Steps to recreate the problem:
1) Install fresh Standalone from
https://rcn-ee.com/rootfs/bb.org/testing/2017-10-29/machinekit/bone-debian-8.9-machinekit-armhf-2017-10-29-4gb.img.xz
2) nuke the "MLO" file
sudo dd if=/dev/zero of=/dev/mmcblk1 count=1 seek=1 bs=128k
3) reboot (not sure this is required?)
4) Check versions:
sudo /opt/scripts/tools/version.sh
git:/opt/scripts/:[a5d5f437baeaa7f8e14d5ae037268abf7a67e88e]
eeprom:[A335BNLT00C04414BBBK6307]
model:[TI_AM335x_BeagleBone_Black]
dogtag:[Machinekit Debian Image 2017-10-29]
bootloader:[microSD-(push-button)]:[/dev/mmcblk0]:[U-Boot
2017.09-00002-g0f3f1c7907]
bootloader:[eMMC-(default)]:[/dev/mmcblk1]:[U-Boot
2017.09-00002-g0f3f1c7907]
kernel:[4.13.10-bone-rt-r2]
nodejs:[v4.8.5]
uboot_overlay_options:[enable_uboot_overlays=1]
uboot_overlay_options:[disable_uboot_overlay_wireless=1]
uboot_overlay_options:[uboot_overlay_pru=/lib/firmware/AM335X-PRU-UIO-00A0.dtbo]
uboot_overlay_options:[enable_uboot_cape_universal=1]
pkg:[bb-cape-overlays]:[4.4.20171027.1-0rcnee1~jessie+20171027]
pkg:[bb-wl18xx-firmware]:[1.20170829-0rcnee1~jessie+20170829]
pkg:[firmware-ti-connectivity]:[20170823-1rcnee0~jessie+20170830]
4) edit /boot/uEnv.txt to enable disable_uboot_overlay_audio=1
5) reboot
6) Check with version.sh (only change is audio disable):
uboot_overlay_options:[disable_uboot_overlay_audio=1]
7) Start MachineKit and select CometNP_metric configuration. (This will
abort setup.sh)
7) Modify ARM.BeagleBone.Probotix/setup.sh to avoid faulting on 3.8 overlay
logic.
if [ 0 == 1 ] ; then
SLOTS=/sys/devices/bone_capemgr.*/slots
# Make sure required device tree overlay(s) are loaded
for DTBO in cape-universal ; do
if grep -q $DTBO $SLOTS ; then
echo $DTBO overlay found
else
echo Loading $DTBO overlay
sudo -A su -c "echo $DTBO > $SLOTS" ||
dtbo_err
sleep 1
fi
done;
else
echo "Skipping overlays with kernal >3.8"
fi
8) export DEBUG=5 and run MachineKit again.
MACHINEKIT - 0.1
Machine configuration directory is
'/home/machinekit/machinekit/configs/ARM.BeagleBone.Probotix'
Machine configuration file is 'CometNP_Metric.ini'
Starting Machinekit...
io started
Unrecognized line skipped: POC FMS LEN DIAM COMMENT
halcmd loadusr io started
Skipping overlays with kernal >3.8
Comet.hal:20: insmod failed, returned -1:
rtapi_app_main(hal_pru_generic): -1 Operation not permitted
See /var/log/linuxcnc.log for more information.
Shutting down and cleaning up Machinekit...
Cleanup done
Machinekit terminated with an error. You can find more information
in the log:
/home/machinekit/linuxcnc_debug.txt
and
/home/machinekit/linuxcnc_print.txt
as well as in the output of the shell command 'dmesg' and in the
terminal
Line 19 of Comet.hal is (line 20 is commented out #loadrt gantry, line 21
is newinst gantry)
loadrt [PRUCONF](DRIVER) prucode=$(HAL_RTMOD_DIR)/[PRUCONF](PRUBIN)
[PRUCONF](CONFIG) halname=hpg
I also tried the CRAMPS configuration and it also bails on the same load rt
[PRUCONF] line in CRAMPS.hal.
I am new to this device tree stuff so I could have missed something
(undocumented) simple.
cat /home/machinekit/linuxcnc_debug.txt
10404
PID TTY STAT TIME COMMAND
Stopping realtime threads
Unloading hal components
machinekit@beaglebone:~$
cat /home/machinekit/linuxcnc_print.txt
RUN_IN_PLACE=no
LINUXCNC_DIR=
LINUXCNC_BIN_DIR=/usr/bin
LINUXCNC_TCL_DIR=/usr/lib/tcltk/linuxcnc
LINUXCNC_SCRIPT_DIR=
LINUXCNC_RTLIB_DIR=/usr/lib/linuxcnc
LINUXCNC_CONFIG_DIR=
LINUXCNC_LANG_DIR=/usr/share/linuxcnc/tcl/msgs
INIVAR=/usr/libexec/linuxcnc/inivar
HALCMD=halcmd
LINUXCNC_EMCSH=/usr/bin/wish8.6
INIFILE=/home/machinekit/machinekit/configs/ARM.BeagleBone.Probotix/CometNP_Metric.ini
PARAMETER_FILE=metric.var
TASK=milltask
HALUI=halui
DISPLAY=axis
Starting Machinekit server program: linuxcncsvr
Loading Real Time OS, RTAPI, and HAL_LIB modules
Starting Machinekit IO program: io
Starting HAL User Interface program: halui
Killing task linuxcncsvr, PID=10404
Removing HAL_LIB, RTAPI, and Real Time OS modules
Removing NML shared memory segments
cat /var/log/linuxcnc.log
Nov 1 19:46:39 beaglebone msgd:0: startup pid=4582
flavor=rt-preempt rtlevel=1 usrlevel=1 halsize=524288 shm=Posix cc=gcc
4.9.2 version=v0.1~-detached~f
d30aa2
Nov 1 19:46:39 beaglebone msgd:0: ØMQ=4.0.5 czmq=4.0.2
protobuf=2.6.1 atomics=gcc intrinsics libwebsockets=<no version symbol>
Nov 1 19:46:39 beaglebone msgd:0: configured: sha=fd30aa2
Nov 1 19:46:39 beaglebone msgd:0: built: Oct 28 2017 06:41:40
sha=fd30aa2
Nov 1 19:46:39 beaglebone msgd:0: register_stuff: actual hostname
as announced by avahi='beaglebone.local'
Nov 1 19:46:39 beaglebone msgd:0: zeroconf: registering: 'Log
service on beaglebone.local pid 4582'
Nov 1 19:46:40 beaglebone msgd:0: zeroconf: registered 'Log
service on beaglebone.local pid 4582' _machinekit._tcp 0 TXT
"uuid=a42c8c6b-4025-4f83-ba28-da
d21114744a" "instance=60b36302-bf3d-11e7-bbc0-6cecebb9ef46"
"service=log" "dsn=ipc:///tmp/0.log.a42c8c6b-4025-4f83-ba28-dad21114744a"
Nov 1 19:46:46 beaglebone msgd:0: rtapi_app exit detected -
scheduled shutdown
Nov 1 19:46:48 beaglebone msgd:0: msgd shutting down
Nov 1 19:46:48 beaglebone msgd:0: zeroconf: unregistering 'Log
service on beaglebone.local pid 4582'
Nov 1 19:46:48 beaglebone msgd:0: log buffer hwm: 0% (0 msgs, 0
bytes out of 524288)
Nov 1 19:46:48 beaglebone msgd:0: normal shutdown - global segment
detached
Nov 1 20:17:09 beaglebone msgd:0: startup pid=6962
flavor=rt-preempt rtlevel=1 usrlevel=1 halsize=524288 shm=Posix cc=gcc
4.9.2 version=v0.1~-detached~f
d30aa2
Nov 1 20:17:09 beaglebone msgd:0: ØMQ=4.0.5 czmq=4.0.2
protobuf=2.6.1 atomics=gcc intrinsics libwebsockets=<no version symbol>
Nov 1 20:17:09 beaglebone msgd:0: configured: sha=fd30aa2
Nov 1 20:17:09 beaglebone msgd:0: built: Oct 28 2017 06:41:40
sha=fd30aa2
Nov 1 20:17:09 beaglebone msgd:0: register_stuff: actual hostname
as announced by avahi='beaglebone.local'
Nov 1 20:17:09 beaglebone msgd:0: zeroconf: registering: 'Log
service on beaglebone.local pid 6962'
Nov 1 20:17:09 beaglebone msgd:0: zeroconf: registered 'Log
service on beaglebone.local pid 6962' _machinekit._tcp 0 TXT
"uuid=a42c8c6b-4025-4f83-ba28-da
d21114744a" "instance=a348e7c4-bf41-11e7-b29d-6cecebb9ef46"
"service=log" "dsn=ipc:///tmp/0.log.a42c8c6b-4025-4f83-ba28-dad21114744a"
Nov 1 20:17:11 beaglebone rtapi:0:
rtapi_app_main(hal_pru_generic): -1 Operation not permitted
Nov 1 20:17:19 beaglebone rtapi:0: unload: 'trivkins' not loaded
Nov 1 20:17:19 beaglebone rtapi:0: unload: 'tp' not loaded
Nov 1 20:17:19 beaglebone rtapi:0: unload: 'motmod' not loaded
Nov 1 20:17:19 beaglebone rtapi:0: unload: 'hal_bb_gpio' not loaded
Nov 1 20:17:19 beaglebone msgd:0: rtapi_app exit detected -
scheduled shutdown
Nov 1 20:17:21 beaglebone msgd:0: msgd shutting down
Nov 1 20:17:21 beaglebone msgd:0: zeroconf: unregistering 'Log
service on beaglebone.local pid 6962'
Nov 1 20:17:21 beaglebone msgd:0: log buffer hwm: 0% (0 msgs, 0
bytes out of 524288)
Nov 1 20:17:21 beaglebone msgd:0: normal shutdown - global segment
detached
Nov 1 20:22:47 beaglebone msgd:0: startup pid=10428
flavor=rt-preempt rtlevel=1 usrlevel=1 halsize=524288 shm=Posix cc=gcc
4.9.2 version=v0.1~-detached~
fd30aa2
Nov 1 20:22:47 beaglebone msgd:0: ØMQ=4.0.5 czmq=4.0.2
protobuf=2.6.1 atomics=gcc intrinsics libwebsockets=<no version symbol>
Nov 1 20:22:47 beaglebone msgd:0: configured: sha=fd30aa2
Nov 1 20:22:47 beaglebone msgd:0: built: Oct 28 2017 06:41:40
sha=fd30aa2
Nov 1 20:22:48 beaglebone msgd:0: register_stuff: actual hostname
as announced by avahi='beaglebone.local'
Nov 1 20:22:48 beaglebone msgd:0: zeroconf: registering: 'Log
service on beaglebone.local pid 10428'
Nov 1 20:22:48 beaglebone msgd:0: zeroconf: registered 'Log
service on beaglebone.local pid 10428' _machinekit._tcp 0 TXT
"uuid=a42c8c6b-4025-4f83-ba28-d
ad21114744a" "instance=6d3b4ff4-bf42-11e7-9ca3-6cecebb9ef46"
"service=log" "dsn=ipc:///tmp/0.log.a42c8c6b-4025-4f83-ba28-dad21114744a"
Nov 1 20:22:49 beaglebone rtapi:0:
rtapi_app_main(hal_pru_generic): -1 Operation not permitted
Nov 1 20:22:57 beaglebone rtapi:0: unload: 'trivkins' not loaded
Nov 1 20:22:57 beaglebone rtapi:0: unload: 'tp' not loaded
Nov 1 20:22:57 beaglebone rtapi:0: unload: 'motmod' not loaded
Nov 1 20:22:57 beaglebone rtapi:0: unload: 'hal_bb_gpio' not loaded
Nov 1 20:22:57 beaglebone msgd:0: rtapi_app exit detected -
scheduled shutdown
Nov 1 20:22:59 beaglebone msgd:0: msgd shutting down
Nov 1 20:22:59 beaglebone msgd:0: zeroconf: unregistering 'Log
service on beaglebone.local pid 10428'
Nov 1 20:22:59 beaglebone msgd:0: log buffer hwm: 0% (0 msgs, 0
bytes out of 524288)
Nov 1 20:22:59 beaglebone msgd:0: normal shutdown - global segment
detached
On Wednesday, November 1, 2017 at 2:13:14 PM UTC-5, Jerry Trantow wrote:
>
> Now that I have a better understanding, I will start from a fresh SD,
> disable the audio in uEnv.txt, and the overlay in setup.sh to make sure I
> haven't messed something up.
>
> Thanks for your help everyone.
>
> On Wednesday, November 1, 2017 at 2:10:52 PM UTC-5, Jerry Trantow wrote:
>>
>> I believe insmod is trying to load:
>> loadrt [PRUCONF](DRIVER) prucode=$(HAL_RTMOD_DIR)/[PRUCONF](PRUBIN)
>> [PRUCONF](CONFIG) halname=hpg
>>
>> This is before it tries newinst gantry gantry.0 pincount=2.
>>
>> I tried the CRAMPS configuration and it fails on the same loadrt.
>>
>>
>> On Wednesday, November 1, 2017 at 1:50:01 PM UTC-5, Robert Nelson wrote:
>>>
>>> On Wed, Nov 1, 2017 at 1:45 PM, Jerry Trantow <[email protected]>
>>> wrote:
>>> > Thanks, disable_uboot_overlay_audio=1 fixed the problems with all
>>> (P9_25,
>>> > P9_28, P9_29, P9_31) the GPIO assignment in setup.sh. But, I'm still
>>> failing
>>> > with:
>>> >
>>> > MACHINEKIT - 0.1
>>> > Machine configuration directory is
>>> > '/home/machinekit/machinekit/configs/ARM.BeagleBone.Probotix'
>>> > Machine configuration file is 'Comet_Metric.ini'
>>> > Starting Machinekit...
>>> > io started
>>> > Unrecognized line skipped: POC FMS LEN DIAM COMMENT
>>> > halcmd loadusr io started
>>> > Skip cape-universal overlay load with kernel >3.8.
>>> > Comet.hal:20: insmod failed, returned -1:
>>> > rtapi_app_main(hal_pru_generic): -1 Operation not permitted
>>>
>>> Which module is it trying to load via "insmod"...
>>>
>>> Regards,
>>>
>>> --
>>> Robert Nelson
>>> https://rcn-ee.com/
>>>
>>
--
website: http://www.machinekit.io blog: http://blog.machinekit.io github:
https://github.com/machinekit
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