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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