Hello, I am trying to setup emc on linux kernel 2.6.28.9 with rtai-3.7.1 I've tested RTAI with the /usr/realtime/testsuite/kern/latency/run script and it seems to work. I've compiled emc from the git repository.
Running emc gives the following trace: EMC2 - 2.4.0~pre Machine configuration directory is '/home/lefevere/emc2/configs/stepper' Machine configuration file is 'stepper_mm.ini' Starting EMC2... RTAPI: ERROR: failed to map shmem HAL: ERROR: could not open shared memory halcmd: hal_init() failed: -22 NOTE: 'rtapi' kernel module must be loaded RTAPI: ERROR: failed to map shmem HAL: ERROR: could not open shared memory halcmd: hal_init() failed: -22 NOTE: 'rtapi' kernel module must be loaded etc... Actually the rtapi module loads properly, I can see it for a few second when running lsmod while emc is starting. And here is the dmesg log: [ 719.592026] I-pipe: Domain RTAI registered. [ 719.592032] RTAI[hal]: <3.7.1> mounted over IPIPE-NOTHREADS 2.2-07. [ 719.592035] RTAI[hal]: compiled with gcc version 4.4.1 (Ubuntu 4.4.1-4ubuntu9) . [ 719.592075] RTAI[hal]: mounted (IPIPE-NOTHREADS, IMMEDIATE (INTERNAL IRQs VECTORED), ISOL_CPUS_MASK: 0). [ 719.592077] PIPELINE layers: [ 719.592080] f83ecb80 9ac15d93 RTAI 200 [ 719.592082] c078b800 0 Linux 100 [ 719.609080] RTAI[malloc]: global heap size = 2097152 bytes, <BSD>. [ 719.609288] RTAI[sched]: IMMEDIATE, MP, USER/KERNEL SPACE: <with RTAI OWN KTASKs>, <uses LINUX SYSCALLs>, kstacks pool size = 524288 bytes. [ 719.609295] RTAI[sched]: hard timer type/freq = APIC/12528446(Hz); default timing: periodic; linear timed lists. [ 719.609299] RTAI[sched]: Linux timer freq = 250 (Hz), TimeBase freq = 2004715000 hz. [ 719.609301] RTAI[sched]: timer setup = 999 ns, resched latency = 2944 ns. [ 719.655780] RTAI[math]: loaded. [ 719.664626] RTAPI: Init [ 719.664663] RTAPI: Init complete [ 719.672586] HAL_LIB: loading kernel lib [ 719.672590] RTAPI: initing module HAL_LIB [ 719.672593] RTAPI: module 'HAL_LIB' loaded, ID: 1 [ 719.672676] RTAPI: shmem 01 created by module 01, key: 1212238898, size: 262000 [ 719.672685] HAL_LIB: kernel lib installed successfully [ 722.029547] RTAI[math]: unloaded. [ 722.034259] [ 722.034260] SHM_CLEANUP_MODULE releases: 'CF$Z8N':0x48414c32:1212238898 (262144). [ 722.068310] RTAI[malloc]: unloaded. [ 722.168053] RTAI[sched]: unloaded (forced hard/soft/hard transitions: traps 0, syscalls 0). [ 722.170772] I-pipe: Domain RTAI unregistered. [ 722.170821] RTAI[hal]: unmounted. Here is the content of a few other files: emc_debug.txt: 3735 PID TTY STAT TIME COMMAND 3735 pts/0 Z+ 0:00 [emcsvr] <defunct> PID TTY STAT TIME COMMAND Stopping realtime threads Unloading hal components emc_print.txt: RUN_IN_PLACE=yes EMC2_DIR= EMC2_BIN_DIR=/home/lefevere/emc2-dev/bin EMC2_TCL_DIR=/home/lefevere/emc2-dev/tcl EMC2_SCRIPT_DIR= EMC2_RTLIB_DIR=/home/lefevere/emc2-dev/rtlib EMC2_CONFIG_DIR= EMC2_LANG_DIR=/home/lefevere/emc2-dev/src/objects INIVAR=inivar HALCMD=halcmd EMC2_EMCSH=/usr/bin/wish8.5 INIFILE=/home/lefevere/emc2/configs/stepper/stepper_mm.ini PARAMETER_FILE=stepper.var EMCMOT=motmod EMCIO=io TASK=milltask HALUI= DISPLAY=axis NML_FILE=emc.nml Starting EMC2 server program: emcsvr Loading Real Time OS, RTAPI, and HAL_LIB modules Starting EMC2 IO program: io Killing task emcsvr, PID=3735 Removing HAL_LIB, RTAPI, and Real Time OS modules Removing NML shared memory segments Any idea ? Thanks. ------------------------------------------------------------------------------ Throughout its 18-year history, RSA Conference consistently attracts the world's best and brightest in the field, creating opportunities for Conference attendees to learn about information security's most important issues through interactions with peers, luminaries and emerging and established companies. http://p.sf.net/sfu/rsaconf-dev2dev _______________________________________________ Emc-users mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/emc-users
