Hi Etherlab-dev. During development and testing of the Etherlab EtherCAT C master I found a minor bug which has been fixed in our version. I tested with version 1.5-pre and the new 1.5.2.
Bug description : When the C master adds slaves to a domain there is a problem with LRD/LWR/LRW assignment if the last slave alone expands to a new EtherCAT telegram because the first one is full. Example: We have a slave that has 284 bytes inputs and 264 bytes output BAD SETUP: (6 slaves, 284 byte WRITE, 264 READ) SLAVE READ DOMAIN Feb 27 09:37:06 kernel: [ 2560.537230] EtherCAT 0: Domain1: Logical address 0x00000006, 1704 byte, expected working counter 6. Feb 27 09:37:06 kernel: [ 2560.537256] EtherCAT 0: Datagram domain1-6: Logical offset 0x00000006, 1420 byte, type LRD. <-- (first 5 slaves 284*5 = 1420, READ) Feb 27 09:37:06 kernel: [ 2560.537280] EtherCAT 0: Datagram domain1-1426: Logical offset 0x00000592, 284 byte, type LRD. <-- (last slave, READ) SLAVE WRITE DOMAIN Feb 27 09:37:06 kernel: [ 2560.537325] EtherCAT 0: Domain2: Logical address 0x000006ae, 1584 byte, expected working counter 6. Feb 27 09:37:06 kernel: [ 2560.537351] EtherCAT 0: Datagram domain2-1710: Logical offset 0x000006ae, 1320 byte, type LWR. <-- (first 5 slaves 264*5 = 1320, WRITE) Feb 27 09:37:06 kernel: [ 2560.537375] EtherCAT 0: Datagram domain2-3030: Logical offset 0x00000bd6, 264 byte, type LRD. <-- (last slave, WRITE became READ which is a error) OK SETUP: (7 slaves, 284byte WRITE, 264 READ) SLAVE READ DOMAIN Feb 27 09:55:40 kernel: [ 3674.831832] EtherCAT 0: Domain1: Logical address 0x00000006, 1988 byte, expected working counter 7. Feb 27 09:55:40 kernel: [ 3674.831858] EtherCAT 0: Datagram domain1-6: Logical offset 0x00000006, 1420 byte, type LRD. <-- (first 5 slaves 284*5 = 1420, READ) Feb 27 09:55:40 kernel: [ 3674.831882] EtherCAT 0: Datagram domain1-1426: Logical offset 0x00000592, 568 byte, type LRD. <-- (last 2 slaves 284*2=568, READ) SLAVE WRITE DOMAIN Feb 27 09:55:40 kernel: [ 3674.831930] EtherCAT 0: Domain2: Logical address 0x000007ca, 1848 byte, expected working counter 7. Feb 27 09:55:40 kernel: [ 3674.831955] EtherCAT 0: Datagram domain2-1994: Logical offset 0x000007ca, 1320 byte, type LWR. <-- (first 5 slaves 264*5 = 1320, WRITE) Feb 27 09:55:40 kernel: [ 3674.831980] EtherCAT 0: Datagram domain2-3314: Logical offset 0x00000cf2, 528 byte, type LWR. <-- (last 2 slaves, 264*2=528, READ error was corrected to correct WRITE again when we added a extra slave) I found the problem in master/domain.c and fixed it and have included a git patch that you can evaluate. Best regards, Johnny Rasmussen DEIF Wind Power Technology Software Developer
multiple_domains.patch
Description: multiple_domains.patch
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