You are missing the name of the HAL driver. The loadrt command expects
a driver name, then the arguments. The error in your first command
shows the HAL system trying to load the HAL driver named:
"prucode=/usr/lib/linuxcnc/rt-preempt/hal_pru_generic"
...you need something like:
loadrt hal_pru_generic <options>
On 5/12/2023 1:06 PM, klemen dovrtel wrote:
Thank you for your reply,
I tried both options, but with no luck:
1. loadrt prucode=/usr/lib/linuxcnc/rt-preempt/hal_pru_generic pru=0
halname=hpg
returns
msgd:0 stopped
rtapi:0 stopped
rtapi_msgd command: /usr/libexec/linuxcnc/rtapi_msgd --instance=0
--rtmsglevel=1 --usrmsglevel=1 --debug=1 --halsize=524288
rtapi_app command: /usr/libexec/linuxcnc/rtapi_app_rt-preempt --instance=0
--debug=1
stat: No such file or directory
prutest.hal:6: insmod failed, returned -1:
do_load_cmd: dlopen:
prucode=/usr/lib/linuxcnc/rt-preempt/hal_pru_generic.so: cannot open shared
object file: No such file or directory
rpath=/usr/lib/linuxcnc/rt-preempt
2. loadrt prucode=/usr/lib/linuxcnc/rt-preempt/pru_generic.bin pru=0
halname=hpg
returns
msgd:0 stopped
rtapi:0 stopped
rtapi_msgd command: /usr/libexec/linuxcnc/rtapi_msgd --instance=0
--rtmsglevel=1 --usrmsglevel=1 --debug=1 --halsize=524288
rtapi_app command: /usr/libexec/linuxcnc/rtapi_app_rt-preempt --instance=0
--debug=1
stat: No such file or directory
prutest.hal:6: insmod failed, returned -1:
do_load_cmd: dlopen: prucode=/usr/lib/linuxcnc/rt-preempt/pru_generic.bin.so:
cannot open shared object file: No such file or directory
Regards
Klemen
On Fri, 12 May 2023 at 17:25, Charles Steinkuehler <char...@steinkuehler.net>
wrote:
Your output indicates dlopen is looking for "pru_generic.so" but your
filesystem only has "hal_pru_generic.so".
You need to fix the script(s) trying to load the PRU HAL module or make
a symlink or something so the file dlopen is looking for actually exists.
On 5/12/2023 9:38 AM, fogl wrote:
Hello everybody,
I am stuck with machinekit and pru. I am running a single line .hal file:
loadrt prucode=/usr/lib/linuxcnc/rt-preempt/pru_generic pru=0 halname=hpg
This returns:
msgd:0 stopped
rtapi:0 stopped
rtapi_msgd command: /usr/libexec/linuxcnc/rtapi_msgd --instance=0
--rtmsglevel=1 --usrmsglevel=1 --debug=1 --halsize=524288
rtapi_app command: /usr/libexec/linuxcnc/rtapi_app_rt-preempt
--instance=0
--debug=1
stat: No such file or directory
prutest.hal:6: insmod failed, returned -1:
do_load_cmd: dlopen: prucode=/usr/lib/linuxcnc/rt-preempt/pru_generic.so:
cannot open shared object file: No such file or directory
rpath=/usr/lib/linuxcnc/rt-preempt
Even though the file is actually there:
$ ls /usr/lib/linuxcnc/rt-preempt | grep pru
hal_pru.so
hal_pru_generic.so
hal_prudebug.so
pru_decamux.bin
pru_decamux.dbg
pru_generic.bin
pru_generic.dbg
This is my linuxcnc.log (export DEBUG=5):
May 12 14:19:23 beaglebone rtapi:0: do_load_cmd: dlopen:
prucode=/usr/lib/linuxcnc/rt-preempt/pru_generic.so: cannot open shared
object file:$
May 12 14:19:23 beaglebone rtapi:0: rpath=/usr/lib/linuxcnc/rt-preempt
May 12 14:19:23 beaglebone rtapi:0: 1:rtapi_app:4613:user do_load_cmd:
dlopen: prucode=/usr/lib/linuxcnc/rt-preempt/pru_generic.so: cannot op$
May 12 14:19:23 beaglebone rtapi:0: 1:rtapi_app:4613:user
rpath=/usr/lib/linuxcnc/rt-preempt
May 12 14:19:24 beaglebone msgd:0: rtapi_app exit detected - scheduled
shutdown
May 12 14:19:26 beaglebone msgd:0: msgd shutting down
May 12 14:28:07 beaglebone rtapi:0: do_load_cmd: dlopen:
prucode=/usr/lib/linuxcnc/rt-preempt/pru_generic.so: cannot open shared
object file:$
May 12 14:28:07 beaglebone rtapi:0: rpath=/usr/lib/linuxcnc/rt-preempt
May 12 14:28:07 beaglebone rtapi:0: 1:rtapi_app:4766:user do_load_cmd:
dlopen: prucode=/usr/lib/linuxcnc/rt-preempt/pru_generic.so: cannot op$
May 12 14:28:07 beaglebone rtapi:0: 1:rtapi_app:4766:user
rpath=/usr/lib/linuxcnc/rt-preempt
May 12 14:28:08 beaglebone msgd:0: rtapi_app exit detected - scheduled
shutdown
May 12 14:28:10 beaglebone msgd:0: msgd shutting down
$ uname -a
Linux beaglebone 4.19.120-bone-rt-r50 #1stretch PREEMPT RT Fri May 8
22:45:31 UTC 2020 armv7l GNU/Linux
Every help would be very much appreciated,
Regards,
Klemen
--
Charles Steinkuehler
char...@steinkuehler.net
--
Charles Steinkuehler
char...@steinkuehler.net
--
website: http://www.machinekit.io blog: http://blog.machinekit.io github:
https://github.com/machinekit
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