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jjdege wrote:

hi
here is the report with uname -v

 

no RT, yet it works, something went wrong

which kernel is working?

If you want instructions to create a PREEMPT_RT for Raspberry Pi 5 with native Raspberry OS you can see at this link

forum.linuxcnc.org/9-installing-linuxcnc...pi-5?start=40#303696

or use the ready-made image you find here

forum.linuxcnc.org/9-installing-linuxcnc...pi-5?start=40#303752

Then follow the procedures already described for Ethercat drivers

Hi
after installing the official LinuxCNC ISO for Raspberry Pi 5
I realized that the screen resolution is not good,
it is not manageable and there is no audio,

it will surely be fixed.

so I tried installing LinuxCNC + EtherCAT on native Raspberry OS
I installed kernel 6.6.45-rt39-v8-16k+ with inspiration from  here
for EtherCAT drivers I entered the keys for the repositories from here
and followed Rod's guide here here

Everything works

 

latency, maybe a little high

 

I was wondering if it depends on the kernel and if it is possible to modify it in some way
many Thanks

thanks a lot
What steps should I follow to configure ethercat?

cnc@raspberrypi:~/Desktop$ ethercat slave
bash: ethercat: command not found
cnc@raspberrypi:~/Desktop$ sudo geany /etc/ethercat.conf
cnc@raspberrypi:~/Desktop$ sudo systemctl enable ethercat.service
Failed to enable unit: Unit file ethercat.service does not exist.
cnc@raspberrypi:~/Desktop$ sudo systemctl start ethercat.service
Failed to start ethercat.service: Unit ethercat.service not found.
cnc@raspberrypi:~/Desktop$ sudo systemctl status ethercat.service
Unit ethercat.service could not be found.
cnc@raspberrypi:~/Desktop$ sudo chmod 666 /dev/EtherCAT0
chmod: cannot access '/dev/EtherCAT0': No such file or directory
cnc@raspberrypi:~/Desktop$ ethercat slaves
bash: ethercat: command not found
cnc@raspberrypi:~/Desktop$

Where am I making a mistake? The installation gives an error.


cnc@raspberrypi:~/Desktop$ ./ethinstall.sh
Install ethercat repository
dd: failed to open '/etc/apt/trusted.gpg.d/science_EtherLab.gpg': Permission denied
--2024-08-16 15:33:59-- build.opensuse.org/projects/science:Ethe...ys/download?kind=gpg
Resolving build.opensuse.org (build.opensuse.org)... 195.135.223.221, 2a07:de40:b250:131:10:151:131:20
Connecting to build.opensuse.org (build.opensuse.org)|195.135.223.221|:443... connected.
HTTP request sent, awaiting response... 200 OK
Length: unspecified [application/octet-stream]
Saving to: ‘STDOUT’

- [ <=> ] 1.08K --.-KB/s in 0s

2024-08-16 15:33:59 (11.7 MB/s) - written to stdout [1109]

gpg: [stdout]: write error: Broken pipe
gpg: filter_flush failed on close: Broken pipe
tee: /etc/apt/sources.list.d/ighvh.sources: Permission denied

you will surely find what you need in this link

linuxcnc.org/docs/html/drivers/hal_pi_gpio.html

Nice Rod and others, thanks for your hard work.  Question before we download, was this built from the new Rpi Debian 12 www.raspberrypi.com/software/operating-s...spberry-pi-os-64-bit (including the "normal" Rpi features like raspi-config and /boot/config.txt) or will we still be using menu-config and /boot/broadcom/config.txt?

Because the 2.9.2 iso has been liking to boot to a black screen lately, with nothing in any logs and lightdm running fine, so no idea why.  But an upgrade would be welcome.

I'm new to LinuxCNC and hobbyist machining.  For some reason, jogging isn't working on my 3 Axis setup. I feel like I'm just missing one critical configuration but can't figure it out.  I got homing to work from the Axis GUI, but jogging doesn't work. 

I've posted my INI files and HAL files.  I've only included X axis configurations for brevity.  Any tips ?

System Details
* Raspberry Pi 5 
* LinuxCNC 2.9.3

Hey kind folks,

I am working to configure a Raspberry pi 4B to run LinuxCNC for a two-axis machine I'm building.  I am using the HAL driver for Raspberrry PI GPIO pins (hal_pi_gpio).

I am proposing to use the following pins:

net Xdir => hal_pi_gpio.pin-15-out
net Xstep => hal_pi_gpio.pin-16-out
net Ydir => hal_pi_gpio.pin-18-out
net Ystep => hal_pi_gpio.pin-22-out

When I start LinuxCNC the HAL file appears to be loading properly.

But if I go to a terminal and say Halcmd show pins  - it appears to be showing my pins configured as INPUTS - not outputs?
(I'm assuming that's what the direction column in the show pins command means).

nc@raspberrypi:~/Desktop$ halcmd show pin
Component Pins:
Owner   Type  Dir         Value  Name
 
    28  bit   IN          FALSE  hal_pi_gpio.pin-15-out <== Xdir
    28  bit   IN          FALSE  hal_pi_gpio.pin-16-out <== Xstep
    28  bit   IN          FALSE  hal_pi_gpio.pin-18-out <== Ydir
    28  bit   IN          FALSE  hal_pi_gpio.pin-22-out <== Ystep

I'm pretty sure I did the math on the mask right although I could be wrong. To confirm, I just tried masking for one output and it still shows up as IN.

The documentation says I should add up the hex values for all pins that should be configured as an output which I think is what I've done.  

Anyone see what I'm missing?  Thanks!!!!

my full .hal file follows:


# Generated by stepconf 1.1 at Fri Nov 17 17:18:50 2023
# If you make changes to this file, they will be
# overwritten when you run stepconf again
loadrt [KINS]KINEMATICS
loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS

# Load the Raspberry Pi GPIO driver
loadrt hal_pi_gpio dir=0x00F00040


loadrt stepgen step_type=0,0


# Add to the base thread

addf hal_pi_gpio.read base-thread  
addf stepgen.make-pulses base-thread
addf hal_pi_gpio.write base-thread

addf stepgen.capture-position servo-thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
addf stepgen.update-freq servo-thread


# Configure output pins
net Xdir => hal_pi_gpio.pin-15-out
net Xstep => hal_pi_gpio.pin-16-out
net Ydir => hal_pi_gpio.pin-18-out
net Ystep => hal_pi_gpio.pin-22-out

setp stepgen.0.position-scale [JOINT_0]SCALE
setp stepgen.0.steplen 1
setp stepgen.0.stepspace 0
setp stepgen.0.dirhold 35000
setp stepgen.0.dirsetup 35000
setp stepgen.0.maxaccel [JOINT_0]STEPGEN_MAXACCEL
net xpos-cmd joint.0.motor-pos-cmd => stepgen.0.position-cmd
net xpos-fb stepgen.0.position-fb => joint.0.motor-pos-fb
net xstep <= stepgen.0.step
net xdir <= stepgen.0.dir
net xenable joint.0.amp-enable-out => stepgen.0.enable

setp stepgen.1.position-scale [JOINT_1]SCALE
setp stepgen.1.steplen 1
setp stepgen.1.stepspace 0
setp stepgen.1.dirhold 35000
setp stepgen.1.dirsetup 35000
setp stepgen.1.maxaccel [JOINT_1]STEPGEN_MAXACCEL
net ypos-cmd joint.1.motor-pos-cmd => stepgen.1.position-cmd
net ypos-fb stepgen.1.position-fb => joint.1.motor-pos-fb
net ystep <= stepgen.1.step
net ydir <= stepgen.1.dir
net yenable joint.1.amp-enable-out => stepgen.1.enable

net estop-out <= iocontrol.0.user-enable-out
net estop-out => iocontrol.0.emc-enable-in

loadusr -W hal_manualtoolchange
net tool-change iocontrol.0.tool-change => hal_manualtoolchange.change
net tool-changed iocontrol.0.tool-changed <= hal_manualtoolchange.changed
net tool-number iocontrol.0.tool-prep-number => hal_manualtoolchange.number
net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared


 

I have a good bit of experience with CNC... built 2 machines in the past... one Mach3 another GRBL.  Long time linux admin.  Have built lots of things with RPI, New to LinuxCNC.

I am refactoring a vertical mill that I converted to CNC and Mach 3 several years ago to use LinuxCNC.  In the past I used a UC ETH-300 which of course is not compatible with LinuxCNC.  So I bought a Mesa 7c81 and an 8gb Raspberry Pi 4.

I have everything connected, Installed LinuxCNC 2.9.2 using the RPI image, have enabled SPI and it appears that I am talking to the Mesa card.
I have a standard chinese BOB connected to port 1 and plan to use ports 2 and 7 for home/limit switches, probe, spindle etc.

Started with pncconf selected my card and the 5ABOB3 firmware, looked up my stepper drivers for time, space, hold etc... 

Cannot figure out the P1, P2, P7 Mesa Card config pages as far as pins goes... expecting to assign pin2 for step X etc...  according to the BOB documentation.
I have assigned the Axis StepGen's to P1 0:, 1:, and 2: just to be able to write the config out.
When I try to test/tune an axis I hear the relay trip on the BOB which is encouraging... and when I try to jog I see the numbers changing on the Hal Meter etc but I get nothing from my steppers... they do feel slightly warm so I believe there is current going to them... but no movement at all

if I try to launch LinuxCNC using the config pncconf created I see some errors come up
"Unexpected realtime delay on task0 with period 70000" and hm2/hm2_7c81.0 Watchdog was bit.

My plan is to get basic stuff working and then add complexity... 

Wondering if anyone has a config they would be willing to share?

Or advice on where to go next... been googling and searching my tail off and figure there is something basic I am missing and once I see it properly configured I will have a big DUH moment

Any help would be appreciated!

I am running LinuxCNC 2.10.x (developer version) on Raspberry Pi 400.
NativeCAM forked by BogdanTheGeek forum.linuxcnc.org/nativecam/48857-fernv...ernv?start=10#292321 works, but only standalone, not in tab. I am not able to run embedded
I think it should run in LinuxCNC 2.9.3 too.

Edit: now, with some raw workaround it appears in a LinuxCNC tab. But it is not fully working.
Edit2: corrected some bugs  in pref_edit.py, now it works better. I cannot update the file on GitHub.

Looking good on Pi4 with SPI connection to my Remora-style PRU.

The first post has been updated to include images for 2.9.3.
The Pi 5 is tested and working.
Any feedback about the Pi4 would be appreciated

updated for Linuxcnc 2.9.3 
Newer kernel 6.6.44
Better screen support for the Pi5
Now includes ethercat repos. Following the sticky in th eethercat section to install/

Pi 5 Image  drive.google.com/file/d/1iwQpbMoNdI6wnv7...MyZ/view?usp=sharing
Pi4 Image  drive.google.com/file/d/1Fg2CPTezUyrRFrO...ytT/view?usp=sharing  
 

Apologies for the delay here. I was putting this off in preference to other Linuxcnc projects but its time has come

Pi 5 Image drive.google.com/file/d/1iwQpbMoNdI6wnv7...MyZ/view?usp=sharing
Pi4 Image drive.google.com/file/d/1Fg2CPTezUyrRFrO...ytT/view?usp=sharing 

Kernel 6.6.4 as per the raspberry pi's kernel git
Tested as working by Joco who bought a pi5 yesterday for the occasion!
Monitor support now fixed. He was using a 34" 3440 x 1440 monitor 

Ethercat apt repos now included
QTPYVCP repos a work in progress with the QTPYVCP team now VTK is in the Debian Repos.

There are no added programs, What was suggested was a bit out of left field as none of it was included in our AMD64 build.
Please read the downloads page on how to configure wifi, timezones and locales

 

Hi Rodw, Thanks for all the incredible work so far on EtherCAT. I'm diving into both LinuxCNC and EtherCAT right now and excited by the possibilities. 

I ran into the same issues as discussed.  I tried your script on the Rpi 5 and it seemed to connect to their servers but it only seems to have grabbed 733 bytes. I may try some of the other methods mentioned previously.

 

___
System: Raspberry pi 5 + Leadshine EL8 EtherCAT drives
LinuxCNC level: first timer
Linux level: noob noob