Asus Tinkerboard and mesa 7i92

[Timothy March]

Picked up a Asus tinkerboard last weekend have it setup with Armbian Debian Jessie XFCE with kernel 4.4.79-rt92-rt-preempt-rockchip. Added a few kernel boot parameters and latency is not to bad between 40000 and 50000 ns while putting some stress on system. I had a Mesa 7i92 available so I thought I would give it a try because board has gig-a-bit ethernet. Ran Machinekit from terminal with debug set to 5 and the following output in terminal.

tim@tinkerboard:~$ export DEBUG=5

tim@tinkerboard:~$ machinekit

MACHINEKIT - 0.1

Machine configuration directory is '/home/tim/linuxcnc/configs/my_LinuxCNC_machine#2'

Machine configuration file is 'my_LinuxCNC_machine#2.ini'

Starting Machinekit...

rtapi_msgd command:  /usr/libexec/linuxcnc/rtapi_msgd --instance=0 --rtmsglevel=5 --usrmsglevel=5 --halsize=524288

rtapi_app command:  /usr/libexec/linuxcnc/rtapi_app_rt-preempt --instance=0

io started

<commandline>:0: Component 'iocontrol' ready

<commandline>:0: Program 'io' started

halcmd loadusr io started

<commandline>:0: Component 'halui' ready

<commandline>:0: Program 'halui' started

my_LinuxCNC_machine#2.hal:5: Realtime module 'trivkins' loaded

my_LinuxCNC_machine#2.hal:6: insmod failed, returned -1:

rtapi_app_main(motmod): -1 Operation not permitted

See /var/log/linuxcnc.log for more information.

Shutting down and cleaning up Machinekit...

Running HAL shutdown script

<commandline>:0: Realtime threads stopped

<commandline>:0: Realtime module 'trivkins' unloaded

Cleanup done

Machinekit terminated with an error.  You can find more information in the log:

    /home/tim/linuxcnc_debug.txt

and

    /home/tim/linuxcnc_print.txt

as well as in the output of the shell command 'dmesg' and in the terminal

tim@tinkerboard:~$ sudo thunar

[sudo] password for tim: 

tim@tinkerboard:~$ export DEBUG=5

tim@tinkerboard:~$ machinekit

MACHINEKIT - 0.1

Machine configuration directory is '/home/tim/linuxcnc/configs/my_LinuxCNC_machine#2'

Machine configuration file is 'my_LinuxCNC_machine#2.ini'

Starting Machinekit...

rtapi_msgd command:  /usr/libexec/linuxcnc/rtapi_msgd --instance=0 --rtmsglevel=5 --usrmsglevel=5 --halsize=524288

rtapi_app command:  /usr/libexec/linuxcnc/rtapi_app_rt-preempt --instance=0

io started

<commandline>:0: Component 'iocontrol' ready

<commandline>:0: Program 'io' started

halcmd loadusr io started

<commandline>:0: Component 'halui' ready

<commandline>:0: Program 'halui' started

my_LinuxCNC_machine#2.hal:5: Realtime module 'trivkins' loaded

my_LinuxCNC_machine#2.hal:6: insmod failed, returned -1:

rtapi_app_main(motmod): -1 Operation not permitted

See /var/log/linuxcnc.log for more information.

Shutting down and cleaning up Machinekit...

Running HAL shutdown script

<commandline>:0: Realtime threads stopped

<commandline>:0: Realtime module 'trivkins' unloaded

Cleanup done

Machinekit terminated with an error.  You can find more information in the log:

    /home/tim/linuxcnc_debug.txt

and

    /home/tim/linuxcnc_print.txt

as well as in the output of the shell command 'dmesg' and in the terminal

---------------------------------------------------------------------------------------------------------------

Which is not much of a clue

My hal file link to pastbin:

https://pastebin.com/5GbdnnEf

My Ini file link to pastebin:

https://pastebin.com/TuM1btQh

var/log/linuxcnc.log link to pastebin:

https://pastebin.com/pam0PEZF

If anyone could help me I would appreciate it

Tim

[mung kie]

https://www.youtube.com/watch?v=qqaKi9NTzS4

maybe you need tp for your bunghole?

[TJoseph Powderly]

Hello Tim

Katum573 recently posted a youtube video on how he use the tinkerboard

https://www.youtube.com/watch?v=KOBdIkDwFZE

i contacted him and got binaries ( debs and zips ) and kernel sources.

i dont think your kernel version would play nice with his debs.

I have not tested yet, no tinkerboard yet, now I am knee deep in rpi3B+ preempt machinekit gpio swamp for a while

need the files? hes got a gmail acct if you want to contact him

he's got a blog but its all vietnamese 

files i got:

debian_kernel-4.4.112-rt127.tgz

linux-headers-4.4.112-rt127_4.4.112-rt127-1_armhf.deb

linux-image-4.4.112-rt127_4.4.112-rt127-1_armhf.deb

linux-libc-dev_4.4.112-rt127-1_armhf.deb

TK_SPI_Linuxcnc_2.8.zip

fwiw...

mungkie did a lot of work on these small boards and knows quite a bit.

his comment may be an odd way to suggest a major hole in your system ( the trajectory planner)

it may be a weird segway that i just dont get.

i dunno

tomp

On Thursday, July 26, 2018 at 6:02:58 AM UTC+7, Timothy March wrote:

Picked up a Asus tinkerboard last weekend have it setup with Armbian Debian Jessie XFCE with kernel 4.4.79-rt92-rt-preempt-rockchip. Added a few kernel boot parameters and latency is not to bad between 40000 and 50000 ns while putting some stress on system. I had a Mesa 7i92 available so I thought I would give it a try because board has gig-a-bit ethernet. Ran Machinekit from terminal with debug set to 5 and the following output in terminal.

tim@tinkerboard:~$ export DEBUG=5

tim@tinkerboard:~$ machinekit

MACHINEKIT - 0.1

 ...

my_LinuxCNC_machine#2.hal:6: insmod failed, returned -1:

rtapi_app_main(motmod): -1 Operation not permitted

...

[schoo...@btinternet.com]

I don't think the reply was abusive, it was referring to the absence of tp, the trajectory planner, in your config.

If it is not loaded, you have a very old config which will not have worked for several years.

The advice is out there and keeps having to be repeated, but here it is again....

From a terminal invoke 'DEBUG=5 machinekit' then select your config.

After failure, /var/linuxcnc.log will have details of why insmod failed and on which module load.

On 7/26/2018 9:10 PM, Timothy March wrote:

reposted because of abuseive comments

Tim

--
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 machinekit+...@googlegroups.com.
Visit this group at https://groups.google.com/group/machinekit.
For more options, visit https://groups.google.com/d/optout.

[Bas de Bruijn]

Hi Timothy,

line 493 shows:

Jul 25 18:26:02 localhost rtapi:0: 4:rtapi_app:15277:user halg_reference_vtable:124 HAL: vtable trivkins,1000 found vtable=0xb5580ba4 context=0

Jul 25 18:26:02 localhost rtapi:0: 1:rtapi_app:15277:user halg_reference_vtable:104 HAL error: vtable 'tp' version 2000 not found

Jul 25 18:26:02 localhost rtapi:0: 1:rtapi_app:15277:user MOTION: hal_reference_vtable(tp,2000) failed: -2

If anyone could help me I would appreciate it

You load trivkins kinematics, but I can’t see where you instantiate tp in your HAL file. This HAL file seems to be generated by pncconf, and I bet it has not been updated to generate this for the changed way of loading motion with (possible) different trajectory planners, using the different kinematics

Have a look at this configuration:

https://github.com/machinekit/machinekit/blob/master/configs/hm2-stepper/hm2-stepper-5i25.hal#L28-L34

note that you have to load tp, and tell the motion planner to use your kinematics and the trajectory planner

Bas

[Timothy March]

Thank You all
Was able to get Axis to come up after adding 

loadrt tp to HAL

Then with a few changes in INI and HAL was able to run sample gcode no errors now to get it hooked up to machine. Was going to use RPI with gipos but from what I have read in this forum I will be better off with the Tinkerboard and Mesa card

Tim

PS Mung Kie I took your comment at face value was offended until it was explained 

[mngr]

Hi Timothy,

I was looking to do the same thing, few weeks ago, but I had troubles in setting up the tinkerboard with real time kernel, may you link what you download, or what you did?

[Timothy March]

Mngr said

I was looking to do the same thing, few weeks ago, but I had troubles in setting up the tinkerboard with real time kernel, may you link what you download, or what you did?

How I did it is laid-out at link below change the ./compile command to:

sudo ./compile.sh CLEAN_LEVEL=make,alldebs USE_CCACHE=no PROGRESS_LOG_TO_FILE=yes BUILD_DESKTOP=no KERNEL_ONLY=no KERNEL_CONFIGURE=no BOARD=tinkerboard BRANCH=next RELEASE=jessie

You will end up with a minimal image Armbian Debian Jessie,(command line only) or if you prefer use RELASE=stretch. If you want to build the Armbian desktop version change BUILD_DESKTOP=no to yes you will get the Armbian XFCE default desktop image I did not care for it.

If you go the way I did with minimal image you can install whatever desktop you want, for xfce4 I did

sudo apt-get install xfce4 xorg lightdm htop synaptic xfce4-terminal mousepad xfce4-power-manager thunar-archive-plugin convertall galculator mesa-utils thunar-volman udisks2 gvfs network-manager-gnome gnome-icon-theme xarchiver evince claws-mail

The first boot you need to login as root, password, 1234 and follow instructions that come up on screen, you will be asked to change root password and then you will create a new user for yourself with password with sudo rights

The wireless dose work from the command line network manager is installed,after you reboot into your user account do

:

sudo nmtui-connect YOUR SSID

Now activate your wireless from within program

https://github.com/arne48/armbian_build

Any other questions I will be glad to help just post them here

Tim

PS I just triying this on the new RPI3B+ and working on it when I seen your post RPI3B+ has faster ethernet than any other pi version over two times faster than RPI3 the 7i92 mesa works with it also

[Timothy March]

Mngr 

Take note I almost forgot the kernel boot parameters in my excitement, before you boot from SD-card on a linux computer mount SD-card then go to file

/boot/boot.cmd

open as root with txt editor

on line 19 witch starts with "setenv bootargs" then curser threw the line and  find "rootwait" after witch you will add

quiet splash laptic noxsave acpi_osi= isolcpus=2,3 acpi_irq_nobalance noirqbalance vmalloc=32MB clocksource=acpi_pm

Now save the file

You must then recompile to create /boot/boot.scr any time changes are made to boot.cmd

the line at the bottom of boot.cmd has the bash line to enter in to the treminal, I did it as root

I came up with these working with X86 and X64 bit computers just copied and paste from some old notes may all are not useful but isolcpus=2,3 I left all the way it is because it worked

Tim

PS for your info before you flash image to SD-card  if you change in file /boot/boot.cmd

setenv rootdev "/dev/mmcblk0pi"

to

setenv rootdev "dev/sda2"

You can boot from a USB device be it a thumb drive SSD or regular hard drive

all of witch are faster than SD-card

[Timothy March]

Mngr

Take note Armbian build instructions were updated today arne48 github is not correct info for setting up build environment

go to

https://github.com/armbian/build

Download Ubuntu Bionic 18.04x64 (minimal iso image) for your build environment inside Virtualbox I suggest when loaded system in to Virtualbox add a desktop and load guestadditions so can get your created image when done out of Virtualbox using a shared folder on the host .

Still go to

https://github.com/arne48/armbian_build

and clone branch

git clone https://github.com/arne48/armbian_build

cd armbian_build

sudo ./compile.sh CLEAN_LEVEL=make,alldebs USE_CCACHE=no PROGRESS_LOG_TO_FILE=yes BUILD_DESKTOP=no KERNEL_ONLY=no KERNEL_CONFIGURE=no BOARD=tinkerboard BRANCH=next RELEASE=jessie

or you can use RELEASE=stretch

Tim

PS I just found this out I wanted to try a stretch image, compiling as I write looks like it is going ok

[mngr]

Thank you very much timothy!!!

[catur skak]

has anyone here, have rt kernel working for tinkerboard? 

i was try to compile from armbian but never get success, please share here a working rt kernel, it would be apreciate...thanks