Hi: I should write this email a bit early. The problem I mentioned before about loading EL6002 serial module has been solved. The main problem was creating a RTAI shared memory in my kernel module. Now it is solved. The Beckhoff EL6002 seems working fine.
Cheers. Jason Xu On 4 June 2010 22:00, <etherlab-users-requ...@etherlab.org> wrote: > Send etherlab-users mailing list submissions to > etherlab-users@etherlab.org > > To subscribe or unsubscribe via the World Wide Web, visit > http://lists.etherlab.org/mailman/listinfo/etherlab-users > or, via email, send a message with subject or body 'help' to > etherlab-users-requ...@etherlab.org > > You can reach the person managing the list at > etherlab-users-ow...@etherlab.org > > When replying, please edit your Subject line so it is more specific > than "Re: Contents of etherlab-users digest..." > > > Today's Topics: > > 1. problem in loading Beckhoff Serialport module EL6002 (Jason Xu) > > > ---------------------------------------------------------------------- > > Message: 1 > Date: Fri, 4 Jun 2010 18:19:34 +1200 > From: Jason Xu <ja...@motiondesign.co.nz> > Subject: [etherlab-users] problem in loading Beckhoff Serialport > module EL6002 > To: etherlab-users@etherlab.org > Message-ID: > <aanlktilbevcb6xczpwwpvr_18wbpbx05vy0pntlhs...@mail.gmail.com> > Content-Type: text/plain; charset="iso-8859-1" > > Hi Florian: > > I have a strange problem when I load Beckhoff Serialport module EL6002. The > story is as this. > > I write a c kernal module following your example code in rtai and tty > folder > (CoE). The running master version is 1.4.0-rc3 in my test pc. > > I have 3 Beckhoff Serialport module EL6002 in the slave bank plus 60 other > Beckhoff digital I/O slaves (modules). The 3 EL6002 modules (6 serial > ports) > working fine when I connect them with only 20 of the 60 digital I/O > modules. > However, if I connect all the 60 digital I/O slaves (modules) with the 3 > EL6002 modules, the ethercat kernal module crashed during initialization. > > All the digital I/Os and 3 EL6002 are scanned in 1000Hz scan rate in > realtime. I did not use virtual ectty port method. Instead, I use a > seperate > share memory to story the read/write buffer. I think that should not be a > problem, plus I have checked the reading/sending are correct when there is > less module connected in the bank. > > Below are the dmesg, can you give some suggestion on this problem. Thanks > in > advance. > > Jason > > > [ 137.976768] ec_md_ethercat v1.05-70:Starting... > [ 137.976774] EtherCAT: Requesting master 0... > [ 137.977009] EtherCAT: Successfully requested master 0. > [ 137.977016] ec_md_ethercat v1.05-70:Registering domain... > [ 137.977452] ec_md_ethercat v1.05-70:Registering Pdo entries... > [ 137.978062] ec_md_ethercat v1.05-70:Activating master... > [ 137.978084] EtherCAT: Domain0: Logical address 0x00000000, 344 byte, > expected working counter 102. > [ 137.978090] EtherCAT: Datagram domain0-0: Logical offset 0x00000000, > 344 byte, type LRW. > [ 137.978128] EtherCAT: Master thread exited. > [ 137.978133] EtherCAT: Starting EtherCAT-OP thread. > [ 137.978184] ec_md_ethercat v1.05-70:Starting cyclic sample thread... > [ 137.978199] ec_md_ethercat v1.05-70:RT timer started with 999925/999925 > ticks. > [ 137.978228] ec_md_ethercat v1.05-70:Initialized. > [ 137.979274] ec_md_ethercat v1.05-70:kernel module thread called > [ 137.979281] ec_md_ethercat v1.05-70:64 slave(s). > [ 137.979284] ec_md_ethercat v1.05-70:AL states: 0x02. > [ 137.979287] ec_md_ethercat v1.05-70:Link is up. > [ 137.997238] EtherCAT: Domain 0: Working counter changed to 2/102. > [ 137.997245] ec_md_ethercat v1.05-70:Domain1: WC 2. > [ 137.997248] ec_md_ethercat v1.05-70:Domain1: State 1. > [ 138.025234] ec_md_ethercat v1.05-70:Domain1: WC 4. > [ 138.051240] ec_md_ethercat v1.05-70:Domain1: WC 6. > [ 138.077245] ec_md_ethercat v1.05-70:Domain1: WC 8. > [ 138.105247] ec_md_ethercat v1.05-70:Domain1: WC 10. > [ 138.133226] ec_md_ethercat v1.05-70:Domain1: WC 12. > [ 138.161224] ec_md_ethercat v1.05-70:Domain1: WC 14. > [ 138.185219] ec_md_ethercat v1.05-70:Domain1: WC 16. > [ 138.209217] ec_md_ethercat v1.05-70:Domain1: WC 18. > [ 138.233215] ec_md_ethercat v1.05-70:Domain1: WC 20. > [ 138.257215] ec_md_ethercat v1.05-70:Domain1: WC 22. > [ 138.281211] ec_md_ethercat v1.05-70:Domain1: WC 24. > [ 138.305210] ec_md_ethercat v1.05-70:Domain1: WC 26. > [ 138.329209] ec_md_ethercat v1.05-70:Domain1: WC 28. > [ 138.354207] ec_md_ethercat v1.05-70:Domain1: WC 30. > [ 138.378203] ec_md_ethercat v1.05-70:Domain1: WC 32. > [ 138.402201] ec_md_ethercat v1.05-70:Domain1: WC 34. > [ 138.442202] ec_md_ethercat v1.05-70:Domain1: WC 37. > [ 138.448206] ec_md_ethercat v1.05-70:alias=61 term=0 : Init successful. > [ 138.448213] ec_md_ethercat v1.05-70:alias=61 term=1 : Init successful. > [ 138.470198] ec_md_ethercat v1.05-70:Domain1: WC 40. > [ 138.476212] ec_md_ethercat v1.05-70:alias=62 term=0 : Init successful. > [ 138.476218] ec_md_ethercat v1.05-70:alias=62 term=1 : Init successful. > [ 138.498196] ec_md_ethercat v1.05-70:Domain1: WC 43. > [ 138.504208] ec_md_ethercat v1.05-70:alias=63 term=0 : Init successful. > [ 138.504214] ec_md_ethercat v1.05-70:alias=63 term=1 : Init successful. > [ 138.505199] > [ 138.505201] LXRT CHANGED MODE (TRAP), PID = 1223, VEC = 14, SIGNO = 11. > [ 138.505218] BUG: unable to handle kernel paging request at virtual > address de87c148 > [ 138.516929] printing eip: df2b53f2 *pde = 1c0d7067 *pte = 00000000 > [ 138.528899] Oops: 0000 [#1] > [ 138.540681] Modules linked in: ec_md_ethercat(F) rtai_sem rtai_shm > rtai_fifos rtai_usi rtai_lxrt rtai_hal rtai_smi usbhid usbscanner mxuport > mxusbserial ec_8139too ec_master > [ 138.567837] > [ 138.581230] Pid: 1223, comm: U:HARD:0:11 Tainted: GF (2.6.24.4 > #12) > [ 138.595246] EIP: 0060:[<df2b53f2>] EFLAGS: 00010297 CPU: 0 > [ 138.609439] EIP is at el60xx_port_run+0x4e/0x21c [ec_md_ethercat] > [ 138.623904] EAX: 00000000 EBX: de87bf40 ECX: de87bf40 EDX: daa5e800 > [ 138.638490] ESI: df2ba5ac EDI: daa50000 EBP: daa5e800 ESP: daa6df78 > [ 138.653090] DS: 007b ES: 007b FS: 0000 GS: 0033 SS: 0068 > [ 138.667860] Process U:HARD:0:11 (pid: 1223, ti=daa6c000 task=daa12560 > task.ti=daa6c000)<0> > [ 138.668517] I-pipe domain Linux > [ 138.683608] Stack: 0000003b dc1f9800 df2ba64c 00ad3120 daa5e8f2 0084996c > de87c150 df2ba5a4 > [ 138.699673] daa5e800 00000000 df2b55d7 0000003a df2c10d8 df2ba5a4 > df2b5c9b df2c0800 > [ 138.716002] df2c0380 00000000 00000000 df2a0d87 df2b3a00 df2a7501 > 00000000 0000000b > [ 138.732524] Call Trace: > [ 138.765162] [<df2b55d7>] el6002_run+0x17/0x28 [ec_md_ethercat] > [ 138.782233] [<df2b5c9b>] run+0x225/0x2a6 [ec_md_ethercat] > [ 138.799560] [<df2a0d87>] kthread_fun+0x113/0x181 [rtai_lxrt] > [ 138.817052] [<df2a0c74>] kthread_fun+0x0/0x181 [rtai_lxrt] > [ 138.834563] [<c0104087>] kernel_thread_helper+0x7/0x10 > [ 138.852162] ======================= > [ 138.869659] Code: 0f 84 92 01 00 00 0f 82 6e 01 00 00 83 f8 02 0f 85 b5 > 01 00 00 89 f8 88 44 24 0f 83 e0 01 88 44 24 17 3a 46 39 0f 84 b6 00 00 00 > <83> b9 08 02 00 00 00 0f 84 8d 00 00 00 83 b9 00 02 00 00 00 0f > [ 138.908603] EIP: [<df2b53f2>] el60xx_port_run+0x4e/0x21c > [ec_md_ethercat] > SS:ESP 0068:daa6df78 > [ 138.928341] ---[ end trace 9d389a8bf40e7b52 ]--- > [ 138.948159] EtherCAT: Slave states: PREOP, OP. > -bash-3.2# > -bash-3.2# > -------------- next part -------------- > An HTML attachment was scrubbed... > URL: < > http://lists.etherlab.org/pipermail/etherlab-users/attachments/20100604/3b0cee1a/attachment.html > > > > ------------------------------ > > _______________________________________________ > etherlab-users mailing list > etherlab-users@etherlab.org > http://lists.etherlab.org/mailman/listinfo/etherlab-users > > > End of etherlab-users Digest, Vol 37, Issue 1 > ********************************************* > -- Jason Xu Motion Design Ltd New Zealand Tel: +64 9 411 8230 Fax: +64 9 411 8237 Email: ja...@motiondesign.co.nz
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