RPI4 Raspbian 64 bit & LinuxCNC

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07 Oct 2022 02:18 - 07 Oct 2022 02:21 #253641 by Bari
highlab.com/~seb/linuxcnc/rpi4-10us-latency.png

Seb on the IRC dev channel:
'it involves running each RT thread on its own dedicated CPU, and using busywait instead of sleep to start the next thread invocation
that's running on the arm64/aarch64 debian bookworm image from raspi.debian.net, not Raspberry Pi OS/raspbian
it's just a proof of concept at this point, i hope to clean it up and push it for review in the next week or two"

Hopefully transportable to actually available ARM boards vs Rpi.
Last edit: 07 Oct 2022 02:21 by Bari.

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14 Nov 2022 03:42 - 14 Nov 2022 08:36 #256653 by Zuo99
Hello, elovalvo. Thank you for your work.

I used version 2. 8 from other topics before, and then I used your link Linux 5.15.65-rt49-v8 linuxcnc 2.9. But I found that raspberry pie is more stuttered than the previous version, flipping through your post, it seems that the delay effect of the 5.4.61-rt32-v8 version is better, but the previous link is no longer available. I hope you can provide the link to 5.4.61-rt32-v8 2.9. thank you very much.
Last edit: 14 Nov 2022 08:36 by Zuo99.

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15 Nov 2022 18:12 #256791 by elovalvo

Hello, elovalvo. Thank you for your work.

I used version 2. 8 from other topics before, and then I used your link Linux 5.15.65-rt49-v8 linuxcnc 2.9. But I found that raspberry pie is more stuttered than the previous version, flipping through your post, it seems that the delay effect of the 5.4.61-rt32-v8 version is better, but the previous link is no longer available. I hope you can provide the link to 5.4.61-rt32-v8 2.9. thank you very much.


To make room in the google drive I deleted the versions that seemed outdated.

Now let's see if I saved that version you refer to somewhere, but I don't think so.

Or I try to reconstruct it as reported here
forum.linuxcnc.org/9-installing-linuxcnc...uxcnc?start=0#178299

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17 Nov 2022 23:06 #256979 by andypugh
For a possible fix for stuttering, see the last paragraph here:

forum.linuxcnc.org/38-general-linuxcnc-q...lved?start=10#256153

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07 Feb 2023 15:26 #263948 by beaker152
i've recently set up a raspberry pi 4b  with a Mesa 7i96S with stepper motors and am seeing multiple problems

after installing linucnc-2.9.0pre-bullseye_arm64rt.zip  as posted by elovalvo in:
forum.linuxcnc.org/9-installing-linuxcnc...cnc?start=150#253623

i am seeing multiple errors when running through my gcode:
it's not unusual to get "Unexpected realtime delay on task 0 with period 1000000"
the most common one happening during a run is "joint * following error"  (happens on any of the 3 joints)
and most catastrophic:  "hm2/hm2_7i96s.0: error finishing read"
as described in  Mesa hm2/hm2_7i96s.0: error finishing read
any suggestions would be greatly appreciated!

various diagnostics below, latency plot and hal file attached

linuxcnc@raspberrypi:~ $ uname -a
Linux raspberrypi 5.15.65-rt49-v8+ #1 SMP PREEMPT_RT Tue Sep 6 18:12:35 BST 2022 aarch64 GNU/Linux
===============
linuxcnc@raspberrypi:~ $ cat /proc/cpuinfo
processor       : 0
BogoMIPS        : 108.00
Features        : fp asimd evtstrm crc32 cpuid
CPU implementer : 0x41
CPU architecture: 8
CPU variant     : 0x0
CPU part        : 0xd08
CPU revision    : 3

processor       : 1
BogoMIPS        : 108.00
Features        : fp asimd evtstrm crc32 cpuid
CPU implementer : 0x41
CPU architecture: 8
CPU variant     : 0x0
CPU part        : 0xd08
CPU revision    : 3

processor       : 2
BogoMIPS        : 108.00
Features        : fp asimd evtstrm crc32 cpuid
CPU implementer : 0x41
CPU architecture: 8
CPU variant     : 0x0
CPU part        : 0xd08
CPU revision    : 3

processor       : 3
BogoMIPS        : 108.00
Features        : fp asimd evtstrm crc32 cpuid
CPU implementer : 0x41
CPU architecture: 8
CPU variant     : 0x0
CPU part        : 0xd08
CPU revision    : 3

Hardware        : BCM2835
Revision        : c03115
Serial          : 10000000ce7aa130
Model           : Raspberry Pi 4 Model B Rev 1.5

=================
Revision           : c03115
SoC                : BCM2711
RAM                : 4GB
Storage            : MicroSD
USB ports          : 4 (of which 2 USB3)
Ethernet ports     : 1 (1000Mbps max. speed)
Wi-fi              : True
Bluetooth          : True
Camera ports (CSI) : 1
Display ports (DSI): 1
===============
--- 10.10.10.10 ping statistics ---
1000 packets transmitted, 1000 received, 0% packet loss, time 1022926ms
rtt min/avg/max/mdev = 0.143/0.165/0.591/0.035 ms
=================
linuxcnc@raspberrypi:~ $ ethtool eth0
Settings for eth0:
        Supported ports: [ TP    MII ]
        Supported link modes:   10baseT/Half 10baseT/Full
                                100baseT/Half 100baseT/Full
                                1000baseT/Half 1000baseT/Full
        Supported pause frame use: Symmetric Receive-only
        Supports auto-negotiation: Yes
        Supported FEC modes: Not reported
        Advertised link modes:  10baseT/Half 10baseT/Full
                                100baseT/Half 100baseT/Full
                                1000baseT/Half 1000baseT/Full
        Advertised pause frame use: Symmetric Receive-only
        Advertised auto-negotiation: Yes
        Advertised FEC modes: Not reported
        Link partner advertised link modes:  10baseT/Half 10baseT/Full
                                             100baseT/Half 100baseT/Full
        Link partner advertised pause frame use: Symmetric
        Link partner advertised auto-negotiation: Yes
        Link partner advertised FEC modes: Not reported
        Speed: 100Mb/s
        Duplex: Full
        Auto-negotiation: on
        master-slave cfg: preferred slave
        master-slave status: slave
        Port: Twisted Pair
        PHYAD: 1
        Transceiver: external
        MDI-X: Unknown
netlink error: Operation not permitted
        Current message level: 0x00000007 (7)
                               drv probe link
        Link detected: yes
==============
linuxcnc@raspberrypi:~ $ ethtool -S eth0 | column
NIC statistics:                      tx_oversize: 0
     rx_packets: 8628942             tx_defer: 0
     tx_packets: 11299821            tx_excess_defer: 0
     rx_bytes: 904320010             tx_single_col: 0
     tx_bytes: 1203609643            tx_multi_col: 0
     rx_errors: 0                    tx_late_col: 0
     tx_errors: 0                    tx_excess_col: 0
     rx_dropped: 0                   tx_frags: 0
     tx_dropped: 0                   tx_total_col: 0
     multicast: 0                    tx_jabber: 0
     rx_64_octets: 1249              tx_bytes: 1248832409
     rx_65_127_oct: 8627693          tx_good_pkts: 11299821
     rx_128_255_oct: 0               tx_unicast: 11298802
     rx_256_511_oct: 0               rx_runt_pkts: 0
     rx_512_1023_oct: 0              rx_runt_valid_fcs: 0
     rx_1024_1518_oct: 0             rx_runt_inval_fcs_align: 0
     rx_vlan_1519_1522_oct: 0        rx_runt_bytes: 0
     rx_1522_2047_oct: 0             rbuf_ovflow_cnt: 0
     rx_2048_4095_oct: 0             rbuf_err_cnt: 0
     rx_4096_9216_oct: 0             mdf_err_cnt: 0
     rx_pkts: 8628942                alloc_rx_buff_failed: 0
     rx_bytes: 938835778             rx_dma_failed: 0
     rx_multicast: 0                 tx_dma_failed: 0
     rx_broadcast: 0                 tx_realloc_tsb: 0
     rx_fcs: 0                       tx_realloc_tsb_failed: 0
     rx_control: 0                   txq0_packets: 1804878
     rx_pause: 0                     txq0_bytes: 209320936
     rx_unknown: 0                   rxq0_bytes: 0
     rx_align: 0                     rxq0_packets: 0
     rx_outrange: 0                  rxq0_errors: 0
     rx_code: 0                      rxq0_dropped: 0
     rx_carrier: 0                   txq1_packets: 1
     rx_oversize: 0                  txq1_bytes: 86
     rx_jabber: 0                    rxq1_bytes: 0
     rx_mtu_err: 0                   rxq1_packets: 0
     rx_good_pkts: 8628942           rxq1_errors: 0
     rx_unicast: 8628942             rxq1_dropped: 0
     rx_ppp: 0                       txq2_packets: 8025624
     rx_crc: 0                       txq2_bytes: 823705364
     tx_64_octets: 1649              rxq2_bytes: 0
     tx_65_127_oct: 8627688          rxq2_packets: 0
     tx_128_255_oct: 2669682         rxq2_errors: 0
     tx_256_511_oct: 802             rxq2_dropped: 0
     tx_512_1023_oct: 0              txq3_packets: 795
     tx_1024_1518_oct: 0             txq3_bytes: 262059
     tx_vlan_1519_1522_oct: 0        rxq3_bytes: 0
     tx_1522_2047_oct: 0             rxq3_packets: 0
     tx_2048_4095_oct: 0             rxq3_errors: 0
     tx_4096_9216_oct: 0             rxq3_dropped: 0
     tx_pkts: 11299821               txq16_packets: 1468523
     tx_multicast: 83                txq16_bytes: 170321198
     tx_broadcast: 936               rxq16_bytes: 904320010
     tx_pause: 0                     rxq16_packets: 8628942
     tx_control: 0                   rxq16_errors: 0
     tx_fcs_err: 0                   rxq16_dropped: 0
==============
linuxcnc@raspberrypi:~ $ ethtool -i eth0
driver: bcmgenet
version: 5.15.65-rt49-v8+
firmware-version: 
expansion-rom-version: 
bus-info: 
supports-statistics: yes
supports-test: no
supports-eeprom-access: no
supports-register-dump: no
supports-priv-flags: no
================
linuxcnc@raspberrypi:~ $ ethtool -c eth0
Coalesce parameters for eth0:
Adaptive RX: off  TX: n/a
stats-block-usecs: n/a
sample-interval: n/a
pkt-rate-low: n/a
pkt-rate-high: n/a

rx-usecs: 57
rx-frames: 1
rx-usecs-irq: n/a
rx-frames-irq: n/a

tx-usecs: n/a
tx-frames: 10
tx-usecs-irq: n/a
tx-frames-irq: n/a

rx-usecs-low: n/a
rx-frame-low: n/a
tx-usecs-low: n/a
tx-frame-low: n/a

rx-usecs-high: n/a
rx-frame-high: n/a
tx-usecs-high: n/a
tx-frame-high: n/a

==============


 
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07 Feb 2023 18:33 #263964 by PCW
Replied by PCW on topic RPI4 Raspbian 64 bit & LinuxCNC
As a first step, can you try with rx-usecs set to 0?

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08 Feb 2023 09:01 #264014 by rodw
try isolcpus=2,3 as well

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08 Feb 2023 14:58 #264055 by elovalvo
Can you also publish also the basicxyz.ini file?

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08 Feb 2023 20:38 - 08 Feb 2023 21:30 #264073 by beaker152

try isolcpus=2,3 as well

when i run cat /sys/devices/system/cpu/isolated
it returns: 1-3

should it be changed to 2-3?
newbie question: where/how does one change that setting?
Last edit: 08 Feb 2023 21:30 by beaker152.

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08 Feb 2023 20:46 #264074 by beaker152
elovalvo, please see the attachments for the hal and ini files

thanks!
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