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OpenEtherCATsociety / SOEM

Simple Open Source EtherCAT Master
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Enabling SYNC0 on LAN9252. #90

Closed shuganthan closed 7 years ago

shuganthan commented 7 years ago

Hi, Trying to enable SYNC0 on LAN9252 , but couldn`t see any hi-low on the SYNC0 pin on LAN9252. The sequence that i am trying is pasted below.

Setup

One LAN9252 connected to SOEM.

LAN9252 slave info output

SOEM (Simple Open EtherCAT Master) Slaveinfo Starting slaveinfo ec_init on enp0s25 succeeded. 1 slaves found and configured. Calculated workcounter 3 Not all slaves reached safe operational state. Slave 1 State= 8 StatusCode= 0 : No error

Slave:1 Name:PIC32 EtherCAT Slave Output size: 512bits Input size: 512bits State: 8 Delay: 0[ns] Has DC: 1 DCParentport:0 Activeports:1.0.0.0 Configured address: 1001 Man: e00004d8 ID: 00009252 Rev: 00000002 SM0 A:1000 L: 128 F:00010026 Type:1 SM1 A:1080 L: 128 F:00010022 Type:2 SM2 A:1100 L: 64 F:00010064 Type:3 SM3 A:1400 L: 64 F:00010020 Type:4 FMMU0 Ls:00000000 Ll: 64 Lsb:0 Leb:7 Ps:1100 Psb:0 Ty:02 Act:01 FMMU1 Ls:00000040 Ll: 64 Lsb:0 Leb:7 Ps:1400 Psb:0 Ty:01 Act:01 FMMUfunc 0:1 1:3 2:3 3:0 MBX length wr: 128 rd: 128 MBX protocols : 0e CoE details: 23 FoE details: 01 EoE details: 01 SoE details: 00 Ebus current: 0[mA] only LRD/LWR:0 End slaveinfo, close socket End program

Wireshark details

On wireshark i could see two types of datagram ( "LRW" , "FRMW" )

Code sequence

if ( ec_config_init(FALSE) > 0 ) { ec_configdc(); ec_config_map(&IOmap); ec_dcsync0(1,1,1000,1); ec_statecheck(0, EC_STATE_SAFE_OP, EC_TIMEOUTSTATE); chk = 40; do { ec_send_processdata(); ec_receive_processdata(EC_TIMEOUTRET); usleep ( 1000 ); // CYCLE_TIME } while (chk--); ec_readstate(); printf ( "chk = %d EC SLAVE 1 DC STATE hasdc=%d DCShift=%d, DCActive=%d\n",chk, ec_slave[1].hasdc,ec_slave[1].DCshift,ec_slave[1].DCactive); if ( ec_slave[1].DCactive == 1 ) { printf("Request operational state for all slaves\n"); ec_slave[0].state = EC_STATE_OPERATIONAL; / request OP state for all slaves / ec_writestate(0); } else { printf(" SLAVE 1 DC not active \n"); } }

Please do let me know if am doing anything wrong.

nakarlsson commented 7 years ago

You might find this reading this Issue helpful, https://github.com/OpenEtherCATsociety/SOEM/issues/29

shuganthan commented 7 years ago

Hi nakarlsson,

Thanks for your reply.

I read the issue #29. But luckily i didn`t have to debug that much for this problem. When i swapped the sync function to ec_dcsync01 it works. ( both sync 0 & sync 1 ) I am yet to check how it works, One found the info i will post it here.

Thanks again.

shuganthan commented 7 years ago

Hi ,

Looks like we need to enable both SYNC0/1 in LAN9252 for them to work.

Observed the same behaviour via Twincat too.