Hi Graeme, thanks for your answer
A 2012-11-08 02:32, Graeme Foot escrigué:
Hi,
Do you have the latest EtherLab 1.5.1 release (with the RTDM
updates)?
Yes, I downloaded dev version: etherlabmaster-960cc1bb6b4a.tar.bz2
Do you have RTDM enabled in the ethercat master build?
(with the --enable-rtdm option.)
Yes,
./configure --enable-8139too --enable-e100 --enable-r8169
--with-linux-dir=/usr/src/linux --with-rtai-dir=/usr/realtime
Check if you have any traps / syscalls in RTAI using the command
"cat
/proc/rtai/scheduler". If you do, then the RTDM calls probably
aren't
configured correctly and you are losing realtime.
Are many syscalls,
root@debian:~/RTAI_EtherCAT/src# cat /proc/rtai/scheduler
RTAI LXRT Real Time Task Scheduler.
Calibrated Time Base Frequency: 1800035000 Hz
Calibrated interrupt to scheduler latency: 2943 ns
Calibrated oneshot timer setup_to_firing time: 999 ns
Number of RT CPUs in system: 4 (sized for 4)
Real time kthreads in resorvoir (cpu/#): (0/1): (1/1): (2/1): (3/1)
Global heap: size = 2097152, used = 2304; <BSD>.
Kstack heap: size = 524288, used = 32768; <BSD>.
Number of forced hard/soft/hard transitions: traps 0, syscalls 278090
Priority Period(ns) FPU Sig State CPU Task HD/SF PID RT_TASK
* TIME
------------------------------------------------------------------------------
0 0 No No 0x5 0:1 1 1 0
f8b40780 0
1 99999 Yes No 0x1 0:1 2 1 1306
f8903220 185
TIMED
f8b40780
READY
f8903220 0 0 No No 0x5 1:2 3 1 0
f8b40c80 0
TIMED
f8b40c80
READY
0 0 No No 0x5 2:4 4 1 0
f8b41180 0
TIMED
f8b41180
READY
0 0 No No 0x5 3:8 5 1 0
f8b41680 0
TIMED
f8b41680
READY
I have compiled RTAI with RTDM support, the EtherCATMaster too, and
forces me to load the module rtai_rtdm to start the master.
How to configure the RTDM?
Thank you in advance
Regards,
Graeme.
-----Original Message-----
From: [email protected]
[mailto:[email protected]] On Behalf Of Carlos
Jiménez Leal
Sent: Thursday, 8 November 2012 05:00
To: EtherLAB Users
Subject: [etherlab-users] Time issues with EtherCAT functions
Hello,
I have some problems with the execution time of the EtherCAT
functions
in user space.
I'm using the version of the EtherLAB dated 06/11/2012, linux
2.6.29.5
and RTAI 3.8.1 (with RTDM) for one cycle at 10kHz,
in a system with the following Beckohff modules: EK1100, EL2004,
EL1004, EL4132, EL3102, 2xEL3356-0010, EL9510
on a 1.80GHz Intel Atom D525, with a Realtek 8139too
The cycle would be something like this:
cycle () {
ecrt_master_receive ()
ecrt_domain_process ()
phases ()
ecrt_domain_queue ()
ecrt_master_send ()
wait_next_cycle ()
}
I picked up the time it takes each and is far superior to that
specified in the etherlab manual
(http://www.etherlab.org/download/ethercat/ethercat-1.5-6129a5f715fb.pdf)
Retrieved Manual
Receive Master 21micro-s 2.2micro-s
Domain Process 11.5micro-s 1micro-s
Domain Queue 13.6micro-s 1micro-s
Master Send 14.3micro-s 2.5micro-s
Besides occasionally one of them takes much longer, reaching
3_mili-s_
Master Receive
(attached compressed csv file data)
Anyone have any idea what could be happening?
Thank you in advance
--
Carlos Jiménez
ENCOPIM S.L.
C/. del Parc 5 (nau 13), P.I. Els Pinetons
E-08291 RIPOLLET (Barcelona)
Tel: (+34) 935 94 23 47
Fax: (+34) 935 94 64 15
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The information contained in this transmission is confidential and
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==========================================================
--
Carlos Jiménez
ENCOPIM S.L.
C/. del Parc 5 (nau 13), P.I. Els Pinetons
E-08291 RIPOLLET (Barcelona)
Tel: (+34) 935 94 23 47
Fax: (+34) 935 94 64 15
==========================================================
La información contenida en la presente transmisión es confidencial y
su
uso únicamente está permitido a su(s) destinatario(s). Si Ud. no es
la
persona destinataria de la presente transmisión, rogamos nos lo
comunique de manera inmediata por teléfono (+34 935 942 347) y
destruya
cualquier copia de la misma (tanto digitales como en papel).
The information contained in this transmission is confidential and is
intended only for the use of the addressee(s). If you are not the
designated recipient of this transmission, please advise us
immediately
by telephone (+34 935 942 347) and destroy any copies (digital and
paper).
==========================================================
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