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Re: [Machinekit] CoreXY 3D printer build
Hi! I recently encountered a similar problem and found a great option. 3D Printers from epitum3d.com are ideal for working with engineering plastics. They have high-quality assembly, and the models provide accurate printing of even complex parts. The peculiarity is that the finished products are obtained with a very smooth surface, so there is practically no need for finishing. Plus, the price is quite adequate for this level of capabilities. понедельник, 16 февраля 2015 г. в 15:59:03 UTC+2, viestur...@gmail.com: > > > On Monday, February 16, 2015 at 7:27:10 AM UTC+2, Ryan Press wrote: >> >> >> It's kinda disappointing that nobody could take a couple minutes to >> reply, but I know you guys are busy. I could post to the LinuxCNC list but >> I imagine they're not too excited about supporting this fork. >> > > It is kinda disappointing that there are so few corexy style machines, > driven by Machinekit/LinuxCNC and so the number of users actually having > any experience with that is not bigger :) > For example, my corexy build 2 ago finally reached "linear guides, belts > and motors are assembled" stage, I have no idea about further progress with > electronics as there are more urgent projects, so regarding your questions, > I have not yet tried anything to drive corexy with Machinekits, so I have > no suggestions yet, how to solve these things. > What I am trying to say is that lack of answers should not be taken > personally. it might be that you are one of first users that encounter such > things _and_ wants to correct them instead of just ignoring due to lack of > ability to solve (speaking for myself here with regards to ignoring > inadequate soft limits due to strange kinematics of machine). > > >> Anyway I have solved my problems in a different way. Rather than do the >> CoreXY calculation in the kinematics, I have done it in the HAL chain. In >> this way everything works as a normal XY stage and there is nothing funny >> with the jogging or the limits. This also has the advantage of not needing >> anything outside of trunk. >> > > Thank you for sharing! > > Viesturs > -- 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. To view this discussion visit https://groups.google.com/d/msgid/machinekit/05c45c91-915a-451d-a459-5f6a4c23e5d2n%40googlegroups.com.
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[Machinekit] Building machinekit-hal using buildroot
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[Machinekit] Virtual Bouzouki Kontakt Free Download
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[Machinekit] Connectify Hotspot Pro 2019 Crack License Key [win Mac]
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[Machinekit] Download Crack For Need For Speed Most Wanted 2
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[Machinekit] Re: Encoder signals from servo to Beaglebone Black
I got it working. At least with X axis. I have to do some pid and servo tuning, but at least the position feedback is working. In the .ini file I have: CONFIG=pru=0 num_stepgens=3 num_encoders=3 disabled=0 and in .hal file: setp hpg.encoder.00.chan.00.A-pin 7 setp hpg.encoder.00.chan.00.B-pin 5 setp hpg.encoder.00.chan.00.scale [AXIS_0]ENCODER_SCALE net motor.00.pos-fb <= hpg.encoder.00.chan.00.position axis.0.motor-pos-fb pid.0.feedback And I didn't understand at first where I can get the number (A-pin 7 and B-pin 5). They can be found in the pinmux.ods file (https://github.com/cdsteinkuehler/beaglebone-black-pinmux/blob/hal_pru_generic/pinmux.ods) from column K A P9:25 -> pr1_pru0_pru_r31_1 -> 1 B P9:27 -> pr1_pru0_pru_r31_5 -> 5 lauantai 18. marraskuuta 2023 klo 17.37.50 UTC+2 cdstein...@gmail.com kirjoitti: > By default, the step/dir pins use GPIO access which is valid for either > PRU core. The encoder signals, however, need to be direct PRU inputs, so > the pins chosen and the pinmux setup will need to be valid for the specific > PRU core you choose to run the driver. You setup the pin multiplexing > outside of Machinekit/HAL, typically with a device-tree overlay, or the > universal pinmux overlay and config-pin utility. > > Some details on pin selection can be found in the PRU driver man page: > > https://www.machinekit.io/docs/man/man9/hal_pru_generic/ > > On Friday, November 17, 2023 at 3:25:37 AM UTC-6 Antti wrote: > >> Hello >> >> I have made my DIY CNC milling machine with BBB and DIY cape. I used >> ARM.BeagleBone.Xylotex setup as base and modified that to work with my >> machine. >> I used old Omron servo drivers and motors with DIR and STEP signals. It >> kinda works but now I'd like to add feedback signals from servos to BBB >> (2048 pls/rev). >> >> So there is quadrature signals from X, Y and Z. I'm planning to use these >> pins P9:25, P9:27, P9:28, P9:29, P9:30, P9:31 >> I have understood that these pins are in PRU0 and first I have to config >> the those as "pruin" in setup.sh file? >> >> Then the ini-file now: >> [PRUCONF] >> DRIVER=hal_pru_generic >> CONFIG=pru=1 num_stepgens=3 >> PRUBIN=xenomai/pru_generic.bin >> >> so can I change it to: >> CONFIG=pru=0 num_stepgens=3 num_encoders=3 >> >> And how to I do the HAL wiring? >> >> Here is the pins that are in use now: >> P8.07 out # gpio2.2 Enable System >> P8.10 in # gpio2.4 XLIM >> P8.11 out # gpio1.13 X_Dir >> P8.12 out # gpio1.12 X_Step >> P8.13 out # gpio0.23 PWM0/SPINDLE >> P8.14 in # gpio0.26 YLIM >> P8.15 out # gpio1.15 Y_Dir >> P8.16 out # gpio1.14 Y_Step >> P8.18 in # gpio2.1 ZLIM >> P9.15 out # gpio1.16 Z_Step >> P9.23 out # gpio1.17 Z_Dir >> P8.09 in # gpio2.5 STOPin >> Are these step/dir signals used by PRU 1? Or can I use these with PRU 0? >> >> -- 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. To view this discussion on the web visit https://groups.google.com/d/msgid/machinekit/99a5241c-0209-41d5-b809-63f6a27c60fbn%40googlegroups.com.
[Machinekit] Re: Encoder signals from servo to Beaglebone Black
By default, the step/dir pins use GPIO access which is valid for either PRU core. The encoder signals, however, need to be direct PRU inputs, so the pins chosen and the pinmux setup will need to be valid for the specific PRU core you choose to run the driver. You setup the pin multiplexing outside of Machinekit/HAL, typically with a device-tree overlay, or the universal pinmux overlay and config-pin utility. Some details on pin selection can be found in the PRU driver man page: https://www.machinekit.io/docs/man/man9/hal_pru_generic/ On Friday, November 17, 2023 at 3:25:37 AM UTC-6 Antti wrote: > Hello > > I have made my DIY CNC milling machine with BBB and DIY cape. I used > ARM.BeagleBone.Xylotex setup as base and modified that to work with my > machine. > I used old Omron servo drivers and motors with DIR and STEP signals. It > kinda works but now I'd like to add feedback signals from servos to BBB > (2048 pls/rev). > > So there is quadrature signals from X, Y and Z. I'm planning to use these > pins P9:25, P9:27, P9:28, P9:29, P9:30, P9:31 > I have understood that these pins are in PRU0 and first I have to config > the those as "pruin" in setup.sh file? > > Then the ini-file now: > [PRUCONF] > DRIVER=hal_pru_generic > CONFIG=pru=1 num_stepgens=3 > PRUBIN=xenomai/pru_generic.bin > > so can I change it to: > CONFIG=pru=0 num_stepgens=3 num_encoders=3 > > And how to I do the HAL wiring? > > Here is the pins that are in use now: > P8.07 out # gpio2.2 Enable System > P8.10 in # gpio2.4 XLIM > P8.11 out # gpio1.13 X_Dir > P8.12 out # gpio1.12 X_Step > P8.13 out # gpio0.23 PWM0/SPINDLE > P8.14 in # gpio0.26 YLIM > P8.15 out # gpio1.15 Y_Dir > P8.16 out # gpio1.14 Y_Step > P8.18 in # gpio2.1 ZLIM > P9.15 out # gpio1.16 Z_Step > P9.23 out # gpio1.17 Z_Dir > P8.09 in # gpio2.5 STOPin > Are these step/dir signals used by PRU 1? Or can I use these with PRU 0? > > -- 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. To view this discussion on the web visit https://groups.google.com/d/msgid/machinekit/4321a4f9-b6dc-4148-9459-4af4c8d6ef37n%40googlegroups.com.
[Machinekit] Encoder signals from servo to Beaglebone Black
Hello I have made my DIY CNC milling machine with BBB and DIY cape. I used ARM.BeagleBone.Xylotex setup as base and modified that to work with my machine. I used old Omron servo drivers and motors with DIR and STEP signals. It kinda works but now I'd like to add feedback signals from servos to BBB (2048 pls/rev). So there is quadrature signals from X, Y and Z. I'm planning to use these pins P9:25, P9:27, P9:28, P9:29, P9:30, P9:31 I have understood that these pins are in PRU0 and first I have to config the those as "pruin" in setup.sh file? Then the ini-file now: [PRUCONF] DRIVER=hal_pru_generic CONFIG=pru=1 num_stepgens=3 PRUBIN=xenomai/pru_generic.bin so can I change it to: CONFIG=pru=0 num_stepgens=3 num_encoders=3 And how to I do the HAL wiring? Here is the pins that are in use now: P8.07 out # gpio2.2 Enable System P8.10 in # gpio2.4 XLIM P8.11 out # gpio1.13 X_Dir P8.12 out # gpio1.12 X_Step P8.13 out # gpio0.23 PWM0/SPINDLE P8.14 in # gpio0.26 YLIM P8.15 out # gpio1.15 Y_Dir P8.16 out # gpio1.14 Y_Step P8.18 in # gpio2.1 ZLIM P9.15 out # gpio1.16 Z_Step P9.23 out # gpio1.17 Z_Dir P8.09 in # gpio2.5 STOPin Are these step/dir signals used by PRU 1? Or can I use these with PRU 0? -- 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. To view this discussion on the web visit https://groups.google.com/d/msgid/machinekit/19557542-60cf-4f32-9876-b09a99b55525n%40googlegroups.com.
[Machinekit] Hal Library for C++ Qt Creator project
Hello everyone. I am developing my own application in Qt Creator in C++. Before this, I worked with the HAL library from LinuxCNC. However, I needed the function hal_create_thread. But I don't understand how to connect it because it's not in the library (LIBS += -L/home/armada/linuxcnc-dev/lib/ -llinuxcnchal). Everything else is there, like hal_init etc. Maybe it is set in another library or is not available in the final build for the user. I noticed Machinekit-HAL, there is a similar library, but in the header file there is also a function (hal_create_xthread) that is not present in LinuxCNC at all, but it would be interesting for me. As it would be nice to distribute processes on different cores of the processor. I seemed to have built Machinekit-HAL both locally and globally, and also installed the ready one from the repository. But I can't find the library to connect it to my project, i.e. even hal_init doesn't work from Machinekit-HAL. The question is how to properly attach the library to the C++ qmake project. With LinuxCNC I did it like this: #LIBS += -llinuxcnchal and the function hal_init, but hal_create_thread did not work. If anyone knows how to do this with Machinekit-HAL, I would be grateful. -- 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. To view this discussion on the web visit https://groups.google.com/d/msgid/machinekit/bda69908-524d-4b69-be2f-6bdcb9750516n%40googlegroups.com.
[Machinekit] machinekit + opencv
Hello everybody, Did anybody tried to install opencv on the machinekit lately. I tried to install it, but i get all kind of missing dependency error. What is the problem with opencv, would installation of an older opencv version solve this? Regards Klemen $ uname -a Linux beaglebone 4.19.120-bone-rt-r50 #1stretch PREEMPT RT Fri May 8 22:45:31 UTC 2020 armv7l GNU/Linux $ sudo apt-get install python-opencv Reading package lists... Done Building dependency tree Reading state information... Done Some packages could not be installed. This may mean that you have requested an impossible situation or if you are using the unstable distribution that some required packages have not yet been created or been moved out of Incoming. The following information may help to resolve the situation: The following packages have unmet dependencies: python-opencv : Depends: libopencv-calib3d3.2 (= 3.2.0+dfsg-4.1rcnee0~stretch+20180817) but it is not going to be installed Depends: libopencv-features2d3.2 (= 3.2.0+dfsg-4.1rcnee0~stretch+20180817) but it is not going to be installed Depends: libopencv-highgui3.2 (= 3.2.0+dfsg-4.1rcnee0~stretch+20180817) but it is not going to be installed Depends: libopencv-imgcodecs3.2 (= 3.2.0+dfsg-4.1rcnee0~stretch+20180817) but it is not going to be installed Depends: libopencv-objdetect3.2 (= 3.2.0+dfsg-4.1rcnee0~stretch+20180817) but it is not going to be installed Depends: libopencv-stitching3.2 (= 3.2.0+dfsg-4.1rcnee0~stretch+20180817) but it is not going to be installed Depends: libopencv-superres3.2 (= 3.2.0+dfsg-4.1rcnee0~stretch+20180817) but it is not going to be installed Depends: libopencv-videoio3.2 (= 3.2.0+dfsg-4.1rcnee0~stretch+20180817) but it is not going to be installed Depends: libopencv-videostab3.2 (= 3.2.0+dfsg-4.1rcnee0~stretch+20180817) but it is not going to be installed Depends: libopencv-viz3.2 (= 3.2.0+dfsg-4.1rcnee0~stretch+20180817) but it is not going to be installed Depends: libopencv-contrib3.2 but it is not going to be installed E: Unable to correct problems, you have held broken packages. -- 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. To view this discussion on the web visit https://groups.google.com/d/msgid/machinekit/7fd7a943-348f-43c7-acef-405f5733cd75n%40googlegroups.com.
Re: [Machinekit] pru - output pin
Glad it's working! To use the config-pin utility you also have to load one of the universal cape overlays (which will create the pinmux files in /sys/). It sounds like you're making your own device-tree so you're fine. The universal overlay files are for those who don't want to (or can't) create their own device tree files. On 5/16/2023 3:28 PM, fogl wrote: Thank you for your reply. I modified the device PinMux to Mode5: $cat /sys/kernel/debug/pinctrl/44e10800.pinmux-pinctrl-single/pins | grep 8a8 pin 42 (PIN42) 44e108a8 000d pinctrl-single $cat /sys/kernel/debug/pinctrl/44e10800.pinmux-pinctrl-single/pins | grep 8ac pin 43 (PIN43) 44e108ac 000d pinctrl-single Now everything works fine, hank you :) BTW, i did try to $ sudo config-pin P8.43 pruout, but it returned: P8_43 pinmux file not found! bash: /sys/devices/platform/ocp/ocp*P8_43_pinmux/state: No such file or directory Cannot write pinmux file: /sys/devices/platform/ocp/ocp*P8_43_pinmux/state ..but i did not investigate any further. Regards Klemen On Tuesday, 16 May 2023 at 18:49:21 UTC+2 cha...@steinkuehler.net wrote: The mode pr1_pru1_pru_r31_* is for PRU input (R31 is the direct input register). Use the pr_pru_pru_r30 option (R30 is the PRU direct output register) or something like the config-pin utility and universal overlay which makes this simple for you, eg: config-pin P8.43 pruout On 5/16/2023 9:45 AM, fogl wrote: Thank you for your reply. Now i generated the device tree overlay to configured the P8_43 to Mode6 (pr1_pru1_pru_r31_2) and P8_44 to Mode6 (pr1_pru1_pru_r31_3). This was successful: $cat /sys/kernel/debug/pinctrl/44e10800.pinmux-pinctrl-single/pins | grep 8a8 pin 42 (PIN42) 44e108a8 0016 pinctrl-single $cat /sys/kernel/debug/pinctrl/44e10800.pinmux-pinctrl-single/pins | grep 8ac pin 43 (PIN43) 44e108ac 0016 pinctrl-single i changed my .hal file to use pru1 and set the pins according to numbering scheme: loadrt hal_pru_generic prucode=/usr/lib/linuxcnc/rt-preempt/pru_generic.bin pru=1 num_stepgens=1 halname=hpg setp hpg.stepgen.00.steppin 1843 setp hpg.stepgen.00.dirpin 1844 ...but i still see no output on the pins. I noticed there is also Mode5 PinMux option with the pr_pru_pru_r30 available. Should i use this mode? Regards Klemen On Tuesday, 16 May 2023 at 00:42:15 UTC+2 cha...@steinkuehler.net wrote: You likely need to configure the pin multiplexing for the pins you wish to use so they can be controlled by the PRU. This is typically done via a device-tree overlay, or something like cape-universal and the config-pin utility if you don't like making device-tree files: https://github.com/cdsteinkuehler/beaglebone-universal-io On 5/15/2023 1:18 PM, fogl wrote: Hello everybody, I am still trying to run the stepper motor with Machinekit. I configured the hal and i was expecting some step/dir signal on the output pins, but nothing happens (i am monitoring with the oscilloscope). I tried to generate steps by changing the hpg.stepgen.00.position-cmd signal. I could see the hpg.stepgen.00.position-fb signal that was folowing. So everything seems fine here. The problem seems to be in the output pin configuration. I tried different kind of options: - to change the pru number from pru=0 to pru=1 - i tried to change the pin location Can you please suggest what could be the problem, Regards Klemen *my .hal configuration* loadrt threads name1=base-thread period1=10 fp1=0 name2=servo-thread period2=100 fp2=1 loadrt hal_bb_gpio user_leds=0,1,2,3 loadrt hal_pru_generic prucode=/usr/lib/linuxcnc/rt-preempt/pru_generic.bin pru=1 num_stepgens=1 halname=hpg loadrt siggen num_chan=1 addf bb_gpio.write base-thread addf bb_gpio.read base-thread addf siggen.0.update servo-thread addf hpg.capture-position servo-thread addf hpg.update servo-thread ddf bb_gpio.write base-thread addf bb_gpio.read base-thread addf siggen.0.update servo-thread addf hpg.capture-position servo-thread addf hpg.update servo-thread setp siggen.0.frequency 2 net ledlight siggen.0.clock => bb_gpio.userled3 # stepper timing parameters in nanoseconds setp hpg.stepgen.00.dirsetup 200 setp hpg.stepgen.00.dirhold 200 setp hpg.stepgen.00.steplen 1000 setp hpg.stepgen.00.stepspace 1000 setp hpg.stepgen.00.position-scale 20 setp hpg.stepgen.00.maxvel 200.0 setp hpg.stepgen.00.maxaccel 2000.0 #setp hpg.stepgen.00.step_type 0 # P8.12 GPIO1_12 0x4C # P8.11 GPIO1_13 0x4D # P8.43 PRU1.out2: 812 # P8.44 PRU1.out4: 813 setp hpg.stepgen.00.steppin 813 setp hpg.stepgen.00.dirpin 812 *halcmd: show pin hpg.* Component Pins: Comp Inst Type Dir Value Name Epsilon Flags linked to: 106 s32 OUT 7000 hpg.capture-position.time 106 s32 I/O 13083 hpg.capture-position.tmax 106 bit OUT FALSE hpg.capture-position.tmax-inc 106 bit IN FALSE hpg.stepgen.00.control-type --l- 106 s32 OUT 45653 hpg.stepgen.00.counts --l- 106 float OUT -7707.206 hpg.stepgen.00.dbg_err_at_match 0.10 --
Re: [Machinekit] pru - output pin
Thank you for your reply. I modified the device PinMux to Mode5: $cat /sys/kernel/debug/pinctrl/44e10800.pinmux-pinctrl-single/pins | grep 8a8 pin 42 (PIN42) 44e108a8 000d pinctrl-single $cat /sys/kernel/debug/pinctrl/44e10800.pinmux-pinctrl-single/pins | grep 8ac pin 43 (PIN43) 44e108ac 000d pinctrl-single Now everything works fine, hank you :) BTW, i did try to $ sudo config-pin P8.43 pruout, but it returned: P8_43 pinmux file not found! bash: /sys/devices/platform/ocp/ocp*P8_43_pinmux/state: No such file or directory Cannot write pinmux file: /sys/devices/platform/ocp/ocp*P8_43_pinmux/state ..but i did not investigate any further. Regards Klemen On Tuesday, 16 May 2023 at 18:49:21 UTC+2 cha...@steinkuehler.net wrote: > The mode pr1_pru1_pru_r31_* is for PRU input (R31 is the direct input > register). Use the pr_pru_pru_r30 option (R30 is the PRU direct output > register) or something like the config-pin utility and universal overlay > which makes this simple for you, eg: > > config-pin P8.43 pruout > > On 5/16/2023 9:45 AM, fogl wrote: > > Thank you for your reply. > > > > Now i generated the device tree overlay to configured the P8_43 to Mode6 > > (pr1_pru1_pru_r31_2) and P8_44 to Mode6 (pr1_pru1_pru_r31_3). This was > > successful: > > $cat /sys/kernel/debug/pinctrl/44e10800.pinmux-pinctrl-single/pins | grep > > 8a8 > > pin 42 (PIN42) 44e108a8 0016 pinctrl-single > > $cat /sys/kernel/debug/pinctrl/44e10800.pinmux-pinctrl-single/pins | grep > > 8ac > > pin 43 (PIN43) 44e108ac 0016 pinctrl-single > > > > i changed my .hal file to use pru1 and set the pins according to > numbering > > scheme: > > loadrt hal_pru_generic > prucode=/usr/lib/linuxcnc/rt-preempt/pru_generic.bin > > pru=1 num_stepgens=1 halname=hpg > > setp hpg.stepgen.00.steppin 1843 > > setp hpg.stepgen.00.dirpin 1844 > > > > ...but i still see no output on the pins. > > > > I noticed there is also Mode5 PinMux option with the pr_pru_pru_r30 > > available. Should i use this mode? > > > > Regards > > Klemen > > > > > > > > On Tuesday, 16 May 2023 at 00:42:15 UTC+2 cha...@steinkuehler.net wrote: > > > >> You likely need to configure the pin multiplexing for the pins you wish > >> to use so they can be controlled by the PRU. This is typically done via > >> a device-tree overlay, or something like cape-universal and the > >> config-pin utility if you don't like making device-tree files: > >> > >> https://github.com/cdsteinkuehler/beaglebone-universal-io > >> > >> On 5/15/2023 1:18 PM, fogl wrote: > >>> > >>> Hello everybody, > >>> > >>> I am still trying to run the stepper motor with Machinekit. I > configured > >>> the hal and i was expecting some step/dir signal on the output pins, > but > >>> nothing happens (i am monitoring with the oscilloscope). > >>> > >>> I tried to generate steps by changing the hpg.stepgen.00.position-cmd > >>> signal. I could see the hpg.stepgen.00.position-fb signal that was > >>> folowing. So everything seems fine here. > >>> > >>> The problem seems to be in the output pin configuration. I tried > >> different > >>> kind of options: > >>> - to change the pru number from pru=0 to pru=1 > >>> - i tried to change the pin location > >>> > >>> Can you please suggest what could be the problem, > >>> Regards > >>> Klemen > >>> > >>> *my .hal configuration* > >>> loadrt threads name1=base-thread period1=10 fp1=0 > name2=servo-thread > >>> period2=100 fp2=1 > >>> > >>> loadrt hal_bb_gpio user_leds=0,1,2,3 > >>> loadrt hal_pru_generic > >> prucode=/usr/lib/linuxcnc/rt-preempt/pru_generic.bin > >>> pru=1 num_stepgens=1 halname=hpg > >>> loadrt siggen num_chan=1 > >>> > >>> addf bb_gpio.write base-thread > >>> addf bb_gpio.read base-thread > >>> > >>> addf siggen.0.update servo-thread > >>> addf hpg.capture-position servo-thread > >>> addf hpg.update servo-thread > >>> ddf bb_gpio.write base-thread > >>> addf bb_gpio.read base-thread > >>> > >>> addf siggen.0.update servo-thread > >>> addf hpg.capture-position servo-thread > >>> addf hpg.update servo-thread > >>> > >>> setp siggen.0.frequency 2 > >>> net ledlight siggen.0.clock => bb_gpio.us
Re: [Machinekit] pru - output pin
The mode pr1_pru1_pru_r31_* is for PRU input (R31 is the direct input register). Use the pr_pru_pru_r30 option (R30 is the PRU direct output register) or something like the config-pin utility and universal overlay which makes this simple for you, eg: config-pin P8.43 pruout On 5/16/2023 9:45 AM, fogl wrote: Thank you for your reply. Now i generated the device tree overlay to configured the P8_43 to Mode6 (pr1_pru1_pru_r31_2) and P8_44 to Mode6 (pr1_pru1_pru_r31_3). This was successful: $cat /sys/kernel/debug/pinctrl/44e10800.pinmux-pinctrl-single/pins | grep 8a8 pin 42 (PIN42) 44e108a8 0016 pinctrl-single $cat /sys/kernel/debug/pinctrl/44e10800.pinmux-pinctrl-single/pins | grep 8ac pin 43 (PIN43) 44e108ac 0016 pinctrl-single i changed my .hal file to use pru1 and set the pins according to numbering scheme: loadrt hal_pru_generic prucode=/usr/lib/linuxcnc/rt-preempt/pru_generic.bin pru=1 num_stepgens=1 halname=hpg setp hpg.stepgen.00.steppin 1843 setp hpg.stepgen.00.dirpin 1844 ...but i still see no output on the pins. I noticed there is also Mode5 PinMux option with the pr_pru_pru_r30 available. Should i use this mode? Regards Klemen On Tuesday, 16 May 2023 at 00:42:15 UTC+2 cha...@steinkuehler.net wrote: You likely need to configure the pin multiplexing for the pins you wish to use so they can be controlled by the PRU. This is typically done via a device-tree overlay, or something like cape-universal and the config-pin utility if you don't like making device-tree files: https://github.com/cdsteinkuehler/beaglebone-universal-io On 5/15/2023 1:18 PM, fogl wrote: Hello everybody, I am still trying to run the stepper motor with Machinekit. I configured the hal and i was expecting some step/dir signal on the output pins, but nothing happens (i am monitoring with the oscilloscope). I tried to generate steps by changing the hpg.stepgen.00.position-cmd signal. I could see the hpg.stepgen.00.position-fb signal that was folowing. So everything seems fine here. The problem seems to be in the output pin configuration. I tried different kind of options: - to change the pru number from pru=0 to pru=1 - i tried to change the pin location Can you please suggest what could be the problem, Regards Klemen *my .hal configuration* loadrt threads name1=base-thread period1=10 fp1=0 name2=servo-thread period2=100 fp2=1 loadrt hal_bb_gpio user_leds=0,1,2,3 loadrt hal_pru_generic prucode=/usr/lib/linuxcnc/rt-preempt/pru_generic.bin pru=1 num_stepgens=1 halname=hpg loadrt siggen num_chan=1 addf bb_gpio.write base-thread addf bb_gpio.read base-thread addf siggen.0.update servo-thread addf hpg.capture-position servo-thread addf hpg.update servo-thread ddf bb_gpio.write base-thread addf bb_gpio.read base-thread addf siggen.0.update servo-thread addf hpg.capture-position servo-thread addf hpg.update servo-thread setp siggen.0.frequency 2 net ledlight siggen.0.clock => bb_gpio.userled3 # stepper timing parameters in nanoseconds setp hpg.stepgen.00.dirsetup 200 setp hpg.stepgen.00.dirhold 200 setp hpg.stepgen.00.steplen 1000 setp hpg.stepgen.00.stepspace 1000 setp hpg.stepgen.00.position-scale 20 setp hpg.stepgen.00.maxvel 200.0 setp hpg.stepgen.00.maxaccel 2000.0 #setp hpg.stepgen.00.step_type 0 # P8.12 GPIO1_12 0x4C # P8.11 GPIO1_13 0x4D # P8.43 PRU1.out2: 812 # P8.44 PRU1.out4: 813 setp hpg.stepgen.00.steppin 813 setp hpg.stepgen.00.dirpin 812 *halcmd: show pin hpg.* Component Pins: Comp Inst Type Dir Value Name Epsilon Flags linked to: 106 s32 OUT 7000 hpg.capture-position.time 106 s32 I/O 13083 hpg.capture-position.tmax 106 bit OUT FALSE hpg.capture-position.tmax-inc 106 bit IN FALSE hpg.stepgen.00.control-type --l- 106 s32 OUT 45653 hpg.stepgen.00.counts --l- 106 float OUT -7707.206 hpg.stepgen.00.dbg_err_at_match 0.10 --l- 106 float OUT 0 hpg.stepgen.00.dbg_ff_vel 0.10 --l- 106 float OUT -7717.106 hpg.stepgen.00.dbg_pos_minus_prev_cmd 0.10 --l- 106 float OUT 0.1 hpg.stepgen.00.dbg_s_to_match 0.10 --l- 106 s32 OUT 5368709 hpg.stepgen.00.dbg_step_rate --l- 106 float OUT 200 hpg.stepgen.00.dbg_vel_error 0.10 --l- 106 u32 IN 0x00C8 hpg.stepgen.00.dirhold --l- 106 u32 IN 0x032C hpg.stepgen.00.dirpin --l- 106 u32 IN 0x00C8 hpg.stepgen.00.dirsetup --l- 106 bit IN TRUE hpg.stepgen.00.enable --l- 106 float IN 2000 hpg.stepgen.00.maxaccel 0.10 --l- 106 float IN 200 hpg.stepgen.00.maxvel 0.10 --l- 106 float IN 0 hpg.stepgen.00.minvel 0.10 --l- 106 float IN 1 hpg.stepgen.00.position-cmd 0.10 --l- 106 float OUT 2284.294 hpg.stepgen.00.position-fb 0.10 --l- 106 float IN 20 hpg.stepgen.00.position-scale 0.10 --l- 106 bit IN FALSE hpg.stepgen.00.stepinvert --l- 106 u32 IN 0x03E8 hpg.stepgen.00.steplen --l- 106 u32 IN 0x032D hpg.stepgen.00.steppin --l- 106 u32 IN 0x03E8 hpg.stepgen.00.stepspace --l- 106 s32 OUT 385815358 hpg.stepgen.00.test1 --l- 106 s32 OUT 45697 hpg.stepgen.
Re: [Machinekit] pru - output pin
Thank you for your reply. Now i generated the device tree overlay to configured the P8_43 to Mode6 (pr1_pru1_pru_r31_2) and P8_44 to Mode6 (pr1_pru1_pru_r31_3). This was successful: $cat /sys/kernel/debug/pinctrl/44e10800.pinmux-pinctrl-single/pins | grep 8a8 pin 42 (PIN42) 44e108a8 0016 pinctrl-single $cat /sys/kernel/debug/pinctrl/44e10800.pinmux-pinctrl-single/pins | grep 8ac pin 43 (PIN43) 44e108ac 0016 pinctrl-single i changed my .hal file to use pru1 and set the pins according to numbering scheme: loadrt hal_pru_generic prucode=/usr/lib/linuxcnc/rt-preempt/pru_generic.bin pru=1 num_stepgens=1 halname=hpg setp hpg.stepgen.00.steppin 1843 setp hpg.stepgen.00.dirpin 1844 ...but i still see no output on the pins. I noticed there is also Mode5 PinMux option with the pr_pru_pru_r30 available. Should i use this mode? Regards Klemen On Tuesday, 16 May 2023 at 00:42:15 UTC+2 cha...@steinkuehler.net wrote: > You likely need to configure the pin multiplexing for the pins you wish > to use so they can be controlled by the PRU. This is typically done via > a device-tree overlay, or something like cape-universal and the > config-pin utility if you don't like making device-tree files: > > https://github.com/cdsteinkuehler/beaglebone-universal-io > > On 5/15/2023 1:18 PM, fogl wrote: > > > > Hello everybody, > > > > I am still trying to run the stepper motor with Machinekit. I configured > > the hal and i was expecting some step/dir signal on the output pins, but > > nothing happens (i am monitoring with the oscilloscope). > > > > I tried to generate steps by changing the hpg.stepgen.00.position-cmd > > signal. I could see the hpg.stepgen.00.position-fb signal that was > > folowing. So everything seems fine here. > > > > The problem seems to be in the output pin configuration. I tried > different > > kind of options: > > - to change the pru number from pru=0 to pru=1 > > - i tried to change the pin location > > > > Can you please suggest what could be the problem, > > Regards > > Klemen > > > > *my .hal configuration* > > loadrt threads name1=base-thread period1=10 fp1=0 name2=servo-thread > > period2=100 fp2=1 > > > > loadrt hal_bb_gpio user_leds=0,1,2,3 > > loadrt hal_pru_generic > prucode=/usr/lib/linuxcnc/rt-preempt/pru_generic.bin > > pru=1 num_stepgens=1 halname=hpg > > loadrt siggen num_chan=1 > > > > addf bb_gpio.write base-thread > > addf bb_gpio.read base-thread > > > > addf siggen.0.update servo-thread > > addf hpg.capture-position servo-thread > > addf hpg.update servo-thread > > ddf bb_gpio.write base-thread > > addf bb_gpio.read base-thread > > > > addf siggen.0.update servo-thread > > addf hpg.capture-position servo-thread > > addf hpg.update servo-thread > > > > setp siggen.0.frequency 2 > > net ledlight siggen.0.clock => bb_gpio.userled3 > > > > > > > > # stepper timing parameters in nanoseconds > > setp hpg.stepgen.00.dirsetup 200 > > setp hpg.stepgen.00.dirhold 200 > > setp hpg.stepgen.00.steplen 1000 > > setp hpg.stepgen.00.stepspace 1000 > > > > setp hpg.stepgen.00.position-scale 20 > > setp hpg.stepgen.00.maxvel 200.0 > > setp hpg.stepgen.00.maxaccel 2000.0 > > > > #setp hpg.stepgen.00.step_type 0 > > # P8.12 GPIO1_12 0x4C > > # P8.11 GPIO1_13 0x4D > > # P8.43 PRU1.out2: 812 > > # P8.44 PRU1.out4: 813 > > setp hpg.stepgen.00.steppin 813 > > setp hpg.stepgen.00.dirpin 812 > > > > *halcmd: show pin hpg.* > > Component Pins: > > Comp Inst Type Dir Value Name > > Epsilon Flags linked to: > > 106 s32 OUT 7000 hpg.capture-position.time > > > > 106 s32 I/O 13083 hpg.capture-position.tmax > > > > 106 bit OUT FALSE hpg.capture-position.tmax-inc > > > > 106 bit IN FALSE hpg.stepgen.00.control-type > > --l- > > 106 s32 OUT 45653 hpg.stepgen.00.counts > > --l- > > 106 float OUT -7707.206 hpg.stepgen.00.dbg_err_at_match > > 0.10 --l- > > 106 float OUT 0 hpg.stepgen.00.dbg_ff_vel > > 0.10 --l- > > 106 float OUT -7717.106 hpg.stepgen.00.dbg_pos_minus_prev_cmd > > 0.10 --l- > > 106 float OUT 0.1 hpg.stepgen.00.dbg_s_to_match > > 0.10 --l- > > 106 s32 OUT 5368709 hpg.stepgen.00.dbg_step_rate > > --l- > > 106 float OUT 200 hpg.stepgen.00.dbg_vel_error > > 0.10 --l- > > 106 u32 IN 0x00C8 hpg.stepgen.00.dirhold > > --l- > > 106 u32 IN 0x032C hpg.stepgen.00.dirpin > > --l- > > 106 u32 IN 0x
Re: [Machinekit] pru - output pin
You likely need to configure the pin multiplexing for the pins you wish to use so they can be controlled by the PRU. This is typically done via a device-tree overlay, or something like cape-universal and the config-pin utility if you don't like making device-tree files: https://github.com/cdsteinkuehler/beaglebone-universal-io On 5/15/2023 1:18 PM, fogl wrote: Hello everybody, I am still trying to run the stepper motor with Machinekit. I configured the hal and i was expecting some step/dir signal on the output pins, but nothing happens (i am monitoring with the oscilloscope). I tried to generate steps by changing the hpg.stepgen.00.position-cmd signal. I could see the hpg.stepgen.00.position-fb signal that was folowing. So everything seems fine here. The problem seems to be in the output pin configuration. I tried different kind of options: - to change the pru number from pru=0 to pru=1 - i tried to change the pin location Can you please suggest what could be the problem, Regards Klemen *my .hal configuration* loadrt threads name1=base-thread period1=10 fp1=0 name2=servo-thread period2=100 fp2=1 loadrt hal_bb_gpio user_leds=0,1,2,3 loadrt hal_pru_generic prucode=/usr/lib/linuxcnc/rt-preempt/pru_generic.bin pru=1 num_stepgens=1 halname=hpg loadrt siggen num_chan=1 addf bb_gpio.write base-thread addf bb_gpio.read base-thread addf siggen.0.updateservo-thread addf hpg.capture-position servo-thread addf hpg.update servo-thread ddf bb_gpio.write base-thread addf bb_gpio.read base-thread addf siggen.0.updateservo-thread addf hpg.capture-position servo-thread addf hpg.update servo-thread setp siggen.0.frequency 2 net ledlight siggen.0.clock => bb_gpio.userled3 # stepper timing parameters in nanoseconds setp hpg.stepgen.00.dirsetup200 setp hpg.stepgen.00.dirhold 200 setp hpg.stepgen.00.steplen 1000 setp hpg.stepgen.00.stepspace 1000 setp hpg.stepgen.00.position-scale 20 setp hpg.stepgen.00.maxvel 200.0 setp hpg.stepgen.00.maxaccel2000.0 #setp hpg.stepgen.00.step_type 0 # P8.12 GPIO1_12 0x4C # P8.11 GPIO1_13 0x4D # P8.43 PRU1.out2: 812 # P8.44 PRU1.out4: 813 setp hpg.stepgen.00.steppin 813 setp hpg.stepgen.00.dirpin 812 *halcmd: show pin hpg.* Component Pins: Comp Inst Type Dir Value Name Epsilon Flags linked to: 106s32 OUT 7000 hpg.capture-position.time 106s32 I/O 13083 hpg.capture-position.tmax 106bit OUT FALSE hpg.capture-position.tmax-inc 106bit IN FALSE hpg.stepgen.00.control-type --l- 106s32 OUT 45653 hpg.stepgen.00.counts --l- 106float OUT -7707.206 hpg.stepgen.00.dbg_err_at_match 0.10 --l- 106float OUT 0 hpg.stepgen.00.dbg_ff_vel 0.10 --l- 106float OUT -7717.106 hpg.stepgen.00.dbg_pos_minus_prev_cmd 0.10 --l- 106float OUT 0.1 hpg.stepgen.00.dbg_s_to_match 0.10 --l- 106s32 OUT 5368709 hpg.stepgen.00.dbg_step_rate --l- 106float OUT 200 hpg.stepgen.00.dbg_vel_error 0.10 --l- 106u32 IN 0x00C8 hpg.stepgen.00.dirhold --l- 106u32 IN 0x032C hpg.stepgen.00.dirpin --l- 106u32 IN 0x00C8 hpg.stepgen.00.dirsetup --l- 106bit IN TRUE hpg.stepgen.00.enable --l- 106float IN 2000 hpg.stepgen.00.maxaccel 0.10 --l- 106float IN200 hpg.stepgen.00.maxvel 0.10 --l- 106float IN 0 hpg.stepgen.00.minvel 0.10 --l- 106float IN 1 hpg.stepgen.00.position-cmd 0.10 --l- 106float OUT 2284.294 hpg.stepgen.00.position-fb 0.10 --l- 106float IN 20 hpg.stepgen.00.position-scale 0.10 --l- 106bit IN FALSE hpg.stepgen.00.stepinvert --l- 106u32 IN 0x03E8 hpg.stepgen.00.steplen --l- 106u32 IN 0x032D hpg.stepgen.00.steppin --l- 106u32 IN 0x03E8 hpg.stepgen.00.stepspace --l- 106s32 OUT 385815358 hpg.stepgen.00.test1 --l- 106s32 OUT 45697 hpg.stepgen.00.test2 --l- 106s32 OUT-1299849246 hpg.stepgen.00.test3 --l- 106float IN 0 hpg.stepgen.00.velocity-cmd 0.10 --l- 106float OUT 200 hpg.stepgen.00.velocity-fb 0.10 --l- 106s32 OUT 8582 hpg.update.time 106s
[Machinekit] pru - output pin
Hello everybody, I am still trying to run the stepper motor with Machinekit. I configured the hal and i was expecting some step/dir signal on the output pins, but nothing happens (i am monitoring with the oscilloscope). I tried to generate steps by changing the hpg.stepgen.00.position-cmd signal. I could see the hpg.stepgen.00.position-fb signal that was folowing. So everything seems fine here. The problem seems to be in the output pin configuration. I tried different kind of options: - to change the pru number from pru=0 to pru=1 - i tried to change the pin location Can you please suggest what could be the problem, Regards Klemen *my .hal configuration* loadrt threads name1=base-thread period1=10 fp1=0 name2=servo-thread period2=100 fp2=1 loadrt hal_bb_gpio user_leds=0,1,2,3 loadrt hal_pru_generic prucode=/usr/lib/linuxcnc/rt-preempt/pru_generic.bin pru=1 num_stepgens=1 halname=hpg loadrt siggen num_chan=1 addf bb_gpio.write base-thread addf bb_gpio.read base-thread addf siggen.0.updateservo-thread addf hpg.capture-position servo-thread addf hpg.update servo-thread ddf bb_gpio.write base-thread addf bb_gpio.read base-thread addf siggen.0.updateservo-thread addf hpg.capture-position servo-thread addf hpg.update servo-thread setp siggen.0.frequency 2 net ledlight siggen.0.clock => bb_gpio.userled3 # stepper timing parameters in nanoseconds setp hpg.stepgen.00.dirsetup200 setp hpg.stepgen.00.dirhold 200 setp hpg.stepgen.00.steplen 1000 setp hpg.stepgen.00.stepspace 1000 setp hpg.stepgen.00.position-scale 20 setp hpg.stepgen.00.maxvel 200.0 setp hpg.stepgen.00.maxaccel2000.0 #setp hpg.stepgen.00.step_type 0 # P8.12 GPIO1_12 0x4C # P8.11 GPIO1_13 0x4D # P8.43 PRU1.out2: 812 # P8.44 PRU1.out4: 813 setp hpg.stepgen.00.steppin 813 setp hpg.stepgen.00.dirpin 812 *halcmd: show pin hpg.* Component Pins: Comp Inst Type Dir Value Name Epsilon Flags linked to: 106s32 OUT 7000 hpg.capture-position.time 106s32 I/O 13083 hpg.capture-position.tmax 106bit OUT FALSE hpg.capture-position.tmax-inc 106bit IN FALSE hpg.stepgen.00.control-type --l- 106s32 OUT 45653 hpg.stepgen.00.counts --l- 106float OUT -7707.206 hpg.stepgen.00.dbg_err_at_match 0.10 --l- 106float OUT 0 hpg.stepgen.00.dbg_ff_vel 0.10 --l- 106float OUT -7717.106 hpg.stepgen.00.dbg_pos_minus_prev_cmd 0.10 --l- 106float OUT 0.1 hpg.stepgen.00.dbg_s_to_match 0.10 --l- 106s32 OUT 5368709 hpg.stepgen.00.dbg_step_rate --l- 106float OUT 200 hpg.stepgen.00.dbg_vel_error 0.10 --l- 106u32 IN 0x00C8 hpg.stepgen.00.dirhold --l- 106u32 IN 0x032C hpg.stepgen.00.dirpin --l- 106u32 IN 0x00C8 hpg.stepgen.00.dirsetup --l- 106bit IN TRUE hpg.stepgen.00.enable --l- 106float IN 2000 hpg.stepgen.00.maxaccel 0.10 --l- 106float IN200 hpg.stepgen.00.maxvel 0.10 --l- 106float IN 0 hpg.stepgen.00.minvel 0.10 --l- 106float IN 1 hpg.stepgen.00.position-cmd 0.10 --l- 106float OUT 2284.294 hpg.stepgen.00.position-fb 0.10 --l- 106float IN 20 hpg.stepgen.00.position-scale 0.10 --l- 106bit IN FALSE hpg.stepgen.00.stepinvert --l- 106u32 IN 0x03E8 hpg.stepgen.00.steplen --l- 106u32 IN 0x032D hpg.stepgen.00.steppin --l- 106u32 IN 0x03E8 hpg.stepgen.00.stepspace --l- 106s32 OUT 385815358 hpg.stepgen.00.test1 --l- 106s32 OUT 45697 hpg.stepgen.00.test2 --l- 106s32 OUT-1299849246 hpg.stepgen.00.test3 --l- 106float IN 0 hpg.stepgen.00.velocity-cmd 0.10 --l- 106float OUT 200 hpg.stepgen.00.velocity-fb 0.10 --l- 106s32 OUT 8582 hpg.update.time 106s32 I/O 54414 hpg.update.t
Re: [Machinekit] pru_generic.so: cannot open shared object file: No such file or directory
Charles was right, I was missing the name :) This now loads the pru: loadrt hal_pru_generic prucode=/usr/lib/linuxcnc/rt-preempt/pru_generic.bin pru=0 halname=hpg Thank you all for your help and fast response Regards Klemen On Fri, 12 May 2023 at 21:47, John Allwine wrote: > Maybe symlinking the other file would work? > sudo ln -s /usr/lib/linuxcnc/rt-preempt/hal_pru_generic.so > /usr/lib/linuxcnc/rt-preempt/pru_generic.so > > Also, maybe specify the specific file for your prucode, which includes the > .bin? > loadrt prucode=/usr/lib/linuxcnc/rt-preempt/pru_generic.bin pru=0 > halname=hpg > > <https://www.pentamachine.com> > > > > John Allwine > > Principal Software Engineer > > 1.406.451.3799 > > https://www.pentamachine.com > > > > <https://www.pentamachine.com> > > > > On Fri, May 12, 2023 at 12:50 PM Charles Steinkuehler < > char...@steinkuehler.net> wrote: > >> 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 >> >> >> 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-
Re: [Machinekit] pru_generic.so: cannot open shared object file: No such file or directory
Maybe symlinking the other file would work? sudo ln -s /usr/lib/linuxcnc/rt-preempt/hal_pru_generic.so /usr/lib/linuxcnc/rt-preempt/pru_generic.so Also, maybe specify the specific file for your prucode, which includes the .bin? loadrt prucode=/usr/lib/linuxcnc/rt-preempt/pru_generic.bin pru=0 halname=hpg <https://www.pentamachine.com> John Allwine Principal Software Engineer 1.406.451.3799 https://www.pentamachine.com <https://www.pentamachine.com> On Fri, May 12, 2023 at 12:50 PM Charles Steinkuehler < char...@steinkuehler.net> wrote: > 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 > > > 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:
