Hello, I'm working on a bipod (polargraph) style drawing robot. I'm using machinekit on beaglebone.
I'm moving the pen up and down with a radio (xbee) controlled servo. I've written a hal component in C that opens (non blocking) a serial port on the beaglebone and then reads and writes to it. The component takes just over 25ms to run. This component is added to a slow thread (50ms). I don't get realtime error messages or joint following errors. Most of the time everything works fine, but sometimes I'll get timeouts when machinekit starts, lots of: USRMOT: ERROR: command timeout If I comment out the line in bipod.hal that adds the xbee component to the thread then it will start. So I think it's to do with my component. I've done a lot of testing with halrun, and I've never had a problem with just starting a thread, adding my component to it and then moving the servo manually. I've attached the component code, bipod.ini, bipod.hal, as well as stdout, dmesg and linuxcnc.log that shows what happens when it doesn't start up. Any help on this would be greatly appreciated! This is only the 2nd component I've written! Thanks, Matt -- website: http://www.machinekit.io blog: http://blog.machinekit.io github: https://github.com/machinekit --- You received this message because you are subscribed to the Google Groups "Machinekit" group. To unsubscribe from this group and stop receiving emails from it, send an email to [email protected]. Visit this group at https://groups.google.com/group/machinekit. For more options, visit https://groups.google.com/d/optout.
dmesg
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screenlog.0
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Jul 1 14:13:32 beaglebone msgd:0: startup pid=1706 flavor=xenomai rtlevel=1 usrlevel=1 halsize=524288 shm=Posix gcc=4.9.2 version=unknown Jul 1 14:13:32 beaglebone msgd:0: ØMQ=4.0.5 czmq=2.2.0 protobuf=2.4.1 libwebsockets=<no version symbol> Jul 1 14:13:32 beaglebone msgd:0: configured: sha=ee98758 Jul 1 14:13:32 beaglebone msgd:0: built: May 28 2016 12:17:33 sha=ee98758 Jul 1 14:13:32 beaglebone msgd:0: register_stuff: actual hostname as announced by avahi='beaglebone.local' Jul 1 14:13:32 beaglebone msgd:0: zeroconf: registering: 'Log service on beaglebone.local pid 1706' Jul 1 14:13:33 beaglebone msgd:0: zeroconf: registered 'Log service on beaglebone.local pid 1706' _machinekit._tcp 0 TXT "uuid=a42c8c6b-4025-4f83-ba28-dad21114744a" "instance=3a92dc40-3f85-11e6-854c-689e198f4ee9" "service=log" "dsn=ipc:///tmp/0.log.a42c8c6b-4025-4f83-ba28-dad21114744a" Jul 1 14:13:34 beaglebone msgd:0: rtapi_app:1711:user accepting commands at ipc:///tmp/0.rtapi.a42c8c6b-4025-4f83-ba28-dad21114744a Jul 1 14:13:48 beaglebone msgd:0: hal_lib:1711:rt memmapped gpio port 0 to 0xb6680000, oe: 0xb6680134, set: 0xb6680194, clr: 0xb6680190 Jul 1 14:13:48 beaglebone msgd:0: hal_lib:1711:rt pin 22 maps to pin 0-2, mode 85 Jul 1 14:13:48 beaglebone msgd:0: hal_lib:1711:rt pin 21 maps to pin 0-3, mode 85 Jul 1 14:13:48 beaglebone msgd:0: hal_lib:1711:rt pin 11 maps to pin 0-30, mode 85 Jul 1 14:13:48 beaglebone msgd:0: hal_lib:1711:rt memmapped gpio port 1 to 0xb667e000, oe: 0xb667e134, set: 0xb667e194, clr: 0xb667e190 Jul 1 14:13:48 beaglebone msgd:0: hal_lib:1711:rt prussdrv_init Jul 1 14:13:48 beaglebone msgd:0: hal_lib:1711:rt prussdrv_open Jul 1 14:13:48 beaglebone msgd:0: hal_lib:1711:rt prussdrv_pruintc_init Jul 1 14:13:48 beaglebone msgd:0: hal_lib:1711:rt prussdrv_map_prumem Jul 1 14:13:48 beaglebone msgd:0: hal_lib:1711:rt PRU data ram mapped Jul 1 14:13:48 beaglebone msgd:0: hal_lib:1711:rt num_pwmgens : 0 Jul 1 14:13:48 beaglebone msgd:0: hal_lib:1711:rt num_stepgens: 3 Jul 1 14:13:48 beaglebone msgd:0: hal_lib:1711:rt num_encoders: 0 Jul 1 14:13:48 beaglebone msgd:0: hal_lib:1711:rt Init pwm Jul 1 14:13:48 beaglebone msgd:0: hal_lib:1711:rt Init stepgen Jul 1 14:13:48 beaglebone msgd:0: hal_lib:1711:rt hpg_stepgen_init Jul 1 14:13:48 beaglebone msgd:0: hal_lib:1711:rt Init encoder Jul 1 14:13:48 beaglebone msgd:0: rtapi_app:1711:user signal 11 - 'Segmentation fault' received, dumping core (current dir=/home/machinekit/bipod) Jul 1 14:13:48 beaglebone msgd:0: rtapi_app:1711:user --- rtapi_app backtrace: --- Jul 1 14:13:48 beaglebone msgd:0: rtapi_app:1711:user b5316e19 ?? ??:0 Jul 1 14:13:48 beaglebone msgd:0: rtapi_app:1711:user b5315961 ?? ??:0 Jul 1 14:13:48 beaglebone msgd:0: rtapi_app:1711:user b67e80ff ?? ??:0 Jul 1 14:13:48 beaglebone msgd:0: rtapi_app:1711:user b67f80c7 ?? ??:0 Jul 1 14:13:48 beaglebone msgd:0: rtapi_app:1711:user -------------------- Jul 1 14:13:48 beaglebone msgd:0: rtapi_app exit detected - scheduled shutdown Jul 1 14:13:50 beaglebone msgd:0: msgd shutting down Jul 1 14:13:50 beaglebone msgd:0: zeroconf: unregistering 'Log service on beaglebone.local pid 1706' Jul 1 14:13:50 beaglebone msgd:0: log buffer hwm: 0% (17 msgs, 1156 bytes out of 524288) Jul 1 14:13:50 beaglebone msgd:0: normal shutdown - global segment detached
bipod.ini
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bipod.hal
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xbee.comp
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