LinuxCNC/Machinekit on i.MX6 board

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09 Dec 2017 17:07 #102831 by savoyyang
I remember no

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09 Dec 2017 17:19 #102832 by andypugh
So, we don't really have a way to tell if you are currently using a Xenomai kernel or not?

Can you run any Xenomai test suite things? (I am not familiar enough with Xenomai to know if they exist, or where on the HD to find them)

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10 Dec 2017 04:18 #102860 by savoyyang
this test run on linaro@linaro-ubuntu-desktop:~$ sudo xeno-test


this test run on linaro@linaro-ubuntu-desktop:/usr/xenomai/bin/$ sudo ./lagency
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11 Dec 2017 10:19 #102900 by savoyyang
hey andy, I found some problem
i.MX6 is armhf CPU, I am apt-get installed in the Ubuntu deb package are armel, there is no suggested mistakes. Later I switched to Debian on i.MX6,copied the deb package to the Debian system and then installed, suggesting that I can not install the armel package: package archiecture (armel) does nor match system (armhf), which is not related?

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11 Dec 2017 12:49 #102902 by andypugh
I thought I had replied to this, but I don't see it.

Your latency looks OK, and indicates that Xenomai is working.

The question seems to be why LinuxCNC is not finding it. Do you have the Libxenomai-dev package? I see that you compiled it, but can you check if the package manager thinks it is there?

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12 Dec 2017 03:31 #102967 by savoyyang
hey andy, this is my check
linaro@linaro-ubuntu-desktop:~/linuxcnc-dev$ sudo apt-get install libxenomai-dev
Reading package lists... Done
Building dependency tree       
Reading state information... Done
libxenomai-dev is already the newest version.
0 upgraded, 0 newly installed, 0 to remove and 0 not upgraded.

This is "./configure --with-realtime=uspace –enable-non-distributable=yes" run ok

File Attachment:

File Name: config_uspace.txt
File Size:9 KB


This is "./configure --with-realtime=xenomai –enable-non-distributable=yes" run error

File Attachment:

File Name: config_xenomai.txt
File Size:2 KB




and this more information
linaro@linaro-ubuntu-desktop:~/linuxcnc-dev$ linuxcnc
LINUXCNC - 2.8.0~pre1
linaro@linaro-ubuntu-desktop:~/linuxcnc-dev$ linuxcnc
LINUXCNC - 2.8.0~pre1
linaro@linaro-ubuntu-desktop:~/linuxcnc-dev$ halrun
halcmd: loadrt and2 count1
Note: Using POSIX non-realtime
Invalid paramter `count1'
/home/linaro/linuxcnc-dev/scripts/halrun: line 159: 27440 Segmentation fault      (core dumped) $INTERACTIVE
Note: Using POSIX non-realtime
linaro@linaro-ubuntu-desktop:~/linuxcnc-dev$ halrun
halcmd: loadrt and2 count=1
Note: Using POSIX non-realtime
/home/linaro/linuxcnc-dev/scripts/halrun: line 159: 27468 Segmentation fault      (core dumped) $INTERACTIVE
/home/linaro/linuxcnc-dev/scripts/halrun: line 162: 27473 Segmentation fault      (core dumped) halcmd unload all
Note: Using POSIX non-realtime
linaro@linaro-ubuntu-desktop:~/linuxcnc-dev$ halrun
halcmd: loadrt and2 count=1
Note: Using POSIX non-realtime
/home/linaro/linuxcnc-dev/scripts/halrun: line 159: 27498 Segmentation fault      (core dumped) $INTERACTIVE
/home/linaro/linuxcnc-dev/scripts/halrun: line 162: 27503 Segmentation fault      (core dumped) halcmd unload all
Note: Using POSIX non-realtime
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12 Dec 2017 11:22 #102986 by andypugh
--with-realtime=uspace is definitely correct (sorry about the wrong information earlier)

segfaulting really isn't a good sign. I imagine that if and2 segfaults then so does every other hal component?
(What is very strange here is that using POSIX non-realtime as it says should mean that Xenomai isn't even being used, so halrun is segfaulting the normal Linux code)

I did a bit of Googling and found that I have actually run Xenomai on a iMX6 board (It's a weird thing when you Google and find yourself),
www.udoo.org/forum/threads/linux-real-time.118/#post-5687
I might be able to start up that board and see how far I got with LinuxCNC.

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12 Dec 2017 12:59 #102991 by savoyyang
other hal component also segfaulting .
1、I need to check if Linuxcnc correctly calls Xenomai
2、If 1 does not work,I can use RT-preempt replacement Xenomai,can also try it.

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14 Dec 2017 11:48 #103105 by savoyyang
hey,andy
This file is /linuxcnc-dev/src/config.log, you can see more information in this file.thank you
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15 Dec 2017 09:33 #103131 by savoyyang
This looks so strange
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