Advanced Search

• ESP32-S2 (Single Core!)
• USB Networking (No Ethernet)
• Waveshare Pico S2 module
• Raspberry PI 4
• 4 Axis
• High speed test

I did this about a week ago using a precompiled kernel.

One thing I did as well was change form wayland to X.

Great to see somebody else experimenting. There are a couple of other methods you can try if you like the experimentation
1. Download the Debian Image for the pi raspi.debian.net/  install a desktop using tasksel, install the Debian RT kernel from their repo, install linuxcnc using the scripted install mentioned in the 2.9 Getting linuxcnc docs
2. clone my cross compiled builder which is used to make the images available on the downlods page github.com/rodw-au/rpi-img-builder-lcnc/tree/linuxcnc-2.9.2 (get the 2.9.2 branch)

So option 2 runs on a normal desktop PC which substantially reduces compile times. It downloads the official Raspberry kernel source, applies the RT patch and builds a kernel, Then it Installs Debian with that kernel. We install the xfce desktop (from userdata.txt settings) and linuxcnc in userscripts github.com/rodw-au/rpi-img-builder-lcnc/....2/files/userscripts This installer used to build linuxcnc from source but during the 2.9 release process, a deb file was created on the linuxcnc repo so we use it now.

Have fun

Hello,

I successfully finished with the experiment whether could I reach the same performance as LinuxCNC 'native Debian 12 Bookworm' image but using a regular Raspberry Pi OS (64bit) on Raspberry Pi 4b.

uname -a
# Linux pi-cnc 6.1.77-rt24-v8-ago+ #1 SMP PREEMPT_RT Thu Feb 22 01:29:42 MSK 2024 aarch64 GNU/Linux

latency-histogram --nobase --sbins 1000

https://github.com/golyakoff/linux-info/blob/main/img/latency-histogram.png?raw=true

I received maximum jitter value ~80 μs (80,000 ns) with 8 `glxgears` (and it is with out-of-the-box vnc server working over wifi).

I prepared a step-by-step instruction for building the RT-patched kernel (based on Raspberry Pi OS 64bit) on my GitHub page github.com/golyakoff/linux-info/blob/mai...aspberryOS/README.md.

I am not sure if it is better to post here all the text (please let me know)
Hope this will help someone, thanks!
 

Hi,
I'm trying to get a module working that is not already supported and I hope someone can help me.  I followed the instructions on the first page of this thread as best I could.  

First I was trying to get an EL3068 8 port analog card working and it was successful.  I'm using it to read some potentiometers. 

Now I'm trying to get an EL5102 module working and I thought this would be the easier one since the EL5101 is already supported. After following the process linuxcnc doesn't complain about it being in my hal file but the module doesn't leave preop stage.

I copied the EL5101.h and EL5101.c files to lcec_El5102.h and .c
modified them to substitute 5101 to 5102 and changed the ProductCode field (from ethercat xml -p7)
I didn't try adding the second channel in the .c file.  I looked but how to do it wasn't obvious.
did make clean and then make
cp lcec.so ../../linuxcnc-dev/rtlib/
sudo cp lcec_conf /usr/bin/
cp lcec_conf ../../linuxcnc/configs/wedm/

ethercat slaves gives: (with linuxcnc started)
 0  0:0   OP     +  EK1100 EtherCAT-Koppler (2A E-Bus)
 1  0:1   OP     +  EL1809 16K. Dig. Eingang 24V, 3ms
 2  0:2   OP     +  EL2008 8K. Dig. Ausgang 24V, 0.5A
 3  0:3   OP     +  EL3068 8K. Ana. Eingang 0-10V
 4  0:4   OP     +  EK1100 EtherCAT-Koppler (2A E-Bus)
 5  0:5   OP     +  EL1008 8K. Dig. Eingang 24V, 3ms
 6  0:6   OP     +  EL2008 8K. Dig. Ausgang 24V, 0.5A
 7  0:7   PREOP  +  EL5102 2Ch. Inc. Encoder 5V (RS422,TTL)
 8  0:8   OP     +  EL7342 2K. DC-Motor-Endstufe (50V, 3.5A)
 9  0:9   OP     +  DVS_ETHCAT_v1.004
10  0:10  OP     +  DVS_ETHCAT_v1.004

if I set ethercat debug 1 and look at dmesg I see it checking the time offset when starting up but later it just skips over it when going through each device.
[...]
[186186.355310] EtherCAT DEBUG 0-4: Checking system time offset.
[186186.375331] EtherCAT DEBUG 0-4: DC 64 bit system time offset calculation: system_time=761845177497583898 (corrected with 20000000), app_time=761845177496618367, diff=-965531
[186186.375339] EtherCAT DEBUG 0-4: Not touching time offset.
[186186.395306] EtherCAT DEBUG 0-7: Checking system time offset.
[186186.415328] EtherCAT DEBUG 0-7: DC 64 bit system time offset calculation: system_time=761845177537569111 (corrected with 20000000), app_time=761845177536577318, diff=-991793
[186186.415336] EtherCAT DEBUG 0-7: Not touching time offset.
[186186.435301] EtherCAT DEBUG 0-8: Checking system time offset.
[186186.455318] EtherCAT DEBUG 0-8: DC 64 bit system time offset calculation: system_time=761845177577586331 (corrected with 20000000), app_time=761845177576580029, diff=-1006302
[186186.455327] EtherCAT DEBUG 0-8: Setting time offset to 761658983053803698 (was 761658983054810000)
[...]
[186186.860091] EtherCAT DEBUG 0-6: Now in SAFEOP.
[186186.862084] EtherCAT DEBUG 0-6: Now in OP. Finished configuration.
[186186.895348] EtherCAT DEBUG 0-8: Changing state from PREOP to OP.
[186186.895356] EtherCAT DEBUG 0-8: Configuring...
[186186.898094] EtherCAT DEBUG 0-8: Now in INIT.


ethercat slaves -v gives:
=== Master 0, Slave 7 ===
Device: Main
State: PREOP
Flag: +
Identity:
  Vendor Id:       0x00000002
  Product code:    0x13ee3052
  Revision number: 0x00100000
  Serial number:   0x00000000
DL information:
  FMMU bit operation: no
  Distributed clocks: yes, 64 bit
  DC system time transmission delay: 1880 ns
Port  Type  Link  Loop    Signal  NextSlave  RxTime [ns]  Diff [ns]   NextDc [ns]
   0  EBUS  up    open    yes             6   3045771182           0         145
   1  EBUS  up    open    yes             8   3045771492         310         155
   2  N/A   down  closed  no              -            -           -           -
   3  N/A   down  closed  no              -            -           -           -
Mailboxes:
  Bootstrap RX: 0x1000/244, TX: 0x10f4/244
  Standard  RX: 0x1000/128, TX: 0x1100/128
  Supported protocols: CoE, FoE
General:
  Group: Measuring
  Image name: 
  Order number: EL5102
  Device name: EL5102 2Ch. Inc. Encoder 5V (RS422,TTL)
  CoE details:
    Enable SDO: yes
    Enable SDO Info: yes
    Enable PDO Assign: yes
    Enable PDO Configuration: no
    Enable Upload at startup: no
    Enable SDO complete access: yes
  Flags:
    Enable SafeOp: no
    Enable notLRW: no
  Current consumption: 210 mA
  
  
  
uname -a
Linux Charmilles 4.19.71-rt24-v7l+ #1 SMP PREEMPT RT Fri Jan 1 21:15:16 GMT 2021 armv7l GNU/Linux

LINUXCNC - 2.8.4

This is a raspberry PI and built following instructions from MetalMusings
forum.linuxcnc.org/ethercat/42048-notes-...at-on-raspberry-pi-4

I'm sure I did a bunch of other stuff after following his instructions but I didn't document exactly what I was doing and don't quite remember.  However, apart from this card it is mostly working.  I/O is working and my ethercat drives are moving are moving the servo motors.  I have a separate issue related to a belt reduction but that should probably be in another thread.
 

Да все эти темы я уже перечитал, но никак не могу понять как через терминал настроить hal gpio и как потом настроить linuxcnc работать с gpio.

forum.linuxcnc.org/9-installing-linuxcnc...nd-software-stepping

Всем привет. Я новичек  в этой системе и нигде не  могу найти нормального описания как настроить gpio в raspberry pi для работы в linuxcnc. Помогите понят куда надо заходить и что включать.

An Ethernet cable from the PC host to a Mesa card seems to be a more modern way to go. RZN has the RPi5 and Mesa 7I96S working flawlessly in some recent tests with Ethernet connection. Apparently the new Raspberry Pi 5 does not support SPI connection at the moment.

I am wondering why would someone want an SPI connection over Ethernet. Are there any advantages?

Thanks!

I have a Novakon CNC mill (similar to early Tormach machines). It is from 2009-ish, I bought it used for a great price in 2012 but have not put much time on it. It runs Mach3 and was always glitchy. Shortly after I purchased it, I got the idea I would do a Linux CNC conversion based on some others I saw doing it on CNCZone back in the day using the Tormach GUI (pathpilot), but I never actually got around to doing it. Also – I have little to no experience with Linux anything.

The current CNC Mill
Novakon NM-200 series CNC Mill, circa 2009       
       -Still functional, but still glitchy with Mach software
       -3 Axis
           -4th axis capable with rotary table, which I also have.     
       -Runs Mach 3
       -Has C11 G rev 8.2 breakout board
       -G203V Gecko Stepper Drivers
       -iMach P2S Pendant (I added this)
Conversion Targets
       -Keep costs minimal until concept is proven.
       -New (to Novakon Machine) computer to run Linux CNC
            -Want to keep original computer unmodified and functional
                  -The C11 breakout board and gecko drivers are still in the original
                   computer case and the ideal plan would be to jumper from them to the
                   new computer/Mesa card
       -Run Linux CNC with Mesa card
               -Currently have new, never used 6i25 Mesa planning to use
                      -After reading about others who did conversion Tormach GUI
                        (pathpilot) with mesa cards I bought one, then didn’t dive into the
                        project, so it’s a little older
      -Is there a better/simpler solution that would be smarter to invest in now?
        I want to keep costs down, but if there is another simpler solution to still hit
        my targets and potentially save A LOT of time then I am willing to consider
         the investment.
     -Maintain functionality with iMach P2S Pendant
     -Assuming this will be a relatively simply config option.
     -Bonus – 4th axis capability
Linux CNC 
I originally installed Debian 12 Linux CNC.iso from linux website and at first struggled with high latency issues
      -Original ISO was buggy and caused issues
           - A helpful member in IRC traced it back to raspberry pi.   
      -Got on IRC and got great feedback, informing me that because I am using
        Mesa card latency does not matter because the card compensates for it.
            -Installing new ISO was recommended  
      -Installed Debian Mate from USB
      -Installed Linux CNC
             -Tried to import MACH.xml
                   -Would not import using step.config
                   -None of the ports & pins came through
                          -I do have record of all the ports and pins and other MACH config settings
                   -None of the commands I was directed to use to fix the issues could be “found”
            -Got into IRC channel in hopes of finding solutions
                     -Was told about Github convertor
                            -Its Python and I can’t get it to work.

Thanks in advance for any feedback. I appreciate any and all suggestions or guidance.

yeah my pimeroni hat is on the bottom. its great.

Downloads page

LinuxCNC 2.9.2 Raspberry Pi 4 OS based on Debian Bookworm Raspberry Pi 4 Uspace compatible with Mesa Ethernet and SPI interface boards.
www.linuxcnc.org/iso/rpi-4-debian-bookwo...23-11-17-1731.img.xz

LinuxCNC 2.9.2 Raspberry Pi 5 OS based on Debian Bookworm Raspberry Pi 5 Uspace compatible with Mesa Ethernet and SPI interface boards.
www.linuxcnc.org/iso/rpi-5-debian-bookwo...23-11-17-1520.img.xz

Ich habe einen Raspberry Pi zwischengeschalten.
Auf welcher Seite meinst du, kann man diese RT-Kernels installieren bzw. wie sehe ich, welcher mit meiner MESA 7i96s kompatibel ist?

You are welcomed, always.

Thanks tommylight for the clarification!