Hopefully with this info, someone who knows about the BBB will be
able to see what is likely happening
A SWAG from me would be that the correct device tree file is not
being used, but what do I know
;-)
On 18/02/18 12:25, Marius Alksnys
wrote:
machinekit@beaglebone:~/CRAMPS$ DEBUG=5 realtime status
/bin/bash: warning: setlocale: LC_ALL: cannot change locale
(en_GB.utf8)
msgd:0 stopped
rtapi:0 stopped
machinekit@beaglebone:~/CRAMPS$ DEBUG=5 realtime restart
/bin/bash: warning: setlocale: LC_ALL: cannot change locale
(en_GB.utf8)
machinekit@beaglebone:~/CRAMPS$ halcmd loadrt hal_bb_gpio
output_pins=816 input_pins=807
E: 18-02-18 12:20:36 dangling 'ROUTER' socket created at
rtapi/rt-preempt/rtapi_app.cc:1301
<commandline>:0: insmod failed, returned -1:
rtapi_rpc(): reply timeout
See /var/log/linuxcnc.log for more information.
machinekit@beaglebone:~/CRAMPS$ cat /var/log/linuxcnc.log
Feb 18 12:20:06 beaglebone msgd:0: msgd:0: got signal 15 -
sending SIGTERM to rtapi (pid 17329)
Feb 18 12:20:06 beaglebone msgd:0: msgd:0: Terminated -
shutting down
Feb 18 12:20:06 beaglebone msgd:0: zeroconf: unregistering
'Log service on beaglebone.local pid 17324'
Feb 18 12:20:06 beaglebone msgd:0: log buffer hwm: 0% (8 msgs,
665 bytes out of 524288)
Feb 18 12:20:06 beaglebone msgd:0: sent SIGTERM to rtapi (pid
17329)
Feb 18 12:20:06 beaglebone msgd:0: normal shutdown - global
segment detached
Feb 18 12:20:24 beaglebone msgd:0: startup pid=17433
flavor=rt-preempt rtlevel=5 usrlevel=5 halsize=524288
shm=Posix cc=gcc 6.3.0 201
70516 version=v0.1~-----~57844e1
Feb 18 12:20:24 beaglebone msgd:0: ØMQ=4.2.1 czmq=4.0.2
protobuf=3.0.0 atomics=gcc intrinsics libwebsockets=2.0.3
Feb 18 12:20:24 beaglebone msgd:0: configured: sha=57844e1
Feb 18 12:20:24 beaglebone msgd:0: built: Dec 2 2017
11:50:00 sha=57844e1
Feb 18 12:20:24 beaglebone msgd:0: register_stuff: actual
hostname as announced by avahi='beaglebone.local'
Feb 18 12:20:24 beaglebone msgd:0: zeroconf: registering: 'Log
service on beaglebone.local pid 17433'
Feb 18 12:20:24 beaglebone rtapi:0: 2:rtapi_app:17438:user
rtapi:0: cannot create core dumps - /proc/sys/fs/suid_dumpable
contains 0
Feb 18 12:20:24 beaglebone rtapi:0: 2:rtapi_app:17438:user you
might have to run 'echo 1 > /proc/sys/fs/suid_dumpable' as
root to ena
ble rtapi_app core dumps
Feb 18 12:20:24 beaglebone rtapi:0: 4:rtapi_app:17438:user
rtapi.so default iparms: ''
Feb 18 12:20:24 beaglebone rtapi:0: 4:rtapi_app:17438:user
RTAPI:0 rt-preempt v0.1~-----~57844e1 init
Feb 18 12:20:24 beaglebone rtapi:0: 4:rtapi_app:17438:user
rtapi: loaded from rtapi.so
Feb 18 12:20:24 beaglebone rtapi:0: 4:rtapi_app:17438:user
hal_lib.so default iparms: ''
Feb 18 12:20:24 beaglebone rtapi:0: 4:rtapi_app:17438:user
rtapi_app_main:195 HAL: initializing RT hal_lib support
Feb 18 12:20:24 beaglebone rtapi:0: 4:rtapi_app:17438:user
halg_xinitfv:90 HAL: initializing component 'hal_lib' type=4
arg1=0 arg2=0
/0x0
Feb 18 12:20:24 beaglebone rtapi:0: 4:rtapi_app:17438:user
hal_heap_addmem:58 HAL: extending arena by 262144 bytes
Feb 18 12:20:24 beaglebone rtapi:0: 4:rtapi_app:17438:user
halg_export_xfunctfv:85 HAL: exporting function 'newinst' type
2 fp=0 owne
r=66
Feb 18 12:20:24 beaglebone rtapi:0: 4:rtapi_app:17438:user
halg_export_xfunctfv:85 HAL: exporting function 'delinst' type
2 fp=0 owne
r=66
Feb 18 12:20:24 beaglebone rtapi:0: 4:rtapi_app:17438:user
halg_xinitfv:271 HAL: singleton component 'hal_lib' id=66
initialized
Feb 18 12:20:24 beaglebone rtapi:0: 4:rtapi_app:17438:user
rtapi_app_main:199 HAL: RT hal_lib support initialized rc=66
Feb 18 12:20:24 beaglebone rtapi:0: 4:rtapi_app:17438:user
hal_lib: loaded from hal_lib.so
Feb 18 12:20:24 beaglebone rtapi:0: 4:rtapi_app:17438:user
accepting commands at
ipc:///tmp/0.rtapi.a42c8c6b-4025-4f83-ba28-dad211147
44a
Feb 18 12:20:24 beaglebone rtapi:0: 3:rtapi_app:17438:user
rtapi_app:0 ready flavor=rt-preempt gcc=6.3.0 20170516
git=v0.1~-----~5784
4e1
Feb 18 12:20:24 beaglebone rtapi:0: 4:rtapi_app:17438:user
pid=17438 flavor=rt-preempt gcc=6.3.0 20170516
git=v0.1~-----~57844e1
Feb 18 12:20:24 beaglebone rtapi:0: 4:rtapi_app:17438:user
pid=17438 flavor=rt-preempt gcc=6.3.0 20170516
git=v0.1~-----~57844e1
Feb 18 12:20:24 beaglebone msgd:0: ulapi:17439:user
_ulapi_init(): ulapi rt-preempt v0.1~-----~57844e1 loaded
Feb 18 12:20:24 beaglebone msgd:0: ulapi:17439:user
halg_xinitfv:271 HAL: singleton component 'hal_lib17439' id=70
initialized
Feb 18 12:20:24 beaglebone msgd:0: hal_lib:17439:user --halcmd
ping
Feb 18 12:20:24 beaglebone msgd:0: hal_lib:17439:user
halg_exit:293 HAL: removing component 72 'halcmd17439'
Feb 18 12:20:24 beaglebone msgd:0: hal_lib:17439:user
ulapi_hal_lib_cleanup:235 HAL: lib_module_id=70
Feb 18 12:20:24 beaglebone msgd:0: hal_lib:17439:user
halg_exit:293 HAL: removing component 70 'hal_lib17439'
Feb 18 12:20:24 beaglebone msgd:0: hal_lib:17439:user
halg_exit:315 HAL: hal_errorcount()=0
Feb 18 12:20:24 beaglebone msgd:0: hal_lib:17439:user
halg_exit:316 HAL: _halerrno=0
Feb 18 12:20:25 beaglebone msgd:0: zeroconf: registered 'Log
service on beaglebone.local pid 17433' _machinekit._tcp 0 TXT
"uuid=a42c
8c6b-4025-4f83-ba28-dad21114744a"
"instance=18811c46-14a6-11e8-8e5e-84eb18e23a78" "service=log"
"dsn=ipc:///tmp/0.log.a42c8c6b-4025-4
f83-ba28-dad21114744a"
Feb 18 12:20:36 beaglebone rtapi:0: 4:rtapi_app:17438:user
pid=17438 flavor=rt-preempt gcc=6.3.0 20170516
git=v0.1~-----~57844e1
Feb 18 12:20:36 beaglebone rtapi:0: 4:rtapi_app:17438:user
hal_bb_gpio.so default iparms: ''
Feb 18 12:20:36 beaglebone rtapi:0: 4:rtapi_app:17438:user
halg_xinitfv:90 HAL: initializing component 'hal_bb_gpio'
type=1 arg1=0 ar
g2=0/0x0
Feb 18 12:20:36 beaglebone rtapi:0: 4:rtapi_app:17438:user
halg_pin_newfv:192 HAL: creating pin 'bb_gpio.p8.in-07' bit
OUT false
Feb 18 12:20:36 beaglebone rtapi:0: 4:rtapi_app:17438:user
halg_pin_newfv:192 HAL: creating pin 'bb_gpio.p8.in-07.invert'
bit IN fals
e
Feb 18 12:20:36 beaglebone rtapi:0: 1:rtapi_app:17438:user
hal_bb_gpio: ERROR: GPIO Port 2 is not enabled in device tree
That looks like it could be behind the error
Feb 18 12:20:36
beaglebone msgd:0: ulapi:17444:user _ulapi_init(): ulapi
rt-preempt v0.1~-----~57844e1 loaded
Feb 18 12:20:36 beaglebone msgd:0: ulapi:17444:user
halg_xinitfv:271 HAL: singleton component 'hal_lib17444' id=74
initialized
Feb 18 12:20:36 beaglebone msgd:0: hal_lib:17444:user --halcmd
loadrt hal_bb_gpio output_pins=816 input_pins=807
Feb 18 12:20:41 beaglebone msgd:0: hal_lib:17444:user
halg_exit:293 HAL: removing component 76 'halcmd17444'
Feb 18 12:20:41 beaglebone msgd:0: hal_lib:17444:user
ulapi_hal_lib_cleanup:235 HAL: lib_module_id=74
Feb 18 12:20:41 beaglebone msgd:0: hal_lib:17444:user
halg_exit:293 HAL: removing component 74 'hal_lib17444'
Feb 18 12:20:41 beaglebone msgd:0: hal_lib:17444:user
halg_exit:315 HAL: hal_errorcount()=0
Feb 18 12:20:41 beaglebone msgd:0: hal_lib:17444:user
halg_exit:316 HAL: _halerrno=0
machinekit@beaglebone:~/CRAMPS$
dmesg output:
...
[ 19.265972] IPv6: ADDRCONF(NETDEV_CHANGE):
eth0: link becomes ready
[ 20.159923] random: nonblocking pool is
initialized
[ 21.677988] [drm] Initialized pvr
1.14.3699939 20110701 on minor 0
[ 47.389851] bone_capemgr
bone_capemgr:
part_number 'cape-universalh', version 'N/A'
[ 47.389897] bone_capemgr
bone_capemgr:
slot #4: override
[ 47.389917] bone_capemgr
bone_capemgr:
Using override eeprom data at slot 4
[ 47.389937] bone_capemgr
bone_capemgr:
slot #4: 'Override Board Name,00A0,Override
Manuf,cape-universalh'
[ 47.549167] device-tree:
Duplicate name in ocp, renamed to "pruss@4a300000#1"
[ 47.782314] 48022000.serial: ttyS1 at MMIO 0x48022000
(irq = 193, base_baud = 3000000) is a 8250
[ 47.791485] 48024000.serial: ttyS2 at MMIO 0x48024000
(irq = 194, base_baud = 3000000) is a 8250
[ 47.794187] 481a8000.serial: ttyS4 at MMIO 0x481a8000
(irq = 195, base_baud = 3000000) is a 8250
[ 47.801619] 481aa000.serial: ttyS5 at MMIO 0x481aa000
(irq = 196, base_baud = 3000000) is a 8250
[ 47.836826] omap_i2c 4802a000.i2c: bus 1 rev0.11 at 100 kHz
[ 47.846468] omap2_mcspi 48030000.spi: chipselect 0 already in
use
[ 47.855568] spi_master spi1: spi_device register
error /ocp/spi@48030000/spi0channel@0
[ 47.879811] of_spi_notify: failed to create for
'/ocp/spi@48030000/spi0channel@0'
[ 47.896523] __of_changeset_entry_notify: notifier error
@/ocp/spi@48030000/spi0channel@0
[ 47.913074] omap2_mcspi 48030000.spi: chipselect 1 already in
use
[ 47.927620] spi_master spi1: spi_device register
error /ocp/spi@48030000/spi0channel@1
[ 47.947961] of_spi_notify: failed to create for
'/ocp/spi@48030000/spi0channel@1'
[ 47.965082] __of_changeset_entry_notify: notifier error
@/ocp/spi@48030000/spi0channel@1
[ 47.989772] omap2_mcspi 481a0000.spi: chipselect 0 already in
use
[ 48.003929] spi_master spi2: spi_device register
error /ocp/spi@481a0000/spi1channel@0
[ 48.017288] of_spi_notify: failed to create for
'/ocp/spi@481a0000/spi1channel@0'
[ 48.038626] __of_changeset_entry_notify: notifier error
@/ocp/spi@481a0000/spi1channel@0
[ 48.060288] omap2_mcspi 481a0000.spi: chipselect 1 already in
use
[ 48.068607] spi_master spi2: spi_device register
error /ocp/spi@481a0000/spi1channel@1
[ 48.089062] of_spi_notify: failed to create for
'/ocp/spi@481a0000/spi1channel@1'
[ 48.105140] __of_changeset_entry_notify: notifier error
@/ocp/spi@481a0000/spi1channel@1
[ 48.138830] c_can_platform
481cc000.can:
c_can_platform device registered (regs=fa1cc000, irq=205)
[ 48.150942] c_can_platform
481d0000.can:
c_can_platform device registered (regs=fa1d0000, irq=206)
[ 48.159152] bone_capemgr
bone_capemgr:
slot #4: dtbo 'cape-universalh-00A0.dtbo' loaded; overlay
id #0
[ 48.773581] Error: Driver 'ecap' is
already registered, aborting...
[ 48.785441] eqep 48300180.eqep: ver. 1.0
[ 48.801271] eqep 48302180.eqep: ver. 1.0
[ 48.849406] eqep 48304180.eqep: ver. 1.0
[ 492.490337] bone_capemgr
bone_capemgr:
part_number 'cape-bone-iio', version 'N/A'
[ 492.490385] bone_capemgr
bone_capemgr:
slot #5: override
[ 492.490404] bone_capemgr
bone_capemgr:
Using override eeprom data at slot 5
[ 492.490423] bone_capemgr
bone_capemgr:
slot #5: 'Override Board Name,00A0,Override
Manuf,cape-bone-iio'
[ 514.479517] bone_capemgr
bone_capemgr:
part_number 'cape-bone-iio', version 'N/A'
[ 514.479565] bone_capemgr
bone_capemgr:
slot #6: override
[ 514.479584] bone_capemgr
bone_capemgr:
Using override eeprom data at slot 6
[ 514.479603] bone_capemgr
bone_capemgr:
slot #6: 'Override Board Name,00A0,Override
Manuf,cape-bone-iio'
2018 m. vasaris 18 d., sekmadienis 14:17:04 UTC+2,
Schooner rašė:
On 18/02/18 12:01, Marius Alksnys wrote:
Line 28:
loadrt hal_bb_gpio output_pins=816,822,823,824,825,826,914,923,925
input_pins=807,808,809,810,817,911,913
I know nothing about BBB specifically
To debug it, use
$ DEBUG=5 realtime restart
$ halcmd loadrt hal_bb_gpio output_pins=816,822,823,824, 825,826,914,923,925
input_pins=807,808,809,810,817,911,913
to launch and look at /var/log/linuxcnc.log at the point
of failure
It will contain the rtapi error message prints
If you cannot do this because the whole thing relies upon
previously loaded hardware drivers etc, then run
$ DEBUG=5 machinekit <whatever>.ini
and look at the log after that fails
Also check dmesg in case of a GP fault or similar, albeit
I see no hint of that.
2018 m. vasaris 18 d., sekmadienis 13:56:18 UTC+2,
Schooner rašė:
On 18/02/18 11:37, Marius Alksnys wrote:
>
> CRAMPS.hal:28: insmod failed, returned -1:
Whatever you are trying to load at line 28 of your
hal file is what is
producing the error
>
>
> That dangling 'DEALER' socket error sometimes
shows up even in BB Black.
Don't worry about that.
Since we switched to the new zmq API, that comes
up when machinekit does
not shut down cleanly.
Something that used to be deleted automatically is
not now.
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