[Machinekit] Re: python - ImportError: No module named 'hal'

2024-01-20 Thread klemen dovrtel
Hello everybody,

I think I found the problem myself :) That particular python script was run
from python3 (#!/usr/bin/env python3).
I changed this to #!/usr/bin/env python2.7 and now I don't get this error
message any more.

Regards
Klemen



On Sat, 20 Jan 2024 at 17:55, klemen dovrtel  wrote:

> Hello everybody,
>
> I am testing a simple passthrough python module. When I start $halrun and
> *halcmd: loadusr passthrough.py*
> I get an error message:
>
> *import halImportError: No module named 'hal'*
>
> Does anybody have an idea what is the problem when I try to load the
> python module from hal? When I start $python instead and try to *>>>
> import hal* within python, I get no complaints about missing hal module.
>
> Regards
> Klemen
>
> --
> My system:
> $uname -a
> Linux beaglebone 4.19.120-bone-rt-r50 #1stretch PREEMPT RT Fri May 8
> 22:45:31 UTC 2020 armv7l GNU/Linux
>
> $ python -V
> Python 2.7.13
>
> passthrough.py module:
> https://linuxcnc.org/docs/html/hal/halmodule.html
>

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[Machinekit] python - ImportError: No module named 'hal'

2024-01-20 Thread klemen dovrtel
Hello everybody,

I am testing a simple passthrough python module. When I start $halrun and
*halcmd: loadusr passthrough.py*
I get an error message:

*import halImportError: No module named 'hal'*

Does anybody have an idea what is the problem when I try to load the python
module from hal? When I start $python instead and try to *>>> import hal*
within python, I get no complaints about missing hal module.

Regards
Klemen

--
My system:
$uname -a
Linux beaglebone 4.19.120-bone-rt-r50 #1stretch PREEMPT RT Fri May 8
22:45:31 UTC 2020 armv7l GNU/Linux

$ python -V
Python 2.7.13

passthrough.py module:
https://linuxcnc.org/docs/html/hal/halmodule.html

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2023-12-05 Thread Dawne Lingefelt
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2023-12-05 Thread Dawne Lingefelt


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[Machinekit] Re: Encoder signals from servo to Beaglebone Black

2023-11-19 Thread Antti
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?
>>
>>

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[Machinekit] Re: Encoder signals from servo to Beaglebone Black

2023-11-18 Thread Charles Steinkuehler
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?
>
>

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[Machinekit] Encoder signals from servo to Beaglebone Black

2023-11-17 Thread Antti
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?

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[Machinekit] Hal Library for C++ Qt Creator project

2023-07-24 Thread Константин Росляков
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.

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[Machinekit] machinekit + opencv

2023-05-19 Thread fogl
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.

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Re: [Machinekit] pru - output pin

2023-05-16 Thread Charles Steinkuehler

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 --l-
106 float OUT 0 hpg.stepgen

Re: [Machinekit] pru - output pin

2023-05-16 Thread fogl
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.userled

Re: [Machinekit] pru - output pin

2023-05-16 Thread Charles Steinkuehler
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.00.te

Re: [Machinekit] pru - output pin

2023-05-16 Thread fogl
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 0x00

Re: [Machinekit] pru - output pin

2023-05-15 Thread Charles Steinkuehler
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
 
106s32   

[Machinekit] pru - output pin

2023-05-15 Thread fogl
 
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

2023-05-12 Thread klemen dovrtel
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

2023-05-12 Thread John Allwine
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:

Re: [Machinekit] pru_generic.so: cannot open shared object file: No such file or directory

2023-05-12 Thread Charles Steinkuehler
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 
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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Re: [Machinekit] pru_generic.so: cannot open shared object file: No such file or directory

2023-05-12 Thread kdun...@gmail.com
Yes, it looks like that library is ok.

I don't know how up-to-date these paths/filenames are but have you tried 
looking in the various places described here: 
https://github.com/machinekit/machinekit/blob/master/scripts/linuxcnc.in#L210

Machinekit terminated with an error.  For simple cases more information
can be found in the following files:
$HOME/linuxcnc_debug.txt
$HOME/linuxcnc_print.txt

For other cases get more meaningfull information by restarting after
export DEBUG=5

and look at the output of:
/var/log/linuxcnc.log
dmesg

On Friday, May 12, 2023 at 12:29:24 PM UTC-6 fogl wrote:

> This is what i get:
>
> $ ldd /usr/lib/linuxcnc/rt-preempt/hal_pru_generic.so
> linux-vdso.so.1 (0xbeb23000)
> libgcc_s.so.1 => /lib/arm-linux-gnueabihf/libgcc_s.so.1 (0xb6f2b000)
> libc.so.6 => /lib/arm-linux-gnueabihf/libc.so.6 (0xb6e3d000)
> /lib/ld-linux-armhf.so.3 (0xb6f71000)
>
> But i am not sure what this means - that the library is ok?
>
> Regards
> Klemen
>
> On Fri, 12 May 2023 at 20:20, kdun...@gmail.com  wrote:
>
>> Try running this command to see if a dependent library is missing:
>>
>> $ ldd /usr/lib/linuxcnc/rt-preempt/hal_pru_generic.so
>>
>> On Friday, May 12, 2023 at 12:06:20 PM UTC-6 fogl 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 <
>>> cha...@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.s

Re: [Machinekit] pru_generic.so: cannot open shared object file: No such file or directory

2023-05-12 Thread klemen dovrtel
This is what i get:

$ ldd /usr/lib/linuxcnc/rt-preempt/hal_pru_generic.so
linux-vdso.so.1 (0xbeb23000)
libgcc_s.so.1 => /lib/arm-linux-gnueabihf/libgcc_s.so.1 (0xb6f2b000)
libc.so.6 => /lib/arm-linux-gnueabihf/libc.so.6 (0xb6e3d000)
/lib/ld-linux-armhf.so.3 (0xb6f71000)

But i am not sure what this means - that the library is ok?

Regards
Klemen

On Fri, 12 May 2023 at 20:20, kdun...@gmail.com  wrote:

> Try running this command to see if a dependent library is missing:
>
> $ ldd /usr/lib/linuxcnc/rt-preempt/hal_pru_generic.so
>
> On Friday, May 12, 2023 at 12:06:20 PM UTC-6 fogl 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 <
>> cha...@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 

Re: [Machinekit] pru_generic.so: cannot open shared object file: No such file or directory

2023-05-12 Thread kdun...@gmail.com
Try running this command to see if a dependent library is missing:

$ ldd /usr/lib/linuxcnc/rt-preempt/hal_pru_generic.so

On Friday, May 12, 2023 at 12:06:20 PM UTC-6 fogl 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 <
> cha...@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
>&g

Re: [Machinekit] pru_generic.so: cannot open shared object file: No such file or directory

2023-05-12 Thread klemen dovrtel
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 
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
>

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Re: [Machinekit] pru_generic.so: cannot open shared object file: No such file or directory

2023-05-12 Thread Charles Steinkuehler
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



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Re: [Machinekit] pru_generic.so: cannot open shared object file: No such file or directory

2023-05-12 Thread John Allwine
Is it just a matter of adding the .bin to the file name? Something like
this:
loadrt prucode=/usr/lib/linuxcnc/rt-preempt/pru_generic.bin pru=0
halname=hpg

On Fri, May 12, 2023 at 8:38 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
>
> --
> website: http://www.machinekit.io blog: http://blog.machinekit.io github:
> https://github.com/machinekit
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>

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[Machinekit] pru_generic.so: cannot open shared object file: No such file or directory

2023-05-12 Thread fogl
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

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Re: [Machinekit] BBB + Xylotex BareBpnesCNC + bone-debian-9.12-machinekit-armhf-2020-06-01-4gb.img

2023-05-11 Thread Charles Steinkuehler
The Debian Stretch image is pretty old, but I don't think anyone is 
really maintaining newer image builds right now.  Your issue is you need 
the "universal" cape overlay to be loaded, which allows user-space 
control of GPIO multiplexing without having to craft a custom 
device-tree overlay file for your specific application.


You should be able to manually go through the commands executed by the 
BareBones_setup.sh script and figure out why things aren't working.  It 
looks like there is something preventing the cape-universal overlay from 
loading, which is causing the BareBones_setup.sh script to fail.  Check 
your dmesg output which will sometimes have helpful error messages (but 
a lot of the errors for device-tree overlay stuff are either nonexistent 
or not generally useful).


On 5/8/2023 12:56 AM, Anoop S wrote:

Hi,
As stated in the subjectline, these are the combination fo hardware and
software I have setup:
BeagleBone Black Rev C
Xylotex BareBonesCNC
Machine kit image
-> 
https://rcn-ee.com/rootfs/bb.org/testing/2020-06-01/stretch-machinekit/bone-debian-9.12-machinekit-armhf-2020-06-01-4gb.img.xz

I have copied the following files from Xylotex's website and put them in
the right folder and changed permission of the *.sh file.
BareBones.hal
BareBones.ini
BareBones_setup.sh

However, upon starting machinekit, the configuration selector window popus
up, then comes the "machinekit" splash screen but then no progress.
Terminal reports the following:




































*machinekit@beaglebone:~$ machinekitMACHINEKIT - 0.1Machine configuration
directory is
'/home/machinekit/machinekit/configs/ARM.BeagleBone.Xylotex'Machine
configuration file is 'BareBones.ini'Starting Machinekit...rtapi_msgd
command:  /usr/libexec/linuxcnc/rtapi_msgd --instance=0 --rtmsglevel=1
--usrmsglevel=1 --debug=1 --halsize=524288rtapi_app command:
  /usr/libexec/linuxcnc/rtapi_app_rt-preempt --instance=0 --debug=1io
startedemc/iotask/ioControl.cc 859: can't load tool table.halcmd loadusr io
startedgrep: /sys/devices/bone_capemgr.*/slots: No such file or
directoryLoading cape-universal overlaybash:
/sys/devices/bone_capemgr.*/slots: No such file or directoryError loading
device tree overlay file: cape-universalBareBones.hal:6: program
'./BareBones_setup.sh' failed, returned 1Shutting down and cleaning up
Machinekit...Cleanup doneMachinekit terminated with an error.  For simple
cases more informationcan be found in the following files:
/home/machinekit/linuxcnc_debug.txt
/home/machinekit/linuxcnc_print.txtFor other cases get more meaningfull
information by restarting afterexport DEBUG=5and look at the output
of:/var/log/linuxcnc.logdmesgWhen looking for errors, specifically
look for libraries that fail to loadby looking for lines with 'insmod
failed' as per example below.insmod failed, returned -1:do_load_cmd:
dlopen: nonexistant-component.so: cannot open shared object file:No such
file or directory*

Wha have I done wrong ? Is it because I am using a different machinekit
image than what is mentioned at Xylotex's web page ?

Anoop



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[Machinekit] BBB + Xylotex BareBpnesCNC + bone-debian-9.12-machinekit-armhf-2020-06-01-4gb.img

2023-05-07 Thread Anoop S
Hi,
As stated in the subjectline, these are the combination fo hardware and 
software I have setup:
BeagleBone Black Rev C
Xylotex BareBonesCNC
Machine kit image 
-> 
https://rcn-ee.com/rootfs/bb.org/testing/2020-06-01/stretch-machinekit/bone-debian-9.12-machinekit-armhf-2020-06-01-4gb.img.xz

I have copied the following files from Xylotex's website and put them in 
the right folder and changed permission of the *.sh file.
BareBones.hal
BareBones.ini
BareBones_setup.sh

However, upon starting machinekit, the configuration selector window popus 
up, then comes the "machinekit" splash screen but then no progress. 
Terminal reports the following:




































*machinekit@beaglebone:~$ machinekitMACHINEKIT - 0.1Machine configuration 
directory is 
'/home/machinekit/machinekit/configs/ARM.BeagleBone.Xylotex'Machine 
configuration file is 'BareBones.ini'Starting Machinekit...rtapi_msgd 
command:  /usr/libexec/linuxcnc/rtapi_msgd --instance=0 --rtmsglevel=1 
--usrmsglevel=1 --debug=1 --halsize=524288rtapi_app command: 
 /usr/libexec/linuxcnc/rtapi_app_rt-preempt --instance=0 --debug=1io 
startedemc/iotask/ioControl.cc 859: can't load tool table.halcmd loadusr io 
startedgrep: /sys/devices/bone_capemgr.*/slots: No such file or 
directoryLoading cape-universal overlaybash: 
/sys/devices/bone_capemgr.*/slots: No such file or directoryError loading 
device tree overlay file: cape-universalBareBones.hal:6: program 
'./BareBones_setup.sh' failed, returned 1Shutting down and cleaning up 
Machinekit...Cleanup doneMachinekit terminated with an error.  For simple 
cases more informationcan be found in the following files:
/home/machinekit/linuxcnc_debug.txt
/home/machinekit/linuxcnc_print.txtFor other cases get more meaningfull 
information by restarting afterexport DEBUG=5and look at the output 
of:/var/log/linuxcnc.logdmesgWhen looking for errors, specifically 
look for libraries that fail to loadby looking for lines with 'insmod 
failed' as per example below.insmod failed, returned -1:do_load_cmd: 
dlopen: nonexistant-component.so: cannot open shared object file:No such 
file or directory*

Wha have I done wrong ? Is it because I am using a different machinekit 
image than what is mentioned at Xylotex's web page ?

Anoop

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[Machinekit] Touchy + ngcgui

2023-04-14 Thread scala...@free.fr
Hello everyone;
I configure my new CNC on a Beaglebone black with Machinekit.
Ngcgui works well on its own but I can't get it to work in Touchy, it 
creates a tab for me but it remains empty. 

@++ Jean-Claude

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[Machinekit] orange pi

2023-03-20 Thread Angel Nuñez
You can install machinekit on an orange pi 5 board.
And if you can, what steps to follow to install it.

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[Machinekit] Getting into Machinekit development

2023-01-26 Thread darth.v...@gmail.com
Hi.
I would like to contribute to MachineKit.
The first hurdle I see is there are not git tags.
How do I correlate a git commit to release version?

Thank you.
EyalC.

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[Machinekit] Re: can't find the Machinekit image for beaglebone black

2023-01-08 Thread Olexandr Gudozhnik
That's already something! 
Thanks!

On Saturday, 7 January 2023 at 23:11:40 UTC+1 mlab...@gmail.com wrote:

> We can check hear as well for machinekit flash image : 
> https://rcn-ee.com/rootfs/bb.org/testing/2020-06-01/stretch-machinekit/ 
>
> Thanks,
> Satya.
>
> On Saturday, January 7, 2023 at 9:41:36 AM UTC-8 gud...@gmail.com wrote:
>
>> The image link is broken there. If you have one, would you share it via 
>> Gdrive or smth?
>>
>> Best,
>> Olex
>>
>> On Saturday, 7 January 2023 at 05:32:02 UTC+1 mlab...@gmail.com wrote:
>>
>>> Here we can find SD Card images : 
>>> https://elinux.org/index.php?title=Beagleboard:BeagleBoneBlack_Debian=555786#BBW.2FBBB_.28All_Revs.29_Machinekit
>>>
>>> On Friday, January 6, 2023 at 3:03:52 PM UTC-8 gud...@gmail.com wrote:
>>>
>>>> Hello community!
>>>>
>>>> I can't seem to find any sdcard image for Beaglebone Black. Could 
>>>> anyone point me to it, please?
>>>>
>>>> Thanks,
>>>> Olex
>>>>
>>>

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[Machinekit] Re: can't find the Machinekit image for beaglebone black

2023-01-07 Thread Satya T
We can check hear as well for machinekit flash image 
: https://rcn-ee.com/rootfs/bb.org/testing/2020-06-01/stretch-machinekit/ 

Thanks,
Satya.

On Saturday, January 7, 2023 at 9:41:36 AM UTC-8 gud...@gmail.com wrote:

> The image link is broken there. If you have one, would you share it via 
> Gdrive or smth?
>
> Best,
> Olex
>
> On Saturday, 7 January 2023 at 05:32:02 UTC+1 mlab...@gmail.com wrote:
>
>> Here we can find SD Card images : 
>> https://elinux.org/index.php?title=Beagleboard:BeagleBoneBlack_Debian=555786#BBW.2FBBB_.28All_Revs.29_Machinekit
>>
>> On Friday, January 6, 2023 at 3:03:52 PM UTC-8 gud...@gmail.com wrote:
>>
>>> Hello community!
>>>
>>> I can't seem to find any sdcard image for Beaglebone Black. Could anyone 
>>> point me to it, please?
>>>
>>> Thanks,
>>> Olex
>>>
>>

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[Machinekit] Re: can't find the Machinekit image for beaglebone black

2023-01-07 Thread Olexandr Gudozhnik
The image link is broken there. If you have one, would you share it via 
Gdrive or smth?

Best,
Olex

On Saturday, 7 January 2023 at 05:32:02 UTC+1 mlab...@gmail.com wrote:

> Here we can find SD Card images : 
> https://elinux.org/index.php?title=Beagleboard:BeagleBoneBlack_Debian=555786#BBW.2FBBB_.28All_Revs.29_Machinekit
>
> On Friday, January 6, 2023 at 3:03:52 PM UTC-8 gud...@gmail.com wrote:
>
>> Hello community!
>>
>> I can't seem to find any sdcard image for Beaglebone Black. Could anyone 
>> point me to it, please?
>>
>> Thanks,
>> Olex
>>
>

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[Machinekit] Re: can't find the Machinekit image for beaglebone black

2023-01-06 Thread Satya T
Here we can find SD Card images 
: 
https://elinux.org/index.php?title=Beagleboard:BeagleBoneBlack_Debian=555786#BBW.2FBBB_.28All_Revs.29_Machinekit

On Friday, January 6, 2023 at 3:03:52 PM UTC-8 gud...@gmail.com wrote:

> Hello community!
>
> I can't seem to find any sdcard image for Beaglebone Black. Could anyone 
> point me to it, please?
>
> Thanks,
> Olex
>

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[Machinekit] can't find the Machinekit image for beaglebone black

2023-01-06 Thread Olexandr Gudozhnik
Hello community!

I can't seem to find any sdcard image for Beaglebone Black. Could anyone 
point me to it, please?

Thanks,
Olex

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Re: [Machinekit] Machinekit-HAL

2022-12-10 Thread 'Alan Thomason' via Machinekit
Hi There...

My attempts to get Machinekit up and running have so far not been 
successful, and in trying to find out why I saw a couple of references to 
EMC application on this site.  So I thought maybe that was the key, that 
there was something needed from another related repository.  I think I'm 
straight now, I need to keep working with building machinekit-hal.

Thanks!
Alan

On Saturday, December 10, 2022 at 10:10:24 AM UTC-5 kell...@gmail.com wrote:

> It's a fork. What leads you to believe that lcnc would be required?
> Eric Keller
> Boalsburg Pennsylvania
>
> On Fri, Dec 9, 2022 at 7:04 PM 'Alan Thomason' via Machinekit
>  wrote:
> >
> > Is EMC required to run Machinekit-HAL. I'm confused because I thought 
> that Machinekit was forked from LinuxCNC, which at one time was EMC. If 
> anyone else could explain this I would appreciate itThanks...Alan
> >
> > --
> > website: http://www.machinekit.io blog: http://blog.machinekit.io 
> github: https://github.com/machinekit
> > ---
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> .
>

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RE: [Machinekit] Machinekit-HAL

2022-12-10 Thread alanmthomason via Machinekit
Thanks John!  It is a big help to understand some of the background.  Alan

 

From: John Allwine  
Sent: Saturday, December 10, 2022 11:12 AM
To: Alan Thomason 
Cc: Machinekit 
Subject: Re: [Machinekit] Machinekit-HAL

 

MachineKit-HAL is a standalone project that doesn’t require EMC. There is 
another project EMCApplication (another fork of LinuxCNC) that provides a G 
code interpreter, trajectory planner, etc. that would be useful for controlling 
a CNC machine. EMCApplication uses the HAL environment provided by 
MachineKit-HAL. If you are only interested in the real-time HAL environment 
without all the CNC control features from EMCApplication, you can use 
MachineKit-HAL on its own.

John Allwine

Owner of Allwine Designs

https://www.allwinedesigns.com





On Dec 9, 2022, at 5:04 PM, 'Alan Thomason' via Machinekit 
mailto:machinekit@googlegroups.com> > wrote:

Is EMC required to run Machinekit-HAL.  I'm confused because I thought that 
Machinekit was forked from LinuxCNC, which at one time was EMC.  If anyone else 
could explain this I would appreciate itThanks...Alan 

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Re: [Machinekit] Machinekit-HAL

2022-12-10 Thread Eric Keller
It's a fork.  What leads you to believe that lcnc would be required?
Eric Keller
Boalsburg Pennsylvania

On Fri, Dec 9, 2022 at 7:04 PM 'Alan Thomason' via Machinekit
 wrote:
>
> Is EMC required to run Machinekit-HAL.  I'm confused because I thought that 
> Machinekit was forked from LinuxCNC, which at one time was EMC.  If anyone 
> else could explain this I would appreciate itThanks...Alan
>
> --
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> https://github.com/machinekit
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[Machinekit] Machinekit-HAL

2022-12-09 Thread 'Alan Thomason' via Machinekit
Is EMC required to run Machinekit-HAL.  I'm confused because I thought that 
Machinekit was forked from LinuxCNC, which at one time was EMC.  If anyone 
else could explain this I would appreciate itThanks...Alan

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[Machinekit] runhal issue

2022-12-08 Thread 'Alan Thomason' via Machinekit
Hi There...

Trying to build from source on a BeagleBone black (5.15.73-bone-rt-r31)

In the instructions here...
https://github.com/machinekit/machinekit-hal

I saw a successful build.  Some exceptions:

I think this is a typo::
  direnw allow 
and that it should be direnv allow.  Does anyone else agree/disagree?

direnv allow produced no error so hopefully that is it.

Then I tried to run halrun.  I could find two executables, but neither was 
successful.  See error below.  Has anyone seen this before?

debian@BeagleBone:~/machinekit-hal$ ./src/executables/halrun
-bash: ./src/executables/halrun: Is a directory
debian@BeagleBone:~/machinekit-hal$ ./build/src/executables/halrun
-bash: ./build/src/executables/halrun: Is a directory
debian@BeagleBone:~/machinekit-hal$ 
./build/src/executables/halrun/src/halrun
Realtime executable not found on PATH! Exiting!
debian@BeagleBone:~/machinekit-hal$ ./build/bin/halrun
Realtime executable not found on PATH! Exiting!

Thanks very much,
Alan Thomason

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Re: [Machinekit] Temporary override of limit switch

2022-08-15 Thread Bas de Bruijn
I’m mot sure if you can view the state of being “homed” in HAL. If so, you 
could change the HAL so that you’ll have an OR or and AND component (depending 
if the switch is normally open or normally closed) that kind of ignores the 
switch in the beginning.

Or you can solve it with a multiple contact relay if you wire it as a memory 
relay. The bottom switch is wired to one of the contacts, and the coil 
energized if you engage the upper switch. Then the second set of contacts keeps 
the coil energized even if the upper switch disconnects.


> On 11 Aug 2022, at 19:41, Alan Thomason  wrote:
> 
> Hello all...We have one axis that by gravity will always go the limit if the 
> unpowered state.  This is not a problem unless we lose power in the building. 
>  We can manually get the machine started by just holding it into position 
> when firing the machine up, but would prefer to be able to do this remotely.
> 
> For this to work we would need to be able to ignore the bottom limit switch 
> for a brief period of time on startup.  Is there a way to do this?  For 
> instance, you would have to be able to ignore the limit switch at first, 
> then, once homed, arm it again.
> 
> Thanks so much!
> -- 
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> https://github.com/machinekit
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[Machinekit] Temporary override of limit switch

2022-08-11 Thread Alan Thomason
Hello all...We have one axis that by gravity will always go the limit if 
the unpowered state.  This is not a problem unless we lose power in the 
building.  We can manually get the machine started by just holding it into 
position when firing the machine up, but would prefer to be able to do this 
remotely.

For this to work we would need to be able to ignore the bottom limit switch 
for a brief period of time on startup.  Is there a way to do this?  For 
instance, you would have to be able to ignore the limit switch at first, 
then, once homed, arm it again.

Thanks so much!

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[Machinekit] Build EMCApplication for Up-to-date Machinekit-hal

2022-07-17 Thread rafael Mello
Hi, I know that this is a big issue for lots of people and I've been 
attempting to fix this on my spare time.

After some time I've came up with a fix to build EMCApplication for the 
newest machinekit-hal.
Please check my git repo for more info: 
https://github.com/RVillatore/EMCApplication/tree/machinekit-hal-last-update

Note that this is a very poor fix and that I didn't have the time to test 
the files generated.
So if you encounter problems, please let me know and I'll try to fix it

I hope that this will help someone

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[Machinekit] How can I find out how many minutes until the end of the program?

2022-06-28 Thread Muhammed Buğra Akgün
Hi, I'm Buğra.
i have 5 axis cnc machine. i want to see how many minutes left end of the 
program. i looks python interface document but i couldn't find. Help me pls.

Thank you for helps.

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Re: [Machinekit] Re: Beagle Bone Black (BBB) images

2022-06-06 Thread Kyle Dunn
Try this link:

https://elinux.org/index.php?title=Beagleboard:BeagleBoneBlack_Debian=555786#BBW.2FBBB_.28All_Revs.29_Machinekit


On Mon, Jun 6, 2022 at 5:42 PM 'Alan Thomason' via Machinekit <
machinekit@googlegroups.com> wrote:

> No, unfortunately not.  Best of luck, Alan
>
> On Monday, June 6, 2022 at 12:45:20 PM UTC-4 mmkunz...@gmail.com wrote:
>
>> Hi Alan
>>
>> Did you manage to find machinekit images?
>> I trying to locate it, but have not been able to find it.
>>
>> Mikael
>>
>> søndag den 13. marts 2022 kl. 00.54.42 UTC+1 skrev alanmt...@icloud.com:
>>
>>> Hi All...
>>>
>>> I'm looking for the location of the latest image of Machinekit for the
>>> Beagle Bone Black.
>>>
>>> If I start here...
>>> http://www.machinekit.io/docs/getting-started/machinekit-images-for-bbb/
>>>
>>> It leads me to here...
>>>
>>> http://elinux.org/Beagleboard:BeagleBoneBlack_Debian#BBW.2FBBB_.28All_Revs.29_Machinekit
>>>
>>> But I cannot find any machinekit images there.  Hopefully I'm not doing
>>> anything daft!
>>>
>>> Thanks,
>>> Alan Thomason
>>>
>> --
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> https://github.com/machinekit
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>

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[Machinekit] Re: Beagle Bone Black (BBB) images

2022-06-06 Thread 'Alan Thomason' via Machinekit
No, unfortunately not.  Best of luck, Alan

On Monday, June 6, 2022 at 12:45:20 PM UTC-4 mmkunz...@gmail.com wrote:

> Hi Alan
>
> Did you manage to find machinekit images?
> I trying to locate it, but have not been able to find it.
>
> Mikael
>
> søndag den 13. marts 2022 kl. 00.54.42 UTC+1 skrev alanmt...@icloud.com:
>
>> Hi All...
>>
>> I'm looking for the location of the latest image of Machinekit for the 
>> Beagle Bone Black.  
>>
>> If I start here...
>> http://www.machinekit.io/docs/getting-started/machinekit-images-for-bbb/
>>
>> It leads me to here...
>>
>> http://elinux.org/Beagleboard:BeagleBoneBlack_Debian#BBW.2FBBB_.28All_Revs.29_Machinekit
>>
>> But I cannot find any machinekit images there.  Hopefully I'm not doing 
>> anything daft!
>>
>> Thanks,
>> Alan Thomason
>>
>

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[Machinekit] Re: Beagle Bone Black (BBB) images

2022-06-06 Thread mmkunz...@gmail.com
Hi Alan

Did you manage to find machinekit images?
I trying to locate it, but have not been able to find it.

Mikael

søndag den 13. marts 2022 kl. 00.54.42 UTC+1 skrev alanmt...@icloud.com:

> Hi All...
>
> I'm looking for the location of the latest image of Machinekit for the 
> Beagle Bone Black.  
>
> If I start here...
> http://www.machinekit.io/docs/getting-started/machinekit-images-for-bbb/
>
> It leads me to here...
>
> http://elinux.org/Beagleboard:BeagleBoneBlack_Debian#BBW.2FBBB_.28All_Revs.29_Machinekit
>
> But I cannot find any machinekit images there.  Hopefully I'm not doing 
> anything daft!
>
> Thanks,
> Alan Thomason
>

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[Machinekit] how to edit translate files (.po or .mo) for machinekit

2022-06-02 Thread Muhammed Buğra Akgün
Hi, I'm Buğra. I try to edit machinekit language files. 
i don't know which .mo files edit ? 
for example i want to edit this line. 
https://github.com/machinekit/machinekit/blob/master/src/po/sk.po#L12044 
thanks for your help. 

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[Machinekit] My solution for building latest machinekit-hal and EMCApplication

2022-04-26 Thread Andrei DRAGOMIR
Hello all, this is what I did to get the latest versions of EMCApplication 
and Machinekit working. This is VERY hacked, probably VERY incorrect, but I 
could not find these instructions anywhere else, so HTH. 

Context: 
1. CNC setup: Beaglebone AI (ARMHF), Debian Buster, Mesa 7i76e board
2. Working - I am interested in mkwrapper / remote connectivity, as I am 
running my own UI, I have not tested Axis / Gmoccapy, or any other local 
ui. 
3. Gist with patched files here: 
https://gist.github.com/adragomir/eb9ff865bb376392fb0e84e3dfff55e1
4. Repo with binary files here: 
https://github.com/adragomir/machinekit-hal-emcapplication-saved

Machinekit-hal Build


- Tried building from source, but it always hung / took a lot of time (ran 
into issues with the Docker build, so I tried building on the Beaglebone AI)
  - cmake-3.22.4 has to be built from source and installed
  - The main problem that I found is that creating the venv tried to 
install the cmake pip package, which, for my Linux version, did NOT have 
binary packages, so the build ended up trying to build cmake 200 times. 
  - So, I built the pip cmake package once and created a binary wheel, and 
then patched the pip code to use this file instead of trying to rebuild 
cmake pip package every time (see Gist, see Repo for Wheel file)

1. Machinekit-hal packages
==

- So, I tried using the machinekit-hal packages, latest available for 
bullseye here: 
https://cloudsmith.io/~machinekit/repos/machinekit-hal/packages/ (no buster 
packageS)
- I unpacked all packages with dpkg-deb into ~/source/extract
- I edited scripts and etc files to point all the paths into this dir

2. EMCApplication source code
=

- I ran into problems with the --with-hal option, so I hacked the 
configure.ac dir to point everything to the directory where I had unpacked 
the machinekit-hal packages
- Ran configure, make - (see gist for configure parameters)
- I copied all generated files (bin,rtlib,lib) into the extract source 
folder (~/source/extract)
- Then, I basically started trying to run halrun / halcmd, using 
environment variables that point everything to that directory (see Gist)
- Because I had used the bullseye Machinekit packages, the python modules 
were not linked correctly (Buster uses python3.7, not 3.9), so i ended up 
recompiling machinekit-hal as well, and copying the files around

3. Problems / work-arounds
- `.so not found` - `patchelf --replace-needed` until it worked
- mkwrapper - incompatible, a lot of changes needed inside it (see Gist)
- mklauncher - missing machinekit config module, but this is not really 
needed as I export the MACHINEKIT_INI variable 
- missing Python3 packages - either add to the PYTHONPATH, I pip installed 
or copied from the root directory in the `source/extract`
- Linuxcnc modules do not use the naming scheme, so they have to be loaded 
with the full path (see repo)
- probably others :(

4. Results
- the actual config that I used is in the repo. You can also see 
differences with what I had to do  in config from old machinekit to this 
recipe (files ending with '29' are for the new version)
- mklauncher / mkwrapper works
- A remote ui seems to "work" over haltalk / mkwrapper; it can power, jog, 
home, run MDI commands, run GCode files

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[Machinekit] Re: CRAMPS V2.2

2022-04-06 Thread Mathias Giacomuzzi
35 dollar each

Mathias Giacomuzzi schrieb am Mittwoch, 23. März 2022 um 16:54:18 UTC+1:

> Still available if someone one needs one.
>
> Mathias Giacomuzzi schrieb am Dienstag, 5. Januar 2021 um 11:37:42 UTC+1:
>
>> I sell 2 cramps Board. One is new and the other was used for some test. 
>> Pleas send me a Mail for more information. I also have Stepper Drives for 
>> one Board if needed.
>>
>> cheers 
>> mathias
>>  
>>
>>

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[Machinekit] Re: CRAMPS V2.2

2022-03-23 Thread Mathias Giacomuzzi
Still available if someone one needs one.

Mathias Giacomuzzi schrieb am Dienstag, 5. Januar 2021 um 11:37:42 UTC+1:

> I sell 2 cramps Board. One is new and the other was used for some test. 
> Pleas send me a Mail for more information. I also have Stepper Drives for 
> one Board if needed.
>
> cheers 
> mathias
>  
>
>

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[Machinekit] Problems with source code compilation and installation

2022-03-20 Thread 欧阳春晖
I want to use manual way to compile the whole machinekit-hal + 
EMCApplication, but I don't know the right way, I can finish the 
compilation (either deb package or make install), but can't export 
machinekit-hal to EMCApplication frontend, please tell me how Do? If I 
don't provide --with-hal, he can detect LOCAL HAL, but there seems to be a 
compilation error related to halui when compiling, if possible, please tell 
me the complete list of compilation instructions.

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[Machinekit] Re: Which kernel is the fastest running Machinekit on BBB?

2022-03-19 Thread 'Alan Thomason' via Machinekit
Hi there Simon...I realize it has been almost 3years since you posted this, 
but are you still using 3.8.13?  

For Simon or anyone else comfortable with compiling machine kit on BBB from 
source...it would be very helpful to those new to machinekit if you could
  1. Indicate the source of the starting image.
  2. output a history of your work on the BBB from that image installation 
(for instance 'history -w history.txt')
I see the instructions on the development portion of the website here, but 
it's the early steps that I'm struggling with.  I'm hoping for a more 
'dumbed down' set of instructions.

Thanks so much, 
Alan

On Sunday, August 11, 2019 at 7:42:29 AM UTC-4 fishp...@gmail.com wrote:

> I successfully compiled the 3.8.13 kernel with xenomai on debian stretch.
> I am using the same xenomai userspace libs as on jessie (2.6.3)
> and i compiled the latest machinekit from source directly on the BBB.
> (Note: you will need a swap device during compilation, I used a swap file 
> on the SD)
>
> Interestingly I get the same speed and a really responsive GUI with this 
> kernel.
> The same file that loads within 4 minutes on the exact same hardware and 
> the same SD card using the 4.19.37 kernel does load now within 20s!
> The same performance as my old jessie box.
>
> So my recommendation is kernel 3.8.13 ;)
>
> I do not know why I see such a massive performance issue when using the 
> 4.19 kernel but for now I will stay with the 3.8.13 kernel.
> If anyone has an idea what might cause the performance issue I would be 
> happy to learn about it :)
>
> Regards,
> Simon
>

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[Machinekit] Beagle Bone Black (BBB) images

2022-03-12 Thread 'Alan Thomason' via Machinekit
Hi All...

I'm looking for the location of the latest image of Machinekit for the 
Beagle Bone Black.  

If I start here...
http://www.machinekit.io/docs/getting-started/machinekit-images-for-bbb/

It leads me to here...
http://elinux.org/Beagleboard:BeagleBoneBlack_Debian#BBW.2FBBB_.28All_Revs.29_Machinekit

But I cannot find any machinekit images there.  Hopefully I'm not doing 
anything daft!

Thanks,
Alan Thomason

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[Machinekit] Machinekit axis gui real component example

2022-03-06 Thread Muhammed Buğra Akgün
Hi, i am Buğra. i have beaglebone black wireless, one stepper motor and 
a4988, i want to drive one stepper motor with axis gui. In the examples, 
the axis gui is used as a simulation.do you have an example using the axis 
gui with real components?

any sample can see my work. Thank you for your help.

i checked core_sim.hal.

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[Machinekit] Setup output pin for spindle PWM on a BBB

2022-02-12 Thread a handsup
Hello,
I try to run my milling machine with a Beaglebone black. I got the setup 
for all 3 axes but I am struggling with the spindle. I would like the PWM 
on the gpio P8.12, but whatever I try, LinuxCNC doesn't start anymore.
Here my spindle setup in the HAL:

loadrt pwmgen output_type=0
addf pwmgen.update servo-thread
#addf pwmgen.make-pulses base-thread

net spindle-cmd <= motion.spindle-speed-out => pwmgen.0.value
net spindle-enable <= motion.spindle-on => pwmgen.0.enable
net spindle-pwm <= pwmgen.0.pwm
#net spindle-pwm pwmgen.0.pwm => parport.0.pin-09-out
#net spindle-pwm pwmgen.0.pwm => bb_gpio.p8.out-12

setp pwmgen.0.pwm-freq  2000.0
setp pwmgen.0.scale 1.0
setp pwmgen.0.offset0.0
setp pwmgen.0.dither-pwm true

net spindle-cw <= motion.spindle-forward
net spindle-brake <= motion.spindle-brake

#setp pwmgen.0.pwm 0x4C
#setp pwmgen.0.pwm => bb_gpio.p8.out-12
#setp pwmgen.0.pin 0x4C
#setp [PRUCONF](DRIVER).pwmgen.0.pin 0x4C
#net spindle-pwm => bb_gpio.p8.out-12

Could anyone help me please? I would really appreciate since I'm trying a 
while now.
Thank you!
Alex

my mill: https://www.alex-handfest.de/sonst/sonst_cnchf2.html

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my-mill.ini
Description: Binary data


my-mill.hal
Description: Binary data


[Machinekit] About Overlay

2022-01-18 Thread fatih özen
Hi,

I am newbie and want to ask something about overlays. I write an overlay( 
MOvrly.dts ) as below :

/dts-v1/;
/plugin/;

/{
compatible = "ti,beaglebone", "ti,beaglebone-black";
part_number = "custom_overlay";

exclusive-use =
"GPIO.112",
"gpio3_16",
"GPIO.115",
"gpio3_19",
"P9.25",
"gpio3_21";

fragment@0
{
target = <_pinmux>;
__overlay__
{
custom_overlay: pinmux_bs_pinmode_GPIO_112_0xf
{
pinctrl-single,pins =   <
0x198 0x0f,
0x1a4 0x2f,
0x1ac 0x2f>;
};
};
};

fragment@1
{
target = <>;
__overlay__
{
bs_pinmode_GPIO_112_0xf_pinmux
{
compatible = "bone-pinmux-helper";
status = "okay";
pinctrl-names = "default";
pinctrl-0 = <_overlay>;
};
};
};
};

and in uEnv.txt file I wrote these lines:

enable_uboot_overlays=1
disable_uboot_overlay_video=1 
disable_uboot_overlay_audio=1 
disable_uboot_overlay_wireless=1 
disable_uboot_overlay_adc=1
dtb_overlay=/lib/firmware/MOvrly-00A0.dtbo

Finally after reboot I saw that pins were configured as in overlay file. 
But then I added

"GPIO.113","gpio3_17", "GPIO.116","gpio3_20" lines to exclusive_use

and 

0x1a8 0x2f, 0x19c 0x2f lines in to fragment@0's related part.

After reboot I can't connect to BBB anymore. What could be the reason ? I 
use 4.14.192-bone-rt-r38 kernel and BBB Rev-C board.

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[Machinekit] Re: Error launching FDM Printer using machinekit-hal and emcapplication

2021-12-23 Thread cgg
Thank you very much for your response.

Finally, I have using the packages in the machinekit.io repository and it 
is working in debian 9. However, I will explore your sugestion because I 
would like to learn more about how to install and to work with machinekit, 
thank you.

Best regards

El lunes, 20 de diciembre de 2021 a las 16:28:52 UTC+1, 
mib.hol...@gmail.com escribió:

> Hi
> Emcapplication currently only works with the axis gui. For 3-d printing I 
> would advise sticking to the old but goldie machinekit-cnc / machinekit-hal 
> combo
> pre emcapp and the python 3 upgrade.
> Best wishes
> Michael B.
>
> On Sunday, November 21, 2021 at 6:55:51 PM UTC+1 cgg wrote:
>
>> Hello everyone,
>>
>> Firstly, congratulations for the project. I am starting to learn about 
>> machinekit and 3D printers so I am noob and maybe my questions will be also 
>> noob questions.
>>
>> A few years ago, I have started learning a bit about machinekit using the 
>> documentation and the analyzing the code of the FDM Printer UNI-PRINT-3D (
>> https://github.com/thecooltool/UNI-PRINT-3D) that I executed in a SD 
>> image to the BeagleBone Black with all preconfigured (Debian Jessie and 
>> machinekit from machinekit.io repositories) and everything was Ok.
>>
>> Now I would like to start again learning more about machinekit so I tried 
>> to configure the machinekit-hal in Debian Buster to run a FDM 3D printer 
>> example (I am trying to adapt UNI-PRINT-3D) but I have got stuck so I need 
>> help to continue.
>>
>> 1-> I have installed the last debian buster image for the BBB with a RT 
>> PREEMPT kernel: 
>>
>> machinekit@beaglebone:~$ uname -a
>> Linux beaglebone 4.19.94-ti-rt-r68 #1buster SMP PREEMPT RT Thu Sep 16 
>> 15:32:36 UTC 2021 armv7l GNU/Linux
>>
>> 2-> I have added the cloudsmith repositories for machinekit, 
>> machinekit-hal and emcapplication
>>
>> 3-> I have installed the machinekit-hal and emcapplication packages from 
>> repositories (I have tried RIP installation for machinekit-hal but always 
>> get stuck at some point)
>>
>> 4-> I have tested that the commands "realtime start/stop" and it works.
>>
>> 5-> I have tested a basic machinekit example: the anddemo example (
>> https://github.com/qtquickvcp/anddemo.git). The example works Ok and 
>> changing the REMOTE from 0 to 1 in /etc/machinekit/machinekit.ini I can 
>> also connect remotely using the MachinekitClient.
>>
>> 6-> I was trying a more complex example for a 3D FDM printer (the 
>> UNI-PRINT-3D because is the only example I have tested before). I don't 
>> know if there is a more suitable example but I couldn't find one working in 
>> the new machinekit-hal version.
>>
>> 7-> When I try to launch the printer I got this error: 
>> ./uni_print_3d.py:2: Unknown command 'import'
>>
>> I paste the all sequence:
>>
>> machinekit@beaglebone:~/UNI-PRINT-3D$ python run.py -e 1 
>> UNI-PRINT-3D.ini
>> loading paralell_cape3.bbio... done
>> starting configserver... done
>> starting linuxcnc... LINUXCNC - 2.9.0~pre0
>> Machine configuration directory is '/home/machinekit/UNI-PRINT-3D'
>> Machine configuration file is 'startup.ini'
>> done
>> ('halfiles = ', ['uni_print_3d.py', 'touchy.hal'])
>> ('halpaths = ', ['/home/machinekit/UNI-PRINT-3D/uni_print_3d.py'])
>> COORDINATES = XYZ
>>
>> Starting LinuxCNC...
>> rtapi_msgd command:  /usr/libexec/machinekit/rtapi_msgd --instance=0 
>> --rtmsglevel=1 --usrmsglevel=1 --debug=1 --halsize=524288
>> rtapi_app command:  /usr/libexec/machinekit/rtapi_app --instance=0 
>> --debug=1
>> 3::2854:rt INFO:  Picked default flavor 'rt-preempt' automatically
>>     Found file(REL): ./uni_print_3d.py
>> ./uni_print_3d.py:2: Unknown command 'import'
>> Shutting down and cleaning up LinuxCNC...
>> LinuxCNC 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
>> stopping configserver... done
>> machinekit@beaglebone:~/UNI-PRINT-3D$
>>
>> I do not know why this error appears and how to solve it. Any ideas?  Can 
>> I not use python HAL?
>>
>> 8-> I have also tried starting from anddemo example that works (not 
>> launching linuxcnc) but I got stuck because my installation has not the 
&

[Machinekit] Re: Error launching FDM Printer using machinekit-hal and emcapplication

2021-12-20 Thread Michael Brown
Hi
Emcapplication currently only works with the axis gui. For 3-d printing I 
would advise sticking to the old but goldie machinekit-cnc / machinekit-hal 
combo
pre emcapp and the python 3 upgrade.
Best wishes
Michael B.

On Sunday, November 21, 2021 at 6:55:51 PM UTC+1 cgg wrote:

> Hello everyone,
>
> Firstly, congratulations for the project. I am starting to learn about 
> machinekit and 3D printers so I am noob and maybe my questions will be also 
> noob questions.
>
> A few years ago, I have started learning a bit about machinekit using the 
> documentation and the analyzing the code of the FDM Printer UNI-PRINT-3D (
> https://github.com/thecooltool/UNI-PRINT-3D) that I executed in a SD 
> image to the BeagleBone Black with all preconfigured (Debian Jessie and 
> machinekit from machinekit.io repositories) and everything was Ok.
>
> Now I would like to start again learning more about machinekit so I tried 
> to configure the machinekit-hal in Debian Buster to run a FDM 3D printer 
> example (I am trying to adapt UNI-PRINT-3D) but I have got stuck so I need 
> help to continue.
>
> 1-> I have installed the last debian buster image for the BBB with a RT 
> PREEMPT kernel: 
>
> machinekit@beaglebone:~$ uname -a
> Linux beaglebone 4.19.94-ti-rt-r68 #1buster SMP PREEMPT RT Thu Sep 16 
> 15:32:36 UTC 2021 armv7l GNU/Linux
>
> 2-> I have added the cloudsmith repositories for machinekit, 
> machinekit-hal and emcapplication
>
> 3-> I have installed the machinekit-hal and emcapplication packages from 
> repositories (I have tried RIP installation for machinekit-hal but always 
> get stuck at some point)
>
> 4-> I have tested that the commands "realtime start/stop" and it works.
>
> 5-> I have tested a basic machinekit example: the anddemo example (
> https://github.com/qtquickvcp/anddemo.git). The example works Ok and 
> changing the REMOTE from 0 to 1 in /etc/machinekit/machinekit.ini I can 
> also connect remotely using the MachinekitClient.
>
> 6-> I was trying a more complex example for a 3D FDM printer (the 
> UNI-PRINT-3D because is the only example I have tested before). I don't 
> know if there is a more suitable example but I couldn't find one working in 
> the new machinekit-hal version.
>
> 7-> When I try to launch the printer I got this error: 
> ./uni_print_3d.py:2: Unknown command 'import'
>
> I paste the all sequence:
>
> machinekit@beaglebone:~/UNI-PRINT-3D$ python run.py -e 1 
> UNI-PRINT-3D.ini
> loading paralell_cape3.bbio... done
> starting configserver... done
> starting linuxcnc... LINUXCNC - 2.9.0~pre0
> Machine configuration directory is '/home/machinekit/UNI-PRINT-3D'
> Machine configuration file is 'startup.ini'
> done
> ('halfiles = ', ['uni_print_3d.py', 'touchy.hal'])
> ('halpaths = ', ['/home/machinekit/UNI-PRINT-3D/uni_print_3d.py'])
> COORDINATES = XYZ
>
> Starting LinuxCNC...
> rtapi_msgd command:  /usr/libexec/machinekit/rtapi_msgd --instance=0 
> --rtmsglevel=1 --usrmsglevel=1 --debug=1 --halsize=524288
> rtapi_app command:  /usr/libexec/machinekit/rtapi_app --instance=0 
> --debug=1
> 3::2854:rt INFO:  Picked default flavor 'rt-preempt' automatically
> Found file(REL): ./uni_print_3d.py
> ./uni_print_3d.py:2: Unknown command 'import'
> Shutting down and cleaning up LinuxCNC...
> LinuxCNC 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
> stopping configserver... done
> machinekit@beaglebone:~/UNI-PRINT-3D$
>
> I do not know why this error appears and how to solve it. Any ideas?  Can 
> I not use python HAL?
>
> 8-> I have also tried starting from anddemo example that works (not 
> launching linuxcnc) but I got stuck because my installation has not the 
> trajectory planner 'tp' component. Do I have to install more packages? Is 
> there a new trajectory planner in the new machinekit-hal version?
>
> I pasted the test:
>
> machinekit@beaglebone:~/UNI-PRINT-3D$ realtime start
>     rtapi_msgd command:  /usr/libexec/machinekit/rtapi_msgd --instance=0 
> --rtmsglevel=1 --usrmsglevel=1 --debug=1 --halsize=524288
> rtapi_app command:  /usr/libexec/machinekit/rtapi_app --instance=0 
> --debug=1
> 3::3045:rt INFO:  Picked default flavor 'rt-preempt' automatically
> machinekit@beaglebone:~/UNI-PRINT-3D$ halcmd loadrt tp
> 1:rtapi_app:3045:user load(tp): tp.so: cannot open shared object file: 
> No such file or directory
> 1:rtapi_app:3045:us

[Machinekit] Seeed Odyssey J4125 GPIO?

2021-12-17 Thread blaz...@gmail.com
I picked up a couple of these 
https://www.seeedstudio.com/ODYSSEY-X86J4125864-TELEC-p-4918.html. They 
have an "Arduino" GPIO Header, and a "Raspberry Pi" GPIO header. From what 
I can surmise, the Arduino header comes off of a SAMD21 chip and I belive 
it's connected through USB, so I'm not really interested in that one. The 
Rpi GPIO header is a bit more of a mystery. These pins can be controlled 
through the bios and they show up in /sys/class/gpio, so the Linux GPIO 
driver is aware of them.

I know there's some gurus around here. This page contains some info about 
using the GPIO through Linux. 
https://wiki.seeedstudio.com/ODYSSEY-X86J4105-GPIO/. Anyone have any idea 
on what other information I'd need to dig up to get (someone other than me) 
started with setting up a hal driver or something useful in LinuxCNC?

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[Machinekit] Re: QtQuickVcp Cetus tutorial with Beaglebone

2021-12-02 Thread XQ Zhou

Hello, I also encountered the same problem as yours. I am using the default 
axis.ini. How can I modify it? Or can you share your configuration file and 
run.py? 
在2020年1月7日星期二 UTC+8 14:44:18 写道:

> i made a reboot and its working now :)
>
>
> On Tuesday, January 7, 2020 at 7:39:49 AM UTC+1, Jo sias wrote:
>>
>> i get now for mklauncher status:
>>
>> machinekit@beaglebone:~/machinekit/configs/ARM.BeagleBone.Panther-1$ sudo 
>> service mklauncher status
>> ● mklauncher.service - Mklauncher service
>>Loaded: loaded (/etc/systemd/system/mklauncher.service; enabled; 
>> vendor preset: enabled)
>>Active: active (running) since Mon 2020-01-06 20:08:25 UTC; 10h ago
>>  Main PID: 1042 (mklauncher)
>>CGroup: /system.slice/mklauncher.service
>>    └─1042 /usr/bin/python /usr/bin/mklauncher 
>> /home/machinekit/machinekit/configs/ARM.BeagleBone.Panther-1/
>>
>> Jan 07 06:33:01 beaglebone rtapi:0[4852]: unload: 'motmod' not loaded
>> Jan 07 06:33:01 beaglebone rtapi:0[4852]: unload: 'limit1' not loaded
>> Jan 07 06:33:01 beaglebone rtapi:0[4852]: unload: 'hal_pru_generic' not 
>> loaded
>> Jan 07 06:33:01 beaglebone rtapi:0[4852]: unload: 'hal_bb_gpio' not loaded
>> Jan 07 06:33:01 beaglebone msgd:0[4847]: rtapi_app exit detected - 
>> scheduled shutdown
>> Jan 07 06:33:03 beaglebone msgd:0[4847]: msgd shutting down
>> Jan 07 06:33:03 beaglebone msgd:0[4847]: zeroconf: unregistering 'Log 
>> service on beaglebone.local pid 4847'
>> Jan 07 06:33:03 beaglebone msgd:0[4847]: log buffer hwm: 0% (0 msgs, 0 
>> bytes out of 524288)
>> Jan 07 06:33:03 beaglebone msgd:0[4847]: normal shutdown - global segment 
>> detached
>> Jan 07 06:33:10 beaglebone syslog[5069]: interpreter startup pid=5069
>>
>> On Tuesday, January 7, 2020 at 7:30:18 AM UTC+1, Jo sias wrote:
>>>
>>> great i think its almost done!
>>>
>>>
>>> [image: Anmerkung 2020-01-07 072850.jpg]
>>>
>>>
>>>
>>>
>>>
>>>
>>>
>>>
>>>
>>>
>>>
>>>
>>>
>>>
>>>
>>>
>>>
>>> but its not going further is it because of the .bbio file?
>>>
>>> On Monday, January 6, 2020 at 10:43:32 PM UTC+1, Aurelien wrote:
>>>>
>>>> update
>>>>>
>>>>> #!/usr/bin/python
>>>>>
>>>>> import sys
>>>>> import os
>>>>> import subprocess
>>>>> import time
>>>>> from machinekit import launcher
>>>>> from machinekit import config
>>>>>
>>>>> launcher.register_exit_handler()
>>>>> #launcher.set_debug_level(5)
>>>>> os.chdir(os.path.dirname(os.path.realpath(__file__)))
>>>>>
>>>>> mkconfig = config.Config()
>>>>> if 'MACHINEKIT_INI' not in os.environ:  # export for package installs
>>>>> os.environ['MACHINEKIT_INI'] = mkconfig.MACHINEKIT_INI
>>>>> 
>>>>> if 'HAL_RTMOD_DIR' not in os.environ:  # export for package installs
>>>>> os.environ['HAL_RTMOD_DIR'] = '/usr/lib/linuxcnc'
>>>>> 
>>>>> #if 'DISPLAY' not in os.environ:  # export for connecting to display
>>>>> #os.environ['DISPLAY'] = ':0.0'
>>>>>
>>>>> try:
>>>>> launcher.check_installation()
>>>>> launcher.cleanup_session()
>>>>> #launcher.load_bbio_file('furaday_stepgen.bbio')
>>>>>
>>>>> ###REALLY UNSURE ABOUT YOUR BBIO file name
>>>>>
>>>>> launcher.start_process('machinekit Panther-3-Axis.ini')
>>>>> ###REALLY UNSURE ABOUT YOUR ini file name
>>>>>
>>>>> launcher.register_exit_handler()  # enable on ctrl-C, needs to 
>>>>> executed after HAL files
>>>>> launcher.ensure_mklauncher()  # ensure mklauncher is started
>>>>> launcher.start_process("configserver -n SuperNC 
>>>>> /home/machinekit/Cetus")
>>>>> while True:
>>>>> launcher.check_processes()
>>>>> time.sleep(1)
>>>>> except subprocess.CalledProcessError:
>>>>> launcher.end_session()
>>>>> sys.exit(1)
>>>>>
>>>>> sys.exit(0)
>>>>>
>>>>>
>>>>>
>>>> How do you start Axis ?
>>>>  
>>>>
>>>

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[Machinekit] Error launching FDM Printer using machinekit-hal and emcapplication

2021-11-21 Thread cgg
Hello everyone,

Firstly, congratulations for the project. I am starting to learn about 
machinekit and 3D printers so I am noob and maybe my questions will be also 
noob questions.

A few years ago, I have started learning a bit about machinekit using the 
documentation and the analyzing the code of the FDM Printer UNI-PRINT-3D 
(https://github.com/thecooltool/UNI-PRINT-3D) that I executed in a SD image 
to the BeagleBone Black with all preconfigured (Debian Jessie and 
machinekit from machinekit.io repositories) and everything was Ok.

Now I would like to start again learning more about machinekit so I tried 
to configure the machinekit-hal in Debian Buster to run a FDM 3D printer 
example (I am trying to adapt UNI-PRINT-3D) but I have got stuck so I need 
help to continue.

1-> I have installed the last debian buster image for the BBB with a RT 
PREEMPT kernel: 

    machinekit@beaglebone:~$ uname -a
Linux beaglebone 4.19.94-ti-rt-r68 #1buster SMP PREEMPT RT Thu Sep 16 
15:32:36 UTC 2021 armv7l GNU/Linux

2-> I have added the cloudsmith repositories for machinekit, machinekit-hal 
and emcapplication

3-> I have installed the machinekit-hal and emcapplication packages from 
repositories (I have tried RIP installation for machinekit-hal but always 
get stuck at some point)

4-> I have tested that the commands "realtime start/stop" and it works.

5-> I have tested a basic machinekit example: the anddemo example 
(https://github.com/qtquickvcp/anddemo.git). The example works Ok and 
changing the REMOTE from 0 to 1 in /etc/machinekit/machinekit.ini I can 
also connect remotely using the MachinekitClient.

6-> I was trying a more complex example for a 3D FDM printer (the 
UNI-PRINT-3D because is the only example I have tested before). I don't 
know if there is a more suitable example but I couldn't find one working in 
the new machinekit-hal version.

7-> When I try to launch the printer I got this error: ./uni_print_3d.py:2: 
Unknown command 'import'

I paste the all sequence:

machinekit@beaglebone:~/UNI-PRINT-3D$ python run.py -e 1 
UNI-PRINT-3D.ini
loading paralell_cape3.bbio... done
starting configserver... done
starting linuxcnc... LINUXCNC - 2.9.0~pre0
Machine configuration directory is '/home/machinekit/UNI-PRINT-3D'
Machine configuration file is 'startup.ini'
done
('halfiles = ', ['uni_print_3d.py', 'touchy.hal'])
('halpaths = ', ['/home/machinekit/UNI-PRINT-3D/uni_print_3d.py'])
COORDINATES = XYZ

Starting LinuxCNC...
rtapi_msgd command:  /usr/libexec/machinekit/rtapi_msgd --instance=0 
--rtmsglevel=1 --usrmsglevel=1 --debug=1 --halsize=524288
rtapi_app command:  /usr/libexec/machinekit/rtapi_app --instance=0 
--debug=1
3::2854:rt INFO:  Picked default flavor 'rt-preempt' automatically
Found file(REL): ./uni_print_3d.py
./uni_print_3d.py:2: Unknown command 'import'
Shutting down and cleaning up LinuxCNC...
LinuxCNC 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
stopping configserver... done
machinekit@beaglebone:~/UNI-PRINT-3D$

I do not know why this error appears and how to solve it. Any ideas?  Can I 
not use python HAL?

8-> I have also tried starting from anddemo example that works (not 
launching linuxcnc) but I got stuck because my installation has not the 
trajectory planner 'tp' component. Do I have to install more packages? Is 
there a new trajectory planner in the new machinekit-hal version?

I pasted the test:

machinekit@beaglebone:~/UNI-PRINT-3D$ realtime start
rtapi_msgd command:  /usr/libexec/machinekit/rtapi_msgd --instance=0 
--rtmsglevel=1 --usrmsglevel=1 --debug=1 --halsize=524288
    rtapi_app command:  /usr/libexec/machinekit/rtapi_app --instance=0 
--debug=1
3::3045:rt INFO:  Picked default flavor 'rt-preempt' automatically
machinekit@beaglebone:~/UNI-PRINT-3D$ halcmd loadrt tp
1:rtapi_app:3045:user load(tp): tp.so: cannot open shared object file: 
No such file or directory
1:rtapi_app:3045:user do_load_cmd: tp.so: cannot open shared object 
file: No such file or directory
:0: insmod failed, returned -1:
do_load_cmd: tp.so: cannot open shared object file: No such file or 
directory
machinekit@beaglebone:~/UNI-PRINT-3D$


Finally, Can I use only machinekit-hal for implementing a FDM 3D Printer? 
Do you know any example? Or maybe, Do I have to use the old packages from 
machinekit.io repositories?


Sorry for the long post, but after spend a lot of hours reading 
documentation and testing things I had a lot of questions.

Thank you very much in advance.

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[Machinekit] Re: Advice on implementing DRO servo loop in De0-nano-soc FPGA (Hostmot2)

2021-11-17 Thread Chris Dickson
Pretty untimely I know -- but I've been running a benchtop mill with 
closed-loop servo control + cheap chinese (igaging) slides, but took a 
(very) different approach which works well for me :). Haven't updated this 
repo for the past couple of years but for what it's worth -- see below... 

linuxcnc / machinekit configuration + miscellaneous setup scripts for 
"Ludd" - a homebrew machinekit + beaglebone-based CNC controller for a 
converted Sieg (aka Grizzly/Harbor Freight, etc mini-mill)

Although there are many CNC conversions to be found on the interwebs, this 
one is unusual in that it's set up for closed-loop/hybrid servo motor 
control + position feedback, using a pragmatic combination of 
cheap/surplus/hobbyist hardware and improvised, soldering-iron friendly 
electronics.

The design employs high quality, analog input / analog feedback AMC motor 
amplifiers (to be found new on ebay for ~ $30 each) driving a set of 
Parker/Parvex PM servo-motors (rescued from the Twin Cities' iconic 
emporium of everything liquidated, imperfect or obsolete - Ax-Man surplus)

LinuxCNC position feedback is provided via a USB/serial stream of absolute 
position values, obtained from a set of arduino-monitored 21-bit capacitive 
scales.

The scales (originally added to provide low-cost DRO) had been thrown in 
for free with the mill when it was obtained for $300 through Craigslist. 
They were adapted to serve for this project by replacing the DRO readouts 
with an Arduino set-up to decode the scale positions (aided by some nifty 
reverse engineering by Yuriy Krushelnytskiy. Viz: 
http://www.yuriystoys.com/2012/01/reading-gtizzly-igaging-scales-with.html )

The position data is supplemented by direct tachometer-driven/analog 
velocity control loops between the motors and amplifiers.

Amplifier input position control is also continuous/analog (+/-10v), 
synthesized from micro-transformer isolated 20khz PWM signals, using a 
salvaged RS232/423 driver chip coupled with a simple low-pass filter.

The position control PWM is generated within the Beaglebone PRU, using the 
(unaltered!) machinekit stepper control driver originally written by 
Charles Steinkuehler.

Code + circuits (again, for what little they are worth), 
at https://github.com/christophermdickson/ludd

Cheers!

Chris
On Friday, January 29, 2021 at 10:06:56 PM UTC-6 god...@gmail.com wrote:

> Hello All:
>
> First of all, I hope that I am making myself clear to everyone. (NOOB 
> here!)
>
> I have a mill setup that is working with LinuxCNC on the mesa 7i43 with 
> both X and y Drives currently. My goal is to implement a DRO readout 
> feedback loop into the FPGA DE0-Nano-Soc with machinekit. I would like to 
> make a type of DRO feedback servo loop with the FPGA in realtime using the 
> FPGA as the counter decoder/resolver functions. After still trying to 
> understand machinekit I am looking for advice to see if this would be the 
> best way to approach this problem.
>
> I have magnetic slide digital readout with no usable output digital 
> signals. But after probing inside the unit (Sony unit with magnetic slides) 
> I can tap off a digital logic chip that creates a square wave in 
> retaliation to another pin on the circuit card. Both signals would move in 
> either direction of the magnetic slide. (basically covering which direction 
> it is moving). The signals would be independent of the DRO itself. (for 
> example, resetting the DRO to zero would not affect the signals into 
> machinekit).
>
> I guess in essence this would be a replacement of the resolver function 
> without all the math of signal processing? If I am correct? Also, having 
> "limited" experience with Verilog HDL, I would be creating a HDL block that 
> would either run separately or be included into the HostMot2 function block 
> in the mkscofpga github Project.
>
> I understand the risks associated with a servo feed back loops such as 
> this. 
> Hence, why I am seeking advice. 
>
> Your thoughts??
>
> Thanks!
> Mike Kennedy
>
>
>

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Re: [Machinekit] Mesa cards compatibility question: Machinekit + ROS (Pins vs Params)

2021-09-13 Thread Jakub Kaminski
Hi Charles,
Thank you for your reply and being supportive!

I found the following commit:
hostmot2: add support for mesanet ethernet boards 7i80, 7i76e, 7i92 
<https://github.com/machinekit/machinekit/commit/e57d6bc0e4c07d5cf3d5ce19c783c48d1e6c0598>
Moreover, currently this file 
<https://github.com/machinekit/machinekit-hal/blob/master/src/hal/drivers/mesa-hostmot2/hm2_eth.c>
 also 
mentions 7i92 and some others.

Running text search tools across machinekit-hal repo, I did not find any 
information about the newest cards like 7i96 or 7i95.

I spoke with a Mesa engineer today and finally bought 7i92 and 7i88 for my 
Machinekit-related work  (7i88 daughter board because of the number of 
step-dir axes which will be used in my research application).
There is a plan to later add a second daughter board for inputs only.

Best regards,
Jakub


On Sunday, September 12, 2021 at 12:31:47 PM UTC-4 cha...@steinkuehler.net 
wrote:

> You should be able to use anything supported by Machinekit to generate 
> step/dir pulses, and last I knew most of the Mesa hardware was 
> supported. The pins/parameters thing relates to Machinekit generally 
> dropping support for parameters in favor of pins. This was for a 
> variety of reasons, but mostly because it allowed for making components 
> instantiable at run-time, eg: eliminating the need to know ahead of time 
> exactly how many instances of some component you might need for your HAL 
> file.
>
> Most of the Mesa driver logic (eg: the HM2 driver) should be working in 
> Machinekit, or at least it was when I was playing with Mesa VHDL code in 
> the FPGA+SoC platforms a while back. Each individual card then has a 
> small shim of code to handle the different communications protocols (eg: 
> PCI/PCIe, EPP, SPI, Ethernet, etc).
>
> On 9/9/2021 4:39 PM, Jakub Kaminski wrote:
> > Dear Machinekit Community,
> > *tl;dr:*
> > Machinekit uses HAL Pins for ROS bindings which is (or was?) nonstandard
> > for Mesa cards (which uses params). Can I use any Mesa card with ROS and
> > Machinekit for Step-dir control? (Looking at 7i92 + daughter cards). 
> Trying
> > to validate what I read online.
> > 
> > *Full message:*
> > Impressed by the possibilities that Machinekit + ROS offer and your great
> > work at:
> > hal_ros_control <https://github.com/zultron/hal_ros_control>package
> > (@Zultron @Luminize @Machinekoder),
> > ros_hal_tests <https://github.com/cdsteinkuehler/ros_hal_tests>
> > (@Cdsteinkuehler)
> > ros_hello_machinekit <https://github.com/luminize/ros_hello_machinekit>
> > (@Luminize )
> > 
> > I would like to ask some compatibilty questions.
> > 
> > As @Luminize stated in ros_hello_machinekit repository
> > <https://github.com/luminize/ros_hello_machinekit> :
> > *depending on the hardware you will need to use this machinekit branch 
> (no
> > support !!!)
> > <https://github.com/luminize/machinekit/tree/hostmot-remove-params2> 
> which
> > uses pins instead of params for the mesa hardware stepgen. BEWARE only
> > tested on a mesa 5i20 card. YMMV *
> > 
> > I plan to buy 7i92 + daughter step/dir card just in case my parallel port
> > is not good enough. Will it work with Machinekit + ROS without much
> > modifications? Do I need to apply some custom branch or some other 
> hacking?
> > 
> > Thank you for your time devoted to this and making these meaningful
> > contributions, which are a real game-changer for robotics researchers.
> > 
> > Best regards,
> > Jakub
> > 
>
> -- 
> Charles Steinkuehler
> cha...@steinkuehler.net
>

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Re: [Machinekit] Mesa cards compatibility question: Machinekit + ROS (Pins vs Params)

2021-09-12 Thread Charles Steinkuehler
You should be able to use anything supported by Machinekit to generate 
step/dir pulses, and last I knew most of the Mesa hardware was 
supported.  The pins/parameters thing relates to Machinekit generally 
dropping support for parameters in favor of pins.  This was for a 
variety of reasons, but mostly because it allowed for making components 
instantiable at run-time, eg: eliminating the need to know ahead of time 
exactly how many instances of some component you might need for your HAL 
file.


Most of the Mesa driver logic (eg: the HM2 driver) should be working in 
Machinekit, or at least it was when I was playing with Mesa VHDL code in 
the FPGA+SoC platforms a while back.  Each individual card then has a 
small shim of code to handle the different communications protocols (eg: 
PCI/PCIe, EPP, SPI, Ethernet, etc).


On 9/9/2021 4:39 PM, Jakub Kaminski wrote:

Dear Machinekit Community,
*tl;dr:*
Machinekit uses HAL Pins for ROS bindings which is (or was?) nonstandard
for Mesa cards (which uses params). Can I use any Mesa card with ROS and
Machinekit for Step-dir control? (Looking at 7i92 + daughter cards). Trying
to validate what I read online.

*Full message:*
Impressed by the possibilities that Machinekit + ROS offer and your great
work at:
hal_ros_control <https://github.com/zultron/hal_ros_control>package
(@Zultron @Luminize @Machinekoder),
ros_hal_tests <https://github.com/cdsteinkuehler/ros_hal_tests>
(@Cdsteinkuehler)
ros_hello_machinekit <https://github.com/luminize/ros_hello_machinekit>
(@Luminize )

I would like to ask some compatibilty questions.

As @Luminize stated in ros_hello_machinekit repository
<https://github.com/luminize/ros_hello_machinekit> :
*depending on the hardware you will need to use this machinekit branch (no
support !!!)
<https://github.com/luminize/machinekit/tree/hostmot-remove-params2> which
uses pins instead of params for the mesa hardware stepgen. BEWARE only
tested on a mesa 5i20 card. YMMV *

I plan to buy 7i92 + daughter step/dir card just in case my parallel port
is not good enough. Will it work with Machinekit + ROS without much
modifications? Do I need to apply some custom branch or some other hacking?

Thank you for your time devoted to this and making these meaningful
contributions, which are a real game-changer for robotics researchers.

Best regards,
Jakub



--
Charles Steinkuehler
char...@steinkuehler.net

--
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[Machinekit] Mesa cards compatibility question: Machinekit + ROS (Pins vs Params)

2021-09-09 Thread Jakub Kaminski
Dear Machinekit Community,
*tl;dr:*
Machinekit uses HAL Pins for ROS bindings which is (or was?) nonstandard 
for Mesa cards (which uses params). Can I use any Mesa card with ROS and 
Machinekit for Step-dir control? (Looking at 7i92 + daughter cards). Trying 
to validate what I read online.

*Full message:*
Impressed by the possibilities that Machinekit + ROS offer and your great 
work at:
hal_ros_control <https://github.com/zultron/hal_ros_control>package 
(@Zultron @Luminize @Machinekoder),
ros_hal_tests <https://github.com/cdsteinkuehler/ros_hal_tests>  
(@Cdsteinkuehler)
ros_hello_machinekit <https://github.com/luminize/ros_hello_machinekit> 
(@Luminize )

I would like to ask some compatibilty questions.

As @Luminize stated in ros_hello_machinekit repository 
<https://github.com/luminize/ros_hello_machinekit> :
*depending on the hardware you will need to use this machinekit branch (no 
support !!!) 
<https://github.com/luminize/machinekit/tree/hostmot-remove-params2> which 
uses pins instead of params for the mesa hardware stepgen. BEWARE only 
tested on a mesa 5i20 card. YMMV *

I plan to buy 7i92 + daughter step/dir card just in case my parallel port 
is not good enough. Will it work with Machinekit + ROS without much 
modifications? Do I need to apply some custom branch or some other hacking?

Thank you for your time devoted to this and making these meaningful 
contributions, which are a real game-changer for robotics researchers.

Best regards,
Jakub

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[Machinekit] Re: BeagleBone local setup - Black screen with cursor after graphical login

2021-08-22 Thread shahim vedaei
Hi,
Any success regarding your issue? What was the cause of that no desktop.

On Sunday, May 3, 2020 at 6:07:38 AM UTC-6 pie...@ingels.eu wrote:

> Hello all,
>
> I am attempting to set up a controller for my CNC lathe using the 
> BeagleBone Black and Machinekit. I have set it up pretty well using remote 
> terminal and I am now completing the system with a touchscreen (an Elecrow 
> RR101 10.1 Inch 1280x800).
>
> It seems to work just fine and displaying the login graphical interface at 
> 1280x800, but as soon as I login the mouse cursor remains but the screen is 
> all dark. I have poked around with Xrandr thinking that it is the 
> resolution but I get this message:
> xrandr: Failed to get size of gamma for output default
> Screen 0: minimum 1280 x 800, current 1280 x 800, maximum 1280 x 800
> default connected 1280x800+0+0 0mm x 0mm
>1280x800   0.00*
>
>
> I assume that I have to define the screen - any pointers how to do this 
> and find the relevant parameters? Or obviously if I need to look in a very 
> different direction :)
>
> Thank you!
> Pierre
>

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Re: [Machinekit] How do I access the .ini file?

2021-08-16 Thread justin White
It sounds like you used a ready baked config so I assume the custom M104
command file is already where it needs to be and setup. You need to specify
a value for the Mcode in MDI. Typing M104 isn't going to do anything. "M104
*P50"* would set the value of M104 to 50

This is assuming you have an M104 file already setup, M100-M199 are user
defined Mcodes, they don't do anything unless someone wrote a file to do
what it does and put it where it needs to go

On Mon, Aug 16, 2021 at 7:00 PM Daniel Lancaster <
daniellancaster...@gmail.com> wrote:

> So this is probably a super stilly question but I am currently trying to
> build a 3d printer with a beagleboneblack and a cramps board. I can load up
> machinekit and am able to move the axes' and see the temperatures, but I
> cannot define the bed temp with the M104 command. This command seems not to
> be known and when I look online how to solve this, the main response is to
> add the M-code config file to the .ini file. I have no idea how to do this
> from the command line. I am currently talking to the BBB via an SSH
> connection
>
>  Sorry if this is a stupid question, but I cannot find an answer anywhere
> and my only coding knowledge is with Python and FORTRAN.
>
> All the best,
> Danny
>
> --
> website: http://www.machinekit.io blog: http://blog.machinekit.io github:
> https://github.com/machinekit
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> .
>

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[Machinekit] How do I access the .ini file?

2021-08-16 Thread Daniel Lancaster
So this is probably a super stilly question but I am currently trying to 
build a 3d printer with a beagleboneblack and a cramps board. I can load up 
machinekit and am able to move the axes' and see the temperatures, but I 
cannot define the bed temp with the M104 command. This command seems not to 
be known and when I look online how to solve this, the main response is to 
add the M-code config file to the .ini file. I have no idea how to do this 
from the command line. I am currently talking to the BBB via an SSH 
connection

 Sorry if this is a stupid question, but I cannot find an answer anywhere 
and my only coding knowledge is with Python and FORTRAN.

All the best,
Danny

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[Machinekit] Re: P8_45 as pruout. Isssue?

2021-07-14 Thread 'HurthLF4' via Machinekit
The missing attachments (does only work for me if the files are in archiv)

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P8_45test.7z
Description: application/7z-compressed


[Machinekit] Re: how to install machinekit-hal on raspberry pi 3 or 4?

2021-07-01 Thread Mala Dies
Hello,

I wrote up a test script to show how to install it on Debian. 

Seth

P.S. Please look 
here: https://github.com/silver2row/morsh/blob/main/md/MachineKitTwo.md is 
for the BBB but it works on plain Debian too!

On Sunday, June 20, 2021 at 12:54:54 PM UTC-5 dimfarzi...@gmail.com wrote:

> I tried to install machinekit-hal on raspberry pi 3b so I followed the 
> instruction in cloudsmith machinekit repository and wrote this in my rpi3 
> terminal:
> ``` 
> curl -1sLf \ '
> https://dl.cloudsmith.io/public/machinekit/machinekit-hal/setup.deb.sh' \ 
> | sudo -E bash
> ```
> It pass all the tasks and it added machinekit-hal raspbian buster 
> repository to my apt repository directory. Then I wrote `sudo apt install 
> machinekit-hal` in my rpi3 terminal but it could locate the package. I 
> tried emcapplication too, but the problem is still there. How could I 
> install machinekit-hal on my raspberry pi 3?
>
>  Any help would be greatly appreciated.
>

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Re: [Machinekit] Seeed to design and build Machinekit focused Cape for BeagleBone Black/AI

2021-05-11 Thread Mala Dies
Hello,

I saw the link you posted on Universal Controller from Bart Drings. 

...

Thank you for this info. I am going another route as I do not know anything 
about GRBL as of today. 

Seth

P.S. I tried GRBL a while back w/ the BBB but came up empty. Anyway, I will 
keep up w/ my promotion of people looking around to get the motor 
controller boards made for the BBB/BBAI.

On Monday, March 29, 2021 at 2:42:06 PM UTC-5 doug@gmail.com wrote:

> Maybe consider something like Bart Drings -  Universal Controller - 
> https://www.youtube.com/watch?v=IMwXUbWLic0
>
> For anyone considering using SPI to a light weight step generator on 
> standard 3D printer hardware, take a look at Remora project - docs 
> https://remora-docs.readthedocs.io/en/latest/index.html
> code - https://github.com/scottalford75/Remora
> Default configs are currently for 2 3D printers but many CNCs are just a 
> hal and ini file away. And building/porting the Machinekit hal module.
>
> On Friday, November 27, 2020 at 8:03:26 PM UTC-8 fun...@gmail.com wrote:
>
>> Hello,
>>
>> Are people still staying interested in an add-on Cape for the BBB/BBAI 
>> with many input/output channels for Servos/Steppers? I have not put 
>> anything together myself. I like the idea of Open Source being relevant now 
>> and in the future for people like me who tend to not know everything but 
>> that is a person that still likes to make. 
>>
>> Realistically, there are many advantages to this idea. Not only can a 
>> Cape be useful on such a SiP device or SoC device, it can also pave the way 
>> for other future endeavors to take place for machines.
>>
>> For instance, I am by far an expert as many of you already know but I 
>> have learned many things in my time dealing with 3.3v, BBB.io boards. 
>>
>> Now, although I cannot write a full on script to produce everything 
>> needed from the gpio.h and gpio.c files in the kernel, I can use 
>> specific-already-made libraries w/ ease.
>>
>> Machinekit seems to be one of these feature-rich libraries that has its 
>> own shtick and I want to use it w/ new/old ideas of machine workings. 
>>
>> Seth
>>
>> P.S. For the ongoing effort by the beagleboard.org group and speaking 
>> for myself, I would like to finalize working w/ more powerful servos 
>> outside of 5v tech. So, if people are starting to give in on this effort, 
>> please do not. I can use it and once the word gets out on a specified Cape 
>> for the BBB/BBAI that deals w/ heavier motors, I am sure people would flock 
>> towards a powerful alternative. Esp. for the beagleboard.org related 
>> hardware and Open Source efforts of anyone still involved and that will be 
>> involved in the future, learning is mostly part of what we do daily. 
>> Without the Open Source community, people do not learn of new alternatives 
>> to older ideas unless directly associated with these ideas in business or 
>> work. Also, to anyone still building Capes out there in Open Source land, 
>> there are some Cape diagrams on KiCAD. It is not easy to mfg. a Cape and 
>> produce source in combination for novices like me but there are many people 
>> out there who can compensate for my lack of knowledge. "Just a refresher!" 
>> I am trying to keep this effort ongoing and not dead in the water. I know 
>> it is not up to me but I want my "two-cents" to be heard for any bored 
>> receivers/believers.
>> On Friday, June 26, 2020 at 10:14:01 PM UTC-5 blaz...@gmail.com wrote:
>>
>>> EtherCAT is used extensively in industry, a signification number of the 
>>>> CNC controllers now only support EtherCAT servos and IO. 
>>>>
>>>> The cost of using EtherCAT for CNCs has dropped significantly in the 
>>>> last 5 years with a number of smaller suppliers of servo hardware 
>>>> producing products. 
>>>>
>>>> Companies like LNC (www.lnc.com.tw) and Moon Industries 
>>>> (https://www.moonsindustries.com). 
>>>>
>>>> My family business has been using EtherCAT hardware on our wool 
>>>> sampling 
>>>> machines for the last 7 years. Its totally changed how we think about 
>>>> our machines and the way forward. I can say with 100% certainly that we 
>>>> would not be making our machines any more if I had not found EtherCAT 
>>>> eight years ago. 
>>>>
>>>> Now for the purposes of making a BBB MachineKit board which make the 
>>>> job 
>>>> of controlling my DIY / semi-commercial CNC. 
>>>>
>>>> I'm not sure. It would be coo

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