LinuxCNC on Xenomai
11 Dec 2016 22:56 #83929
by dinodf
LinuxCNC on Xenomai was created by dinodf
Dear all,
I am trying to compile LinuxCNC for using it on kernel patched with Xenomai. I have successfully builded linux kernel patched with Xenomai on an AMD64 cpu
- linux-3.18.20
- Xenomai-2.6.5
RT work correctly and Xenomai tests pass.
LinuxCNC got from git (linuxcnc-dev) configured and compiled OK, no errors got, but when I run LinuxCNC latency-test it not show anything, Max Interval and Max Jitter all to ZERO!!! and also linuxcnc not run![:( :(](/media/kunena/emoticons/sad.png)
Nobody can help me?
Thank you
Regards
Dino
I am trying to compile LinuxCNC for using it on kernel patched with Xenomai. I have successfully builded linux kernel patched with Xenomai on an AMD64 cpu
- linux-3.18.20
- Xenomai-2.6.5
RT work correctly and Xenomai tests pass.
LinuxCNC got from git (linuxcnc-dev) configured and compiled OK, no errors got, but when I run LinuxCNC latency-test it not show anything, Max Interval and Max Jitter all to ZERO!!! and also linuxcnc not run
![:( :(](/media/kunena/emoticons/sad.png)
linuxcnc@linuxcnc:~/linuxcnc-dev$ . ./scripts/rip-environment
linuxcnc@linuxcnc:~/linuxcnc-dev$ ./scripts/linuxcnc
LINUXCNC - 2.8.0~pre1
Machine configuration directory is '/home/linuxcnc/linuxcnc/configs/by_interface.parport.stepper'
Machine configuration file is 'stepper_mm.ini'
Starting LinuxCNC...
Found file(lib): /home/linuxcnc/linuxcnc-dev/lib/hallib/core_stepper.hal
Waited 3 seconds for master. giving up.
Note: Using XENOMAI (posix-skin) realtime
Found file(REL): ./standard_pinout.hal
config string '0x0378'
Waiting for component 'inihal' to become ready...USRMOT: ERROR: command timeout
.........note: MAXV max: 30.480 units/sec 1828.800 units/min
note: LJOG max: 30.480 units/sec 1828.800 units/min
note: LJOG default: 0.424 units/sec 25.440 units/min
waiting for s.joints<0>, s.kinematics_type<0>
waiting for s.joints<0>, s.kinematics_type<0>
waiting for s.joints<0>, s.kinematics_type<0>
waiting for s.joints<0>, s.kinematics_type<0>
.USRMOT: ERROR: command timeout
waiting for s.joints<0>, s.kinematics_type<0>
..waiting for s.joints<0>, s.kinematics_type<0>
...waiting for s.joints<0>, s.kinematics_type<0>
.....USRMOT: ERROR: command timeout
.waiting for s.joints<0>, s.kinematics_type<0>
.........USRMOT: ERROR: command timeout
..waiting for s.joints<0>, s.kinematics_type<0>
..............USRMOT: ERROR: command timeout
.........A configuration error is preventing LinuxCNC from starting.
More information may be available when running from a terminal.
USRMOT: ERROR: command timeout
.Shutting down and cleaning up LinuxCNC...
.........USRMOT: ERROR: command timeout
..........USRMOT: ERROR: command timeout
......
<commandline>:0: milltask exited without becoming ready
Note: Using XENOMAI (posix-skin) realtime
LinuxCNC terminated with an error. You can find more information in the log:
/home/linuxcnc/linuxcnc_debug.txt
and
/home/linuxcnc/linuxcnc_print.txt
as well as in the output of the shell command 'dmesg' and in the terminal
linuxcnc@linuxcnc:~/linuxcnc-dev$
Nobody can help me?
Thank you
Regards
Dino
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12 Dec 2016 00:30 #83932
by dinodf
Replied by dinodf on topic LinuxCNC on Xenomai
when i runin dmesg i have
maybe "Linux is compiled to use FPU in kernel-space" is the problem? solution?
console output of xeno-regression-test
sudo xeno-regression-test
[ 127.087616] Xenomai: Posix: destroying mutex ffffc900003a6d00.
[ 157.309750] Xenomai: Posix: destroying mutex ffffc900003a6d00.
[ 159.113026] Xenomai: Posix: destroying mutex ffffc900003a6d00.
[ 161.663568] Xenomai: Posix: destroying mutex ffffc900003a6d00.
[ 162.936825] Xenomai: Posix: destroying mutex ffffc900003a6d00.
[ 163.166204] Xenomai: Posix: destroying mutex ffffc900003a6d00.
[ 164.621770] Xenomai: Posix: destroying mutex ffffc900003a6d00.
[ 164.911403] Xenomai: Posix: destroying mutex ffffc900003a6d00.
[ 166.182573] Xenomai: RTDM: closing file descriptor 0.
[ 166.183051] Xenomai: Posix: destroying mutex ffffc900003a6d00.
[ 167.364857] Xenomai: Posix: destroying semaphore ffffc900003a8600.
[ 167.365424] Xenomai: Posix: destroying mutex ffffc900003a6d00.
[ 167.365949] Xenomai: Posix: destroying mutex ffffc900003a6d80.
[ 168.952322] Xenomai: watchdog triggered -- signaling runaway thread 'rt_task'
[ 249.235627] Xenomai: Posix: closing message queue descriptor 3.
[ 249.236173] Xenomai: Posix: destroying mutex ffffc900003a6d80.
[ 249.356733] ./arch/x86/include/asm/xenomai/fptest.h:56: Warning: Linux is compiled to use FPU in kernel-space.
For this reason, switchtest can not test using FPU in Linux kernel-space.
[ 282.642627] Xenomai: Posix: destroying mutex ffffc900003a6d80.
[ 282.856189] Xenomai: Posix: destroying mutex ffffc900003a6d00.
[ 295.383509] Xenomai: Posix: destroying mutex ffffc900003a6d00.
[ 325.596497] Xenomai: Posix: destroying mutex ffffc900003a6d00.
[ 326.677294] Xenomai: Posix: destroying mutex ffffc900003a6d00.
[ 328.087259] Xenomai: Posix: destroying mutex ffffc900003a6d00.
[ 329.318688] Xenomai: Posix: destroying mutex ffffc900003a6d00.
[ 329.536645] Xenomai: Posix: destroying mutex ffffc900003a6d00.
[ 330.748667] Xenomai: Posix: destroying mutex ffffc900003a6d00.
[ 330.961756] Xenomai: Posix: destroying mutex ffffc900003a6d00.
[ 332.213745] Xenomai: RTDM: closing file descriptor 0.
[ 332.214220] Xenomai: Posix: destroying mutex ffffc900003a6d00.
[ 333.352417] Xenomai: Posix: destroying semaphore ffffc900003a8a00.
[ 333.352975] Xenomai: Posix: destroying mutex ffffc900003a6d00.
[ 333.353492] Xenomai: Posix: destroying mutex ffffc900003a6d80.
[ 334.808020] Xenomai: watchdog triggered -- signaling runaway thread 'rt_task'
[ 334.808020] psmouse serio1: Wheel Mouse at isa0060/serio1/input0 lost synchronization, throwing 2 bytes away.
[ 413.404343] Xenomai: Posix: closing message queue descriptor 3.
[ 413.404881] Xenomai: Posix: destroying mutex ffffc900003a6d80.
maybe "Linux is compiled to use FPU in kernel-space" is the problem? solution?
console output of xeno-regression-test
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12 Dec 2016 05:00 #83935
by cmorley
Replied by cmorley on topic LinuxCNC on Xenomai
AFAIK no current branch of linuxcnc uses Xenomia.
Machinekit does though.
Are you using linuxcnc or Machinekit?
Chris M
Machinekit does though.
Are you using linuxcnc or Machinekit?
Chris M
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12 Dec 2016 17:26 #83955
by andypugh
Replied by andypugh on topic LinuxCNC on Xenomai
Xenomai is supported, according to the docs.
linuxcnc.org/docs/devel/html/code/buildi..._supported_platforms
linuxcnc.org/docs/devel/html/code/buildi..._supported_platforms
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18 Dec 2016 14:31 #84363
by dinodf
Replied by dinodf on topic LinuxCNC on Xenomai
I have read that docs but no help me.
Nobody have infos for use linuxcnc on Xenomai kernel?
I have also tried "LINUXCNC - 2.8.0-pre1-2771-gdc2ff49" from
buildbot.linuxcnc.org/dists/jessie/maste...reempt/binary-amd64/ but have same problems, I think it depend from wrong kernel's configurations...
Nobody have infos for use linuxcnc on Xenomai kernel?
I have also tried "LINUXCNC - 2.8.0-pre1-2771-gdc2ff49" from
buildbot.linuxcnc.org/dists/jessie/maste...reempt/binary-amd64/ but have same problems, I think it depend from wrong kernel's configurations...
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18 Dec 2016 23:03 #84377
by andypugh
Replied by andypugh on topic LinuxCNC on Xenomai
You might need to ask on the mailing list, where some of the more realtime-savvy folks hang out.
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18 Dec 2018 13:18 #122568
by shameless
Replied by shameless on topic LinuxCNC on Xenomai
Hi, same to you, I have installed the relatime kernel 3.14 patched with xenomai on my adm64 i7 cpu. But I have been confused when I build LinuxCNC, According to the building doc on linuxcnc.org, I need to cd debian/, and ./configure [option], for this option should I choose xenomai? just like this: ./configure xenomai, then a message show up: your kernel "xenomai" is not known, There might be needed dependencies which won't get set automatically. Seccessfully configured for 'Ubuntu-14.04'-'xenomai'. And Then I excute: dpkg-checkbuilddeps, be told that dependencies like linux-image-xenomai & linux-header-xenomai &rtai-modules-xenomai is needed. By ignoring this I build the CNC step by step :./autogen.sh ,./configure --with-realtime=usapce ,make, sudo make setuid, . ./scripts/rip-environment, there are no errors. BUT latency-test results is terrible. AND I doubt the steps I excute related to "xenomai", So I would appreciate it if you can give some advices. Thanks.
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18 Dec 2018 21:34 #122581
by andypugh
Replied by andypugh on topic LinuxCNC on Xenomai
It's ./configure --with-realtime=uspace
linuxcnc.org/docs/master/html/code/build...nc.html#_build_modes
linuxcnc.org/docs/master/html/code/build...nc.html#_build_modes
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20 Dec 2018 08:53 #122632
by shameless
Replied by shameless on topic LinuxCNC on Xenomai
*Thanks for replying.
*I have compiled and installed kernel-3.14 patched with xenomai-2.6.5, and I also installed xenomai .
*And for this part about installing linuxCNC, I have several questions:1.Before the installation, accroding to the doc , I have to satisfy build dependencies,right? There comes a question, when I enter the Debian\, ### I excute the command: ./configure xenomai, and a message showed "your kernel "xenomai" is unknown,There might be needed dependencies which won't get set automatically. Seccessfully configured for 'Ubuntu-14.04'-'xenomai'". So is normal? ### And when I excute : dpkg-checkbuilddeps, it told me that rtai-modules-xenomai is needed", I don't even know what is rtai-modules-xenomai, I mean that I have installed xenomai. I am so confuesed now.
*So would you like to help me about the questions. Thanks.
*I have compiled and installed kernel-3.14 patched with xenomai-2.6.5, and I also installed xenomai .
*And for this part about installing linuxCNC, I have several questions:1.Before the installation, accroding to the doc , I have to satisfy build dependencies,right? There comes a question, when I enter the Debian\, ### I excute the command: ./configure xenomai, and a message showed "your kernel "xenomai" is unknown,There might be needed dependencies which won't get set automatically. Seccessfully configured for 'Ubuntu-14.04'-'xenomai'". So is normal? ### And when I excute : dpkg-checkbuilddeps, it told me that rtai-modules-xenomai is needed", I don't even know what is rtai-modules-xenomai, I mean that I have installed xenomai. I am so confuesed now.
*So would you like to help me about the questions. Thanks.
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20 Dec 2018 09:00 #122633
by shameless
Replied by shameless on topic LinuxCNC on Xenomai
Sorry I type "uspace" wrong. But it's not my problem.
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