Maybe symlinking the other file would work? sudo ln -s /usr/lib/linuxcnc/rt-preempt/hal_pru_generic.so /usr/lib/linuxcnc/rt-preempt/pru_generic.so
Also, maybe specify the specific file for your prucode, which includes the .bin? loadrt prucode=/usr/lib/linuxcnc/rt-preempt/pru_generic.bin pru=0 halname=hpg <https://www.pentamachine.com> John Allwine Principal Software Engineer 1.406.451.3799 https://www.pentamachine.com <https://www.pentamachine.com> On Fri, May 12, 2023 at 12:50 PM Charles Steinkuehler < [email protected]> wrote: > You are missing the name of the HAL driver. The loadrt command expects > a driver name, then the arguments. The error in your first command > shows the HAL system trying to load the HAL driver named: > > "prucode=/usr/lib/linuxcnc/rt-preempt/hal_pru_generic" > > ...you need something like: > > loadrt hal_pru_generic <options> > > > On 5/12/2023 1:06 PM, klemen dovrtel wrote: > > Thank you for your reply, > > > > I tried both options, but with no luck: > > 1. loadrt prucode=/usr/lib/linuxcnc/rt-preempt/hal_pru_generic pru=0 > > halname=hpg > > > > returns > > > > msgd:0 stopped > > rtapi:0 stopped > > rtapi_msgd command: /usr/libexec/linuxcnc/rtapi_msgd --instance=0 > > --rtmsglevel=1 --usrmsglevel=1 --debug=1 --halsize=524288 > > rtapi_app command: /usr/libexec/linuxcnc/rtapi_app_rt-preempt > --instance=0 > > --debug=1 > > stat: No such file or directory > > prutest.hal:6: insmod failed, returned -1: > > do_load_cmd: dlopen: > > prucode=/usr/lib/linuxcnc/rt-preempt/hal_pru_generic.so: cannot open > shared > > object file: No such file or directory > > rpath=/usr/lib/linuxcnc/rt-preempt > > > > 2. loadrt prucode=/usr/lib/linuxcnc/rt-preempt/pru_generic.bin pru=0 > > halname=hpg > > > > returns > > > > msgd:0 stopped > > rtapi:0 stopped > > rtapi_msgd command: /usr/libexec/linuxcnc/rtapi_msgd --instance=0 > > --rtmsglevel=1 --usrmsglevel=1 --debug=1 --halsize=524288 > > rtapi_app command: /usr/libexec/linuxcnc/rtapi_app_rt-preempt > --instance=0 > > --debug=1 > > stat: No such file or directory > > prutest.hal:6: insmod failed, returned -1: > > do_load_cmd: dlopen: prucode=/usr/lib/linuxcnc/rt-preempt/ > pru_generic.bin.so: > > cannot open shared object file: No such file or directory > > > > Regards > > Klemen > > > > > > > > > > On Fri, 12 May 2023 at 17:25, Charles Steinkuehler < > [email protected]> > > wrote: > > > >> Your output indicates dlopen is looking for "pru_generic.so" but your > >> filesystem only has "hal_pru_generic.so". > >> > >> You need to fix the script(s) trying to load the PRU HAL module or make > >> a symlink or something so the file dlopen is looking for actually > exists. > >> > >> On 5/12/2023 9:38 AM, fogl wrote: > >>> Hello everybody, > >>> > >>> I am stuck with machinekit and pru. I am running a single line .hal > file: > >>> loadrt prucode=/usr/lib/linuxcnc/rt-preempt/pru_generic pru=0 > halname=hpg > >>> > >>> This returns: > >>> msgd:0 stopped > >>> rtapi:0 stopped > >>> rtapi_msgd command: /usr/libexec/linuxcnc/rtapi_msgd --instance=0 > >>> --rtmsglevel=1 --usrmsglevel=1 --debug=1 --halsize=524288 > >>> rtapi_app command: /usr/libexec/linuxcnc/rtapi_app_rt-preempt > >> --instance=0 > >>> --debug=1 > >>> stat: No such file or directory > >>> prutest.hal:6: insmod failed, returned -1: > >>> do_load_cmd: dlopen: > prucode=/usr/lib/linuxcnc/rt-preempt/pru_generic.so: > >>> cannot open shared object file: No such file or directory > >>> rpath=/usr/lib/linuxcnc/rt-preempt > >>> > >>> Even though the file is actually there: > >>> $ ls /usr/lib/linuxcnc/rt-preempt | grep pru > >>> hal_pru.so > >>> hal_pru_generic.so > >>> hal_prudebug.so > >>> pru_decamux.bin > >>> pru_decamux.dbg > >>> pru_generic.bin > >>> pru_generic.dbg > >>> > >>> This is my linuxcnc.log (export DEBUG=5): > >>> May 12 14:19:23 beaglebone rtapi:0: do_load_cmd: dlopen: > >>> prucode=/usr/lib/linuxcnc/rt-preempt/pru_generic.so: cannot open shared > >>> object file:$ > >>> May 12 14:19:23 beaglebone rtapi:0: rpath=/usr/lib/linuxcnc/rt-preempt > >>> May 12 14:19:23 beaglebone rtapi:0: 1:rtapi_app:4613:user do_load_cmd: > >>> dlopen: prucode=/usr/lib/linuxcnc/rt-preempt/pru_generic.so: cannot op$ > >>> May 12 14:19:23 beaglebone rtapi:0: 1:rtapi_app:4613:user > >>> rpath=/usr/lib/linuxcnc/rt-preempt > >>> May 12 14:19:24 beaglebone msgd:0: rtapi_app exit detected - scheduled > >>> shutdown > >>> May 12 14:19:26 beaglebone msgd:0: msgd shutting down > >>> May 12 14:28:07 beaglebone rtapi:0: do_load_cmd: dlopen: > >>> prucode=/usr/lib/linuxcnc/rt-preempt/pru_generic.so: cannot open shared > >>> object file:$ > >>> May 12 14:28:07 beaglebone rtapi:0: rpath=/usr/lib/linuxcnc/rt-preempt > >>> May 12 14:28:07 beaglebone rtapi:0: 1:rtapi_app:4766:user do_load_cmd: > >>> dlopen: prucode=/usr/lib/linuxcnc/rt-preempt/pru_generic.so: cannot op$ > >>> May 12 14:28:07 beaglebone rtapi:0: 1:rtapi_app:4766:user > >>> rpath=/usr/lib/linuxcnc/rt-preempt > >>> May 12 14:28:08 beaglebone msgd:0: rtapi_app exit detected - scheduled > >>> shutdown > >>> May 12 14:28:10 beaglebone msgd:0: msgd shutting down > >>> > >>> > >>> $ uname -a > >>> Linux beaglebone 4.19.120-bone-rt-r50 #1stretch PREEMPT RT Fri May 8 > >>> 22:45:31 UTC 2020 armv7l GNU/Linux > >>> > >>> Every help would be very much appreciated, > >>> Regards, > >>> Klemen > >>> > >> > >> -- > >> Charles Steinkuehler > >> [email protected] > >> > > > > -- > Charles Steinkuehler > [email protected] > > -- > website: http://www.machinekit.io blog: http://blog.machinekit.io github: > https://github.com/machinekit > --- > You received this message because you are subscribed to the Google Groups > "Machinekit" group. > To unsubscribe from this group and stop receiving emails from it, send an > email to [email protected]. > To view this discussion on the web visit > https://groups.google.com/d/msgid/machinekit/c4be3f48-84e6-d3ad-1660-4d5252849489%40steinkuehler.net > . > -- website: http://www.machinekit.io blog: http://blog.machinekit.io github: https://github.com/machinekit --- You received this message because you are subscribed to the Google Groups "Machinekit" group. To unsubscribe from this group and stop receiving emails from it, send an email to [email protected]. To view this discussion on the web visit https://groups.google.com/d/msgid/machinekit/CAPEK9qZJRMb9RYi7JaoQyZ9%3D_G9jK-o54%3D%3DA0S_zj0G-38a8LQ%40mail.gmail.com.
