Hi Mike,
We use RT-Preempt and the generic driver over a e1000e and achieve 4kHz.
Make sure that your PC really supports realtime with cyclictest utility.
Increase the priority of your cylic-loop thread to realtime priority 80.
And don't forget to increase the priority of the Tx/Rx-Irqs of the
eth-dev to at least 81.
Disable throttling on the e1000e.
Hope that helps.
Regards
Martin
On 08.03.2018 15:21, Jürgen Walter • DATATRONiQ wrote:
Hi Mike,
I was in a similar boat like you just not too long ago. So, first
thing, you need to get your Linux system "real-time" --> best to use
PREMPT_RT in the vanilla Kernel.
That said, for using DC and > 1kHz I never got the "generic" driver to
work. How about you downgrade to a 3.x kernel, e.g. 3.18 and use one
of the supported drivers w/ patches for RT operation. That is what I
did - I also bought a network interface card with a supported chipset
and installed that into a PCIe slot.
Since then, I am pretty much a happy camper.
I hope this helps. Jürgen
On 8 Mar 2018, at 14:23, Mike Karam wrote:
Hi,
I'm trying to create an EtherCAT communication with an XMC4800, using
IgH EtherCAT. I'm using 16.04 Ubuntu with 4.8.0-58 kernel. I
downloaded the code from sourceforge and run the code (a bit
modified, see attachment) found in examples/dc_user. If I use a loop
frequency of 1 KHz all things go well (despite some datagrams
UNMATCHED warnings). But if I increase the loop rate to 5 or 10 KHz
I'm seeing the error in the subject. My goal is at least 10Khz
succesful (withoul losses) communication. Below is the output I'm
getting in the kernel log:
Mar 8 14:42:31 mikekaram-HP-EliteBook-Folio-9470m kernel:
[13658.296909] EtherCAT: Requesting master 0...
Mar 8 14:42:31 mikekaram-HP-EliteBook-Folio-9470m kernel:
[13658.296912] EtherCAT: Successfully requested master 0.
Mar 8 14:42:31 mikekaram-HP-EliteBook-Folio-9470m kernel:
[13658.296961] EtherCAT 0: Domain0: Logical address 0x00000000, 18
byte, expected working counter 3.
Mar 8 14:42:31 mikekaram-HP-EliteBook-Folio-9470m kernel:
[13658.296962] EtherCAT 0: Datagram domain0-0-main: Logical offset
0x00000000, 18 byte, type LRW at ffff91a5b5c9d858.
Mar 8 14:42:31 mikekaram-HP-EliteBook-Folio-9470m kernel:
[13658.296981] EtherCAT 0: Master thread exited.
Mar 8 14:42:31 mikekaram-HP-EliteBook-Folio-9470m kernel:
[13658.296983] EtherCAT 0: Starting EtherCAT-OP thread.
Mar 8 14:42:31 mikekaram-HP-EliteBook-Folio-9470m kernel:
[13658.297040] EtherCAT WARNING 0: 15 datagrams UNMATCHED!
Mar 8 14:42:32 mikekaram-HP-EliteBook-Folio-9470m kernel:
[13659.296406] EtherCAT WARNING 0: 13437 datagrams UNMATCHED!
Mar 8 14:42:32 mikekaram-HP-EliteBook-Folio-9470m kernel:
[13659.297430] EtherCAT WARNING: Datagram ffff91a5b5c9d858
(domain0-0-main) was SKIPPED 6725 times.
Mar 8 14:42:33 mikekaram-HP-EliteBook-Folio-9470m kernel:
[13660.296475] EtherCAT WARNING 0: 13455 datagrams UNMATCHED!
Mar 8 14:42:33 mikekaram-HP-EliteBook-Folio-9470m kernel:
[13660.298486] EtherCAT WARNING: Datagram ffff91a5b5c9d858
(domain0-0-main) was SKIPPED 6734 times.
Mar 8 14:42:34 mikekaram-HP-EliteBook-Folio-9470m kernel:
[13661.296543] EtherCAT WARNING 0: 13442 datagrams UNMATCHED!
Mar 8 14:42:34 mikekaram-HP-EliteBook-Folio-9470m kernel:
[13661.299562] EtherCAT WARNING: Datagram ffff91a5b5c9d858
(domain0-0-main) was SKIPPED 6726 times.
Mar 8 14:42:35 mikekaram-HP-EliteBook-Folio-9470m kernel:
[13662.296611] EtherCAT WARNING 0: 13388 datagrams UNMATCHED!
Mar 8 14:42:35 mikekaram-HP-EliteBook-Folio-9470m kernel:
[13662.300630] EtherCAT WARNING: Datagram ffff91a5b5c9d858
(domain0-0-main) was SKIPPED 6700 times.
Mar 8 14:42:36 mikekaram-HP-EliteBook-Folio-9470m kernel:
[13663.296679] EtherCAT WARNING 0: 13414 datagrams UNMATCHED!
Mar 8 14:42:36 mikekaram-HP-EliteBook-Folio-9470m kernel:
[13663.301699] EtherCAT WARNING: Datagram ffff91a5b5c9d858
(domain0-0-main) was SKIPPED 6715 times.
Mar 8 14:42:36 mikekaram-HP-EliteBook-Folio-9470m kernel:
[13663.310699] EtherCAT WARNING 0-0: Slave did not sync after 5000 ms.
Mar 8 14:42:36 mikekaram-HP-EliteBook-Folio-9470m kernel:
[13663.312411] EtherCAT ERROR 0-0: Failed to set SAFEOP state, slave
refused state change (PREOP + ERROR).
Mar 8 14:42:36 mikekaram-HP-EliteBook-Folio-9470m kernel:
[13663.312949] EtherCAT ERROR 0-0: AL status message 0x0036: "DC
Sync0 Cycle Time".
Mar 8 14:42:36 mikekaram-HP-EliteBook-Folio-9470m kernel:
[13663.313501] EtherCAT 0-0: Acknowledged state PREOP.
Mar 8 14:42:37 mikekaram-HP-EliteBook-Folio-9470m kernel:
[13664.296893] EtherCAT WARNING 0: 14550 datagrams UNMATCHED!
Mar 8 14:42:37 mikekaram-HP-EliteBook-Folio-9470m kernel:
[13664.302791] EtherCAT WARNING: Datagram ffff91a5b5c9d858
(domain0-0-main) was SKIPPED 7285 times.
Mar 8 14:42:38 mikekaram-HP-EliteBook-Folio-9470m kernel:
[13665.296872] EtherCAT WARNING 0: 14323 datagrams UNMATCHED!
Mar 8 14:42:38 mikekaram-HP-EliteBook-Folio-9470m kernel:
[13665.303849] EtherCAT WARNING: Datagram ffff91a5b5c9d858
(domain0-0-main) was SKIPPED 7165 times.
Mar 8 14:42:39 mikekaram-HP-EliteBook-Folio-9470m kernel:
[13666.296910] EtherCAT WARNING 0: 14357 datagrams UNMATCHED!
Mar 8 14:42:39 mikekaram-HP-EliteBook-Folio-9470m kernel:
[13666.304931] EtherCAT WARNING: Datagram ffff91a5b5c9d858
(domain0-0-main) was SKIPPED 7184 times.
Mar 8 14:42:40 mikekaram-HP-EliteBook-Folio-9470m kernel:
[13667.296989] EtherCAT WARNING 0: 14185 datagrams UNMATCHED!
Mar 8 14:42:40 mikekaram-HP-EliteBook-Folio-9470m kernel:
[13667.305995] EtherCAT WARNING: Datagram ffff91a5b5c9d858
(domain0-0-main) was SKIPPED 7104 times.
Mar 8 14:42:41 mikekaram-HP-EliteBook-Folio-9470m kernel:
[13668.297188] EtherCAT WARNING 0: 14166 datagrams UNMATCHED!
Mar 8 14:42:41 mikekaram-HP-EliteBook-Folio-9470m kernel:
[13668.307062] EtherCAT WARNING: Datagram ffff91a5b5c9d858
(domain0-0-main) was SKIPPED 7085 times.
Mar 8 14:42:42 mikekaram-HP-EliteBook-Folio-9470m kernel:
[13669.297098] EtherCAT WARNING 0: 14209 datagrams UNMATCHED!
Mar 8 14:42:42 mikekaram-HP-EliteBook-Folio-9470m kernel:
[13669.308106] EtherCAT WARNING: Datagram ffff91a5b5c9d858
(domain0-0-main) was SKIPPED 7112 times.
Mar 8 14:42:43 mikekaram-HP-EliteBook-Folio-9470m kernel:
[13670.297189] EtherCAT WARNING 0: 13986 datagrams UNMATCHED!
Mar 8 14:42:43 mikekaram-HP-EliteBook-Folio-9470m kernel:
[13670.309191] EtherCAT WARNING: Datagram ffff91a5b5c9d858
(domain0-0-main) was SKIPPED 7005 times.
Mar 8 14:42:44 mikekaram-HP-EliteBook-Folio-9470m kernel:
[13671.297272] EtherCAT WARNING 0: 14235 datagrams UNMATCHED!
Mar 8 14:42:44 mikekaram-HP-EliteBook-Folio-9470m kernel:
[13671.310255] EtherCAT WARNING: Datagram ffff91a5b5c9d858
(domain0-0-main) was SKIPPED 7122 times.
Mar 8 14:42:45 mikekaram-HP-EliteBook-Folio-9470m kernel:
[13672.297425] EtherCAT WARNING 0: 14340 datagrams UNMATCHED!
Mar 8 14:42:45 mikekaram-HP-EliteBook-Folio-9470m kernel:
[13672.311322] EtherCAT WARNING: Datagram ffff91a5b5c9d858
(domain0-0-main) was SKIPPED 7185 times.
Mar 8 14:42:46 mikekaram-HP-EliteBook-Folio-9470m kernel:
[13673.297404] EtherCAT WARNING 0: 14455 datagrams UNMATCHED!
Mar 8 14:42:46 mikekaram-HP-EliteBook-Folio-9470m kernel:
[13673.312406] EtherCAT WARNING: Datagram ffff91a5b5c9d858
(domain0-0-main) was SKIPPED 7227 times.
Mar 8 14:42:47 mikekaram-HP-EliteBook-Folio-9470m kernel:
[13674.297464] EtherCAT WARNING 0: 14545 datagrams UNMATCHED!
Mar 8 14:42:47 mikekaram-HP-EliteBook-Folio-9470m kernel:
[13674.313523] EtherCAT WARNING: Datagram ffff91a5b5c9d858
(domain0-0-main) was SKIPPED 7281 times.
Mar 8 14:42:48 mikekaram-HP-EliteBook-Folio-9470m kernel:
[13675.297525] EtherCAT WARNING 0: 14760 datagrams UNMATCHED!
Mar 8 14:42:48 mikekaram-HP-EliteBook-Folio-9470m kernel:
[13675.314541] EtherCAT WARNING: Datagram ffff91a5b5c9d858
(domain0-0-main) was SKIPPED 7384 times.
Mar 8 14:42:49 mikekaram-HP-EliteBook-Folio-9470m kernel:
[13676.202128] EtherCAT 0: Releasing master...
Mar 8 14:42:49 mikekaram-HP-EliteBook-Folio-9470m kernel:
[13676.202166] EtherCAT 0: Master thread exited.
Mar 8 14:42:49 mikekaram-HP-EliteBook-Folio-9470m kernel:
[13676.202179] EtherCAT 0: Starting EtherCAT-IDLE thread.
Mar 8 14:42:49 mikekaram-HP-EliteBook-Folio-9470m kernel:
[13676.202260] EtherCAT 0: Released.
Mar 8 14:42:49 mikekaram-HP-EliteBook-Folio-9470m kernel:
[13676.202274] EtherCAT ERROR 0-0: Failed to receive AL state
datagram: Datagram initialized.
What am I doing wrong? Could you please offer me some advice, to
achieve my goal?
Regards,
Mike Karamousadakis
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