1. Configuring LinuxCNC
  3. Advanced Configuration
  5. Bipod setup

Bipod setup

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26 Aug 2010 14:27 #3884 by benehuber
Replied by benehuber on topic Re:Bipod setup
comp
as you wrote

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26 Aug 2010 17:35 #3889 by koppi
Replied by koppi on topic Re:Bipod setup
You can try my code from this website: goo.gl/ixul I cant remember, howto compile the stuff, but in the end, it worked all fine: goo.gl/Pvbp

Kind regards,
Jakob

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27 Aug 2010 09:43 #3899 by andypugh
Replied by andypugh on topic Re:Bipod setup
Comp probably needs header files from the source tree to compile the kinematics module.

There are various ways to get the source, but this is as good as any:
wiki.linuxcnc.org/cgi-bin/emcinfo.pl?git

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31 Aug 2010 15:49 - 31 Aug 2010 15:50 #3928 by step4linux
Replied by step4linux on topic Re:Bipod setup

benehuber wrote:
I need your help, I used your configuration emc2hotwinch with emc under ubuntu 8.04. now I installed 10.04 with emc 2.4.3 and habe problems with dualpipod. Can you help me with rtai realtime-2.6.32-122-rtai?
I think I need dualpipod for mentioned Kernel or?


hi Bene,
Do you successfully run 2.4.3 on 10.04 ? including Axis ?
I tried but there are still problems.
Also the dualbipod.c is not able to compile on 2.4.3. It seems there are some changes in the code structure of EMC.
I had no time for investigations up to now, please be patient (or try by yourself and let me know the result ;) )

regards, Gerd
Last edit: 31 Aug 2010 15:50 by step4linux.

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01 Sep 2010 10:31 #3935 by dab77
Replied by dab77 on topic Re:Bipod setup
Hallo, I'm currently using ubuntu 10.04 and 2.4.3. it works well apart for my video card not so fast..
and the simple bipod.c i've done compile well and works great.

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01 Sep 2010 20:18 #3950 by benehuber
Replied by benehuber on topic Re:Bipod setup
@ Gerd: hi Gerd, yes I can run emc 2.4.3 on Ubuntu 10.04 but iam not able to compile your files, because I don't know how :blush:


@ dab77: can you compile for us the dualbipod files from Gerd? you can find dualbipod.c on code.google.com/p/emc2hotwinch/

I think that would be the easiest way...

regards, bene

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01 Sep 2010 22:42 - 01 Sep 2010 22:44 #3954 by dab77
Replied by dab77 on topic Re:Bipod setup
compiling gave me an error:
/tmp/tmp2dEeJD/dualbipod.c:175: error: ‘HAL_SUCCESS’ undeclared (first use in this function)

so in the file i tryed to change HAL_SUCCESS with "1"...don't know if it's correct, try it carefully!!!
..it compiled..

so i have the .ko for you..

wish it is helpful,
ciao, davide.

File Attachment:

File Name: dualbipod.gz
File Size:42 KB
Attachments:
Last edit: 01 Sep 2010 22:44 by dab77.

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02 Sep 2010 07:08 #3955 by step4linux
Replied by step4linux on topic Re:Bipod setup
thanks Davide,

yes I found that this symbol was defined in one of the header files previously.
Now it's either renamed, removed, or moved to another header file.

If it happens that one of the experts is reading this, they may be able to explain what happened.

Ciau, Gerd

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02 Sep 2010 15:19 #3960 by benehuber
Replied by benehuber on topic Re:Bipod setup
hi,

i tried it but got errors


Print file information:
RUN_IN_PLACE=no
EMC2_DIR=
EMC2_BIN_DIR=/usr/bin
EMC2_TCL_DIR=/usr/share/emc/tcl
EMC2_SCRIPT_DIR=
EMC2_RTLIB_DIR=/usr/realtime-2.6.32-122-rtai/modules/emc2
EMC2_CONFIG_DIR=
EMC2_LANG_DIR=/usr/share/emc/tcl/msgs
INIVAR=inivar
HALCMD=halcmd
EMC2_EMCSH=/usr/bin/wish8.5
EMC2 - 2.4.3
Machine configuration directory is '/home/cnc/emc2/configs/hotwire'
Machine configuration file is 'hotwire9.ini'
INIFILE=/home/cnc/emc2/configs/hotwire/hotwire9.ini
PARAMETER_FILE=emc.var
EMCMOT=motmod
EMCIO=io
TASK=milltask
HALUI=
DISPLAY=axis
NML_FILE=
Starting EMC2...
Starting EMC2 server program: emcsvr
Loading Real Time OS, RTAPI, and HAL_LIB modules
Realtime system did not load
Shutting down and cleaning up EMC2...
Killing task emcsvr, PID=1972
Removing HAL_LIB, RTAPI, and Real Time OS modules
Removing NML shared memory segments
Cleanup done

Debug file information:
insmod: error inserting '/usr/realtime-2.6.32-122-rtai/modules/rtai_hal.ko': -1 File exists
1972
PID TTY STAT TIME COMMAND
Stopping realtime threads
Unloading hal components
ERROR: Module hal_lib is in use by dualbipod
ERROR: Module rtapi is in use by hal_lib
ERROR: Module rtai_math does not exist in /proc/modules
ERROR: Module rtai_sem is in use by rtapi
ERROR: Module rtai_fifos is in use by rtapi
ERROR: Module rtai_sched is in use by rtapi,rtai_sem,rtai_fifos
ERROR: Module rtai_hal is in use by rtapi,rtai_sem,rtai_fifos,rtai_sched

Kernel message information:
[ 71.281783] I-pipe: Domain RTAI registered.
[ 71.281791] RTAI[hal]: <3.8.1> mounted over IPIPE-NOTHREADS 2.6-03.
[ 71.281794] RTAI[hal]: compiled with gcc version 4.4.3 (Ubuntu 4.4.3-4ubuntu5) .
[ 71.281849] RTAI[hal]: mounted (IPIPE-NOTHREADS, IMMEDIATE (INTERNAL IRQs DISPATCHED), ISOL_CPUS_MASK: 0).
[ 71.281852] PIPELINE layers:
[ 71.281855] fae94e20 9ac15d93 RTAI 200
[ 71.281859] c085cb20 0 Linux 100
[ 71.330815] RTAI[malloc]: global heap size = 2097152 bytes, <BSD>.
[ 71.331003] RTAI[sched]: IMMEDIATE, MP, USER/KERNEL SPACE: <with RTAI OWN KTASKs>, kstacks pool size = 524288 bytes.
[ 71.331011] RTAI[sched]: hard timer type/freq = APIC/10390600(Hz); default timing: periodic; linear timed lists.
[ 71.331016] RTAI[sched]: Linux timer freq = 250 (Hz), TimeBase freq = 1662826000 hz.
[ 71.331019] RTAI[sched]: timer setup = 999 ns, resched latency = 2944 ns.
[ 71.331114] RTAI[usi]: enabled.
[ 71.385628] RTAI[math]: loaded.
[ 72.250573] RTAI[math]: unloaded.



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02 Sep 2010 15:34 #3962 by andypugh
Replied by andypugh on topic Re:Bipod setup
benehuber wrote:

insmod: error inserting '/usr/realtime-2.6.32-122-rtai/modules/rtai_hal.ko': -1 File exists

ERROR: Module hal_lib is in use by dualbipod
ERROR: Module rtapi is in use by hal_lib
ERROR: Module rtai_math does not exist in /proc/modules
ERROR: Module rtai_sem is in use by rtapi
ERROR: Module rtai_fifos is in use by rtapi
ERROR: Module rtai_sched is in use by rtapi,rtai_sem,rtai_fifos
ERROR: Module rtai_hal is in use by rtapi,rtai_sem,rtai_fifos,rtai_sched


Restart and try again. The errors above seem to be caused when a previous launch of RTAI fails, leaving some modules loaded and interdependedt in a way that won't let them be stopped. Typically after a few sessions of debugging and failed EMC2 starts.

The only solution I have found is to restart the computer, but that is not to say there might not be a better way.

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  1. Configuring LinuxCNC
  3. Advanced Configuration
  5. Bipod setup
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