Bipod setup
and the simple bipod.c i've done compile well and works great.
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@ 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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/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.
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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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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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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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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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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.
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