 15 30 16 30 17 30
[ 38.430029] EtherCAT DEBUG: 18 30 00 31 01 31 02 31 03 31 04 31 05 31 06 31
[ 38.430058] EtherCAT DEBUG: 07 31 08 31 09 31 10 31 11 31 12 31 13 31 14 31
[ 38.430087] EtherCAT DEBUG: 15 31 16 31 17 31 18 31 19 31 20 31 21 31 22 31
[ 38.430117] EtherCAT DEBUG: 23 31 24 31 25 31 26 31 27 31 28 31 29 31 30 31
[ 38.430146] EtherCAT DEBUG: 31 31 32 31 33 31 34 31 35 31 36 31 37 31 38 31
[ 38.430175] EtherCAT DEBUG: 39 31 40 31 41 31 42 31 43 31 44 31 45 31 46 31
[ 38.430203] EtherCAT DEBUG: 47 31 48 31 49 31 50 31 51 31 52 31 53 31 54 31
[ 38.430233] EtherCAT DEBUG: 55 31 56 31 57 31 58 31 59 31 60 31 61 31 62 31
[ 38.430262] EtherCAT DEBUG: 63 31 64 31 65 31 66 31 67 31 68 31 69 31 70 31
[ 38.430290] EtherCAT DEBUG: 71 31 72 31 73 31 74 31 75 31 76 31 77 31 78 31
[ 38.430320] EtherCAT DEBUG: 00 32 01 32 02 32 03 32 04 32
[ 38.430344] EtherCAT ERROR 0-1: Failed to process SDO request.
[ 38.597665] EtherCAT ERROR 0-1: Reception of CoE dictionary response failed: No response.
[ 39.216146] EtherCAT 0: Domain0: Logical address 0x00000000, 12 byte, expected working counter 2.
[ 39.225558] EtherCAT 0: Datagram domain0-0-main: Logical offset 0x00000000, 12 byte, type LWR at dd63878c.
[ 39.235902] EtherCAT 0: Domain1: Logical address 0x0000000c, 20 byte, expected working counter 2.
[ 39.245222] EtherCAT 0: Datagram domain1-12-main: Logical offset 0x0000000c, 20 byte, type LRD at dd3fe6cc.
[ 39.259847] EtherCAT 0: Master thread exited.
[ 39.264534] EtherCAT 0: Starting EtherCAT-OP thread.
[ 39.670052] EtherCAT 0: Domain 0: Working counter changed to 1/2.
[ 39.796065] EtherCAT 0: Domain 1: Working counter changed to 1/2.
[ 45.095155] EtherCAT WARNING 0-1: Slave did not sync after 5000 ms.
[ 45.121159] EtherCAT 0: Domain 0: Working counter changed to 2/2.
[ 50.113269] EtherCAT ERROR 0-1: Timeout while setting state SAFEOP.
[ 50.131592] EtherCAT 0: Slave states on main device: PREOP, OP.
Thanks.
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