Using LinuxCNC-EtherCat with EtherCat TTY driver

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Dyntaos
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21 Sep 2021 21:58 #221298 by Dyntaos

Using LinuxCNC-EtherCat with EtherCat TTY driver was created by Dyntaos

Hello,

I am trying to use LinuxCNC-EtherCat at the same time as using the TTY driver (with appropriate changes for the Beckhoff EP6001-0002). The TTY driver works great when I do not have LinuxCNC-EtherCat trying to use the EtherCat Master. When I try to run both simultaneously, I get the following output in dmesg:

[ 4273.715191] EtherCAT: Master driver 1.5.2 1.5.2-247-gcbbd9745
[ 4273.715305] EtherCAT: 1 master waiting for devices.
[ 4273.723619] igb 0000:01:00.0: removed PHC on enp1s0
[ 4274.051838] ec_igb: Intel(R) Gigabit Ethernet Network Driver (EtherCAT enabled) - version 5.4.0-k-EtherCAT
[ 4274.051839] ec_igb: Copyright (c) 2007-2014 Intel Corporation.
[ 4274.096285] EtherCAT: Accepting 18:C0:4D:8D:D0:8F as main device for master 0.
[ 4274.113260] EtherCAT 0: Starting EtherCAT-IDLE thread.
[ 4274.113534] pps pps0: new PPS source ptp0
[ 4274.113682] ec_igb 0000:01:00.0: added PHC on ecm0
[ 4274.113684] ec_igb 0000:01:00.0: Intel(R) Gigabit Ethernet Network Connection
[ 4274.113686] ec_igb 0000:01:00.0: ecm0: (PCIe:2.5Gb/s:Width x1) 18:c0:4d:8d:d0:8f
[ 4274.113688] ec_igb 0000:01:00.0: ecm0: PBA No: FFFFFF-0FF
[ 4274.113690] ec_igb 0000:01:00.0: Using MSI-X interrupts. 2 rx queue(s), 2 tx queue(s)
[ 4274.129992] ec_tty: TTY driver 1.5.2 1.5.2-247-gcbbd9745
[ 4274.132568] ec_tty_ep6001: Starting...
[ 4274.132569] EtherCAT: Requesting master 0...
[ 4274.132571] EtherCAT: Successfully requested master 0.
[ 4274.132572] ec_tty_ep6001: Registering domain...
[ 4274.132573] ec_tty_ep6001: Registering serial devices...
[ 4274.132574] ec_tty_ep6001: Finished registering serial devices.
[ 4274.132574] ec_tty_ep6001: Activating master...
[ 4274.132575] EtherCAT 0: Domain0: Logical address 0x00000000, 0 byte, expected working counter 0.
[ 4274.132589] EtherCAT 0: Master thread exited.
[ 4274.132590] EtherCAT 0: Starting EtherCAT-OP thread.
[ 4274.132615] ec_tty_ep6001: Starting cyclic sample thread.
[ 4274.132616] ec_tty_ep6001: Started.
[ 4276.111721] EtherCAT 0: Link state of ecm0 changed to UP.
[ 4276.119206] EtherCAT 0: 2 slave(s) responding on main device.
[ 4276.119211] EtherCAT 0: Slave states on main device: PREOP.
[ 4276.143141] EtherCAT 0: Scanning bus.
[ 4276.599134] ec_tty_ep6001: 2 slave(s).
[ 4276.599135] ec_tty_ep6001: AL states: 0x02.
[ 4276.599136] ec_tty_ep6001: Link is up.
[ 4286.799157] EtherCAT 0: Bus scanning completed in 10680 ms.
[ 4286.799158] EtherCAT 0: Using slave 0 as DC reference clock.
[ 4286.799160] EtherCAT WARNING 0: No application time received up to now, but master already active.
[ 4297.898025] [UFW BLOCK] IN=eno2 OUT= MAC=01:00:5e:00:00:fb:00:1e:8f:d1:96:03:08:00 SRC=192.168.1.203 DST=224.0.0.251 LEN=32 TOS=0x00 PREC=0x00 TTL=1 ID=258 PROTO=2
[ 4298.398002] [UFW BLOCK] IN=eno2 OUT= MAC=01:00:5e:00:00:fb:00:1e:8f:d1:96:03:08:00 SRC=192.168.1.203 DST=224.0.0.251 LEN=32 TOS=0x00 PREC=0x00 TTL=1 ID=259 PROTO=2
[ 4305.775215] EtherCAT 0: Slave states on main device: PREOP, OP.
[ 4306.495193] ec_tty_ep6001: AL states: 0x0A.
[ 4316.722380] EtherCAT: Requesting master 0...
[ 4316.722382] EtherCAT ERROR 0: Master already in use!
[ 4341.876376] EtherCAT 0: Master debug level set to 1.
[ 4359.199947] EtherCAT: Requesting master 0...
[ 4359.199949] EtherCAT ERROR 0: Master already in use!
[ 4394.339872] EtherCAT: Requesting master 0...
[ 4394.339874] EtherCAT ERROR 0: Master already in use!
[ 4430.730641] [UFW BLOCK] IN=eno2 OUT= MAC=01:00:5e:00:00:fb:00:1e:8f:d1:96:03:08:00 SRC=192.168.1.203 DST=224.0.0.251 LEN=32 TOS=0x00 PREC=0x00 TTL=1 ID=324 PROTO=2
[ 4431.230578] [UFW BLOCK] IN=eno2 OUT= MAC=01:00:5e:00:00:fb:00:1e:8f:d1:96:03:08:00 SRC=192.168.1.203 DST=224.0.0.251 LEN=32 TOS=0x00 PREC=0x00 TTL=1 ID=325 PROTO=2
[ 4645.260392] [UFW BLOCK] IN=eno2 OUT= MAC=01:00:5e:00:00:fb:00:1e:8f:d1:96:03:08:00 SRC=192.168.1.203 DST=224.0.0.251 LEN=32 TOS=0x00 PREC=0x00 TTL=1 ID=395 PROTO=2
[ 4645.760343] [UFW BLOCK] IN=eno2 OUT= MAC=01:00:5e:00:00:fb:00:1e:8f:d1:96:03:08:00 SRC=192.168.1.203 DST=224.0.0.251 LEN=32 TOS=0x00 PREC=0x00 TTL=1 ID=396 PROTO=2

In particular, these lines:

[ 4316.722380] EtherCAT: Requesting master 0...
[ 4316.722382] EtherCAT ERROR 0: Master already in use!

Is this a technical limitation or is there something I can do to use both simultaneously?

Searching turned up the line in the EtherCat's source that prints this error: github.com/ningfei/ethercat/blob/d7b000b...master/module.c#L551

Any insight or suggestions would be greatly appreciated!

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db1981
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07 Oct 2021 09:25 #222434 by db1981

Replied by db1981 on topic Using LinuxCNC-EtherCat with EtherCat TTY driver

Hello,

got this solved?

accessing the master from two threads will not work... Can you coarse explain how you setup and get the tty driver running? I think a few little changes in linuxcnc-ethercat are neccesary, but i had not worked with the tty stuff yet.

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