J0hann

Hello all ! I won't detail everything here, because it may be of no interest for most, but I managed to configure one single project compiling and working successfully on UMAC, PowerBrickAC, CK3E (Acontis stack) and Etherlite (Etherlab stack). Up to IDE3, I used to configure all my controllers using .pmc files at startup. Basically, the new "System" folder of IDE4 can be completely ignore as long as some .pmc files keep configuring the sys, motor and enctable structures, EXCEPT for the EtherCAT folder in Acontis stack. For Etherlab stack, the ECAT structure can still be configured using a .pmc file, but you must go through the new EtherCAT folder/tool of IDE4 if you want to have your EtherCAT network working on a CK3E. In the end, only the endianess and mounting points defers from UMAC/PowerBrickAC/Etherlite and CK3E, which is quite easy to manage.

Dear insiders, Could you guide me on the right way to manage the new (IDE4) System Folder files when I have a single versioned project built on different hardware architectures ? I explain myself: I have been using DT controllers for a while now (since firmware 1.6, and IDE 2.xxxx). Our company project is versioned using svn and we are trying to stick on one single trunk, avoiding branches at maximum. Currently, my trunk is built for IDE 3, and we manage the controller and ECAT configuration during the controller boot (we are using UMAC racks, PowerBricks and Etherlites). When IDE 4 came out, I created a branch as this IDE was dedicated to CK3E. The problem is that, with ACONTIS stack, I cannot configure the EtherCAT configuration at boot anymore, directly filling the ECAT[] structure: it must be done using an .xml file and some IDE interactions. Because of this, each of my project having a different EtherCAT drives and/or IO configuration requires a new branch... The last IDE version, 2.4.1.2 is supposed to deal with all these controllers. Which is great ! I would like to fuse all my projects in a single one. How can I do that ? Is it even possible ? Thanks in advance !

You're right, the libopener header files are replaced by PPMAC's, downloaded at compilation. So I have to apply the changes in the controller also. Do you know where I can find these files ?! Thanks ! EDIT: found it -> /opt/ppmac/libopener

Awesome, it works, thank you so much Shansen !!! So happy to see this problem solved. For the record (and for other people having the problem), the path of the file to edit is: ~\DeltaTau\PowerPMAC\Compilers\usr\local\dtlibs\libopener My DeltaTau file is directly on C:\

Hi Steve, I had no return from the support group, and I have now this warning on CK3E since the last firmware update. I am the only one having this problem ? Thanks !

A priceless post Kejr, thank you a thousand times for it. I found it incredible that the internal memory is relegated to /dev/sdb when the unit starts with a flash drive plugged. So, same story for me, I used to insert SD cards in my other DT units and to edit the fstab for mounting the SD card on a specific path. When I was receiving any new unit, I was replacing the fstab file, among others, and that was it. Now it is more tricky: the fstab file contains the internal memory UUID ! So it must be edited. And your idea of using the "by-path" is just great. On my side, I have switched to FAT32. Our computers are now all in Windows10 and it is not possible to install ext fs drivers anymore. And we sometime need to recover data from the flash drive manually. So, for the record, I am using the following instruction in fstab: /dev/disk/by-path/platform-xhci-hcd.0.auto-usb-0:1.2:1.0-scsi-0:0:0:0-part1 /media/disk-0 vfat rw,user,umask=000 0 2 I am mounting the vfat flash drive on /media/disk-0. The Linux cannot manage the access right using chmod on FAT32 fs, so the mounting options are just here to mount the flash drive in rw mode.

Hello Mike, Hi have a similar issue on IDE v.4: I'm trying to update my IDE from 4.0.3.0 to 4.1.0.24 using the patch installation. At the very beginning of the installation (as administrator), I have an MYSQL failure message: "Failed to install the 'MySQL' tables required for PowerPMAC IDE (error code: failed to get port). Please try rebooting the PC and running the installer again." I updated the .ini file but it did not work, the problem might be a different one. Have you encountered this ? Do you have any fix ? Thanks ! EDIT: solved by uninstalling everything and installing directly the full 4.1.0.24 firmware.

In order to make progress, I add that I have these warnings compilation on 2.4.0.180 Etherlite and PowerBrickAC, and not on a CK3E ! Does it help ? Do they miss a library ?

Thanks for the replying Steve. I clean the project before every single compilation. Besides, I have several projects (I am using PPMAC for different kind of robotic architectures) and thus often unload/load projects. This doesn't correct my problem, and I add that I have these warnings for all of my current projects.

Hi Insiders, I've got warnings at the useralgo.ko compilation since I updated my IDE to versions 3 I cannot get ride of. I have been seeing them for several months and they don't prevent my project to run properly, so I didn't pay much attention to them. However, I'd really like to solve the problem and to make these warning disappear. It seems that some ethernet-related headers are missing the library, since the message says "'struct sockaddr' declared inside parameter list". Do you have any clue of what could be done to solve this problem ? Here is my compilation output on a new project, compiled with the IDE 3.1.4.0 on an Etherlite in firmware v.2.4.0.180. ------ Build started: Project: PowerPMAC1, Configuration: Debug Any CPU ------ Please wait while mapping PowerPMAC variables. End of synchronizing the Database. PowerPMAC variables mapped successfully. Build process for capp1.out has started. Build process for capp1.out has ended. Build process for usralgo.ko has started. C:\Users\J27CE~1.LAM\Desktop\POWERP~1\POWERP~1\CLANGU~1\REALTI~1\\\usr\local\dtlibs\libopener\cipcommon.h(14,0): warning : in file included from /usr/local/dtlibs/libopener/cipcommon.h C:\Users\J27CE~1.LAM\Desktop\POWERP~1\POWERP~1\CLANGU~1\REALTI~1\\\usr\local\dtlibs\rtpmac\..\libppmac\ethernetip.h(14,0): warning : in file included from /usr/local/dtlibs/rtpmac/../libppmac/ethernetip.h C:\Users\J27CE~1.LAM\Desktop\POWERP~1\POWERP~1\CLANGU~1\REALTI~1\\\usr\local\dtlibs\rtpmac\RtGpShm.h(82,0): warning : in file included from /usr/local/dtlibs/rtpmac/RtGpShm.h C:\Users\J.Lamaury\Desktop\PowerPMAC1\PowerPMAC1\C Language\Realtime Routines\usralgomain.c(41,0): warning : in file included from /cygdrive/c/Users/J27CE~1.LAM/Desktop/POWERP~1/POWERP~1/CLANGU~1/REALTI~1/usralgomain.c C:\Users\J27CE~1.LAM\Desktop\POWERP~1\POWERP~1\CLANGU~1\REALTI~1\\\usr\local\dtlibs\libopener\ciptypes.h(299,0): warning : 'struct sockaddr' declared inside parameter list C:\Users\J27CE~1.LAM\Desktop\POWERP~1\POWERP~1\CLANGU~1\REALTI~1\\\usr\local\dtlibs\libopener\ciptypes.h(299,0): warning : its scope is only this definition or declaration, which is probably not what you want C:\Users\J27CE~1.LAM\Desktop\POWERP~1\POWERP~1\CLANGU~1\REALTI~1\\\usr\local\dtlibs\rtpmac\..\libppmac\ethernetip.h(14,0): warning : in file included from /usr/local/dtlibs/rtpmac/../libppmac/ethernetip.h C:\Users\J27CE~1.LAM\Desktop\POWERP~1\POWERP~1\CLANGU~1\REALTI~1\\\usr\local\dtlibs\rtpmac\RtGpShm.h(82,0): warning : in file included from /usr/local/dtlibs/rtpmac/RtGpShm.h C:\Users\J.Lamaury\Desktop\PowerPMAC1\PowerPMAC1\C Language\Realtime Routines\usralgomain.c(41,0): warning : in file included from /cygdrive/c/Users/J27CE~1.LAM/Desktop/POWERP~1/POWERP~1/CLANGU~1/REALTI~1/usralgomain.c C:\Users\J27CE~1.LAM\Desktop\POWERP~1\POWERP~1\CLANGU~1\REALTI~1\\\usr\local\dtlibs\libopener\cipcommon.h(39,0): warning : 'struct sockaddr' declared inside parameter list C:\Users\J27CE~1.LAM\Desktop\POWERP~1\POWERP~1\CLANGU~1\REALTI~1\\\usr\local\dtlibs\libopener\cipcommon.h(57,0): warning : 'struct sockaddr' declared inside parameter list C:\Users\J27CE~1.LAM\Desktop\POWERP~1\POWERP~1\CLANGU~1\REALTI~1\\\usr\local\dtlibs\libopener\cipcommon.h(71,0): warning : 'struct sockaddr' declared inside parameter list C:\Users\J27CE~1.LAM\Desktop\POWERP~1\POWERP~1\CLANGU~1\REALTI~1\\\usr\local\dtlibs\libopener\cipcommon.h(14,0): warning : in file included from /usr/local/dtlibs/libopener/cipcommon.h C:\Users\J27CE~1.LAM\Desktop\POWERP~1\POWERP~1\CLANGU~1\REALTI~1\\\usr\local\dtlibs\rtpmac\..\libppmac\ethernetip.h(14,0): warning : in file included from /usr/local/dtlibs/rtpmac/../libppmac/ethernetip.h C:\Users\J27CE~1.LAM\Desktop\POWERP~1\POWERP~1\CLANGU~1\REALTI~1\\\usr\local\dtlibs\rtpmac\RtGpShm.h(82,0): warning : in file included from /usr/local/dtlibs/rtpmac/RtGpShm.h C:\Users\J.Lamaury\Desktop\PowerPMAC1\PowerPMAC1\C Language\Realtime Routines\usrcode.h(9,0): warning : in file included from /cygdrive/c/Users/J27CE~1.LAM/Desktop/POWERP~1/POWERP~1/CLANGU~1/REALTI~1/usrcode.h C:\Users\J.Lamaury\Desktop\PowerPMAC1\PowerPMAC1\C Language\Realtime Routines\usrcode.c(20,0): warning : in file included from /cygdrive/c/Users/J27CE~1.LAM/Desktop/POWERP~1/POWERP~1/CLANGU~1/REALTI~1/usrcode.c C:\Users\J27CE~1.LAM\Desktop\POWERP~1\POWERP~1\CLANGU~1\REALTI~1\\\usr\local\dtlibs\libopener\ciptypes.h(299,0): warning : 'struct sockaddr' declared inside parameter list C:\Users\J27CE~1.LAM\Desktop\POWERP~1\POWERP~1\CLANGU~1\REALTI~1\\\usr\local\dtlibs\libopener\ciptypes.h(299,0): warning : its scope is only this definition or declaration, which is probably not what you want C:\Users\J27CE~1.LAM\Desktop\POWERP~1\POWERP~1\CLANGU~1\REALTI~1\\\usr\local\dtlibs\rtpmac\..\libppmac\ethernetip.h(14,0): warning : in file included from /usr/local/dtlibs/rtpmac/../libppmac/ethernetip.h C:\Users\J27CE~1.LAM\Desktop\POWERP~1\POWERP~1\CLANGU~1\REALTI~1\\\usr\local\dtlibs\rtpmac\RtGpShm.h(82,0): warning : in file included from /usr/local/dtlibs/rtpmac/RtGpShm.h C:\Users\J.Lamaury\Desktop\PowerPMAC1\PowerPMAC1\C Language\Realtime Routines\usrcode.h(9,0): warning : in file included from /cygdrive/c/Users/J27CE~1.LAM/Desktop/POWERP~1/POWERP~1/CLANGU~1/REALTI~1/usrcode.h C:\Users\J.Lamaury\Desktop\PowerPMAC1\PowerPMAC1\C Language\Realtime Routines\usrcode.c(20,0): warning : in file included from /cygdrive/c/Users/J27CE~1.LAM/Desktop/POWERP~1/POWERP~1/CLANGU~1/REALTI~1/usrcode.c C:\Users\J27CE~1.LAM\Desktop\POWERP~1\POWERP~1\CLANGU~1\REALTI~1\\\usr\local\dtlibs\libopener\cipcommon.h(39,0): warning : 'struct sockaddr' declared inside parameter list C:\Users\J27CE~1.LAM\Desktop\POWERP~1\POWERP~1\CLANGU~1\REALTI~1\\\usr\local\dtlibs\libopener\cipcommon.h(57,0): warning : 'struct sockaddr' declared inside parameter list C:\Users\J27CE~1.LAM\Desktop\POWERP~1\POWERP~1\CLANGU~1\REALTI~1\\\usr\local\dtlibs\libopener\cipcommon.h(71,0): warning : 'struct sockaddr' declared inside parameter list Build process for usralgo.ko has ended. Build process for usralgo.so has started. Build process for usralgo.so has ended. Project Building and Mapping total time = 10.675 sec ========== Build: 1 succeeded or up-to-date, 0 failed, 0 skipped ========== Thanks in advance !

Hello all ! Does anyone know if the CK3E supports EoE ? I've found no mention of it on Ck3E documentations. However, this unit has Acontis-based EtherCAT which is supposed to supports all mailbox protocols, including EoE. EC-Engineer seems to allow the activation of EoE on drives, but I couldn't find any way to enable the virtual switch on the Master (here the CK3E). Unfortunately, I am using new drives having only one Ethernet port, which means I absolutely need to activate EoE in order to have online status information. Thanks in advance !

OK I find what my problem was. Using the linux "top" and "watch -n 0.5 cat /proc/xenomai/stat" commands, I could see that one of my debug process overload the CPU (idle dropped less that 1%). Disabling this debug process (basically high frequency logs) help the idle to rise back to 40%: no more hardware WD.

Hello guys, I have the same problem here: two PowerBrickAC-based system with multiple axes falling into hardware watchdog state randomly. Having a lot of C code, both in background programs and RTI, I am familiar with DT software watchdogs, but hardware ones? I have no idea how to debug them. I am curious about your solution, the critical interrupt disabling. How could you do this ? You mentioned a patch; could you tell me where did you find it ? Thanks a lot ! Johann

Great, thank you so much ! I don't know how I could miss them !

Hi Charles, Thank you very much for these codes, it will be useful to me. However these functions are just about the reading. By chance, would you have coded the writing version ? Thanks in advance !