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16 Mar 2024 10:26
Replied by andypugh on topic EtherCAT on Raspberry Pi 5

EtherCAT on Raspberry Pi 5

Category: EtherCAT

Does the Pi5 have good enough latency for an 8kHz servo thread? I haven't looked recently.
14 Mar 2024 23:53
Replied by zmrdko on topic LinuxCNC on Raspberry Pi 5

LinuxCNC on Raspberry Pi 5

Category: Installing LinuxCNC

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
14 Mar 2024 20:11
Replied by rodw on topic LinuxCNC on Raspberry Pi 5

LinuxCNC on Raspberry Pi 5

Category: Installing LinuxCNC

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

LinuxCNC on Raspberry Pi 5

Category: Installing LinuxCNC

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:~ $
14 Mar 2024 08:51
EtherCAT on Raspberry Pi 5 was created by zmrdko

EtherCAT on Raspberry Pi 5

Category: EtherCAT

Hi,

few weeks ago, I have gotten myself new rpi5, since I liked promised performance leap and preliminary latency tests looked awesome. I wanted to run 8kHz servo thread to match my Delta ASD-B3-E cycle time. Even though the ethernet chips on rpi4 and rpi5 are the same, rpi5 uses different driver - macb.
This means, that for now, you can only use generic ethercat driver, which is only able to run at 1kHz.
To run ethercat on rpi5 at higher rates, we need macb driver ported to ethercat.

So we are looking for someone, who is able and willing to do this. I compared source files for some drivers, which have been already ported with original drivers, and there are not many differences. Mostly some repeating IFs…

Thread link with more details on this issue:
Gitlab
14 Mar 2024 01:50
Replied by cornholio on topic LinuxCNC on Raspberry Pi 5

LinuxCNC on Raspberry Pi 5

Category: Installing LinuxCNC

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.
13 Mar 2024 21:02
Replied by stz60 on topic Update auf 2.9.2

Update auf 2.9.2

Category: Deutsch

LinuxCNC 2.9.2 auf RPi4 (RPi 400) + MESA 7i76e
Nachtrag:

Inzwischen habe ich das Komando <menu-config> gefunden.
Dieses ist im <.img.xz> enthalten und ist vergleichbar mit <raspi-config>.
Somit kann der Abschnitt mit <raspi-config> entfallen.
<menu-config> zeigt nach Beenden einige nützliche Infos an.


cnc@raspberrypi:~$ menu-config
Generating locales (this might take a while)...
de_DE.UTF-8... done
Generation complete.

Current default time zone: 'Europe/Berlin'
Local time is now: Wed Mar 13 00:34:39 CET 2024.
Universal Time is now: Tue Mar 12 23:34:39 UTC 2024.

Debian GNU/Linux 12 (bookworm) 6.1.54-rt15 #1_RT Fri Nov 17 17:02:27 AEST 2023
aarch64
Raspberry Pi 4 Model B Rev 1.5
== DISK
Filesystem Size Used Avail Use% Mounted on
/dev/sda2 28G 3.6G 23G 14% /
/dev/sda1 508M 89M 419M 18% /boot/broadcom

== NETWORK
Hostname: raspberrypi
Wired: eth0 UP 192.168.0.132

== SYSTEM
Processor: Cortex-A72 @ 1800MHz 35.5°C
Online: 0-3
Governor: performance
Memory: 3.7G 482M
Entropy: 256
Uptime: 00:35:27 up 8 min, 1 user, load average: 1.01, 0.98, 0.62

sudo apt update && sudo apt full-upgrade
sudo reboot

Weitere System-Infos kann man mit diesen Komandos erhalten:

uname --help
uname -a
(Kernel-Version)

hostnamectl -h
hostnamectl
(System-Info)

df --help
df -h
(Dateisystem-Info)

lsusb -h
lsusb
(USB-Info)

rpi-eeprom-update
(Liste mit EEPROM-Info)

stz60
12 Mar 2024 22:19
Replied by rodw on topic LinuxCNC on Raspberry Pi 5

LinuxCNC on Raspberry Pi 5

Category: Installing LinuxCNC

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
12 Mar 2024 19:47
Replied by elovalvo on topic LinuxCNC on Raspberry Pi 5

LinuxCNC on Raspberry Pi 5

Category: Installing LinuxCNC

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
12 Mar 2024 06:59 - 12 Mar 2024 19:50
Replied by elovalvo on topic Linux CNC Pi Display port support?

Linux CNC Pi Display port support?

Category: Computers and Hardware

In the meantime you can try with the image you find here:

forum.linuxcnc.org/9-installing-linuxcnc...i-5?start=170#295779
12 Mar 2024 01:35
Replied by cornholio on topic Linux CNC Pi Display port support?

Linux CNC Pi Display port support?

Category: Computers and Hardware

I would keep with the RPI OS and install Linuxcnc once booted.

Be aware that Linuxcnc does not have support for SPI as of yet, even tho on the downloads page it says is does.

Oh another thing the Linuxcnc image is a debian based image and is a little different to the mainstream Raspbian OS. The config.txt and cmdline.txt are not in the same folder as per a Raspbian image.

You may have to play around with config.txt as I'm not sure if it has the lines to detect an DSI screen connected. This will need to be edited by hand, can't remember exact location so you will have to hunt around in the /boot directory and sub directories.

www.raspberrypi.com/documentation/comput...ays-and-touchscreens
12 Mar 2024 00:06
Replied by Regor on topic installing Linuxcnc 2.9.2

installing Linuxcnc 2.9.2

Category: General LinuxCNC Questions

I retried the full linuxcnc_uspace image approach on an SD card known to run raspian, debian, etc on my RPi 4B using the latest RPi imager. It failed as usual to boot the RPi 4B.
Using the same micro SD card 32 GB sandisk, I used disk mgmt. on the Lenovo desktop with win 11 to make clean new volume at 32 GB FAT 32. Next came the option on RPi imager to choose
"2023-12-05-raspios-bookworm-arm64-full.img.xz" [ the 2,732MB version ]
as the operating system (downloaded from Raspberrypi.com). Of course the device was RPi 4. A bootable SD card was created. RPi 4B was booted!
Here is the simple part that I missed in all my efforts to put Linuxcnc on my RPi 4B.
At terminal window on RPi 4B:
sudo apt-get update
sudo apt-get install linuxcnc-uspace linuxcnc-uspace-dev

Linuxcnc was installed in the menu with how to manuals and appears to be fine. I am experiencing problems with apps that popup over the entire window and only a reboot will regain control of RPi. I will try a more stable version of RPi operating system next.
11 Mar 2024 18:07
Replied by Jaron on topic Remora for RP2040

Remora for RP2040

Category: Computers and Hardware

I've been trying to get Remora running on RP2040 via Ethernet on a Raspberry pi 5. The error i'm getting when trying to run LinuxCNC is:
Warning: Spoiler!

The error doesn't seem to be related to the pi 5 specifically so I'm hoping to get the pi 5 working with remora-ethernet, does anyone have a clue what I can try to fix it?

I've used the RP-2040-Ethernet-Remora firmware from:
github.com/scottalford75/Remora-RP2040-W5500
(UF2 file from the standard build folder, tried compiling it myself but came across multiple problems, I can give details if needed)

and using config and component from
github.com/scottalford75/Remora-NVEM/tre...Components/Remora-nv
and
github.com/scottalford75/Remora-NVEM/tre...es/remora-nvem-basic

When powering the RP-2040 all outputs seem to be flickering, can anyone tell if this is normal?
Warning: Spoiler!

I tried measuring the signal and it's lots of seamingly random peaks, my logic analyser only goes up to 24Mhz and it's all peaks at minimal time period. 
Warning: Spoiler!

In my setup I'm also connecting the W5500 with dupont wires, could this cause my problems maybe? (Read somewhere that the SPI communcation at stock speeds and these wires might not work)

Besides that I also read somethwere that the ethernet cable between pi and RP2040 needs to be a crossover cable. I've tried quickly making one but that also doesn't seem to make a difference.

I don't really know how to debug the error i'm getting so hopefully someone can help me.

I made a list of all commands I used to get my pi up and running, maybe it is usefull for someone trying to do the same or debugging my problem so here is what i've done:

Setting up my crappy touchdisplay:
in /boot/broadcom/config.txt adding
hdmi_force_hotplug=1
hdmi_drive=2
config_hdmi_boost=4

in cmdline.txt
adding "video=HDMI-A-1:1920x1080@60D" at the end

Setting up tightVNC:
Setting up other vnc servers was difficult, got this one working by
nano ~/.vnc/xstartup
change to:
#!/bin/sh
xsetroot -solid grey
export XKL_XMODMAP_DISABLE=1
unset SESSION_MANAGER
unset DBUS_SESSION_BUS_ADDRESS
startxfce4 &

To automatically start it at boot:
sudo nano /etc/rc.local
add this:
sudo -u cnc /usr/bin/tightvncserver :1 -geometry 1920x1080
before the exit 0:

To automatically log in to linuxcnc account at boot:
sudo nano /etc/lightdm/lightdm.conf
autologin-user=cnc

Setting up the static ethernet connection on Raspberry pi 5:
in sudo menu-config I changed ipv4 to manual and set the adres to 10.10.10.11 and gateway 0.0.0.0
(There is no /etc/dhcpcd.conf anymore on pi 5 it seems but this does the trick it seems)

installing nvem-remora component:
sudo halcompile --install remora-nv.c

Settings up RP2040
first uploading remora.uf2 to the pico board
(for upload_config.py tftpy is needed, installing tftpy normally didn't work, forgot the exact error)
python3venv venv
source venv/bin/activate
pip install tftpy
deactivate
./venv/bin/python3 upload_config.py nvem-basic-config.txt

In basic config I changed pin designators from PE_13, PE_12 to GP2, GP3 and left nvem board designator the same, is this correct?

Is there any way to check the communication over ethernet and if everything is going correctly? when I do ping 10.10.10.10 it responds back perfectly fine it seems.

To run Linuxcnc:
linuxcnc remora-nvem.ini

and in the ini i changed AXIS to qrvcp qtdragon_hd (axis didn't want to run for some reason but qtdragon seems fine)
11 Mar 2024 15:23
Replied by tommylight on topic installing linuxcnc on raspberry pi 4

installing linuxcnc on raspberry pi 4

Category: Installing LinuxCNC

Not sure as this was a while back, but i do recal something about rpi4 not supporting OpenGL or similar.
Also recal reading about using VTK (Vulcan) instead of OpenGL for running Probe Basic on RPI, but no idea if that would work for Vismach.
11 Mar 2024 13:46
installing linuxcnc on raspberry pi 4 was created by Shadow

installing linuxcnc on raspberry pi 4

Category: Installing LinuxCNC

hello i have been trying to install linuxcnc on raspberry pi 4b for a couple of days i have download on the raspberry pi the debian os in the documentation that has linuxcnc already installed on it but the vismach simulations dont work even the demos on the software
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