View difference between Paste ID: fp5qeu5J and JBbBL1Gh

-[ 3105.659892] I-pipe: Domain RTAI registered.
+# Basic 5i25/7i77 configuration
-[ 3105.659897] RTAI[hal]: <3.8.1> mounted over IPIPE-NOTHREADS 2.6-03.
+
-[ 3105.659899] RTAI[hal]: compiled with gcc version 4.4.3 (Ubuntu 4.4.3-4ubuntu5) .
+# kinematics
-[ 3105.659927] RTAI[hal]: mounted (IPIPE-NOTHREADS, IMMEDIATE (INTERNAL IRQs DISPATCHED), ISOL_CPUS_MASK: 0).
+loadrt trivkins
-[ 3105.659929] PIPELINE layers:
+
-[ 3105.659932] fd695e20 9ac15d93 RTAI 200
+# motion controller
-[ 3105.659934] c085cb20 0 Linux 100
+loadrt motmod servo_period_nsec=1000000 num_joints=[TRAJ]AXES
-[ 3105.675836] RTAI[malloc]: global heap size = 2097152 bytes, <BSD>.
+
-[ 3105.676117] RTAI[sched]: IMMEDIATE, MP, USER/KERNEL SPACE: <with RTAI OWN KTASKs>, kstacks pool size = 524288 bytes.
+# hostmot2 driver
-[ 3105.676122] RTAI[sched]: hard timer type/freq = APIC/20781041(Hz); default timing: periodic; linear timed lists.
+# if you have any firmware trouble, enable the debug flags here and see what's going on in the syslog
-[ 3105.676125] RTAI[sched]: Linux timer freq = 250 (Hz), TimeBase freq = 2327609000 hz.
+#loadrt hostmot2 debug_idrom=1 debug_module_descriptors=1 debug_pin_descriptors=1 debug_modules=1
-[ 3105.676127] RTAI[sched]: timer setup = 999 ns, resched latency = 2944 ns.
+loadrt hostmot2
-[ 3105.676184] RTAI[usi]: enabled.
+
-[ 3105.708068] RTAI[math]: loaded.
+# load low-level driver
-[ 3105.755734] hm2: loading Mesa HostMot2 driver version 0.15
+loadrt hm2_pci config="num_encoders=6 sserial_port_0=003xxx"
-[ 3105.757818] hm2_pci: loading Mesa AnyIO HostMot2 driver version 0.7
+
-[ 3105.757851] hm2_pci 0000:07:04.0: PCI INT A -> GSI 20 (level, low) -> IRQ 20
+# pid
-[ 3105.757854] hm2_pci: discovered 5i25 at 0000:07:04.0
+loadrt pid num_chan=3
-[ 3105.758766] hm2/hm2_5i25.0: Smart Serial Firmware Version 38
+
-[ 3105.867182] hm2/hm2_5i25.0: 34 I/O Pins used:
+setp hm2_5i25.0.watchdog.timeout_ns 10000000
-[ 3105.867185] hm2/hm2_5i25.0:     IO Pin 000 (P3-01): IOPort
+
-[ 3105.867187] hm2/hm2_5i25.0:     IO Pin 001 (P3-14): IOPort
+# Threads
-[ 3105.867190] hm2/hm2_5i25.0:     IO Pin 002 (P3-02): IOPort
+addf hm2_5i25.0.read         servo-thread
-[ 3105.867192] hm2/hm2_5i25.0:     IO Pin 003 (P3-15): IOPort
+addf motion-command-handler               servo-thread
-[ 3105.867194] hm2/hm2_5i25.0:     IO Pin 004 (P3-03): IOPort
+addf motion-controller                    servo-thread
-[ 3105.867197] hm2/hm2_5i25.0:     IO Pin 005 (P3-16): Smart Serial Interface #0, pin TxData0 (Output)
+addf pid.0.do-pid-calcs servo-thread
-[ 3105.867201] hm2/hm2_5i25.0:     IO Pin 006 (P3-04): Smart Serial Interface #0, pin RxData0 (Input)
+addf pid.1.do-pid-calcs servo-thread
-[ 3105.867204] hm2/hm2_5i25.0:     IO Pin 007 (P3-17): Muxed Encoder Select #0, pin Mux Select 0 (Output)
+addf pid.2.do-pid-calcs servo-thread
-[ 3105.867206] hm2/hm2_5i25.0:     IO Pin 008 (P3-05): Muxed Encoder #0, pin Muxed A (Input)
+addf hm2_5i25.0.write        servo-thread
-[ 3105.867209] hm2/hm2_5i25.0:     IO Pin 009 (P3-06): Muxed Encoder #0, pin Muxed B (Input)
+addf hm2_5i25.0.pet_watchdog servo-thread
-[ 3105.867212] hm2/hm2_5i25.0:     IO Pin 010 (P3-07): Muxed Encoder #0, pin Muxed Index (Input)
+
-[ 3105.867215] hm2/hm2_5i25.0:     IO Pin 011 (P3-08): Muxed Encoder #1, pin Muxed A (Input)
+# X Axis
-[ 3105.867218] hm2/hm2_5i25.0:     IO Pin 012 (P3-09): Muxed Encoder #1, pin Muxed B (Input)
+setp hm2_5i25.0.encoder.00.scale [AXIS_0]INPUT_SCALE
-[ 3105.867221] hm2/hm2_5i25.0:     IO Pin 013 (P3-10): Muxed Encoder #1, pin Muxed Index (Input)
+setp pid.0.Pgain [AXIS_0]P
-[ 3105.867223] hm2/hm2_5i25.0:     IO Pin 014 (P3-11): Muxed Encoder #2, pin Muxed A (Input)
+setp pid.0.Igain [AXIS_0]I
-[ 3105.867226] hm2/hm2_5i25.0:     IO Pin 015 (P3-12): Muxed Encoder #2, pin Muxed B (Input)
+setp pid.0.Dgain [AXIS_0]D
-[ 3105.867229] hm2/hm2_5i25.0:     IO Pin 016 (P3-13): Muxed Encoder #2, pin Muxed Index (Input)
+setp pid.0.FF0 [AXIS_0]FF0
-[ 3105.867232] hm2/hm2_5i25.0:     IO Pin 017 (P2-01): IOPort
+setp pid.0.FF1 [AXIS_0]FF1
-[ 3105.867234] hm2/hm2_5i25.0:     IO Pin 018 (P2-14): IOPort
+setp pid.0.FF2 [AXIS_0]FF2
-[ 3105.867236] hm2/hm2_5i25.0:     IO Pin 019 (P2-02): IOPort
+
-[ 3105.867238] hm2/hm2_5i25.0:     IO Pin 020 (P2-15): IOPort
+net x-axis-enable pid.0.enable <= axis.0.amp-enable-out
-[ 3105.867240] hm2/hm2_5i25.0:     IO Pin 021 (P2-03): IOPort
+net x-axis-enable hm2_5i25.0.7i77.0.1.analogena
-[ 3105.867243] hm2/hm2_5i25.0:     IO Pin 022 (P2-16): IOPort
+net x-axis-fb pid.0.feedback <= hm2_5i25.0.encoder.00.position
-[ 3105.867245] hm2/hm2_5i25.0:     IO Pin 023 (P2-04): IOPort
+net x-axis-fb axis.0.motor-pos-fb
-[ 3105.867247] hm2/hm2_5i25.0:     IO Pin 024 (P2-17): IOPort
+net x-axis-pos-cmd axis.0.motor-pos-cmd => pid.0.command
-[ 3105.867249] hm2/hm2_5i25.0:     IO Pin 025 (P2-05): IOPort
+net x-axis-command  pid.0.output  =>  hm2_5i25.0.7i77.0.1.analogout0
-[ 3105.867251] hm2/hm2_5i25.0:     IO Pin 026 (P2-06): IOPort
+
-[ 3105.867253] hm2/hm2_5i25.0:     IO Pin 027 (P2-07): IOPort
+net x-amp-fault <= hm2_5i25.0.7i77.0.0.input-01
-[ 3105.867255] hm2/hm2_5i25.0:     IO Pin 028 (P2-08): IOPort
+net x-amp-fault => axis.0.amp-fault-in
-[ 3105.867258] hm2/hm2_5i25.0:     IO Pin 029 (P2-09): IOPort
+
-[ 3105.867260] hm2/hm2_5i25.0:     IO Pin 030 (P2-10): IOPort
+#net x-jog-select axis.0.jog-enable <= hm2_5i25.0.7i77.0.0.input-00
-[ 3105.867262] hm2/hm2_5i25.0:     IO Pin 031 (P2-11): IOPort
+net x-minlimit <= hm2_5i25.0.7i77.0.0.input-09-not
-[ 3105.867264] hm2/hm2_5i25.0:     IO Pin 032 (P2-12): IOPort
+net x-minlimit => axis.0.home-sw-in
-[ 3105.867266] hm2/hm2_5i25.0:     IO Pin 033 (P2-13): IOPort
+net x-minlimit => axis.0.neg-lim-sw-in
-[ 3105.867316] hm2/hm2_5i25.0: registered
+net x-maxlimit <= hm2_5i25.0.7i77.0.0.input-08-not
-[ 3105.867318] hm2_5i25.0: initialized AnyIO board at 0000:07:04.0
+net x-maxlimit => axis.0.pos-lim-sw-in
-[ 3106.071285] hm2_5i25.0: dropping AnyIO board at 0000:07:04.0
+
-[ 3106.071290] hm2/hm2_5i25.0: unregistered
+# Y Axis
-[ 3106.071313] hm2_pci 0000:07:04.0: PCI INT A disabled
+setp hm2_5i25.0.encoder.01.scale [AXIS_1]INPUT_SCALE
-[ 3106.071336] hm2_pci: driver unloaded
+setp pid.1.Pgain [AXIS_1]P
-[ 3106.073422] hm2: unloading
+setp pid.1.Igain [AXIS_1]I
-[ 3106.099213] RTAI[math]: unloaded.
+setp pid.1.Dgain [AXIS_1]D
-[ 3106.123631] SCHED releases registered named ALIEN RTGLBH
+setp pid.1.FF0 [AXIS_1]FF0
-[ 3106.152246] RTAI[malloc]: unloaded.
+setp pid.1.FF1 [AXIS_1]FF1
-[ 3106.252192] RTAI[sched]: unloaded (forced hard/soft/hard transitions: traps 0, syscalls 0).
+setp pid.1.FF2 [AXIS_1]FF2
-[ 3106.254102] I-pipe: Domain RTAI unregistered.
+
-[ 3106.254132] RTAI[hal]: unmounted.
+net y-axis-enable pid.1.enable <= axis.1.amp-enable-out
 net y-axis-fb axis.1.motor-pos-fb <= hm2_5i25.0.encoder.01.position
 net y-axis-fb pid.1.feedback <= hm2_5i25.0.encoder.01.position
 net y-axis-fb axis.1.motor-pos-fb
 net y-axis-pos-cmd axis.1.motor-pos-cmd => pid.1.command
 net y-axis-command  pid.1.output  =>  hm2_5i25.0.7i77.0.1.analogout1
 
 #net y-jog-select axis.1.jog-enable <= hm2_5i25.0.7i77.0.0.input-##
 net y-minlimit <= hm2_5i25.0.7i77.0.0.input-11-not
 net y-minlimit => axis.1.home-sw-in
 net y-minlimit => axis.1.neg-lim-sw-in
 net y-maxlimit <= hm2_5i25.0.7i77.0.0.input-10-not
 net y-maxlimit => axis.1.pos-lim-sw-in
 
 # Z Axis
 setp hm2_5i25.0.encoder.02.scale [AXIS_2]INPUT_SCALE
 setp pid.2.Pgain [AXIS_2]P
 setp pid.2.Igain [AXIS_2]I
 setp pid.2.Dgain [AXIS_2]D
 setp pid.2.FF0 [AXIS_2]FF0
 setp pid.2.FF1 [AXIS_2]FF1
 setp pid.2.FF2 [AXIS_2]FF2
 
 net z-axis-enable pid.2.enable <= axis.2.amp-enable-out
 net z-axis-fb axis.2.motor-pos-fb <= hm2_5i25.0.encoder.02.position
 net z-axis-fb pid.2.feedback <= hm2_5i25.0.encoder.02.position
 net z-axis-fb axis.2.motor-pos-fb
 net z-axis-pos-cmd axis.2.motor-pos-cmd => pid.2.command
 net z-axis-command  pid.2.output  =>  hm2_5i25.0.7i77.0.1.analogout2
 
 #net z-jog-select axis.1.jog-enable <= hm2_5i25.0.7i77.0.0.input-###
 net z-minlimit <= hm2_5i25.0.7i77.0.0.input-13-not
 net z-minlimit => axis.2.home-sw-in
 net z-minlimit => axis.2.neg-lim-sw-in
 net z-maxlimit <= hm2_5i25.0.7i77.0.0.input-12-not
 net z-maxlimit => axis.2.pos-lim-sw-in
 
 # 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
 
 # estop
 loadrt estop_latch
 addf estop-latch.0 servo-thread
 #net estop-loopout iocontrol.0.emc-enable-in <= estop-latch.0.ok-out
 #net estop-loopin iocontrol.0.user-enable-out => estop-latch.0.ok-in
 net estop-reset iocontrol.0.user-request-enable => estop-latch.0.reset
 net remote-estop estop-latch.0.fault-in <=  hm2_5i25.0.7i77.0.0.input-00