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TMDS64EVM: Ethercat warning issue from kernel level

Debashis Mahanty
Intellectual 526 points
Part Number: TMDS64EVM


Hi ,
When i am running our ethercat application i saw some print statements from ethercat.

can you help  me to find where this issue occur from.

ThankYou



[ 2089.047256] EtherCAT 0: Domain 0: Working counter changed to 0/6.
[ 2089.520171] EtherCAT WARNING: Datagram 000000003ba8c686 (domain0-0-main) was SKIPPED 120 times.
[ 2089.816870] EtherCAT WARNING 0: 148 datagrams UNMATCHED!
[ 2090.047840] EtherCAT 0: Domain 0: 307 working counter changes - now 6/6.
[ 2090.521014] EtherCAT WARNING: Datagram 000000003ba8c686 (domain0-0-main) was SKIPPED 42 times.
[ 2090.816820] EtherCAT WARNING 0: 14 datagrams UNMATCHED!
[ 2091.048817] EtherCAT 0: Domain 0: 2 working counter changes - now 6/6.
[ 2091.521829] EtherCAT WARNING: Datagram 000000003ba8c686 (domain0-0-main) was SKIPPED 1 time.
[ 2091.816823] EtherCAT WARNING 0: 1 datagram UNMATCHED!
[ 2092.049849] EtherCAT 0: Domain 0: 2 working counter changes - now 6/6.
[ 2099.816697] EtherCAT 0: Domain 0: Working counter changed to 0/6.
[ 2099.818860] EtherCAT WARNING 0: 1 datagram UNMATCHED!
[ 2100.530937] EtherCAT WARNING: Datagram 000000003ba8c686 (domain0-0-main) was SKIPPED 1 time.
[ 2100.816999] EtherCAT 0: Domain 0: Working counter changed to 6/6.
[ 2101.817989] EtherCAT 0: Domain 0: 2 working counter changes - now 6/6.
[ 2101.819880] EtherCAT WARNING 0: 1 datagram UNMATCHED!

  • 0
    TI__Genius 17975 points

    Hello,

    Could you clarify, are you using the TMDS64EVM as an EtherCAT controller?

    Additionally, what EtherCAT stack are you using? These kernel messages seem similar to what IgH EtherCAT Master might show but I wanted double check.

    -Daolin

  • 0 in reply to Daolin Qiu
    Intellectual 526 points

    Hi Daolin,
    Yes, we are using the TMDS64EVM as an EtherCAT controller.
    Yes, we are using Igh ethercat master 1.5.2

    Even i try to implement distributed clock system in ethercat in a cyclic loop
    by using

    clock_gettime(CLOCK_MONOTONIC,&receive_t);
    uint64_t nanoseconds = receive_t.tv_sec * 1000000000 + receive_t.tv_nsec;
    ecrt_master_application_time(master_, nanoseconds);

    // Sync reference clock
    ecrt_master_sync_reference_clock(master_);

    // Sync slave clocks
    ecrt_master_sync_slave_clocks(master_);




    after that also

    [ 4337.928247] EtherCAT WARNING 0: 14011 datagrams UNMATCHED!
[ 4338.928209] EtherCAT WARNING 0: 14016 datagrams UNMATCHED!
[ 4339.928258] EtherCAT WARNING 0: 13978 datagrams UNMATCHED!
[ 4340.928231] EtherCAT WARNING 0: 13995 datagrams UNMATCHED!
[ 4341.928319] EtherCAT WARNING 0: 14001 datagrams UNMATCHED!
[ 4342.641479] EtherCAT 0: Domain 0: Working counter changed to 0/6.
[ 4342.928218] EtherCAT WARNING 0: 14031 datagrams UNMATCHED!
[ 4343.044251] EtherCAT WARNING: Datagram 0000000061363f74 (domain0-0-main) was SKIPPED 1 time.
[ 4343.642246] EtherCAT 0: Domain 0: Working counter changed to 6/6.
[ 4343.928257] EtherCAT WARNING 0: 13912 datagrams UNMATCHED!
[ 4344.928213] EtherCAT WARNING 0: 13947 datagrams UNMATCHED!
[ 4344.982223] EtherCAT ERROR 0-0: Failed to receive AL state datagram: Datagram initialized.
[ 4345.232221] EtherCAT ERROR 0-0: Failed to receive AL state datagram: Datagram initialized.
[ 4345.634221] EtherCAT WARNING: Datagram 000000001e9e3829 (master-fsm) was SKIPPED 2 times.
[ 4345.928224] EtherCAT WARNING 0: 13900 datagrams UNMATCHED!

  • 0 in reply to Debashis Mahanty
    TI__Genius 17975 points

    Hi Debashis,

    Thanks for confirming which stack you are using. IgH is a third party software that we currently don't generally support and the issue here appears to be specific to the IgH stack. However, I do have a couple troubleshooting/clarification questions:

    1. Have you tried using any non-TI device as the EtherCAT controller using IgH EtherCAT Master 1.5.2? If so, did you encounter similar warning messages?

    2. What is the network of EtherCAT slaves (or subdevices) you are trying to control?

    3. Have you tried contacting IgH regarding this issue to see if they might offer some help from their side?

    4. You seen to indicate you added some code to implement a distributed clock system and saw those warnings, what happens when you made no code modifications and just let the IgH EtherCAT run with its default application?

    -Daolin

  • 0 in reply to Daolin Qiu
    Intellectual 526 points

    Hi Daolin,

    Answer for Question 1
    Yes i have tried in non Ti devices these warnings. I have never saw these warnings. May be it will be there in any ether-cat log files from kernel level that i will check and let you know.

    Answer for Question 4
    I tried with both with and without distributed clock. same issues.

    Answer for Question 2
    There are some slave motor drivers. And we can try to communicate with igh, can we get any support from texas side. so, we can bind up fastly.

    Thankyou
    Regards,
    Debashis

  • 0 in reply to Debashis Mahanty
    TI__Genius 17975 points

    Hi Debashis,

    I just want to double check, you used the same EtherCAT slaves/sub-devices with the non-TI EtherCAT controller test? 

    Are there any EtherCAT slave/sub-devices that are TI devices? 

    Are all the slaves/sub-devices in "OP" mode? If not, what is the current state of the sub-devices when the warnings occur?

    Have you tired looking into what shows up in Wireshark?

    In order to better help you, could you provide details on the steps you took to produce this issue including details on the test topology?

    -Daolin

  • 0 in reply to Daolin Qiu
    Intellectual 526 points

    Hi Daolin,
    The slave what i connected are not TI slave they are from synaptic-on.
    When i am getting these issues my all drives are in OP state as well as all drives are successfully transferring the data between master and slave.

  • 0 in reply to Debashis Mahanty
    TI__Genius 17975 points

    Hi Debashis,

    To reiterate:

    Have you tired looking into what shows up in Wireshark?

    In order to better help you, could you provide details on the steps you took to produce this issue including details on the test topology?

    Is it possible to share your test application? Please keep in mind that anything posted here will be publically visible.

    -Daolin

  • 0 in reply to Daolin Qiu
    TI__Genius 17975 points

    Hi Debashis,

    If this is still an issue, you could run tcpdump to produce a pcap file on the TMDS64EVM as IgH EtherCAT Master while the application is running and then transfer that pcap file to a desktop with the Wireshark utility to view the contents to further analyze what the packets are showing up as.

    -Daolin