I'd like to run on an RTAI kernel for development on my Macbook with Virtualbox (4.1.20_80170); latency errors are not an issue
this works fine on the 8.04 rtai kernel (2.6.24-16-rtai) but breaks on 2.6.32-122-rtai (10.04 kernel), see below it seems count2nano had some changes which make it incompatible with Virtualbox - does this ring a bell? I'd appreciate any hints. This isnt mission critical but it would be very helpful to have a working RTAI environment on my MB. - Michael branch is mah/redis-params (based on master) mah@emc-lucid:~/emc2-dev/configs/sim/axis$ linuxcnc axis_mm_redis.ini [ 51.713615] I-pipe: Domain RTAI registered. [ 51.713625] RTAI[hal]: <3.8.1> mounted over IPIPE-NOTHREADS 2.6-03. [ 51.713630] RTAI[hal]: compiled with gcc version 4.4.3 (Ubuntu 4.4.3-4ubuntu5) . [ 51.713638] RTAI[hal]: mounted (IPIPE-NOTHREADS, IMMEDIATE (INTERNAL IRQs DISPATCHED), ISOL_CPUS_MASK: 0). [ 51.713642] PIPELINE layers: [ 51.713647] f97b3e20 9ac15d93 RTAI 200 [ 51.713651] c085cb20 0 Linux 100 [ 51.731029] RTAI[malloc]: global heap size = 2097152 bytes, <BSD>. [ 51.731106] RTAI[sched]: IMMEDIATE, MP, USER/KERNEL SPACE: <with RTAI OWN KTASKs>, kstacks pool size = 524288 bytes. [ 51.731109] RTAI[sched]: hard timer type/freq = APIC/0(Hz); default timing: periodic; linear timed lists. [ 51.731111] RTAI[sched]: Linux timer freq = 250 (Hz), TimeBase freq = 2248699000 hz. [ 51.731113] RTAI[sched]: timer setup = 999 ns, resched latency = 2943 ns. [ 51.731173] RTAI[usi]: enabled. [ 51.786588] RTAI[math]: loaded. [ 51.907713] divide error: 0000 [#1] SMP [ 51.907719] last sysfs file: /sys/devices/pci0000:00/0000:00:0d.0/host3/target3:0:0/3:0:0:0/block/sdc/uevent [ 51.907721] Modules linked in: motmod(+) trivkins hal_lib rtapi rtai_math rtai_sem rtai_fifos rtai_sched rtai_hal nls_utf8 isofs vboxvideo drm agpgart dm_crypt binfmt_misc snd_intel8x0 snd_ac97_codec ac97_bus snd_pcm_oss snd_mixer_oss snd_pcm snd_seq_dummy vboxsf snd_seq_oss snd_seq_midi snd_rawmidi snd_seq_midi_event snd_seq snd_timer snd_seq_device snd ppdev joydev parport_pc psmouse serio_raw vboxguest soundcore snd_page_alloc i2c_piix4 lp parport usbhid hid ahci e1000 [ 51.907747] [ 51.907751] Pid: 1859, comm: insmod Not tainted (2.6.32-122-rtai #rtai) VirtualBox [ 51.907753] EIP: 0060:[<f9803722>] EFLAGS: 00010246 CPU: 0 [ 51.907760] EIP is at count2nano+0xc2/0x100 [rtai_sched] [ 51.907762] EAX: 00000000 EBX: 00000000 ECX: 00000000 EDX: 00000000 [ 51.907763] ESI: 3b9aca00 EDI: 00000000 EBP: f001fe90 ESP: f001fe78 [ 51.907765] DS: 007b ES: 007b FS: 00d8 GS: 00e0 SS: 0068 [ 51.907767] Process insmod (pid: 1859, ti=f001e000 task=f2de0ce0 task.ti=f001e000) [ 51.907769] I-pipe domain Linux [ 51.907770] Stack: [ 51.907771] 00000000 00000000 00000001 00000000 000f4240 000f4240 f001fec8 f9a7aa87 [ 51.907775] <0> 00000000 00000000 f001fef4 f001ff04 f9b19b93 f9ae1718 000f4240 000f4240 [ 51.907779] <0> 00000000 f9ae1718 000f4240 f9b22ee8 f001ff04 f9a9d463 f9ae173c 0000002a [ 51.907783] Call Trace: [ 51.907790] [<f9a7aa87>] ? rtapi_clock_set_period+0x8f/0x127 [rtapi] [ 51.907796] [<f9b19b93>] ? init_comm_buffers+0xb0f/0xb18 [motmod] [ 51.907802] [<f9a9d463>] ? hal_create_thread+0x1e7/0x3f1 [hal_lib] [ 51.907807] [<f9b1b334>] ? init_module+0x1798/0x18ca [motmod] [ 51.907828] [<c0163de4>] ? __blocking_notifier_call_chain+0x54/0x70 [ 51.907831] [<c0101041>] ? do_one_initcall+0x31/0x1b0 [ 51.907835] [<f9b19b9c>] ? init_module+0x0/0x18ca [motmod] [ 51.907840] [<c0179781>] ? sys_init_module+0xb1/0x220 [ 51.907843] [<c010340d>] ? syscall_call+0x7/0xb [ 51.907844] Code: f8 8b 7d fc 89 ec 5d c3 90 be 00 ca 9a 3b 8b 45 08 8b 55 0c 8b 3d a4 3d 7b f9 89 d1 f7 e6 89 c3 89 c8 89 d1 f7 e6 01 c8 83 d2 00 <f7> f7 89 c1 89 d8 f7 f7 d1 e2 39 d7 89 ca 7d 06 83 c0 01 83 d2 [ 51.907866] EIP: [<f9803722>] count2nano+0xc2/0x100 [rtai_sched] SS:ESP 0068:f001fe78 [ 51.907873] ---[ end trace 2746ddfdec2375ee ]--- mah@ubuntu-10:~$ Interestingly, on 8.04 with 2.6.24-16-rtai this runs fine (besides the latency error problem, which I dont care about): mah@emc-hardy:~/emc2-dev/configs/sim/axis$ linuxcnc axis_mm_redis.ini [ 117.015666] I-pipe: Domain RTAI registered. [ 117.015672] RTAI[hal]: <3.6.1> mounted over IPIPE-NOTHREADS 2.0-04. [ 117.015673] RTAI[hal]: compiled with gcc version 4.2.4 (Ubuntu 4.2.4-1ubuntu3). [ 117.015675] RTAI[hal]: mounted (IPIPE-NOTHREADS, IMMEDIATE (INTERNAL IRQs DISPATCHED), ISOL_CPUS_MASK: 0). [ 117.015677] PIPELINE layers: [ 117.015678] f9ef8000 9ac15d93 RTAI 200 [ 117.015679] c0383180 0 Linux 100 [ 117.030666] RTAI[malloc]: global heap size = 2097152 bytes, <BSD>. [ 117.038940] RTAI[sched]: loaded (IMMEDIATE, UP, USER/KERNEL SPACE: <with RTAI OWN KTASKs>, kstacks pool size = 524288 bytes. [ 117.038945] RTAI[sched]: hard timer type/freq = 8254-PIT/1193180(Hz); default timing: periodic; linear timed lists. [ 117.038947] RTAI[sched]: Linux timer freq = 250 (Hz), CPU freq = 2376704000 hz. [ 117.038948] RTAI[sched]: timer setup = 2010 ns, resched latency = 2689 ns. [ 117.144855] RTAI[math]: loaded. [ 117.192713] rtapi: no version for "nano2count" found: kernel tainted. [ 117.612846] RTAPI: ERROR: Unexpected realtime delay on task 1 [ 117.613844] This Message will only display once per session. [ 117.614842] Run the Latency Test and resolve before continuing. [ 118.125775] [ 118.125777] In recent history there were [ 118.125778] 6989677, 764401, 167822, 93731, and 2963689 [ 118.125778] elapsed clocks between calls to the motion controller. [ 118.125783] This time, there were 2452453 which is so anomalously [ 118.125783] large that it probably signifies a problem with your [ 118.125784] realtime configuration. For the rest of this run of [ 118.125784] EMC, this message will be suppressed. [ 118.125785] ------------------------------------------------------------------------------ Live Security Virtual Conference Exclusive live event will cover all the ways today's security and threat landscape has changed and how IT managers can respond. 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