topic Real-time Edge yocto -- IGH TEST in i.MX Processors

Real-time Edge yocto -- IGH TEST

lanxiqing — Fri, 10 May 2024 08:02:22 GMT

When I tested the IGH master station using the i.MX 8M Mini LPDDR4 EVK development board, I encountered the following issues. When master station MASTER0-DEVICE configured as “generic”，everything is normal，slave can be detected. However ,When master station MASTER0-DEVICE configured as “fec” but it cannot run. The experimental results are as follows.

root@imx8mm-lpddr4-evk:/# cat /etc/ethercat.conf
#------------------------------------------------------------------------------
#
# EtherCAT master configuration file for use with ethercatctl.
#
# $Id$
#
#------------------------------------------------------------------------------

#
# Master devices.
#
# The MASTER<X>_DEVICE variable specifies the Ethernet device for a master
# with index 'X'.
#
# Specify the MAC address (hexadecimal with colons) of the Ethernet device to
# use. Example: "00:00:08:44:ab:66"
#
# The broadcast address "ff:ff:ff:ff:ff:ff" has a special meaning: It tells
# the master to accept the first device offered by any Ethernet driver.
#
# The MASTER<X>_DEVICE variables also determine, how many masters will be
# created: A non-empty variable MASTER0_DEVICE will create one master, adding a
# non-empty variable MASTER1_DEVICE will create a second master, and so on.
#
MASTER0_DEVICE="00:04:9f:06:1b:63"
#MASTER1_DEVICE=""

#
# Ethernet driver modules to use for EtherCAT operation.
#
# Specify a non-empty list of Ethernet drivers, that shall be used for EtherCAT
# operation.
#
# Except for the generic Ethernet driver module, the init script will try to
# unload the usual Ethernet driver modules in the list and replace them with
# the EtherCAT-capable ones. If a certain (EtherCAT-capable) driver is not
# found, a warning will appear.
#
# Possible values: 8139too, e100, e1000, e1000e, r8169, fec, enetc, dpaa1, generic.
# Separate multiple drivers with spaces.
#
# Note: The e100, e1000, e1000e, fec and r8169 drivers are not built by default.
# Enable them with the --enable-<driver> configure switches.
#
DEVICE_MODULES="generic"

#
# Flags for loading kernel modules.
#
# This can usually be left empty. Adjust this variable, if you have problems
# with module loading.
#
#MODPROBE_FLAGS="-b"

#------------------------------------------------------------------------------
root@imx8mm-lpddr4-evk:/# ethercat slaves
0 1:0 PREOP + IS620N_ECAT_v2.5.7

When master station MASTER0-DEVICE configured as “fec” ,as flows

root@imx8mm-lpddr4-evk:~# cat /etc/ethercat.conf
#------------------------------------------------------------------------------
#
# EtherCAT master configuration file for use with ethercatctl.
#
# $Id$
#
#------------------------------------------------------------------------------

#
# Flags for loading kernel modules.
#
# This can usually be left empty. Adjust this variable, if you have problems
# with module loading.
#
#MODPROBE_FLAGS="-b"

#------------------------------------------------------------------------------
root@imx8mm-lpddr4-evk:~# ethercat slaves
root@imx8mm-lpddr4-evk:~#

no servo driver is detected.

Re: Real-time Edge yocto -- IGH TEST

Bio_TICFSL — Fri, 10 May 2024 13:26:17 GMT

Hello,

You are missconfigured the ethernet, make sure you have fec in your image.

Regards

Re: Real-time Edge yocto -- IGH TEST

lanxiqing — Sat, 11 May 2024 01:01:49 GMT

As described in the document “ Real-time Edge Software User Guide”

The native Ethernet driver "ec_fec" is enabled on Real-time Edge images by default for i.MX 8M Mini
LPDDR4 EVK. And it can be specified by setting "DEVICE_MODULES" variable to "fec" as below on "/etc/
ethercat.conf" file.
DEVICE_MODULES="fec"
But note that the original Ethernet fec driver must be compiled to modules by reconfiguring Linux menuconfig
when the native Ethernet driver "ec_fec" is enabled. On Real-time Edge, the original fec Ethernet driver has
been configured as a module by default.

Do you mean that the fec driver is compiled into the kernel, rather than being compiled into a module that automatically loads at startup?

At present, the fec driver should be compiled into modules.

root@imx8mm-lpddr4-evk:~# lsmod
Module Size Used by
ec_fec 45056 0
ec_master 274432 1 ec_fec
overlay 122880 0
fsl_jr_uio 16384 0
caam_jr 176128 0
caamkeyblob_desc 16384 1 caam_jr
caamhash_desc 16384 1 caam_jr
caamalg_desc 36864 1 caam_jr
crypto_engine 20480 1 caam_jr
authenc 16384 1 caam_jr
libdes 24576 1 caam_jr
crct10dif_ce 16384 1
polyval_ce 16384 0
polyval_generic 16384 1 polyval_ce
snd_soc_imx_spdif 16384 0
snd_soc_imx_card 20480 0
snd_soc_ak4458 24576 0
snd_soc_ak5558 28672 0
caam 28672 1 caam_jr
secvio 20480 0
error 24576 7 caamalg_desc,secvio,caamkeyblob_desc,caamhash_desc,caam,caam_jr,fsl_jr_uio
snd_soc_fsl_micfil 24576 2
snd_soc_fsl_spdif 24576 2
snd_soc_fsl_sai 36864 4
snd_soc_fsl_utils 16384 3 snd_soc_fsl_spdif,snd_soc_fsl_micfil,snd_soc_fsl_sai
gpio_ir_recv 16384 0
rc_core 36864 2 gpio_ir_recv
fuse 135168 1

Re: Real-time Edge yocto -- IGH TEST

lanxiqing — Mon, 13 May 2024 03:00:52 GMT

Using the official image of IMX8 MINI, the fec module has started running, but the main station still hasn't started and has been waiting for the device.

root@imx8mm-lpddr4-evk:~# ethercatctl restart
[ 30.905175] ec_master: loading out-of-tree module taints kernel.
[ 30.908677] EtherCAT: Master driver 1.5.2 unknown
[ 30.908995] EtherCAT: 1 master waiting for devices.
root@imx8mm-lpddr4-evk:~# ethercat master
Master0
Phase: Waiting for device(s)...
Active: no
Slaves: 0
Ethernet devices:
Main: 00:01:02:03:04:06 (waiting...)
Link: DOWN
Tx frames: 0
Tx bytes: 0
Rx frames: 0
Rx bytes: 0
Tx errors: 0
Tx frame rate [1/s]: 0 0 0
Tx rate [KByte/s]: 0.0 0.0 0.0
Rx frame rate [1/s]: 0 0 0
Rx rate [KByte/s]: 0.0 0.0 0.0
Common:
Tx frames: 0
Tx bytes: 0
Rx frames: 0
Rx bytes: 0
Lost frames: 0
Tx frame rate [1/s]: 0 0 0
Tx rate [KByte/s]: 0.0 0.0 0.0
Rx frame rate [1/s]: 0 0 0
Rx rate [KByte/s]: 0.0 0.0 0.0
Loss rate [1/s]: 0 0 0
Frame loss [%]: 0.0 0.0 0.0
Distributed clocks:
Reference clock: None
Application time: 0
2000-01-01 00:00:00.000000000
root@imx8mm-lpddr4-evk:~# lsmod
Module Size Used by
ec_fec 45056 0
ec_master 274432 1 ec_fec
overlay 122880 0
fsl_jr_uio 16384 0
caam_jr 176128 0
caamkeyblob_desc 16384 1 caam_jr
caamhash_desc 16384 1 caam_jr
caamalg_desc 36864 1 caam_jr
crypto_engine 20480 1 caam_jr
authenc 16384 1 caam_jr
libdes 24576 1 caam_jr
crct10dif_ce 16384 1
polyval_ce 16384 0
polyval_generic 16384 1 polyval_ce
snd_soc_imx_spdif 16384 0
snd_soc_imx_card 20480 0
snd_soc_ak4458 24576 0
snd_soc_ak5558 28672 0
caam 28672 1 caam_jr
snd_soc_fsl_spdif 24576 2
snd_soc_fsl_micfil 24576 2
snd_soc_fsl_sai 36864 4
snd_soc_fsl_utils 16384 3 snd_soc_fsl_spdif,snd_soc_fsl_micfil,snd_soc_fsl_sai
secvio 20480 0
error 24576 7 caamalg_desc,secvio,caamkeyblob_desc,caamhash_desc,caam,caam_jr,fsl_jr_uio
gpio_ir_recv 16384 0
rc_core 36864 2 gpio_ir_recv
fuse 135168 1

Where is the possible reason? How to solve it?