New and Working RTAI debs for 2.9

To get a specific kernel you probably need to get the source from kernel.org
www.kernel.org/pub/linux/kernel/v5.x/
Follow a similar process to the attachment but I assume you won't need to patch the real time kernel

Note this example compiles to a Deb file so you can build it on a fast PC and install with dpkg -i
 

Hi. i install debian 12 clean and 5.4.290 with linuxcnc 2.9.4 and everything works great.
I mean for latency i have max 16us and sim works but when i create a step config with the wizard and try to load linuxcnc from the icon, the screen goes black and i have to restart the pc.

Edit:  i install 5.4.258-rtai with linuxcnc 2.9.2 and the same black screen but after a restart. Starting linuxcnc again it finaly gave me an error

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/realtime-5.4.258-rtai-amd64/modules/linuxcnc
LINUXCNC_CONFIG_DIR=
LINUXCNC_LANG_DIR=/usr/lib/tcltk/linuxcnc/msgs
INIVAR=inivar
HALCMD=halcmd
LINUXCNC_EMCSH=/usr/bin/wish8.6
LINUXCNC - 2.9.2
Machine configuration directory is '/home/cnc/linuxcnc/configs/strung'
Machine configuration file is 'strung.ini'
INIFILE=/home/cnc/linuxcnc/configs/strung/strung.ini
VERSION=1.1
PARAMETER_FILE=linuxcnc.var
TPMOD=
HOMEMOD=
TASK=milltask
HALUI=
DISPLAY=gmoccapy
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): ./strung.hal
Found file(REL): ./custom.hal
Starting TASK program: milltask
Starting DISPLAY program: gmoccapy
Shutting down and cleaning up LinuxCNC...
Removing HAL_LIB, RTAPI, and Real Time OS modules
Removing NML shared memory segments

Debug file information:
Traceback (most recent call last):
File "/usr/bin/hal_manualtoolchange", line 61, in <module>
import nf, rs274.options
File "/usr/lib/python3/dist-packages/nf.py", line 19, in <module>
import tkinter
File "/usr/lib/python3.11/tkinter/__init__.py", line 3043, in <module>
/usr/bin/linuxcnc: line 977: 1268 Segmentation fault $EMCDISPLAY -ini "$INIFILE" $EMCDISPLAYARGS $EXTRA_ARGS
"""Checkbutton widget which is either in on- or off-state."""
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
SystemError: type Checkbutton has the Py_TPFLAGS_HAVE_GC flag but has no traverse function
/usr/bin/pidof: symbol lookup error: /usr/bin/pidof: undefined symbol: __libc_start_main, version GLIBC_2.34
/usr/bin/milltask exiting
<commandline>:0: milltask exited without becoming ready
/usr/bin/linuxcnc: line 660: 1279 Segmentation fault axis-remote --ping
1217
*** buffer overflow detected ***: terminated
Signal 6 (ABRT) caught by ps (4.0.2).
/usr/bin/ps:src/ps/display.c:71: please report this bug
/usr/bin/grep: symbol lookup error: /lib/x86_64-linux-gnu/libc.so.6: undefined symbol: __libc_enable_secure, version GLIBC_PRIVATE
Stopping realtime threads
Unloading hal components

Kernel message information:
[ 96.998896] I-pipe: head domain RTAI registered.
[ 96.998902] RTAI[hal]: mounted. ISOL_CPUS_MASK: 0.
[ 96.998910] SYSINFO - # CPUs: 1, TIMER NAME: 'lapic', TIMER IRQ: 4355, TIMER FREQ: 10390749, CLOCK NAME: 'tsc', CLOCK FREQ: 1662499000, CPU FREQ: 1662499000, LINUX TIMER IRQ: 4355.
[ 97.050990] RTAI[malloc]: global heap size = 2097152 bytes, <BSD>.
[ 97.051068] kstacks pool size = 524288 bytes
[ 97.051071] RTAI[sched]: hard timer type/freq = lapic/10390749(Hz)
[ 97.051074] linear timed lists.
[ 97.051077] RTAI[sched]: Linux timer freq = 250 (Hz), TimeBase freq = 1662499000 hz.
[ 97.051080] RTAI[sched]: timer setup = 96 ns, resched latency = 0 ns.
[ 97.111842] USERMODE CHECK: OK.
[ 97.111847] USERMODE CHECK PROVIDED (ns): KernelLatency 3210, UserLatency 4927.
[ 97.111850] FINAL CALIBRATION SUMMARY (ns): KernelLatency 3210, UserLatency 4927.
[ 97.251101] RTAI[math]: loaded integrated musl libm version 1.2.3.
[ 97.607590] config string '0 out'
[ 97.956566] gmoccapy[1268]: segfault at 18 ip 00000000004ffef7 sp 00007ffe4af40600 error 4 in python3.11[41f000+2b3000]
[ 97.956585] Code: 40 ff 0f 85 d3 00 00 00 83 f9 0f 0f 8f 35 01 00 00 66 41 89 14 40 48 83 c2 01 49 83 c1 10 48 39 ea 74 32 0f b6 4f 08 49 8b 01 <48> 8b 70 18 48 89 f0 4c 21 d0 83 f9 07 7f ba 41 80 3c 00 ff 0f 85
[ 98.035750] hal_manualtoolc[1256]: segfault at 18 ip 00007fa6cfea6360 sp 00007ffe2d15db50 error 4 in libc.so.6[7fa6cfe36000+156000]
[ 98.035769] Code: 03 00 00 43 f6 44 3e 08 01 0f 84 4b 04 00 00 49 83 66 08 fe 48 8b 45 70 48 8d 55 60 66 48 0f 6e ca 66 48 0f 6e c0 66 0f 6c c1 <48> 39 50 18 0f 85 e6 05 00 00 4c 89 e1 0f 11 43 10 4a 8d 14 23 48
[ 98.144627] traps: milltask[1265] general protection fault ip:7f007f4e1b41 sp:7ffe63e76640 error:0 in libpython3.11.so.1.0[7f007f42a000+2d1000]
[ 98.307458] axis-remote[1279]: segfault at 0 ip 000000000055dc3a sp 00007ffd160584e0 error 6 in python3.11[41f000+2b3000]
[ 98.307477] Code: 0f 12 c8 66 48 0f 7e c6 66 48 0f 7e c9 48 85 d2 0f 84 22 02 00 00 48 83 c0 01 48 83 ea 01 48 89 43 20 48 8b 43 28 48 89 53 30 <48> 83 06 01 48 83 01 01 48 83 38 01 75 40 48 8b 78 18 48 8b 58 20
[ 100.956711] RTAI[math]: unloaded.
[ 101.006264] SCHED releases registered named ALIEN PEDV$D
[ 101.042832] RTAI[malloc]: unloaded.
[ 101.150248] RTAI[sched]: unloaded (forced hard/soft/hard transitions: traps 0, syscalls 0).
[ 101.161380] I-pipe: head domain RTAI unregistered.
[ 101.161387] RTAI[hal]: unmounted.

Happy 2026 to all.
Please inform me what kind of error this is when starting linuxcnc Rtai debian13



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/realtime-5.4.290-rtai-amd64/modules/linuxcnc
LINUXCNC_CONFIG_DIR=
LINUXCNC_LANG_DIR=/usr/lib/tcltk/linuxcnc/msgs
INIVAR=inivar
HALCMD=halcmd
LINUXCNC_EMCSH=/usr/bin/wish8.6
LINUXCNC - 2.9.8
Machine configuration directory is '/home/cnc3axis/linuxcnc/configs/my-mill'
Machine configuration file is 'my-mill.ini'
INIFILE=/home/cnc3axis/linuxcnc/configs/my-mill/my-mill.ini
VERSION=1.1
PARAMETER_FILE=linuxcnc.var
TPMOD=
HOMEMOD=
TASK=milltask
HALUI=
DISPLAY=axis
COORDINATES=X Y Z
KINEMATICS=trivkins coordinates=XYZ
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): ./my-mill.hal
Found file(REL): ./custom.hal
Starting TASK program: milltask
Starting DISPLAY program: axis
Shutting down and cleaning up LinuxCNC...
task: 173 cycles, min=0.000004, max=0.013482, avg=0.009198, 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: MAXV     max: 137.000 units/sec 8220.000 units/min
note: LJOG     max: 137.000 units/sec 8220.000 units/min
note: LJOG default: 13.700 units/sec 822.000 units/min
note: jog_order='XYZ'
note: jog_invert=set()
2950
malloc(): unsorted double linked list corrupted
3020
Stopping realtime threads
Unloading hal components

Kernel message information:
[  402.698255] I-pipe: head domain RTAI registered.
[  402.698257] RTAI[hal]: mounted. ISOL_CPUS_MASK: 0.
[  402.698259] SYSINFO - # CPUs: 4, TIMER NAME: 'lapic-deadline', TIMER IRQ: 4355, TIMER FREQ: 424048632, CLOCK NAME: 'tsc', CLOCK FREQ: 3392293000, CPU FREQ: 3392293000, LINUX TIMER IRQ: 4355.
[  402.702297] RTAI[malloc]: global heap size = 2097152 bytes, <BSD>.
[  402.702324] kstacks pool size = 524288 bytes
[  402.702325] RTAI[sched]: hard timer type/freq = lapic-deadline/424048632(Hz)
[  402.702325] linear timed lists.
[  402.702326] RTAI[sched]: Linux timer freq = 250 (Hz), TimeBase freq = 3392293000 hz.
[  402.702326] RTAI[sched]: timer setup = 90 ns, resched latency = 0 ns.
[  402.715421] USERMODE CHECK: OK.
[  402.715422] USERMODE CHECK PROVIDED (ns): KernelLatency 1165, UserLatency 1867.
[  402.715423] FINAL CALIBRATION SUMMARY (ns): KernelLatency 1165, UserLatency 1867.
[  402.719591] RTAI[math]: loaded integrated musl libm version 1.2.3.
[  402.760494] config string '0 out'


  =====>>   [  403.068800] xfdesktop[871]: segfault at 18 ip 00007fe8f41d7dd7 sp 00007ffd5fbed7e0 error 4 in libc.so.6[7fe8f4161000+165000]

---

[  403.068814] Code: dd 07 00 48 83 ec 08 48 8b 4f 08 48 89 c8 48 83 e0 f8 48 3b 04 07 0f 85 a9 00 00 00 f3 0f 6f 47 10 48 8b 57 18 66 48 0f 7e c0 <48> 3b 78 18 75 7b 48 3b 7a 10 75 75 48 8b 77 10 48 89 50 18 66 0f


 =======>>    [  404.365328] axis[3055]: segfault at 0 ip 0000000000530730 sp 00007fff6a8ab700 error 6 in python3.13[420000+31f000]

---

[  404.365333] Code: 41 54 55 48 89 fd 53 48 83 ec 18 48 8b 57 f0 48 85 d2 0f 84 32 02 00 00 48 8b 4f f8 48 8b 42 08 48 83 e1 fc 83 e0 03 48 09 c8 <48> 89 11 48 89 42 08 48 c7 47 f0 00 00 00 00 48 83 67 f8 01 64 4c
[  406.905822] RTAI[math]: unloaded.
[  406.960250] SCHED releases registered named ALIEN PEDV$D
[  406.961994] RTAI[malloc]: unloaded.
[  407.068242] RTAI[sched]: unloaded (forced hard/soft/hard transitions: traps 0, syscalls 0).
[  407.086079] I-pipe: head domain RTAI unregistered.
[  407.086083] RTAI[hal]: unmounted.

andypugh wrote:

Do you _need_ RTAI? What is your latency with preempt-rt?


 

I confess that RT version 2.92 worked well for me, even using LPT with around 25000 latency. However, when I saw Debian 13, I believed I could achieve the same result, but the latency is extremely high, reaching 150 on the same PC that had 25000 latency with Debian 12. That's when I tried RTAI and got these errors. I'm trying to find another PC following Tommylight's advice in an attempt to get some answers.

Life has got more complicated. With proper kernel tuning, latency can be better with Debian 13. I am in the process of publishing a second video about this on YouTube. Please refer to my channel. www.youtube.com/@MrRodW
The yet to be published video should be watched before the current one.

rodw wrote:

Life has got more complicated. With proper kernel tuning, latency can be better with Debian 13. I am in the process of publishing a second video about this on YouTube. Please refer to my channel. www.youtube.com/@MrRodW
The yet to be published video should be watched before the current one.

I watched the videos, and I have some information.
1. Every time I tried to do a clean install, it returned a firmware error rtl_nic/rtl8168h-2.fw, and I believe that because of this firmware error, the Windows boot option did not appear in GRUB. "When I learned about that utility you used, Balena Etcher, to create the installation pendrive, it solved the problem." Rufus with Windows was the cause of not creating the installation media 100%.
2. Some modifications suggested in the video did not have a better effect for me, and I believe it's because of my CPU; with Debian 13, I didn't have any success with PREEMPT_RT.

3. I did a new procedure with RTAI and observed that if I create a machine without spindle controls, I don't have crashes or the segfault error. But another issue arose: the created machine does not communicate with the LPT.