Jon wrote:
> You may have to add some system components with the apt-get
> facility to have everything you need to do a compile. There is
> some info in the wiki under "Installing EMC2" and then under
> "Preparing other versions of Linux to compile emc2".
I follow the steps of "Installing EMC2", but EMC2 doesn't work after
"building EMC2 (realtime)",
while "building EMC2 (simulator)" is OK.
Does it have something to do with my operating system?
I'm using the virtual machine Vmware Workstation to run ubuntu.
Jeff wrote:
> Never run emc2 as root. Instead, use "sudo make setuid" to make the
> emc_module_helper program able to load modules, and run it as a "regular
> user". For instance, I have been informed that when you run as root,
> the special device file "/dev/tty" is removed when emc exits; this
> does not happen when you run as a user.
If I don't ran EMC2 as root when building EMC2 (realtime) , the
terminal will show:
Can't write to /dev/rtai_shm - aborting
Realtime system did not load
Shutting down and cleaning up EMC2...
RTAPI: ERROR: could not open shared memory (errno=13)
HAL: ERROR: rtapi init failed
halcmd: hal_init() failed: -9
NOTE: 'rtapi' kernel module must be loaded
RTAPI: ERROR: could not open shared memory (errno=13)
HAL: ERROR: rtapi init failed
halcmd: hal_init() failed: -9
NOTE: 'rtapi' kernel module must be loaded
Cleanup done
EMC terminated with an error. You can find more information in the log files
/home/cm/emc_debug.txt
and
/home/cm/emc_print.txt
as well as in the output of the shell command 'dmesg' and in the terminal
The output of entering 'dmesg' is:
[4294667.296000] Linux version 2.6.15-magma ([EMAIL PROTECTED]) (gcc version
4.0.3
(Ubuntu 4.0.3-1ubuntu5)) #1 Fri Jun 9 20:51:19 EEST 2006
[4294667.296000] BIOS-provided physical RAM map:
[4294667.296000] BIOS-e820: 0000000000000000 - 000000000009f800 (usable)
[4294667.296000] BIOS-e820: 000000000009f800 - 00000000000a0000 (reserved)
[4294667.296000] BIOS-e820: 00000000000ca000 - 00000000000cc000 (reserved)
[4294667.296000] BIOS-e820: 00000000000dc000 - 0000000000100000 (reserved)
[4294667.296000] BIOS-e820: 0000000000100000 - 000000000daf0000 (usable)
[4294667.296000] BIOS-e820: 000000000daf0000 - 000000000daff000 (ACPI data)
[4294667.296000] BIOS-e820: 000000000daff000 - 000000000db00000 (ACPI NVS)
[4294667.296000] BIOS-e820: 000000000db00000 - 000000000dc00000 (usable)
[4294667.296000] BIOS-e820: 00000000fec00000 - 00000000fec10000 (reserved)
[4294667.296000] BIOS-e820: 00000000fee00000 - 00000000fee01000 (reserved)
[4294667.296000] BIOS-e820: 00000000fffe0000 - 0000000100000000 (reserved)
[4294667.296000] 220MB LOWMEM available.
[4294667.296000] On node 0 totalpages: 56320
[4294667.296000] DMA zone: 4096 pages, LIFO batch:0
[4294667.296000] DMA32 zone: 0 pages, LIFO batch:0
[4294667.296000] Normal zone: 52224 pages, LIFO batch:15
[4294667.296000] HighMem zone: 0 pages, LIFO batch:0
[4294667.296000] DMI present.
[4294667.296000] Allocating PCI resources starting at 10000000 (gap:
0dc00000:f1000000)
[4294667.296000] Built 1 zonelists
[4294667.296000] Kernel command line: root=/dev/sda1 ro quiet splash
[4294667.296000] Initializing CPU#0
[4294667.296000] PID hash table entries: 1024 (order: 10, 16384 bytes)
[ 0.000000] Detected 1664.243 MHz processor.
[ 8.139594] Using tsc for high-res timesource
[ 8.139610] I-pipe 1.3-00: pipeline enabled.
[ 8.145405] Console: colour VGA+ 80x25
[ 8.146442] Dentry cache hash table entries: 32768 (order: 5, 131072 bytes)
[ 8.146457] Inode-cache hash table entries: 16384 (order: 4, 65536 bytes)
[ 8.148429] Memory: 213152k/225280k available (1619k kernel code,
11452k reserved, 493k data, 220k init, 0k highmem)
[ 8.148445] Checking if this processor honours the WP bit even in
supervisor mode... Ok.
[ 8.208311] Calibrating delay using timer specific routine..
3333.34 BogoMIPS (lpj=1666674)
[ 8.208327] Security Framework v1.0.0 initialized
[ 8.208342] SELinux: Disabled at boot.
[ 8.208358] Mount-cache hash table entries: 512
[ 8.208373] CPU: After generic identify, caps: 0febfbff 00100000
00000000 00000000 00000211 00000000 00000000
[ 8.208389] CPU: After vendor identify, caps: 0febfbff 00100000
00000000 00000000 00000211 00000000 00000000
[ 8.208405] CPU: L1 I cache: 32K, L1 D cache: 32K
[ 8.208420] CPU: L2 cache: 2048K
[ 8.208436] CPU: After all inits, caps: 0febfbff 00100000 00000000
00000040 00000211 00000000 00000000
[ 8.208451
] mtrr: v2.0 (20020519)
[ 8.208467] CPU: Intel(R) Core(TM)2 CPU T5500 @ 1.66GHz stepping 08
[ 8.208482] Enabling fast FPU save and restore... done.
[ 8.208498] Enabling unmasked SIMD FPU exception support... done.
[ 8.208514] Checking 'hlt' instruction... OK.
[ 8.213327] checking if image is initramfs... it is
[ 8.619495] Freeing initrd memory: 6689k freed
[ 8.621554] NET: Registered protocol family 16
[ 8.621570] EISA bus registered
[ 8.621586] PCI: PCI BIOS revision 2.10 entry at 0xfd9a0, last bus=2
[ 8.621601] PCI: Using configuration type 1
[ 8.623561] Linux Plug and Play Support v0.97 (c) Adam Belay
[ 8.623576] PnPBIOS: Scanning system for PnP BIOS support...
[ 8.623592] PnPBIOS: Found PnP BIOS installation structure at 0xc00f6c50
[ 8.623608] PnPBIOS: PnP BIOS version 1.0, entry 0xf0000:0x948e, dseg 0x400
[ 8.631534] PnPBIOS: 20 nodes reported by PnP BIOS; 20 recorded by driver
[ 8.631550] PCI: Probing PCI hardware
[ 8.631566] PCI: Probing PCI hardware (bus 00)
[ 8.632475] PCI quirk: region 1000-103f claimed by PIIX4 ACPI
[ 8.632491] PCI quirk: region 1040-104f claimed by PIIX4 SMB
[ 8.632506] Boot video device is 0000:00:0f.0
[ 8.633469] PCI: Using IRQ router PIIX/ICH [8086/7110] at 0000:00:07.0
[ 8.633484] PCI: IRQ 0 for device 0000:00:
11.0 doesn't match PIRQ mask - try pci=usepirqmask
[ 8.633500] PCI: Found IRQ 10 for device 0000:00:11.0
[ 8.635522] pnp: 00:0b: ioport range 0x4d0-0x4d1 has been reserved
[ 8.635538] pnp: 00:0b: ioport range 0x1000-0x103f has been reserved
[ 8.635542] pnp: 00:0b: ioport range 0x1040-0x104f has been reserved
[ 8.636467] PCI: Bridge: 0000:00:01.0
[ 8.636483] IO window: disabled.
[ 8.636498] MEM window: disabled.
[ 8.636514] PREFETCH window: disabled.
[ 8.636530] PCI: Bridge: 0000:00:11.0
[ 8.636545] IO window: 2000-2fff
[ 8.636561] MEM window: e8900000-e89fffff
[ 8.636576] PREFETCH window: 10000000-100fffff
[ 8.636592] PCI: Setting latency timer of device 0000:00:01.0 to 64
[ 8.636608] PCI: Found IRQ 10 for device 0000:00:11.0
[ 8.638121] audit: initializing netlink socket (disabled)
[ 8.638457] audit(1190337009.195:1): initialized
[ 8.638732] VFS: Disk quotas dquot_6.5.1
[ 8.638748] Dquot-cache hash table entries: 1024 (order 0, 4096 bytes)
[ 8.638764] Initializing Cryptographic API
[ 8.638779] io scheduler noop registered
[ 8.638795] io scheduler anticipatory registered
[ 8.638810] io scheduler deadline registered
[ 8.638826] io scheduler cfq registered
[ 8.638842] Limiting direct PCI/PCI transfers.
[ 8.639546] isapnp: Scanning for PnP cards...
[ 8.997098] isapnp: No Plug & Play device found
[ 9.026399] PNP: PS/2 Controller [PNP0303,PNP0f13] at 0x60,0x64 irq 1,12
[ 9.534492] serio: i8042 AUX port at 0x60,0x64 irq 12
[ 9.534523] serio: i8042 KBD port at 0x60,0x64 irq 1
[ 9.534539] Serial: 8250/16550 driver $Revision: 1.90 $ 48 ports,
IRQ sharing enabled
[ 9.534776] serial8250: ttyS0 at I/O 0x3f8 (irq = 4) is a 16550A
[ 9.534847] serial8250: ttyS1 at I/O 0x2f8 (irq = 3) is a 16550A
[ 9.537726] 00:11: ttyS0 at I/O 0x3f8 (irq = 4) is a 16550A
[ 9.537845] 00:12: ttyS1 at I/O 0x2f8 (irq = 3) is a 16550A
[ 9.539423] RAMDISK driver initialized: 16 RAM disks of 65536K size
1024 blocksize
[ 9.539724] Uniform Multi-Platform E-IDE driver Revision: 7.00alpha2
[ 9.539740] ide: Assuming 33MHz system bus speed for PIO modes;
override with idebus=xx
[ 9.539861] mice: PS/2 mouse device common for all mice
[ 9.540744] EISA: Probing bus 0 at eisa.0
[ 9.540775
] Cannot allocate resource for EISA slot 1
[ 9.540790] Cannot allocate resource for EISA slot 2
[ 9.540806] EISA: Detected 0 cards.
[ 9.540822] NET: Registered protocol family 2
[ 9.542748] input: AT Translated Set 2 keyboard as /class/input/input0
[ 9.551647] IP route cache hash table entries: 2048 (order: 1, 8192 bytes)
[ 9.551663] TCP established hash table entries: 8192 (order: 3, 32768 bytes)
[ 9.551679] TCP bind hash table entries: 8192 (order: 3, 32768 bytes)
[ 9.551694] TCP: Hash tables configured (established 8192 bind 8192)
[ 9.551710] TCP reno registered
[ 9.552647] TCP bic registered
[ 9.552662] NET: Registered protocol family 1
[ 9.552678] NET: Registered protocol family 8
[ 9.552693] NET: Registered protocol family 20
[ 9.552709] Using IPI Shortcut mode
[ 9.552725] Freeing unused kernel memory: 220k freed
[ 9.586738] vga16fb: initializing
[ 9.586754] vga16fb: mapped to 0xc00a0000
[ 9.644461] Console: switching to colour frame buffer device 80x25
[ 9.644476] fb0: VGA16 VGA frame buffer device
[ 11.199406] PIIX4: IDE controller at PCI slot 0000:00:07.1
[ 11.200385] PIIX4: chipset revision 1
[ 11.200400] PIIX4: not 100% native mode: will probe irqs later
[ 11.200416] ide1: BM-DMA at 0x1058-0x105f, BIOS settings:
hdc:DMA, hdd:pio
[ 11.200432] Probing IDE interface ide1...
[ 11.871067] hdc: VMware Virtual IDE CDROM Drive, ATAPI CD/DVD-ROM drive
[ 12.176531] ide1 at 0x170-0x177,0x376 on irq 15
[ 12.188622] hdc: ATAPI 24X DVD-ROM CD-R/RW drive, 2048kB Cache, UDMA(33)
[ 12.188638] Uniform CD-ROM driver Revision: 3.20
[ 12.239349] SCSI subsystem initialized
[ 12.240355] Fusion MPT base driver 3.03.04
[ 12.240370] Copyright (c) 1999-2005 LSI Logic Corporation
[ 12.242350] Fusion MPT SPI Host driver 3.03.04
[ 12.242366] PCI: Found IRQ 11 for device 0000:00:10.0
[ 12.242381] mptbase: Initiating ioc0 bringup
[ 12.243328] ioc0: 53C1030: Capabilities={Initiator}
[ 12.244593] scsi0 : ioc0: LSI53C1030, FwRev=01032920h, Ports=1,
MaxQ=128, IRQ=11
[ 12.245322] Vendor: VMware, Model: VMware Virtual S Rev: 1.0
[ 12.245337] Type: Direct-Access ANSI SCSI
revision: 02
[ 12.256323] Driver 'sd' needs updating - please use bus_type methods
[ 12.257298] SCSI device sda: 10485760 512-byte hdwr sectors (5369 MB)
[ 12.257329] sda: cache data unavailable
[ 12.257345] sda: assuming drive cache: write through
[ 12.257360] SCSI device sda: 10485760 512-byte hdwr sectors (5369 MB)
[ 12.257376] sda: cache data unavailable
[ 12.257382] sda: assuming drive cache: write through
[ 12.257397] sda: sda1 sda2 < sda5 >
[ 12.269437] sd 0:0:0:0: Attached scsi disk sda
[ 12.368079] usbcore: registered new driver usbfs
[ 12.368094] usbcore: registered new driver hub
[ 12.397039] USB Universal Host Controller Interface driver v2.3
[ 12.397055] PCI: Found IRQ 9 for device 0000:00:07.2
[ 12.397070] uhci_hcd 0000:00:07.2: UHCI Host Controller
[ 12.397107] uhci_hcd 0000:00:07.2: new USB bus registered, assigned
bus number 1
[ 12.397122] uhci_hcd 0000:00:07.2: irq 9, io base 0x00001060
[ 12.398026] hub 1-0:1.0: USB hub found
[ 12.398042] hub 1-0:1.0: 2 ports detected
[ 12.499130] ehci_hcd 0000:02:02.0: EHCI Host Controller
[ 12.499821] PCI: cache line size of 32 is not supported by device
0000:02:02.0
[ 12.499852] ehci_hcd 0000:02:02.0: new USB bus registered, assigned
bus number 2
[ 12.499868] ehci_hcd 0000:02:02.0: irq 5, io mem 0xe8900000
[ 12.499884] ehci_hcd 0000:02:02.0: USB 2.0 started, EHCI 1.00,
driver 10 Dec 2004
[ 12.499899] hub 2-0:1.0: USB hub found
[ 12.499915] hub 2-0:1.0: 6 ports detected
[ 12.630566] Probing IDE interface ide0...
[ 13.197525] kjournald starting. Commit interval 5 seconds
[ 13.197556] EXT3-fs: mounted filesystem with ordered data mode.
[ 23.435254] sd 0:0:0:0: Attached scsi generic sg0 type 0
[ 27.825513] Linux agpgart interface v0.101 (c) Dave Jones
[ 27.829361] agpgart: Detected an Intel 440BX Chipset.
[ 27.833221] agpgart: AGP aperture is 256M @ 0x0
[ 27.840651] pci_hotplug: PCI Hot Plug PCI Core version: 0.5
[ 27.849520] shpchp: Standard Hot Plug PCI Controller Driver version: 0.4
[ 28.014150] vmxnet: module license 'unspecified' taints kernel.
[ 28.015273] VMware vmxnet virtual NIC driver
[ 28.016155] Found vmxnet/PCI at 0x2024, irq 10.
[ 28.016259] features:
[ 28.398394] piix4_smbus 0000:00:07.3: Found 0000:00:07.3 device
[ 28.399345] piix4_smbus 0000:00:07.3: Host SMBus controller not enabled!
[ 28.684347] input: ImPS/2 Generic Wheel Mouse as /class/input/input1
[ 28.825796] pcnet32.c:v1.31c 01.Nov.2005 [EMAIL PROTECTED]
[ 29.337322] Real Time Clock Driver v1.12
[ 29.898571] ts: Compaq touchscreen protocol output
[ 30.019122] parport: PnPBIOS parport detected.
[ 30.020438] parport0: PC-style at 0x378, irq 7 [PCSPP,TRISTATE]
[ 30.102181] Floppy drive(s): fd0 is 1.44M
[ 30.119415] FDC 0 is a post-1991 82077
[ 33.159896] NET: Registered protocol family 17
[ 33.318473] lp0: using parport0 (interrupt-driven).
[ 33.674026] Adding 248968k swap on /dev/sda5. Priority:-1
extents:1 across:248968k
[ 35.112901] EXT3 FS on sda1, internal journal
[ 36.208952] md: md driver 0.90.3 MAX_MD_DEVS=256, MD_SB_DISKS=27
[ 36.208969] md: bitmap version 4.39
[ 39.460156] device-mapper: 4.4.0-ioctl (2005-01-12) initialised:
[EMAIL PROTECTED]
[ 45.524457] NET: Registered protocol family 10
[ 45.532373] lo: Disabled Privacy Extensions
[ 45.550969] IPv6 over IPv4 tunneling driver
[ 45.648952] cdrom: open failed.
[ 50.078084] VMware hgfs: HGFS is disabled in the host
[ 54.320826] eth0: no IPv6 routers present
[ 75.797226] ppdev: user-space parallel port driver
[ 78.133442] VMware hgfs: HGFS is disabled in the host
[ 78.365272] VMware memory control driver initialized
[ 78.365370] vmmemctl: started kernel thread pid=4060
[ 79.174062] ethtool operation 31 not supported
[ 80.784426] Bluetooth: Core ver 2.8
[ 80.784449] NET: Registered protocol family 31
[ 80.784460] Bluetooth: HCI device and connection manager initialized
[ 80.784618] Bluetooth: HCI socket layer initialized
[ 80.933190] Bluetooth: L2CAP ver 2.8
[ 80.933215] Bluetooth: L2CAP socket layer initialized
[ 81.004852] Bluetooth: RFCOMM socket layer initialized
[ 81.005808] Bluetooth: RFCOMM TTY layer initialized
[ 81.005823] Bluetooth: RFCOMM ver 1.7
[ 3071.656878] I-pipe: Domain RTAI registered.
[ 3071.658187] RTAI[hal]: <magma> mounted over IPIPE-NOTHREADS 1.3-00.
[ 3071.658228] RTAI[hal]: compiled with gcc version 4.0.3 (Ubuntu
4.0.3-1ubuntu5).
[ 3071.658420] RTAI[hal]: mounted (IPIPE-NOTHREADS, IMMEDIATE
(INTERNAL IRQs VECTORED), ISOL_CPUS_MASK: 0).
[ 3071.658447] PIPELINE layers:
[ 3071.658458] ceac5780 9ac15d93 RTAI 200
[ 3071.658591] c02d1680 0 Linux 100
[ 3071.697330] RTAI[malloc]: vmalloced extent ceb31000, size 2097152.
[ 3071.700746] RTAI[malloc]: loaded (global heap size=2097152 bytes).
[ 3071.706667] RTAI[sched_lxrt]: loaded (IMMEDIATE, UP, USER/KERNEL
SPACE <with RTAI TASKs>).
[ 3071.706704] RTAI[sched_lxrt]: hard timer type/freq =
8254-PIT/1193180(Hz); default timing mode is periodic; linear ordering
of timed lists.
[ 3071.706769] RTAI[sched_lxrt]: Linux timer freq = 1000 (Hz), CPU
freq = 1664243000 hz.
[ 3071.706800] RTAI[sched_lxrt]: timer setup = 2010 ns, resched
latency = 2688 ns.
[ 3071.833153] RTAI[math]: loaded.
[ 3083.649971] RTAI[math]: unloaded.
[ 3083.693318] RTAI[malloc]: vfreed extent ceb31000, size 2097152.
[ 3083.694201] RTAI[malloc]: unloaded.
[ 3083.793849] RTAI[sched_lxrt]: unloaded (forced hard/soft/hard
transitions: traps 0, syscalls 0).
[ 3083.806556] I-pipe: Domain RTAI unregistered.
[ 3083.806744] RTAI[hal]: unmounted.
[ 5362.292449] I-pipe: Domain RTAI registered.
[ 5362.292624] RTAI[hal]: <magma> mounted over IPIPE-NOTHREADS 1.3-00.
[ 5362.292630] RTAI[hal]: compiled with gcc version 4.0.3 (Ubuntu
4.0.3-1ubuntu5).
[ 5362.292693] RTAI[hal]: mounted (IPIPE-NOTHREADS, IMMEDIATE
(INTERNAL IRQs VECTORED), ISOL_CPUS_MASK: 0).
[ 5362.292711] PIPELINE layers:
[ 5362.292759] ceac5780 9ac15d93 RTAI 200
[ 5362.292790] c02d1680 0 Linux 100
[ 5362.515556] RTAI[malloc]: vmalloced extent ceb31000, size 2097152.
[ 5362.518727] RTAI[malloc]: loaded (global heap size=2097152 bytes).
[ 5362.524476] RTAI[sched_lxrt]: loaded (IMMEDIATE, UP, USER/KERNEL
SPACE <with RTAI TASKs>).
[ 5362.524494] RTAI[sched_lxrt]: hard timer type/freq =
8254-PIT/1193180(Hz); default timing mode is periodic; linear ordering
of timed lists.
[ 5362.524624] RTAI[sched_lxrt]: Linux timer freq = 1000 (Hz), CPU
freq = 1664243000 hz.
[ 5362.524655] RTAI[sched_lxrt]: timer setup = 2010 ns, resched
latency = 2688 ns.
[ 5362.608140] RTAI[math]: loaded.
[ 5362.636894] RTAI: Intel chipset not found.
[ 5363.387258] RTAI[math]: unloaded.
[ 5363.467156] RTAI[malloc]: vfreed extent ceb31000, size 2097152.
[ 5363.468269] RTAI[malloc]: unloaded.
[ 5363.568304] RTAI[sched_lxrt]: unloaded (forced hard/soft/hard
transitions: traps 0, syscalls 0).
[ 5363.576507] I-pipe: Domain RTAI unregistered.
[ 5363.576634] RTAI[hal]: unmounted.
[ 5829.822474] I-pipe: Domain RTAI registered.
[ 5829.822590] RTAI[hal]: <magma> mounted over IPIPE-NOTHREADS 1.3-00.
[ 5829.822595] RTAI[hal]: compiled with gcc version 4.0.3 (Ubuntu
4.0.3-1ubuntu5).
[ 5829.822662] RTAI[hal]: mounted (IPIPE-NOTHREADS, IMMEDIATE
(INTERNAL IRQs VECTORED), ISOL_CPUS_MASK: 0).
[ 5829.822682] PIPELINE layers:
[ 5829.822727] ceac5780 9ac15d93 RTAI 200
[ 5829.822757] c02d1680 0 Linux 100
[ 5829.886524] RTAI[malloc]: vmalloced extent ceb31000, size 2097152.
[ 5829.887738] RTAI[malloc]: loaded (global heap size=2097152 bytes).
[ 5829.898622] RTAI[sched_lxrt]: loaded (IMMEDIATE, UP, USER/KERNEL
SPACE <with RTAI TASKs>).
[ 5829.898662] RTAI[sched_lxrt]: hard timer type/freq =
8254-PIT/1193180(Hz); default timing mode is periodic; linear ordering
of timed lists.
[ 5829.898696] RTAI[sched_lxrt]: Linux timer freq = 1000 (Hz), CPU
freq = 1664243000 hz.
[ 5829.898727] RTAI[sched_lxrt]: timer setup = 2010 ns, resched
latency = 2688 ns.
[ 5830.020057] RTAI[math]: loaded.
[ 5842.091814] RTAI[math]: unloaded.
[ 5842.144396] RTAI[malloc]: vfreed extent ceb31000, size 2097152.
[ 5842.144989] RTAI[malloc]: unloaded.
[ 5842.244870] RTAI[sched_lxrt]: unloaded (forced hard/soft/hard
transitions: traps 0, syscalls 0).
[ 5842.258750] I-pipe: Domain RTAI unregistered.
[ 5842.258961] RTAI[hal]: unmounted.
[ 6230.949553] I-pipe: Domain RTAI registered.
[ 6230.949672] RTAI[hal]: <magma> mounted over IPIPE-NOTHREADS 1.3-00.
[ 6230.949678] RTAI[hal]: compiled with gcc version 4.0.3 (Ubuntu
4.0.3-1ubuntu5).
[ 6230.949741] RTAI[hal]: mounted (IPIPE-NOTHREADS, IMMEDIATE
(INTERNAL IRQs VECTORED), ISOL_CPUS_MASK: 0).
[ 6230.949761] PIPELINE layers:
[ 6230.949936] ceac5780 9ac15d93 RTAI 200
[ 6230.949963] c02d1680 0 Linux 100
[ 6231.040781] RTAI[malloc]: vmalloced extent ceb31000, size 2097152.
[ 6231.041842] RTAI[malloc]: loaded (global heap size=2097152 bytes).
[ 6231.043742] RTAI[sched_lxrt]: loaded (IMMEDIATE, UP, USER/KERNEL
SPACE <with RTAI TASKs>).
[ 6231.043767] RTAI[sched_lxrt]: hard timer type/freq =
8254-PIT/1193180(Hz); default timing mode is periodic; linear ordering
of timed lists.
[ 6231.043848] RTAI[sched_lxrt]: Linux timer freq = 1000 (Hz), CPU
freq = 1664243000 hz.
[ 6231.043867] RTAI[sched_lxrt]: timer setup = 2010 ns, resched
latency = 2688 ns.
[ 6231.081929] RTAI[math]: loaded.
[ 6231.637545] RTAI[math]: unloaded.
[ 6231.683187] RTAI[malloc]: vfreed extent ceb31000, size 2097152.
[ 6231.683794] RTAI[malloc]: unloaded.
[ 6231.783078] RTAI[sched_lxrt]: unloaded (forced hard/soft/hard
transitions: traps 0, syscalls 0).
[ 6231.790150] I-pipe: Domain RTAI unregistered.
[ 6231.790252] RTAI[hal]: unmounted.
[ 6285.372499] I-pipe: Domain RTAI registered.
[ 6285.372601] RTAI[hal]: <magma> mounted over IPIPE-NOTHREADS 1.3-00.
[ 6285.372607] RTAI[hal]: compiled with gcc version 4.0.3 (Ubuntu
4.0.3-1ubuntu5).
[ 6285.372678] RTAI[hal]: mounted (IPIPE-NOTHREADS, IMMEDIATE
(INTERNAL IRQs VECTORED), ISOL_CPUS_MASK: 0).
[ 6285.372697] PIPELINE layers:
[ 6285.372739] ceac5780 9ac15d93 RTAI 200
[ 6285.372933] c02d1680 0 Linux 100
[ 6285.399364] RTAI[malloc]: vmalloced extent ceb31000, size 2097152.
[ 6285.399984] RTAI[malloc]: loaded (global heap size=2097152 bytes).
[ 6285.407790] RTAI[sched_lxrt]: loaded (IMMEDIATE, UP, USER/KERNEL
SPACE <with RTAI TASKs>).
[ 6285.407814] RTAI[sched_lxrt]: hard timer type/freq =
8254-PIT/1193180(Hz); default timing mode is periodic; linear ordering
of timed lists.
[ 6285.407837] RTAI[sched_lxrt]: Linux timer freq = 1000 (Hz), CPU
freq = 1664243000 hz.
[ 6285.407856] RTAI[sched_lxrt]: timer setup = 2010 ns, resched
latency = 2688 ns.
[ 6285.459635] RTAI[math]: loaded.
[ 6285.613928] RTAPI: ERROR: Unexpected realtime delay on task 1
[ 6285.618664] 6: ERROR: Unexpected realtime delay: check dmesg for details.
[ 6285.618671]
[ 6285.618676] In recent history there were
[ 6285.618678] 2361920, 738301, 1621540, 1747690, and 1577223
[ 6285.618679] elapsed clocks between calls to the motion controller.
[ 6285.618691] This time, there were 1803960 which is so anomalously
[ 6285.618693] large that it probably signifies a problem with your
[ 6285.618694] realtime configuration. For the rest of this run of
[ 6285.618696] EMC, this message will be suppressed.
[ 6285.618697]
[ 6294.088826] RTAI[math]: unloaded.
[ 6294.137073] RTAI[malloc]: vfreed extent ceb31000, size 2097152.
[ 6294.137672] RTAI[malloc]: unloaded.
[ 6294.237275] RTAI[sched_lxrt]: unloaded (forced hard/soft/hard
transitions: traps 0, syscalls 0).
[ 6294.245047] I-pipe: Domain RTAI unregistered.
[ 6294.245145] RTAI[hal]: unmounted.
[ 7931.679462] I-pipe: Domain RTAI registered.
[ 7931.679542] RTAI[hal]: <magma> mounted over IPIPE-NOTHREADS 1.3-00.
[ 7931.679545] RTAI[hal]: compiled with gcc version 4.0.3 (Ubuntu
4.0.3-1ubuntu5).
[ 7931.679584] RTAI[hal]: mounted (IPIPE-NOTHREADS, IMMEDIATE
(INTERNAL IRQs VECTORED), ISOL_CPUS_MASK: 0).
[ 7931.679594] PIPELINE layers:
[ 7931.679621] ceac5780 9ac15d93 RTAI 200
[ 7931.679666] c02d1680 0 Linux 100
[ 7931.815964] RTAI[malloc]: vmalloced extent ceb31000, size 2097152.
[ 7931.817548] RTAI[malloc]: loaded (global heap size=2097152 bytes).
[ 7931.819045] RTAI[sched_lxrt]: loaded (IMMEDIATE, UP, USER/KERNEL
SPACE <with RTAI TASKs>).
[ 7931.819067] RTAI[sched_lxrt]: hard timer type/freq =
8254-PIT/1193180(Hz); default timing mode is periodic; linear ordering
of timed lists.
[ 7931.819088] RTAI[sched_lxrt]: Linux timer freq = 1000 (Hz), CPU
freq = 1664243000 hz.
[ 7931.819106] RTAI[sched_lxrt]: timer setup = 2010 ns, resched
latency = 2688 ns.
[ 7931.862241] RTAI[math]: loaded.
[ 7943.639624] RTAI[math]: unloaded.
[ 7943.687880] RTAI[malloc]: vfreed extent ceb31000, size 2097152.
[ 7943.688488] RTAI[malloc]: unloaded.
[ 7943.787805] RTAI[sched_lxrt]: unloaded (forced hard/soft/hard
transitions: traps 0, syscalls 0).
[ 7943.794445] I-pipe: Domain RTAI unregistered.
[ 7943.794549] RTAI[hal]: unmounted.
[ 8188.952796] I-pipe: Domain RTAI registered.
[ 8188.952863] RTAI[hal]: <magma> mounted over IPIPE-NOTHREADS 1.3-00.
[ 8188.952867] RTAI[hal]: compiled with gcc version 4.0.3 (Ubuntu
4.0.3-1ubuntu5).
[ 8188.952906] RTAI[hal]: mounted (IPIPE-NOTHREADS, IMMEDIATE
(INTERNAL IRQs VECTORED), ISOL_CPUS_MASK: 0).
[ 8188.952917] PIPELINE layers:
[ 8188.952947] ceac5780 9ac15d93 RTAI 200
[ 8188.952969] c02d1680 0 Linux 100
[ 8188.976581] RTAI[malloc]: vmalloced extent ceb31000, size 2097152.
[ 8188.979995] RTAI[malloc]: loaded (global heap size=2097152 bytes).
[ 8188.991111] RTAI[sched_lxrt]: loaded (IMMEDIATE, UP, USER/KERNEL
SPACE <with RTAI TASKs>).
[ 8188.991137] RTAI[sched_lxrt]: hard timer type/freq =
8254-PIT/1193180(Hz); default timing mode is periodic; linear ordering
of timed lists.
[ 8188.991158] RTAI[sched_lxrt]: Linux timer freq = 1000 (Hz), CPU
freq = 1664243000 hz.
[ 8188.991176] RTAI[sched_lxrt]: timer setup = 2010 ns, resched
latency = 2688 ns.
[ 8189.043916] RTAI[math]: loaded.
[ 8200.787378] RTAI[math]: unloaded.
[ 8200.830656] RTAI[malloc]: vfreed extent ceb31000, size 2097152.
[ 8200.831265] RTAI[malloc]: unloaded.
[ 8200.931048] RTAI[sched_lxrt]: unloaded (forced hard/soft/hard
transitions: traps 0, syscalls 0).
[ 8200.945185] I-pipe: Domain RTAI unregistered.
[ 8200.945287] RTAI[hal]: unmounted.
However, if I run EMC2 as follow:
sudo su
scripts/emc
and choose "tkemc", it runs with nothing wrong.
My emc2-trunk folder is at "/home/cm/Desktop/emc2/"
David
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