On Tuesday, May 21, 2019 at 6:30:32 AM UTC+8, mlampert wrote:
>
> I created an issue, hope I got the description right:
> https://github.com/machinekit/machinekit/issues/1481
>
Thanks, Markus and Charles. I put in a PR:
https://github.com/machinekit/machinekit/pull/1482
Sorry I didn't test the original patch more rigorously. Seems my
super-simple Goldibox HAL config didn't use any GPIO inputs!
John
>
> On Mon, 20 May 2019 14:39:49 -0700
> markus <[email protected] <javascript:>> wrote:
>
> > Yay - that does work, it is required to specify the board though:
> >
> > markus@pocketbeagle:~/machinekit/configs/infinity$ halrun
> > msgd:0 stopped
> > rtapi:0 stopped
> > rtapi_msgd command: /usr/libexec/linuxcnc/rtapi_msgd --instance=0
> > --rtmsglevel=1 --usrmsglevel=1 --halsize=524288 rtapi_app
> > command: /usr/libexec/linuxcnc/rtapi_app_rt-preempt --instance=0
> > halcmd: loadrt hal_bb_gpio output_pins=201 <stdin>:1: insmod failed,
> > returned -1: rtapi_app_main(hal_bb_gpio): -1 Operation not permitted
> >
> > halcmd: loadrt hal_bb_gpio board=PocketBeagle output_pins=201
> > halcmd:
> >
> >
> >
> >
> > On Mon, 20 May 2019 16:24:59 -0500
> > Charles Steinkuehler <[email protected] <javascript:>> wrote:
> >
> > > Hmm...looking at the code it appears the output pins have a
> > > conditional for the pin numbering fixup:
> > >
> > >
> https://github.com/machinekit/machinekit/blob/master/src/hal/drivers/hal_bb_gpio/hal_bb_gpio.c#L365-L370
>
> > >
> > > ...that's missing for the input pins:
> > >
> > >
> https://github.com/machinekit/machinekit/blob/master/src/hal/drivers/hal_bb_gpio/hal_bb_gpio.c#L272-L275
>
> > >
> > > Combined with the legacy use of 1xx and 2xx for the BeagleBone pin
> > > numbers (which is why the fixup exists in the first place) it looks
> > > like that's breaking you pin numbering scheme.
> > >
> > > Can you try with just output pins and see if that works?
> > >
> > >
> > > On 5/20/2019 4:06 PM, markus wrote:
> > > > That actually is the problem - the driver takes the p1 and p2 pins
> > > > and uses them as p8 and p9 pins, this is the excerpt from the hal
> > > > file that I used:
> > > >
> > > > # load low-level drivers
> > > > loadrt hal_bb_gpio board=PocketBeagle input_pins=201,202,203,204
> > > > output_pins=217,227,228,229,230,231,232 loadrt [PRUCONF](DRIVER)
> > > > prucode=$(HAL_RTMOD_DIR)/[PRUCONF](PRUBIN) [PRUCONF](CONFIG)
> > > >
> > > > Same thing happens if I do it manually with halrun - and it
> > > > complains about the first pin in the command line, so if I remove
> > > > 201 it complains about 902 not being valid.
> > > >
> > > >
> > > > On Mon, 20 May 2019 15:55:37 -0500
> > > > Charles Steinkuehler <[email protected] <javascript:>> wrote:
> > > >
> > > >> On 5/20/2019 3:36 PM, markus wrote:
> > > >>> Thanks for the clarification - much appreciated.
> > > >>>
> > > >>> It seems the driver is ignoring the parameter though. And I get
> > > >>> the same result. From linuxcnc.log:
> > > >>
> > > >> Look closer, it's not the same result.
> > > >>
> > > >>> May 20 00:07:37 pocketbeagle msgd:0: startup pid=1376
> > > >>> flavor=rt-preempt rtlevel=1 usrlevel=1 halsize=524288 shm=Posix
> > > >>> cc=gcc 6.3.0 20170516 version=v0.1~-----~355496b May 20
> > > >>> 00:07:37 pocketbeagle msgd:0: ØMQ=4.2.1 czmq=4.0.2
> > > >>> protobuf=3.0.0 atomics=gcc intrinsics libwebsockets=2.0.3
> > > >>> May 20 00:07:37 pocketbeagle msgd:0: configured: sha=355496b
> > > >>> May 20 00:07:37 pocketbeagle msgd:0: built: Mar 14 2019
> > > >>> 10:47:55 sha=355496b May 20 00:07:37 pocketbeagle msgd:0:
> > > >>> register_stuff: actual hostname as announced by
> > > >>> avahi='pocketbeagle.local' May 20 00:07:37 pocketbeagle msgd:0:
> > > >>> zeroconf: registering: 'Log service on pocketbeagle.local pid
> > > >>> 1376' May 20 00:07:38 pocketbeagle msgd:0: zeroconf: registered
> > > >>> 'Log service on pocketbeagle.local pid 1376' _machinekit._tcp
> > > >>> 49152 TXT "uuid=4e7e123c-1726-4351-bdfc-eba93047fb35"
> > > >>> "instance=f2ce6258-7acd-11e9-aea4-606405e00475" "service=log"
> > > >>> "dsn=tcp://pocketbeagle.local:49152" May 20 00:07:39
> > > >>> pocketbeagle rtapi:0: 1:rtapi_app:1381:user hal_bb_gpio: ERROR:
> > > >>> invalid pin number '901'. Valid pins are 101-136 and
> > > >>> 201-236.
> > > >>
> > > >> The P8/P9 headers do not exist on the PocketBone. Try using
> > > >> legal pin numbers: 101-136 and 201-236
> > > >>
> > > >
> > >
> > >
> >
>
>
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