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  1. Data Management
  2. DM-34346

Fix the EtherCat Warning in Hexapod

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    • Story Points:
      1
    • Epic Link:
    • Sprint:
      TSSW Sprint - Apr 11 - Apr 25
    • Team:
      Telescope and Site
    • Urgent?:
      No

      Description

      Fix the following warning in EtherCat:

      Apr  4 13:46:42 camhex-pxi-controller journal: LSST Wrapper: Exiting sys_start
      		 
      Apr  4 13:46:42 camhex-pxi-controller kernel: EtherCAT 0: Domain0: Logical address 0x00000000, 318 byte, expected working counter 9.
      		 
      Apr  4 13:46:42 camhex-pxi-controller kernel: EtherCAT 0:   Datagram domain0-0-main: Logical offset 0x00000000, 318 byte, type LRW at ffff880137c08018.
      		 
      Apr  4 13:46:42 camhex-pxi-controller kernel: EtherCAT 0: Master thread exited.
      		 
      Apr  4 13:46:42 camhex-pxi-controller kernel: EtherCAT 0: Starting EtherCAT-OP thread.
      		 
      Apr  4 13:46:42 camhex-pxi-controller kernel: EtherCAT WARNING 0: 1 datagram UNMATCHED!
      		 
      Apr  4 13:46:42 camhex-pxi-controller kernel: EtherCAT WARNING 0: No app_time received up to now, but master already active.
      		 
      Apr  4 13:46:42 camhex-pxi-controller journal: LSST Wrapper: mainloop_run
      		 
      Apr  4 13:46:42 camhex-pxi-controller journal: LSST Wrapper: 3 EtherCAT slave(s)
      		 
      Apr  4 13:46:42 camhex-pxi-controller journal: LSST Wrapper: EtherCAT AL states: 0x02
      		 
      Apr  4 13:46:42 camhex-pxi-controller journal: LSST Wrapper: EtherCAT Link is up
      		 
      Apr  4 13:46:42 camhex-pxi-controller journal: LSST Wrapper: max time in callback =           18451

      PS. The story point here contains the DM-34470.

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          Story - Created by Jira Software - do not edit or delete. Issue type for a user story. DM-34347 Fix the EtherCat Warning in Rotator

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            ttsai Te-Wei Tsai added a comment -

            I should try ethercat debug 1 based on: DC problems.

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            ttsai Te-Wei Tsai added a comment - I should try ethercat debug 1 based on: DC problems .
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            ttsai Te-Wei Tsai added a comment -

            Another messages:

            Apr 20 14:12:57 localhost journal: LSST Wrapper: max time in callback =           19806
            		 
            Apr 20 14:12:57 localhost journal: LSST Wrapper: EtherCAT Link is up
            		 
            Apr 20 14:12:57 localhost journal: LSST Wrapper: EtherCAT AL states: 0x02
            		 
            Apr 20 14:12:57 localhost journal: LSST Wrapper: 3 EtherCAT slave(s)
            		 
            Apr 20 14:12:57 localhost journal: LSST Wrapper: mainloop_run
            		 
            Apr 20 14:12:57 localhost kernel: EtherCAT WARNING 0: No app_time received up to now, but master already active.
            		 
            Apr 20 14:12:57 localhost journal: LSST Wrapper: Exiting sys_start
            		 
            Apr 20 14:12:57 localhost journal: LSST Wrapper: ecrt_domain_data setup
            		 
            Apr 20 14:12:57 localhost journal: LSST Wrapper: Entering sys_start
            		 
            Apr 20 14:12:57 localhost journal: LSST Wrapper: Exiting sys_new
            		 
            Apr 20 14:12:57 localhost kernel: EtherCAT 0: Starting EtherCAT-OP thread.
            		 
            Apr 20 14:12:57 localhost kernel: EtherCAT 0: Master thread exited.
            		 
            Apr 20 14:12:57 localhost kernel: EtherCAT 0:   Datagram domain0-0-main: Logical offset 0x00000000, 300 byte, type LRW at ffff880135a47258.
            		 
            Apr 20 14:12:57 localhost kernel: EtherCAT 0: Domain0: Logical address 0x00000000, 300 byte, expected working counter 9.
            		 
            Apr 20 14:12:57 localhost journal: LSST Wrapper: starting wrapper
            		 
            Apr 20 14:12:57 localhost journal: LSST Wrapper: Exiting actuator_new
            		 
            Apr 20 14:12:55 localhost journal: LSST Wrapper: Creating SDO requests
            		 
            Apr 20 14:12:55 localhost journal: LSST Wrapper: pointer to EC_Master= 622F

            Show
            ttsai Te-Wei Tsai added a comment - Another messages: Apr 20 14:12:57 localhost journal: LSST Wrapper: max time in callback = 19806 Apr 20 14:12:57 localhost journal: LSST Wrapper: EtherCAT Link is up Apr 20 14:12:57 localhost journal: LSST Wrapper: EtherCAT AL states: 0x02 Apr 20 14:12:57 localhost journal: LSST Wrapper: 3 EtherCAT slave(s) Apr 20 14:12:57 localhost journal: LSST Wrapper: mainloop_run Apr 20 14:12:57 localhost kernel: EtherCAT WARNING 0: No app_time received up to now, but master already active. Apr 20 14:12:57 localhost journal: LSST Wrapper: Exiting sys_start Apr 20 14:12:57 localhost journal: LSST Wrapper: ecrt_domain_data setup Apr 20 14:12:57 localhost journal: LSST Wrapper: Entering sys_start Apr 20 14:12:57 localhost journal: LSST Wrapper: Exiting sys_new Apr 20 14:12:57 localhost kernel: EtherCAT 0: Starting EtherCAT-OP thread. Apr 20 14:12:57 localhost kernel: EtherCAT 0: Master thread exited. Apr 20 14:12:57 localhost kernel: EtherCAT 0: Datagram domain0-0-main: Logical offset 0x00000000, 300 byte, type LRW at ffff880135a47258. Apr 20 14:12:57 localhost kernel: EtherCAT 0: Domain0: Logical address 0x00000000, 300 byte, expected working counter 9. Apr 20 14:12:57 localhost journal: LSST Wrapper: starting wrapper Apr 20 14:12:57 localhost journal: LSST Wrapper: Exiting actuator_new Apr 20 14:12:55 localhost journal: LSST Wrapper: Creating SDO requests Apr 20 14:12:55 localhost journal: LSST Wrapper: pointer to EC_Master= 622F
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            ttsai Te-Wei Tsai added a comment - - edited

            I think the problem happens at ecrt_master_activate(). A good example code is ethercat/examples/rtai_rtdm_dc/main.c.

            Show
            ttsai Te-Wei Tsai added a comment - - edited I think the problem happens at ecrt_master_activate() . A good example code is  ethercat/examples/rtai_rtdm_dc/main.c .
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            ttsai Te-Wei Tsai added a comment -

            The following is the test result. I do not see the warning of app_time now.

            Apr 20 20:39:51 localhost kernel: EtherCAT 0:   Datagram domain0-0-main: Logical offset 0x00000000, 318 byte, type LRW at ffff8800363a1a98.
            		 
            Apr 20 20:39:51 localhost kernel: EtherCAT 0: Master thread exited.
            		 
            Apr 20 20:39:51 localhost kernel: EtherCAT 0: Starting EtherCAT-OP thread.
            		 
            Apr 20 20:39:51 localhost kernel: EtherCAT WARNING 0: 1 datagram UNMATCHED!
            		 
            Apr 20 20:39:51 localhost journal: LSST Wrapper: mainloop_run
            		 
            Apr 20 20:39:51 localhost journal: LSST Wrapper: 3 EtherCAT slave(s)
            		 
            Apr 20 20:39:51 localhost journal: LSST Wrapper: EtherCAT AL states: 0x02
            		 
            Apr 20 20:39:51 localhost journal: LSST Wrapper: EtherCAT Link is up
            		 
            Apr 20 20:39:51 localhost journal: LSST Wrapper: max time in callback =           20564

            Show
            ttsai Te-Wei Tsai added a comment - The following is the test result. I do not see the warning of app_time now. Apr 20 20:39:51 localhost kernel: EtherCAT 0: Datagram domain0-0-main: Logical offset 0x00000000, 318 byte, type LRW at ffff8800363a1a98. Apr 20 20:39:51 localhost kernel: EtherCAT 0: Master thread exited. Apr 20 20:39:51 localhost kernel: EtherCAT 0: Starting EtherCAT-OP thread. Apr 20 20:39:51 localhost kernel: EtherCAT WARNING 0: 1 datagram UNMATCHED! Apr 20 20:39:51 localhost journal: LSST Wrapper: mainloop_run Apr 20 20:39:51 localhost journal: LSST Wrapper: 3 EtherCAT slave(s) Apr 20 20:39:51 localhost journal: LSST Wrapper: EtherCAT AL states: 0x02 Apr 20 20:39:51 localhost journal: LSST Wrapper: EtherCAT Link is up Apr 20 20:39:51 localhost journal: LSST Wrapper: max time in callback = 20564
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            ttsai Te-Wei Tsai added a comment -

            For the unmatched datagram, it can be normal: Unmatched/Skipped Datagrams.

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            ttsai Te-Wei Tsai added a comment - For the unmatched datagram, it can be normal: Unmatched/Skipped Datagrams .
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            ttsai Te-Wei Tsai added a comment -

            Please help to review the PR:
            https://github.com/lsst-ts/ts_hexapod_controller/pull/36

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            ttsai Te-Wei Tsai added a comment - Please help to review the PR: https://github.com/lsst-ts/ts_hexapod_controller/pull/36
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            rowen Russell Owen added a comment -

            Reviewed on github

            Show
            rowen Russell Owen added a comment - Reviewed on github

              People

              Assignee:
              ttsai Te-Wei Tsai
              Reporter:
              ttsai Te-Wei Tsai
              Reviewers:
              Russell Owen
              Watchers:
              Russell Owen, Te-Wei Tsai
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                Resolved:

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