> -----Original Message-----
> From: Xenomai <xenomai-boun...@xenomai.org> On Behalf Of John Ho via
> Xenomai
> Sent: Donnerstag, 15. Oktober 2020 16:37
> To: xenomai@xenomai.org
> Subject: rtnet not locating ethercat slaves
>
> NON-ANDRITZ SOURCE: BE CAUTIOUS WITH CONTENT, LINKS OR
> ATTACHMENTS.
>
>
> 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
RTnet TDMA is a own protocol, and your Ethercat slaves aren’t speaking it
(unless you implement it there, but that goes against the "pipe-through"
architecture of Ethercat).
If you want to use ethercat slaves you should just sent RAW Ethernet or UDP
packets.
Ie, you should just use 'rtifconfig up' and not the 'rtnet' tool.
Norbert
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