LinuxCNC on Raspberry Pi 5

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05 Mar 2024 10:23 #295211 by Krister
Replied by Krister on topic LinuxCNC on Raspberry Pi 5
Print file information:
RUN_IN_PLACE=no
LINUXCNC_DIR=
LINUXCNC_BIN_DIR=/usr/bin
LINUXCNC_TCL_DIR=/usr/lib/tcltk/linuxcnc
LINUXCNC_SCRIPT_DIR=
LINUXCNC_RTLIB_DIR=/usr/lib/linuxcnc/modules
LINUXCNC_CONFIG_DIR=
LINUXCNC_LANG_DIR=/usr/lib/tcltk/linuxcnc/msgs
INIVAR=inivar
HALCMD=halcmd
LINUXCNC_EMCSH=/usr/bin/wish8.6
LINUXCNC - 2.9.1
Machine configuration directory is '/home/cnc/linuxcnc/configs/my-svarv'
Machine configuration file is 'my-svarv.ini'
INIFILE=/home/cnc/linuxcnc/configs/my-svarv/my-svarv.ini
VERSION=1.1
PARAMETER_FILE=linuxcnc.var
TPMOD=
HOMEMOD=
TASK=milltask
HALUI=
DISPLAY=axis
COORDINATES=X Z
KINEMATICS=trivkins coordinates=XZ
Starting LinuxCNC...
Starting LinuxCNC server program: linuxcncsvr
Loading Real Time OS, RTAPI, and HAL_LIB modules
Starting LinuxCNC IO program: io
linuxcnc TPMOD=tpmod HOMEMOD=homemod EMCMOT=motmod
CANNOT FIND FILE FOR:Min_svarv.hal
Shutting down and cleaning up LinuxCNC...
Removing HAL_LIB, RTAPI, and Real Time OS modules
Removing NML shared memory segments

Debug file information:
Note: Using POSIX realtime
1653
Stopping realtime threads
Unloading hal components
Note: Using POSIX realtime

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05 Mar 2024 11:50 #295215 by cornholio
Cannot find file for:Min_svarv.hal

This file needs to be in the same folder as your ini and main Hal files.
Could be a typo in your ini file.

If you see a line stating it can’t find a file or a pin doesn’t exist that is the error. Mostly it will be a typo somewhere.

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06 Mar 2024 15:03 #295327 by Krister
Replied by Krister on topic LinuxCNC on Raspberry Pi 5
Yes its the capital letter syndrom ,I find it

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06 Mar 2024 15:14 #295329 by Krister
Replied by Krister on topic LinuxCNC on Raspberry Pi 5
I try to convert a mill setup to a Lathe setup . And now next problem , what is this meaning

Print file information:
RUN_IN_PLACE=no
LINUXCNC_DIR=
LINUXCNC_BIN_DIR=/usr/bin
LINUXCNC_TCL_DIR=/usr/lib/tcltk/linuxcnc
LINUXCNC_SCRIPT_DIR=
LINUXCNC_RTLIB_DIR=/usr/lib/linuxcnc/modules
LINUXCNC_CONFIG_DIR=
LINUXCNC_LANG_DIR=/usr/lib/tcltk/linuxcnc/msgs
INIVAR=inivar
HALCMD=halcmd
LINUXCNC_EMCSH=/usr/bin/wish8.6
LINUXCNC - 2.9.1
Machine configuration directory is '/home/cnc/linuxcnc/configs/my-svarv'
Machine configuration file is 'my-svarv.ini'
INIFILE=/home/cnc/linuxcnc/configs/my-svarv/my-svarv.ini
VERSION=1.1
PARAMETER_FILE=linuxcnc.var
TPMOD=
HOMEMOD=
TASK=milltask
HALUI=
DISPLAY=axis
COORDINATES=X Z
KINEMATICS=trivkins coordinates=XZ
Starting LinuxCNC...
Starting LinuxCNC server program: linuxcncsvr
Loading Real Time OS, RTAPI, and HAL_LIB modules
Starting LinuxCNC IO program: io
linuxcnc TPMOD=tpmod HOMEMOD=homemod EMCMOT=motmod
Found file(REL): ./Min_svarv.hal
Found file(REL): ./custom.hal
Starting TASK program: milltask
Starting DISPLAY program: axis
Shutting down and cleaning up LinuxCNC...
task: 119 cycles, min=0.000009, max=0.015490, avg=0.008914, 0 latency excursions (> 10x expected cycle time of 0.010000s)
Removing HAL_LIB, RTAPI, and Real Time OS modules
Removing NML shared memory segments

Debug file information:
Note: Using POSIX realtime
note: MAXV max: 6.000 units/sec 360.000 units/min
note: LJOG max: 6.000 units/sec 360.000 units/min
note: LJOG default: 3.000 units/sec 180.000 units/min
note: jog_order='ZX'
note: jog_invert={'X'}
pyvcp_options.hal:11: parameter or pin 'scale.0.gain' not found
3224
3258
Stopping realtime threads
Unloading hal components
Note: Using POSIX realtime


Were is the pin 'scale.0.gain to be ?

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12 Mar 2024 19:47 #295779 by elovalvo
Replied by elovalvo on topic LinuxCNC on Raspberry Pi 5
I recently noticed that the Raspbian update on Pi5 installs version 6.6.20+rpt-rpi-2712.

Therefore I thought about updating the PREEMPT_RT version

So I started with a fresh installation of the Raspberry Pi OS 64 bit via Raspberry Pi Imager.
I updated to version 6.6.20 with the usual commands:
sudo apt update
sudo apt upgrade

and I rebooted.

The uname -a command now returns the following indication
Linux raspberrypi5 6.6.20+rpt-rpi-2712 #1 SMP PREEMPT Debian 1:6.6.20-1+rpt1 (2024-03-07) aarch64 GNU/

I then compiled a new version of the Raspbian OS that included the PREEMPT_RT
For convenience I used the procedure here
forums.raspberrypi.com/viewtopic.php?t=343387

The kernel with the PREEMPT_RT is kernel-6.6.21-v8-16k-elv.zip
and can be downloaded from here
drive.google.com/file/d/1FKLQIBdXTh43kjC...48d/view?usp=sharing

To install it, just copy it to /tmp and then run these commands

cd /
sudo unzip /tmp/kernel-6.6.21-v8-16k-elv.zip

overwriting all files with the All option

So I edited the cmdline.txt with
sudo nano "/boot/firmware/cmdline.txt"
adding the following commands to the end of the line
   isolcpus=2.3 rcu_nocbs=2.3 nohz_full=2.3 max.processor.cstate=1
   
At the next reboot the uname -a command reports the following indication
Linux raspberrypi5 6.6.21-rpi999-rpi-2712 #1 SMP PREEMPT_RT Tue Mar 12 15:59:56 CET 2024 aarch64 GNU/Linux
   
To install linuxcnc simply type the following commands
 sudo apt update
 sudo apt install linuxcnc-uspace linuxcnc-uspace-dev

   
However, to date the installed version is the following
   LINUXCNC - 2.9.0~pre1+git20230208.f1270d6ed7
   
If you want version 2.9.2 you can do it this way:
   
cd /tmp
wget linuxcnc.org/dists/bookworm/2.9-uspace/b...pace_2.9.2_arm64.deb
wget linuxcnc.org/dists/bookworm/2.9-uspace/b...-dev_2.9.2_arm64.deb
wget linuxcnc.org/dists/bookworm/2.9-uspace/b...doc-en_2.9.2_all.deb

sudo apt install ./linuxcnc-uspace_2.9.2_arm64.deb
sudo apt install ./linuxcnc-uspace-dev_2.9.2_arm64.deb
sudo apt install ./linuxcnc-doc-en_2.9.2_all.deb


The result of the latency-histogram (latency-histogram --nobase --sbinsize 1000 --show --servo 35000) is however always very interesting
 
For those who do not want to retrace all the steps previously exposed, you can find the ready-made image (Lcnc292_pi5.img) here:
drive.google.com/file/d/1dd8oiYhcs_UComc...fNF/view?usp=sharing
Attachments:
The following user(s) said Thank You: phillc54, MX_Master, zmrdko

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12 Mar 2024 22:19 #295790 by rodw
Replied by rodw on topic LinuxCNC on Raspberry Pi 5
Looks good. It would be interesting to retry using the debian kernel rather than your compied one and compare latency results. I suspect what you have will be better.sudo apt-install -y linux-image-rt-arm64 linux-headers-rt-arm64
The following user(s) said Thank You: elovalvo

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14 Mar 2024 01:50 #295866 by cornholio
Always wonder why you use such a low servo thread, which isn't a real world scenario, and don't show a 1ms servo thread and a base thread.

It would be interesting to see a 1ms servo thread without isolating any cpus. And the aforementioned 1ms servo thread & base thread isolating the required cpus to get a real life scenario. Some users can judge whether it would suit a real life setup without having to go through buying a RPi5, installing Linuxcnc and running the latency tests. Something that would give them confidence in a particular setup.

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14 Mar 2024 14:34 #295904 by elovalvo
Replied by elovalvo on topic LinuxCNC on Raspberry Pi 5

Looks good. It would be interesting to retry using the debian kernel rather than your compied one and compare latency results. I suspect what you have will be better.sudo apt-install -y linux-image-rt-arm64 linux-headers-rt-arm64

I tried the procedure you suggested but, in addition to the fact that version 6.1.0-18-rt-arm64 is currently available (and therefore not aligned with version 6.6.20+rpt-rpi-2712), the installation reports that these versions of initramfs and kernel are unsupported.
pi@raspberrypi5:~ $ uname -a
Linux raspberrypi5 6.6.20+rpt-rpi-2712 #1 SMP PREEMPT Debian 1:6.6.20-1+rpt1 (2024-03-07) aarch64 GNU/Linux
pi@raspberrypi5:~ $ sudo apt update
Hit:1 http://deb.debian.org/debian bookworm InRelease
Hit:2 http://deb.debian.org/debian-security bookworm-security InRelease
Hit:3 http://deb.debian.org/debian bookworm-updates InRelease
Hit:4 http://archive.raspberrypi.com/debian bookworm InRelease
Reading package lists... Done
Building dependency tree... Done
Reading state information... Done
All packages are up to date.
pi@raspberrypi5:~ $ sudo apt upgrade
Reading package lists... Done
Building dependency tree... Done
Reading state information... Done
Calculating upgrade... Done
0 upgraded, 0 newly installed, 0 to remove and 0 not upgraded.
pi@raspberrypi5:~ $
pi@raspberrypi5:~ $ sudo apt install -y linux-image-rt-arm64 linux-headers-rt-arm64
Reading package lists... Done
Building dependency tree... Done
Reading state information... Done
The following additional packages will be installed:
  linux-headers-6.1.0-18-common-rt linux-headers-6.1.0-18-rt-arm64 linux-image-6.1.0-18-rt-arm64
  linux-kbuild-6.1
Suggested packages:
  linux-doc-6.1 debian-kernel-handbook
The following NEW packages will be installed:
  linux-headers-6.1.0-18-common-rt linux-headers-6.1.0-18-rt-arm64 linux-headers-rt-arm64
  linux-image-6.1.0-18-rt-arm64 linux-image-rt-arm64 linux-kbuild-6.1
0 upgraded, 6 newly installed, 0 to remove and 0 not upgraded.
Need to get 67.8 MB of archives.
After this operation, 405 MB of additional disk space will be used.
Get:1 http://deb.debian.org/debian bookworm/main arm64 linux-headers-6.1.0-18-common-rt all 6.1.76-1 [8,308 kB]
Get:2 http://archive.raspberrypi.com/debian bookworm/main arm64 linux-kbuild-6.1 arm64 1:6.1.73-1+rpt1 [913 kB]
Get:3 http://deb.debian.org/debian bookworm/main arm64 linux-headers-6.1.0-18-rt-arm64 arm64 6.1.76-1 [1,306 kB]
Get:4 http://deb.debian.org/debian bookworm/main arm64 linux-headers-rt-arm64 arm64 6.1.76-1 [1,408 B]
Get:5 http://deb.debian.org/debian bookworm/main arm64 linux-image-6.1.0-18-rt-arm64 arm64 6.1.76-1 [57.2 MB]
Get:6 http://deb.debian.org/debian bookworm/main arm64 linux-image-rt-arm64 arm64 6.1.76-1 [1,444 B]
Fetched 67.8 MB in 4s (18.5 MB/s)
Selecting previously unselected package linux-headers-6.1.0-18-common-rt.
(Reading database ... 125884 files and directories currently installed.)
Preparing to unpack .../0-linux-headers-6.1.0-18-common-rt_6.1.76-1_all.deb ...
Unpacking linux-headers-6.1.0-18-common-rt (6.1.76-1) ...
Selecting previously unselected package linux-kbuild-6.1.
Preparing to unpack .../1-linux-kbuild-6.1_1%3a6.1.73-1+rpt1_arm64.deb ...
Unpacking linux-kbuild-6.1 (1:6.1.73-1+rpt1) ...
Selecting previously unselected package linux-headers-6.1.0-18-rt-arm64.
Preparing to unpack .../2-linux-headers-6.1.0-18-rt-arm64_6.1.76-1_arm64.deb ...
Unpacking linux-headers-6.1.0-18-rt-arm64 (6.1.76-1) ...
Selecting previously unselected package linux-headers-rt-arm64.
Preparing to unpack .../3-linux-headers-rt-arm64_6.1.76-1_arm64.deb ...
Unpacking linux-headers-rt-arm64 (6.1.76-1) ...
Selecting previously unselected package linux-image-6.1.0-18-rt-arm64.
Preparing to unpack .../4-linux-image-6.1.0-18-rt-arm64_6.1.76-1_arm64.deb ...
Unpacking linux-image-6.1.0-18-rt-arm64 (6.1.76-1) ...
Selecting previously unselected package linux-image-rt-arm64.
Preparing to unpack .../5-linux-image-rt-arm64_6.1.76-1_arm64.deb ...
Unpacking linux-image-rt-arm64 (6.1.76-1) ...
Setting up linux-image-6.1.0-18-rt-arm64 (6.1.76-1) ...
/etc/kernel/postinst.d/initramfs-tools:
update-initramfs: Generating /boot/initrd.img-6.1.0-18-rt-arm64
ERROR: Unsupported initramfs version (6.1.0-18-rt-arm64)
/etc/kernel/postinst.d/z50-raspi-firmware:
ERROR: Unsupported kernel version (6.1.0-18-rt-arm64)
Setting up linux-headers-6.1.0-18-common-rt (6.1.76-1) ...
Setting up linux-image-rt-arm64 (6.1.76-1) ...
Setting up linux-kbuild-6.1 (1:6.1.73-1+rpt1) ...
Setting up linux-headers-6.1.0-18-rt-arm64 (6.1.76-1) ...
Setting up linux-headers-rt-arm64 (6.1.76-1) ...
pi@raspberrypi5:~ $
The following user(s) said Thank You: rodw

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14 Mar 2024 20:11 #295916 by rodw
Replied by rodw on topic LinuxCNC on Raspberry Pi 5
It was worth a try.
Often, where multiple kernel versions are in play, I have used 
sudo apt install linux-image-$(uname -r)-rt-arm64 linux-headers-$(uname -r)-rt-arm64
Not sure if Debian knows about your kernel.
The following user(s) said Thank You: elovalvo

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14 Mar 2024 23:53 #295926 by zmrdko
Replied by zmrdko on topic LinuxCNC on Raspberry Pi 5
Nice latency test elovalvo.
Just to rise awareness, isn't here anybody able and willing to modify rpi5 macb driver for EtherCAT?

forum.linuxcnc.org/ethercat/52032-ethercat-on-raspberry-pi-5

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