AM69:Port Ethercat master to AM69 and connect the slave.

Hi,

I could see am65-cpsw-nuss driver is loaded in your case, If you refer to FAQ,  of below talks about Build Kernel without am65-cpsw-nuss driver. "2.5. Build the Kernel without the am65-cpsw-nuss Driver"

Please confirm, have you followed steps mentioned in FAQ.

Best Regards,
Sudheer

But in FAQ 2.7 I was told to rebuild the driver with am65-cpsw-nuss. "2.7. Build the Kernel with the am65-cpsw-nuss Driver as a Module"

Hi,

When running rmmod, you need to remove modules in order of dependencies. It looks like the ec_ti_am65_cpsw_nuss module is not being removed before it tries to remove the ec_master module.

Best,
Jared

Ok, I'll have a try, thank you.

The board seems unable to remove ec_ti_am65_cpsw_nuss.

Why does the board terminal always pop up this message after opening ethercat, warning CPUs/tasks stall?

Hi,

I'm not sure why it kernel panics when removing the ec_ti_am65_cpsw_nuss driver or why the CPUs/tasks stall.

The CPU/tasks do not stall with the TDA4VM, so I will have to see what the difference is that is causing this.

Best,
Jared

When removing the ec_ti_am65_cpsw_nuss driver, its configuration looks like this:

# CONFIG_TI_K3_AM65_CPSW_NUSS is not set
# CONFIG_TI_K3_AM65_CPSW_SWITCHDEV is not set
# CONFIG_TI_AM65_CPSW_TAS is not set
CONFIG_PHYLINK=m
# CONFIG_PHY_TI_GMII_SEL is not set

When building the Kernel with the am65-cpsw-nuss driver in 2.7, its configuration looks like this:

CONFIG_TI_K3_AM65_CPSW_NUSS=m
CONFIG_PHYLINK=m
CONFIG_PHY_TI_GMII_SEL=m

The ethercat branch I downloaded is master. Is it CPUs/tasks stall caused by kernel differences?I don't know if it supports kernel 6.6.

git clone -b master https://gitlab.com/npitre/ethercat.git

Hi,

? ? said:

The ethercat branch I downloaded is master.

You shouldn't be using the master branch. You should be using the ti-am65-cpsw-nuss_6.1_6.6 branch.

? ? said:

Is it CPUs/tasks stall caused by kernel differences?

The CPU/tasks stall is likely caused by something different in the AM69 compared to the TDA4VM.

? ? said:

I don't know if it supports kernel 6.6.

There were recent edits made to the driver to support 6.6; I haven't tested the changes however.

Best,
Jared

But you should see that this link no longer has the ti-am65-cpsw-nuss_6.1_6.6 branch.

root@am69-sk:/# ./ectest
[  233.359952] EtherCAT: Requesting master 0...
[  240.598094] rcu: INFO: rcu_preempt self-detected stall on CPU
[  240.603831] rcu:     5-....: (1 GPs behind) idle=dc4c/1/0x4000000000000000 softirq=2692/2692 fqs=1805
[  240.612771] rcu:     (t=5254 jiffies g=2481 q=671 ncpus=8)
[  240.617984] CPU: 5 PID: 154 Comm: systemd-journal Tainted: G           O       6.6.32-gbccca0fbfbc0-dirty #2
[  240.627789] Hardware name: Texas Instruments AM69 SK (DT)
[  240.633169] pstate: 60000005 (nZCv daif -PAN -UAO -TCO -DIT -SSBS BTYPE=--)
[  240.640113] pc : k3_ringacc_ring_pop_mem+0x34/0xb0
[  240.644901] lr : k3_ringacc_ring_pop+0x34/0x94
[  240.649332] sp : ffff8000813f3d80
[  240.652632] x29: ffff8000813f3d80 x28: 0000000000000007 x27: ffff8000813f3e57
[  240.659753] x26: 0000000000000040 x25: ffff000801c10080 x24: 0000000000000000
[  240.666871] x23: 0000000000000000 x22: ffff000801c10120 x21: 0000000000000000
[  240.673989] x20: ffff000802572d80 x19: ffff000f10410010 x18: ffffffffffffffff
[  240.681107] x17: ffff800e8af12000 x16: ffff8000813f0000 x15: ffff0008054d4050
[  240.688226] x14: 2e54494e49203a65 x13: 6369766564206e69 x12: ffff000802692b1c
[  240.695344] x11: ffff800082651000 x10: ffff800080ceebf0 x9 : 1fffe001001e29c1
[  240.702461] x8 : 0000000000000040 x7 : 0000000000000000 x6 : fffffffffffffffe
[  240.709580] x5 : 0000000000000000 x4 : fffffbffeff25990 x3 : 0000000000000000
[  240.716699] x2 : 0000000000000008 x1 : 0000000000000010 x0 : ffff8000813f3de0
[  240.723818] Call trace:
[  240.726253]  k3_ringacc_ring_pop_mem+0x34/0xb0
[  240.730684]  k3_ringacc_ring_pop+0x34/0x94
[  240.734768]  k3_udma_glue_pop_tx_chn+0x1c/0x68
[  240.739196]  am65_cpsw_nuss_tx_compl_packets_2g.constprop.0+0x7c/0x268 [ec_ti_am65_cpsw_nuss]
[  240.747716]  am65_cpsw_nuss_tx_poll+0xc0/0xe8 [ec_ti_am65_cpsw_nuss]
[  240.754058]  __napi_poll+0x38/0x178
[  240.757534]  net_rx_action+0x128/0x270
[  240.761269]  __do_softirq+0x100/0x26c
[  240.764918]  ____do_softirq+0x10/0x1c
[  240.768567]  call_on_irq_stack+0x24/0x4c
[  240.772476]  do_softirq_own_stack+0x1c/0x2c
[  240.776645]  irq_exit_rcu+0xc0/0xdc
[  240.780121]  el1_interrupt+0x38/0x68
[  240.783686]  el1h_64_irq_handler+0x18/0x24
[  240.787768]  el1h_64_irq+0x64/0x68
[  240.791156]  mutex_unlock+0x24/0x5c
[  240.794633]  vfs_read+0xc4/0x2b4
[  240.797850]  ksys_read+0x74/0x10c
[  240.801152]  __arm64_sys_read+0x1c/0x28
[  240.804974]  invoke_syscall+0x48/0x114
[  240.808711]  el0_svc_common.constprop.0+0xc0/0xe0
[  240.813400]  do_el0_svc+0x1c/0x28
[  240.816702]  el0_svc+0x2c/0x84
[  240.819745]  el0t_64_sync_handler+0x120/0x12c
[  240.824087]  el0t_64_sync+0x190/0x194

I find this error occurs every time I connect to slaves.

Hi,

Let me test the newly written driver, and I will get back to you on how it's working.

Best,
Jared

What is the result of the test?

Hi,

Still working on it. I will keep you updated.

Best,
Jared

I still have some questions. Why, after compiling the kernel according to the FAQ, can't I find any network driver's IP address?

This is the startup log.

[    9.733209] hub 1-1:1.0: 4 ports detected
[    9.739903] hub 2-1:1.0: USB hub found
         Expecting device /dev/mmcblk1p1...
[    9.794505] hub 2-1:1.0: 4 ports detected
[    9.805491] hub 1-1:1.0: USB hub found
[    9.809283] hub 1-1:1.0: 4 ports detected
[FAILED] Failed to start Network Name Resolution.
See 'systemctl status systemd-resolved.service' for details.
[FAILED] Failed to start Network Time Synchronization.
See 'systemctl status systemd-timesyncd.service' for details.
         Starting Virtual Console Setup...
[  OK  ] Found device /dev/mmcblk0p1.
[  OK  ] Found device /dev/mmcblk1p1.
[    9.952115] hub 2-1:1.0: USB hub found
         Starting File System Check on /dev/mmcblk0p1    9.958042] hub 2-1:1.0: 4 ports detected
0m...
         Starting File System Check on /dev/mmcblk1p1...
[FAILED] Failed to start Network Name Resolution.
See 'systemctl status systemd-resolved.service' for details.
[FAILED] Failed to start Network Time Synchronization.
See 'systemctl status systemd-timesyncd.service' for details.
[  OK  ] Finished Virtual Console Setup.
[FAILED] Failed to start Network Name Resolution.
See 'systemctl status systemd-resolved.service' for details.
[FAILED] Failed to start Network Time Synchronization.
See 'systemctl status systemd-timesyncd.service' for details.

Hi,

If the am65-cpsw-nuss driver is disabled, then the network driver won't load and you won't have an IP address.

It would appear under eth0 if it loaded.

Best,
Jared