Hi everybody,
i’m playing with this great library and it’s just works!
I’m running it on a Intel Atom E3930 Dual Core 1.3GHz with 4.14.109 preemptive
+ xenomai 3.1.
So i started compiling the xenomai example over the ec_generic module. It
works, but sometimes (randomly) i saw a classic “datagram UNMATCHED”
[ 4187.708617] EtherCAT WARNING 0: 1 datagram UNMATCHED!
[ 4187.844433] EtherCAT WARNING: Datagram ffff89b4783bc798 (domain0-0-main) was
SKIPPED 1 time.
[ 4188.392447] EtherCAT 0: Domain 0: Working counter changed to 3/3
The error is not deterministic but it occurs often if i increase the load of
the system.
Reading the ML i understood that at 1KHz everything should run fine even with
the ec_generic (i have 2 igb port BTW), isn’t it?
I’ve tried 1KHz, 500Hz, 100Hz but the issue is always there (stepping down the
frequency of the main loop causing the issue be less visible).
I’ve also tried to playing with the ethernet IRQ throttling but they make no
differences.
ifname="enp2s0"
ifconfig $ifname up
ethtool -L $ifname combined 1
ethtool -C $ifname rx-usecs 0 # default 3
ethtool -C $ifname tx-usecs 0 # default 3
I’ve tried to change the thread RT priority with 50-82-… but the issue is
always there.
When it happens, looking the stats from “ifconfig”, there aren’t any drop of
packages (rx and tx go together correctly).
I have no other idea except compiling with –enable-rtdm: i’ve tried but the
compiling/linking process fails.
Here are my steps:
./bootstrap
CFLAGS=`/usr/xenomai/bin/xeno-config --alchemy --rtdm --compat --cflags`
LDFLAGS=`/usr/xenomai/bin/xeno-config --alchemy --rtdm --compat --ldflags`
./configure --enable-kernel --enable-generic --enable-ccat --disable-8139too
--disable-e100 --disable-e1000 --disable-e1000e --disable-r8169
--enable-sii-assign --enable-hrtimer --enable-igb
--with-linux-dir=/usr/src/linux-headers-4.14.109/ --prefix=/usr --enable-rtdm
--with-xenomai-dir=/usr/xenomai/
make all modules
/usr/xenomai/lib/xenomai/bootstrap.o: In function `xenomai_main':
bootstrap.c:(.text+0x0): multiple definition of `xenomai_main'
/usr/xenomai/lib/xenomai/bootstrap.o:bootstrap.c:(.text+0x0): first defined here
/usr/xenomai/lib/xenomai/bootstrap.o:(.rodata+0x0): multiple definition of
`xenomai_auto_bootstrap'
/usr/xenomai/lib/xenomai/bootstrap.o:(.rodata+0x0): first defined here
/root/ethercat/lib/.libs/libethercat_rtdm.so: undefined reference to `rt_printk'
/root/ethercat/lib/.libs/libethercat_rtdm.so: undefined reference to
`rt_dev_ioctl'
/root/ethercat/lib/.libs/libethercat_rtdm.so: undefined reference to
`rt_dev_open'
/root/ethercat/lib/.libs/libethercat_rtdm.so: undefined reference to
`rt_dev_close'
collect2: error: ld returned 1 exit status
Makefile:421: recipe for target 'ec_xenomai_example' failed
make[4]: *** [ec_xenomai_example] Error 1
make[4]: Leaving directory '/root/ethercat/examples/xenomai'
Makefile:454: recipe for target 'all-recursive' failed
make[3]: *** [all-recursive] Error 1
make[3]: Leaving directory '/root/ethercat/examples'
Makefile:406: recipe for target 'all' failed
make[2]: *** [all] Error 2
make[2]: Leaving directory '/root/ethercat/examples'
Makefile:515: recipe for target 'all-recursive' failed
make[1]: *** [all-recursive] Error 1
make[1]: Leaving directory '/root/ethercat'
Makefile:441: recipe for target 'all' failed
make: *** [all] Error 2
make: *** Waiting for unfinished jobs....
CC [M] /root/ethercat/master/rtdm.o
In file included from include/xenomai/cobalt/kernel/thread.h:27:0,
from include/xenomai/cobalt/kernel/sched.h:24,
from include/xenomai/rtdm/driver.h:37,
from /root/ethercat/master/rtdm.c:37:
include/xenomai/cobalt/kernel/timer.h:28:34: fatal error:
asm/xenomai/wrappers.h: No such file or directory
#include <asm/xenomai/wrappers.h>
^
compilation terminated.
scripts/Makefile.build:326: recipe for target '/root/ethercat/master/rtdm.o'
failed
make[3]: *** [/root/ethercat/master/rtdm.o] Error 1
scripts/Makefile.build:585: recipe for target '/root/ethercat/master' failed
make[2]: *** [/root/ethercat/master] Error 2
Makefile:1535: recipe for target '_module_/root/ethercat' failed
make[1]: *** [_module_/root/ethercat] Error 2
make[1]: Leaving directory '/usr/src/linux-headers-4.14.109'
Makefile:936: recipe for target 'modules' failed
make: *** [modules] Error 2
Thanks in advance
R.
Roberto Viola
Technical Dept
+39 0536836680
[cid:[email protected]]
SYSTEM CERAMICS S.p.A.
Via Ghiarola Vecchia, 73
41042 Fiorano (Mo) ITALY
+39 0536 836111
[email protected]<mailto:[email protected]>
www.system-electronics.it<http://www.system-electronics.it>
[cid:[email protected]]
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