Attached. In the log you can see the message I added in the hal_spi rtapi_app_main.
pi@realtimepi:~ $ halcmd loadrt hal_spi <commandline>:0: insmod failed, returned -1: rtapi_rpc(): reply timeout See /var/log/linuxcnc.log for more information. pi@realtimepi:~ $ halcmd show all halcmd: cant connect to rtapi_app: -1 (uri= uuid=a42c8c6b-4025-4f83-ba28- dad21114744a): rtapi_rpc(): reply timeout E: 18-09-23 15:04:20 dangling 'DEALER' socket created at hal/utils/ halcmd_rtapiapp.cc:281 Il giorno domenica 23 settembre 2018 16:43:25 UTC+2, Schooner ha scritto: > > On 23/09/18 15:16, mngr wrote: > > > > Il giorno domenica 23 settembre 2018 15:34:58 UTC+2, Schooner ha scritto: >> >> It's not about doubt >> cat /proc/cpuinfo >> will tell you whether you have BCM2835 >> > > Thanks didn't know about that! on the rpi is written 2837, bit cpuinfo > says 2835! > So at least the part that writes in the SPI registers should work. > > I tried to add some debug message in hal_spi rtapi_app_main function, but > I don't see them anywhere, I have exported DEBUG=5, and maximized the DEBUG > value in the ini file. I am looking in /var/log/linuxcnc.log and in the > terminal output. > I have tried with different msg types > > rtapi_print_msg(RTAPI_MSG_ERR, ": hal_spi init!!!!err\n"); > rtapi_print_msg(RTAPI_MSG_DBG, ": hal_spi init!!!!dbg\n"); > rtapi_print_msg(RTAPI_MSG_ALL, ": hal_spi init!!!!all\n"); > > > There are plenty of error messages in the driver already. I did not see > any in the log however which makes me > suspect it was never loaded. > If insmod errors it should say why however and that was not in there > either. > > Instead of complicating things with loading a non working config, just to > load the driver, try this in a terminal on your Pi > > sudo > /var/log/linuxcnc.log (you may have to run this a root, it should > zero the log) > DEBUG=5 realtime restart > halcmd loadrt hal_spi > halcmd show all > halrun -U > > That should give you a short log and if it errors loading hal_spi will be > easier to trace through > > In addition to the log do > > dmesg | tail > dmesg.log > > and attach that log too > > > If you do and the driver should work, we can try to find out why it isn't. >> >> If you don't, what the differences are from the BCM2837 for example, I >> have no idea >> >> I am guessing you are trying to generate steps using the SPI, that is an >> area outside my experience >> but there seems to be quite a bit about it on the RPi forums >> > > Actually, I tought that hal_spi is used to write something to a MCU that > will control the motor generating steps. > I think it sends the commanded velocity and the MCU updates the PWM. > I am not sure of those things, though > > On 23/09/18 13:50, mngr wrote: > > > > Il giorno domenica 23 settembre 2018 13:41:42 UTC+2, Schooner ha scritto: >> >> The log does not show what your earlier email showed, there is not >> mention of an error from insmod >> >> I think you need to get right back to basics. >> >> This driver was written 5 years ago and is specific to the BCM2835 chip >> It can only have been meant to support Pi v1 & v2 and maybe not all of >> them, as they kept changing versions and hardware, >> because nothing of a higher version had been released then >> >> Does this driver support your Pi? >> > > In case of doubt I gave a look to wiringPi, it calls ioctl and write/reads > from /dev/spidev. > Is calling that syscall from a hal driver a sane thing to do? (It is for > example used here > <https://github.com/machinekit/machinekit/blob/master/src/hal/drivers/hal_p260c.c> > ) > > > >> Regards DEBUG, the ini file bit was explained by the text you deleted >> from yours. >> It takes a hexidecimal number up to 0x7FFFFFFF, the output is to terminal >> and the output is from NML messaging >> >> The exported DEBUG=5 is the debug setting for logging and relates to the >> rtapi system, not NML >> > > Thanks for the explanation, Schooner > > >> On 23/09/18 11:07, mngr wrote: >> >> >> >> Il giorno venerdì 21 settembre 2018 16:44:50 UTC+2, Schooner ha scritto: >>> >>> You are not running with DEBUG=5 >>> >> >> I edited DEBUG = 5 in ini file(in EMC section), nothing changed, then I >> exported DEBUG=5 in bash. what is the difference? what is the deBUG setting >> in the ini file for? >> >> Attached you can find the ini and the hal file, I edited the CRAMPS >> configuration, basically removing everything relative to the PRU, and >> adding loadrt hal_spi in CRAMPS.hal (and leaving one only axis) >> linuxcnc_old.log is everything before adding loadrt hal_spi. >> linuxcnc.log is the execution with loadrt hal_spi and termila_output >> shows what has been written, I attached it because it talks about >> rtapi_rpc(): reply timeout, that is not mentioned in the log >> >> pi@realtimepi:~ $ uname -a >> Linux realtimepi 4.14.66-rt40-v7 #2 SMP PREEMPT RT Mon Sep 17 21:15:46 >> UTC 2018 armv7l GNU/Linux >> >> >> >> >>> Do so and your linuxcnc.log will have info as to what failed. >>> >>> Also as I said in my last reply, it does not look as though you have a >>> realtime kernel, irrespective of what you have named your pi. >>> >>> On 21/09/18 15:31, mngr wrote: >>> >>> Hi everyone, >>> >>> I am sorry to post another noob question here, but, >>> >>> I am trying to use the hal module hal_spi, shortly I tried with >>> loadrt hal_spi >>> in the hal file, but >>> CRAMPS.hal:15: insmod failed, returned -1: >>> rtapi_rpc(): reply timeout >>> See /var/log/linuxcnc.log for more information. >>> >>> in the log >>> Sep 21 14:22:09 realtimepi msgd:0: startup pid=5979 flavor=posix rtlevel >>> =1 usrlevel=1 halsize=524288 shm=Posix cc=gcc 6.3.0 20170516 version= >>> unknown >>> Sep 21 14:22:09 realtimepi msgd:0: ØMQ=4.2.1 czmq=4.0.2 protobuf=3.0.0 >>> atomics=gcc intrinsics libwebsockets=2.0.3 >>> Sep 21 14:22:09 realtimepi msgd:0: configured: sha=b87920504 >>> Sep 21 14:22:09 realtimepi msgd:0: built: Sep 18 2018 16:43:17 sha= >>> b87920504 >>> Sep 21 14:22:09 realtimepi msgd:0: register_stuff: actual hostname as >>> announced by avahi='realtimepi.local' >>> Sep 21 14:22:09 realtimepi msgd:0: zeroconf: registering: 'Log service >>> on realtimepi.local pid 5979' >>> Sep 21 14:22:10 realtimepi rtapi:0: rtapi_msgd went away, exiting >>> Sep 21 14:22:10 realtimepi msgd:0: zeroconf: registered 'Log service on >>> realtimepi.local pid 5979' _machinekit._tcp 0 TXT >>> "uuid=a42c8c6b-4025-4f83-ba28-dad21114744a" >>> "instance=b9c730a2-bda9-11e8-bcc3-b827eb4bcf42" "service=log" >>> "dsn=ipc:///tmp/0.log.a42c8c6b-4025-4f83-ba28-dad21114744a" >>> >>> I tried launching machinekit without it and adding it later using halcmd >>> loadrt hal_spi, but with similar results >>> >>> >>> should I give it some arguments? I don't know how to understand how to >>> write them from the code... >>> Maybe the module is old and has lost some compatibility? >>> >>> right now i am executing from >>> Linux realtimepi 4.14.69-v7+ #1141 SMP Mon Sep 10 15:26:29 BST 2018 >>> armv7l GNU/Linux >>> Debian Stretch, Machinekit compiled from source >>> maybe should I explicit the path to hal_spi? >>> >>> mngr >>> -- >>> 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 machinekit+...@googlegroups.com. >>> Visit this group at https://groups.google.com/group/machinekit. >>> For more options, visit https://groups.google.com/d/optout. >>> >>> >>> -- >> 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 machinekit+...@googlegroups.com. >> Visit this group at https://groups.google.com/group/machinekit. >> For more options, visit https://groups.google.com/d/optout. >> >> >> -- > 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 machinekit+...@googlegroups.com. > Visit this group at https://groups.google.com/group/machinekit. > For more options, visit https://groups.google.com/d/optout. > > > -- > 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 machinekit+...@googlegroups.com <javascript:>. > Visit this group at https://groups.google.com/group/machinekit. > For more options, visit https://groups.google.com/d/optout. > > > -- 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 machinekit+unsubscr...@googlegroups.com. Visit this group at https://groups.google.com/group/machinekit. For more options, visit https://groups.google.com/d/optout.
[ 50.483194] Voltage normalised (0x00000000) [ 123.284079] Under-voltage detected! (0x00050005) [ 127.444067] Voltage normalised (0x00000000) [ 320.883333] rpi_firmware_get_throttled: 3 callbacks suppressed [ 320.883341] Under-voltage detected! (0x00050005) [ 327.123322] rpi_firmware_get_throttled: 3 callbacks suppressed [ 327.123329] Voltage normalised (0x00000000) [ 356.243296] Under-voltage detected! (0x00050005) [ 364.563218] Voltage normalised (0x00000000) [ 418.643144] Under-voltage detected! (0x00050005)
additional human log, just booted Sep 23 15:02:16 realtimepi msgd:0: startup pid=695 flavor=rt-preempt rtlevel=5 usrlevel=5 halsize=524288 shm=Posix cc=gcc 6.3.0 20170516 version=unknown Sep 23 15:02:16 realtimepi msgd:0: ØMQ=4.2.1 czmq=4.0.2 protobuf=3.0.0 atomics=gcc intrinsics libwebsockets=2.0.3 Sep 23 15:02:16 realtimepi msgd:0: configured: sha=f63b8a215 Sep 23 15:02:16 realtimepi msgd:0: built: Sep 22 2018 08:06:40 sha=f63b8a215 Sep 23 15:02:16 realtimepi msgd:0: register_stuff: actual hostname as announced by avahi='realtimepi.local' Sep 23 15:02:16 realtimepi msgd:0: zeroconf: registering: 'Log service on realtimepi.local pid 695' Sep 23 15:02:16 realtimepi rtapi:0: 2:rtapi_app:701:user rtapi:0: cannot create core dumps - /proc/sys/fs/suid_dumpable contains 0 Sep 23 15:02:16 realtimepi rtapi:0: 2:rtapi_app:701:user you might have to run 'echo 1 > /proc/sys/fs/suid_dumpable' as root to enable rtapi_app core dumps Sep 23 15:02:16 realtimepi rtapi:0: 4:rtapi_app:701:user rtapi.so default iparms: '' Sep 23 15:02:16 realtimepi rtapi:0: 4:rtapi_app:701:user RTAPI:0 rt-preempt unknown init Sep 23 15:02:16 realtimepi rtapi:0: 4:rtapi_app:701:user rtapi: loaded from rtapi.so Sep 23 15:02:16 realtimepi rtapi:0: 4:rtapi_app:701:user hal_lib.so default iparms: '' Sep 23 15:02:16 realtimepi rtapi:0: 4:rtapi_app:701:user rtapi_app_main:195 HAL: initializing RT hal_lib support Sep 23 15:02:16 realtimepi rtapi:0: 4:rtapi_app:701:user halg_xinitfv:90 HAL: initializing component 'hal_lib' type=4 arg1=0 arg2=0/0x0 Sep 23 15:02:16 realtimepi rtapi:0: 4:rtapi_app:701:user hal_heap_addmem:58 HAL: extending arena by 262144 bytes Sep 23 15:02:16 realtimepi rtapi:0: 4:rtapi_app:701:user halg_export_xfunctfv:85 HAL: exporting function 'newinst' type 2 fp=0 owner=66 Sep 23 15:02:16 realtimepi rtapi:0: 4:rtapi_app:701:user halg_export_xfunctfv:85 HAL: exporting function 'delinst' type 2 fp=0 owner=66 Sep 23 15:02:16 realtimepi rtapi:0: 4:rtapi_app:701:user halg_xinitfv:271 HAL: singleton component 'hal_lib' id=66 initialized Sep 23 15:02:16 realtimepi rtapi:0: 4:rtapi_app:701:user rtapi_app_main:199 HAL: RT hal_lib support initialized rc=66 Sep 23 15:02:16 realtimepi rtapi:0: 4:rtapi_app:701:user hal_lib: loaded from hal_lib.so Sep 23 15:02:16 realtimepi rtapi:0: 4:rtapi_app:701:user accepting commands at ipc:///tmp/0.rtapi.a42c8c6b-4025-4f83-ba28-dad21114744a Sep 23 15:02:16 realtimepi rtapi:0: 3:rtapi_app:701:user rtapi_app:0 ready flavor=rt-preempt gcc=6.3.0 20170516 git=unknown Sep 23 15:02:16 realtimepi rtapi:0: 4:rtapi_app:701:user pid=701 flavor=rt-preempt gcc=6.3.0 20170516 git=unknown Sep 23 15:02:16 realtimepi rtapi:0: 4:rtapi_app:701:user pid=701 flavor=rt-preempt gcc=6.3.0 20170516 git=unknown Sep 23 15:02:17 realtimepi msgd:0: ulapi:702:user _ulapi_init(): ulapi rt-preempt unknown loaded Sep 23 15:02:17 realtimepi msgd:0: ulapi:702:user halg_xinitfv:271 HAL: singleton component 'hal_lib702' id=70 initialized Sep 23 15:02:17 realtimepi msgd:0: hal_lib:702:user --halcmd ping Sep 23 15:02:17 realtimepi msgd:0: hal_lib:702:user halg_exit:293 HAL: removing component 72 'halcmd702' Sep 23 15:02:17 realtimepi msgd:0: hal_lib:702:user ulapi_hal_lib_cleanup:235 HAL: lib_module_id=70 Sep 23 15:02:17 realtimepi msgd:0: hal_lib:702:user halg_exit:293 HAL: removing component 70 'hal_lib702' Sep 23 15:02:17 realtimepi msgd:0: hal_lib:702:user halg_exit:315 HAL: hal_errorcount()=0 Sep 23 15:02:17 realtimepi msgd:0: hal_lib:702:user halg_exit:316 HAL: _halerrno=0 Sep 23 15:02:17 realtimepi msgd:0: zeroconf: registered 'Log service on realtimepi.local pid 695' _machinekit._tcp 0 TXT "uuid=a42c8c6b-4025-4f83-ba28-dad21114744a" "instance=a90e4b80-bf41-11e8-8b78-b827eb4bcf42" "service=log" "dsn=ipc:///tmp/0.log.a42c8c6b-4025-4f83-ba28-dad21114744a" additional human log, realtime restarted Sep 23 15:03:17 realtimepi rtapi:0: 4:rtapi_app:701:user pid=701 flavor=rt-preempt gcc=6.3.0 20170516 git=unknown Sep 23 15:03:17 realtimepi msgd:0: ulapi:710:user _ulapi_init(): ulapi rt-preempt unknown loaded Sep 23 15:03:17 realtimepi msgd:0: ulapi:710:user halg_xinitfv:271 HAL: singleton component 'hal_lib710' id=74 initialized Sep 23 15:03:17 realtimepi msgd:0: hal_lib:710:user --halcmd loadrt hal_spi Sep 23 15:03:17 realtimepi rtapi:0: 4:rtapi_app:701:user hal_spi.so default iparms: '' Sep 23 15:03:17 realtimepi rtapi:0: 1:rtapi_app:701:user : hal_spi init!!!!err Sep 23 15:03:17 realtimepi rtapi:0: 4:rtapi_app:701:user : hal_spi init!!!!dbg Sep 23 15:03:17 realtimepi rtapi:0: 4:rtapi_app:701:user halg_xinitfv:90 HAL: initializing component 'hal_spi' type=1 arg1=0 arg2=0/0x0 Sep 23 15:03:22 realtimepi msgd:0: hal_lib:710:user halg_exit:293 HAL: removing component 76 'halcmd710' Sep 23 15:03:22 realtimepi msgd:0: hal_lib:710:user ulapi_hal_lib_cleanup:235 HAL: lib_module_id=74 Sep 23 15:03:22 realtimepi msgd:0: hal_lib:710:user halg_exit:293 HAL: removing component 74 'hal_lib710' Sep 23 15:03:22 realtimepi msgd:0: hal_lib:710:user halg_exit:315 HAL: hal_errorcount()=0 Sep 23 15:03:22 realtimepi msgd:0: hal_lib:710:user halg_exit:316 HAL: _halerrno=0 additional human log, hal_spi loaded
