Hello everybody!
I am trying to build an etherlab-application based on the
user-example. I modified the source code for my bus configuration.
After compiling and running the program I received the following output:
Configuring PDOs...
Activating master...
Starting timer...
Started.
5 slave(s).
AL states: 0x02.
Link is up.
Domain1: WC 1.
Domain1: State 1.
Domain1: WC 4.
Domain1: WC 5.
Domain1: WC 6.
Domain1: State 2.
AL states: 0x08.
Domain1: WC 0.
Domain1: State 0.
Domain1: WC 6.
Domain1: State 2.
Domain1: WC 0.
Domain1: State 0.
Domain1: WC 6.
Domain1: State 2.
The program works, the digital outputs are blinking/toggleing. I paid
attention to the domain working counter- and state changes. This
messages appear when the program is running a few seconds. The kernel
logs showed the following messages:
tux@terminal:~$ sudo dmesg -c
[29842.462777] EtherCAT 0: Domain 0: Working counter changed to 0/6.
[29842.752788] EtherCAT WARNING: Datagram f73b59c0 (domain0-0) was
SKIPPED 2 times.
[29843.076180] EtherCAT WARNING 0: 1 datagram UNMATCHED!
[29843.472786] EtherCAT 0: Domain 0: Working counter changed to 6/6.
tux@terminal:~$ sudo dmesg -c
[29855.462831] EtherCAT 0: Domain 0: Working counter changed to 0/6.
[29855.882832] EtherCAT WARNING: Datagram f73b59c0 (domain0-0) was
SKIPPED 2 times.
[29856.084222] EtherCAT WARNING 0: 1 datagram UNMATCHED!
[29856.472779] EtherCAT 0: Domain 0: Working counter changed to 6/6.
Here some infos about the system: Ubuntu 10.04 LTS with Kernel
2.6.31.6 and PREEMPT patch but same warnings also appear on a system
without RT PREEMPT.
etherlab version info:
tux@terminal:~$ sudo /opt/etherlab/bin/ethercat version
IgH EtherCAT master 1.5.1 0f7a243b03e4
I can imagine there are timing problems because program is working and
the messages appear irregular. On the other side, EtherCAT is a
real-time capable system but does not require real-time, isn't it? Can
you tell me what's wrong in the program or what is the reason for
warnings?
Below you can see the program.
Best Regards,
Marcel
#include <errno.h>
#include <signal.h>
#include <stdio.h>
#include <string.h>
#include <sys/resource.h>
#include <sys/time.h>
#include <sys/types.h>
#include <unistd.h>
/****************************************************************************/
#include "ecrt.h"
/****************************************************************************/
// Application parameters
#define FREQUENCY 100
#define PRIORITY 1
// Optional features
#define CONFIGURE_PDOS 1
#define SDO_ACCESS 0
/****************************************************************************/
// EtherCAT
static ec_master_t *master = NULL;
static ec_master_state_t master_state = {};
static ec_domain_t *domain1 = NULL;
static ec_domain_state_t domain1_state = {};
static ec_slave_config_t *sc_ana_in = NULL;
static ec_slave_config_state_t sc_ana_in_state = {};
// Timer
static unsigned int sig_alarms = 0;
static unsigned int user_alarms = 0;
/****************************************************************************/
// process data
static uint8_t *domain1_pd = NULL;
#define BusCouplerPos 0, 0
#define PotentialPos 0, 1
#define DigOutSlavePos 0, 2
#define DigInSlavePos 0, 2
#define AnaInSlavePos 0, 3
#define ThermoSlavePos 0, 4
#define Beckhoff_EK1100 0x00000002, 0x044c2c52
#define Beckhoff_EL9110 0x00000002, 0x23963052
#define Beckhoff_EL1859 0x00000002, 0x07433052
#define Beckhoff_EL3111 0x00000002, 0x0c273052
#define Beckhoff_EL3311 0x00000002, 0x0cef3052
// offsets for PDO entries
static unsigned int off_potential_status;
static unsigned int off_dig_out;
static unsigned int off_dig_in;
static unsigned int off_ana_in;
static unsigned int off_thermo_in;
const static ec_pdo_entry_reg_t domain1_regs[] = {
{PotentialPos, Beckhoff_EL9110, 0x6000, 1, &off_potential_status},
{DigOutSlavePos, Beckhoff_EL1859, 0x7080, 1, &off_dig_out},
{DigInSlavePos, Beckhoff_EL1859, 0x6000, 1, &off_dig_in},
{AnaInSlavePos, Beckhoff_EL3111, 0x6000, 0x11, &off_ana_in},
{ThermoSlavePos, Beckhoff_EL3311, 0x6000, 0x11, &off_thermo_in},
{}
};
static unsigned int counter = 0;
static unsigned int blink = 0;
/*****************************************************************************/
#if CONFIGURE_PDOS
/* Master 0, Slave 1, "EL9110"
* Vendor ID: 0x00000002
* Product code: 0x23963052
* Revision number: 0x00100000
*/
ec_pdo_entry_info_t slave_1_pdo_entries[] = {
{0x6000, 0x01, 1}, /* Input */
};
ec_pdo_info_t slave_1_pdos[] = {
{0x1a00, 1, slave_1_pdo_entries + 0}, /* PowerOK */
};
ec_sync_info_t slave_1_syncs[] = {
{0, EC_DIR_INPUT, 1, slave_1_pdos + 0, EC_WD_DISABLE},
{0xff}
};
/* Master 0, Slave 2, "EL1859"
* Vendor ID: 0x00000002
* Product code: 0x07433052
* Revision number: 0x00100000
*/
ec_pdo_entry_info_t slave_2_pdo_entries[] = {
{0x7080, 0x01, 1}, /* Output */
{0x7090, 0x01, 1}, /* Output */
{0x70a0, 0x01, 1}, /* Output */
{0x70b0, 0x01, 1}, /* Output */
{0x70c0, 0x01, 1}, /* Output */
{0x70d0, 0x01, 1}, /* Output */
{0x70e0, 0x01, 1}, /* Output */
{0x70f0, 0x01, 1}, /* Output */
{0x6000, 0x01, 1}, /* Input */
{0x6010, 0x01, 1}, /* Input */
{0x6020, 0x01, 1}, /* Input */
{0x6030, 0x01, 1}, /* Input */
{0x6040, 0x01, 1}, /* Input */
{0x6050, 0x01, 1}, /* Input */
{0x6060, 0x01, 1}, /* Input */
{0x6070, 0x01, 1}, /* Input */
};
ec_pdo_info_t slave_2_pdos[] = {
{0x1608, 1, slave_2_pdo_entries + 0}, /* Channel 9 */
{0x1609, 1, slave_2_pdo_entries + 1}, /* Channel 10 */
{0x160a, 1, slave_2_pdo_entries + 2}, /* Channel 11 */
{0x160b, 1, slave_2_pdo_entries + 3}, /* Channel 12 */
{0x160c, 1, slave_2_pdo_entries + 4}, /* Channel 13 */
{0x160d, 1, slave_2_pdo_entries + 5}, /* Channel 14 */
{0x160e, 1, slave_2_pdo_entries + 6}, /* Channel 15 */
{0x160f, 1, slave_2_pdo_entries + 7}, /* Channel 16 */
{0x1a00, 1, slave_2_pdo_entries + 8}, /* Channel 1 */
{0x1a01, 1, slave_2_pdo_entries + 9}, /* Channel 2 */
{0x1a02, 1, slave_2_pdo_entries + 10}, /* Channel 3 */
{0x1a03, 1, slave_2_pdo_entries + 11}, /* Channel 4 */
{0x1a04, 1, slave_2_pdo_entries + 12}, /* Channel 5 */
{0x1a05, 1, slave_2_pdo_entries + 13}, /* Channel 6 */
{0x1a06, 1, slave_2_pdo_entries + 14}, /* Channel 7 */
{0x1a07, 1, slave_2_pdo_entries + 15}, /* Channel 8 */
};
ec_sync_info_t el1859_syncs[] = {
{0, EC_DIR_OUTPUT, 8, slave_2_pdos + 0, EC_WD_ENABLE},
{1, EC_DIR_INPUT, 8, slave_2_pdos + 8, EC_WD_DISABLE},
{0xff}
};
/* Master 0, Slave 3, "EL3111"
* Vendor ID: 0x00000002
* Product code: 0x0c273052
* Revision number: 0x00100000
*/
ec_pdo_entry_info_t slave_3_pdo_entries[] = {
{0x6000, 0x01, 1}, /* Underrange */
{0x6000, 0x02, 1}, /* Overrange */
{0x6000, 0x03, 2}, /* Limit 1 */
{0x6000, 0x05, 2}, /* Limit 2 */
{0x6000, 0x07, 1}, /* Error */
{0x0000, 0x00, 1}, /* Gap */
{0x0000, 0x00, 5}, /* Gap */
{0x1c32, 0x20, 1},
{0x1800, 0x07, 1}, /* TxPDO State */
{0x1800, 0x09, 1}, /* TxPDO Toggle */
{0x6000, 0x11, 16}, /* Value */
};
ec_pdo_info_t slave_3_pdos[] = {
{0x1a00, 11, slave_3_pdo_entries + 0}, /* AI TxPDO-Map Standard Ch.1 */
};
ec_sync_info_t el3111_syncs[] = {
{0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE},
{1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE},
{2, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE},
{3, EC_DIR_INPUT, 1, slave_3_pdos + 0, EC_WD_DISABLE},
{0xff}
};
/* Master 0, Slave 4, "EL3311"
* Vendor ID: 0x00000002
* Product code: 0x0cef3052
* Revision number: 0x00120000
*/
ec_pdo_entry_info_t slave_4_pdo_entries[] = {
{0x6000, 0x01, 1}, /* Underrange */
{0x6000, 0x02, 1}, /* Overrange */
{0x6000, 0x03, 2}, /* Limit 1 */
{0x6000, 0x05, 2}, /* Limit 2 */
{0x6000, 0x07, 1}, /* Error */
{0x0000, 0x00, 7}, /* Gap */
{0x6000, 0x0f, 1}, /* TxPDO State */
{0x1800, 0x09, 1},
{0x6000, 0x11, 16}, /* Value */
};
ec_pdo_info_t slave_4_pdos[] = {
{0x1a00, 9, slave_4_pdo_entries + 0}, /* TC TxPDO-MapCh.1 */
};
ec_sync_info_t slave_4_syncs[] = {
{0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE},
{1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE},
{2, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE},
{3, EC_DIR_INPUT, 1, slave_4_pdos + 0, EC_WD_DISABLE},
{0xff}
};
#endif
/*****************************************************************************/
#if SDO_ACCESS
static ec_sdo_request_t *sdo;
#endif
/*****************************************************************************/
void check_domain1_state(void)
{
ec_domain_state_t ds;
ecrt_domain_state(domain1, &ds);
if (ds.working_counter != domain1_state.working_counter)
printf("Domain1: WC %u.\n", ds.working_counter);
if (ds.wc_state != domain1_state.wc_state)
printf("Domain1: State %u.\n", ds.wc_state);
domain1_state = ds;
}
/*****************************************************************************/
void check_master_state(void)
{
ec_master_state_t ms;
ecrt_master_state(master, &ms);
if (ms.slaves_responding != master_state.slaves_responding)
printf("%u slave(s).\n", ms.slaves_responding);
if (ms.al_states != master_state.al_states)
printf("AL states: 0x%02X.\n", ms.al_states);
if (ms.link_up != master_state.link_up)
printf("Link is %s.\n", ms.link_up ? "up" : "down");
master_state = ms;
}
/*****************************************************************************/
void check_slave_config_states(void)
{
ec_slave_config_state_t s;
ecrt_slave_config_state(sc_ana_in, &s);
if (s.al_state != sc_ana_in_state.al_state)
printf("AnaIn: State 0x%02X.\n", s.al_state);
if (s.online != sc_ana_in_state.online)
printf("AnaIn: %s.\n", s.online ? "online" : "offline");
if (s.operational != sc_ana_in_state.operational)
printf("AnaIn: %soperational.\n",
s.operational ? "" : "Not ");
sc_ana_in_state = s;
}
/*****************************************************************************/
#if SDO_ACCESS
void read_sdo(void)
{
switch (ecrt_sdo_request_state(sdo)) {
case EC_REQUEST_UNUSED: // request was not used yet
ecrt_sdo_request_read(sdo); // trigger first read
break;
case EC_REQUEST_BUSY:
fprintf(stderr, "Still busy...\n");
break;
case EC_REQUEST_SUCCESS:
fprintf(stderr, "SDO value: 0x%04X\n",
EC_READ_U16(ecrt_sdo_request_data(sdo)));
ecrt_sdo_request_read(sdo); // trigger next read
break;
case EC_REQUEST_ERROR:
fprintf(stderr, "Failed to read SDO!\n");
ecrt_sdo_request_read(sdo); // retry reading
break;
}
}
#endif
/****************************************************************************/
void cyclic_task()
{
int i;
// receive process data
ecrt_master_receive(master);
ecrt_domain_process(domain1);
// check process data state (optional)
check_domain1_state();
if (counter) {
counter--;
} else { // do this at 1 Hz
counter = FREQUENCY;
// calculate new process data
blink = !blink;
// check for master state (optional)
check_master_state();
// check for islave configuration state(s) (optional)
//check_slave_config_states();
#if SDO_ACCESS
// read process data SDO
read_sdo();
#endif
}
#if 0
// read process data
printf("AnaIn: state %u value %u\n",
EC_READ_U8(domain1_pd + off_ana_in_status),
EC_READ_U16(domain1_pd + off_ana_in_value));
#endif
#if 1
// write process data
EC_WRITE_U8(domain1_pd + off_dig_out, blink ? 0x06 : 0x09);
#endif
// send process data
ecrt_domain_queue(domain1);
ecrt_master_send(master);
}
/****************************************************************************/
void signal_handler(int signum) {
switch (signum) {
case SIGALRM:
sig_alarms++;
break;
}
}
/****************************************************************************/
int main(int argc, char **argv)
{
ec_slave_config_t *sc;
struct sigaction sa;
struct itimerval tv;
master = ecrt_request_master(0);
if (!master)
return -1;
domain1 = ecrt_master_create_domain(master);
if (!domain1)
return -1;
if (!(sc_ana_in = ecrt_master_slave_config(
master, AnaInSlavePos, Beckhoff_EL3111))) {
fprintf(stderr, "Failed to get slave configuration.\n");
return -1;
}
#if SDO_ACCESS
fprintf(stderr, "Creating SDO requests...\n");
if (!(sdo = ecrt_slave_config_create_sdo_request(sc_ana_in,
0x3102, 2, 2))) {
fprintf(stderr, "Failed to create SDO request.\n");
return -1;
}
ecrt_sdo_request_timeout(sdo, 500); // ms
#endif
#if CONFIGURE_PDOS
printf("Configuring PDOs...\n");
if (ecrt_slave_config_pdos(sc_ana_in, EC_END, el3111_syncs)) {
fprintf(stderr, "Failed to configure PDOs.\n");
return -1;
}
if (!(sc = ecrt_master_slave_config(
master, DigOutSlavePos, Beckhoff_EL1859))) {
fprintf(stderr, "Failed to get slave configuration.\n");
return -1;
}
if (ecrt_slave_config_pdos(sc, EC_END, el1859_syncs)) {
fprintf(stderr, "Failed to configure PDOs.\n");
return -1;
}
#endif
// Create configuration for bus coupler
sc = ecrt_master_slave_config(master, BusCouplerPos, Beckhoff_EK1100);
if (!sc)
return -1;
if (ecrt_domain_reg_pdo_entry_list(domain1, domain1_regs)) {
fprintf(stderr, "PDO entry registration failed!\n");
return -1;
}
printf("Activating master...\n");
if (ecrt_master_activate(master))
return -1;
if (!(domain1_pd = ecrt_domain_data(domain1))) {
return -1;
}
#if PRIORITY
pid_t pid = getpid();
if (setpriority(PRIO_PROCESS, pid, -19))
fprintf(stderr, "Warning: Failed to set priority: %s\n",
strerror(errno));
#endif
sa.sa_handler = signal_handler;
sigemptyset(&sa.sa_mask);
sa.sa_flags = 0;
if (sigaction(SIGALRM, &sa, 0)) {
fprintf(stderr, "Failed to install signal handler!\n");
return -1;
}
printf("Starting timer...\n");
tv.it_interval.tv_sec = 0;
tv.it_interval.tv_usec = 1000000 / FREQUENCY;
tv.it_value.tv_sec = 0;
tv.it_value.tv_usec = 1000;
if (setitimer(ITIMER_REAL, &tv, NULL)) {
fprintf(stderr, "Failed to start timer: %s\n", strerror(errno));
return 1;
}
printf("Started.\n");
while (1) {
pause();
#if 0
struct timeval t;
gettimeofday(&t, NULL);
printf("%u.%06u\n", t.tv_sec, t.tv_usec);
#endif
while (sig_alarms != user_alarms) {
cyclic_task();
user_alarms++;
}
}
return 0;
}
/****************************************************************************/
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