Are you sure that you prucode=prubin points to rt-preempt/pru_generic.bin
and not xenomai/pru_generic.bin ? The Stretch Machinekit image runs on
rt-preempt.
Am Mittwoch, 28. März 2018 22:24:08 UTC+2 schrieb Seb hl:
>
> Hi,
> I've recently downloaded the Stretch Machinekit image for the Beaglebone
> (weekly build 05.03.2018, 4.14.20-ti-rt-r36). Now I did an apt udate +
> upgrade and my hal-standalone config using the python hal modul no longer
> starts.
>
> $ export Debug=5
> $ python hal_test.py
>
> Traceback (most recent call last):
> File "printjob_hal.py", line 305, in <module>
> init_hardware()
> File "printjob_hal.py", line 211, in init_hardware
> rt.loadrt('hal_pru_generic', pru=1, disabled=0, num_stepgens=3,
> num_pwmgens=6, prucode=prubin, halname='hpg1', pru_period=1000)
> File "hal/cython/machinekit/rtapi.pyx", line 219, in
> machinekit.rtapi.RTAPIcommand.loadrt (hal/cython/machinekit/rtapi.c:5233)
> RuntimeError: rtapi_loadrt '('hal_pru_generic', 'disabled=0',
> 'pru_period=1000', 'num_stepgens=3', 'pru=1', 'halname=hpg1',
> 'prucode=/usr/lib/linuxcnc/prubin/pru_generic.bin', 'num_pwmgens=6')'
> failed: Operation not permitted
>
>
> linuxcnc.log shows
>
> Mar 28 16:27:26 beaglebone msgd:0: hal_lib:5746:user halg_exit:293 HAL:
> removing component 76 'halcmd5746'
> Mar 28 16:27:26 beaglebone msgd:0: hal_lib:5746:user
> ulapi_hal_lib_cleanup:235 HAL: lib_module_id=74
> Mar 28 16:27:26 beaglebone msgd:0: hal_lib:5746:user halg_exit:293 HAL:
> removing component 74 'hal_lib5746'
> Mar 28 16:27:26 beaglebone msgd:0: hal_lib:5746:user halg_exit:315 HAL:
> hal_errorcount()=0
> Mar 28 16:27:26 beaglebone msgd:0: hal_lib:5746:user halg_exit:316 HAL:
> _halerrno=0
> Mar 28 16:27:26 beaglebone rtapi:0: 4:rtapi_app:5740:user pid=5740
> flavor=rt-preempt gcc=6.3.0 20170516 git=v0.1~-----~e37c70e
> Mar 28 16:27:26 beaglebone msgd:0: ulapi:5750:user _ulapi_init(): ulapi
> rt-preempt v0.1~-----~e37c70e loaded
> Mar 28 16:27:26 beaglebone msgd:0: ulapi:5750:user halg_xinitfv:271 HAL:
> singleton component 'hal_lib5750' id=78 initialized
> Mar 28 16:27:26 beaglebone msgd:0: hal_lib:5750:user --halcmd stop
> Mar 28 16:27:26 beaglebone msgd:0: hal_lib:5750:user hal_stop_threads:357
> HAL: threads stopped
> Mar 28 16:27:26 beaglebone msgd:0: hal_lib:5750:user halg_exit:293 HAL:
> removing component 80 'halcmd5750'
> Mar 28 16:27:26 beaglebone msgd:0: hal_lib:5750:user
> ulapi_hal_lib_cleanup:235 HAL: lib_module_id=78
> Mar 28 16:27:26 beaglebone msgd:0: hal_lib:5750:user halg_exit:293 HAL:
> removing component 78 'hal_lib5750'
> Mar 28 16:27:26 beaglebone msgd:0: hal_lib:5750:user halg_exit:315 HAL:
> hal_errorcount()=0
> Mar 28 16:27:26 beaglebone msgd:0: hal_lib:5750:user halg_exit:316 HAL:
> _halerrno=0
> Mar 28 16:27:26 beaglebone rtapi:0: 4:rtapi_app:5740:user pid=5740
> flavor=rt-preempt gcc=6.3.0 20170516 git=v0.1~-----~e37c70e
> Mar 28 16:27:26 beaglebone rtapi:0: 4:rtapi_app:5740:user
> hal_stop_threads:357 HAL: threads stopped
> Mar 28 16:27:26 beaglebone rtapi:0: 4:rtapi_app:5740:user
> unload_usr_cb:604 HAL: comp halcmd5772: sending SIGTERM to pid 5772
> Mar 28 16:27:26 beaglebone rtapi:0: 4:rtapi_app:5740:user
> rtapi_app_exit:205 HAL: removing RT hal_lib support
> Mar 28 16:27:26 beaglebone rtapi:0: 4:rtapi_app:5740:user
> halg_exit_thread:321 HAL: 0 threads exited
> Mar 28 16:27:26 beaglebone rtapi:0: 4:rtapi_app:5740:user halg_exit:293
> HAL: removing component 66 'hal_lib'
> Mar 28 16:27:26 beaglebone rtapi:0: 4:rtapi_app:5740:user halg_exit:315
> HAL: hal_errorcount()=0
> Mar 28 16:27:26 beaglebone rtapi:0: 4:rtapi_app:5740:user halg_exit:316
> HAL: _halerrno=0
> Mar 28 16:27:26 beaglebone rtapi:0: 4:rtapi_app:5740:user
> report_heapstatus:151 HAL: HAL heap heap status
> Mar 28 16:27:26 beaglebone rtapi:0: 4:rtapi_app:5740:user
> report_heapstatus:153 HAL: arena=262144 totail_avail=261368 fragments=1
> largest=261368
> Mar 28 16:27:26 beaglebone rtapi:0: 4:rtapi_app:5740:user
> report_heapstatus:157 HAL: requested=688 allocated=688 freed=0 waste=0%
> Mar 28 16:27:26 beaglebone rtapi:0: 4:rtapi_app:5740:user
> report_heapstatus:151 HAL: global heap heap status
> Mar 28 16:27:26 beaglebone rtapi:0: 4:rtapi_app:5740:user
> report_heapstatus:153 HAL: arena=790272 totail_avail=265544 fragments=1
> largest=265544
> Mar 28 16:27:26 beaglebone rtapi:0: 4:rtapi_app:5740:user
> report_heapstatus:157 HAL: requested=524596 allocated=524632 freed=0
> waste=0%
> Mar 28 16:27:26 beaglebone rtapi:0: 4:rtapi_app:5740:user
> report_memory_usage:168 HAL: strings on global heap: alloc=116 freed=0
> balance=116
> Mar 28 16:27:26 beaglebone rtapi:0: 4:rtapi_app:5740:user
> report_memory_usage:175 HAL: RT objects: 0 alignment loss: 0 (0%)
> Mar 28 16:27:26 beaglebone rtapi:0: 4:rtapi_app:5740:user
> report_memory_usage:177 HAL: hal_malloc(): 0
> Mar 28 16:27:26 beaglebone rtapi:0: 4:rtapi_app:5740:user
> report_memory_usage:179 HAL: unused: 261888
> Mar 28 16:27:26 beaglebone rtapi:0: 4:rtapi_app:5740:user halg_exit:320
> HAL: hal_sweep: 9 objects freed
> Mar 28 16:27:27 beaglebone rtapi:0: 4:rtapi_app:5740:user
> rtapi_app_exit:213 HAL: RT hal_lib support removed successfully
> Mar 28 16:27:27 beaglebone rtapi:0: 4:rtapi_app:5740:user 'hal_lib'
> unloaded
> Mar 28 16:27:27 beaglebone rtapi:0: 4:rtapi_app:5740:user RTAPI:0 exit
> Mar 28 16:27:27 beaglebone rtapi:0: 4:rtapi_app:5740:user 'rtapi' unloaded
> Mar 28 16:27:27 beaglebone msgd:0: ulapi:5772:user _ulapi_init(): ulapi
> rt-preempt v0.1~-----~e37c70e loaded
> Mar 28 16:27:27 beaglebone msgd:0: ulapi:5772:user halg_xinitfv:271 HAL:
> singleton component 'hal_lib5772' id=82 initialized
> Mar 28 16:27:27 beaglebone msgd:0: hal_lib:5772:user --halcmd shutdown
> Mar 28 16:27:27 beaglebone msgd:0: hal_lib:5772:user halg_exit:293 HAL:
> removing component 84 'halcmd5772'
> Mar 28 16:27:27 beaglebone msgd:0: hal_lib:5772:user
> ulapi_hal_lib_cleanup:235 HAL: lib_module_id=82
> Mar 28 16:27:27 beaglebone msgd:0: hal_lib:5772:user halg_exit:293 HAL:
> removing component 82 'hal_lib5772'
> Mar 28 16:27:27 beaglebone msgd:0: hal_lib:5772:user halg_exit:315 HAL:
> hal_errorcount()=0
> Mar 28 16:27:27 beaglebone msgd:0: hal_lib:5772:user halg_exit:316 HAL:
> _halerrno=0
> Mar 28 16:27:27 beaglebone rtapi:0: 3:rtapi_app:5740:user exiting mainloop
> (by remote command)
> Mar 28 16:27:27 beaglebone msgd:0: rtapi_app exit detected - scheduled
> shutdown
> Mar 28 16:27:28 beaglebone msgd:0: msgd shutting down
> Mar 28 16:27:28 beaglebone msgd:0: zeroconf: unregistering 'Log service on
> beaglebone.local pid 5735'
> Mar 28 16:27:28 beaglebone msgd:0: log buffer hwm: 0% (9 msgs, 740 bytes
> out of 524288)
> Mar 28 16:27:28 beaglebone msgd:0: normal shutdown - global segment
> detached
>
> packets that where upgraded (dpkg.log)
>
>
> 2018-03-28 14:02:45 upgrade base-files:armhf 9.9+deb9u3 9.9+deb9u4
> 2018-03-28 14:02:51 upgrade bsdutils:armhf 1:2.29.2-1 1:2.29.2-1+deb9u1
> 2018-03-28 14:02:53 upgrade util-linux:armhf 2.29.2-1 2.29.2-1+deb9u1
> 2018-03-28 14:03:06 upgrade mount:armhf 2.29.2-1 2.29.2-1+deb9u1
> 2018-03-28 14:03:13 upgrade ncurses-bin:armhf 6.0+20161126-1+deb9u1
> 6.0+20161126-1+deb9u2
> 2018-03-28 14:03:16 upgrade libc6-dev:armhf 2.24-11+deb9u1 2.24-11+deb9u3
> 2018-03-28 14:03:28 upgrade libc-dev-bin:armhf 2.24-11+deb9u1
> 2.24-11+deb9u3
> 2018-03-28 14:03:28 upgrade libc6:armhf 2.24-11+deb9u1 2.24-11+deb9u3
> 2018-03-28 14:03:53 upgrade libc-bin:armhf 2.24-11+deb9u1 2.24-11+deb9u3
> 2018-03-28 14:04:02 upgrade ncurses-base:all 6.0+20161126-1+deb9u1
> 6.0+20161126-1+deb9u2
> 2018-03-28 14:04:07 upgrade libdbus-1-dev:armhf 1.10.24-0+deb9u1
> 1.10.26-0+deb9u1
> 2018-03-28 14:04:08 upgrade dbus-x11:armhf 1.10.24-0+deb9u1
> 1.10.26-0+deb9u1
> 2018-03-28 14:04:08 upgrade dbus:armhf 1.10.24-0+deb9u1 1.10.26-0+deb9u1
> 2018-03-28 14:04:14 upgrade libdbus-1-3:armhf 1.10.24-0+deb9u1
> 1.10.26-0+deb9u1
> 2018-03-28 14:04:16 upgrade libapparmor1:armhf 2.11.0-3 2.11.0-3+deb9u2
> 2018-03-28 14:04:16 upgrade systemd-sysv:armhf 232-25+deb9u1 232-25+deb9u2
> 2018-03-28 14:04:20 upgrade libpam-systemd:armhf 232-25+deb9u1
> 232-25+deb9u2
> 2018-03-28 14:04:21 upgrade libsystemd0:armhf 232-25+deb9u1 232-25+deb9u2
> 2018-03-28 14:04:25 upgrade systemd:armhf 232-25+deb9u1 232-25+deb9u2
> 2018-03-28 14:04:37 upgrade udev:armhf 232-25+deb9u1 232-25+deb9u2
> 2018-03-28 14:04:56 upgrade libudev1:armhf 232-25+deb9u1 232-25+deb9u2
> 2018-03-28 14:04:57 upgrade libuuid1:armhf 2.29.2-1 2.29.2-1+deb9u1
> 2018-03-28 14:05:02 upgrade libblkid1:armhf 2.29.2-1 2.29.2-1+deb9u1
> 2018-03-28 14:05:05 upgrade libmount1:armhf 2.29.2-1 2.29.2-1+deb9u1
> 2018-03-28 14:05:06 upgrade cron:armhf 3.0pl1-128+b1 3.0pl1-128+deb9u1
> 2018-03-28 14:05:10 upgrade libfdisk1:armhf 2.29.2-1 2.29.2-1+deb9u1
> 2018-03-28 14:05:13 upgrade libsmartcols1:armhf 2.29.2-1 2.29.2-1+deb9u1
> 2018-03-28 14:05:16 upgrade libncurses5-dev:armhf 6.0+20161126-1+deb9u1
> 6.0+20161126-1+deb9u2
> 2018-03-28 14:05:20 upgrade libtinfo-dev:armhf 6.0+20161126-1+deb9u1
> 6.0+20161126-1+deb9u2
> 2018-03-28 14:05:22 upgrade libncurses5:armhf 6.0+20161126-1+deb9u1
> 6.0+20161126-1+deb9u2
> 2018-03-28 14:05:22 upgrade libtinfo5:armhf 6.0+20161126-1+deb9u1
> 6.0+20161126-1+deb9u2
> 2018-03-28 14:05:25 upgrade libncursesw5:armhf 6.0+20161126-1+deb9u1
> 6.0+20161126-1+deb9u2
> 2018-03-28 14:05:29 upgrade multiarch-support:armhf 2.24-11+deb9u1
> 2.24-11+deb9u3
> 2018-03-28 14:05:32 upgrade isc-dhcp-client:armhf 4.3.5-3 4.3.5-3+deb9u1
> 2018-03-28 14:05:33 upgrade isc-dhcp-common:armhf 4.3.5-3 4.3.5-3+deb9u1
> 2018-03-28 14:05:33 upgrade libc-l10n:all 2.24-11+deb9u1 2.24-11+deb9u3
> 2018-03-28 14:05:37 upgrade locales:all 2.24-11+deb9u1 2.24-11+deb9u3
> 2018-03-28 14:05:46 upgrade openssh-sftp-server:armhf 1:7.4p1-10+deb9u2
> 1:7.4p1-10+deb9u3
> 2018-03-28 14:05:47 upgrade openssh-server:armhf 1:7.4p1-10+deb9u2
> 1:7.4p1-10+deb9u3
> 2018-03-28 14:05:49 upgrade openssh-client:armhf 1:7.4p1-10+deb9u2
> 1:7.4p1-10+deb9u3
> 2018-03-28 14:06:01 upgrade curl:armhf 7.52.1-5+deb9u4 7.52.1-5+deb9u5
> 2018-03-28 14:06:02 upgrade libcurl3:armhf 7.52.1-5+deb9u4 7.52.1-5+deb9u5
> 2018-03-28 14:06:03 upgrade libcups2:armhf 2.2.1-8 2.2.1-8+deb9u1
> 2018-03-28 14:06:04 upgrade libcurl3-gnutls:armhf 7.52.1-5+deb9u4
> 7.52.1-5+deb9u5
> 2018-03-28 14:06:06 upgrade libegl-mesa0:armhf
> 18.0.0~rc4-1rcnee0~stretch+20180212 18.0.0~rc5-1rcnee0~stretch+20180326
> 2018-03-28 14:06:09 upgrade libgbm1:armhf
> 18.0.0~rc4-1rcnee0~stretch+20180212 18.0.0~rc5-1rcnee0~stretch+20180326
> 2018-03-28 14:06:10 upgrade libllvm5.0:armhf 1:5.0.1-2 1:5.0.1-4
> 2018-03-28 14:06:32 upgrade libgl1-mesa-dri:armhf
> 18.0.0~rc4-1rcnee0~stretch+20180212 18.0.0~rc5-1rcnee0~stretch+20180326
> 2018-03-28 14:06:36 upgrade libglx-mesa0:armhf
> 18.0.0~rc4-1rcnee0~stretch+20180212 18.0.0~rc5-1rcnee0~stretch+20180326
> 2018-03-28 14:06:42 upgrade libglapi-mesa:armhf
> 18.0.0~rc4-1rcnee0~stretch+20180212 18.0.0~rc5-1rcnee0~stretch+20180326
> 2018-03-28 14:06:42 upgrade libgl1-mesa-glx:armhf
> 18.0.0~rc4-1rcnee0~stretch+20180212 18.0.0~rc5-1rcnee0~stretch+20180326
> 2018-03-28 14:06:44 upgrade libicu57:armhf 57.1-6+deb9u1 57.1-6+deb9u2
> 2018-03-28 14:06:59 upgrade libvorbisfile3:armhf 1.3.5-4+deb9u1
> 1.3.5-4+deb9u2
> 2018-03-28 14:07:00 upgrade libvorbis0a:armhf 1.3.5-4+deb9u1 1.3.5-4+deb9u2
> 2018-03-28 14:07:00 upgrade libwayland-egl1-mesa:armhf
> 18.0.0~rc4-1rcnee0~stretch+20180212 18.0.0~rc5-1rcnee0~stretch+20180326
> 2018-03-28 14:07:02 upgrade bb-cape-overlays:armhf
> 4.4.20180305.0-0rcnee0~stretch+20180305
> 4.4.20180322.0-0rcnee0~stretch+20180322
> 2018-03-28 14:07:04 upgrade machinekit-rt-preempt:armhf
> 0.1.1519038517.git3813f0e-1~stretch 0.1.1521039615.gite37c70e-1~stretch
> 2018-03-28 14:07:17 upgrade machinekit:armhf
> 0.1.1519038517.git3813f0e-1~stretch 0.1.1521039615.gite37c70e-1~stretch
>
> My question now ist what caused this issue and how could I avoid it. For
> the moment i will flash my backup and carry on.
>
> cheers seb
>
>
>
--
website: http://www.machinekit.io blog: http://blog.machinekit.io github:
https://github.com/machinekit
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