При попытке запуска от пользователя ругается на недостаточность прав:
Код: Выделить всё
user@orangepipc:~$ export DEBUG=5
user@orangepipc:~$ linuxcnc /home/user/machinekit/configs/ARISC/ARISC.ini
MACHINEKIT - 0.1
Machine configuration directory is '/home/user/machinekit/configs/ARISC'
Machine configuration file is 'ARISC.ini'
Starting Machinekit...
rtapi_msgd command: /usr/libexec/linuxcnc/rtapi_msgd --instance=0 --rtmsglevel=5 --usrmsglevel=5 --debug=5 --halsize=524288
rtapi_app command: /usr/libexec/linuxcnc/rtapi_app_rt-preempt --instance=0 --debug=5
D: 20-05-01 04:00:25 zloop: register FD poller ((nil), 6)
D: 20-05-01 04:00:25 zloop: register ROUTER reader
D: 20-05-01 04:00:25 zloop: register timer id=1 delay=1000 times=0
D: 20-05-01 04:00:25 zloop polling for 1000 msec
D: 20-05-01 04:00:25 zloop: call ROUTER socket handler
request: type: MT_RTAPI_APP_PING
rtapicmd {
instance: 0
}
reply: type: MT_RTAPI_APP_REPLY
note: "pid=1477 flavor=rt-preempt gcc=6.3.0 20170516 git=v0.1~-----~9239acb"
retcode: 0
D: 20-05-01 04:00:26 zloop polling for 886 msec
D: 20-05-01 04:00:26 zloop: call ROUTER socket handler
request: type: MT_RTAPI_APP_PING
rtapicmd {
instance: 0
}
reply: type: MT_RTAPI_APP_REPLY
note: "pid=1477 flavor=rt-preempt gcc=6.3.0 20170516 git=v0.1~-----~9239acb"
retcode: 0
D: 20-05-01 04:00:26 zloop polling for 878 msec
io started
D: 20-05-01 04:00:26 zloop: call ROUTER socket handler
request: type: MT_RTAPI_APP_PING
rtapicmd {
instance: 0
}
reply: type: MT_RTAPI_APP_REPLY
note: "pid=1477 flavor=rt-preempt gcc=6.3.0 20170516 git=v0.1~-----~9239acb"
retcode: 0
D: 20-05-01 04:00:26 zloop polling for 804 msec
<commandline>:0: Component 'iocontrol' ready
<commandline>:0: Program 'io' started
halcmd loadusr io started
D: 20-05-01 04:00:26 zloop: call ROUTER socket handler
request: type: MT_RTAPI_APP_PING
rtapicmd {
instance: 0
}
reply: type: MT_RTAPI_APP_REPLY
note: "pid=1477 flavor=rt-preempt gcc=6.3.0 20170516 git=v0.1~-----~9239acb"
retcode: 0
D: 20-05-01 04:00:26 zloop polling for 643 msec
D: 20-05-01 04:00:26 zloop: call ROUTER socket handler
request: type: MT_RTAPI_APP_LOADRT
rtapicmd {
instance: 0
modname: "trivkins"
}
reply: type: MT_RTAPI_APP_REPLY
retcode: 0
D: 20-05-01 04:00:26 zloop polling for 632 msec
ARISC.hal:13: Realtime module 'trivkins' loaded
D: 20-05-01 04:00:26 zloop: call ROUTER socket handler
request: type: MT_RTAPI_APP_LOADRT
rtapicmd {
instance: 0
modname: "motmod"
argv: "base_period_nsec=58593"
argv: "servo_period_nsec=1000000"
argv: "num_joints=4"
}
reply: type: MT_RTAPI_APP_REPLY
note: "rtapi_app_main(motmod): -1 Operation not permitted\n"
retcode: -1
ARISC.hal:14: insmod failed, returned -1:
rtapi_app_main(motmod): -1 Operation not permitted
D: 20-05-01 04:00:26 zloop polling for 571 msec
Shutting down and cleaning up Machinekit...
D: 20-05-01 04:00:26 zloop: call timer handler id=1
D: 20-05-01 04:00:26 zloop polling for 999 msec
D: 20-05-01 04:00:27 zloop: call ROUTER socket handler
request: type: MT_RTAPI_APP_PING
rtapicmd {
instance: 0
}
reply: type: MT_RTAPI_APP_REPLY
note: "pid=1477 flavor=rt-preempt gcc=6.3.0 20170516 git=v0.1~-----~9239acb"
retcode: 0
D: 20-05-01 04:00:27 zloop polling for 502 msec
<commandline>:0: Realtime threads stopped
D: 20-05-01 04:00:27 zloop: call ROUTER socket handler
request: type: MT_RTAPI_APP_PING
rtapicmd {
instance: 0
}
reply: type: MT_RTAPI_APP_REPLY
note: "pid=1477 flavor=rt-preempt gcc=6.3.0 20170516 git=v0.1~-----~9239acb"
retcode: 0
D: 20-05-01 04:00:27 zloop polling for 435 msec
D: 20-05-01 04:00:27 zloop: call ROUTER socket handler
request: type: MT_RTAPI_APP_UNLOADRT
rtapicmd {
instance: 0
modname: "trivkins"
}
reply: type: MT_RTAPI_APP_REPLY
retcode: 0
D: 20-05-01 04:00:27 zloop polling for 431 msec
<commandline>:0: Realtime module 'trivkins' unloaded
D: 20-05-01 04:00:27 zloop: call ROUTER socket handler
request: type: MT_RTAPI_APP_PING
rtapicmd {
instance: 0
}
reply: type: MT_RTAPI_APP_REPLY
note: "pid=1477 flavor=rt-preempt gcc=6.3.0 20170516 git=v0.1~-----~9239acb"
retcode: 0
D: 20-05-01 04:00:27 zloop polling for 354 msec
D: 20-05-01 04:00:27 zloop: call ROUTER socket handler
request: type: MT_RTAPI_APP_PING
rtapicmd {
instance: 0
}
reply: type: MT_RTAPI_APP_REPLY
note: "pid=1477 flavor=rt-preempt gcc=6.3.0 20170516 git=v0.1~-----~9239acb"
retcode: 0
D: 20-05-01 04:00:27 zloop polling for 89 msec
D: 20-05-01 04:00:27 zloop: call timer handler id=1
D: 20-05-01 04:00:27 zloop polling for 999 msec
D: 20-05-01 04:00:28 zloop: call ROUTER socket handler
request: type: MT_RTAPI_APP_PING
rtapicmd {
instance: 0
}
reply: type: MT_RTAPI_APP_REPLY
note: "pid=1477 flavor=rt-preempt gcc=6.3.0 20170516 git=v0.1~-----~9239acb"
retcode: 0
D: 20-05-01 04:00:28 zloop polling for 824 msec
D: 20-05-01 04:00:28 zloop: call ROUTER socket handler
request: type: MT_RTAPI_APP_PING
rtapicmd {
instance: 0
}
reply: type: MT_RTAPI_APP_REPLY
note: "pid=1477 flavor=rt-preempt gcc=6.3.0 20170516 git=v0.1~-----~9239acb"
retcode: 0
D: 20-05-01 04:00:28 zloop polling for 558 msec
D: 20-05-01 04:00:28 zloop: call ROUTER socket handler
request: type: MT_RTAPI_APP_PING
rtapicmd {
instance: 0
}
reply: type: MT_RTAPI_APP_REPLY
note: "pid=1477 flavor=rt-preempt gcc=6.3.0 20170516 git=v0.1~-----~9239acb"
retcode: 0
D: 20-05-01 04:00:28 zloop polling for 292 msec
D: 20-05-01 04:00:28 zloop: call ROUTER socket handler
request: type: MT_RTAPI_APP_PING
rtapicmd {
instance: 0
}
reply: type: MT_RTAPI_APP_REPLY
note: "pid=1477 flavor=rt-preempt gcc=6.3.0 20170516 git=v0.1~-----~9239acb"
retcode: 0
D: 20-05-01 04:00:28 zloop polling for 27 msec
D: 20-05-01 04:00:28 zloop: call timer handler id=1
D: 20-05-01 04:00:28 zloop polling for 991 msec
D: 20-05-01 04:00:29 zloop: call ROUTER socket handler
request: type: MT_RTAPI_APP_PING
rtapicmd {
instance: 0
}
reply: type: MT_RTAPI_APP_REPLY
note: "pid=1477 flavor=rt-preempt gcc=6.3.0 20170516 git=v0.1~-----~9239acb"
retcode: 0
D: 20-05-01 04:00:29 zloop polling for 761 msec
D: 20-05-01 04:00:29 zloop: call ROUTER socket handler
request: type: MT_RTAPI_APP_PING
rtapicmd {
instance: 0
}
reply: type: MT_RTAPI_APP_REPLY
note: "pid=1477 flavor=rt-preempt gcc=6.3.0 20170516 git=v0.1~-----~9239acb"
retcode: 0
D: 20-05-01 04:00:29 zloop polling for 496 msec
D: 20-05-01 04:00:29 zloop: call ROUTER socket handler
request: type: MT_RTAPI_APP_PING
rtapicmd {
instance: 0
}
reply: type: MT_RTAPI_APP_REPLY
note: "pid=1477 flavor=rt-preempt gcc=6.3.0 20170516 git=v0.1~-----~9239acb"
retcode: 0
D: 20-05-01 04:00:29 zloop polling for 232 msec
D: 20-05-01 04:00:29 zloop: call timer handler id=1
D: 20-05-01 04:00:29 zloop polling for 1000 msec
D: 20-05-01 04:00:29 zloop: call ROUTER socket handler
request: type: MT_RTAPI_APP_PING
rtapicmd {
instance: 0
}
reply: type: MT_RTAPI_APP_REPLY
note: "pid=1477 flavor=rt-preempt gcc=6.3.0 20170516 git=v0.1~-----~9239acb"
retcode: 0
D: 20-05-01 04:00:29 zloop polling for 963 msec
D: 20-05-01 04:00:30 zloop: call ROUTER socket handler
request: type: MT_RTAPI_APP_PING
rtapicmd {
instance: 0
}
reply: type: MT_RTAPI_APP_REPLY
note: "pid=1477 flavor=rt-preempt gcc=6.3.0 20170516 git=v0.1~-----~9239acb"
retcode: 0
D: 20-05-01 04:00:30 zloop polling for 510 msec
D: 20-05-01 04:00:30 zloop: call ROUTER socket handler
request: type: MT_RTAPI_APP_EXIT
rtapicmd {
instance: 0
}
reply: type: MT_RTAPI_APP_REPLY
retcode: 0
Cleanup done
Machinekit terminated with an error. For simple cases more information
can be found in the following files:
/home/user/linuxcnc_debug.txt
/home/user/linuxcnc_print.txt
For other cases get more meaningfull information by restarting after
export DEBUG=5
and look at the output of:
/var/log/linuxcnc.log
dmesg
When looking for errors, specifically look for libraries that fail to load
by looking for lines with 'insmod failed' as per example below.
insmod failed, returned -1:
do_load_cmd: dlopen: nonexistant-component.so: cannot open shared object file:
No such file or directory
For getting help, please have a look here: www.machinekit.io/docs/getting-help/
user@orangepipc:~$
ARISC.hal:
Код: Выделить всё
#
# Orange Pi GPIO header
#
# Enbl Ab Ae Adir Astp Probe Zdir Zstp Yb
# + + + + + + + + +
# 2 4 6 8 10 12 14 16 18 20 22 24 26 28 30 32 34 36 38 40
# 5V 5V GND PA13 PA14 PD14 GND PC4 PC7 GND PA2 PC3 PA21 PA18 GND PG8 GND PG9 PG6 PG7
# 3.3V PA12 PA11 PA6 GND PA1 PA0 PA3 3.3V PC0 PC1 PC2 GND PA19 PA7 PA8 PA9 PA10 PA20 GND
# 1 3 5 7 9 11 13 15 17 19 21 23 25 27 29 31 33 35 37 39
# + + + + + + +
# Xstp Xdir Xe Xb Ystp Ydir Ye
loadrt trivkins
loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[TRAJ]AXES
loadrt arisc_gpio in=PA7,PA8,PA14,PA20,PD14,PG7,PG8 out=PA2,PA9,PA10,PA13,PA21,PC1,PC2,PG6,PG9
loadrt arisc_stepgen ctrl_type=p,p,p,p
loadrt pwmgen output_type=1
addf arisc_gpio.read base-thread
addf pwmgen.make-pulses base-thread
addf arisc_gpio.write base-thread
addf arisc_stepgen.capture-position servo-thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
addf arisc_stepgen.update-freq servo-thread
addf pwmgen.update servo-thread
setp pwmgen.0.pwm-freq 100.0
setp pwmgen.0.scale 24000.0
setp pwmgen.0.offset 0.0
setp pwmgen.0.dither-pwm true
setp arisc_stepgen.0.position-scale [AXIS_0]SCALE
setp arisc_stepgen.0.step-port 2 # 0=PA, 1=PB, 2=PC, 3=PD, ...
setp arisc_stepgen.0.step-pin 1 # PC1 (21)
setp arisc_stepgen.0.step-invert 0
setp arisc_stepgen.0.dir-port 2 # 0=PA, 1=PB, 2=PC, 3=PD, ...
setp arisc_stepgen.0.dir-pin 2 # PC2 (23)
setp arisc_stepgen.0.dir-invert 0
setp arisc_stepgen.1.position-scale [AXIS_1]SCALE
setp arisc_stepgen.1.step-port 0 # 0=PA, 1=PB, 2=PC, 3=PD, ...
setp arisc_stepgen.1.step-pin 9 # PA9 (33)
setp arisc_stepgen.1.step-invert 0
setp arisc_stepgen.1.dir-port 0 # 0=PA, 1=PB, 2=PC, 3=PD, ...
setp arisc_stepgen.1.dir-pin 10 # PA10 (35)
setp arisc_stepgen.1.dir-invert 0
setp arisc_stepgen.2.position-scale [AXIS_2]SCALE
setp arisc_stepgen.2.step-port 7 # 0=PA, 1=PB, 2=PC, 3=PD, ...
setp arisc_stepgen.2.step-pin 6 # PG6 (38)
setp arisc_stepgen.2.step-invert 0
setp arisc_stepgen.2.dir-port 7 # 0=PA, 1=PB, 2=PC, 3=PD, ...
setp arisc_stepgen.2.dir-pin 9 # PG9 (36)
setp arisc_stepgen.2.dir-invert 0
setp arisc_stepgen.3.position-scale [AXIS_3]SCALE
setp arisc_stepgen.3.step-port 0 # 0=PA, 1=PB, 2=PC, 3=PD, ...
setp arisc_stepgen.3.step-pin 21 # PA21 (26)
setp arisc_stepgen.3.step-invert 0
setp arisc_stepgen.3.dir-port 0 # 0=PA, 1=PB, 2=PC, 3=PD, ...
setp arisc_stepgen.3.dir-pin 2 # PA2 (22)
setp arisc_stepgen.3.dir-invert 0
net x-pos-cmd arisc_stepgen.0.position-cmd
net x-pos-cmd axis.0.motor-pos-cmd
net x-pos-fb arisc_stepgen.0.position-fb
net x-pos-fb axis.0.motor-pos-fb
net x-enable arisc_stepgen.0.enable
net x-enable axis.0.amp-enable-out
net x-enable arisc_gpio.PA13-out-not
net x-home-sw axis.0.home-sw-in
net x-home-sw arisc_gpio.PA8-in
net y-pos-cmd arisc_stepgen.1.position-cmd
net y-pos-cmd axis.1.motor-pos-cmd
net y-pos-fb arisc_stepgen.1.position-fb
net y-pos-fb axis.1.motor-pos-fb
net y-enable arisc_stepgen.1.enable
net y-enable axis.1.amp-enable-out
net y-home-sw axis.1.home-sw-in
net y-home-sw arisc_gpio.PG7-in
net z-pos-cmd arisc_stepgen.2.position-cmd
net z-pos-cmd axis.2.motor-pos-cmd
net z-pos-fb arisc_stepgen.2.position-fb
net z-pos-fb axis.2.motor-pos-fb
net z-enable arisc_stepgen.2.enable
net z-enable axis.2.amp-enable-out
net a-pos-cmd arisc_stepgen.3.position-cmd
net a-pos-cmd axis.3.motor-pos-cmd
net a-pos-fb arisc_stepgen.3.position-fb
net a-pos-fb axis.3.motor-pos-fb
net a-enable arisc_stepgen.3.enable
net a-enable axis.3.amp-enable-out
net probe-in motion.probe-input
net probe-in arisc_gpio.PG8-in
net estop-out iocontrol.0.user-enable-out
net estop-out iocontrol.0.emc-enable-in
ЗЫ: debian stretch, "чистая" установка
Получается ситуация, когда процессор отвлёкся на прерывание пока блокирует доступ к общей памяти сопроцессору. Веселуха да и только 
Придётся эти spinlock'и убрать и сделать что-то похожее на теневые регистры в МК. Чтобы процессор редактировал только независимый кусок памяти. А сопроцессор переходил на него, только когда нужно.
с этими внезапными задержками в работе процессора... Литературным словом не описать 
Так скать, пощупать шаговики во время работы.. на нормальных драйверах и скоростях 
