Gene wrote
I never renamed anything and kernel was updated to new version
which reflects in command
uname -r
Tim March
The updated kernel is not an rt-preempt kernel. Does the linuxcnc-sim run
on that?
Gene here is the output running linuxcnc from terminal on rpi
pi@navio:~ $ linuxcnc
LINUXCNC - 2.8.0-pre1-2771-gdc2ff49
Machine configuration directory is '/home/pi/linuxcnc/configs/sim.axis.foam'
Machine configuration file is 'axis_foam.ini'
Starting LinuxCNC...
emc/iotask/ioControl.cc 768: can't load tool table.
Found file(LIB): /usr/share/linuxcnc/hallib/basic_sim.tcl
setup_kins: cmd=loadrt trivkins coordinates=xyuv
Note: Using POSIX realtime
task: main loop took 0.013645 seconds
note: MAXV max: 1.200 units/sec 72.000 units/min
note: LJOG max: 1.200 units/sec 72.000 units/min
note: LJOG default: 1.000 units/sec 60.000 units/min
note: AJOG max: 90.000 units/sec 5400.000 units/min
note: AJOG default: 45.000 units/sec 2700.000 units/min
note: jog_order='XYUV'
note: jog_invert=set([])
task: main loop took 0.012554 seconds
task: main loop took 259836.406601 seconds
task: main loop took 0.013945 seconds
task: main loop took 0.011420 seconds
task: main loop took 0.010959 seconds
task: main loop took 0.011337 seconds
task: main loop took 0.012650 seconds
Shutting down and cleaning up LinuxCNC...
task: 699176 cycles, min=0.000036, max=259836.406601, avg=0.372714, 8 latency
excursions (> 10x expected cycle time of 0.001000s)
Note: Using POSIX realtime
pi@navio:~ $
pi@navio:~ $ uname -r
4.4.9-rt17-v7+
pi@navio:~ $
So it is a realtime kernel
The way I come up with sdcard image is as follows.
I started with a headless sdcard image from Emlid and built from there
Follow these direction in order to make a minamal Raspbian "Debian Jessie"
install
with a realtime kernel,(ver. 4.4.9-rt17) and Mate Desktop and Linuxcnc
sdcard will work with rpi2 or 3
# Download, extract then install Emlid image to sdcard download at
https://files.emlid.com/images/emlid-raspbian-20160718.img.xz
# On Linux computer download Etcher to write image to sdcard at
https://etcher.io/
Download, extract and run Etcher with administrator rights
Select the archive file with image and sd card drive letter.
Click “Flash!”. The process may take a few minutes.
----------------------------------------------------------------------
# RT-PREEMPT realtime kernel
# Download kernel image
http://download.frank-durr.de/kernel-4.4.9-rt17.tgz
# Extract files
# Start your file manager from terminal with root privliges, my file manager is
thunar so I use:
# sudo thunar
# Copy extracted files inside boot directory, to boot directory on sdcard
choose to overwrite files
# Copy extarcted file lib, to root of other partition on sdcard choose to
overwrite files
-----------------------------------------------------------------------
# Install Sdcard into PI
user = pi
password = raspberry
# Connect to wired network
# Or shh from another computers ethernet connection
------------------------------------------------------------------------
# See posts at this site about rt patched kernel on pi2 & 3 freezing during
wifi use
https://www.raspberrypi.org/forums/viewtopic.php?f=29&t=159170
# Need to add to end of cmdline.txt
sudo nano /boot/cmdline.txt
#Add the following
dwc_otg.fiq_fsm_enable=0 dwc_otg.fiq_enable=0 dwc_otg.nak_holdoff=0
sudo reboot -n
---------------------------------------------------------------------
# Update to correct keyboard layout
sudo dpkg-reconfigure keyboard-configuration
---------------------------------------------------------------------
# Generate locales
sudo dpkg-reconfigure locales
#add correct language
en_US.UTF-8
locale -a
#To check locale
-----------------------------------------------------------------------
#Update Time Zone
sudo dpkg-reconfigure tzdata
------------------------------------------------------------------------
Remove emlid repository
sudo rm /etc/apt/sources.list.d/emlid.list
------------------------------------------------------------------------
sudo raspi-config
#NOTE: do not Overclock
1 Expand File system
when finished choose to reboot
If you need other things enabled such as SPI or C12 ect. it can be done here
----------------------------------------------------------------------
sudo apt-get -y update && sudo apt-get -y upgrade
------------------------------------------------------------------------
# RPI 2 or 3
sudo apt-get install -y mate-core mate-desktop-environment xorg lightdm
sudo apt-get install -y network-manager-gnome synaptic iceweasel xterm
# RPI 3
sudo apt-get install -y pi-bluetooth
sudo apt-get install -y bluetooth bluez blueman
-----------------------------------------------------------------------
#Setup network manager
sudo nano /etc/network/interfaces
#Comment out
#iface wlan0 inet dhcp
#iface default inet dhcp
#iface wlan1 inet dhcp
#iface eth0 inet manual
# Use control key and x to save and save to default
-------------------------------------------------------------------------
#Update rpi firmware without over writing rt kernel
sudo apt-get install rpi-update
sudo SKIP_KERNEL=1 rpi-update
sudo reboot -n
------------------------------------------------------------------------
#Install Linuxcnc
On RPI goto web page
http://buildbot.linuxcnc.org/
Follow directions to install 2.7 or Master, Jessie (uspace: realtime with
RT-Preempt, and simulation), armhf
# first add repository key, open Mate Terminal look for it in system tools menu
item, you can copy and paste from web site page:
sudo apt-key adv --keyserver hkp://keys.gnupg.net --recv-key E0EE663E
# Start text editor Pluma with root privliges like this:
sudo pluma /etc/apt/sources.list.d/linuxcnc-buildbot.list
#Add the following to file for 2.7 then save:
deb http://buildbot.linuxcnc.org/ jessie 2.7-sim
deb-src http://buildbot.linuxcnc.org/ jessie 2.7-sim
# Now update the system:
sudo apt-get update
# Now start Synaptic which will only start from terminal
sudo synaptic
# Type in search box linuxcnc find the following, then click and mark for
installation then apply;
linuxcnc-uspace
linuxcnc-doc-en
Tim March
Follow these direction in order to make a minamal Raspbian "Debian Jessie"
install
with a realtime kernel,(ver. 4.4.9-rt17) and Mate Desktop and Linuxcnc
sdcard will work with rpi2 or 3
# Download, extract then install Emlid image to sdcard download at
https://files.emlid.com/images/emlid-raspbian-20160718.img.xz
# On Linux computer download Etcher to write image to sdcard at
https://etcher.io/
Download, extract and run Etcher with administrator rights
Select the archive file with image and sd card drive letter.
Click “Flash!”. The process may take a few minutes.
----------------------------------------------------------------------
# RT-PREEMPT realtime kernel
# Download kernel image
http://download.frank-durr.de/kernel-4.4.9-rt17.tgz
# Extract files
# Start your file manager from terminal with root privliges, my file manager is
thunar so I use:
# sudo thunar
# Copy extracted files inside boot directory, to boot directory on sdcard
choose to overwrite files
# Copy extarcted file lib, to root of other partition on sdcard choose to
overwrite files
-----------------------------------------------------------------------
# Install Sdcard into PI
user = pi
password = raspberry
# Connect to wired network
# Or shh from another computers ethernet connection
------------------------------------------------------------------------
# See posts at this site about rt patched kernel on pi2 & 3 freezing during
wifi use
https://www.raspberrypi.org/forums/viewtopic.php?f=29&t=159170
# Need to add to end of cmdline.txt
sudo nano /boot/cmdline.txt
#Add the following
dwc_otg.fiq_fsm_enable=0 dwc_otg.fiq_enable=0 dwc_otg.nak_holdoff=0
sudo reboot -n
---------------------------------------------------------------------
# Update to correct keyboard layout
sudo dpkg-reconfigure keyboard-configuration
---------------------------------------------------------------------
# Generate locales
sudo dpkg-reconfigure locales
#add correct language
en_US.UTF-8
locale -a
#To check locale
-----------------------------------------------------------------------
#Update Time Zone
sudo dpkg-reconfigure tzdata
------------------------------------------------------------------------
Remove emlid repository
sudo rm /etc/apt/sources.list.d/emlid.list
------------------------------------------------------------------------
sudo raspi-config
#NOTE: do not Overclock
1 Expand File system
when finished choose to reboot
If you need other things enabled such as SPI or C12 ect. it can be done here
----------------------------------------------------------------------
sudo apt-get -y update && sudo apt-get -y upgrade
------------------------------------------------------------------------
# RPI 2 or 3
sudo apt-get install -y mate-core mate-desktop-environment xorg lightdm
sudo apt-get install -y network-manager-gnome synaptic iceweasel xterm
# RPI 3
sudo apt-get install -y pi-bluetooth
sudo apt-get install -y bluetooth bluez blueman
-----------------------------------------------------------------------
#Setup network manager
sudo nano /etc/network/interfaces
#Comment out
#iface wlan0 inet dhcp
#iface default inet dhcp
#iface wlan1 inet dhcp
#iface eth0 inet manual
# Use control key and x to save and save to default
-------------------------------------------------------------------------
#Update rpi firmware without over writing rt kernel
sudo apt-get install rpi-update
sudo SKIP_KERNEL=1 rpi-update
sudo reboot -n
------------------------------------------------------------------------
#Install Linuxcnc
On RPI goto web page
http://buildbot.linuxcnc.org/
Follow directions to install 2.7 or Master, Jessie (uspace: realtime with
RT-Preempt, and simulation), armhf
# first add repository key, open Mate Terminal look for it in system tools menu
item, you can copy and paste from web site page:
sudo apt-key adv --keyserver hkp://keys.gnupg.net --recv-key E0EE663E
# Start text editor Pluma with root privliges like this:
sudo pluma /etc/apt/sources.list.d/linuxcnc-buildbot.list
#Add the following to file for 2.7 then save:
deb http://buildbot.linuxcnc.org/ jessie 2.7-sim
deb-src http://buildbot.linuxcnc.org/ jessie 2.7-sim
# Now update the system:
sudo apt-get update
# Now start Synaptic which will only start from terminal
sudo synaptic
# Type in search box linuxcnc find the following, then click and mark for
installation then apply;
linuxcnc-uspace
linuxcnc-doc-en
-------------------------------------------------------------------------
#To make image backup of sdcard on a linux computer I think this works on MAC
also
# First use Gparted to shrink second partition
sudo fdisk -u -l <----use to find where sdcard is mounted run without card,
then with card
sudo fdisk -u -l /dev/mmcblk0 <----name of sdcard in my computer yours maybe
different
sudo dd if=/dev/mmcblk0 of=~/SDCardBackup.img count=9023487 <---- # = END of
sectors on second partition, yours will be different
# Remember to exspand file system with raspi-config when rewiting to a new
sdcard
------------------------------------------------------------------------------
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