Problem with 2.6.24-16-rtaismp_2.6.24-16.30

Hello,

I have a problem to use linux-image-2.6.24-16-rtaismp_2.6.24-16.30.linuxcnc.4_i386.deb on my 2 CPU AMD Athlon 2600+ machine.

I have prior installed the live-CD with Ubuntu 8.04 and EMC2. Everything was fine. After I installed the smp-kernel and rebooted EMC2 does not recognize that there is a rtai-kernel installed.

What do I have to do, to make it work?

I know that I can reboot and work with the old kernel and only 1 CPU. But that sucks!

Thank you for any suggestion or hint.

18:47
I viewed the startup logs and saw that the rtai-modules are not loaded on the smp-kernel.
I also stated that the modules are not loaded via insmod.
Do anybody here have knowlede how they are loaded?

You need RTAI modules to run EMC (except simulation)
You need a RTAI patched kernel to load RTAI modules
The RTAI patched kernel in LiveCD is only support one processor
So you need to compile a new kernel with SMP support and with RTAI patch if you want to use all cores/CPUs

Hi,

the kernel I installed IS a RTAI-smp kernel an I HAVE installed the RTAI-modules but the modules don't load into the kernel.

I think it is a configuration problem, that I've not figured out yet.

Andreas.

It's need to compile EMC against the new RTAI kernel
And were the RTAI modules compiled for this kernel?

linux-image-2.6.24-16-rtaismp_2.6.24-16.30.linuxcnc.4_i386.deb
rtai-modules-2.6.24-16-rtaismp_3.6.1-linuxcnc.4_i386.deb
linux-headers-2.6.24-16-rtaismp_2.6.24-16.30.linuxcnc.4_i386.deb

downloaded from linuxcnc.org/experimental/hardy/smp/

If I start the normal RTAI-kernel I get following output ind /var/log/messages:

Feb 20 11:35:06 cnc-hermes kernel: [ 74.670107] [drm] Initialized card for AGP DMA.
Feb 20 11:36:49 cnc-hermes kernel: [ 177.124986] I-pipe: Domain RTAI registered.
Feb 20 11:36:49 cnc-hermes kernel: [ 177.124999] RTAI[hal]: <3.6.1> mounted over IPIPE-NOTHREADS 2.0-04.
Feb 20 11:36:49 cnc-hermes kernel: [ 177.125002] RTAI[hal]: compiled with gcc version 4.2.4 (Ubuntu 4.2.4-1ubuntu3).
Feb 20 11:36:49 cnc-hermes kernel: [ 177.125007] RTAI[hal]: mounted (IPIPE-NOTHREADS, IMMEDIATE (INTERNAL IRQs DISPATCHED), ISOL_CPUS_MAS
K: 0).
Feb 20 11:36:49 cnc-hermes kernel: [ 177.125010] PIPELINE layers:
Feb 20 11:36:49 cnc-hermes kernel: [ 177.125013] f8d92000 9ac15d93 RTAI 200
Feb 20 11:36:49 cnc-hermes kernel: [ 177.125015] c0383180 0 Linux 100
Feb 20 11:36:49 cnc-hermes kernel: [ 177.154035] RTAI[malloc]: global heap size = 2097152 bytes, <BSD>.
Feb 20 11:36:49 cnc-hermes kernel: [ 177.154579] RTAI[sched]: loaded (IMMEDIATE, UP, USER/KERNEL SPACE: <with RTAI OWN KTASKs>, kstacks p
ool size = 524288 bytes.
Feb 20 11:36:49 cnc-hermes kernel: [ 177.154585] RTAI[sched]: hard timer type/freq = 8254-PIT/1193180(Hz); default timing: periodic; line
ar timed lists.
Feb 20 11:36:49 cnc-hermes kernel: [ 177.154589] RTAI[sched]: Linux timer freq = 250 (Hz), CPU freq = 2000209000 hz.
Feb 20 11:36:49 cnc-hermes kernel: [ 177.154592] RTAI[sched]: timer setup = 2010 ns, resched latency = 2688 ns.
Feb 20 11:36:49 cnc-hermes kernel: [ 177.250317] RTAI[math]: loaded.

If I start the smp-RTAI-kernel I get following output ind /var/log/messages:

Feb 22 17:13:10 cnc-hermes kernel: [ 74.205960] agpgart: Putting AGP V2 device at 0000:00:00.0 into 1x mode
Feb 22 17:13:10 cnc-hermes kernel: [ 74.206580] agpgart: Putting AGP V2 device at 0000:01:05.0 into 1x mode
Feb 22 17:13:10 cnc-hermes kernel: [ 74.212212] [drm] Initialized card for AGP DMA.
Feb 22 17:33:06 cnc-hermes -- MARK --
Feb 22 17:53:06 cnc-hermes -- MARK --

No RTAI-modules gets loaded into kernel.

But if I use the testsuite of the RTAI-smp-kernel then for the time of the test the RTAI loads into kernel.

Feb 22 23:31:58 cnc-hermes kernel: [22758.665687] I-pipe: Domain RTAI registered.
Feb 22 23:31:58 cnc-hermes kernel: [22758.665701] RTAI[hal]: <3.6.1> mounted over IPIPE-NOTHREADS 2.0-04.
Feb 22 23:31:58 cnc-hermes kernel: [22758.665704] RTAI[hal]: compiled with gcc version 4.2.4 (Ubuntu 4.2.4-1ubuntu3).
Feb 22 23:31:58 cnc-hermes kernel: [22758.665963] RTAI[hal]: mounted (IPIPE-NOTHREADS, IMMEDIATE (INTERNAL IRQs DISPATCHED), ISOL_CPUS_MAS
K: 0).
Feb 22 23:31:58 cnc-hermes kernel: [22758.665967] PIPELINE layers:
Feb 22 23:31:58 cnc-hermes kernel: [22758.665970] f8ce2800 9ac15d93 RTAI 200
Feb 22 23:31:58 cnc-hermes kernel: [22758.665973] c0427200 0 Linux 100
Feb 22 23:31:58 cnc-hermes kernel: [22758.796376] RTAI[malloc]: global heap size = 2097152 bytes, <BSD>.
Feb 22 23:31:58 cnc-hermes kernel: [22758.797172] RTAI[sched]: IMMEDIATE, MP, USER/KERNEL SPACE: <with RTAI OWN KTASKs>, kstacks pool size
= 524288 bytes.
Feb 22 23:31:58 cnc-hermes kernel: [22758.797402] RTAI[sched]: hard timer type/freq = APIC/16610500(Hz); default timing: periodic; linear
timed lists.
Feb 22 23:31:58 cnc-hermes kernel: [22758.797590] RTAI[sched]: Linux timer freq = 250 (Hz), CPU freq = 2000053000 hz.
Feb 22 23:31:58 cnc-hermes kernel: [22758.797723] RTAI[sched]: timer setup = 999 ns, resched latency = 2943 ns.
Feb 22 23:32:31 cnc-hermes kernel: [22791.234748]
Feb 22 23:32:31 cnc-hermes kernel: [22791.234751]
Feb 22 23:32:31 cnc-hermes kernel: [22791.234752] CPU USE SUMMARY
Feb 22 23:32:31 cnc-hermes kernel: [22791.234762] # 0 -> 418525
Feb 22 23:32:31 cnc-hermes kernel: [22791.234764] # 1 -> 0
Feb 22 23:32:31 cnc-hermes kernel: [22791.234766] # 2 -> 0
Feb 22 23:32:31 cnc-hermes kernel: [22791.234768] # 3 -> 0
Feb 22 23:32:31 cnc-hermes kernel: [22791.234769] # 4 -> 0
Feb 22 23:32:31 cnc-hermes kernel: [22791.234771] # 5 -> 0
Feb 22 23:32:31 cnc-hermes kernel: [22791.234772] # 6 -> 0
Feb 22 23:32:31 cnc-hermes kernel: [22791.234774] # 7 -> 0
Feb 22 23:32:31 cnc-hermes kernel: [22791.234776] END OF CPU USE SUMMARY
Feb 22 23:32:31 cnc-hermes kernel: [22791.234777]
Feb 22 23:32:31 cnc-hermes kernel: [22791.279401] SCHED releases registered named ALIEN RTGLBH
Feb 22 23:32:31 cnc-hermes kernel: [22791.300936] RTAI[malloc]: unloaded.
Feb 22 23:32:31 cnc-hermes kernel: [22791.400313] RTAI[sched]: unloaded (forced hard/soft/hard transitions: traps 0, syscalls 0).
Feb 22 23:32:31 cnc-hermes kernel: [22791.440676] I-pipe: Domain RTAI unregistered.
Feb 22 23:32:31 cnc-hermes kernel: [22791.441429] RTAI[hal]: unmounted.

Andreas.

Hi Andreas,

If I understand correctly, you can run the RTAI testsuite without any problem but EMC doesn't work when SMP RTAI kernel is active.

Did you try this with EMC which is compiled for the new SMP RTAI kernel?

Til today I tried it with the EMC which comes with the Live-CD.

Today I compiled EMC on my system with the SMP RTAI kernel.
Now EMC starts but after loading the machine-config I get an error message and EMC quits.

[...]
Feb 24 10:49:44 cnc-hermes kernel: [29863.364687] I-pipe: Domain RTAI registered.
Feb 24 10:49:44 cnc-hermes kernel: [29863.364895] RTAI[hal]: <3.6.1> mounted over IPIPE-NOTHREADS 2.0-04.
Feb 24 10:49:44 cnc-hermes kernel: [29863.364899] RTAI[hal]: compiled with gcc version 4.2.4 (Ubuntu 4.2.4-1ubuntu3).
Feb 24 10:49:44 cnc-hermes kernel: [29863.365148] RTAI[hal]: mounted (IPIPE-NOTHREADS, IMMEDIATE (INTERNAL IRQs DISPATCHED), ISOL_CPUS_MASK: 0).
Feb 24 10:49:44 cnc-hermes kernel: [29863.365565] PIPELINE layers:
Feb 24 10:49:44 cnc-hermes kernel: [29863.365643] f8cdc800 9ac15d93 RTAI 200
Feb 24 10:49:44 cnc-hermes kernel: [29863.365739] c0427200 0 Linux 100
Feb 24 10:49:44 cnc-hermes kernel: [29863.383207] RTAI[malloc]: global heap size = 2097152 bytes, <BSD>.
Feb 24 10:49:44 cnc-hermes kernel: [29863.383794] RTAI[sched]: IMMEDIATE, MP, USER/KERNEL SPACE: <with RTAI OWN KTASKs>, kstacks pool size = 524288 bytes.
Feb 24 10:49:44 cnc-hermes kernel: [29863.383807] RTAI[sched]: hard timer type/freq = APIC/16523750(Hz); default timing: periodic; linear timed lists.
Feb 24 10:49:44 cnc-hermes kernel: [29863.383811] RTAI[sched]: Linux timer freq = 250 (Hz), CPU freq = 2000078000 hz.
Feb 24 10:49:44 cnc-hermes kernel: [29863.383815] RTAI[sched]: timer setup = 999 ns, resched latency = 2943 ns.
Feb 24 10:49:44 cnc-hermes kernel: [29863.454955] RTAI[math]: loaded.
Feb 24 10:49:44 cnc-hermes kernel: [29863.464583] RTAPI: Init
Feb 24 10:49:44 cnc-hermes kernel: [29863.464693] RTAPI: Init complete
Feb 24 10:49:44 cnc-hermes kernel: [29863.474640] HAL_LIB: loading kernel lib
Feb 24 10:49:44 cnc-hermes kernel: [29863.475026] RTAPI: initing module HAL_LIB
Feb 24 10:49:44 cnc-hermes kernel: [29863.475201] RTAPI: module 'HAL_LIB' loaded, ID: 1
Feb 24 10:49:44 cnc-hermes kernel: [29863.475894] RTAPI: shmem 01 created by module 01, key: 1212238898, size: 262000
Feb 24 10:49:44 cnc-hermes kernel: [29863.476426] HAL_LIB: kernel lib installed successfully
Feb 24 10:49:45 cnc-hermes kernel: [29863.614301] parport_pc 00:0a: activated
Feb 24 10:49:45 cnc-hermes kernel: [29863.619851] hal_parport: Unknown symbol parport_register_device
Feb 24 10:49:45 cnc-hermes kernel: [29863.620369] hal_parport: Unknown symbol parport_release
Feb 24 10:49:45 cnc-hermes kernel: [29863.620615] hal_parport: Unknown symbol parport_claim
Feb 24 10:49:45 cnc-hermes kernel: [29863.620896] hal_parport: Unknown symbol parport_unregister_device
Feb 24 10:49:45 cnc-hermes kernel: [29863.621146] hal_parport: Unknown symbol parport_find_number
Feb 24 10:49:45 cnc-hermes kernel: [29863.621556] hal_parport: Unknown symbol parport_find_base
Feb 24 10:49:45 cnc-hermes kernel: [29863.621860] hal_parport: Unknown symbol parport_put_port
Feb 24 10:49:45 cnc-hermes kernel: [29864.045798] parport_pc 00:0a: disabled
Feb 24 10:49:45 cnc-hermes kernel: [29864.211147] RTAI[math]: unloaded.
Feb 24 10:49:45 cnc-hermes kernel: [29864.228298] SCHED releases registered named ALIEN RTGLBH
Feb 24 10:49:45 cnc-hermes kernel: [29864.336482] RTAI[malloc]: unloaded.
Feb 24 10:49:45 cnc-hermes kernel: [29864.453060] RTAI[sched]: unloaded (forced hard/soft/hard transitions: traps 0, syscalls 0).
Feb 24 10:49:45 cnc-hermes kernel: [29864.480118] I-pipe: Domain RTAI unregistered.
Feb 24 10:49:45 cnc-hermes kernel: [29864.480569] RTAI[hal]: unmounted.
[...]

Unfortunatley "git" puts the newest dev-branch on my system (2.5.0).

Actally I have downloaded emc2_2.3.4-1.tar.gz from sourcefourge.net and now
I will build the stable version right now for my SMP RTAI kernel.

If that does not work I will compile the SMP RTAI here on my sytem.

Thank you very much for you help. I think I will need more till my SMP RTAI is running.

Andreas.

Now I compiled emc2_2.3.4-1 and have the same problem.

emc_debug.txt says:

Can not find -sec EMC -var NML_FILE -num 1
32672
PID TTY STAT TIME COMMAND
368
PID TTY STAT TIME COMMAND
368 pts/2 Z+ 0:00 [milltask] <defunct>
PID TTY STAT TIME COMMAND
Stopping realtime threads
Unloading hal components

emc_print.txt says:

RUN_IN_PLACE=yes
EMC2_DIR=
EMC2_BIN_DIR=/usr/local/src/emc2-dev/emc2-2.3.4/bin
EMC2_TCL_DIR=/usr/local/src/emc2-dev/emc2-2.3.4/tcl
EMC2_SCRIPT_DIR=
EMC2_RTLIB_DIR=/usr/local/src/emc2-dev/emc2-2.3.4/rtlib
EMC2_CONFIG_DIR=
EMC2_LANG_DIR=/usr/local/src/emc2-dev/emc2-2.3.4/src/po
INIVAR=inivar
HALCMD=halcmd
EMC2_EMCSH=emcsh
EMC2_IOSH=iosh
INIFILE=/home/andrsche/emc2/configs/Trommelfraesmaschine/Trommelfraesmaschine.ini
PARAMETER_FILE=emc.var
EMCMOT=motmod
EMCIO=io
TASK=milltask
HALUI=halui
DISPLAY=axis
NML_FILE=
Starting EMC2 server program: emcsvr
Loading Real Time OS, RTAPI, and HAL_LIB modules
Starting EMC2 IO program: io
Starting HAL User Interface program: halui
Starting EMC2 TASK program: milltask
Starting EMC2 DISPLAY program: axis
Killing task emcsvr, PID=32672
Killing task milltask, PID=368
Removing HAL_LIB, RTAPI, and Real Time OS modules
Removing NML shared memory segments

the output of demesg:

[41244.034266] I-pipe: Domain RTAI registered.
[41244.034284] RTAI[hal]: <3.6.1> mounted over IPIPE-NOTHREADS 2.0-04.
[41244.034287] RTAI[hal]: compiled with gcc version 4.2.4 (Ubuntu 4.2.4-1ubuntu3).
[41244.034516] RTAI[hal]: mounted (IPIPE-NOTHREADS, IMMEDIATE (INTERNAL IRQs DISPATCHED), ISOL_CPUS_MASK: 0).
[41244.034522] PIPELINE layers:
[41244.034528] f8cdc800 9ac15d93 RTAI 200
[41244.034533] c0427200 0 Linux 100
[41244.052845] RTAI[malloc]: global heap size = 2097152 bytes, <BSD>.
[41244.053546] RTAI[sched]: IMMEDIATE, MP, USER/KERNEL SPACE: <with RTAI OWN KTASKs>, kstacks pool size = 524288 bytes.
[41244.053772] RTAI[sched]: hard timer type/freq = APIC/16529500(Hz); default timing: periodic; linear timed lists.
[41244.053961] RTAI[sched]: Linux timer freq = 250 (Hz), CPU freq = 2000078000 hz.
[41244.054099] RTAI[sched]: timer setup = 999 ns, resched latency = 2943 ns.
[41244.080066] RTAI[math]: loaded.
[41244.208619] parport_pc 00:0a: activated
[41244.215203] config string '0x378 out '
[41244.231491] classicladder_rt: module license 'LGPL' taints kernel.
[41244.232923] creating ladder-state
[41246.185812] parport_pc 00:0a: disabled
[41246.402558] RTAI[math]: unloaded.
[41246.428615] SCHED releases registered named ALIEN RTGLBH
[41246.500158] RTAI[malloc]: unloaded.
[41246.595656] RTAI[sched]: unloaded (forced hard/soft/hard transitions: traps 0, syscalls 0).
[41246.603447] I-pipe: Domain RTAI unregistered.
[41246.603724] RTAI[hal]: unmounted.

I think I have to configure some file - but where to search. Im really not used to EMC.

"Unknown symbol" message may be related with the kernel modules dependencies.
If so, you need to regenerate the kernel module dependencies as described in
wiki.linuxcnc.org/cgi-bin/emcinfo.pl?Deb..._module_dependencies

(But this is for Debian Lenny. The paths can be different in your system)

Then it's needed to compile EMC again.

This package I did not install before emc2_2.3.0_i386.deb

To use the SMP-RTAI package from linuxcnc.org

you have to install:
rtaismp kernel image, rtaismp modules and emc2 packages.

Adiddionaly I also installed the headers for the rtaismp kernel
and the emc2-dev package.

Special thanks to acemi, who brought me on the right way! :-D

Andreas