Hi all, thank you so much for the help so far with the setting up of
xenomai, however I am still stuck with rtnet. Am i missing something to
find the 6 different slaves on the robot?
I thought that by modifying the tdma.conf, i will at least be able to get a
response from the ip of the slave but till now i have no success.
I have also tried changing the ipaddress, but decided to revert back to
default to see if i am making a mistake there.
And my computer have a tendency to freeze after i start rtnet and check the
rtroute.
Will appreciate any help i can get with regards to this matter.
Please do correct me if i am making a mistake.
after loading into xenomai kernel, I do the following commands :
sudo ifconfig eth0 down
sudo rmmod e1000e
cd /usr/xenomai
sudo ./rtnet start
waiting for slaves.
sudo ./rtifconfig
rteth0 Medium: Ethernet Hardware address: 1C:69:7A:0F:04:42
IP address: 10.0.0.1 Broadcast address: 10.255.255.255
UP BROADCAST MTU: 1500
rtlo Medium: Local Loopback
IP address: 127.0.0.1
UP LOOPBACK RUNNING MTU: 1500
sudo ./rtroute
Host Routing Table
Hash Destination HW Address Device
00 0.0.0.0 00:00:00:00:00:00 rtlo
01 10.0.0.1 00:00:00:00:00:00 rtlo
01 127.0.0.1 00:00:00:00:00:00 rtlo
3F 10.255.255.255 FF:FF:FF:FF:FF:FF rteth0
dmesg
[ 566.798184] TDMA: Failed to transmit sync frame!
cat rtnet.conf
# This file is usually located in <PREFIX>/etc/rtnet.conf
# Please adapt it to your system.
# This configuration file is used with the rtnet script.
# RTnet installation path
prefix="/usr/xenomai"
exec_prefix="${prefix}"
RTNET_MOD="/lib/modules/`uname -r`/kernel/drivers/xenomai/net"
RTIFCONFIG="${exec_prefix}/sbin/rtifconfig"
RTCFG="${exec_prefix}/sbin/rtcfg"
TDMACFG="${exec_prefix}/sbin/tdmacfg"
# Module suffix: ".o" for 2.4 kernels, ".ko" for later versions
MODULE_EXT=".ko"
# RT-NIC driver
RT_DRIVER="rt_e1000e"
RT_DRIVER_OPTIONS=""
# PCI addresses of RT-NICs to claim (format: 0000:00:00.0)
# If both Linux and RTnet drivers for the same hardware are loaded, this
# list instructs the start script to rebind the given PCI devices,
detaching
# from their Linux driver, attaching it to the RT driver above. Example:
# REBIND_RT_NICS="0000:00:19.0 0000:01:1d.1"
REBIND_RT_NICS="0000:00:1f.6"
# IP address and netmask of this station
# The TDMA_CONFIG file overrides these parameters for masters and backup
# masters. Leave blank if you do not use IP addresses or if this station
is
# intended to retrieve its IP from the master based on its MAC address.
IPADDR="10.0.0.1"
NETMASK="255.255.255.0"
# Start realtime loopback device ("yes" or "no")
RT_LOOPBACK="yes"
# Use the following RTnet protocol drivers
RT_PROTOCOLS="udp packet"
# Start capturing interface ("yes" or "no")
RTCAP="yes"
# Common RTcfg stage 2 config data (master mode only)
# The TDMA_CONFIG file overrides this parameter.
STAGE_2_SRC=""
# Stage 2 config data destination file (slave mode only)
STAGE_2_DST=""
# Command to be executed after stage 2 phase (slave mode only)
STAGE_2_CMDS=""
# TDMA mode of the station ("master" or "slave")
# Start backup masters in slave mode, it will then be switched to master
# mode automatically during startup.
TDMA_MODE="master"
# Master parameters
# Simple setup: List of TDMA slaves
#TDMA_SLAVES="10.0.0.2"
# Simple setup: Cycle time in microsecond
#TDMA_CYCLE="5000"
# Simple setup: Offset in microsecond between TDMA slots
#TDMA_OFFSET="200"
# Advanced setup: Config file containing all TDMA station parameters
# To use this mode, uncomment the following line and disable the
# three master parameters above (SLAVES, CYCLE, and OFFSET).
TDMA_CONFIG="${prefix}/etc/tdma.conf"
cat tdma.conf
#
# Examplary TDMA configuration file
#
# Primary master
master:
ip 10.0.0.1
cycle 5000
slot 0 0
slot 1 1000
# Backup master
# Cycle is defined by the primary master
backup-master:
ip 10.0.0.2
backup-offset 200
slot 0 400
# Slave A
# MAC is unknown, slave will be pre-configured to the given IP
slave:
ip 10.0.0.3
slot 0 2000
slot 1 2200 1/2
# Slave B
# IP is assigned to the slave via its known MAC address
slave:
ip 10.0.0.4
mac 00:12:34:56:AA:FF
slot 0 2400
slot 1 2200 2/2
