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Debian has some info here.

wiki.debian.org/Wayland#Xwayland

Or if you start with raspios lite (no desktop) and install xfce as the desktop enviroment.

or.. as per help.realvnc.com/hc/en-us/articles/14110...-and-RealVNC-Connect
Raspberry Pi 4-5: This device defaults to using Wayland (wayfire) on Pi OS Bookworm, however it is possible to switch to X11 by using the command line raspi-config utility, under Advanced Options -> Wayland. Our initial testing indicates that RealVNC Connect functions as expected in this mode.

The reason all of my images and ISO's run XFCE is that it is an X11 environment. There is a way  to tell Wayland how to deal with X11 via an environment variable but I can't remember how.

I have no idea if this will work or not, but could you please try this Pi5 image I have just built using the same  environment as we used for the official  pi4b image on the Linuxcnc downloads page. It uses XFCE.
drive.google.com/file/d/1H_q0Ra-27ZDOhqu.../view?usp=drive_link

The other problem child I have encounted in the past was VTK was  missing in the Raspberry repos but I see now it is available in Debian. It was a 5 hour compile on a pi4b. (Maybe that was for QTPYVCP who don't offer pi packages in their repo.)

Seems like some GladeVCP widgets are not working on Bookworm yet as Wayland is used instead of X11. Gremlin is throwing errors and some others like Actions are not able to initiate.  

Gremlin, none of the HAL Actions and some others are not available in the Glade widgets list.

Has anybody else encountered some issues with the GladeVCP widgets as well?

Piet

Yes push it please Grotius. We all want to see it on real hardware.  
MAybe you will have to place an embargo on JoCo until you get it on your table 

Yes, I get that error too on my older Pi  4b
Lots of others have it working for them.. Just hardware I think

Hi!

Just some regular CNCer, already proficient with my rpi4 8gb and 2.8.  I thought I might try something else, test some stuff.  Been reading around here for some days now.  I tried to run that image (the one from Rod's first post):

rpi-4-debian-bookworm-6.1.54-rt15-arm64-ext4-2023-10-21-1847.img

but it gave me that screen (see attached file).  Seems to be hardware related...

Update to above, rt kernel built & running. Happy with basic latency test, have sound, BT & wifi disabled. Haven't really pushed it nor isolated any cores. Board is 4GB as new stock of 8GB had no ETA.

Raspbian OS uses LXDE as opposed to XFCE so that could be the difference. I can say that I thought latency was better when running with a Raspbian OS on my RP-400. Or there could be other factors at play.

I built a successful non-rt kernel based on 6.1.y and now building a realtime one with 6.1.59 rt patch, patch went with no issues, so that's a good sign.

It's all fun & games so far.

I didn't try the your image rod but notice in the kernel package there was no rp5 dtb file so just assumed it would be a non starter, plus it was 1:00am and the dog was looking at me funny, like it was time for bed.

danielfmo wrote:

Kernel built with latest 6.1.y commit with rt16 patch does boot with previously shared bookwork image.
 

Perhaps change the commit to 6e5a08f736d0366e125a5b84b01d9affc86ddf58
This is when the 6.61 branch was merged into 6.1.y on Nov 3
This will at least lock in a known position rather than just following the head.

For reference we are looking at the 6.1.y commits here github.com/raspberrypi/linux/commits/rpi-6.1.y 

Ran the same commands as the OP to test latency, histogram was wierd:
 

Then I realized the "Using POSIX non-realtime" message when starting the latency test despite the PREEMPT_RT kernel. 
 

Kernel built with latest 6.1.y commit with rt16 patch does boot with previously shared bookwork image.

rodw wrote:

Cornholio post=285614 userid=35653
if you use the commit we have been using it wont boot, if my experience is anything to go by. I'm trying to build natively with the 6.1.y branch
I hope it does now. There isn't a later PREEMPT_RT merged into their kernel.
Its possible if you accepted the defaults you built a 4b kernel
You have to run menuconfig as it was configured to build a kernel for the 4b/400 with a saved defconfig

I tried that image and it does not boot in a rpi5, in fact there are no bcm2712-rpi-5-b.dtb file being generated, so I'd assume that 5_6.1.54-rt15 does not support the rpi5. 

I merged your master branch into the linuxcnc-2.9.1 and updated the kernel hash and patch to 5_6.1.59-rt16. 
Kernel gets into gets into a "running /scripts/local/block" loop and the rootfs fails to build.

chroot: failed to run command ‘/debootstrap/debootstrap’: Exec format error
make: *** [Makefile:157: rootfs] Error 126

I used the kernel-builder script referenced earlier, no boot with the commit we've used for the rp4 (non-realtime), finally got it to boot with the 6.1.y branch.

One thing of note in the commit there is no arch/arm64/configs/bcm2712_defconfig but it is there in the 6.1.y branch.

cornholio wrote:

if you use the commit we have been using it wont boot, if my experience is anything to go by. I'm trying to build natively with the 6.1.y branch

I hope it does now. There isn't a later PREEMPT_RT merged into their kernel.
Its possible if you accepted the defaults you built a 4b kernel
You have to run menuconfig as it was configured to build a kernel for the 4b/400 with a saved defconfig

I have uploaded an image for the Raspberry Pi 5 here:
drive.google.com/drive/folders/1B29ewKVL...0QJGj?usp=drive_link
The RT kernel and the headers are available in the kernel sub folder. You could try installing both with dpkg -i on an ordinary image.

Please let me know how you get on.
Note the Linuxcnc repos are set up in your sources. (I hope) 
so
sudo apt update
sudo apt upgrade 
should be valid and not break anything.
But there will be nothjing to upgrade unless one of these happens:
1. Debian releases an updated version of Bookworm
2. Debian releases som urgent security patches
3. Linuxcnc doeas an upgrade from version 2.9.1

Please give your feedback I don't have a Pi 5.