rtnet not locating ethercat slaves

rtnet not locating ethercat slaves

[John Ho]

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

Re: rtnet not locating ethercat slaves

[g.strobbe]

----- On Oct 15, 2020, at 4:36 PM, xenomai xenomai@xenomai.org wrote:

> 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

Hi John,

I would start with running soem/test/linux/simple_test/simple_test.c 
after you booted in your regular kernel, not the xenomai patched one,
and recompiled soem for that setup.
Do you see any slaves then?

Best regards,

Gino

RE: rtnet not locating ethercat slaves

[Lange Norbert]

> -----Original Message-----
> From: Xenomai <xenomai-bounces@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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