Bipod setup

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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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09 Sep 2010 05:54 #4067 by benehuber
Replied by benehuber on topic Re:Bipod setup
hi,
restart doesn't work. Only when I remove dualbipod.ko emc starts normally.
Maybe some of the admins/developers can help with compiling of dualbipod config?

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09 Sep 2010 09:46 #4071 by andypugh
Replied by andypugh on topic Re:Bipod setup
Do you get exactly the same errors after a restart? I would rather expect some subtly different one.

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13 Sep 2010 07:50 #4160 by benehuber
Replied by benehuber on topic Re:Bipod setup
the errors are the same! I think that change "HAL_SUCCESS" to 1 wasnt the right thing.

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13 Sep 2010 10:14 - 13 Sep 2010 10:15 #4166 by dab77
Replied by dab77 on topic Re:Bipod setup
here there's my bipodkins.c, you have to compile, changing the name for your needs.

this is a simple bipod cinematics (two motors, one cable per motor, united in one point.) and it works, in both ubu8.04 and 10.04.

try if it work, and at least you can modify this.

File Attachment:

File Name: dab_bipodkins.zip
File Size:1 KB
Attachments:
Last edit: 13 Sep 2010 10:15 by dab77.

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22 Sep 2010 13:11 #4281 by benehuber
Replied by benehuber on topic Re:Bipod setup
dab77 wrote:

here there's my bipodkins.c, you have to compile, changing the name for your needs.

this is a simple bipod cinematics (two motors, one cable per motor, united in one point.) and it works, in both ubu8.04 and 10.04.

try if it work, and at least you can modify this.

File Attachment:

File Name: dab_bipodkins.zip
File Size:1 KB


Hi dab77,

Thanks for your File but I need 4 Motors for my purpose.
During the next two weeks I haven't time. Maybe in the meantime gerd will find a solution for our problem. When there is more time i will try again.
Thx to all

regards
Bene

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26 Sep 2010 15:37 #4351 by Schnitti
Replied by Schnitti on topic Re:Bipod setup
Hi there,

I am new and I want to use Gerds dualbipod too (for styro cutting machine). After upgrade to 10.04 we have to recompile the dualbipod.c file. Usually we have to use the comp command.

In pure ubuntu system I have installed the header and source files from the archives/repositories.

Then, when give comp a chance we get errors. Comp tries to get the headers out of the old headers from 8.04 which is the wrong place. I had alook at comp, it is a python script. But I am not experienced in reading python.

2.6.24 is out; it must be 2.6.32-122-rtai


Here the errors from comp:

comp --compile dualbipod.c
make -C /usr/src/linux-headers-2.6.24-16-rtai SUBDIRS=`pwd` CC=gcc V=0 -o /Module.symvers modules
make: *** /usr/src/linux-headers-2.6.24-16-rtai: No such file or directory. Schluss.
make: *** [modules] Fehler 2

Can anyone tell me, what we have to do to get the right environment working?

Best Regards

Wolfgang

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