Re: Mesa 5i25+7i77-с чего начать?
Добавлено: 19 июл 2012, 14:38
-dansystems1 писал(а): 10 bit RW FALSE hm2_5i25.0.io_error
а что это такое?
а что это такое?
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Mesa 5i25+7i77-с чего начать?
Страница 10 из 33
а что это такое?
Re: Mesa 5i25+7i77-с чего начать?
Добавлено: 19 июл 2012, 14:48
У тебя всего 34 (до 33-го) пинов GPIO.dansystems1 писал(а):10 bit IN FALSE hm2_5i25.0.gpio.033.out
Остальные похоже заняты 7i77.
Re: Mesa 5i25+7i77-с чего начать?
Добавлено: 19 июл 2012, 20:38
Выходит я неправильно назначил пины, вместо 7и77 на 5и25, или я путаю ?Nick писал(а): У тебя всего 34 (до 33-го) пинов GPIO.
Остальные похоже заняты 7i77.
Re: Mesa 5i25+7i77-с чего начать?
Добавлено: 19 июл 2012, 21:58
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?
Re: Mesa 5i25+7i77-с чего начать?
Добавлено: 19 июл 2012, 23:58
Скорее всего так и есть, скорее всего то ли не та прошивка выбрана, то ли просто в pncconf баг...dansystems1 писал(а):Я думаю все дело в Pncconf
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
Re: Mesa 5i25+7i77-с чего начать?
Добавлено: 20 июл 2012, 18:45
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-
а вот Hal созданный с помощью Pncconfa
[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
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
Re: Mesa 5i25+7i77-с чего начать?
Добавлено: 20 июл 2012, 22:56
Т.е. даже если просто пустую строку добавить ошибку выдаст?dansystems1 писал(а):С hal-ом дела по прежнему плохи, что не меняй в рабочем файле, дает ошибку.
Re: Mesa 5i25+7i77-с чего начать?
Добавлено: 21 июл 2012, 07:13
-Nick писал(а): Т.е. даже если просто пустую строку добавить ошибку выдаст?
Нет конечно, даже попробовал удалить вот эти строки, запустилась-
и еще вопрос-какой параметр задает шаг швп, ?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
Re: Mesa 5i25+7i77-с чего начать?
Добавлено: 21 июл 2012, 07:27
Уже выяснил-INPUT SCALEdansystems1 писал(а):и еще вопрос-какой параметр задает шаг швп, ?
Re: Mesa 5i25+7i77-с чего начать?
Добавлено: 21 июл 2012, 10:09
А ну тогда все проще, я то думал, что у тебя по какой-то неведомой причине при любой правке не запускается.dansystems1 писал(а):Нет конечно, даже попробовал удалить вот эти строки, запустилась-
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.
Re: Mesa 5i25+7i77-с чего начать?
Добавлено: 21 июл 2012, 19:01
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-
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.
Re: Mesa 5i25+7i77-с чего начать?
Добавлено: 21 июл 2012, 19:10
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
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
Re: Mesa 5i25+7i77-с чего начать?
Добавлено: 21 июл 2012, 19:12
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 )
# 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
)Re: Mesa 5i25+7i77-с чего начать?
Добавлено: 21 июл 2012, 19:13
Nick писал(а):net motion.spindle-forward OUT BIT hm2_5i25.0.7i77.0.0.output-00 spindle-forward OUT
Шас поправлю!
Re: Mesa 5i25+7i77-с чего начать?
Добавлено: 21 июл 2012, 19:14
Я там пару раз переписал предыдущее сообщение - перечитай
Какие именно?dansystems1 писал(а):как написать остальные входы и выходы ?(примерчик хотя pls
Re: Mesa 5i25+7i77-с чего начать?
Добавлено: 21 июл 2012, 19:15
То же самое 
Re: Mesa 5i25+7i77-с чего начать?
Добавлено: 21 июл 2012, 19:18
Ошибку в студию и hal тоже
Re: Mesa 5i25+7i77-с чего начать?
Добавлено: 21 июл 2012, 19:22
вот HAL-
вот и ошибка-
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-00Код: 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.
Re: Mesa 5i25+7i77-с чего начать?
Добавлено: 21 июл 2012, 19:55
Говорит пина такого нет...dansystems1 писал(а):hm2-servo7i77.hal:215: Pin 'hm2_5i25.0.7i77.0.0.output-00' does not exist
А ты эту строчку откуда-то скопировал? У тебя с 3 smart serial девайсами...
Убери ее запусти LinuxCNC и вывод halcmd show запости сюда.
Re: Mesa 5i25+7i77-с чего начать?
Добавлено: 21 июл 2012, 20:01
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