----- On Oct 15, 2020, at 4:36 PM, xenomai [email protected] wrote:
> 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
Hi John,
I would start with running soem/test/linux/simple_test/simple_test.c
after you booted in your regular kernel, not the xenomai patched one,
and recompiled soem for that setup.
Do you see any slaves then?
Best regards,
Gino
