Thank you Andy Ayre for such a great article on getting EMC2 and RTAI
running on Ubuntu 7.10. It was invaluable in my attempts to get EMC2 +
RTAI running on Ubuntu 8.04 Hardy. I am sooo close, even so close as to
running emc2 and selecting my configuration...but alas, RTAI crashes it
seems -- in fact, it seems to be the rtapi module that causes it which
is a wrapper that wraps either RTAI or the other realtime api emc can
use (??name). I had encountered a few other problems during the install
as some things have changed in the linux kernel and RTAI recently.
Mostly these were just moved or renamed files/links. I have documented
some of these issues for the next *victims*. ;)
Line "rtapi likely not compiled with -mcmodel=kernel" seems to be the
troubling line. This seems to only be necessary for x86_64 arch and has
to do with memory models and kernel space being the lower 2GB. I tried
adding -mcmodel=kernel to the rtapi Submakefile under CFLAGS and LDFLAGS
but this did not help. Either the makefile is not taking it, or mcmodel
is not the problem.
Anyone else encounter this yet?
Colin
dmesg output:
---
Apr 29 23:42:32 yogi kernel: [ 144.157674] I-pipe: Domain RTAI
registered.
Apr 29 23:42:32 yogi kernel: [ 144.157685] RTAI[hal]: <magma> mounted
over IPIPE-NOTHREADS 2.0-05.
Apr 29 23:42:32 yogi kernel: [ 144.157686] RTAI[hal]: compiled with gcc
version 4.2.3 (Ubuntu 4.2.3-2ubuntu7).
Apr 29 23:42:32 yogi kernel: [ 144.157793] RTAI[hal]: mounted
(IPIPE-NOTHREADS, IMMEDIATE (INTERNAL IRQs DISPATCHED), ISOL_CPUS_MASK:
0).
Apr 29 23:42:32 yogi kernel: [ 144.157798] PIPELINE layers:
Apr 29 23:42:32 yogi kernel: [ 144.157804] ffffffff88b5dd80 9ac15d93
RTAI 200
Apr 29 23:42:32 yogi kernel: [ 144.157808] ffffffff806c68c0 0 Linux 100
Apr 29 23:42:32 yogi kernel: [ 144.204807] RTAI[malloc]: global heap
size = 2097152 bytes, <BSD>.
Apr 29 23:42:32 yogi kernel: [ 144.205472] RTAI[sched]: IMMEDIATE, MP,
USER/KERNEL SPACE: <with RTAI OWN KTASKs>, kstacks pool size = 524288
bytes.
Apr 29 23:42:32 yogi kernel: [ 144.205487] RTAI[sched]: hard timer
type/freq = APIC/14941000(Hz); default timing: periodic; linear timed
lists.
Apr 29 23:42:32 yogi kernel: [ 144.205490] RTAI[sched]: Linux timer
freq = 250 (Hz), CPU freq = 2399999000 hz.
Apr 29 23:42:32 yogi kernel: [ 144.205493] RTAI[sched]: timer setup =
999 ns, resched latency = 2944 ns.
Apr 29 23:42:32 yogi kernel: [ 144.288282] rtapi: no version for
"nano2count" found: kernel tainted.
Apr 29 23:42:32 yogi kernel: [ 144.288928] overflow in relocation type
10 val ffffffff88bbb250
Apr 29 23:42:32 yogi kernel: [ 144.288933] `rtapi' likely not compiled
with -mcmodel=kernel
Apr 29 23:42:33 yogi kernel: [ 145.075719] RTAI[malloc]: unloaded.
Apr 29 23:42:33 yogi kernel: [ 145.173636] RTAI[sched]: unloaded
(forced hard/soft/hard transitions: traps 0, syscalls 0).
Apr 29 23:42:33 yogi kernel: [ 145.176061] I-pipe: Domain RTAI
unregistered.
Apr 29 23:42:33 yogi kernel: [ 145.176188] RTAI[hal]: unmounted.
Apr 29 23:43:36 yogi kernel: [ 207.707735] rtapi: Unknown symbol
nano2count
Apr 29 23:43:36 yogi kernel: [ 207.707763] rtapi: Unknown symbol
rt_get_time
Apr 29 23:43:36 yogi kernel: [ 207.707785] rtapi: Unknown symbol
rt_shutdown_irq
Apr 29 23:43:36 yogi kernel: [ 207.707809] rtapi: Unknown symbol
rt_task_make_periodic
Apr 29 23:43:36 yogi kernel: [ 207.707837] rtapi: Unknown symbol
rtf_get
Apr 29 23:43:36 yogi kernel: [ 207.707861] rtapi: Unknown symbol
start_rt_timer
Apr 29 23:43:36 yogi kernel: [ 207.707889] rtapi: Unknown symbol
rt_printk
Apr 29 23:43:36 yogi kernel: [ 207.707911] rtapi: Unknown symbol
rt_task_delete
Apr 29 23:43:36 yogi kernel: [ 207.707933] rtapi: Unknown symbol
rt_task_suspend
Apr 29 23:43:36 yogi kernel: [ 207.707957] rtapi: Unknown symbol
rt_whoami
Apr 29 23:43:36 yogi kernel: [ 207.707980] rtapi: Unknown symbol
rtf_put
Apr 29 23:43:36 yogi kernel: [ 207.708004] rtapi: Unknown symbol
stop_rt_timer
Apr 29 23:43:36 yogi kernel: [ 207.708026] rtapi: Unknown symbol
rt_startup_irq
Apr 29 23:43:36 yogi kernel: [ 207.708047] rtapi: Unknown symbol
rt_shm_free
Apr 29 23:43:36 yogi kernel: [ 207.708069] rtapi: Unknown symbol
rt_shm_alloc
Apr 29 23:43:36 yogi kernel: [ 207.708090] rtapi: Unknown symbol
rtf_destroy
Apr 29 23:43:36 yogi kernel: [ 207.708112] rtapi: Unknown symbol
rt_sem_signal
Apr 29 23:43:36 yogi kernel: [ 207.708134] rtapi: Unknown symbol
rt_get_cpu_time_ns
Apr 29 23:43:36 yogi kernel: [ 207.708155] rtapi: Unknown symbol
rt_linux_use_fpu
Apr 29 23:43:36 yogi kernel: [ 207.708183] rtapi: Unknown symbol
rt_sem_wait_if
Apr 29 23:43:36 yogi kernel: [ 207.708205] rtapi: Unknown symbol
rt_free_timer
Apr 29 23:43:36 yogi kernel: [ 207.708226] rtapi: Unknown symbol
rt_request_irq
Apr 29 23:43:36 yogi kernel: [ 207.708257] rtapi: Unknown symbol
rt_sem_init
Apr 29 23:43:36 yogi kernel: [ 207.708278] rtapi: Unknown symbol
rtf_create
Apr 29 23:43:36 yogi kernel: [ 207.708300] rtapi: Unknown symbol
rt_release_irq
Apr 29 23:43:36 yogi kernel: [ 207.708327] rtapi: Unknown symbol
rt_task_resume
Apr 29 23:43:36 yogi kernel: [ 207.708349] rtapi: Unknown symbol
count2nano
Apr 29 23:43:36 yogi kernel: [ 207.708370] rtapi: Unknown symbol
rt_set_periodic_mode
Apr 29 23:43:36 yogi kernel: [ 207.708392] rtapi: Unknown symbol
rt_task_init_cpuid
Apr 29 23:43:36 yogi kernel: [ 207.708415] rtapi: Unknown symbol
rt_sem_delete
Apr 29 23:43:36 yogi kernel: [ 207.708440] rtapi: Unknown symbol
rt_sem_wait
Apr 29 23:43:36 yogi kernel: [ 207.708462] rtapi: Unknown symbol
rt_task_wait_period
Apr 29 23:44:17 yogi kernel: [ 248.195831] I-pipe: Domain RTAI
registered.
Apr 29 23:44:17 yogi kernel: [ 248.195842] RTAI[hal]: <magma> mounted
over IPIPE-NOTHREADS 2.0-05.
Apr 29 23:44:17 yogi kernel: [ 248.195843] RTAI[hal]: compiled with gcc
version 4.2.3 (Ubuntu 4.2.3-2ubuntu7).
Apr 29 23:44:17 yogi kernel: [ 248.195952] RTAI[hal]: mounted
(IPIPE-NOTHREADS, IMMEDIATE (INTERNAL IRQs DISPATCHED), ISOL_CPUS_MASK:
0).
Apr 29 23:44:17 yogi kernel: [ 248.195953] PIPELINE layers:
Apr 29 23:44:17 yogi kernel: [ 248.195955] ffffffff88b5dd80 9ac15d93
RTAI 200
Apr 29 23:44:17 yogi kernel: [ 248.195957] ffffffff806c68c0 0 Linux 100
Apr 29 23:44:17 yogi kernel: [ 248.204876] RTAI[malloc]: global heap
size = 2097152 bytes, <BSD>.
Apr 29 23:44:17 yogi kernel: [ 248.206363] RTAI[sched]: IMMEDIATE, MP,
USER/KERNEL SPACE: <with RTAI OWN KTASKs>, kstacks pool size = 524288
bytes.
Apr 29 23:44:17 yogi kernel: [ 248.206374] RTAI[sched]: hard timer
type/freq = APIC/16637750(Hz); default timing: periodic; linear timed
lists.
Apr 29 23:44:17 yogi kernel: [ 248.206378] RTAI[sched]: Linux timer
freq = 250 (Hz), CPU freq = 2399999000 hz.
Apr 29 23:44:17 yogi kernel: [ 248.206382] RTAI[sched]: timer setup =
999 ns, resched latency = 2944 ns.
Apr 29 23:44:17 yogi kernel: [ 248.224275] overflow in relocation type
10 val ffffffff88bbb250
Apr 29 23:44:17 yogi kernel: [ 248.224651] `rtapi' likely not compiled
with -mcmodel=kernel
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