On Friday 01 February 2019 02:10:15 [email protected] wrote:
> Hi Peter,
>
> Am 31.01.19 um 16:25 schrieb Peter C. Wallace:
> > RTnet was going to be folded into Xenomai using RTDM but very
> > sadly the guy working on this (Gilles Chanteperdrix) died
> > unexpectedly in 2016. I think ist is abandoned at this point.
>
> really sad news....
>
> I'm also not sure, to continue the driver-developement.
> But I would give it a try.
>
> The raspberry could be a good entry-point for new users interested
> in linuxCNC.
> Because: it's cheap and nearly everybody has a raspberry at home...
> ;-)
>
And I am running an 11x56 Sheldon with one right now, using a mesa 7i90HD
with spi input bitfile, three 7i42TA's and the rpspi.ko driver. Its
pushing the pi pretty hard, but its doing it.
> My 4-axis mill is running in testmode with my new driver. But the
> sharemem-driver itself runs in userspace. It works, but doing
> the raw-ether-communication should be better a RT-task.
>
> In an RT-environment (3.4-9-rtai) I am able to compile with:
>
> (derivated from "halcompile --compile --userspace pcIOethRaw.c")
> ---------------------------------
> gcc -Os -g -I./ -I/usr/realtime-3.4-9-rtai-686-pae/include -I.
> -I/usr/realtime-3.4-9-rtai-686-pae/include
> -I/usr/include/i386-linux-gnu -U_FORTIFY_SOURCE -D_FORTIFY_SOURCE=0
> -fno-math-errno -funsafe-math-optimizations -fno-rounding-math
> -fno-signaling-nans -fcx-limited-range -mhard-float -DRTAI=3
> -fno-fast-math -mieee-fp -fno-unsafe-math-optimizations -DRTAPI
> -D_GNU_SOURCE -Drealtime -D__MODULE__ -I/usr/include/linuxcnc
> -Wframe-larger-than=2560 -URTAPI -U__MODULE__ -DULAPI -Os -o
> pcIOethRaw pcIOethRaw.c -Wl,-rpath,/lib -L/lib -llinuxcnchal
> ---------------------------------
>
>
>
> In an userspace-environment this also works:
> ---------------------------------
> halcompile --compile hal/drivers/hal_skeleton.c
> gcc -Os -g -I./ -I/mnt/sda6/linuxcnc.2.7.14/src/include -DUSPACE
> -fno-fast-math -mieee-fp -fno-unsafe-math-optimizations -DRTAPI
> -D_GNU_SOURCE -Drealtime -D__MODULE__
> -I/mnt/sda6/linuxcnc.2.7.14/include -Wframe-larger-than=2560 -DSIM
> -fPIC -URTAPI -U__MODULE__ -DULAPI -Os -o pcIOethRaw pcIOethRaw.c
> -Wl,-rpath,/mnt/sda6/linuxcnc.2.7.14/lib
> -L/mnt/sda6/linuxcnc.2.7.14/lib -llinuxcnchal -pthread
> ---------------------------------
>
>
> But it I try to compile inside the RT-system for userspace,
> this is the resulting error.
> ---------------------------------
> halcompile --compile --userspace hal/drivers/hal_parport.c
> gcc -Os -g -I. -I/usr/realtime-3.4-9-rtai-686-pae/include -I.
> -I/usr/realtime-3.4-9-rtai-686-pae/include
> -I/usr/include/i386-linux-gnu -U_FORTIFY_SOURCE -D_FORTIFY_SOURCE=0
> -fno-math-errno -funsafe-math-optimizations -fno-rounding-math
> -fno-signaling-nans -fcx-limited-range -mhard-float -DRTAI=3
> -fno-fast-math -mieee-fp -fno-unsafe-math-optimizations -DRTAPI
> -D_GNU_SOURCE -Drealtime -D__MODULE__ -I/usr/include/linuxcnc
> -Wframe-larger-than=2560 -URTAPI -U__MODULE__ -DULAPI -Os -o
> hal_parport /tmp/tmpyv2NQK/hal_parport.c -Wl,-rpath,/lib -L/lib
> -llinuxcnchal In file included from
> /tmp/tmpyv2NQK/hal_parport.c:100:0:
> /usr/include/linuxcnc/rtapi_app.h:27:1: warning: data definition has
> no type or storage class [enabled by default]
> /usr/include/linuxcnc/rtapi_app.h:27:1: warning: parameter names
> (without types) in function declaration [enabled by default]
> /usr/include/linuxcnc/rtapi_app.h:28:1: warning: data definition has
> no type or storage class [enabled by default]
> /usr/include/linuxcnc/rtapi_app.h:28:1: warning: parameter names
> (without types) in function declaration [enabled by default]
> /tmp/tmpyv2NQK/hal_parport.c:113:15: error: expected declaration
> specifiers or ‘...’ before string constant
> /tmp/tmpyv2NQK/hal_parport.c:114:20: error: expected declaration
> specifiers or ‘...’ before string constant
> /tmp/tmpyv2NQK/hal_parport.c:115:16: error: expected declaration
> specifiers or ‘...’ before string constant
> /tmp/tmpyv2NQK/hal_parport.c:117:22: error: expected ‘)’ before string
> constant make: *** [hal_parport] Fehler 1
> ---------------------------------
>
>
> Another error with "hal_skeleton.c" on the same RT-system
> ---------------------------------
> halcompile --compile --userspace hal/drivers/hal_skeleton.c
> gcc -Os -g -I. -I/usr/realtime-3.4-9-rtai-686-pae/include -I.
> -I/usr/realtime-3.4-9-rtai-686-pae/include
> -I/usr/include/i386-linux-gnu -U_FORTIFY_SOURCE -D_FORTIFY_SOURCE=0
> -fno-math-errno -funsafe-math-optimizations -fno-rounding-math
> -fno-signaling-nans -fcx-limited-range -mhard-float -DRTAI=3
> -fno-fast-math -mieee-fp -fno-unsafe-math-optimizations -DRTAPI
> -D_GNU_SOURCE -Drealtime -D__MODULE__ -I/usr/include/linuxcnc
> -Wframe-larger-than=2560 -URTAPI -U__MODULE__ -DULAPI -Os -o
> hal_skeleton /tmp/tmpWZkIup/hal_skeleton.c -Wl,-rpath,/lib -L/lib
> -llinuxcnchal In file included from
> /tmp/tmpWZkIup/hal_skeleton.c:79:0:
> /usr/include/linuxcnc/rtapi_app.h:27:1: warning: data definition has
> no type or storage class [enabled by default]
> /usr/include/linuxcnc/rtapi_app.h:27:1: warning: parameter names
> (without types) in function declaration [enabled by default]
> /usr/include/linuxcnc/rtapi_app.h:28:1: warning: data definition has
> no type or storage class [enabled by default]
> /usr/include/linuxcnc/rtapi_app.h:28:1: warning: parameter names
> (without types) in function declaration [enabled by default]
> /tmp/tmpWZkIup/hal_skeleton.c:92:20: fatal error: asm/io.h: Datei oder
> Verzeichnis nicht gefunden compilation terminated.
> make: *** [hal_skeleton] Fehler 1
> ---------------------------------
>
>
>
> More confusing me is this on the userspace-system (4.15.0-20-generic)
> this is OK:
> ---------------------------------
> halcompile --compile hal/drivers/hal_skeleton.c
> Compiling realtime hal_skeleton.c
> Linking hal_skeleton.so
> ---------------------------------
>
>
> But this:
> ---------------------------------
> halcompile --compile --userspace hal/drivers/hal_skeleton.c
> gcc -Os -g -I. -I/mnt/sda6/linuxcnc.2.7.14/src/include -DUSPACE
> -fno-fast-math -mieee-fp -fno-unsafe-math-optimizations -DRTAPI
> -D_GNU_SOURCE -Drealtime -D__MODULE__
> -I/mnt/sda6/linuxcnc.2.7.14/include -Wframe-larger-than=2560 -DSIM
> -fPIC -URTAPI -U__MODULE__ -DULAPI -Os -o hal_skeleton
> /tmp/tmpii6zcQ/hal_skeleton.c -Wl,-rpath,/mnt/sda6/linuxcnc.2.7.14/lib
> -L/mnt/sda6/linuxcnc.2.7.14/lib -llinuxcnchal In file included from
> /tmp/tmpii6zcQ/hal_skeleton.c:2:0:
> /mnt/sda6/linuxcnc.2.7.14/include/rtapi_app.h:27:1: warning: data
> definition has no type or storage class EXPORT_SYMBOL(rtapi_app_main);
> ^~~~~~~~~~~~~
> /mnt/sda6/linuxcnc.2.7.14/include/rtapi_app.h:27:1: warning: type
> defaults to ‘int’ in declaration of ‘EXPORT_SYMBOL’ [-Wimplicit-int]
> /mnt/sda6/linuxcnc.2.7.14/include/rtapi_app.h:27:1: warning: parameter
> names (without types) in function declaration
> /mnt/sda6/linuxcnc.2.7.14/include/rtapi_app.h:28:1: warning: data
> definition has no type or storage class EXPORT_SYMBOL(rtapi_app_exit);
> ^~~~~~~~~~~~~
> /mnt/sda6/linuxcnc.2.7.14/include/rtapi_app.h:28:1: warning: type
> defaults to ‘int’ in declaration of ‘EXPORT_SYMBOL’ [-Wimplicit-int]
> /mnt/sda6/linuxcnc.2.7.14/include/rtapi_app.h:28:1: warning: parameter
> names (without types) in function declaration
> /tmp/tmpii6zcQ/hal_skeleton.c:28:15: error: expected declaration
> specifiers or ‘...’ before string constant MODULE_AUTHOR("Martin
> Kuhnle");
> ^~~~~~~~~~~~~~~
> /tmp/tmpii6zcQ/hal_skeleton.c:29:20: error: expected declaration
> specifiers or ‘...’ before string constant MODULE_DESCRIPTION("Test
> Driver for ISA-LED Board for EMC HAL");
> ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
> /tmp/tmpii6zcQ/hal_skeleton.c:30:16: error: expected declaration
> specifiers or ‘...’ before string constant MODULE_LICENSE("GPL");
> ^~~~~
> /tmp/tmpii6zcQ/hal_skeleton.c: In function ‘rtapi_app_main’:
> /tmp/tmpii6zcQ/hal_skeleton.c:174:18: warning: implicit declaration of
> function ‘hal_export_funct’; did you mean ‘hal_float_t’?
> [-Wimplicit-function-declaration] retval = hal_export_funct(name,
> read_port, &(port_data_array[0]), ^~~~~~~~~~~~~~~~
> hal_float_t
> Makefile:2: recipe for target 'hal_skeleton' failed
> make: *** [hal_skeleton] Error 1
> ------------------------
>
> What I am doing wrong?
> Or is it impossible to (hal)compile in userspace on an RT-system
> and in RT on a vanilla-userspace-system?
>
> Where can I find further documentation about the mesa-cards?
> (I have never seen anyone)
> They do not generate stepper-pulses themself and are just
> IO-ports like the parport?
>
>
>
> Regards
>
> wicki
>
> > We (Mesa) had originally used RTnet+RTAI for our Ethernet connected
> > motion devices but the lack of modern MAC support led us to try
> > Preempt-RT and userland real time and it proved adequate for servo
> > thread rate realtime and keeps getting better as Preempt-RT
> > improves.
>
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Cheers, Gene Heskett
--
"There are four boxes to be used in defense of liberty:
soap, ballot, jury, and ammo. Please use in that order."
-Ed Howdershelt (Author)
Genes Web page <http://geneslinuxbox.net:6309/gene>
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