i've recently set up a raspberry pi 4b with a Mesa 7i96S with stepper motors and am seeing multiple problems
after installing
linucnc-2.9.0pre-bullseye_arm64rt.zip
as posted by elovalvo in:
forum.linuxcnc.org/9-installing-linuxcnc...cnc?start=150#253623
i am seeing multiple errors when running through my gcode:
it's not unusual to get "Unexpected realtime delay on task 0 with period 1000000"
the most common one happening during a run is "joint * following error" (happens on any of the 3 joints)
and most catastrophic: "hm2/hm2_7i96s.0: error finishing read"
as described in
Mesa hm2/hm2_7i96s.0: error finishing read
any suggestions would be greatly appreciated!
various diagnostics below, latency plot and hal file attached
linuxcnc@raspberrypi:~ $ uname -a
Linux raspberrypi 5.15.65-rt49-v8+ #1 SMP PREEMPT_RT Tue Sep 6 18:12:35 BST 2022 aarch64 GNU/Linux
===============
linuxcnc@raspberrypi:~ $ cat /proc/cpuinfo
processor : 0
BogoMIPS : 108.00
Features : fp asimd evtstrm crc32 cpuid
CPU implementer : 0x41
CPU architecture: 8
CPU variant : 0x0
CPU part : 0xd08
CPU revision : 3
processor : 1
BogoMIPS : 108.00
Features : fp asimd evtstrm crc32 cpuid
CPU implementer : 0x41
CPU architecture: 8
CPU variant : 0x0
CPU part : 0xd08
CPU revision : 3
processor : 2
BogoMIPS : 108.00
Features : fp asimd evtstrm crc32 cpuid
CPU implementer : 0x41
CPU architecture: 8
CPU variant : 0x0
CPU part : 0xd08
CPU revision : 3
processor : 3
BogoMIPS : 108.00
Features : fp asimd evtstrm crc32 cpuid
CPU implementer : 0x41
CPU architecture: 8
CPU variant : 0x0
CPU part : 0xd08
CPU revision : 3
Hardware : BCM2835
Revision : c03115
Serial : 10000000ce7aa130
Model : Raspberry Pi 4 Model B Rev 1.5
=================
Revision : c03115
SoC : BCM2711
RAM : 4GB
Storage : MicroSD
USB ports : 4 (of which 2 USB3)
Ethernet ports : 1 (1000Mbps max. speed)
Wi-fi : True
Bluetooth : True
Camera ports (CSI) : 1
Display ports (DSI): 1
===============
--- 10.10.10.10 ping statistics ---
1000 packets transmitted, 1000 received, 0% packet loss, time 1022926ms
rtt min/avg/max/mdev = 0.143/0.165/0.591/0.035 ms
=================
linuxcnc@raspberrypi:~ $ ethtool eth0
Settings for eth0:
Supported ports: [ TP MII ]
Supported link modes: 10baseT/Half 10baseT/Full
100baseT/Half 100baseT/Full
1000baseT/Half 1000baseT/Full
Supported pause frame use: Symmetric Receive-only
Supports auto-negotiation: Yes
Supported FEC modes: Not reported
Advertised link modes: 10baseT/Half 10baseT/Full
100baseT/Half 100baseT/Full
1000baseT/Half 1000baseT/Full
Advertised pause frame use: Symmetric Receive-only
Advertised auto-negotiation: Yes
Advertised FEC modes: Not reported
Link partner advertised link modes: 10baseT/Half 10baseT/Full
100baseT/Half 100baseT/Full
Link partner advertised pause frame use: Symmetric
Link partner advertised auto-negotiation: Yes
Link partner advertised FEC modes: Not reported
Speed: 100Mb/s
Duplex: Full
Auto-negotiation: on
master-slave cfg: preferred slave
master-slave status: slave
Port: Twisted Pair
PHYAD: 1
Transceiver: external
MDI-X: Unknown
netlink error: Operation not permitted
Current message level: 0x00000007 (7)
drv probe link
Link detected: yes
==============
linuxcnc@raspberrypi:~ $ ethtool -S eth0 | column
NIC statistics: tx_oversize: 0
rx_packets: 8628942 tx_defer: 0
tx_packets: 11299821 tx_excess_defer: 0
rx_bytes: 904320010 tx_single_col: 0
tx_bytes: 1203609643 tx_multi_col: 0
rx_errors: 0 tx_late_col: 0
tx_errors: 0 tx_excess_col: 0
rx_dropped: 0 tx_frags: 0
tx_dropped: 0 tx_total_col: 0
multicast: 0 tx_jabber: 0
rx_64_octets: 1249 tx_bytes: 1248832409
rx_65_127_oct: 8627693 tx_good_pkts: 11299821
rx_128_255_oct: 0 tx_unicast: 11298802
rx_256_511_oct: 0 rx_runt_pkts: 0
rx_512_1023_oct: 0 rx_runt_valid_fcs: 0
rx_1024_1518_oct: 0 rx_runt_inval_fcs_align: 0
rx_vlan_1519_1522_oct: 0 rx_runt_bytes: 0
rx_1522_2047_oct: 0 rbuf_ovflow_cnt: 0
rx_2048_4095_oct: 0 rbuf_err_cnt: 0
rx_4096_9216_oct: 0 mdf_err_cnt: 0
rx_pkts: 8628942 alloc_rx_buff_failed: 0
rx_bytes: 938835778 rx_dma_failed: 0
rx_multicast: 0 tx_dma_failed: 0
rx_broadcast: 0 tx_realloc_tsb: 0
rx_fcs: 0 tx_realloc_tsb_failed: 0
rx_control: 0 txq0_packets: 1804878
rx_pause: 0 txq0_bytes: 209320936
rx_unknown: 0 rxq0_bytes: 0
rx_align: 0 rxq0_packets: 0
rx_outrange: 0 rxq0_errors: 0
rx_code: 0 rxq0_dropped: 0
rx_carrier: 0 txq1_packets: 1
rx_oversize: 0 txq1_bytes: 86
rx_jabber: 0 rxq1_bytes: 0
rx_mtu_err: 0 rxq1_packets: 0
rx_good_pkts: 8628942 rxq1_errors: 0
rx_unicast: 8628942 rxq1_dropped: 0
rx_ppp: 0 txq2_packets: 8025624
rx_crc: 0 txq2_bytes: 823705364
tx_64_octets: 1649 rxq2_bytes: 0
tx_65_127_oct: 8627688 rxq2_packets: 0
tx_128_255_oct: 2669682 rxq2_errors: 0
tx_256_511_oct: 802 rxq2_dropped: 0
tx_512_1023_oct: 0 txq3_packets: 795
tx_1024_1518_oct: 0 txq3_bytes: 262059
tx_vlan_1519_1522_oct: 0 rxq3_bytes: 0
tx_1522_2047_oct: 0 rxq3_packets: 0
tx_2048_4095_oct: 0 rxq3_errors: 0
tx_4096_9216_oct: 0 rxq3_dropped: 0
tx_pkts: 11299821 txq16_packets: 1468523
tx_multicast: 83 txq16_bytes: 170321198
tx_broadcast: 936 rxq16_bytes: 904320010
tx_pause: 0 rxq16_packets: 8628942
tx_control: 0 rxq16_errors: 0
tx_fcs_err: 0 rxq16_dropped: 0
==============
linuxcnc@raspberrypi:~ $ ethtool -i eth0
driver: bcmgenet
version: 5.15.65-rt49-v8+
firmware-version:
expansion-rom-version:
bus-info:
supports-statistics: yes
supports-test: no
supports-eeprom-access: no
supports-register-dump: no
supports-priv-flags: no
================
linuxcnc@raspberrypi:~ $ ethtool -c eth0
Coalesce parameters for eth0:
Adaptive RX: off TX: n/a
stats-block-usecs: n/a
sample-interval: n/a
pkt-rate-low: n/a
pkt-rate-high: n/a
rx-usecs: 57
rx-frames: 1
rx-usecs-irq: n/a
rx-frames-irq: n/a
tx-usecs: n/a
tx-frames: 10
tx-usecs-irq: n/a
tx-frames-irq: n/a
rx-usecs-low: n/a
rx-frame-low: n/a
tx-usecs-low: n/a
tx-frame-low: n/a
rx-usecs-high: n/a
rx-frame-high: n/a
tx-usecs-high: n/a
tx-frame-high: n/a
==============
