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Yup, I find it kinda funny that a site catering to technology uses such a terrible editor :-D

I have used a lot of forums but never seen one this bad :-D

If it wasn't for the great people here it'd just be too painful hahahah.

@0x2102
Hey man, thanks for posting that.  I haven’t had this problem before, but I like learning new info in case I ever do!!!  Nice…


@ zmrdko
Thanks for sharing your info.  I knew the “generic” component was slower as Dominik had stated so years ago, and I always try to avoid hardware that is not already in the driver… 

 

Now try to reducing those two settings:

sudo ethtool -C eth0 rx-usecs 0
sudo ethtool -C eth0 tx-usecs 0

If that errors out, try 1 or the lowest number the driver accepts.

Regarding Bjarnes comments on your issue about debian could you advise if you are using the image on the Downloads page?

Hi!
thanks for reply.

see output in attachment

Install ethtool and run this in Terminal:

sudo apt install ethtool
ip a
sudo ethtool -c "NIC CARD NAME" and post your output.

In essence you are trying reduce the settings (buffer) as much as you can.

You can change the settings with:

sudo ethtool -C "NIC CARD NAME" "NEW SETTING".

Some drivers allow to reduce to 0, some others require a higher minimum number.

Hi,

i would like to share some research findings.

I have acquired RPi 5 since I wanted to check linuxcnc performance on this new single board PC.
The performance leap compared to RPi 4 is staggering. I tried to hook up Delta B3 EtherCAT drives, which was pretty straight-forward.
Browsing youtube for linuxcnc ethercat videos I come across this one:

So I thought that I should try this on raspberry pi 5. 125000ns was too much, but 250000ns was mostly OK.
But with this cycle times, servo drives started to have troubles with getting to OP mode.
Guys at etherlab found out, that ethercat master driver generic (DEVICE_MODULES="generic") is only good for 1000000ns threads/cycle time.
To reach better cycle times, I was told to try "genet" driver wich is working fine on Raspberry Pi 4. (RPi5 and RPi4 has the same ethernet chip BCM54213PE)

But the final verdict is, that RPi5 uses macb driver (Cadence GEM) and not genet.
Thats why we are stuck with generic device module.

Link to etherlab issue thread:
gitlab.com/etherlab.org/ethercat/-/issues/104
 

I now have a RPi 5 8 GB model and Mesa 7i96S card. I have downloaded and installed onto a 32 GB micro SD card "LinuxCNC 2.9.2 Raspberry Pi 5 OS based on Debian Bookworm Raspberry Pi 5 Uspace compatible with Mesa Ethernet and SPI interface boards."

I have the Pi (10.10.10.1) talking over ethernet to 7i96S (10.10.10.10) following a W5 jumper change on 7i96S and Linux command:

sudo ip address add 10.10.10.1/24 dev eth0  /* this will work but DON'T USE THIS as it will not persist after a reboot */

ping 10.10.10.10

To ensure the settings persist after a reboot, AND noting that Linux networking commands seem to have recently changed, the following works:

nmcli con show  /* this will show the RPi 5 wireless and wired "ethernet" connections, and the NAME e.g. "Wired connection 1" for TYPE "ethernet" */

sudo nmcli con mod "Wired connection 1" ipv4.addresses 10.10.10.1/24  /* dunno where this gets saved in RPi OS */

Test if persistent by rebooting, then typing again:

nmcli con show  /* DEVICE should now = "eth0" */

ping 10.10.10.10  /* ping the Mesa 7i96 card -- I get a ping time of 30-40 us */

This editor is ghastly

I have now removed all encoders from the JSON and reinserted the PWM generators and can confirm that all 5 axes are now working.
I can perform error-free homing and move the axes manually in both directions.

Here is the output from my test:

cnc@raspberrypi:~$ linuxcnc
LINUXCNC - 2.9.2
Machine configuration directory is '/home/cnc/linuxcnc/configs/test1'
Machine configuration file is 'test1.ini'
Starting LinuxCNC...
linuxcnc TPMOD=tpmod HOMEMOD=homemod EMCMOT=motmod
Note: Using POSIX realtime
Found file(REL): ./test1.hal

identityKinematicsSetup: coordinates:XYYZA
Joint 0 ==> Axis X
Joint 1 ==> Axis Y
Joint 2 ==> Axis Y
Joint 3 ==> Axis Z
Joint 4 ==> Axis A

litexcnc: Loading Litex CNC driver version 1.1.0
litexcnc: Loading and registering default modules:
litexcnc: Registered module gpio
litexcnc: Registered module pwm
litexcnc: Registered module encoder
litexcnc: Registered module step
litexcnc: Setting up board drivers:
litexcnc: Registered driver eth
LitexCNC-eth: connected to board on '10.0.0.10:1234'
litexcnc: Setting up modules...
litexcnc: Reading 28 bytes
litexcnc: - Watchdog
litexcnc: - Wallclock
litexcnc: - gpio ... done!
litexcnc: - pwm ... done!
litexcnc: - step ... done!
litexcnc: Creating read and write buffers...
litexcnc: Base addresses: init: 00000000, reset: 0000003C, config: 00000040, write: 00000044, read: 000000B8
litexcnc: - Write buffer: 116 bytes
litexcnc: - Read buffer: 88 bytes
litexcnc: Exporting functions...
Found file(REL): ./custom.hal
litexcnc/5A-75B:V8.0: Watchdog timeout (3000000 ns) is dangerously short compared to litexcnc_write() period (2400000 ns)
note: MAXV max: 25.000 units/sec 1500.000 units/min
note: LJOG max: 25.000 units/sec 1500.000 units/min
note: LJOG default: 2.500 units/sec 150.000 units/min
note: AJOG max: 25.000 units/sec 1500.000 units/min
note: AJOG default: 25.000 units/sec 1500.000 units/min
Warning: Forward kinematics must handle duplicate coordinate letters:yy
note: jog_order='XYZA'
note: jog_invert=set()
task: main loop took 0.158369 seconds
task: main loop took 0.234904 seconds
task: main loop took 0.142043 seconds
Shutting down and cleaning up LinuxCNC...
task: 4833 cycles, min=0.000033, max=0.234904, avg=0.010225, 3 latency excursions (> 10x expected cycle time of 0.010000s)
litexcnc: LitexCNC driver unloaded
Note: Using POSIX realtime


Ps: I don't know if this is important. I almost always have to start Linuxcnc twice because the watchdog triggers immediately the first time. This little bug has been there since the beginning of my tests.

Then everything should be up to date for me now.
I have compiled and flashed the JSON once with 2 PWM generators + 6 step generators and then again without PWM generators.
Neither variant brought any improvement with regard to the fifth axis.
Here again the output when calling Linuxcnc and attempting to home the axes.


cnc@raspberrypi:~$ linuxcnc
LINUXCNC - 2.9.2
Machine configuration directory is '/home/cnc/linuxcnc/configs/test1'
Machine configuration file is 'test1.ini'
Starting LinuxCNC...
linuxcnc TPMOD=tpmod HOMEMOD=homemod EMCMOT=motmod
Note: Using POSIX realtime
Found file(REL): ./test1.hal

identityKinematicsSetup: coordinates:XYYZA
Joint 0 ==> Axis X
Joint 1 ==> Axis Y
Joint 2 ==> Axis Y
Joint 3 ==> Axis Z
Joint 4 ==> Axis A

litexcnc: Loading Litex CNC driver version 1.1.0
litexcnc: Loading and registering default modules:
litexcnc: Registered module gpio
litexcnc: Registered module pwm
litexcnc: Registered module encoder
litexcnc: Registered module step
litexcnc: Setting up board drivers:
litexcnc: Registered driver eth
LitexCNC-eth: connected to board on '10.0.0.10:1234'
litexcnc: Setting up modules...
litexcnc: Reading 28 bytes
litexcnc: - Watchdog
litexcnc: - Wallclock
litexcnc: - gpio ... done!
litexcnc: - encoder ... done!
litexcnc: - step ... done!
litexcnc: Creating read and write buffers...
litexcnc: Base addresses: init: 00000000, reset: 0000003C, config: 00000040, write: 00000044, read: 0000008C
litexcnc: - Write buffer: 72 bytes
litexcnc: - Read buffer: 96 bytes
litexcnc: Exporting functions...
Found file(REL): ./custom.hal
litexcnc/5A-75B:V8.0: Watchdog timeout (3000000 ns) is dangerously short compared to litexcnc_write() period (2400000 ns)
note: MAXV max: 25.000 units/sec 1500.000 units/min
note: LJOG max: 25.000 units/sec 1500.000 units/min
note: LJOG default: 2.500 units/sec 150.000 units/min
note: AJOG max: 25.000 units/sec 1500.000 units/min
note: AJOG default: 25.000 units/sec 1500.000 units/min
Warning: Forward kinematics must handle duplicate coordinate letters:yy
note: jog_order='XYZA'
note: jog_invert=set()
task: main loop took 0.128303 seconds
joint 4 following error
emc/task/taskintf.cc 976: Error on joint 4, command number 136
Cannot unhome while homing, joint 4Cannot unhome while homing, joint 4
task: main loop took 0.141973 seconds
Shutting down and cleaning up LinuxCNC...
task: 6506 cycles, min=0.000033, max=0.141973, avg=0.010151, 2 latency excursions (> 10x expected cycle time of 0.010000s)
litexcnc: LitexCNC driver unloaded
Note: Using POSIX realtime

Ps: I did not reinstall the toolchain, as this was not explicitly requested

here is the output if I only enter "litexcnc install_driver":

cnc@raspberrypi:~$ litexcnc install_driver
INFO: Looking for halcompile...
INFO: Locating Makefile.modinc...
INFO: Run In Place (RIP) Installation not detected
INFO: Detected EMC2_RTLIB_DIR location '/usr/lib/linuxcnc/modules'
INFO: Retrieving default driver files to compile...
Copying file 'watchdog.c'
Copying file 'wallclock.c'
Copying file 'litexcnc.c'
Copying file 'litexcnc_spidev.c'
Copying file 'litexcnc_pigpio.c'
Copying file 'etherbone.c'
Copying file 'litexcnc_pigpio_speed_test.c'
Copying file 'litexcnc_eth.c'
Copying file 'litexcnc_stepgen.c'
Copying file 'litexcnc_pwm.c'
Copying file 'litexcnc_encoder.c'
Copying file 'litexcnc_gpio.c'
Copying file 'watchdog.h'
Copying file 'litexcnc.h'
Copying file 'wallclock.h'
Copying file 'litexcnc_spidev.h'
Copying file 'etherbone.h'
Copying file 'litexcnc_pigpio.h'
Copying file 'litexcnc_eth.h'
Copying file 'litexcnc_stepgen.h'
Copying file 'litexcnc_gpio.h'
Copying file 'litexcnc_encoder.h'
Copying file 'litexcnc_pwm.h'
INFO: Compiling LitexCNC driver...
Compiling realtime litexcnc.c
Linking litexcnc.so
cp litexcnc.so /usr/lib/linuxcnc/modules/
cp: cannot create regular file '/usr/lib/linuxcnc/modules/litexcnc.so': Permission denied
make: *** [/usr/share/linuxcnc/Makefile.modinc:107: install] Error 1
Error: Compilation of the driver failed.

I have my Raspberry Pi4 with the linked Linuxcnc image for RP4 from their instruction page

litex-cnc.readthedocs.io/en/latest/raspberrypi.html

around January 15th and then installed litexcnc with pip according to the instructions described there.
I had problems at the beginning because I could not compile the JSON file because some Python modules were not found.
Then they helped me there.

forum.linuxcnc.org/27-driver-boards/5038...-and-5a-75e?start=20

Thanks again for that.

The Litexcnc version displayed is 1.1.0.

Is there already a newer version?

Wierzbowski wrote:

hi, could You please make step-by-step video guide for newbies how to setup raspberry pi 400/4b in order to controll cnc machine?
 

I can't cos I don't have a pi.  But do this:
Download the iamge
Burn do a SD card using  Balena Etcher (free download windows and linux)
Boot the pi using the SD card
Log in with username/password cnc/cnc
open a terminal
type: sudo menu-config
and set up your wifi if required, locale and time zone etc. You can also change your password.

After that you have a computer with linuxcnc installed so simply refer to the docs on the LinuxCNC web site. There is a specific gpio driver for the Pi that is documented there. There is also a pi specific Mesa card but I would recommend you use a Mesa Ethernet card for future flexibility.

You can also install ethercat if you want to use it but thats not a beginners path
sudo apt install linuxcnc-ethercat (from memory)

hi, could You please make step-by-step video guide for newbies how to setup raspberry pi 400/4b in order to controll cnc machine?

Unfortunately, this attempt was unsuccessful. I even removed 4 PWM generators, but the error is unchanged.
Here is the current issue of Linuxcnc:

cnc@raspberrypi:~$ linuxcnc
LINUXCNC - 2.9.2
Machine configuration directory is '/home/cnc/linuxcnc/configs/test1'
Machine configuration file is 'test1.ini'
Starting LinuxCNC...
linuxcnc TPMOD=tpmod HOMEMOD=homemod EMCMOT=motmod
Note: Using POSIX realtime
Found file(REL): ./test1.hal

identityKinematicsSetup: coordinates:XYYZA
Joint 0 ==> Axis X
Joint 1 ==> Axis Y
Joint 2 ==> Axis Y
Joint 3 ==> Axis Z
Joint 4 ==> Axis A

litexcnc: Loading Litex CNC driver version 1.1.0
litexcnc: Loading and registering default modules:
litexcnc: Registered module gpio
litexcnc: Registered module pwm
litexcnc: Registered module encoder
litexcnc: Registered module step
litexcnc: Setting up board drivers:
litexcnc: Registered driver eth
LitexCNC-eth: connected to board on '10.0.0.10:1234'
litexcnc: Setting up modules...
litexcnc: Reading 36 bytes
litexcnc: - Watchdog
litexcnc: - Wallclock
litexcnc: - gpio ... done!
litexcnc: - pwm ... done!
litexcnc: - encoder ... done!
litexcnc: - step ... done!
litexcnc: Creating read and write buffers...
litexcnc: Base addresses: init: 00000000, reset: 00000044, config: 00000048, write: 0000004C, read: 000000A8
litexcnc: - Write buffer: 92 bytes
litexcnc: - Read buffer: 96 bytes
litexcnc: Exporting functions...
Found file(REL): ./custom.hal
litexcnc/5A-75B:V8.0: Watchdog timeout (3000000 ns) is dangerously short compared to litexcnc_write() period (2400000 ns)

Warning: Missing required specifier (has angular joint or axis):
[DISPLAY]MAX_ANGULAR_VELOCITY
or [TRAJ]MAX_ANGULAR_VELOCITY
See the 'INI Configuration' documents

note: MAXV max: 25.000 units/sec 1500.000 units/min
note: LJOG max: 25.000 units/sec 1500.000 units/min
note: LJOG default: 2.500 units/sec 150.000 units/min
note: AJOG max: 1.000 units/sec 60.000 units/min
note: AJOG default: 1.000 units/sec 60.000 units/min
Warning: Forward kinematics must handle duplicate coordinate letters:yy
note: jog_order='XYZA'
note: jog_invert=set()
task: main loop took 0.144871 seconds
joint 4 following error
emc/task/taskintf.cc 976: Error on joint 4, command number 137
joint 4 following error
emc/task/taskintf.cc 976: Error on joint 4, command number 179
task: main loop took 0.191013 seconds
task: main loop took 0.165731 seconds