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IgH master communicate with AM3359...

Jupiter
Prodigy 155 points

Hello everyone,

I burst NOR Bootloader(boot_NOR.bin)   and  application(ethercat_NOR.bin)  into NOR flash  successfully.

After I boot the TMDXICE3359 Board,I can see LEDs (D25  D27  D29  D30)  are  bright,I don't known this meaning to what? Is ethercat_slave running?

(I used  boot_NOR.bin  and  ethercat_NOR.bin  from  am335x_sysbios_ind_sdk_prebuilt_01_00_00_07.zip)

I can't  confirm it  whether belongs  to  normal situation,because I used  TMDXICE3359  communicating with  ethercat-master ( IgH master in ubuntu)  appearing  errors.

dmesg:

[ 1572.306045] EtherCAT: Master driver 1.5.1 0f7a243b03e4
[ 1572.323871] EtherCAT: 1 master waiting for devices.
[ 1572.353502] ec_generic: EtherCAT master generic Ethernet device module 1.5.1 0f7a243b03e4
[ 1572.354196] EtherCAT: Accepting device 00:0C:29:55:B7:7F for master 0.
[ 1572.354556] ec_generic: Binding socket to interface 2 (eth0).
[ 1572.354808] EtherCAT 0: Starting EtherCAT-IDLE thread.
[ 1595.051623] EtherCAT 0: Link state changed to UP.
[ 1595.056857] EtherCAT 0: 1 slave(s) responding.
[ 1595.057007] EtherCAT 0: Slave states: INIT.
[ 1595.059532] EtherCAT 0: Scanning bus.
[ 1595.088102] EtherCAT WARNING 0: 1 datagram TIMED OUT!
[ 1595.611353] EtherCAT 0: Bus scanning completed in 552 ms.
[ 1595.616601] EtherCAT 0: Slave states: PREOP.
[ 1598.640155] EtherCAT WARNING 0: 55 datagrams TIMED OUT!
[ 1598.640227] EtherCAT WARNING 0: 55 datagrams UNMATCHED!
[ 1598.641203] EtherCAT ERROR 0-0: Reception of CoE dictionary response failed: No response.
[ 1601.480256] EtherCAT WARNING 0: 1 datagram TIMED OUT!
[ 1601.480261] EtherCAT WARNING 0: 1 datagram UNMATCHED!
[ 1604.108110] EtherCAT WARNING 0: 2 datagrams TIMED OUT!
[ 1604.108115] EtherCAT WARNING 0: 2 datagrams UNMATCHED!
[ 1610.208179] EtherCAT WARNING 0: 2 datagrams TIMED OUT!
[ 1610.208185] EtherCAT WARNING 0: 2 datagrams UNMATCHED!
[ 1613.292135] EtherCAT WARNING 0: 1 datagram TIMED OUT!
[ 1613.292140] EtherCAT WARNING 0: 1 datagram UNMATCHED!
[ 1614.668090] EtherCAT WARNING 0: 2 datagrams TIMED OUT!
[ 1614.668095] EtherCAT WARNING 0: 2 datagrams UNMATCHED!
[ 1615.804350] EtherCAT WARNING 0: 2 datagrams TIMED OUT!
[ 1615.804355] EtherCAT WARNING 0: 2 datagrams UNMATCHED!
[ 1617.732055] EtherCAT WARNING 0: 3 datagrams TIMED OUT!
[ 1617.732060] EtherCAT WARNING 0: 3 datagrams UNMATCHED!
[ 1619.268750] EtherCAT WARNING 0: 1 datagram TIMED OUT!
[ 1619.268793] EtherCAT WARNING 0: 1 datagram UNMATCHED!

IgH master's state:

Master0
     Phase: Idle
     Active: no
     Slaves: 1
     Ethernet devices:
             Main: 00:0c:29:55:b7:7f (attached)
                   Link: UP
                   Tx frames: 107791
                    Rx frames: 107790
                   Lost frames: 0
                   Tx bytes: 6469956
                   Tx errors: 0
                   Tx frame rate [1/s]: 247 243 240
                   Tx rate [KByte/s]: 14.5 14.2 14.0
                   Loss rate [1/s]: 0 0 0
                   Frame loss [%]: 0.0 0.0 0.0

         Backup: None.
     Distributed clocks:
         Reference clock: Slave 0
         Application time: 0
                                          2000-01-01 00:00:00.000000000

Slave's  state :

=== Master 0, Slave 0 ===
State: PREOP
Flag: +
Identity:
  Vendor Id:       0xe000059d
  Product code:    0x54490001
  Revision number: 0x00000001
  Serial number:   0x00000000
DL information:
  FMMU bit operation: no
  Distributed clocks: yes, 64 bit
  DC system time transmission delay: 0 ns
Port  Type  Link  Loop    Signal  NextSlave  RxTime [ns]  Diff [ns]   NextDc [ns]
   0  MII   up    open    yes             -   3352153196           0           0
   1  MII   down  closed  no              -            -           -           -
   2  N/A   down  closed  no              -            -           -           -
   3  N/A   down  closed  no              -            -           -           -
Mailboxes:
  Bootstrap RX: 0x1000/128, TX: 0x1400/128
  Standard  RX: 0x1000/128, TX: 0x1400/128
  Supported protocols: CoE
General:
  Group: TI Slave
  Image name: 
  Order number: TIESC-001
  Device name: TIESC-001
  CoE details:
    Enable SDO: yes
    Enable SDO Info: yes
    Enable PDO Assign: no
    Enable PDO Configuration: no
    Enable Upload at startup: no
    Enable SDO complete access: yes
  Flags:
    Enable SafeOp: no
    Enable notLRW: no
  Current consumption: 0 mA


I attached the wireshark log, the IgH master syslog(dmesg informations)   and  above informations  in a ZIP file.

1300.IgH-master-EthercAT _logs.zip

(About wireshark log, I run ubuntu in VMware,and IgH master use  a "generic"  driver.)

I  hope the ZIP file conducive to you to help me.

Addition, when I used  twisted-pair  linking  between  PC(win 7)  and    TMDXICE3359  realizing  IgH-master communicate  with  TMDXICE3359, D8 LED is constant flashing rapidly,and D6 LED  is flashing a every second.

I really need your help, Thx  in advance ! 

Regards,

Jupiter.

  • 0
    TI__Mastermind 47851 points

    Hi,

    We have not tested the slave with IgH master but some folks reported success with the same before, http://e2e.ti.com/support/arm/sitara_arm/f/791/p/196899/704223.aspx#704223

    It looks to me that you need to configure process data mapping using domains on the master side to take slave to OP state.

    Your wire shark logs appears fine as master configures mailbox SMs and read EEPROMs etc from slave and this seems to work. But I do not see any configuration of process data SMs (0x810 and 0x818) and neither master configures FMMUs for process data.

  • 0 in reply to PratheeshGangadhar
    Prodigy 155 points

    Hi,PratheeshGangadhar,

    Thanks  for  your quick answer!

    Sorry, I don't   know  what   0x810 and 0x818  represent   respectively? how to use it?

    What should  I  do  for  configuration of SMs and FMMUs  in  master side ?

    I'am going through Slave Implementation Guide-ETG. Hope to get your advice.

    Thanks!

    Regards,

    Jupiter.

  • 0 in reply to Jupiter
    TI__Mastermind 44306 points

    Jupiter,

    if you have issues with IgH master I suggest to first verify the slave side with TwinCAT 2.x (there is a trial download for free at Beckhoff site). The process is described on our wikis. Once you know that the slave boots correctly and communicates with TwinCAT master you can move on to any other master. However we are not able to support the master side use and development. Some of your data above indicates the slave side is working but there is some kind of configuration issue on master side.

    Regards.