Today I have tried TDMA on rtnet with all the necessary modules/drivers.
Unfortunately I do not see any different output on rtping. It is the same
as before.
This is the output:
# rtping 192.168.127.11
Real-time PING 192.168.127.11 56(84) bytes of data.
64 bytes from 192.168.127.11: icmp_seq=1 time=226.7 us
64 bytes from 192.168.127.11: icmp_seq=2 time=142.2 us
64 bytes from 192.168.127.11: icmp_seq=3 time=151.1 us
64 bytes from 192.168.127.11: icmp_seq=4 time=128.8 us
64 bytes from 192.168.127.11: icmp_seq=5 time=135.1 us
64 bytes from 192.168.127.11: icmp_seq=6 time=122.9 us
--- 192.168.127.11 rtping statistics ---
6 packets transmitted, 6 received, 0% packet loss
worst case rtt = 226.7 us
And this are the modules which are loaded:
# lsmod
Module Size Used by Tainted: G
tdma 18805 0
rtcfg 45592 0
rtmac 7219 1 tdma
rtudp 7640 0
rtipv4 18699 2 rtcfg,rtudp
rtpacket 4179 0
rt_ticpsw 26115 0
rt_davinci_mdio 4570 0
rt_smsc 2165 0
rtnet 28479 7
tdma,rtcfg,rtmac,rtudp,rtipv4,rtpacket,rt_ticpsw
omap_rng 4174 0
I would like to ask you if you could take a look at my settings for the
master in rtnet.conf and tdma.conf if everything is correct? For slave I
have just change "master" to "slave". Should I start realtime loopback
device and capturing interface? I do not have started the driver for
realtime loopback device. Is that a problem?
# 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"
exec_prefix="/usr"
RTNET_MOD="/lib/modules/3.8.13-xeno/kernel"
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_eepro100"
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=""
# 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="192.168.127.10"
NETMASK=""
# 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="no"
# 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 10.0.0.3 10.0.0.4"
# 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="/etc/tdma.conf"
And here is the tdma.conf: I am only using master with IP 192.168.127.10
and slave with IP 192.168.127.11.
#
# Examplary TDMA configuration file
#
# Primary master
master:
ip 192.168.127.10
cycle 5000
slot 0 0
slot 1 1000
# Backup master
# Cycle is defined by the primary master
backup-master:
ip 192.168.127.12
backup-offset 200
slot 0 400
# Slave A
# MAC is unknown, slave will be pre-configured to the given IP
slave:
ip 192.168.127.11
slot 0 2000
slot 1 2200 1/2
# Slave B
# IP is assigned to the slave via its known MAC address
slave:
ip 192.168.127.13
mac 00:12:34:56:AA:FF
slot 0 2400
slot 1 2200 2/2
Am Di., 23. Juli 2019 um 19:13 Uhr schrieb Jan Kiszka <
[email protected]>:
> On 23.07.19 18:09, danwe via Xenomai wrote:
> > Am Di., 23. Juli 2019 um 18:08 Uhr schrieb danwe <
> > [email protected]>:
> >
> >>
> >>
> >> Am Di., 23. Juli 2019 um 17:38 Uhr schrieb Jan Kiszka <
> >> [email protected]>:
> >>
> >>> On 23.07.19 17:32, danwe wrote:
> >>>>
> >>>>
> >>>> Am Di., 23. Juli 2019 um 16:58 Uhr schrieb Jan Kiszka <
> >>> [email protected]
> >>>> <mailto:[email protected]>>:
> >>>>
> >>>> On 23.07.19 16:28, danwe wrote:
> >>>> > On 22.07.19 17:58, danwe via Xenomai wrote:
> >>>> > > Hi,
> >>>> > >
> >>>> > > I have Xenomai 2 with RTnet on a BeagleBone Black. I ask
> >>> myself how I
> >>>> >
> >>>> > I cannot tell you in advance if my answers applied to
> version
> >>> 2 as well,
> >>>> > probably, but no one is working on that anymore.
> >>>> >
> >>>> > > can run TDMA on BeagleBone Black? Programs like RTping and
> >>> Roundtrip
> >>>> > > program are working.
> >>>> > >
> >>>> > > I have changed the rtnet.conf file so that it will use
> >>> TDMA.conf file.
> >>>> > > In TDMA.conf all parameters like IP-address, clock cycle
> >>> and slottime
> >>>> > > are determined.
> >>>> > > In rtnet file I saw some drivers like rtmac. Do I have to
> >>> load that
> >>>> > > driver for using TDMA as it is not loaded yet? Are there
> >>> any other
> >>>> > > drivers beside rtudp, rtipv4, rtpacket, rt_ticpsw,
> >>> rt_davinci_mdio,
> >>>> > > rt_smsc, rtnet and omap_rng which need to be loaded?
> >>>> >
> >>>> > The RTnet startup scripts should load all necessary stack
> >>> components
> >>>> for you.
> >>>> > rtmac.ko belongs to them, tdma.ko will not load without it.
> In
> >>>> addition, the
> >>>> > scripts will load rtcfg in order to distribute the IP and
> TDMA
> >>>> configuration
> >>>> > from the master to the slaves.
> >>>> >
> >>>> >
> >>>> > I do not have tdma.ko nor rtcfg.ko. Is it possible to copy/paste
> >>> them to my
> >>>> > sd-card where Xenomai / RTnet is running and load them in the
> >>> RTnet startup
> >>>> > scripts? Or do they need to be installed during building the
> >>> kernel and
> >>>> Xenomai
> >>>> > / RTnet on top? Do you have those files you can give me?
> >>>> >
> >>>>
> >>>> If you enable the related kernel features, they are generated as
> >>> part of the
> >>>> normal kernel build. Watch out for
> >>> CONFIG_XENO_DRIVERS_NET_RTMAC/TDMA/RTCFG.
> >>>>
> >>>> Do you mean in my buildroot folder where I can use the command "make
> >>> menuconfig"
> >>>> and select different kernel build things?
> >>>> I have watched out for this but did not find anything. TDMA and rtcfg
> >>> folder in
> >>>> my compiled buildroot folder existing though. But I don't see any
> >>> tdma.ko or
> >>>> rtcfg.ko files.
> >>>
> >>> Then you need to adjust your kernel config. make menuconfig if
> >>> interactively,
> >>> but I don't know where that result is reused for the next buildroot
> run.
> >>>
> >>
> >> I have searched for the TDMA and rtcfg folder and run the makefile with
> >> make command. It compiled and generated my tdma.ko and rtcfg.ko. Now I
> have
> >> just to copy it on sd-card and run it with my rtnet scripts right? Do
> they
> >> need in specific folders on my sd-card?
> >>
>
> These are just more kernel modules, like those for RTnet (rtnet.ko,
> <driver>.ko)
> that likely already exist - unless those are built-in.
>
> Jan
>
> --
> Siemens AG, Corporate Technology, CT RDA IOT SES-DE
> Corporate Competence Center Embedded Linux
>
