Hello everyone,
I'm currently working with Xenomai in my company's project using RTNet as
realtime ethernet driver to communicate with Elmo card via EtherCAT
protocol and SOEM as master library.
I'm using Linux 3.8.13 patched with Xenomai 2.6.3.
I'm debugging a simple test which is a cycle of send & receive data with a
frequency of 1 kHz. The test runs fine for a quite long time (30 mins in
average), but still throws runaway thread after a certain time.
My loop is a periodic thread:
rt_task_set_periodic(rt_task_self(), TM_NOW, 1000000);
while(1){
rt_task_wait_period();
ec_send_processdata(); //SOEM function
ec_receive_processdata(); //SOEM function
}
With SIGDEBUG & gdb, the error seems to start from clock_gettime (when
ec_receive_processdata is called) with CLOCK_MONOTONIC, change to
CLOCK_REALTIME reproduces the same issue. My processor is x86_64, I heard
that the High Resolution Timer of Linux kernel is not supported for
processor 64 bits, this could be the reason for such behavior?
Reading this mailing conversation:
http://www.xenomai.org/pipermail/xenomai/2013-March/028021.html, I
understand that I have to put thread on sleep while not running, but even
with rt_task_sleep inserted, is not better. I don't know neither if
something could've occupied 100% CPU (while my task normally runs with
0.2% CPU occupied).
I'm running out of ideas for now. I'm very grateful for any suggestions.
Thank you in advance! (and sorry for my english)
Huy Cong VU
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