thanhtam-h / soem-w5500-rpi Goto Github PK

Hi,

You did a good job,
Is there a 64-bit version of libwiznet_drv.a ?

Hi, @thanhtam-h
You have a conclusion that "Most SPI on ARM can be used with DMA (Direct Memory Access), however for user-space applications on Linux, DMA is hard (or impossible) to use". What reason do you think caused this? Is the reason about kernel config?
You also mentioned the mmap about using SPI, could you provide some tutorial or example?
Thanks!

now,I use w5500 on stm32 board.connect to ethercat io board with switch.It can run normal.But I connect w5500 to ethercat io board,the ethercat io board RJ45s connect LED cant light. I want to know how are you set the w5500 mode? thank you

I found the latest version of SOEM is 1.3.3. ( 1.3.1 -> 1.3.3)
Do you have any resean? Using SOEM 1.3.0?

Hi,

Would it be possible to use a cython wrapper for python for writing user applications? I find c to be a bit hard to use.

The wrapper in question: https://github.com/bnjmnp/pysoem

Hi, Tam
Your blog and experiment are really awesome and thanks to your share. Now I have a question here:
Can raspberry Pi be replaced by normal linux PC, no matter in ARM platform or in Intel platform?
I mean that the EtherCAT master should run on realtime linux environment and is irrelevant to the platform. Then I can do this same experiment using my laptop computer with linux+xenomai.
Hope for your reply.
Best regards!

Will you provide w5500 board like PIGATOR Ethernet?

Hi,

You did a good job,
Is there a 64-bit version of libwiznet_drv.a ?

You made awesome work!
I'm working with EtherCAT master too. I've made Robot Controller using Acontis EcMaster & Xenomai.
Currently, I'm working in Suwon, Korea near Samsung digital City.
Nice to see you, I'm Vietnamese.

If I connected the RESET pin for W5500 from RPi3.
always cannot findout the slaves.

Because the LINK-UP is slowly.

There are 2 slaves. 1-OMRON NX-ECC203
2-OMRON GX-MD1618

First of all, I would like to thank you for your valuable works.

Recently, I try to control Ezi-Servo Fastech Drive with your introduction. It can turn on and hold the motor. But it seems do not map the PDO correctly in the drive. So it can not change the mode of operation such as Position Profile, Cyclic Sync Mode, ... At this time, I think the Control Word and Status Word mapping in pdo_def.h file is correct. That why the motor can turn on and hold. But other mappings are incorrect.

I saw you have been controlled the motor of Fastech on a Youtube video. Could you please upload the source code to a repository on Github or send me an email in private?

Actually, it takes me around one week to find and debug the error and change pdo_def.h file but it still doesn't work.

Thank you so much for your works one more time!

I can use it to control just one slave . The screen show that it can find two slaves,but in fact one of the slaves can't enable.

Dear Tam,

1. is there a realistic chance in the near future that you will write an RT driver for the built-in network interface at RPI 4?
   We would like to use the RPI for motion control applications for our test bench at the university.
   At the moment I have a lot of problems with your module and would like to have a real-time driver for the internal network interface.
   To program this, I (like probably many here) simply lack the necessary skills.
   2 ) In your blog you often read the question whether you will disclose the source code for the driver from the WIZ? But you never seem to react to that, is there a reason?

Thanks a lot

Dear @thanhtam-h
I can just thank you for this great work. I downloaded the prebuilt kernel and installed it, do the post processing and all the stuff you described on http://www.simplerobot.net/. The result of the latency tool is positive. The Problems are that my wirless keyboard (and other USB stuff like the mouse) doesn't work any longer and slaveinfo with wiz550 (v1.3) per ssh doesnt work too. I repeatedly checked the cable arrangement and also measured the resistance of the cables. Could you give me a hand? On Simple Robot you mentioned Problems with USB, but I thought that the pre-patch fixed it.
Thank you!

Hi Tom.
I'm Kerry , Your code Look Good,
I have a question about the CSP code implementation part.

Can you give me some advice on how each variable is calculated in your formula?

Thank you.

Hi, @thanhtam-h
Thanks for your share and we all know how to make an EtherCAT master now, but here the question is: How to make an EtherCAT slave that can test the communication? I can't check the communication if no slave runs.
Could we build a slave on rpi or if there is any kind of slave board on sale?
Hoping your good progress on slave that can achieve a close loop of EtherCAT!
Thanks again.

In osal.c use still use pthread from Linux
I think it is better if you use set of task management of Xenomai such as rt_task_create, rt_task_start, ...

Now I have a questiosn, about the shitft-time;
in 4800-dc and motion samples, the code using following value.

int32_t shift_time=380000; //dc event shifted compared to master reference clock

How to calculate it or setting it? is it a fixed value?

Dear Tam
I work with the RPI4 patched with your Xenomai version and C++.

1. Would you be so kind and add the "extern c++" flags to winznet.h so that others don't have the problem and have to search why their code doesn't compile because of linking?

2. In my code I cyclically (1ms) specify a position.
   If I use the standard ethernet controller, everything runs through. But since I want to use your module, I adapted my master with minimal changes, that wiz is the NIC.
   The problem is that the first time I run through here I get a segmentation fault after 1-2 seconds of motor operation. When I call it again it doesn't even get that far to run through the motor state machine and again and again I get the segmenatation fault.
   With the normal NIC this doesn't happen, but as you explain in your block, a driver has to be written first.
   But I lack the necessary know-how.
   For running code with standard NIC I use the current SOEM version, whereas with wiz I use your older version.
   Do you have any idea what might be causing this?
   Für den

3. Is it actually possible to copy the current SOEM version to your Version?

Thanks for your help.

Hi,

Great work, is it compatible with raspberry pi 4?

I noticed that there has an Beckoff PLC in your video, and as I know it is used for generating the config file (XML) about network topology.
Has the xml file been included in repository? Or I have to generate it myself.

Fresh install of raspbian buster lite on RPI3
xeno test works fine:

pi@raspberrypi:~ $ sudo /usr/xenomai/bin/latency
== Sampling period: 1000 us
== Test mode: periodic user-mode task
== All results in microseconds
warming up...
RTT|  00:00:01  (periodic user-mode task, 1000 us period, priority 99)
RTH|----lat min|----lat avg|----lat max|-overrun|---msw|---lat best|--lat worst
RTD|      0.364|      1.014|      4.166|       0|     0|      0.364|      4.166
RTD|      0.364|      1.124|      6.979|       0|     0|      0.364|      6.979
RTD|      0.364|      1.013|      4.322|       0|     0|      0.364|      6.979
RTD|      0.415|      1.052|      4.946|       0|     0|      0.364|      6.979
RTD|      0.415|      1.050|      4.738|       0|     0|      0.364|      6.979

map script outputs:

 pi@raspberrypi:~/soem-w5500-rpi/test/slaveInfo $ sudo ./slaveinfo wiz
 SOEM (Simple Open EtherCAT Master)
 Slaveinfo
 Starting slaveinfo
 gpio: init OK
 ******************************************************
 Wiznet driver for RPI SOEM - V1.0
 Author: Ho Tam  - thanhtam.h[at]gmail.com
 ******************************************************

I have left it running for several minutes at 100% CPU with no change.

can this soem work on beaglebone black？
Thanks and regards