Mesa 5i25+7i77-с чего начать?

Работа с платами MESA, подключение, конфигурация.
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dansystems1
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Re: Mesa 5i25+7i77-с чего начать?

Сообщение dansystems1 »

dansystems1 писал(а): 10 bit RW FALSE hm2_5i25.0.io_error
-
а что это такое?
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Nick
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Re: Mesa 5i25+7i77-с чего начать?

Сообщение Nick »

dansystems1 писал(а):10  bit   IN          FALSE  hm2_5i25.0.gpio.033.out
У тебя всего 34 (до 33-го) пинов GPIO.

Остальные похоже заняты 7i77.
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dansystems1
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Re: Mesa 5i25+7i77-с чего начать?

Сообщение dansystems1 »

Nick писал(а): У тебя всего 34 (до 33-го) пинов GPIO.

Остальные похоже заняты 7i77.
Выходит я неправильно назначил пины, вместо 7и77 на 5и25, или я путаю ?
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dansystems1
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Re: Mesa 5i25+7i77-с чего начать?

Сообщение dansystems1 »

Я думаю все дело в Pncconf, потому что мы вручную добавили карту 5и25 а там дочерние карты присутствуют по два-7i77x2 7i76x2, какие мнения будут?
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Re: Mesa 5i25+7i77-с чего начать?

Сообщение Nick »

dansystems1 писал(а):Я думаю все дело в Pncconf
Скорее всего так и есть, скорее всего то ли не та прошивка выбрана, то ли просто в pncconf баг...

Надо вручную конфиг переделать - это более правильный путь :)
Точнее надо разобраться почему у тебя переделанный конфиг не работает...
Скинь еще раз последний вариант измененного конфига. И попробуй его еще раз запустить
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dansystems1
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Re: Mesa 5i25+7i77-с чего начать?

Сообщение dansystems1 »

INI файл уже готов-методом проб и ошибок выяснил что недостающим был вот это-
[HOSTMOT2]
DRIVER=hm2_pci
BOARD=5i25
CONFIG="num_encoders=3 sserial_port_0=000xxx",
С hal-ом дела по прежнему плохи, что не меняй в рабочем файле, дает ошибку.
Вот рабочий hal-

Код: Выделить всё

# #######################################
#
# HAL file for HostMot2 with 3 smart serial analog servos
#
# Derived from Ted Hyde's original hm2-servo config
#
# Based up work and discussion with Seb & Peter & Jeff
# GNU license references - insert here. www.linuxcnc.org
#
#
# ########################################
# Firmware files are in /lib/firmware/hm2/7i43/
# Must symlink the hostmot2 firmware directory of sanbox to
# /lib/firmware before running EMC2...
# sudo ln -s $HOME/emc2-sandbox/src/hal/drivers/mesa-hostmot2/firmware /lib/firmware/hm2
#
# See also:
# <http://www.linuxcnc.org/docs/devel/html/man/man9/hostmot2.9.html#config%20modparam>
# and http://wiki.linuxcnc.org/cgi-bin/emcinfo.pl?HostMot2
#
# #####################################################################


# ###################################
# Core EMC/HAL Loads
# ###################################

# kinematics
loadrt trivkins

# motion controller, get name and thread periods from ini file
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[TRAJ]AXES

# standard components
loadrt pid num_chan=3 


# hostmot2 driver
# if you have any firmware trouble, enable the debug flags here and see what's going on in the syslog
loadrt hostmot2 debug_idrom=1 debug_module_descriptors=1 debug_pin_descriptors=1 debug_modules=1
#loadrt hostmot2

# load low-level driver
loadrt [HOSTMOT2](DRIVER) config=[HOSTMOT2](CONFIG)


setp hm2_[HOSTMOT2](BOARD).0.watchdog.timeout_ns 10000000


# ################################################
# THREADS
# ################################################

addf hm2_[HOSTMOT2](BOARD).0.read          servo-thread

addf motion-command-handler                servo-thread
addf motion-controller                     servo-thread

addf pid.0.do-pid-calcs                    servo-thread
addf pid.1.do-pid-calcs                    servo-thread
addf pid.2.do-pid-calcs                    servo-thread

addf hm2_[HOSTMOT2](BOARD).0.write         servo-thread
addf hm2_[HOSTMOT2](BOARD).0.pet_watchdog  servo-thread
       

# ######################################################
# Axis-of-motion Specific Configs (not the GUI)
# ######################################################


# ################
# X [0] Axis
# ################

# axis enable chain
newsig emcmot.00.enable bit
sets emcmot.00.enable FALSE
net emcmot.00.enable => pid.0.enable
net emcmot.00.enable => hm2_[HOSTMOT2](BOARD).0.7i77.0.1.analogena
net emcmot.00.enable <= axis.0.amp-enable-out 

# encoder feedback
setp hm2_[HOSTMOT2](BOARD).0.encoder.00.counter-mode 0
setp hm2_[HOSTMOT2](BOARD).0.encoder.00.filter 1
setp hm2_[HOSTMOT2](BOARD).0.encoder.00.index-invert 0
setp hm2_[HOSTMOT2](BOARD).0.encoder.00.index-mask 0
setp hm2_[HOSTMOT2](BOARD).0.encoder.00.index-mask-invert 0

setp  hm2_[HOSTMOT2](BOARD).0.encoder.00.scale  [AXIS_0]INPUT_SCALE
net motor.00.pos-fb hm2_[HOSTMOT2](BOARD).0.encoder.00.position => pid.0.feedback
net motor.00.pos-fb => axis.0.motor-pos-fb #push copy back to Axis GUI

# set PID loop gains from inifile
setp pid.0.Pgain [AXIS_0]P
setp pid.0.Igain [AXIS_0]I
setp pid.0.Dgain [AXIS_0]D
setp pid.0.bias [AXIS_0]BIAS
setp pid.0.FF0 [AXIS_0]FF0
setp pid.0.FF1 [AXIS_0]FF1
setp pid.0.FF2 [AXIS_0]FF2
setp pid.0.deadband [AXIS_0]DEADBAND
setp pid.0.maxoutput [AXIS_0]MAX_OUTPUT

# position command signals

# setp hm2_[HOSTMOT2](BOARD).0.7i77.0.1.analogout0-scalemax [AXIS_0]OUTPUT_SCALE

net emcmot.00.pos-cmd axis.0.motor-pos-cmd => pid.0.command
net motor.00.command  pid.0.output  =>  hm2_[HOSTMOT2](BOARD).0.7i77.0.1.analogout0


# ################
# Y [1] Axis
# ################

# axis enable chain
newsig emcmot.01.enable bit
sets emcmot.01.enable FALSE
net emcmot.01.enable => pid.1.enable
net emcmot.01.enable <= axis.1.amp-enable-out 

# encoder feedback
setp hm2_[HOSTMOT2](BOARD).0.encoder.01.counter-mode 0
setp hm2_[HOSTMOT2](BOARD).0.encoder.01.filter 1
setp hm2_[HOSTMOT2](BOARD).0.encoder.01.index-invert 0
setp hm2_[HOSTMOT2](BOARD).0.encoder.01.index-mask 0
setp hm2_[HOSTMOT2](BOARD).0.encoder.01.index-mask-invert 0

setp  hm2_[HOSTMOT2](BOARD).0.encoder.01.scale  [AXIS_1]INPUT_SCALE
net motor.01.pos-fb hm2_[HOSTMOT2](BOARD).0.encoder.01.position => pid.1.feedback
net motor.01.pos-fb => axis.1.motor-pos-fb #push copy back to Axis GUI

# set PID loop gains from inifile
setp pid.1.Pgain [AXIS_1]P
setp pid.1.Igain [AXIS_1]I
setp pid.1.Dgain [AXIS_1]D
setp pid.1.bias [AXIS_1]BIAS
setp pid.1.FF0 [AXIS_1]FF0
setp pid.1.FF1 [AXIS_1]FF1
setp pid.1.FF2 [AXIS_1]FF2
setp pid.1.deadband [AXIS_1]DEADBAND
setp pid.1.maxoutput [AXIS_1]MAX_OUTPUT

# position command signals

# setp hm2_[HOSTMOT2](BOARD).0.7i77.0.1.analogout1-scalemax [AXIS_1]OUTPUT_SCALE

net emcmot.01.pos-cmd axis.1.motor-pos-cmd => pid.1.command
net motor.01.command  pid.1.output  =>  hm2_[HOSTMOT2](BOARD).0.7i77.0.1.analogout1


# ################
# Z [2] Axis
# ################

# axis enable chain
newsig emcmot.02.enable bit
sets emcmot.02.enable FALSE
net emcmot.02.enable => pid.2.enable
net emcmot.02.enable <= axis.2.amp-enable-out 

# encoder feedback
setp hm2_[HOSTMOT2](BOARD).0.encoder.02.counter-mode 0
setp hm2_[HOSTMOT2](BOARD).0.encoder.02.filter 1
setp hm2_[HOSTMOT2](BOARD).0.encoder.02.index-invert 0
setp hm2_[HOSTMOT2](BOARD).0.encoder.02.index-mask 0
setp hm2_[HOSTMOT2](BOARD).0.encoder.02.index-mask-invert 0

setp  hm2_[HOSTMOT2](BOARD).0.encoder.02.scale  [AXIS_2]INPUT_SCALE
net motor.02.pos-fb hm2_[HOSTMOT2](BOARD).0.encoder.02.position => pid.2.feedback
net motor.02.pos-fb => axis.2.motor-pos-fb #push copy back to Axis GUI

# set PID loop gains from inifile
setp pid.2.Pgain [AXIS_2]P
setp pid.2.Igain [AXIS_2]I
setp pid.2.Dgain [AXIS_2]D
setp pid.2.bias [AXIS_2]BIAS
setp pid.2.FF0 [AXIS_2]FF0
setp pid.2.FF1 [AXIS_2]FF1
setp pid.2.FF2 [AXIS_2]FF2
setp pid.2.deadband [AXIS_2]DEADBAND
setp pid.2.maxoutput [AXIS_2]MAX_OUTPUT

# position command signals

# setp hm2_[HOSTMOT2](BOARD).0.7i77.0.1.analogout2-scalemax [AXIS_3]OUTPUT_SCALE

net motor.02.command  pid.2.output  =>  hm2_[HOSTMOT2](BOARD).0.7i77.0.1.analogout2
net emcmot.02.pos-cmd axis.2.motor-pos-cmd => pid.2.command



# ##################################################
# Standard I/O Block - EStop, Etc
# ##################################################

# create a signal for the estop loopback
net estop-loop iocontrol.0.user-enable-out => iocontrol.0.emc-enable-in

# create signals for tool loading loopback
net tool-prep-loop iocontrol.0.tool-prepare => iocontrol.0.tool-prepared
net tool-change-loop iocontrol.0.tool-change => iocontrol.0.tool-changed


#
# homing
#


#net home-switch <= hm2_[HOSTMOT2](BOARD).0.7i77.0.0.input-00
#net home-switch => axis.0.home-sw-in
#net home-switch => axis.1.home-sw-in
#net home-switch => axis.2.home-sw-in

# only the Y servo has an index, X and Z home without using the index
net y-index-enable hm2_[HOSTMOT2](BOARD).0.encoder.01.index-enable <=> axis.1.index-enable
а вот Hal созданный с помощью Pncconfa

Код: Выделить всё

# Generated by PNCconf at Thu Jul 19 23:33:48 2012
# Все изменения в этом файле будут перезаписаны
# overwritten when you run PNCconf again

loadrt trivkins
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[TRAJ]AXES
loadrt probe_parport
loadrt hostmot2
loadrt hm2_pci config=" num_encoders=3 num_pwmgens=0 num_3pwmgens=0 num_stepgens=0  " 
setp     hm2_5i25.0.watchdog.timeout_ns 10000000
loadrt pid names=pid.x,pid.y,pid.z

addf hm2_5i25.0.read servo-thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
addf pid.x.do-pid-calcs servo-thread
addf pid.y.do-pid-calcs servo-thread
addf pid.z.do-pid-calcs servo-thread
addf hm2_5i25.0.write         servo-thread
addf hm2_5i25.0.pet_watchdog  servo-thread

# external output signals

# --- SPINDLE-CW ---
setp hm2_5i25.0.gpio.036.is_output true
net spindle-cw hm2_5i25.0.gpio.036.out

# --- SPINDLE-CCW ---
setp hm2_5i25.0.gpio.037.is_output true
net spindle-ccw hm2_5i25.0.gpio.037.out

# --- COOLANT-FLOOD ---
setp hm2_5i25.0.gpio.038.is_output true
net coolant-flood hm2_5i25.0.gpio.038.out

# --- ESTOP-OUT ---
setp hm2_5i25.0.gpio.039.is_output true
net estop-out hm2_5i25.0.gpio.039.out

# --- MACHINE-IS-ENABLED ---
setp hm2_5i25.0.gpio.040.is_output true
net machine-is-enabled hm2_5i25.0.gpio.040.out

# external input signals

# --- MIN-X ---
net min-x     <=  hm2_5i25.0.gpio.024.in

# --- Больший_предел_X ---
net Больший_предел_X     <=  hm2_5i25.0.gpio.025.in

# --- HOME-X ---
net home-x     <=  hm2_5i25.0.gpio.026.in

# --- MIN-Y ---
net min-y     <=  hm2_5i25.0.gpio.027.in

# --- MAX-X ---
net max-x     <=  hm2_5i25.0.gpio.028.in

# --- HOME-Y ---
net home-y     <=  hm2_5i25.0.gpio.029.in

# --- MIN-Z ---
net min-z     <=  hm2_5i25.0.gpio.030.in

# --- MAX-Z ---
net max-z     <=  hm2_5i25.0.gpio.031.in

# --- BOTH-Z ---
net both-z     <=  hm2_5i25.0.gpio.032.in

# --- ESTOP-EXT ---
net estop-ext     <=  hm2_5i25.0.gpio.033.in

#*******************
#  AXIS X
#*******************

# ---Encoder feedback signals/setup---

setp    hm2_5i25.0.encoder.00.counter-mode 0
setp    hm2_5i25.0.encoder.00.filter 1
setp    hm2_5i25.0.encoder.00.index-invert 0
setp    hm2_5i25.0.encoder.00.index-mask 0
setp    hm2_5i25.0.encoder.00.index-mask-invert 0
setp    hm2_5i25.0.encoder.00.scale  [AXIS_0]ENCODER_SCALE

net x-pos-fb               <=  hm2_5i25.0.encoder.00.position
net x-vel-fb               <=  hm2_5i25.0.encoder.00.velocity
net x-pos-fb               =>  axis.0.motor-pos-fb
net x-index-enable    axis.0.index-enable  <=>  hm2_5i25.0.encoder.00.index-enable
net x-pos-rawcounts        <=  hm2_5i25.0.encoder.00.rawcounts

# ---setup home / limit switch signals---

net home-x     =>  axis.0.home-sw-in
net min-x     =>  axis.0.neg-lim-sw-in
net max-x     =>  axis.0.pos-lim-sw-in

#*******************
#  AXIS Y
#*******************

# ---Encoder feedback signals/setup---

setp    hm2_5i25.0.encoder.01.counter-mode 0
setp    hm2_5i25.0.encoder.01.filter 1
setp    hm2_5i25.0.encoder.01.index-invert 0
setp    hm2_5i25.0.encoder.01.index-mask 0
setp    hm2_5i25.0.encoder.01.index-mask-invert 0
setp    hm2_5i25.0.encoder.01.scale  [AXIS_1]ENCODER_SCALE

net y-pos-fb               <=  hm2_5i25.0.encoder.01.position
net y-vel-fb               <=  hm2_5i25.0.encoder.01.velocity
net y-pos-fb               =>  axis.1.motor-pos-fb
net y-index-enable    axis.1.index-enable  <=>  hm2_5i25.0.encoder.01.index-enable
net y-pos-rawcounts        <=  hm2_5i25.0.encoder.01.rawcounts

# ---setup home / limit switch signals---

net home-y     =>  axis.1.home-sw-in
net min-y     =>  axis.1.neg-lim-sw-in
net y-pos-limit     =>  axis.1.pos-lim-sw-in

#*******************
#  AXIS Z
#*******************

# ---Encoder feedback signals/setup---

setp    hm2_5i25.0.encoder.02.counter-mode 0
setp    hm2_5i25.0.encoder.02.filter 1
setp    hm2_5i25.0.encoder.02.index-invert 0
setp    hm2_5i25.0.encoder.02.index-mask 0
setp    hm2_5i25.0.encoder.02.index-mask-invert 0
setp    hm2_5i25.0.encoder.02.scale  [AXIS_2]ENCODER_SCALE

net z-pos-fb               <=  hm2_5i25.0.encoder.02.position
net z-vel-fb               <=  hm2_5i25.0.encoder.02.velocity
net z-pos-fb               =>  axis.2.motor-pos-fb
net z-index-enable    axis.2.index-enable  <=>  hm2_5i25.0.encoder.02.index-enable
net z-pos-rawcounts        <=  hm2_5i25.0.encoder.02.rawcounts

# ---setup home / limit switch signals---

net z-home-sw     =>  axis.2.home-sw-in
net min-z     =>  axis.2.neg-lim-sw-in
net max-z     =>  axis.2.pos-lim-sw-in

#*******************
#  SPINDLE S
#*******************

# ---setup spindle control signals---

net spindle-vel-cmd-rps    <=  motion.spindle-speed-out-rps
net spindle-vel-cmd        <=  motion.spindle-speed-out
net spindle-enable         <=  motion.spindle-on
net spindle-cw             <=  motion.spindle-forward
net spindle-ccw            <=  motion.spindle-reverse
net spindle-brake          <=  motion.spindle-brake
net spindle-revs           =>  motion.spindle-revs
net spindle-at-speed       =>  motion.spindle-at-speed
net spindle-vel-fb         =>  motion.spindle-speed-in
net spindle-index-enable  <=>  motion.spindle-index-enable

# ---Setup spindle at speed signals---

sets spindle-at-speed true


#******************************
# connect miscellaneous signals
#******************************

#  ---HALUI signals---

net joint-select-a        halui.joint.0.select
net x-is-homed            halui.joint.0.is-homed
net jog-x-pos             halui.jog.0.plus
net jog-x-neg             halui.jog.0.minus
net jog-x-analog          halui.jog.0.analog
net joint-select-b        halui.joint.1.select
net y-is-homed            halui.joint.1.is-homed
net jog-y-pos             halui.jog.1.plus
net jog-y-neg             halui.jog.1.minus
net jog-y-analog          halui.jog.1.analog
net joint-select-c        halui.joint.2.select
net z-is-homed            halui.joint.2.is-homed
net jog-z-pos             halui.jog.2.plus
net jog-z-neg             halui.jog.2.minus
net jog-z-analog          halui.jog.2.analog
net jog-selected-pos      halui.jog.selected.plus
net jog-selected-neg      halui.jog.selected.minus
net spindle-manual-cw     halui.spindle.forward
net spindle-manual-ccw    halui.spindle.reverse
net spindle-manual-stop   halui.spindle.stop
net machine-is-on         halui.machine.is-on
net jog-speed             halui.jog-speed 
net MDI-mode              halui.mode.is-mdi

#  ---coolant signals---

net coolant-mist      <=  iocontrol.0.coolant-mist
net coolant-flood     <=  iocontrol.0.coolant-flood

#  ---probe signal---

net probe-in     =>  motion.probe-input

#  ---motion control signals---

net in-position               <=  motion.in-position
net machine-is-enabled        <=  motion.motion-enabled

#  ---digital in / out signals---

#  ---estop signals---

net estop-out     <=  iocontrol.0.user-enable-out
net estop-ext     =>  iocontrol.0.emc-enable-in

#  ---toolchange signals for custom tool changer---

net tool-number             <=  iocontrol.0.tool-prep-number
net tool-change-request     <=  iocontrol.0.tool-change
net tool-change-confirmed   =>  iocontrol.0.tool-changed
net tool-prepare-request    <=  iocontrol.0.tool-prepare
net tool-prepare-confirmed  =>  iocontrol.0.tool-prepared
Вернуться к началу
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Nick
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Re: Mesa 5i25+7i77-с чего начать?

Сообщение Nick »

dansystems1 писал(а):С hal-ом дела по прежнему плохи, что не меняй в рабочем файле, дает ошибку.
Т.е. даже если просто пустую строку добавить ошибку выдаст?
Вернуться к началу
dansystems1
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Re: Mesa 5i25+7i77-с чего начать?

Сообщение dansystems1 »

Nick писал(а): Т.е. даже если просто пустую строку добавить ошибку выдаст?
-
Нет конечно, даже попробовал удалить вот эти строки, запустилась-
dansystems1 писал(а):
# ##################################################
# Standard I/O Block - EStop, Etc
# ##################################################

# create a signal for the estop loopback
net estop-loop iocontrol.0.user-enable-out => iocontrol.0.emc-enable-in

# create signals for tool loading loopback
net tool-prep-loop iocontrol.0.tool-prepare => iocontrol.0.tool-prepared
net tool-change-loop iocontrol.0.tool-change => iocontrol.0.tool-changed


#
# homing
#


#net home-switch <= hm2_[HOSTMOT2](BOARD).0.7i77.0.0.input-00
#net home-switch => axis.0.home-sw-in
#net home-switch => axis.1.home-sw-in
#net home-switch => axis.2.home-sw-in

# only the Y servo has an index, X and Z home without using the index
net y-index-enable hm2_[HOSTMOT2](BOARD).0.encoder.01.index-enable <=> axis.1.index-enable
и еще вопрос-какой параметр задает шаг швп, ?
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dansystems1
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Re: Mesa 5i25+7i77-с чего начать?

Сообщение dansystems1 »

dansystems1 писал(а):и еще вопрос-какой параметр задает шаг швп, ?
Уже выяснил-INPUT SCALE :lol: :lol: :lol:
Последний раз редактировалось dansystems1 21 июл 2012, 17:25, всего редактировалось 1 раз.
Вернуться к началу
Аватара пользователя
Nick
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Re: Mesa 5i25+7i77-с чего начать?

Сообщение Nick »

dansystems1 писал(а):Нет конечно, даже попробовал удалить вот эти строки, запустилась-
А ну тогда все проще, я то думал, что у тебя по какой-то неведомой причине при любой правке не запускается.

В общем если будет возникать ошибка пиши ее сюда и пиши то, что исправил. А можешь даже сохранить оригинальный hal файл в отдельный файл и писать сюда изменения, через diff

В консоде пишешь diff orig.hal new.hal и выведутся все изменения.
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dansystems1
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Re: Mesa 5i25+7i77-с чего начать?

Сообщение dansystems1 »

Вот дописал эти строчки-
net motion.spindle-forward OUT BIT hm2_5i25.0.7i77.0.0.output-00 spindle-forward OUT
net motion.spindle-off OUT BIT hm2_5i25.0.7i77.0.0.output-01 spindle-off OUT
net motion.spindle-reverse OUT BIT hm2_5i25.0.7i77.0.0.output-02 spindle-reverse OUT


и наткнулся на ошибку-

Код: Выделить всё

Print file information:
RUN_IN_PLACE=no
LINUXCNC_DIR=
LINUXCNC_BIN_DIR=/usr/bin
LINUXCNC_TCL_DIR=/usr/lib/tcltk/linuxcnc
LINUXCNC_SCRIPT_DIR=
LINUXCNC_RTLIB_DIR=/usr/realtime-2.6.32-122-rtai/modules/linuxcnc
LINUXCNC_CONFIG_DIR=
LINUXCNC_LANG_DIR=/usr/share/linuxcnc/tcl/msgs
INIVAR=inivar
HALCMD=halcmd
LINUXCNC_EMCSH=/usr/bin/wish8.5
LINUXCNC - 2.5.0
Machine configuration directory is '/home/dan/linuxcnc/configs/6R13F'
Machine configuration file is '5i25-7i77.ini'
INIFILE=/home/dan/linuxcnc/configs/6R13F/5i25-7i77.ini
PARAMETER_FILE=hm2-servo.var
TASK=milltask
HALUI=
DISPLAY=axis
Starting LinuxCNC...
Starting LinuxCNC server program: linuxcncsvr
Loading Real Time OS, RTAPI, and HAL_LIB modules
Starting LinuxCNC IO program: io
emc/iotask/ioControl.cc 751: can't load tool table.
Shutting down and cleaning up LinuxCNC...
Killing task linuxcncsvr, PID=2178
Removing HAL_LIB, RTAPI, and Real Time OS modules
Removing NML shared memory segments
Cleanup done

Debug file information:
Can not find -sec MOT -var MOT -num 1 
Can not find -sec IO -var IO -num 1 
Can not find -sec LINUXCNC -var NML_FILE -num 1 
Can not find -sec EMC -var NML_FILE -num 1 
hm2-servo7i77.hal:197: Pin 'OUT' does not exist
2178
  PID TTY      STAT   TIME COMMAND
Stopping realtime threads
Unloading hal components

Kernel message information:
[  963.594296] I-pipe: Domain RTAI registered.
[  963.594301] RTAI[hal]: <3.8.1> mounted over IPIPE-NOTHREADS 2.6-03.
[  963.594302] RTAI[hal]: compiled with gcc version 4.4.3 (Ubuntu 4.4.3-4ubuntu5) .
[  963.594330] RTAI[hal]: mounted (IPIPE-NOTHREADS, IMMEDIATE (INTERNAL IRQs DISPATCHED), ISOL_CPUS_MASK: 0).
[  963.594331] PIPELINE layers:
[  963.594333] f8955e20 9ac15d93 RTAI 200
[  963.594335] c085cb20 0 Linux 100
[  963.606561] RTAI[malloc]: global heap size = 2097152 bytes, <BSD>.
[  963.606635] RTAI[sched]: IMMEDIATE, MP, USER/KERNEL SPACE: <with RTAI OWN KTASKs>, kstacks pool size = 524288 bytes.
[  963.606639] RTAI[sched]: hard timer type/freq = APIC/6235790(Hz); default timing: periodic; linear timed lists.
[  963.606642] RTAI[sched]: Linux timer freq = 250 (Hz), TimeBase freq = 2594163000 hz.
[  963.606644] RTAI[sched]: timer setup = 999 ns, resched latency = 2943 ns.
[  963.606688] RTAI[usi]: enabled.
[  963.630375] RTAI[math]: loaded.
[  963.671987] hm2: loading Mesa HostMot2 driver version 0.15
[  963.673708] hm2_pci: loading Mesa AnyIO HostMot2 driver version 0.7
[  963.673733] hm2_pci 0000:05:00.0: PCI INT A -> GSI 18 (level, low) -> IRQ 18
[  963.673736] hm2_pci: discovered 5i25 at 0000:05:00.0
[  963.673802] hm2/hm2_5i25.0: IDRom:
[  963.673804] hm2/hm2_5i25.0:     IDRom Type: 0x00000003
[  963.673806] hm2/hm2_5i25.0:     Offset to Modules: 0x00000040
[  963.673808] hm2/hm2_5i25.0:     Offset to Pin Description: 0x000001C0
[  963.673809] hm2/hm2_5i25.0:     Board Name: MESA5I25
[  963.673811] hm2/hm2_5i25.0:     FPGA Size: 9
[  963.673812] hm2/hm2_5i25.0:     FPGA Pins: 144
[  963.673814] hm2/hm2_5i25.0:     Port Width: 17
[  963.673815] hm2/hm2_5i25.0:     IO Ports: 2
[  963.673817] hm2/hm2_5i25.0:     IO Width: 34
[  963.673819] hm2/hm2_5i25.0:     Clock Low: 33333333 Hz (33333 KHz, 33 MHz)
[  963.673821] hm2/hm2_5i25.0:     Clock High: 200000000 Hz (200000 KHz, 200 MHz)
[  963.673822] hm2/hm2_5i25.0:     Instance Stride 0: 0x00000004
[  963.673824] hm2/hm2_5i25.0:     Instance Stride 1: 0x00000040
[  963.673826] hm2/hm2_5i25.0:     Register Stride 0: 0x00000100
[  963.673827] hm2/hm2_5i25.0:     Register Stride 1: 0x00000100
[  963.673946] hm2/hm2_5i25.0: 34 HM2 Pin Descriptors:
[  963.673948] hm2/hm2_5i25.0:     pin 0:
[  963.673950] hm2/hm2_5i25.0:         Primary Tag: 0x03 (IOPort)
[  963.673951] hm2/hm2_5i25.0:         Secondary Tag: 0xC1 (Smart Serial Interface)
[  963.673953] hm2/hm2_5i25.0:         Secondary Unit: 0x00
[  963.673955] hm2/hm2_5i25.0:         Secondary Pin: 0x93 (TxEn2  , Output)
[  963.673957] hm2/hm2_5i25.0:     pin 1:
[  963.673958] hm2/hm2_5i25.0:         Primary Tag: 0x03 (IOPort)
[  963.673960] hm2/hm2_5i25.0:         Secondary Tag: 0xC1 (Smart Serial Interface)
[  963.673962] hm2/hm2_5i25.0:         Secondary Unit: 0x00
[  963.673963] hm2/hm2_5i25.0:         Secondary Pin: 0x83 (TxData2, Output)
[  963.673965] hm2/hm2_5i25.0:     pin 2:
[  963.673966] hm2/hm2_5i25.0:         Primary Tag: 0x03 (IOPort)
[  963.673968] hm2/hm2_5i25.0:         Secondary Tag: 0xC1 (Smart Serial Interface)
[  963.673970] hm2/hm2_5i25.0:         Secondary Unit: 0x00
[  963.673971] hm2/hm2_5i25.0:         Secondary Pin: 0x03 (RxData2, Input)
[  963.673973] hm2/hm2_5i25.0:     pin 3:
[  963.673974] hm2/hm2_5i25.0:         Primary Tag: 0x03 (IOPort)
[  963.673976] hm2/hm2_5i25.0:         Secondary Tag: 0xC1 (Smart Serial Interface)
[  963.673978] hm2/hm2_5i25.0:         Secondary Unit: 0x00
[  963.673979] hm2/hm2_5i25.0:         Secondary Pin: 0x82 (TxData1, Output)
[  963.673981] hm2/hm2_5i25.0:     pin 4:
[  963.673982] hm2/hm2_5i25.0:         Primary Tag: 0x03 (IOPort)
[  963.673984] hm2/hm2_5i25.0:         Secondary Tag: 0xC1 (Smart Serial Interface)
[  963.673986] hm2/hm2_5i25.0:         Secondary Unit: 0x00
[  963.673988] hm2/hm2_5i25.0:         Secondary Pin: 0x02 (RxData1, Input)
[  963.673989] hm2/hm2_5i25.0:     pin 5:
[  963.673991] hm2/hm2_5i25.0:         Primary Tag: 0x03 (IOPort)
[  963.673992] hm2/hm2_5i25.0:         Secondary Tag: 0xC1 (Smart Serial Interface)
[  963.673994] hm2/hm2_5i25.0:         Secondary Unit: 0x00
[  963.673996] hm2/hm2_5i25.0:         Secondary Pin: 0x81 (TxData0, Output)
[  963.673997] hm2/hm2_5i25.0:     pin 6:
[  963.673999] hm2/hm2_5i25.0:         Primary Tag: 0x03 (IOPort)
[  963.674000] hm2/hm2_5i25.0:         Secondary Tag: 0xC1 (Smart Serial Interface)
[  963.674002] hm2/hm2_5i25.0:         Secondary Unit: 0x00
[  963.674004] hm2/hm2_5i25.0:         Secondary Pin: 0x01 (RxData0, Input)
[  963.674005] hm2/hm2_5i25.0:     pin 7:
[  963.674006] hm2/hm2_5i25.0:         Primary Tag: 0x03 (IOPort)
[  963.674008] hm2/hm2_5i25.0:         Secondary Tag: 0x0D (Muxed Encoder Select)
[  963.674010] hm2/hm2_5i25.0:         Secondary Unit: 0x00
[  963.674012] hm2/hm2_5i25.0:         Secondary Pin: 0x81 (Mux Select 0, Output)
[  963.674013] hm2/hm2_5i25.0:     pin 8:
[  963.674014] hm2/hm2_5i25.0:         Primary Tag: 0x03 (IOPort)
[  963.674016] hm2/hm2_5i25.0:         Secondary Tag: 0x0C (Muxed Encoder)
[  963.674018] hm2/hm2_5i25.0:         Secondary Unit: 0x00
[  963.674019] hm2/hm2_5i25.0:         Secondary Pin: 0x01 (Muxed A, Input)
[  963.674021] hm2/hm2_5i25.0:     pin 9:
[  963.674022] hm2/hm2_5i25.0:         Primary Tag: 0x03 (IOPort)
[  963.674024] hm2/hm2_5i25.0:         Secondary Tag: 0x0C (Muxed Encoder)
[  963.674026] hm2/hm2_5i25.0:         Secondary Unit: 0x00
[  963.674027] hm2/hm2_5i25.0:         Secondary Pin: 0x02 (Muxed B, Input)
[  963.674029] hm2/hm2_5i25.0:     pin 10:
[  963.674030] hm2/hm2_5i25.0:         Primary Tag: 0x03 (IOPort)
[  963.674032] hm2/hm2_5i25.0:         Secondary Tag: 0x0C (Muxed Encoder)
[  963.674033] hm2/hm2_5i25.0:         Secondary Unit: 0x00
[  963.674035] hm2/hm2_5i25.0:         Secondary Pin: 0x03 (Muxed Index, Input)
[  963.674037] hm2/hm2_5i25.0:     pin 11:
[  963.674038] hm2/hm2_5i25.0:         Primary Tag: 0x03 (IOPort)
[  963.674040] hm2/hm2_5i25.0:         Secondary Tag: 0x0C (Muxed Encoder)
[  963.674041] hm2/hm2_5i25.0:         Secondary Unit: 0x01
[  963.674043] hm2/hm2_5i25.0:         Secondary Pin: 0x01 (Muxed A, Input)
[  963.674044] hm2/hm2_5i25.0:     pin 12:
[  963.674046] hm2/hm2_5i25.0:         Primary Tag: 0x03 (IOPort)
[  963.674047] hm2/hm2_5i25.0:         Secondary Tag: 0x0C (Muxed Encoder)
[  963.674049] hm2/hm2_5i25.0:         Secondary Unit: 0x01
[  963.674051] hm2/hm2_5i25.0:         Secondary Pin: 0x02 (Muxed B, Input)
[  963.674052] hm2/hm2_5i25.0:     pin 13:
[  963.674053] hm2/hm2_5i25.0:         Primary Tag: 0x03 (IOPort)
[  963.674055] hm2/hm2_5i25.0:         Secondary Tag: 0x0C (Muxed Encoder)
[  963.674057] hm2/hm2_5i25.0:         Secondary Unit: 0x01
[  963.674058] hm2/hm2_5i25.0:         Secondary Pin: 0x03 (Muxed Index, Input)
[  963.674060] hm2/hm2_5i25.0:     pin 14:
[  963.674061] hm2/hm2_5i25.0:         Primary Tag: 0x03 (IOPort)
[  963.674063] hm2/hm2_5i25.0:         Secondary Tag: 0x0C (Muxed Encoder)
[  963.674065] hm2/hm2_5i25.0:         Secondary Unit: 0x02
[  963.674066] hm2/hm2_5i25.0:         Secondary Pin: 0x01 (Muxed A, Input)
[  963.674068] hm2/hm2_5i25.0:     pin 15:
[  963.674069] hm2/hm2_5i25.0:         Primary Tag: 0x03 (IOPort)
[  963.674071] hm2/hm2_5i25.0:         Secondary Tag: 0x0C (Muxed Encoder)
[  963.674072] hm2/hm2_5i25.0:         Secondary Unit: 0x02
[  963.674074] hm2/hm2_5i25.0:         Secondary Pin: 0x02 (Muxed B, Input)
[  963.674075] hm2/hm2_5i25.0:     pin 16:
[  963.674077] hm2/hm2_5i25.0:         Primary Tag: 0x03 (IOPort)
[  963.674079] hm2/hm2_5i25.0:         Secondary Tag: 0x0C (Muxed Encoder)
[  963.674080] hm2/hm2_5i25.0:         Secondary Unit: 0x02
[  963.674082] hm2/hm2_5i25.0:         Secondary Pin: 0x03 (Muxed Index, Input)
[  963.674083] hm2/hm2_5i25.0:     pin 17:
[  963.674085] hm2/hm2_5i25.0:         Primary Tag: 0x03 (IOPort)
[  963.674087] hm2/hm2_5i25.0:         Secondary Tag: 0xC1 (Smart Serial Interface)
[  963.674088] hm2/hm2_5i25.0:         Secondary Unit: 0x00
[  963.674090] hm2/hm2_5i25.0:         Secondary Pin: 0x96 (TxEn5  , Output)
[  963.674092] hm2/hm2_5i25.0:     pin 18:
[  963.674093] hm2/hm2_5i25.0:         Primary Tag: 0x03 (IOPort)
[  963.674095] hm2/hm2_5i25.0:         Secondary Tag: 0xC1 (Smart Serial Interface)
[  963.674096] hm2/hm2_5i25.0:         Secondary Unit: 0x00
[  963.674098] hm2/hm2_5i25.0:         Secondary Pin: 0x86 (TxData5, Output)
[  963.674099] hm2/hm2_5i25.0:     pin 19:
[  963.674101] hm2/hm2_5i25.0:         Primary Tag: 0x03 (IOPort)
[  963.674103] hm2/hm2_5i25.0:         Secondary Tag: 0xC1 (Smart Serial Interface)
[  963.674104] hm2/hm2_5i25.0:         Secondary Unit: 0x00
[  963.674106] hm2/hm2_5i25.0:         Secondary Pin: 0x06 (RxData5, Input)
[  963.674107] hm2/hm2_5i25.0:     pin 20:
[  963.674109] hm2/hm2_5i25.0:         Primary Tag: 0x03 (IOPort)
[  963.674111] hm2/hm2_5i25.0:         Secondary Tag: 0xC1 (Smart Serial Interface)
[  963.674112] hm2/hm2_5i25.0:         Secondary Unit: 0x00
[  963.674114] hm2/hm2_5i25.0:         Secondary Pin: 0x85 (TxData4, Output)
[  963.674115] hm2/hm2_5i25.0:     pin 21:
[  963.674117] hm2/hm2_5i25.0:         Primary Tag: 0x03 (IOPort)
[  963.674118] hm2/hm2_5i25.0:         Secondary Tag: 0xC1 (Smart Serial Interface)
[  963.674120] hm2/hm2_5i25.0:         Secondary Unit: 0x00
[  963.674122] hm2/hm2_5i25.0:         Secondary Pin: 0x05 (RxData4, Input)
[  963.674123] hm2/hm2_5i25.0:     pin 22:
[  963.674125] hm2/hm2_5i25.0:         Primary Tag: 0x03 (IOPort)
[  963.674126] hm2/hm2_5i25.0:         Secondary Tag: 0xC1 (Smart Serial Interface)
[  963.674128] hm2/hm2_5i25.0:         Secondary Unit: 0x00
[  963.674130] hm2/hm2_5i25.0:         Secondary Pin: 0x84 (TxData3, Output)
[  963.674131] hm2/hm2_5i25.0:     pin 23:
[  963.674133] hm2/hm2_5i25.0:         Primary Tag: 0x03 (IOPort)
[  963.674134] hm2/hm2_5i25.0:         Secondary Tag: 0xC1 (Smart Serial Interface)
[  963.674136] hm2/hm2_5i25.0:         Secondary Unit: 0x00
[  963.674137] hm2/hm2_5i25.0:         Secondary Pin: 0x04 (RxData3, Input)
[  963.674139] hm2/hm2_5i25.0:     pin 24:
[  963.674140] hm2/hm2_5i25.0:         Primary Tag: 0x03 (IOPort)
[  963.674142] hm2/hm2_5i25.0:         Secondary Tag: 0x0D (Muxed Encoder Select)
[  963.674144] hm2/hm2_5i25.0:         Secondary Unit: 0x03
[  963.674145] hm2/hm2_5i25.0:         Secondary Pin: 0x81 (Mux Select 0, Output)
[  963.674147] hm2/hm2_5i25.0:     pin 25:
[  963.674149] hm2/hm2_5i25.0:         Primary Tag: 0x03 (IOPort)
[  963.674151] hm2/hm2_5i25.0:         Secondary Tag: 0x0C (Muxed Encoder)
[  963.674152] hm2/hm2_5i25.0:         Secondary Unit: 0x03
[  963.674154] hm2/hm2_5i25.0:         Secondary Pin: 0x01 (Muxed A, Input)
[  963.674155] hm2/hm2_5i25.0:     pin 26:
[  963.674157] hm2/hm2_5i25.0:         Primary Tag: 0x03 (IOPort)
[  963.674158] hm2/hm2_5i25.0:         Secondary Tag: 0x0C (Muxed Encoder)
[  963.674160] hm2/hm2_5i25.0:         Secondary Unit: 0x03
[  963.674162] hm2/hm2_5i25.0:         Secondary Pin: 0x02 (Muxed B, Input)
[  963.674163] hm2/hm2_5i25.0:     pin 27:
[  963.674165] hm2/hm2_5i25.0:         Primary Tag: 0x03 (IOPort)
[  963.674166] hm2/hm2_5i25.0:         Secondary Tag: 0x0C (Muxed Encoder)
[  963.674168] hm2/hm2_5i25.0:         Secondary Unit: 0x03
[  963.674169] hm2/hm2_5i25.0:         Secondary Pin: 0x03 (Muxed Index, Input)
[  963.674171] hm2/hm2_5i25.0:     pin 28:
[  963.674173] hm2/hm2_5i25.0:         Primary Tag: 0x03 (IOPort)
[  963.674174] hm2/hm2_5i25.0:         Secondary Tag: 0x0C (Muxed Encoder)
[  963.674176] hm2/hm2_5i25.0:         Secondary Unit: 0x04
[  963.674177] hm2/hm2_5i25.0:         Secondary Pin: 0x01 (Muxed A, Input)
[  963.674179] hm2/hm2_5i25.0:     pin 29:
[  963.674180] hm2/hm2_5i25.0:         Primary Tag: 0x03 (IOPort)
[  963.674182] hm2/hm2_5i25.0:         Secondary Tag: 0x0C (Muxed Encoder)
[  963.674184] hm2/hm2_5i25.0:         Secondary Unit: 0x04
[  963.674185] hm2/hm2_5i25.0:         Secondary Pin: 0x02 (Muxed B, Input)
[  963.674187] hm2/hm2_5i25.0:     pin 30:
[  963.674188] hm2/hm2_5i25.0:         Primary Tag: 0x03 (IOPort)
[  963.674190] hm2/hm2_5i25.0:         Secondary Tag: 0x0C (Muxed Encoder)
[  963.674191] hm2/hm2_5i25.0:         Secondary Unit: 0x04
[  963.674193] hm2/hm2_5i25.0:         Secondary Pin: 0x03 (Muxed Index, Input)
[  963.674194] hm2/hm2_5i25.0:     pin 31:
[  963.674196] hm2/hm2_5i25.0:         Primary Tag: 0x03 (IOPort)
[  963.674197] hm2/hm2_5i25.0:         Secondary Tag: 0x0C (Muxed Encoder)
[  963.674199] hm2/hm2_5i25.0:         Secondary Unit: 0x05
[  963.674201] hm2/hm2_5i25.0:         Secondary Pin: 0x01 (Muxed A, Input)
[  963.674202] hm2/hm2_5i25.0:     pin 32:
[  963.674203] hm2/hm2_5i25.0:         Primary Tag: 0x03 (IOPort)
[  963.674205] hm2/hm2_5i25.0:         Secondary Tag: 0x0C (Muxed Encoder)
[  963.674207] hm2/hm2_5i25.0:         Secondary Unit: 0x05
[  963.674208] hm2/hm2_5i25.0:         Secondary Pin: 0x02 (Muxed B, Input)
[  963.674210] hm2/hm2_5i25.0:     pin 33:
[  963.674211] hm2/hm2_5i25.0:         Primary Tag: 0x03 (IOPort)
[  963.674213] hm2/hm2_5i25.0:         Secondary Tag: 0x0C (Muxed Encoder)
[  963.674214] hm2/hm2_5i25.0:         Secondary Unit: 0x05
[  963.674216] hm2/hm2_5i25.0:         Secondary Pin: 0x03 (Muxed Index, Input)
[  963.674224] hm2/hm2_5i25.0: Module Descriptor 0 at 0x0440:
[  963.674225] hm2/hm2_5i25.0:     General Function Tag: 2 (Watchdog)
[  963.674227] hm2/hm2_5i25.0:     Version: 0
[  963.674229] hm2/hm2_5i25.0:     Clock Tag: 1 (33.333 MHz)
[  963.674230] hm2/hm2_5i25.0:     Instances: 1
[  963.674232] hm2/hm2_5i25.0:     Base Address: 0x0C00
[  963.674233] hm2/hm2_5i25.0:     -- Num Registers: 3
[  963.674235] hm2/hm2_5i25.0:     Register Stride: 0x00000100
[  963.674236] hm2/hm2_5i25.0:     -- Instance Stride: 0x00000004
[  963.674238] hm2/hm2_5i25.0:     -- Multiple Registers: 0x00000000
[  963.674246] hm2/hm2_5i25.0: Module Descriptor 1 at 0x044C:
[  963.674247] hm2/hm2_5i25.0:     General Function Tag: 3 (IOPort)
[  963.674249] hm2/hm2_5i25.0:     Version: 0
[  963.674250] hm2/hm2_5i25.0:     Clock Tag: 1 (33.333 MHz)
[  963.674252] hm2/hm2_5i25.0:     Instances: 2
[  963.674253] hm2/hm2_5i25.0:     Base Address: 0x1000
[  963.674255] hm2/hm2_5i25.0:     -- Num Registers: 5
[  963.674256] hm2/hm2_5i25.0:     Register Stride: 0x00000100
[  963.674258] hm2/hm2_5i25.0:     -- Instance Stride: 0x00000004
[  963.674260] hm2/hm2_5i25.0:     -- Multiple Registers: 0x0000001F
[  963.674267] hm2/hm2_5i25.0: Module Descriptor 2 at 0x0458:
[  963.674269] hm2/hm2_5i25.0:     General Function Tag: 12 (Muxed Encoder)
[  963.674270] hm2/hm2_5i25.0:     Version: 3
[  963.674272] hm2/hm2_5i25.0:     Clock Tag: 1 (33.333 MHz)
[  963.674273] hm2/hm2_5i25.0:     Instances: 12
[  963.674275] hm2/hm2_5i25.0:     Base Address: 0x3500
[  963.674276] hm2/hm2_5i25.0:     -- Num Registers: 5
[  963.674278] hm2/hm2_5i25.0:     Register Stride: 0x00000100
[  963.674279] hm2/hm2_5i25.0:     -- Instance Stride: 0x00000004
[  963.674281] hm2/hm2_5i25.0:     -- Multiple Registers: 0x00000003
[  963.674288] hm2/hm2_5i25.0: Module Descriptor 3 at 0x0464:
[  963.674290] hm2/hm2_5i25.0:     General Function Tag: 13 (Muxed Encoder Select)
[  963.674292] hm2/hm2_5i25.0:     Version: 0
[  963.674293] hm2/hm2_5i25.0:     Clock Tag: 1 (33.333 MHz)
[  963.674295] hm2/hm2_5i25.0:     Instances: 1
[  963.674296] hm2/hm2_5i25.0:     Base Address: 0x0000
[  963.674298] hm2/hm2_5i25.0:     -- Num Registers: 0
[  963.674299] hm2/hm2_5i25.0:     Register Stride: 0x00000100
[  963.674301] hm2/hm2_5i25.0:     -- Instance Stride: 0x00000004
[  963.674302] hm2/hm2_5i25.0:     -- Multiple Registers: 0x00000000
[  963.674310] hm2/hm2_5i25.0: Module Descriptor 4 at 0x0470:
[  963.674312] hm2/hm2_5i25.0:     General Function Tag: 193 (Smart Serial Interface)
[  963.674313] hm2/hm2_5i25.0:     Version: 0
[  963.674315] hm2/hm2_5i25.0:     Clock Tag: 1 (33.333 MHz)
[  963.674316] hm2/hm2_5i25.0:     Instances: 1
[  963.674318] hm2/hm2_5i25.0:     Base Address: 0x5A00
[  963.674319] hm2/hm2_5i25.0:     -- Num Registers: 6
[  963.674321] hm2/hm2_5i25.0:     Register Stride: 0x00000100
[  963.674322] hm2/hm2_5i25.0:     -- Instance Stride: 0x00000040
[  963.674324] hm2/hm2_5i25.0:     -- Multiple Registers: 0x0000003C
[  963.674332] hm2/hm2_5i25.0: Module Descriptor 5 at 0x047C:
[  963.674333] hm2/hm2_5i25.0:     General Function Tag: 128 (LED)
[  963.674335] hm2/hm2_5i25.0:     Version: 0
[  963.674336] hm2/hm2_5i25.0:     Clock Tag: 1 (33.333 MHz)
[  963.674338] hm2/hm2_5i25.0:     Instances: 1
[  963.674339] hm2/hm2_5i25.0:     Base Address: 0x0200
[  963.674341] hm2/hm2_5i25.0:     -- Num Registers: 1
[  963.674342] hm2/hm2_5i25.0:     Register Stride: 0x00000100
[  963.674344] hm2/hm2_5i25.0:     -- Instance Stride: 0x00000004
[  963.674345] hm2/hm2_5i25.0:     -- Multiple Registers: 0x00000000
[  963.674807] hm2/hm2_5i25.0: Smart Serial Firmware Version 33
[  963.797206] hm2/hm2_5i25.0: 34 I/O Pins used:
[  963.797208] hm2/hm2_5i25.0:     IO Pin 000 (P3-01): IOPort
[  963.797210] hm2/hm2_5i25.0:     IO Pin 001 (P3-14): IOPort
[  963.797212] hm2/hm2_5i25.0:     IO Pin 002 (P3-02): IOPort
[  963.797214] hm2/hm2_5i25.0:     IO Pin 003 (P3-15): Smart Serial Interface #0, pin TxData1 (Output)
[  963.797217] hm2/hm2_5i25.0:     IO Pin 004 (P3-03): Smart Serial Interface #0, pin RxData1 (Input)
[  963.797218] hm2/hm2_5i25.0:     IO Pin 005 (P3-16): IOPort
[  963.797220] hm2/hm2_5i25.0:     IO Pin 006 (P3-04): IOPort
[  963.797222] hm2/hm2_5i25.0:     IO Pin 007 (P3-17): Muxed Encoder Select #0, pin Mux Select 0 (Output)
[  963.797224] hm2/hm2_5i25.0:     IO Pin 008 (P3-05): Muxed Encoder #0, pin Muxed A (Input)
[  963.797226] hm2/hm2_5i25.0:     IO Pin 009 (P3-06): Muxed Encoder #0, pin Muxed B (Input)
[  963.797229] hm2/hm2_5i25.0:     IO Pin 010 (P3-07): Muxed Encoder #0, pin Muxed Index (Input)
[  963.797231] hm2/hm2_5i25.0:     IO Pin 011 (P3-08): Muxed Encoder #1, pin Muxed A (Input)
[  963.797233] hm2/hm2_5i25.0:     IO Pin 012 (P3-09): Muxed Encoder #1, pin Muxed B (Input)
[  963.797235] hm2/hm2_5i25.0:     IO Pin 013 (P3-10): Muxed Encoder #1, pin Muxed Index (Input)
[  963.797237] hm2/hm2_5i25.0:     IO Pin 014 (P3-11): IOPort
[  963.797239] hm2/hm2_5i25.0:     IO Pin 015 (P3-12): IOPort
[  963.797240] hm2/hm2_5i25.0:     IO Pin 016 (P3-13): IOPort
[  963.797242] hm2/hm2_5i25.0:     IO Pin 017 (P2-01): IOPort
[  963.797243] hm2/hm2_5i25.0:     IO Pin 018 (P2-14): IOPort
[  963.797245] hm2/hm2_5i25.0:     IO Pin 019 (P2-02): IOPort
[  963.797247] hm2/hm2_5i25.0:     IO Pin 020 (P2-15): IOPort
[  963.797248] hm2/hm2_5i25.0:     IO Pin 021 (P2-03): IOPort
[  963.797250] hm2/hm2_5i25.0:     IO Pin 022 (P2-16): IOPort
[  963.797251] hm2/hm2_5i25.0:     IO Pin 023 (P2-04): IOPort
[  963.797253] hm2/hm2_5i25.0:     IO Pin 024 (P2-17): IOPort
[  963.797255] hm2/hm2_5i25.0:     IO Pin 025 (P2-05): IOPort
[  963.797256] hm2/hm2_5i25.0:     IO Pin 026 (P2-06): IOPort
[  963.797258] hm2/hm2_5i25.0:     IO Pin 027 (P2-07): IOPort
[  963.797259] hm2/hm2_5i25.0:     IO Pin 028 (P2-08): IOPort
[  963.797261] hm2/hm2_5i25.0:     IO Pin 029 (P2-09): IOPort
[  963.797263] hm2/hm2_5i25.0:     IO Pin 030 (P2-10): IOPort
[  963.797264] hm2/hm2_5i25.0:     IO Pin 031 (P2-11): IOPort
[  963.797266] hm2/hm2_5i25.0:     IO Pin 032 (P2-12): IOPort
[  963.797268] hm2/hm2_5i25.0:     IO Pin 033 (P2-13): IOPort
[  963.797269] hm2/hm2_5i25.0: HM2 Modules used:
[  963.797271] hm2/hm2_5i25.0: Encoders: 3
[  963.797273] hm2/hm2_5i25.0:     clock_frequency: 33333333 Hz (33.333 MHz)
[  963.797274] hm2/hm2_5i25.0:     version: 3
[  963.797276] hm2/hm2_5i25.0:     counter_addr: 0x3500
[  963.797277] hm2/hm2_5i25.0:     latch_control_addr: 0x3600
[  963.797279] hm2/hm2_5i25.0:     timestamp_div_addr: 0x3700
[  963.797280] hm2/hm2_5i25.0:     timestamp_count_addr: 0x3800
[  963.797282] hm2/hm2_5i25.0:     filter_rate_addr: 0x3900
[  963.797283] hm2/hm2_5i25.0:     timestamp_div: 0x001F
[  963.797285] hm2/hm2_5i25.0:     instance 0:
[  963.797286] hm2/hm2_5i25.0:         hw:
[  963.797288] hm2/hm2_5i25.0:             counter = 8201.fffe
[  963.797289] hm2/hm2_5i25.0:             latch/control = 0000.0800
[  963.797291] hm2/hm2_5i25.0:             prev_control = 0000.0800
[  963.797292] hm2/hm2_5i25.0:     instance 1:
[  963.797294] hm2/hm2_5i25.0:         hw:
[  963.797295] hm2/hm2_5i25.0:             counter = 642a.1ba0
[  963.797297] hm2/hm2_5i25.0:             latch/control = 0000.0800
[  963.797298] hm2/hm2_5i25.0:             prev_control = 0000.0800
[  963.797300] hm2/hm2_5i25.0:     instance 2:
[  963.797301] hm2/hm2_5i25.0:         hw:
[  963.797303] hm2/hm2_5i25.0:             counter = 81f9.fffe
[  963.797304] hm2/hm2_5i25.0:             latch/control = 0000.0800
[  963.797306] hm2/hm2_5i25.0:             prev_control = 0000.0800
[  963.797307] hm2/hm2_5i25.0: resolvers: 0
[  963.797309] hm2/hm2_5i25.0: PWMGen: 0
[  963.797310] hm2/hm2_5i25.0: 3-phase PWMGen: 0
[  963.797312] hm2/hm2_5i25.0: SSerial: 1
[  963.797313] hm2/hm2_5i25.0:   version 0
[  963.797314] hm2/hm2_5i25.0:     instance 0:
[  963.797316] hm2/hm2_5i25.0:         Command Addr 0x5a00
[  963.797317] hm2/hm2_5i25.0:         Data Addr    0x5b00
[  963.797319] hm2/hm2_5i25.0:         0 8i20s
[  963.797320] hm2/hm2_5i25.0:         0 7i64s
[  963.797321] hm2/hm2_5i25.0: 
[  963.797323] hm2/hm2_5i25.0: StepGen: 0
[  963.797324] hm2/hm2_5i25.0: IO Ports: 2
[  963.797326] hm2/hm2_5i25.0:     clock_frequency: 33333333 Hz (33.333 MHz)
[  963.797328] hm2/hm2_5i25.0:     version: 0
[  963.797329] hm2/hm2_5i25.0:     data_addr: 0x1000
[  963.797331] hm2/hm2_5i25.0:     ddr_addr: 0x1100
[  963.797332] hm2/hm2_5i25.0:     alt_source_addr: 0x1200
[  963.797334] hm2/hm2_5i25.0:     open_drain_addr: 0x1300
[  963.797335] hm2/hm2_5i25.0:     output_invert_addr: 0x1400
[  963.797337] hm2/hm2_5i25.0:     instance 0:
[  963.797338] hm2/hm2_5i25.0:         data_read = 0x00073F
[  963.797340] hm2/hm2_5i25.0:         data_write = 0x000000
[  963.797341] hm2/hm2_5i25.0:         ddr = 0x000088
[  963.797343] hm2/hm2_5i25.0:         alt_source = 0x003F98
[  963.797344] hm2/hm2_5i25.0:         open_drain = 0x000000
[  963.797346] hm2/hm2_5i25.0:         output_invert = 0x000000
[  963.797347] hm2/hm2_5i25.0:     instance 1:
[  963.797349] hm2/hm2_5i25.0:         data_read = 0x01FFFF
[  963.797350] hm2/hm2_5i25.0:         data_write = 0x000000
[  963.797352] hm2/hm2_5i25.0:         ddr = 0x000000
[  963.797353] hm2/hm2_5i25.0:         alt_source = 0x000000
[  963.797355] hm2/hm2_5i25.0:         open_drain = 0x000000
[  963.797356] hm2/hm2_5i25.0:         output_invert = 0x000000
[  963.797358] hm2/hm2_5i25.0: Watchdog: 1
[  963.797359] hm2/hm2_5i25.0:     clock_frequency: 33333333 Hz (33.333 MHz)
[  963.797361] hm2/hm2_5i25.0:     version: 0
[  963.797362] hm2/hm2_5i25.0:     timer_addr: 0x0C00
[  963.797364] hm2/hm2_5i25.0:     status_addr: 0x0D00
[  963.797365] hm2/hm2_5i25.0:     reset_addr: 0x0E00
[  963.797367] hm2/hm2_5i25.0:     instance 0:
[  963.797368] hm2/hm2_5i25.0:         param timeout_ns = 5000000
[  963.797370] hm2/hm2_5i25.0:         pin has_bit = 0
[  963.797372] hm2/hm2_5i25.0:         reg timer = 0x80000000
[  963.797400] hm2/hm2_5i25.0: registered
[  963.797401] hm2_5i25.0: initialized AnyIO board at 0000:05:00.0
[  963.947687] hm2_5i25.0: dropping AnyIO board at 0000:05:00.0
[  963.947692] hm2/hm2_5i25.0: unregistered
[  963.947711] hm2_pci 0000:05:00.0: PCI INT A disabled
[  963.947729] hm2_pci: driver unloaded
[  963.948997] hm2: unloading
[  963.969564] RTAI[math]: unloaded.
[  963.989490] SCHED releases registered named ALIEN RTGLBH
[  964.018006] RTAI[malloc]: unloaded.
[  964.117662] RTAI[sched]: unloaded (forced hard/soft/hard transitions: traps 0, syscalls 0).
[  964.119075] I-pipe: Domain RTAI unregistered.
[  964.119112] RTAI[hal]: unmounted.
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Re: Mesa 5i25+7i77-с чего начать?

Сообщение Nick »

Вот это писать не надо. Только названия пинов и сигналов!
net motion.spindle-forward OUT BIT hm2_5i25.0.7i77.0.0.output-00 spindle-forward OUT

И сначала название сигнала, потом пины! Т.е. :
net spindle-forward motion.spindle-forward hm2_5i25.0.7i77.0.0.output-00

Или так
net spindle-forward motion.spindle-forward
net spindle-forward hm2_5i25.0.7i77.0.0.output-00

Можно еще стрелки нарисовать, чтобы был понятнее
net spindle-forward <= motion.spindle-forward
net spindle-forward => hm2_5i25.0.7i77.0.0.output-00
или
net spindle-forward <= motion.spindle-forward => hm2_5i25.0.7i77.0.0.output-00
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dansystems1
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Re: Mesa 5i25+7i77-с чего начать?

Сообщение dansystems1 »

Я думаю что входы и выходы должны быть написаны в этом духе(как в рабочем конфиге)-
# create a signal for the estop loopback
net estop-loop iocontrol.0.user-enable-out => iocontrol.0.emc-enable-in
как написать остальные входы и выходы ?(примерчик хотя pls :) )
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Re: Mesa 5i25+7i77-с чего начать?

Сообщение dansystems1 »

Nick писал(а):net motion.spindle-forward OUT BIT hm2_5i25.0.7i77.0.0.output-00 spindle-forward OUT

Шас поправлю!
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Re: Mesa 5i25+7i77-с чего начать?

Сообщение Nick »

Я там пару раз переписал предыдущее сообщение - перечитай :)
dansystems1 писал(а):как написать остальные входы и выходы ?(примерчик хотя pls
Какие именно?
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Re: Mesa 5i25+7i77-с чего начать?

Сообщение dansystems1 »

То же самое :yawn:
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Re: Mesa 5i25+7i77-с чего начать?

Сообщение Nick »

Ошибку в студию и hal тоже :)
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dansystems1
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Re: Mesa 5i25+7i77-с чего начать?

Сообщение dansystems1 »

вот HAL-

Код: Выделить всё

# #######################################
#
# HAL file for HostMot2 with 3 smart serial analog servos
#
# Derived from Ted Hyde's original hm2-servo config
#
# Based up work and discussion with Seb & Peter & Jeff
# GNU license references - insert here. www.linuxcnc.org
#
#
# ########################################
# Firmware files are in /lib/firmware/hm2/7i43/
# Must symlink the hostmot2 firmware directory of sanbox to
# /lib/firmware before running EMC2...
# sudo ln -s $HOME/emc2-sandbox/src/hal/drivers/mesa-hostmot2/firmware /lib/firmware/hm2
#
# See also:
# <http://www.linuxcnc.org/docs/devel/html/man/man9/hostmot2.9.html#config%20modparam>
# and http://wiki.linuxcnc.org/cgi-bin/emcinfo.pl?HostMot2
#
# #####################################################################


# ###################################
# Core EMC/HAL Loads
# ###################################

# kinematics
loadrt trivkins

# motion controller, get name and thread periods from ini file
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[TRAJ]AXES

# standard components
loadrt pid num_chan=3 


# hostmot2 driver
# if you have any firmware trouble, enable the debug flags here and see what's going on in the syslog
loadrt hostmot2 debug_idrom=1 debug_module_descriptors=1 debug_pin_descriptors=1 debug_modules=1
#loadrt hostmot2

# load low-level driver
loadrt [HOSTMOT2](DRIVER) config=[HOSTMOT2](CONFIG)


setp hm2_[HOSTMOT2](BOARD).0.watchdog.timeout_ns 10000000


# ################################################
# THREADS
# ################################################

addf hm2_[HOSTMOT2](BOARD).0.read          servo-thread

addf motion-command-handler                servo-thread
addf motion-controller                     servo-thread

addf pid.0.do-pid-calcs                    servo-thread
addf pid.1.do-pid-calcs                    servo-thread
addf pid.2.do-pid-calcs                    servo-thread

addf hm2_[HOSTMOT2](BOARD).0.write         servo-thread
addf hm2_[HOSTMOT2](BOARD).0.pet_watchdog  servo-thread
       

# ######################################################
# Axis-of-motion Specific Configs (not the GUI)
# ######################################################


# ################
# X [0] Axis
# ################

# axis enable chain
newsig emcmot.00.enable bit
sets emcmot.00.enable FALSE
net emcmot.00.enable => pid.0.enable
net emcmot.00.enable => hm2_[HOSTMOT2](BOARD).0.7i77.0.1.analogena
net emcmot.00.enable <= axis.0.amp-enable-out 

# encoder feedback
setp hm2_[HOSTMOT2](BOARD).0.encoder.00.counter-mode 0
setp hm2_[HOSTMOT2](BOARD).0.encoder.00.filter 1
setp hm2_[HOSTMOT2](BOARD).0.encoder.00.index-invert 0
setp hm2_[HOSTMOT2](BOARD).0.encoder.00.index-mask 0
setp hm2_[HOSTMOT2](BOARD).0.encoder.00.index-mask-invert 0

setp  hm2_[HOSTMOT2](BOARD).0.encoder.00.scale  [AXIS_0]INPUT_SCALE
net motor.00.pos-fb hm2_[HOSTMOT2](BOARD).0.encoder.00.position => pid.0.feedback
net motor.00.pos-fb => axis.0.motor-pos-fb #push copy back to Axis GUI

# set PID loop gains from inifile
setp pid.0.Pgain [AXIS_0]P
setp pid.0.Igain [AXIS_0]I
setp pid.0.Dgain [AXIS_0]D
setp pid.0.bias [AXIS_0]BIAS
setp pid.0.FF0 [AXIS_0]FF0
setp pid.0.FF1 [AXIS_0]FF1
setp pid.0.FF2 [AXIS_0]FF2
setp pid.0.deadband [AXIS_0]DEADBAND
setp pid.0.maxoutput [AXIS_0]MAX_OUTPUT

# position command signals

# setp hm2_[HOSTMOT2](BOARD).0.7i77.0.1.analogout0-scalemax [AXIS_0]OUTPUT_SCALE

net emcmot.00.pos-cmd axis.0.motor-pos-cmd => pid.0.command
net motor.00.command  pid.0.output  =>  hm2_[HOSTMOT2](BOARD).0.7i77.0.1.analogout0


# ################
# Y [1] Axis
# ################

# axis enable chain
newsig emcmot.01.enable bit
sets emcmot.01.enable FALSE
net emcmot.01.enable => pid.1.enable
net emcmot.01.enable <= axis.1.amp-enable-out 

# encoder feedback
setp hm2_[HOSTMOT2](BOARD).0.encoder.01.counter-mode 0
setp hm2_[HOSTMOT2](BOARD).0.encoder.01.filter 1
setp hm2_[HOSTMOT2](BOARD).0.encoder.01.index-invert 0
setp hm2_[HOSTMOT2](BOARD).0.encoder.01.index-mask 0
setp hm2_[HOSTMOT2](BOARD).0.encoder.01.index-mask-invert 0

setp  hm2_[HOSTMOT2](BOARD).0.encoder.01.scale  [AXIS_1]INPUT_SCALE
net motor.01.pos-fb hm2_[HOSTMOT2](BOARD).0.encoder.01.position => pid.1.feedback
net motor.01.pos-fb => axis.1.motor-pos-fb #push copy back to Axis GUI

# set PID loop gains from inifile
setp pid.1.Pgain [AXIS_1]P
setp pid.1.Igain [AXIS_1]I
setp pid.1.Dgain [AXIS_1]D
setp pid.1.bias [AXIS_1]BIAS
setp pid.1.FF0 [AXIS_1]FF0
setp pid.1.FF1 [AXIS_1]FF1
setp pid.1.FF2 [AXIS_1]FF2
setp pid.1.deadband [AXIS_1]DEADBAND
setp pid.1.maxoutput [AXIS_1]MAX_OUTPUT

# position command signals

# setp hm2_[HOSTMOT2](BOARD).0.7i77.0.1.analogout1-scalemax [AXIS_1]OUTPUT_SCALE

net emcmot.01.pos-cmd axis.1.motor-pos-cmd => pid.1.command
net motor.01.command  pid.1.output  =>  hm2_[HOSTMOT2](BOARD).0.7i77.0.1.analogout1


# ################
# Z [2] Axis
# ################

# axis enable chain
newsig emcmot.02.enable bit
sets emcmot.02.enable FALSE
net emcmot.02.enable => pid.2.enable
net emcmot.02.enable <= axis.2.amp-enable-out 

# encoder feedback
setp hm2_[HOSTMOT2](BOARD).0.encoder.02.counter-mode 0
setp hm2_[HOSTMOT2](BOARD).0.encoder.02.filter 1
setp hm2_[HOSTMOT2](BOARD).0.encoder.02.index-invert 0
setp hm2_[HOSTMOT2](BOARD).0.encoder.02.index-mask 0
setp hm2_[HOSTMOT2](BOARD).0.encoder.02.index-mask-invert 0

setp  hm2_[HOSTMOT2](BOARD).0.encoder.02.scale  [AXIS_2]INPUT_SCALE
net motor.02.pos-fb hm2_[HOSTMOT2](BOARD).0.encoder.02.position => pid.2.feedback
net motor.02.pos-fb => axis.2.motor-pos-fb #push copy back to Axis GUI

# set PID loop gains from inifile
setp pid.2.Pgain [AXIS_2]P
setp pid.2.Igain [AXIS_2]I
setp pid.2.Dgain [AXIS_2]D
setp pid.2.bias [AXIS_2]BIAS
setp pid.2.FF0 [AXIS_2]FF0
setp pid.2.FF1 [AXIS_2]FF1
setp pid.2.FF2 [AXIS_2]FF2
setp pid.2.deadband [AXIS_2]DEADBAND
setp pid.2.maxoutput [AXIS_2]MAX_OUTPUT

# position command signals

# setp hm2_[HOSTMOT2](BOARD).0.7i77.0.1.analogout2-scalemax [AXIS_3]OUTPUT_SCALE

net motor.02.command  pid.2.output  =>  hm2_[HOSTMOT2](BOARD).0.7i77.0.1.analogout2
net emcmot.02.pos-cmd axis.2.motor-pos-cmd => pid.2.command



# ##################################################
# Standard I/O Block - EStop, Etc
# ##################################################

# create a signal for the estop loopback
net estop-loop iocontrol.0.user-enable-out => iocontrol.0.emc-enable-in

# create signals for tool loading loopback
net tool-prep-loop iocontrol.0.tool-prepare => iocontrol.0.tool-prepared
net tool-change-loop iocontrol.0.tool-change => iocontrol.0.tool-changed


#
# homing
#


#net home-switch <= hm2_[HOSTMOT2](BOARD).0.7i77.0.0.input-00
#net home-switch => axis.0.home-sw-in
#net home-switch => axis.1.home-sw-in
#net home-switch => axis.2.home-sw-in
net spindle-forward <= motion.spindle-forward => hm2_5i25.0.7i77.0.0.output-00
вот и ошибка-

Код: Выделить всё

Print file information:
RUN_IN_PLACE=no
LINUXCNC_DIR=
LINUXCNC_BIN_DIR=/usr/bin
LINUXCNC_TCL_DIR=/usr/lib/tcltk/linuxcnc
LINUXCNC_SCRIPT_DIR=
LINUXCNC_RTLIB_DIR=/usr/realtime-2.6.32-122-rtai/modules/linuxcnc
LINUXCNC_CONFIG_DIR=
LINUXCNC_LANG_DIR=/usr/share/linuxcnc/tcl/msgs
INIVAR=inivar
HALCMD=halcmd
LINUXCNC_EMCSH=/usr/bin/wish8.5
LINUXCNC - 2.5.0
Machine configuration directory is '/home/dan/linuxcnc/configs/6R13F'
Machine configuration file is '5i25-7i77.ini'
INIFILE=/home/dan/linuxcnc/configs/6R13F/5i25-7i77.ini
PARAMETER_FILE=hm2-servo.var
TASK=milltask
HALUI=
DISPLAY=axis
Starting LinuxCNC...
Starting LinuxCNC server program: linuxcncsvr
Loading Real Time OS, RTAPI, and HAL_LIB modules
Starting LinuxCNC IO program: io
emc/iotask/ioControl.cc 751: can't load tool table.
Shutting down and cleaning up LinuxCNC...
Killing task linuxcncsvr, PID=4025
Removing HAL_LIB, RTAPI, and Real Time OS modules
Removing NML shared memory segments
Cleanup done

Debug file information:
Can not find -sec MOT -var MOT -num 1 
Can not find -sec IO -var IO -num 1 
Can not find -sec LINUXCNC -var NML_FILE -num 1 
Can not find -sec EMC -var NML_FILE -num 1 
hm2-servo7i77.hal:215: Pin 'hm2_5i25.0.7i77.0.0.output-00' does not exist
4025
  PID TTY      STAT   TIME COMMAND
Stopping realtime threads
Unloading hal components

Kernel message information:
[ 2464.789952] I-pipe: Domain RTAI registered.
[ 2464.789957] RTAI[hal]: <3.8.1> mounted over IPIPE-NOTHREADS 2.6-03.
[ 2464.789958] RTAI[hal]: compiled with gcc version 4.4.3 (Ubuntu 4.4.3-4ubuntu5) .
[ 2464.789986] RTAI[hal]: mounted (IPIPE-NOTHREADS, IMMEDIATE (INTERNAL IRQs DISPATCHED), ISOL_CPUS_MASK: 0).
[ 2464.789987] PIPELINE layers:
[ 2464.789989] f82e7e20 9ac15d93 RTAI 200
[ 2464.789991] c085cb20 0 Linux 100
[ 2464.802366] RTAI[malloc]: global heap size = 2097152 bytes, <BSD>.
[ 2464.806195] RTAI[sched]: IMMEDIATE, MP, USER/KERNEL SPACE: <with RTAI OWN KTASKs>, kstacks pool size = 524288 bytes.
[ 2464.806199] RTAI[sched]: hard timer type/freq = APIC/6235790(Hz); default timing: periodic; linear timed lists.
[ 2464.806202] RTAI[sched]: Linux timer freq = 250 (Hz), TimeBase freq = 2594163000 hz.
[ 2464.806203] RTAI[sched]: timer setup = 999 ns, resched latency = 2943 ns.
[ 2464.806253] RTAI[usi]: enabled.
[ 2464.836505] RTAI[math]: loaded.
[ 2464.882492] hm2: loading Mesa HostMot2 driver version 0.15
[ 2464.884075] hm2_pci: loading Mesa AnyIO HostMot2 driver version 0.7
[ 2464.884102] hm2_pci 0000:05:00.0: PCI INT A -> GSI 18 (level, low) -> IRQ 18
[ 2464.884105] hm2_pci: discovered 5i25 at 0000:05:00.0
[ 2464.884171] hm2/hm2_5i25.0: IDRom:
[ 2464.884174] hm2/hm2_5i25.0:     IDRom Type: 0x00000003
[ 2464.884176] hm2/hm2_5i25.0:     Offset to Modules: 0x00000040
[ 2464.884178] hm2/hm2_5i25.0:     Offset to Pin Description: 0x000001C0
[ 2464.884179] hm2/hm2_5i25.0:     Board Name: MESA5I25
[ 2464.884181] hm2/hm2_5i25.0:     FPGA Size: 9
[ 2464.884183] hm2/hm2_5i25.0:     FPGA Pins: 144
[ 2464.884184] hm2/hm2_5i25.0:     Port Width: 17
[ 2464.884186] hm2/hm2_5i25.0:     IO Ports: 2
[ 2464.884187] hm2/hm2_5i25.0:     IO Width: 34
[ 2464.884189] hm2/hm2_5i25.0:     Clock Low: 33333333 Hz (33333 KHz, 33 MHz)
[ 2464.884191] hm2/hm2_5i25.0:     Clock High: 200000000 Hz (200000 KHz, 200 MHz)
[ 2464.884193] hm2/hm2_5i25.0:     Instance Stride 0: 0x00000004
[ 2464.884195] hm2/hm2_5i25.0:     Instance Stride 1: 0x00000040
[ 2464.884196] hm2/hm2_5i25.0:     Register Stride 0: 0x00000100
[ 2464.884198] hm2/hm2_5i25.0:     Register Stride 1: 0x00000100
[ 2464.884355] hm2/hm2_5i25.0: 34 HM2 Pin Descriptors:
[ 2464.884356] hm2/hm2_5i25.0:     pin 0:
[ 2464.884358] hm2/hm2_5i25.0:         Primary Tag: 0x03 (IOPort)
[ 2464.884360] hm2/hm2_5i25.0:         Secondary Tag: 0xC1 (Smart Serial Interface)
[ 2464.884362] hm2/hm2_5i25.0:         Secondary Unit: 0x00
[ 2464.884364] hm2/hm2_5i25.0:         Secondary Pin: 0x93 (TxEn2  , Output)
[ 2464.884366] hm2/hm2_5i25.0:     pin 1:
[ 2464.884367] hm2/hm2_5i25.0:         Primary Tag: 0x03 (IOPort)
[ 2464.884369] hm2/hm2_5i25.0:         Secondary Tag: 0xC1 (Smart Serial Interface)
[ 2464.884371] hm2/hm2_5i25.0:         Secondary Unit: 0x00
[ 2464.884373] hm2/hm2_5i25.0:         Secondary Pin: 0x83 (TxData2, Output)
[ 2464.884374] hm2/hm2_5i25.0:     pin 2:
[ 2464.884376] hm2/hm2_5i25.0:         Primary Tag: 0x03 (IOPort)
[ 2464.884377] hm2/hm2_5i25.0:         Secondary Tag: 0xC1 (Smart Serial Interface)
[ 2464.884379] hm2/hm2_5i25.0:         Secondary Unit: 0x00
[ 2464.884381] hm2/hm2_5i25.0:         Secondary Pin: 0x03 (RxData2, Input)
[ 2464.884383] hm2/hm2_5i25.0:     pin 3:
[ 2464.884384] hm2/hm2_5i25.0:         Primary Tag: 0x03 (IOPort)
[ 2464.884386] hm2/hm2_5i25.0:         Secondary Tag: 0xC1 (Smart Serial Interface)
[ 2464.884388] hm2/hm2_5i25.0:         Secondary Unit: 0x00
[ 2464.884389] hm2/hm2_5i25.0:         Secondary Pin: 0x82 (TxData1, Output)
[ 2464.884391] hm2/hm2_5i25.0:     pin 4:
[ 2464.884392] hm2/hm2_5i25.0:         Primary Tag: 0x03 (IOPort)
[ 2464.884394] hm2/hm2_5i25.0:         Secondary Tag: 0xC1 (Smart Serial Interface)
[ 2464.884396] hm2/hm2_5i25.0:         Secondary Unit: 0x00
[ 2464.884398] hm2/hm2_5i25.0:         Secondary Pin: 0x02 (RxData1, Input)
[ 2464.884399] hm2/hm2_5i25.0:     pin 5:
[ 2464.884401] hm2/hm2_5i25.0:         Primary Tag: 0x03 (IOPort)
[ 2464.884402] hm2/hm2_5i25.0:         Secondary Tag: 0xC1 (Smart Serial Interface)
[ 2464.884404] hm2/hm2_5i25.0:         Secondary Unit: 0x00
[ 2464.884406] hm2/hm2_5i25.0:         Secondary Pin: 0x81 (TxData0, Output)
[ 2464.884407] hm2/hm2_5i25.0:     pin 6:
[ 2464.884409] hm2/hm2_5i25.0:         Primary Tag: 0x03 (IOPort)
[ 2464.884410] hm2/hm2_5i25.0:         Secondary Tag: 0xC1 (Smart Serial Interface)
[ 2464.884412] hm2/hm2_5i25.0:         Secondary Unit: 0x00
[ 2464.884414] hm2/hm2_5i25.0:         Secondary Pin: 0x01 (RxData0, Input)
[ 2464.884415] hm2/hm2_5i25.0:     pin 7:
[ 2464.884417] hm2/hm2_5i25.0:         Primary Tag: 0x03 (IOPort)
[ 2464.884419] hm2/hm2_5i25.0:         Secondary Tag: 0x0D (Muxed Encoder Select)
[ 2464.884420] hm2/hm2_5i25.0:         Secondary Unit: 0x00
[ 2464.884422] hm2/hm2_5i25.0:         Secondary Pin: 0x81 (Mux Select 0, Output)
[ 2464.884424] hm2/hm2_5i25.0:     pin 8:
[ 2464.884425] hm2/hm2_5i25.0:         Primary Tag: 0x03 (IOPort)
[ 2464.884427] hm2/hm2_5i25.0:         Secondary Tag: 0x0C (Muxed Encoder)
[ 2464.884428] hm2/hm2_5i25.0:         Secondary Unit: 0x00
[ 2464.884430] hm2/hm2_5i25.0:         Secondary Pin: 0x01 (Muxed A, Input)
[ 2464.884432] hm2/hm2_5i25.0:     pin 9:
[ 2464.884433] hm2/hm2_5i25.0:         Primary Tag: 0x03 (IOPort)
[ 2464.884435] hm2/hm2_5i25.0:         Secondary Tag: 0x0C (Muxed Encoder)
[ 2464.884437] hm2/hm2_5i25.0:         Secondary Unit: 0x00
[ 2464.884438] hm2/hm2_5i25.0:         Secondary Pin: 0x02 (Muxed B, Input)
[ 2464.884440] hm2/hm2_5i25.0:     pin 10:
[ 2464.884441] hm2/hm2_5i25.0:         Primary Tag: 0x03 (IOPort)
[ 2464.884443] hm2/hm2_5i25.0:         Secondary Tag: 0x0C (Muxed Encoder)
[ 2464.884445] hm2/hm2_5i25.0:         Secondary Unit: 0x00
[ 2464.884446] hm2/hm2_5i25.0:         Secondary Pin: 0x03 (Muxed Index, Input)
[ 2464.884448] hm2/hm2_5i25.0:     pin 11:
[ 2464.884449] hm2/hm2_5i25.0:         Primary Tag: 0x03 (IOPort)
[ 2464.884451] hm2/hm2_5i25.0:         Secondary Tag: 0x0C (Muxed Encoder)
[ 2464.884453] hm2/hm2_5i25.0:         Secondary Unit: 0x01
[ 2464.884454] hm2/hm2_5i25.0:         Secondary Pin: 0x01 (Muxed A, Input)
[ 2464.884456] hm2/hm2_5i25.0:     pin 12:
[ 2464.884457] hm2/hm2_5i25.0:         Primary Tag: 0x03 (IOPort)
[ 2464.884459] hm2/hm2_5i25.0:         Secondary Tag: 0x0C (Muxed Encoder)
[ 2464.884461] hm2/hm2_5i25.0:         Secondary Unit: 0x01
[ 2464.884462] hm2/hm2_5i25.0:         Secondary Pin: 0x02 (Muxed B, Input)
[ 2464.884464] hm2/hm2_5i25.0:     pin 13:
[ 2464.884465] hm2/hm2_5i25.0:         Primary Tag: 0x03 (IOPort)
[ 2464.884467] hm2/hm2_5i25.0:         Secondary Tag: 0x0C (Muxed Encoder)
[ 2464.884469] hm2/hm2_5i25.0:         Secondary Unit: 0x01
[ 2464.884470] hm2/hm2_5i25.0:         Secondary Pin: 0x03 (Muxed Index, Input)
[ 2464.884472] hm2/hm2_5i25.0:     pin 14:
[ 2464.884473] hm2/hm2_5i25.0:         Primary Tag: 0x03 (IOPort)
[ 2464.884475] hm2/hm2_5i25.0:         Secondary Tag: 0x0C (Muxed Encoder)
[ 2464.884477] hm2/hm2_5i25.0:         Secondary Unit: 0x02
[ 2464.884478] hm2/hm2_5i25.0:         Secondary Pin: 0x01 (Muxed A, Input)
[ 2464.884480] hm2/hm2_5i25.0:     pin 15:
[ 2464.884481] hm2/hm2_5i25.0:         Primary Tag: 0x03 (IOPort)
[ 2464.884483] hm2/hm2_5i25.0:         Secondary Tag: 0x0C (Muxed Encoder)
[ 2464.884485] hm2/hm2_5i25.0:         Secondary Unit: 0x02
[ 2464.884486] hm2/hm2_5i25.0:         Secondary Pin: 0x02 (Muxed B, Input)
[ 2464.884488] hm2/hm2_5i25.0:     pin 16:
[ 2464.884489] hm2/hm2_5i25.0:         Primary Tag: 0x03 (IOPort)
[ 2464.884491] hm2/hm2_5i25.0:         Secondary Tag: 0x0C (Muxed Encoder)
[ 2464.884493] hm2/hm2_5i25.0:         Secondary Unit: 0x02
[ 2464.884494] hm2/hm2_5i25.0:         Secondary Pin: 0x03 (Muxed Index, Input)
[ 2464.884496] hm2/hm2_5i25.0:     pin 17:
[ 2464.884497] hm2/hm2_5i25.0:         Primary Tag: 0x03 (IOPort)
[ 2464.884499] hm2/hm2_5i25.0:         Secondary Tag: 0xC1 (Smart Serial Interface)
[ 2464.884501] hm2/hm2_5i25.0:         Secondary Unit: 0x00
[ 2464.884503] hm2/hm2_5i25.0:         Secondary Pin: 0x96 (TxEn5  , Output)
[ 2464.884504] hm2/hm2_5i25.0:     pin 18:
[ 2464.884506] hm2/hm2_5i25.0:         Primary Tag: 0x03 (IOPort)
[ 2464.884507] hm2/hm2_5i25.0:         Secondary Tag: 0xC1 (Smart Serial Interface)
[ 2464.884509] hm2/hm2_5i25.0:         Secondary Unit: 0x00
[ 2464.884511] hm2/hm2_5i25.0:         Secondary Pin: 0x86 (TxData5, Output)
[ 2464.884512] hm2/hm2_5i25.0:     pin 19:
[ 2464.884514] hm2/hm2_5i25.0:         Primary Tag: 0x03 (IOPort)
[ 2464.884516] hm2/hm2_5i25.0:         Secondary Tag: 0xC1 (Smart Serial Interface)
[ 2464.884517] hm2/hm2_5i25.0:         Secondary Unit: 0x00
[ 2464.884519] hm2/hm2_5i25.0:         Secondary Pin: 0x06 (RxData5, Input)
[ 2464.884520] hm2/hm2_5i25.0:     pin 20:
[ 2464.884522] hm2/hm2_5i25.0:         Primary Tag: 0x03 (IOPort)
[ 2464.884524] hm2/hm2_5i25.0:         Secondary Tag: 0xC1 (Smart Serial Interface)
[ 2464.884525] hm2/hm2_5i25.0:         Secondary Unit: 0x00
[ 2464.884527] hm2/hm2_5i25.0:         Secondary Pin: 0x85 (TxData4, Output)
[ 2464.884528] hm2/hm2_5i25.0:     pin 21:
[ 2464.884530] hm2/hm2_5i25.0:         Primary Tag: 0x03 (IOPort)
[ 2464.884532] hm2/hm2_5i25.0:         Secondary Tag: 0xC1 (Smart Serial Interface)
[ 2464.884533] hm2/hm2_5i25.0:         Secondary Unit: 0x00
[ 2464.884535] hm2/hm2_5i25.0:         Secondary Pin: 0x05 (RxData4, Input)
[ 2464.884537] hm2/hm2_5i25.0:     pin 22:
[ 2464.884538] hm2/hm2_5i25.0:         Primary Tag: 0x03 (IOPort)
[ 2464.884540] hm2/hm2_5i25.0:         Secondary Tag: 0xC1 (Smart Serial Interface)
[ 2464.884541] hm2/hm2_5i25.0:         Secondary Unit: 0x00
[ 2464.884543] hm2/hm2_5i25.0:         Secondary Pin: 0x84 (TxData3, Output)
[ 2464.884545] hm2/hm2_5i25.0:     pin 23:
[ 2464.884546] hm2/hm2_5i25.0:         Primary Tag: 0x03 (IOPort)
[ 2464.884548] hm2/hm2_5i25.0:         Secondary Tag: 0xC1 (Smart Serial Interface)
[ 2464.884550] hm2/hm2_5i25.0:         Secondary Unit: 0x00
[ 2464.884551] hm2/hm2_5i25.0:         Secondary Pin: 0x04 (RxData3, Input)
[ 2464.884553] hm2/hm2_5i25.0:     pin 24:
[ 2464.884554] hm2/hm2_5i25.0:         Primary Tag: 0x03 (IOPort)
[ 2464.884556] hm2/hm2_5i25.0:         Secondary Tag: 0x0D (Muxed Encoder Select)
[ 2464.884558] hm2/hm2_5i25.0:         Secondary Unit: 0x03
[ 2464.884559] hm2/hm2_5i25.0:         Secondary Pin: 0x81 (Mux Select 0, Output)
[ 2464.884561] hm2/hm2_5i25.0:     pin 25:
[ 2464.884562] hm2/hm2_5i25.0:         Primary Tag: 0x03 (IOPort)
[ 2464.884564] hm2/hm2_5i25.0:         Secondary Tag: 0x0C (Muxed Encoder)
[ 2464.884566] hm2/hm2_5i25.0:         Secondary Unit: 0x03
[ 2464.884567] hm2/hm2_5i25.0:         Secondary Pin: 0x01 (Muxed A, Input)
[ 2464.884569] hm2/hm2_5i25.0:     pin 26:
[ 2464.884570] hm2/hm2_5i25.0:         Primary Tag: 0x03 (IOPort)
[ 2464.884572] hm2/hm2_5i25.0:         Secondary Tag: 0x0C (Muxed Encoder)
[ 2464.884574] hm2/hm2_5i25.0:         Secondary Unit: 0x03
[ 2464.884575] hm2/hm2_5i25.0:         Secondary Pin: 0x02 (Muxed B, Input)
[ 2464.884577] hm2/hm2_5i25.0:     pin 27:
[ 2464.884578] hm2/hm2_5i25.0:         Primary Tag: 0x03 (IOPort)
[ 2464.884580] hm2/hm2_5i25.0:         Secondary Tag: 0x0C (Muxed Encoder)
[ 2464.884582] hm2/hm2_5i25.0:         Secondary Unit: 0x03
[ 2464.884583] hm2/hm2_5i25.0:         Secondary Pin: 0x03 (Muxed Index, Input)
[ 2464.884585] hm2/hm2_5i25.0:     pin 28:
[ 2464.884586] hm2/hm2_5i25.0:         Primary Tag: 0x03 (IOPort)
[ 2464.884588] hm2/hm2_5i25.0:         Secondary Tag: 0x0C (Muxed Encoder)
[ 2464.884590] hm2/hm2_5i25.0:         Secondary Unit: 0x04
[ 2464.884591] hm2/hm2_5i25.0:         Secondary Pin: 0x01 (Muxed A, Input)
[ 2464.884593] hm2/hm2_5i25.0:     pin 29:
[ 2464.884594] hm2/hm2_5i25.0:         Primary Tag: 0x03 (IOPort)
[ 2464.884596] hm2/hm2_5i25.0:         Secondary Tag: 0x0C (Muxed Encoder)
[ 2464.884598] hm2/hm2_5i25.0:         Secondary Unit: 0x04
[ 2464.884599] hm2/hm2_5i25.0:         Secondary Pin: 0x02 (Muxed B, Input)
[ 2464.884601] hm2/hm2_5i25.0:     pin 30:
[ 2464.884602] hm2/hm2_5i25.0:         Primary Tag: 0x03 (IOPort)
[ 2464.884604] hm2/hm2_5i25.0:         Secondary Tag: 0x0C (Muxed Encoder)
[ 2464.884606] hm2/hm2_5i25.0:         Secondary Unit: 0x04
[ 2464.884607] hm2/hm2_5i25.0:         Secondary Pin: 0x03 (Muxed Index, Input)
[ 2464.884609] hm2/hm2_5i25.0:     pin 31:
[ 2464.884610] hm2/hm2_5i25.0:         Primary Tag: 0x03 (IOPort)
[ 2464.884612] hm2/hm2_5i25.0:         Secondary Tag: 0x0C (Muxed Encoder)
[ 2464.884613] hm2/hm2_5i25.0:         Secondary Unit: 0x05
[ 2464.884615] hm2/hm2_5i25.0:         Secondary Pin: 0x01 (Muxed A, Input)
[ 2464.884617] hm2/hm2_5i25.0:     pin 32:
[ 2464.884618] hm2/hm2_5i25.0:         Primary Tag: 0x03 (IOPort)
[ 2464.884620] hm2/hm2_5i25.0:         Secondary Tag: 0x0C (Muxed Encoder)
[ 2464.884621] hm2/hm2_5i25.0:         Secondary Unit: 0x05
[ 2464.884623] hm2/hm2_5i25.0:         Secondary Pin: 0x02 (Muxed B, Input)
[ 2464.884625] hm2/hm2_5i25.0:     pin 33:
[ 2464.884626] hm2/hm2_5i25.0:         Primary Tag: 0x03 (IOPort)
[ 2464.884628] hm2/hm2_5i25.0:         Secondary Tag: 0x0C (Muxed Encoder)
[ 2464.884629] hm2/hm2_5i25.0:         Secondary Unit: 0x05
[ 2464.884631] hm2/hm2_5i25.0:         Secondary Pin: 0x03 (Muxed Index, Input)
[ 2464.884639] hm2/hm2_5i25.0: Module Descriptor 0 at 0x0440:
[ 2464.884641] hm2/hm2_5i25.0:     General Function Tag: 2 (Watchdog)
[ 2464.884642] hm2/hm2_5i25.0:     Version: 0
[ 2464.884644] hm2/hm2_5i25.0:     Clock Tag: 1 (33.333 MHz)
[ 2464.884646] hm2/hm2_5i25.0:     Instances: 1
[ 2464.884647] hm2/hm2_5i25.0:     Base Address: 0x0C00
[ 2464.884649] hm2/hm2_5i25.0:     -- Num Registers: 3
[ 2464.884650] hm2/hm2_5i25.0:     Register Stride: 0x00000100
[ 2464.884652] hm2/hm2_5i25.0:     -- Instance Stride: 0x00000004
[ 2464.884653] hm2/hm2_5i25.0:     -- Multiple Registers: 0x00000000
[ 2464.884661] hm2/hm2_5i25.0: Module Descriptor 1 at 0x044C:
[ 2464.884663] hm2/hm2_5i25.0:     General Function Tag: 3 (IOPort)
[ 2464.884664] hm2/hm2_5i25.0:     Version: 0
[ 2464.884666] hm2/hm2_5i25.0:     Clock Tag: 1 (33.333 MHz)
[ 2464.884668] hm2/hm2_5i25.0:     Instances: 2
[ 2464.884669] hm2/hm2_5i25.0:     Base Address: 0x1000
[ 2464.884671] hm2/hm2_5i25.0:     -- Num Registers: 5
[ 2464.884672] hm2/hm2_5i25.0:     Register Stride: 0x00000100
[ 2464.884674] hm2/hm2_5i25.0:     -- Instance Stride: 0x00000004
[ 2464.884675] hm2/hm2_5i25.0:     -- Multiple Registers: 0x0000001F
[ 2464.884683] hm2/hm2_5i25.0: Module Descriptor 2 at 0x0458:
[ 2464.884685] hm2/hm2_5i25.0:     General Function Tag: 12 (Muxed Encoder)
[ 2464.884686] hm2/hm2_5i25.0:     Version: 3
[ 2464.884688] hm2/hm2_5i25.0:     Clock Tag: 1 (33.333 MHz)
[ 2464.884690] hm2/hm2_5i25.0:     Instances: 12
[ 2464.884691] hm2/hm2_5i25.0:     Base Address: 0x3500
[ 2464.884693] hm2/hm2_5i25.0:     -- Num Registers: 5
[ 2464.884694] hm2/hm2_5i25.0:     Register Stride: 0x00000100
[ 2464.884696] hm2/hm2_5i25.0:     -- Instance Stride: 0x00000004
[ 2464.884697] hm2/hm2_5i25.0:     -- Multiple Registers: 0x00000003
[ 2464.884705] hm2/hm2_5i25.0: Module Descriptor 3 at 0x0464:
[ 2464.884707] hm2/hm2_5i25.0:     General Function Tag: 13 (Muxed Encoder Select)
[ 2464.884708] hm2/hm2_5i25.0:     Version: 0
[ 2464.884710] hm2/hm2_5i25.0:     Clock Tag: 1 (33.333 MHz)
[ 2464.884712] hm2/hm2_5i25.0:     Instances: 1
[ 2464.884713] hm2/hm2_5i25.0:     Base Address: 0x0000
[ 2464.884714] hm2/hm2_5i25.0:     -- Num Registers: 0
[ 2464.884716] hm2/hm2_5i25.0:     Register Stride: 0x00000100
[ 2464.884718] hm2/hm2_5i25.0:     -- Instance Stride: 0x00000004
[ 2464.884719] hm2/hm2_5i25.0:     -- Multiple Registers: 0x00000000
[ 2464.884727] hm2/hm2_5i25.0: Module Descriptor 4 at 0x0470:
[ 2464.884729] hm2/hm2_5i25.0:     General Function Tag: 193 (Smart Serial Interface)
[ 2464.884730] hm2/hm2_5i25.0:     Version: 0
[ 2464.884732] hm2/hm2_5i25.0:     Clock Tag: 1 (33.333 MHz)
[ 2464.884733] hm2/hm2_5i25.0:     Instances: 1
[ 2464.884735] hm2/hm2_5i25.0:     Base Address: 0x5A00
[ 2464.884736] hm2/hm2_5i25.0:     -- Num Registers: 6
[ 2464.884738] hm2/hm2_5i25.0:     Register Stride: 0x00000100
[ 2464.884739] hm2/hm2_5i25.0:     -- Instance Stride: 0x00000040
[ 2464.884741] hm2/hm2_5i25.0:     -- Multiple Registers: 0x0000003C
[ 2464.884748] hm2/hm2_5i25.0: Module Descriptor 5 at 0x047C:
[ 2464.884750] hm2/hm2_5i25.0:     General Function Tag: 128 (LED)
[ 2464.884752] hm2/hm2_5i25.0:     Version: 0
[ 2464.884753] hm2/hm2_5i25.0:     Clock Tag: 1 (33.333 MHz)
[ 2464.884755] hm2/hm2_5i25.0:     Instances: 1
[ 2464.884756] hm2/hm2_5i25.0:     Base Address: 0x0200
[ 2464.884758] hm2/hm2_5i25.0:     -- Num Registers: 1
[ 2464.884759] hm2/hm2_5i25.0:     Register Stride: 0x00000100
[ 2464.884761] hm2/hm2_5i25.0:     -- Instance Stride: 0x00000004
[ 2464.884762] hm2/hm2_5i25.0:     -- Multiple Registers: 0x00000000
[ 2464.885224] hm2/hm2_5i25.0: Smart Serial Firmware Version 33
[ 2465.000826] hm2/hm2_5i25.0: 34 I/O Pins used:
[ 2465.000829] hm2/hm2_5i25.0:     IO Pin 000 (P3-01): IOPort
[ 2465.000831] hm2/hm2_5i25.0:     IO Pin 001 (P3-14): IOPort
[ 2465.000833] hm2/hm2_5i25.0:     IO Pin 002 (P3-02): IOPort
[ 2465.000835] hm2/hm2_5i25.0:     IO Pin 003 (P3-15): Smart Serial Interface #0, pin TxData1 (Output)
[ 2465.000838] hm2/hm2_5i25.0:     IO Pin 004 (P3-03): Smart Serial Interface #0, pin RxData1 (Input)
[ 2465.000845] hm2/hm2_5i25.0:     IO Pin 005 (P3-16): IOPort
[ 2465.000847] hm2/hm2_5i25.0:     IO Pin 006 (P3-04): IOPort
[ 2465.000850] hm2/hm2_5i25.0:     IO Pin 007 (P3-17): Muxed Encoder Select #0, pin Mux Select 0 (Output)
[ 2465.000853] hm2/hm2_5i25.0:     IO Pin 008 (P3-05): Muxed Encoder #0, pin Muxed A (Input)
[ 2465.000856] hm2/hm2_5i25.0:     IO Pin 009 (P3-06): Muxed Encoder #0, pin Muxed B (Input)
[ 2465.000859] hm2/hm2_5i25.0:     IO Pin 010 (P3-07): Muxed Encoder #0, pin Muxed Index (Input)
[ 2465.000861] hm2/hm2_5i25.0:     IO Pin 011 (P3-08): Muxed Encoder #1, pin Muxed A (Input)
[ 2465.000864] hm2/hm2_5i25.0:     IO Pin 012 (P3-09): Muxed Encoder #1, pin Muxed B (Input)
[ 2465.000867] hm2/hm2_5i25.0:     IO Pin 013 (P3-10): Muxed Encoder #1, pin Muxed Index (Input)
[ 2465.000870] hm2/hm2_5i25.0:     IO Pin 014 (P3-11): IOPort
[ 2465.000872] hm2/hm2_5i25.0:     IO Pin 015 (P3-12): IOPort
[ 2465.000874] hm2/hm2_5i25.0:     IO Pin 016 (P3-13): IOPort
[ 2465.000876] hm2/hm2_5i25.0:     IO Pin 017 (P2-01): IOPort
[ 2465.000879] hm2/hm2_5i25.0:     IO Pin 018 (P2-14): IOPort
[ 2465.000881] hm2/hm2_5i25.0:     IO Pin 019 (P2-02): IOPort
[ 2465.000883] hm2/hm2_5i25.0:     IO Pin 020 (P2-15): IOPort
[ 2465.000886] hm2/hm2_5i25.0:     IO Pin 021 (P2-03): IOPort
[ 2465.000888] hm2/hm2_5i25.0:     IO Pin 022 (P2-16): IOPort
[ 2465.000890] hm2/hm2_5i25.0:     IO Pin 023 (P2-04): IOPort
[ 2465.000893] hm2/hm2_5i25.0:     IO Pin 024 (P2-17): IOPort
[ 2465.000895] hm2/hm2_5i25.0:     IO Pin 025 (P2-05): IOPort
[ 2465.000897] hm2/hm2_5i25.0:     IO Pin 026 (P2-06): IOPort
[ 2465.000899] hm2/hm2_5i25.0:     IO Pin 027 (P2-07): IOPort
[ 2465.000901] hm2/hm2_5i25.0:     IO Pin 028 (P2-08): IOPort
[ 2465.000904] hm2/hm2_5i25.0:     IO Pin 029 (P2-09): IOPort
[ 2465.000906] hm2/hm2_5i25.0:     IO Pin 030 (P2-10): IOPort
[ 2465.000908] hm2/hm2_5i25.0:     IO Pin 031 (P2-11): IOPort
[ 2465.000910] hm2/hm2_5i25.0:     IO Pin 032 (P2-12): IOPort
[ 2465.000912] hm2/hm2_5i25.0:     IO Pin 033 (P2-13): IOPort
[ 2465.000914] hm2/hm2_5i25.0: HM2 Modules used:
[ 2465.000916] hm2/hm2_5i25.0: Encoders: 3
[ 2465.000919] hm2/hm2_5i25.0:     clock_frequency: 33333333 Hz (33.333 MHz)
[ 2465.000921] hm2/hm2_5i25.0:     version: 3
[ 2465.000923] hm2/hm2_5i25.0:     counter_addr: 0x3500
[ 2465.000925] hm2/hm2_5i25.0:     latch_control_addr: 0x3600
[ 2465.000927] hm2/hm2_5i25.0:     timestamp_div_addr: 0x3700
[ 2465.000930] hm2/hm2_5i25.0:     timestamp_count_addr: 0x3800
[ 2465.000932] hm2/hm2_5i25.0:     filter_rate_addr: 0x3900
[ 2465.000934] hm2/hm2_5i25.0:     timestamp_div: 0x001F
[ 2465.000936] hm2/hm2_5i25.0:     instance 0:
[ 2465.000938] hm2/hm2_5i25.0:         hw:
[ 2465.000940] hm2/hm2_5i25.0:             counter = bdc1.f5b5
[ 2465.000943] hm2/hm2_5i25.0:             latch/control = 0000.0800
[ 2465.000945] hm2/hm2_5i25.0:             prev_control = 0000.0800
[ 2465.000947] hm2/hm2_5i25.0:     instance 1:
[ 2465.000949] hm2/hm2_5i25.0:         hw:
[ 2465.000952] hm2/hm2_5i25.0:             counter = b228.4afa
[ 2465.000954] hm2/hm2_5i25.0:             latch/control = 0000.0800
[ 2465.000956] hm2/hm2_5i25.0:             prev_control = 0000.0800
[ 2465.000958] hm2/hm2_5i25.0:     instance 2:
[ 2465.000960] hm2/hm2_5i25.0:         hw:
[ 2465.000963] hm2/hm2_5i25.0:             counter = 81f9.fffe
[ 2465.000965] hm2/hm2_5i25.0:             latch/control = 0000.0800
[ 2465.000967] hm2/hm2_5i25.0:             prev_control = 0000.0800
[ 2465.000969] hm2/hm2_5i25.0: resolvers: 0
[ 2465.000971] hm2/hm2_5i25.0: PWMGen: 0
[ 2465.000973] hm2/hm2_5i25.0: 3-phase PWMGen: 0
[ 2465.000975] hm2/hm2_5i25.0: SSerial: 1
[ 2465.000977] hm2/hm2_5i25.0:   version 0
[ 2465.000979] hm2/hm2_5i25.0:     instance 0:
[ 2465.000981] hm2/hm2_5i25.0:         Command Addr 0x5a00
[ 2465.000984] hm2/hm2_5i25.0:         Data Addr    0x5b00
[ 2465.000986] hm2/hm2_5i25.0:         0 8i20s
[ 2465.000988] hm2/hm2_5i25.0:         0 7i64s
[ 2465.000990] hm2/hm2_5i25.0: 
[ 2465.000992] hm2/hm2_5i25.0: StepGen: 0
[ 2465.000994] hm2/hm2_5i25.0: IO Ports: 2
[ 2465.000996] hm2/hm2_5i25.0:     clock_frequency: 33333333 Hz (33.333 MHz)
[ 2465.000998] hm2/hm2_5i25.0:     version: 0
[ 2465.001000] hm2/hm2_5i25.0:     data_addr: 0x1000
[ 2465.001003] hm2/hm2_5i25.0:     ddr_addr: 0x1100
[ 2465.001005] hm2/hm2_5i25.0:     alt_source_addr: 0x1200
[ 2465.001007] hm2/hm2_5i25.0:     open_drain_addr: 0x1300
[ 2465.001009] hm2/hm2_5i25.0:     output_invert_addr: 0x1400
[ 2465.001011] hm2/hm2_5i25.0:     instance 0:
[ 2465.001013] hm2/hm2_5i25.0:         data_read = 0x00043F
[ 2465.001016] hm2/hm2_5i25.0:         data_write = 0x000000
[ 2465.001018] hm2/hm2_5i25.0:         ddr = 0x000088
[ 2465.001020] hm2/hm2_5i25.0:         alt_source = 0x003F98
[ 2465.001022] hm2/hm2_5i25.0:         open_drain = 0x000000
[ 2465.001024] hm2/hm2_5i25.0:         output_invert = 0x000000
[ 2465.001026] hm2/hm2_5i25.0:     instance 1:
[ 2465.001029] hm2/hm2_5i25.0:         data_read = 0x01FFFF
[ 2465.001030] hm2/hm2_5i25.0:         data_write = 0x000000
[ 2465.001033] hm2/hm2_5i25.0:         ddr = 0x000000
[ 2465.001035] hm2/hm2_5i25.0:         alt_source = 0x000000
[ 2465.001037] hm2/hm2_5i25.0:         open_drain = 0x000000
[ 2465.001039] hm2/hm2_5i25.0:         output_invert = 0x000000
[ 2465.001041] hm2/hm2_5i25.0: Watchdog: 1
[ 2465.001044] hm2/hm2_5i25.0:     clock_frequency: 33333333 Hz (33.333 MHz)
[ 2465.001046] hm2/hm2_5i25.0:     version: 0
[ 2465.001048] hm2/hm2_5i25.0:     timer_addr: 0x0C00
[ 2465.001050] hm2/hm2_5i25.0:     status_addr: 0x0D00
[ 2465.001053] hm2/hm2_5i25.0:     reset_addr: 0x0E00
[ 2465.001054] hm2/hm2_5i25.0:     instance 0:
[ 2465.001057] hm2/hm2_5i25.0:         param timeout_ns = 5000000
[ 2465.001059] hm2/hm2_5i25.0:         pin has_bit = 0
[ 2465.001061] hm2/hm2_5i25.0:         reg timer = 0x80000000
[ 2465.001090] hm2/hm2_5i25.0: registered
[ 2465.001092] hm2_5i25.0: initialized AnyIO board at 0000:05:00.0
[ 2465.181204] hm2_5i25.0: dropping AnyIO board at 0000:05:00.0
[ 2465.181208] hm2/hm2_5i25.0: unregistered
[ 2465.181227] hm2_pci 0000:05:00.0: PCI INT A disabled
[ 2465.181244] hm2_pci: driver unloaded
[ 2465.182691] hm2: unloading
[ 2465.203115] RTAI[math]: unloaded.
[ 2465.217363] SCHED releases registered named ALIEN RTGLBH
[ 2465.248763] RTAI[malloc]: unloaded.
[ 2465.346965] RTAI[sched]: unloaded (forced hard/soft/hard transitions: traps 0, syscalls 0).
[ 2465.348555] I-pipe: Domain RTAI unregistered.
[ 2465.348588] RTAI[hal]: unmounted.
Вернуться к началу
Аватара пользователя
Nick
Мастер
Сообщения: 22776
Зарегистрирован: 23 ноя 2009, 16:45
Репутация: 1735
Заслуга: Developer
Откуда: Gatchina, Saint-Petersburg distr., Russia
Контактная информация:
Контактная информация пользователя Nick

Re: Mesa 5i25+7i77-с чего начать?

Сообщение Nick »

dansystems1 писал(а):hm2-servo7i77.hal:215: Pin 'hm2_5i25.0.7i77.0.0.output-00' does not exist
Говорит пина такого нет...
А ты эту строчку откуда-то скопировал? У тебя с 3 smart serial девайсами...

Убери ее запусти LinuxCNC и вывод halcmd show запости сюда.
Вернуться к началу
dansystems1
Мастер
Сообщения: 339
Зарегистрирован: 23 апр 2012, 19:38
Репутация: 10
Откуда: Армения
Контактная информация:
Контактная информация пользователя dansystems1

Re: Mesa 5i25+7i77-с чего начать?

Сообщение dansystems1 »

halcmd show-

Код: Выделить всё

    10  s32   OUT         65534  hm2_5i25.0.encoder.02.rawlatch
    10  bit   IN          FALSE  hm2_5i25.0.encoder.02.reset
    10  float OUT             0  hm2_5i25.0.encoder.02.velocity
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.000.in
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.000.in_not
    10  bit   IN          FALSE  hm2_5i25.0.gpio.000.out
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.001.in
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.001.in_not
    10  bit   IN          FALSE  hm2_5i25.0.gpio.001.out
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.002.in
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.002.in_not
    10  bit   IN          FALSE  hm2_5i25.0.gpio.002.out
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.003.in
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.003.in_not
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.004.in
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.004.in_not
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.005.in
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.005.in_not
    10  bit   IN          FALSE  hm2_5i25.0.gpio.005.out
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.006.in
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.006.in_not
    10  bit   IN          FALSE  hm2_5i25.0.gpio.006.out
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.007.in
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.007.in_not
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.008.in
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.008.in_not
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.009.in
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.009.in_not
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.010.in
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.010.in_not
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.011.in
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.011.in_not
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.012.in
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.012.in_not
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.013.in
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.013.in_not
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.014.in
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.014.in_not
    10  bit   IN          FALSE  hm2_5i25.0.gpio.014.out
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.015.in
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.015.in_not
    10  bit   IN          FALSE  hm2_5i25.0.gpio.015.out
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.016.in
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.016.in_not
    10  bit   IN          FALSE  hm2_5i25.0.gpio.016.out
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.017.in
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.017.in_not
    10  bit   IN          FALSE  hm2_5i25.0.gpio.017.out
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.018.in
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.018.in_not
    10  bit   IN          FALSE  hm2_5i25.0.gpio.018.out
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.019.in
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.019.in_not
    10  bit   IN          FALSE  hm2_5i25.0.gpio.019.out
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.020.in
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.020.in_not
    10  bit   IN          FALSE  hm2_5i25.0.gpio.020.out
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.021.in
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.021.in_not
    10  bit   IN          FALSE  hm2_5i25.0.gpio.021.out
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.022.in
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.022.in_not
    10  bit   IN          FALSE  hm2_5i25.0.gpio.022.out
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.023.in
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.023.in_not
    10  bit   IN          FALSE  hm2_5i25.0.gpio.023.out
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.024.in
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.024.in_not
    10  bit   IN          FALSE  hm2_5i25.0.gpio.024.out
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.025.in
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.025.in_not
    10  bit   IN          FALSE  hm2_5i25.0.gpio.025.out
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.026.in
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.026.in_not
    10  bit   IN          FALSE  hm2_5i25.0.gpio.026.out
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.027.in
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.027.in_not
    10  bit   IN          FALSE  hm2_5i25.0.gpio.027.out
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.028.in
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.028.in_not
    10  bit   IN          FALSE  hm2_5i25.0.gpio.028.out
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.029.in
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.029.in_not
    10  bit   IN          FALSE  hm2_5i25.0.gpio.029.out
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.030.in
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.030.in_not
    10  bit   IN          FALSE  hm2_5i25.0.gpio.030.out
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.031.in
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.031.in_not
    10  bit   IN          FALSE  hm2_5i25.0.gpio.031.out
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.032.in
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.032.in_not
    10  bit   IN          FALSE  hm2_5i25.0.gpio.032.out
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.033.in
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.033.in_not
    10  bit   IN          FALSE  hm2_5i25.0.gpio.033.out
    10  bit   IN          FALSE  hm2_5i25.0.led.CR01
    10  bit   IN          FALSE  hm2_5i25.0.led.CR02
    10  u32   IN     0x00000000  hm2_5i25.0.sserial.channel
    10  u32   IN     0x00000000  hm2_5i25.0.sserial.parameter
    10  u32   IN     0x00000000  hm2_5i25.0.sserial.port
    10  u32   OUT    0x00000000  hm2_5i25.0.sserial.port-0.fault-count
    10  u32   OUT    0x00000001  hm2_5i25.0.sserial.port-0.port_state
    10  bit   IN           TRUE  hm2_5i25.0.sserial.port-0.run
    10  bit   IN          FALSE  hm2_5i25.0.sserial.read
    10  u32   OUT    0x00000000  hm2_5i25.0.sserial.state
    10  u32   IN     0x00000000  hm2_5i25.0.sserial.value
    10  bit   IN          FALSE  hm2_5i25.0.sserial.write
    10  bit   I/O         FALSE  hm2_5i25.0.watchdog.has_bit
     5  bit   OUT         FALSE  iocontrol.0.coolant-flood
     5  bit   OUT         FALSE  iocontrol.0.coolant-mist
     5  bit   IN           TRUE  iocontrol.0.emc-enable-in <== estop-loop
     5  bit   OUT          TRUE  iocontrol.0.lube
     5  bit   IN          FALSE  iocontrol.0.lube_level
     5  bit   OUT         FALSE  iocontrol.0.tool-change ==> tool-change-loop
     5  bit   IN          FALSE  iocontrol.0.tool-changed <== tool-change-loop
     5  s32   OUT             0  iocontrol.0.tool-number
     5  s32   OUT             0  iocontrol.0.tool-prep-number
     5  s32   OUT             0  iocontrol.0.tool-prep-pocket
     5  bit   OUT         FALSE  iocontrol.0.tool-prepare ==> tool-prep-loop
     5  bit   IN          FALSE  iocontrol.0.tool-prepared <== tool-prep-loop
     5  bit   OUT          TRUE  iocontrol.0.user-enable-out ==> estop-loop
     5  bit   OUT         FALSE  iocontrol.0.user-request-enable
     7  float IN              1  motion.adaptive-feed
     7  float IN              0  motion.analog-in-00
     7  float IN              0  motion.analog-in-01
     7  float IN              0  motion.analog-in-02
     7  float IN              0  motion.analog-in-03
     7  float OUT             0  motion.analog-out-00
     7  float OUT             0  motion.analog-out-01
     7  float OUT             0  motion.analog-out-02
     7  float OUT             0  motion.analog-out-03
     7  bit   OUT         FALSE  motion.coord-error
     7  bit   OUT         FALSE  motion.coord-mode
     7  float OUT             0  motion.current-vel
     7  bit   IN          FALSE  motion.digital-in-00
     7  bit   IN          FALSE  motion.digital-in-01
     7  bit   IN          FALSE  motion.digital-in-02
     7  bit   IN          FALSE  motion.digital-in-03
     7  bit   OUT         FALSE  motion.digital-out-00
     7  bit   OUT         FALSE  motion.digital-out-01
     7  bit   OUT         FALSE  motion.digital-out-02
     7  bit   OUT         FALSE  motion.digital-out-03
     7  float OUT             0  motion.distance-to-go
     7  bit   IN           TRUE  motion.enable
     7  bit   IN          FALSE  motion.feed-hold
     7  bit   OUT          TRUE  motion.in-position
     7  bit   IN           TRUE  motion.motion-enabled
     7  bit   OUT         FALSE  motion.on-soft-limit
     7  bit   IN          FALSE  motion.probe-input
     7  s32   OUT             0  motion.program-line
     7  float OUT             0  motion.requested-vel
     7  bit   IN           TRUE  motion.spindle-at-speed
     7  bit   OUT          TRUE  motion.spindle-brake
     7  bit   OUT         FALSE  motion.spindle-forward
     7  bit   I/O         FALSE  motion.spindle-index-enable
     7  bit   OUT         FALSE  motion.spindle-on
     7  bit   OUT         FALSE  motion.spindle-reverse
     7  float IN              0  motion.spindle-revs
     7  float OUT             0  motion.spindle-speed-cmd-rps
     7  float IN              0  motion.spindle-speed-in
     7  float OUT             0  motion.spindle-speed-out
     7  float OUT             0  motion.spindle-speed-out-rps
     7  bit   OUT         FALSE  motion.teleop-mode
     7  float OUT             0  motion.tooloffset.a
     7  float OUT             0  motion.tooloffset.b
     7  float OUT             0  motion.tooloffset.c
     7  float OUT             0  motion.tooloffset.u
     7  float OUT             0  motion.tooloffset.v
     7  float OUT             0  motion.tooloffset.w
     7  float OUT             0  motion.tooloffset.x
     7  float OUT             0  motion.tooloffset.y
     7  float OUT             0  motion.tooloffset.z
     8  float I/O             0  pid.0.Dgain
     8  float I/O             0  pid.0.FF0
     8  float I/O             1  pid.0.FF1
     8  float I/O             0  pid.0.FF2
     8  float I/O             0  pid.0.Igain
     8  float I/O           100  pid.0.Pgain
     8  float I/O             0  pid.0.bias
     8  float IN              0  pid.0.command <== emcmot.00.pos-cmd
     8  float IN              0  pid.0.command-deriv
     8  float I/O       1.5e-05  pid.0.deadband
     8  bit   IN           TRUE  pid.0.enable <== emcmot.00.enable
     8  float OUT             0  pid.0.error
     8  float IN              0  pid.0.feedback <== motor.00.pos-fb
     8  float IN              0  pid.0.feedback-deriv
     8  bit   IN          FALSE  pid.0.index-enable
     8  float I/O             0  pid.0.maxcmdD
     8  float I/O             0  pid.0.maxcmdDD
     8  float I/O             0  pid.0.maxerror
     8  float I/O             0  pid.0.maxerrorD
     8  float I/O             0  pid.0.maxerrorI
     8  float I/O            10  pid.0.maxoutput
     8  float OUT             0  pid.0.output ==> motor.00.command
     8  bit   OUT         FALSE  pid.0.saturated
     8  s32   OUT             0  pid.0.saturated-count
     8  float OUT             0  pid.0.saturated-s
     8  float I/O             0  pid.1.Dgain
     8  float I/O             0  pid.1.FF0
     8  float I/O             1  pid.1.FF1
     8  float I/O             0  pid.1.FF2
     8  float I/O             0  pid.1.Igain
     8  float I/O           100  pid.1.Pgain
     8  float I/O             0  pid.1.bias
     8  float IN              0  pid.1.command <== emcmot.01.pos-cmd
     8  float IN              0  pid.1.command-deriv
     8  float I/O       1.5e-05  pid.1.deadband
     8  bit   IN           TRUE  pid.1.enable <== emcmot.01.enable
     8  float OUT             0  pid.1.error
     8  float IN              0  pid.1.feedback <== motor.01.pos-fb
     8  float IN              0  pid.1.feedback-deriv
     8  bit   IN          FALSE  pid.1.index-enable
     8  float I/O             0  pid.1.maxcmdD
     8  float I/O             0  pid.1.maxcmdDD
     8  float I/O             0  pid.1.maxerror
     8  float I/O             0  pid.1.maxerrorD
     8  float I/O             0  pid.1.maxerrorI
     8  float I/O            10  pid.1.maxoutput
     8  float OUT             0  pid.1.output ==> motor.01.command
     8  bit   OUT         FALSE  pid.1.saturated
     8  s32   OUT             0  pid.1.saturated-count
     8  float OUT             0  pid.1.saturated-s
     8  float I/O             0  pid.2.Dgain
     8  float I/O             0  pid.2.FF0
     8  float I/O             1  pid.2.FF1
     8  float I/O             0  pid.2.FF2
     8  float I/O             0  pid.2.Igain
     8  float I/O           100  pid.2.Pgain
     8  float I/O             0  pid.2.bias
     8  float IN              0  pid.2.command <== emcmot.02.pos-cmd
     8  float IN              0  pid.2.command-deriv
     8  float I/O       1.5e-05  pid.2.deadband
     8  bit   IN           TRUE  pid.2.enable <== emcmot.02.enable
     8  float OUT             0  pid.2.error
     8  float IN              0  pid.2.feedback <== motor.02.pos-fb
     8  float IN              0  pid.2.feedback-deriv
     8  bit   IN          FALSE  pid.2.index-enable
     8  float I/O             0  pid.2.maxcmdD
     8  float I/O             0  pid.2.maxcmdDD
     8  float I/O             0  pid.2.maxerror
     8  float I/O             0  pid.2.maxerrorD
     8  float I/O             0  pid.2.maxerrorI
     8  float I/O            10  pid.2.maxoutput
     8  float OUT             0  pid.2.output ==> motor.02.command
     8  bit   OUT         FALSE  pid.2.saturated
     8  s32   OUT             0  pid.2.saturated-count
     8  float OUT             0  pid.2.saturated-s

Pin Aliases:
 Alias                                      Original Name

Signals:
Type          Value  Name     (linked to)
bit            TRUE  emcmot.00.enable
                         <== axis.0.amp-enable-out
                         ==> hm2_5i25.0.7i77.0.1.analogena
                         ==> pid.0.enable
float             0  emcmot.00.pos-cmd
                         <== axis.0.motor-pos-cmd
                         ==> pid.0.command
bit            TRUE  emcmot.01.enable
                         <== axis.1.amp-enable-out
                         ==> pid.1.enable
float             0  emcmot.01.pos-cmd
                         <== axis.1.motor-pos-cmd
                         ==> pid.1.command
bit            TRUE  emcmot.02.enable
                         <== axis.2.amp-enable-out
                         ==> pid.2.enable
float             0  emcmot.02.pos-cmd
                         <== axis.2.motor-pos-cmd
                         ==> pid.2.command
bit            TRUE  estop-loop
                         ==> iocontrol.0.emc-enable-in
                         <== iocontrol.0.user-enable-out
float             0  motor.00.command
                         ==> hm2_5i25.0.7i77.0.1.analogout0
                         <== pid.0.output
float             0  motor.00.pos-fb
                         ==> axis.0.motor-pos-fb
                         <== hm2_5i25.0.encoder.00.position
                         ==> pid.0.feedback
float             0  motor.01.command
                         ==> hm2_5i25.0.7i77.0.1.analogout1
                         <== pid.1.output
float             0  motor.01.pos-fb
                         ==> axis.1.motor-pos-fb
                         <== hm2_5i25.0.encoder.01.position
                         ==> pid.1.feedback
float             0  motor.02.command
                         ==> hm2_5i25.0.7i77.0.1.analogout2
                         <== pid.2.output
float             0  motor.02.pos-fb
                         ==> axis.2.motor-pos-fb
                         <== hm2_5i25.0.encoder.02.position
                         ==> pid.2.feedback
bit           FALSE  tool-change-loop
                         <== iocontrol.0.tool-change
                         ==> iocontrol.0.tool-changed
bit           FALSE  tool-prep-loop
                         <== iocontrol.0.tool-prepare
                         ==> iocontrol.0.tool-prepared

Parameters:
Owner   Type  Dir         Value  Name
     7  s32   RO              0  axis.0.home-state
     7  s32   RO              0  axis.1.home-state
     7  s32   RO              0  axis.2.home-state
    10  bit   RW          FALSE  hm2_5i25.0.7i77.0.1.analogena-invert
    10  float RW             10  hm2_5i25.0.7i77.0.1.analogout0-maxlim
    10  float RW            -10  hm2_5i25.0.7i77.0.1.analogout0-minlim
    10  float RW             10  hm2_5i25.0.7i77.0.1.analogout0-scalemax
    10  float RW             10  hm2_5i25.0.7i77.0.1.analogout1-maxlim
    10  float RW            -10  hm2_5i25.0.7i77.0.1.analogout1-minlim
    10  float RW             10  hm2_5i25.0.7i77.0.1.analogout1-scalemax
    10  float RW             10  hm2_5i25.0.7i77.0.1.analogout2-maxlim
    10  float RW            -10  hm2_5i25.0.7i77.0.1.analogout2-minlim
    10  float RW             10  hm2_5i25.0.7i77.0.1.analogout2-scalemax
    10  float RW             10  hm2_5i25.0.7i77.0.1.analogout3-maxlim
    10  float RW            -10  hm2_5i25.0.7i77.0.1.analogout3-minlim
    10  float RW             10  hm2_5i25.0.7i77.0.1.analogout3-scalemax
    10  float RW             10  hm2_5i25.0.7i77.0.1.analogout4-maxlim
    10  float RW            -10  hm2_5i25.0.7i77.0.1.analogout4-minlim
    10  float RW             10  hm2_5i25.0.7i77.0.1.analogout4-scalemax
    10  float RW             10  hm2_5i25.0.7i77.0.1.analogout5-maxlim
    10  float RW            -10  hm2_5i25.0.7i77.0.1.analogout5-minlim
    10  float RW             10  hm2_5i25.0.7i77.0.1.analogout5-scalemax
    10  u32   RO     0x11000018  hm2_5i25.0.7i77.0.1.serial-number
    10  bit   RW          FALSE  hm2_5i25.0.7i77.0.1.spinena-invert
    10  u32   RO     0x00420000  hm2_5i25.0.7i77.0.1.status
    10  bit   RW          FALSE  hm2_5i25.0.encoder.00.counter-mode
    10  bit   RW           TRUE  hm2_5i25.0.encoder.00.filter
    10  bit   RW          FALSE  hm2_5i25.0.encoder.00.index-invert
    10  bit   RW          FALSE  hm2_5i25.0.encoder.00.index-mask
    10  bit   RW          FALSE  hm2_5i25.0.encoder.00.index-mask-invert
    10  float RW            400  hm2_5i25.0.encoder.00.scale
    10  float RW            0.5  hm2_5i25.0.encoder.00.vel-timeout
    10  bit   RW          FALSE  hm2_5i25.0.encoder.01.counter-mode
    10  bit   RW           TRUE  hm2_5i25.0.encoder.01.filter
    10  bit   RW          FALSE  hm2_5i25.0.encoder.01.index-invert
    10  bit   RW          FALSE  hm2_5i25.0.encoder.01.index-mask
    10  bit   RW          FALSE  hm2_5i25.0.encoder.01.index-mask-invert
    10  float RW            400  hm2_5i25.0.encoder.01.scale
    10  float RW            0.5  hm2_5i25.0.encoder.01.vel-timeout
    10  bit   RW          FALSE  hm2_5i25.0.encoder.02.counter-mode
    10  bit   RW           TRUE  hm2_5i25.0.encoder.02.filter
    10  bit   RW          FALSE  hm2_5i25.0.encoder.02.index-invert
    10  bit   RW          FALSE  hm2_5i25.0.encoder.02.index-mask
    10  bit   RW          FALSE  hm2_5i25.0.encoder.02.index-mask-invert
    10  float RW            400  hm2_5i25.0.encoder.02.scale
    10  float RW            0.5  hm2_5i25.0.encoder.02.vel-timeout
    10  bit   RW          FALSE  hm2_5i25.0.gpio.000.invert_output
    10  bit   RW          FALSE  hm2_5i25.0.gpio.000.is_opendrain
    10  bit   RW          FALSE  hm2_5i25.0.gpio.000.is_output
    10  bit   RW          FALSE  hm2_5i25.0.gpio.001.invert_output
    10  bit   RW          FALSE  hm2_5i25.0.gpio.001.is_opendrain
    10  bit   RW          FALSE  hm2_5i25.0.gpio.001.is_output
    10  bit   RW          FALSE  hm2_5i25.0.gpio.002.invert_output
    10  bit   RW          FALSE  hm2_5i25.0.gpio.002.is_opendrain
    10  bit   RW          FALSE  hm2_5i25.0.gpio.002.is_output
    10  bit   RW          FALSE  hm2_5i25.0.gpio.003.invert_output
    10  bit   RW          FALSE  hm2_5i25.0.gpio.003.is_opendrain
    10  bit   RW          FALSE  hm2_5i25.0.gpio.005.invert_output
    10  bit   RW          FALSE  hm2_5i25.0.gpio.005.is_opendrain
    10  bit   RW          FALSE  hm2_5i25.0.gpio.005.is_output
    10  bit   RW          FALSE  hm2_5i25.0.gpio.006.invert_output
    10  bit   RW          FALSE  hm2_5i25.0.gpio.006.is_opendrain
    10  bit   RW          FALSE  hm2_5i25.0.gpio.006.is_output
    10  bit   RW          FALSE  hm2_5i25.0.gpio.007.invert_output
    10  bit   RW          FALSE  hm2_5i25.0.gpio.007.is_opendrain
    10  bit   RW          FALSE  hm2_5i25.0.gpio.014.invert_output
    10  bit   RW          FALSE  hm2_5i25.0.gpio.014.is_opendrain
    10  bit   RW          FALSE  hm2_5i25.0.gpio.014.is_output
    10  bit   RW          FALSE  hm2_5i25.0.gpio.015.invert_output
    10  bit   RW          FALSE  hm2_5i25.0.gpio.015.is_opendrain
    10  bit   RW          FALSE  hm2_5i25.0.gpio.015.is_output
    10  bit   RW          FALSE  hm2_5i25.0.gpio.016.invert_output
    10  bit   RW          FALSE  hm2_5i25.0.gpio.016.is_opendrain
    10  bit   RW          FALSE  hm2_5i25.0.gpio.016.is_output
    10  bit   RW          FALSE  hm2_5i25.0.gpio.017.invert_output
    10  bit   RW          FALSE  hm2_5i25.0.gpio.017.is_opendrain
    10  bit   RW          FALSE  hm2_5i25.0.gpio.017.is_output
    10  bit   RW          FALSE  hm2_5i25.0.gpio.018.invert_output
    10  bit   RW          FALSE  hm2_5i25.0.gpio.018.is_opendrain
    10  bit   RW          FALSE  hm2_5i25.0.gpio.018.is_output
    10  bit   RW          FALSE  hm2_5i25.0.gpio.019.invert_output
    10  bit   RW          FALSE  hm2_5i25.0.gpio.019.is_opendrain
    10  bit   RW          FALSE  hm2_5i25.0.gpio.019.is_output
    10  bit   RW          FALSE  hm2_5i25.0.gpio.020.invert_output
    10  bit   RW          FALSE  hm2_5i25.0.gpio.020.is_opendrain
    10  bit   RW          FALSE  hm2_5i25.0.gpio.020.is_output
    10  bit   RW          FALSE  hm2_5i25.0.gpio.021.invert_output
    10  bit   RW          FALSE  hm2_5i25.0.gpio.021.is_opendrain
    10  bit   RW          FALSE  hm2_5i25.0.gpio.021.is_output
    10  bit   RW          FALSE  hm2_5i25.0.gpio.022.invert_output
    10  bit   RW          FALSE  hm2_5i25.0.gpio.022.is_opendrain
    10  bit   RW          FALSE  hm2_5i25.0.gpio.022.is_output
    10  bit   RW          FALSE  hm2_5i25.0.gpio.023.invert_output
    10  bit   RW          FALSE  hm2_5i25.0.gpio.023.is_opendrain
    10  bit   RW          FALSE  hm2_5i25.0.gpio.023.is_output
    10  bit   RW          FALSE  hm2_5i25.0.gpio.024.invert_output
    10  bit   RW          FALSE  hm2_5i25.0.gpio.024.is_opendrain
    10  bit   RW          FALSE  hm2_5i25.0.gpio.024.is_output
    10  bit   RW          FALSE  hm2_5i25.0.gpio.025.invert_output
    10  bit   RW          FALSE  hm2_5i25.0.gpio.025.is_opendrain
    10  bit   RW          FALSE  hm2_5i25.0.gpio.025.is_output
    10  bit   RW          FALSE  hm2_5i25.0.gpio.026.invert_output
    10  bit   RW          FALSE  hm2_5i25.0.gpio.026.is_opendrain
    10  bit   RW          FALSE  hm2_5i25.0.gpio.026.is_output
    10  bit   RW          FALSE  hm2_5i25.0.gpio.027.invert_output
    10  bit   RW          FALSE  hm2_5i25.0.gpio.027.is_opendrain
    10  bit   RW          FALSE  hm2_5i25.0.gpio.027.is_output
    10  bit   RW          FALSE  hm2_5i25.0.gpio.028.invert_output
    10  bit   RW          FALSE  hm2_5i25.0.gpio.028.is_opendrain
    10  bit   RW          FALSE  hm2_5i25.0.gpio.028.is_output
    10  bit   RW          FALSE  hm2_5i25.0.gpio.029.invert_output
    10  bit   RW          FALSE  hm2_5i25.0.gpio.029.is_opendrain
    10  bit   RW          FALSE  hm2_5i25.0.gpio.029.is_output
    10  bit   RW          FALSE  hm2_5i25.0.gpio.030.invert_output
    10  bit   RW          FALSE  hm2_5i25.0.gpio.030.is_opendrain
    10  bit   RW          FALSE  hm2_5i25.0.gpio.030.is_output
    10  bit   RW          FALSE  hm2_5i25.0.gpio.031.invert_output
    10  bit   RW          FALSE  hm2_5i25.0.gpio.031.is_opendrain
    10  bit   RW          FALSE  hm2_5i25.0.gpio.031.is_output
    10  bit   RW          FALSE  hm2_5i25.0.gpio.032.invert_output
    10  bit   RW          FALSE  hm2_5i25.0.gpio.032.is_opendrain
    10  bit   RW          FALSE  hm2_5i25.0.gpio.032.is_output
    10  bit   RW          FALSE  hm2_5i25.0.gpio.033.invert_output
    10  bit   RW          FALSE  hm2_5i25.0.gpio.033.is_opendrain
    10  bit   RW          FALSE  hm2_5i25.0.gpio.033.is_output
    10  bit   RW          FALSE  hm2_5i25.0.io_error
    10  s32   RO             88  hm2_5i25.0.pet_watchdog.time
    10  s32   RW           1484  hm2_5i25.0.pet_watchdog.tmax
    10  s32   RO          53700  hm2_5i25.0.read.time
    10  s32   RW          96716  hm2_5i25.0.read.tmax
    10  s32   RO              0  hm2_5i25.0.read_gpio.time
    10  s32   RW              0  hm2_5i25.0.read_gpio.tmax
    10  u32   RW     0x00000001  hm2_5i25.0.sserial.port-0.fault-dec
    10  u32   RW     0x0000000A  hm2_5i25.0.sserial.port-0.fault-inc
    10  u32   RW     0x000000C8  hm2_5i25.0.sserial.port-0.fault-lim
    10  u32   RW     0x00989680  hm2_5i25.0.watchdog.timeout_ns
    10  s32   RO           3012  hm2_5i25.0.write.time
    10  s32   RW          31358  hm2_5i25.0.write.tmax
    10  s32   RO              0  hm2_5i25.0.write_gpio.time
    10  s32   RW              0  hm2_5i25.0.write_gpio.tmax
     7  s32   RO            136  motion-command-handler.time
     7  s32   RW           4804  motion-command-handler.tmax
     7  s32   RO           2164  motion-controller.time
     7  s32   RW          32476  motion-controller.tmax
     7  bit   RO          FALSE  motion.debug-bit-0
     7  bit   RO          FALSE  motion.debug-bit-1
     7  float RO              1  motion.debug-float-0
     7  float RO              0  motion.debug-float-1
     7  float RO              0  motion.debug-float-2
     7  float RO              1  motion.debug-float-3
     7  s32   RO              0  motion.debug-s32-0
     7  s32   RO              0  motion.debug-s32-1
     7  u32   RO     0x00279174  motion.servo.last-period
     7  float RO       999605.7  motion.servo.last-period-ns
     7  u32   RW     0x00000004  motion.servo.overruns
     8  s32   RO            176  pid.0.do-pid-calcs.time
     8  s32   RW           5176  pid.0.do-pid-calcs.tmax
     8  s32   RO            148  pid.1.do-pid-calcs.time
     8  s32   RW           2108  pid.1.do-pid-calcs.tmax
     8  s32   RO            128  pid.2.do-pid-calcs.time
     8  s32   RW           2252  pid.2.do-pid-calcs.tmax
     7  float RO              0  tc.0.acc
     7  float RO              0  tc.0.pos
     7  float RO              0  tc.0.vel
     7  float RO              0  tc.1.acc
     7  float RO              0  tc.1.pos
     7  float RO              0  tc.1.vel
     7  float RO              0  tc.2.acc
     7  float RO              0  tc.2.pos
     7  float RO              0  tc.2.vel
     7  float RO              0  tc.3.acc
     7  float RO              0  tc.3.pos
     7  float RO              0  tc.3.vel
     7  u32   RO     0x00000000  traj.active_tc
     7  float RO              0  traj.pos_out
     7  float RO              0  traj.vel_out

Parameter Aliases:
 Alias                                      Original Name

Exported Functions:
Owner   CodeAddr  Arg       FP   Users  Name
 00010  f8909552  d44ad000  NO       1   hm2_5i25.0.pet_watchdog
 00010  f88fb9dc  d44ad000  YES      1   hm2_5i25.0.read
 00010  f88fb906  d44ad000  YES      0   hm2_5i25.0.read_gpio
 00010  f88fb936  d44ad000  YES      1   hm2_5i25.0.write
 00010  f88fb8d6  d44ad000  YES      0   hm2_5i25.0.write_gpio
 00007  f861e759  00000000  YES      1   motion-command-handler
 00007  f8620cb2  00000000  YES      1   motion-controller
 00008  f88d2000  f85b3be8  YES      1   pid.0.do-pid-calcs
 00008  f88d2000  f85b3c88  YES      1   pid.1.do-pid-calcs
 00008  f88d2000  f85b3d28  YES      1   pid.2.do-pid-calcs

Realtime Threads:
     Period  FP     Name               (     Time, Max-Time )
     999713  YES          servo-thread (    59096,   136996 )
                  1 hm2_5i25.0.read
                  2 motion-command-handler
                  3 motion-controller
                  4 pid.0.do-pid-calcs
                  5 pid.1.do-pid-calcs
                  6 pid.2.do-pid-calcs
                  7 hm2_5i25.0.write
                  8 hm2_5i25.0.pet_watchdog
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