Bas,
I modified Xylotex.ini as follows:
#PRUBIN=xenomai/pru_generic.bin
PRUBIN=rt-preempt/pru_generic.bin
and Xylotex.hal as follows
#loadusr -w /home/machinekit/machinekit/configs/ARM.BeagleBone.Xylotex/setup.sh
loadusr -w ./setup.sh
#loadrt hal_bb_gpio output_pins=107,113,119,126,214
input_pins=109,110,114,118,241
loadrt hal_bb_gpio output_pins=807,811,812,813,815,816,819,914,915,923,913,911
input_pins=809,810,814,818
#loadrt [PRUCONF](DRIVER) prucode=$(HAL_RTMOD_DIR)/[PRUCONF](PRUBIN)
[PRUCONF](CONFIG)
loadrt [PRUCONF](DRIVER) prucode=$(LINUXCNC_HOME)/[PRUCONF](PRUBIN)
[PRUCONF](CONFIG) pru_period=25000
I just added "loadrt tp" before this run.
I am suspicious of some of the pin numbers for the step and dir pins. I don’t
know if the change in numbering scheme affects them or not.
Here is the output to the console from the last attempted run:
MACHINEKIT - 0.1
Machine configuration directory is
'/home/machinekit/machinekit/configs/ARM.BeagleBone.Xylotex'
Machine configuration file is 'Xylotex.ini'
Starting Machinekit...
rtapi_msgd command: /usr/libexec/linuxcnc/rtapi_msgd --instance=0
--rtmsglevel=5 --usrmsglevel=5 --halsize=524288
rtapi_app command: /usr/libexec/linuxcnc/rtapi_app_rt-preempt --instance=0
io started
<commandline>:0: Component 'iocontrol' ready
<commandline>:0: Program 'io' started
emc/iotask/ioControl.cc 768: can't load tool table.
halcmd loadusr io started
<commandline>:0: Component 'halui' ready
<commandline>:0: Program 'halui' started
Xylotex.hal:25: Program './setup.sh' finished
Xylotex.hal:31: Realtime module 'trivkins' loaded
Xylotex.hal:34: Realtime module 'tp' loaded
Xylotex.hal:37: Realtime module 'motmod' loaded
Xylotex.hal:41: Realtime module 'hal_bb_gpio' loaded
Xylotex.hal:44: 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...
<commandline>:0: Realtime threads stopped
<commandline>:0: Realtime module 'hal_bb_gpio' unloaded
<commandline>:0: Realtime module 'motmod' unloaded
<commandline>:0: Realtime module 'tp' unloaded
<commandline>:0: Realtime module 'trivkins' unloaded
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
Thanks,
Alan
Xylotex.hal
https://pastebin.com/0ypeNzV2 <https://pastebin.com/0ypeNzV2>
Xylotex.ini
https://pastebin.com/Kf3PYbx3 <https://pastebin.com/Kf3PYbx3>
linuxcnc.log
https://pastebin.com/uwJqtZLZ <https://pastebin.com/uwJqtZLZ>
> On Sep 1, 2018, at 2:08 AM, Bas de Bruijn <[email protected]> wrote:
>
>
>
> On 1 Sep 2018, at 10:13, "[email protected] <mailto:[email protected]>"
> <[email protected] <mailto:[email protected]>> wrote:
>
>> You haven't even said which config you are running, we can't guess that it
>> was the last, amongst many you have mentioned.
>>
>> Please attach YOUR copies of all the hal files and the ini file
>> (in case you have done something stupid like editing it with microsoft word)
>>
>> Open a terminal, run 'sudo > /var/log/linuxcnc.log' then run 'export
>> DEBUG=5'
>> Then start machinekit from the same terminal session.
>>
>> Then attach the whole resultant linuxcnc.log too.
>>
>> If an error mentioning 'segmentation fault' or 'general protection fault' is
>> displayed,
>> attach dmsg (run 'dmsg > dmsg.txt')
>>
>> I have an inkling as to what this error is, but am not going to speculate.
>>
>>
>> On 31/08/18 23:15, mugginsac wrote:
>>> It looks like it may be failing on insmod of motmod.
>>>
>>> This is the line in the Xylotex.hal file that the message points to:
>>> loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD
>>> num_joints=[TRAJ]AXES
>
> Without more info: I think your problem is the same as another poster a few
> weeks ago. You have not loaded trivkins kinematics and haven’t told the
> trajectory planner which kinematics to use.
>
> See this thread my comment on July 27th
> https://groups.google.com/forum/m/#!topic/machinekit/27N_yfOMP6E
> <https://groups.google.com/forum/m/#!topic/machinekit/27N_yfOMP6E>
>
>
>
>>>
>>> --
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>>> http://blog.machinekit.io <http://blog.machinekit.io/> github:
>>> https://github.com/machinekit <https://github.com/machinekit>
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>>
>>
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