2013/6/13 Ruben Smits <ruben [dot] smits [..] ...>

> Hi Flavian,
>
>
> On Thu, Jun 13, 2013 at 3:27 PM, <f [dot] hautbois [..] ...> wrote:
>
>> Hello,
>>
>> I am using the latest SOEM component from git. I have:
>> - Ubuntu 12.04.2
>> - Xenomai 2.6.2
>> - RTNet 0.9.13
>> - ROS Fuerte
>> - Orocos 2.6.0
>>
>> I am having a "CPU time limit exceeded (core dumped)" error when I run
>> Master.configure using the soem_master/test.ops script and
>> deployer-xenomai.
>> I didn't forget to set up ifname="rteth0".
>>
>> My Ethernet controller is: Intel Corporation 82566DM-2 Gigabit Network
>> Connection.
>>
>> I did not forget to set up -DENABLE_RTNET=ON in soem_core/Makefile.
>>
>> The trace from the core dump is the following:
>>
>> #0 0xb77b8424 in __kernel_vsyscall ()
>> #1 0xb5c03c2c in __wrap_send () from /usr/xenomai/lib/libpthread_rt.so.1
>> #2 0xb43d2a93 in ec_outframe (idx=1 '\001', stacknumber=0) at
>>
>> /home/alex/ros_workspace/orocos/soem/soem_core/build/soem_core/src/nicdrv.c:404
>> #3 0xb43d2b28 in ec_outframe_red (idx=1 '\001') at
>>
>> /home/alex/ros_workspace/orocos/soem/soem_core/build/soem_core/src/nicdrv.c:427
>> #4 0xb43d3248 in ec_srconfirm (idx=1 '\001', timeout=20000) at
>>
>> /home/alex/ros_workspace/orocos/soem/soem_core/build/soem_core/src/nicdrv.c:702
>> #5 0xb43c9839 in ec_BRD (ADP=0, ADO=0, length=2, data=0xbffd53a6,
>> timeout=20000) at
>>
>> /home/alex/ros_workspace/orocos/soem/soem_core/build/soem_core/src/ethercatbase.c:200
>> #6 0xb43cc282 in ec_config_init (usetable=0 '\000') at
>>
>> /home/alex/ros_workspace/orocos/soem/soem_core/build/soem_core/src/ethercatconfig.c:162
>> #7 0xb4413fb1 in soem_master::SoemMasterComponent::configureHook
>> (this=0x887d648) at
>>
>> /home/alex/ros_workspace/orocos/soem/soem_master/soem_master_component.cpp:73
>>
>> Peter already answered the same kind of question once: but I was not
>> able to
>> find any evidence of T_WARN_SW being turned on (and T_WARN_SW yields only
>> 3
>> results on Google, that didn't make it any easier).
>>
>> I succeeded to run soem_core/bin/slaveinfo, it found my EtherCAT slaves
>> and
>> configured them. Thus I am not sure the problem comes from the ethernet
>> controller (_although_ it is not offically listed in RTNet documentation
>> ).
>>
>> Do you have any idea?
>>
>>
> Just to make sure, what is the Activity configuration of the soem_master
> component? (priority, scheduler, period)
>

I thought of that, tried a period of 0.001s, Highest Priority, SCHED_FIFO.

>
>
>> Many thanks in advance, I spent hours trying to figure out this problem.
>>
>
> I'm sorry to hear it's so hard for you to set it up. We currently do not
> have a similar setup and are still stuck at Xenomai 2.5.6 and RT-Net
> 0.9.12. It seems you hit the problem with Xenomai 2.6.2 that I have
> mentioned before. Going back to Xenomai 2.5.6 will definitely solve your
> problem.
>

Yet it was supposed to be validated for 2.6.0 (at least one person
succeeded)... I'll try to set up SOEM with a truly validated RTNet card and
keep you posted about that. Next step is to downgrade to Xenomai 2.5.6.

Thank you Ruben

>
> Ruben
>
>
>> Flavian
>>
>>
>>
>> --
>> Orocos-Users mailing list
>> Orocos-Users [..] ...
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>>
>
>
>
> --
> Ruben Smits, Phd
> Chief Technology Officer
> Intermodalics BVBA
> +32479511786
> www.intermodalics.eu
>