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Jan 21st, 2012
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  1. More debugging turned on. Watchdog bites. tried numerous kernels/rtai combinations with the same results. Any ideas?
  2. If set the watchdog timer to a larger number many of the pinouts are not listed, it skips them and ends with a card initialized message.
  3. Watchdog can be reset. lpt port examples run fine. No machine tests have been preformed, since the machine is not ready yet.
  4.  
  5. dmesg
  6. [ 1056.091163] python2 used greatest stack depth: 11272 bytes left
  7. [ 1097.098611] I-pipe: Domain RTAI registered.
  8. [ 1097.098624] RTAI[hal]: <magma> mounted over IPIPE-NOTHREADS 2.11-01.
  9. [ 1097.098627] <6>RTAI[hal]: compiled with gcc version 4.5.3 (Gentoo 4.5.3-r1 p1.0, pie-0.4.5) .
  10. [ 1097.098708] RTAI[hal]: mounted (IPIPE-NOTHREADS, IMMEDIATE (INTERNAL IRQs DISPATCHED), ISOL_CPUS_MASK: 0).
  11. [ 1097.098713] PIPELINE layers:
  12. [ 1097.098719] ffffffffa00154c0 9ac15d93 RTAI 200
  13. [ 1097.098725] ffffffff81a06c00 0 Linux 100
  14. [ 1097.133656] RTAI[malloc]: global heap size = 2097152 bytes, <BSD>.
  15. [ 1097.134036] RTAI[sched]: IMMEDIATE, MP, USER/KERNEL SPACE: <with RTAI OWN KTASKs>, kstacks pool size = 524288 bytes.
  16. [ 1097.134049] RTAI[sched]: hard timer type/freq = APIC/12500429(Hz); default timing: periodic; linear timed lists.
  17. [ 1097.134058] RTAI[sched]: Linux timer freq = 1000 (Hz), TimeBase freq = 1799978000 hz.
  18. [ 1097.134064] RTAI[sched]: timer setup = 999 ns, resched latency = 2944 ns.
  19. [ 1097.243060] RTAI[math]: loaded.
  20. [ 1097.379171] HAL: initializing component 'trivkins'
  21. [ 1097.379175] RTAPI: initing module HAL_trivkins
  22. [ 1097.379177] RTAPI: module 'HAL_trivkins' loaded, ID: 6
  23. [ 1097.379180] HAL: component 'trivkins' initialized, ID = 06
  24. [ 1097.391680] MOTION: init_module() starting...
  25. [ 1097.391684] HAL: initializing component 'motmod'
  26. [ 1097.391687] RTAPI: initing module HAL_motmod
  27. [ 1097.391689] RTAPI: module 'HAL_motmod' loaded, ID: 7
  28. [ 1097.391691] HAL: component 'motmod' initialized, ID = 07
  29. [ 1097.391694] MOTION: init_hal_io() starting...
  30. [ 1097.391696] HAL: creating pin 'motion.probe-input'
  31. [ 1097.391698] HAL: creating pin 'motion.spindle-index-enable'
  32. [ 1097.391701] HAL: creating pin 'motion.spindle-on'
  33. [ 1097.391703] HAL: creating pin 'motion.spindle-forward'
  34. [ 1097.391705] HAL: creating pin 'motion.spindle-reverse'
  35. [ 1097.391708] HAL: creating pin 'motion.spindle-brake'
  36. [ 1097.391710] HAL: creating pin 'motion.spindle-speed-out'
  37. [ 1097.391713] HAL: creating pin 'motion.spindle-speed-out-rps'
  38. [ 1097.391715] HAL: creating pin 'motion.spindle-speed-cmd-rps'
  39. [ 1097.391718] HAL: creating pin 'motion.spindle-revs'
  40. [ 1097.391720] HAL: creating pin 'motion.spindle-speed-in'
  41. [ 1097.391723] HAL: creating pin 'motion.spindle-at-speed'
  42. [ 1097.391725] HAL: creating pin 'motion.adaptive-feed'
  43. [ 1097.391727] HAL: creating pin 'motion.feed-hold'
  44. [ 1097.391730] HAL: creating pin 'motion.enable'
  45. [ 1097.391732] HAL: creating pin 'motion.digital-out-00'
  46. [ 1097.391734] HAL: creating pin 'motion.digital-in-00'
  47. [ 1097.391737] HAL: creating pin 'motion.digital-out-01'
  48. [ 1097.391739] HAL: creating pin 'motion.digital-in-01RTAPI: shmem 02 created by module 07, key: 100, size: 2690760
  49. [ 1097.398045] MOTION: init_comm_buffers() complete
  50. [ 1097.398045] MOTION: init_threads() starting...
  51. [ 1097.398045] HAL: creating thread servo-thread, 1000000 nsec
  52. [ 1097.399094] RTAPI: clock_set_period requested: 1000000 actual: 999885 counts requested: 12500 actual: 12499
  53. [ 1097.399809] RTAPI: task 01 installed by module 01, priority 1, code: ffffffffa008c984
  54. [ 1097.399813] RTAPI: start_task id: 01
  55. [ 1097.399816] RTAPI: period_nsec: 999885
  56. [ 1097.399818] RTAPI: count: 12499
  57. [ 1097.399820] HAL: thread created
  58. [ 1097.399822] HAL: exporting function 'motion-controller'
  59. [ 1097.399824] HAL: creating parameter 'motion-controller.time'
  60. [ 1097.399827] HAL: creating parameter 'motion-controller.tmax'
  61. [ 1097.399829] HAL: exporting function 'motion-command-handler'
  62. [ 1097.399832] HAL: creating parameter 'motion-command-handler.time'
  63. [ 1097.399834] HAL: creating parameter 'motion-command-handler.tmax'
  64. [ 1097.399837] MOTION: setting Servo cycle time to 1000000 nsecs
  65. [ 1097.399839] MOTION: setting Traj cycle time to 1000000 nsecs
  66. [ 1097.399842] MOTION: init_threads() complete
  67. [ 1097.399844] MOTION: init_module() complete
  68. [ 1097.407982] HAL: initializing component 'pid'
  69. [ 1097.407986] RTAPI: initing module HAL_pid
  70. [ 1097.407988] RTAPI: module 'HAL_pid' loaded, ID: 8
  71. [ 1097.407991] HAL: component 'pid' initialized, ID = 08
  72. [ 1097.407993] PID: installed 3 PID loops
  73. [ 1097.413580] HAL: initializing component 'probe_parport'
  74. [ 1097.413585] RTAPI: initing module HAL_probe_parport
  75. [ 1097.413587] RTAPI: module 'HAL_probe_parport' loaded, ID: 9
  76. [ 1097.413590] HAL: component 'probe_parport' initialized, ID = 09
  77. [ 1097.425361] hm2: loading Mesa HostMot2 driver version 0.15
  78. [ 1097.425365] HAL: initializing component 'hostmot2'
  79. [ 1097.425368] RTAPI: initing module HAL_hostmot2
  80. [ 1097.425370] RTAPI: module 'HAL_hostmot2' loaded, ID: 10
  81. [ 1097.425372] HAL: component 'hostmot2' initialized, ID = 10
  82. [ 1097.431016] hm2_pci: loading Mesa AnyIO HostMot2 driver version 0.7
  83. [ 1097.431016] HAL: initializing component 'hm2_pci'
  84. [ 1097.431016] RTAPI: initing module HAL_hm2_pci
  85. [ 1097.431016] RTAPI: module 'HAL_hm2_pci' loaded, ID: 11
  86. [ 1097.431016] HAL: component 'hm2_pci' initialized, ID = 11
  87. [ 1097.432650] hm2_pci 0000:05:00.0: PCI INT A -> GSI 20 (level, low) -> IRQ 20
  88. [ 1097.432693] hm2_pci: discovered 5i20 at 0000:05:00.0
  89. [ 1097.432740] hm2/hm2_5i20.0: parsing config string "firmware=hm2/5i20/SVST8_4.BIT num_encoders=3 num_pwmgens=3 num_stepgens=0"
  90. [ 1097.432783] hm2/hm2_5i20.0: final config:
  91. [ 1097.432785] hm2/hm2_5i20.0: num_encoders=3
  92. [ 1097.432787] hm2/hm2_5i20.0: num_resolvers=-1
  93. [ 1097.432790] hm2/hm2_5i20.0: num_pwmgens=3
  94. [ 1097.432792] hm2/hm2_5i20.0: num_3pwmgens=-1
  95. [ 1097.432794] hm2/hm2_5i20.0: sserial_port_0=00000000
  96. [ 1097.432797] sserial_port_1=00000000
  97. [ 1097.432799] sserial_port_2=00000000
  98. [ 1097.432802] sserial_port_3=00000000
  99. [ 1097.432804] hm2/hm2_5i20.0: num_stepgens=0
  100. [ 1097.432806] hm2/hm2_5i20.0: enable_raw=0
  101. [ 1097.432808] hm2/hm2_5i20.0: firmware=hm2/5i20/SVST8_4.BIT
  102. [ 1097.478674] hm2/hm2_5i20.0: firmware hm2/5i20/SVST8_4.BIT:
  103. [ 1097.478674] hm2/hm2_5i20.0: work.ncd 2010/12/19 11:53:13
  104. [ 1097.478674] hm2/hm2_5i20.0: Part Name: 2s200pq208
  105. [ 1097.478674] hm2/hm2_5i20.0: FPGA Config: 166980 bytes
  106. [ 1097.640467] HAL: creating parameter 'hm2_5i20.0.io_error'
  107. [ 1097.640471] hm2/hm2_5i20.0: IDRom:
  108. [ 1097.640473] hm2/hm2_5i20.0: IDRom Type: 0x00000003
  109. [ 1097.640475] hm2/hm2_5i20.0: Offset to Modules: 0x00000040
  110. [ 1097.640478] hm2/hm2_5i20.0: Offset to Pin Description: 0x000001C0
  111. [ 1097.640481] hm2/hm2_5i20.0: Board Name: MESA5I20
  112. [ 1097.640483] hm2/hm2_5i20.0: FPGA Size: 200
  113. [ 1097.640485] hm2/hm2_5i20.0: FPGA Pins: 208
  114. [ 1097.640488] hm2/hm2_5i20.0: Port Width: 24
  115. [ 1097.640490] hm2/hm2_5i20.0: IO Ports: 3
  116. [ 1097.640492] hm2/hm2_5i20.0: IO Width: 72
  117. [ 1097.640494] hm2/hm2_5i20.0: Clock Low: 33333333 Hz (33333 KHz, 33 MHz)
  118. [ 1097.640497] hm2/hm2_5i20.0: Clock High: 100000000 Hz (100000 KHz, 100 MHz)
  119. [ 1097.640500] hm2/hm2_5i20.0: Instance Stride 0: 0x00000004
  120. [ 1097.640503] hm2/hm2_5i20.0: Instance Stride 1: 0x00000040
  121. [ 1097.640505] hm2/hm2_5i20.0: Register Stride 0: 0x00000100
  122. [ 1097.640508] hm2/hm2_5i20.0: Register Stride 1: 0x00000100
  123. [ 1097.640975] hm2/hm2_5i20.0: 72 HM2 Pin Descriptors:
  124. [ 1097.640978] hm2/hm2_5i20.0: pin 0:
  125. [ 1097.640980] hm2/hm2_5i20.0: Primary Tag: 0x03 (IOPort)
  126. [ 1097.641811] 42:
  127. [ 1097.641814] hm2/hm2_5i20.0: Primary Tag: 0x03 (IOPort)
  128. [ 1097.641816] hm2/hm2_5i20.0: Secondary Tag: 0x06 (PWMGen)
  129. [ 1097.641819] hm2/hm2_5i20.0: Secondary Unit: 0x07
  130. [ 1097.641821] hm2/hm2_5i20.0: Secondary Pin: 0x81 (Out0 (PWM or Up), Output)
  131. [ 1097.641824] hm2/hm2_5i20.0: pin 43:
  132. [ 1097.641826] hm2/hm2_5i20.0: Primary Tag: 0x03 (IOPort)
  133. [ 1097.641829] hm2/hm2_5i20.0: Secondary Tag: 0x06 (PWMGen)
  134. [ 1097.641831] hm2/hm2_5i20.0: Secondary Unit: 0x06
  135. [ 1097.641834] hm2/hm2_5i20.0: Secondary Pin: 0x81 (Out0 (PWM or Up), Output)
  136. [ 1097.641837] hm2/hm2_5i20.0: pin 44:
  137. [ 1097.641839] hm2/hm2_5i20.0: Primary Tag: 0x03 (IOPort)
  138. [ 1097.641841] hm2/hm2_5i20.0: Secondary Tag: 0x06 (PWMGen)
  139. [ 1097.641844] hm2/hm2_5i20.0: Secondary Unit: 0x07
  140. [ 1097.641846] hm2/hm2_5i20.0: Secondary Pin: 0x82 (Out1 (Dir or Down), Output)
  141. [ 1097.641849] hm2/hm2_5i20.0: pin 45:
  142. [ 1097.641852] hm2/hm2_5i20.0: Primary Tag: 0x03 (IOPort)
  143. [ 1097.641854] hm2/hm2_5i20.0: Secondary Tag: 0x06 (PWMGen)
  144. [ 1097.641857] hm2/hm2_5i20.0: Secondary Unit: 0x06
  145. [ 1097.641859] hm2/hm2_5i20.0: Secondary Pin: 0x82 (Out1 (Dir or Down), Output)
  146. [ 1097.641862] hm2/hm2_5i20.0: pin 46:
  147. [ 1097.641864] hm2/hm2_5i20.0: hm2_5i20.0: pin 54:
  148. [ 1097.641918] hm2/hm2_5i20.0: Primary Tag: 0x03 (IOPort)
  149. [ 1097.641920] hm2/hm2_5i20.0: Secondary Tag: 0x05 (StepGen)
  150. [ 1097.641923] hm2/hm2_5i20.0: Secondary Unit: 0x01
  151. [ 1097.641925] hm2/hm2_5i20.0: Secondary Pin: 0x81 (Step, Output)
  152. [ 1097.641928] hm2/hm2_5i20.0: pin 55:
  153. [ 1097.641930] hm2/hm2_5i20.0: Primary Tag: 0x03 (IOPort)
  154. [ 1097.641933] hm2/hm2_5i20.0: Secondary Tag: 0x05 (StepGen)
  155. [ 1097.641935] hm2/hm2_5i20.0: Secondary Unit: 0x01
  156. [ 1097.641938] hm2/hm2_5i20.0: Secondary Pin: 0x82 (Direction, Output)
  157. [ 1097.641941] hm2/hm2_5i20.0: pin 56:
  158. [ 1097.641943] hm2/hm2_5i20.0: Primary Tag: 0x03 (IOPort)
  159. [ 1097.641945] hm2/hm2_5i20.0: Secondary Tag: 0x05 (StepGen)
  160. [ 1097.641948] hm2/hm2_5i20.0: Secondary Unit: 0x01
  161. [ 1097.641950] hm2/hm2_5i20.0: Secondary Pin: 0x83 ((unused), Output)
  162. [ 1097.641953] hm2/hm2_5i20.0: pin 57:
  163. [ 1097.641955] hm2/hm2_5i20.0: Primary Tag: 0x03 (IOPort)
  164. [ 1097.641958] hm2/hm2_5i20.0: Secondary Tag: 0x05 (StepGen)
  165. [ 1097.641960] hm2/hm2_5i20.0: Secondary Unit: 0x01
  166. [ 1097.641963] hm2/hm2_5i20.0: Secondary Pin: 0x84 ((unused), Output)
  167. [ 1097.641966] hm2/hm2_5i20.0: pin 58:
  168. [ 1097.641968] hm2/hm2_5i20.0: Primary Tag: 0hm2/hm2_5i20.0: MD 1: 3x IOPort v0: accepted, using 3
  169. [ 1097.647468] HAL: creating pin 'hm2_5i20.0.watchdog.has_bit'
  170. [ 1097.647472] HAL: creating parameter 'hm2_5i20.0.watchdog.timeout_ns'
  171. [ 1097.647475] HAL: exporting function 'hm2_5i20.0.pet_watchdog'
  172. [ 1097.647477] HAL: creating parameter 'hm2_5i20.0.pet_watchdog.time'
  173. [ 1097.647480] HAL: creating parameter 'hm2_5i20.0.pet_watchdog.tmax'
  174. [ 1097.647483] hm2/hm2_5i20.0: MD 0: 1x Watchdog v0: accepted, using 1
  175. [ 1097.647485] hm2/hm2_5i20.0: MD 1: 3x IOPort v0: ignored
  176. [ 1097.647761] HAL: creating pin 'hm2_5i20.0.encoder.00.rawcounts'
  177. [ 1097.647764] HAL: creating pin 'hm2_5i20.0.encoder.00.rawlatch'
  178. [ 1097.647767] HAL: creating pin 'hm2_5i20.0.encoder.00.count'
  179. [ 1097.647769] HAL: creating pin 'hm2_5i20.0.encoder.00.count-latched'
  180. [ 1097.647772] HAL: creating pin 'hm2_5i20.0.encoder.00.position'
  181. [ 1097.647774] HAL: creating pin 'hm2_5i20.0.encoder.00.position-latched'
  182. [ 1097.647777] HAL: creating pin 'hm2_5i20.0.encoder.00.velocity'
  183. [ 1097.647780] HAL: creating pin 'hm2_5i20.0.encoder.00.reset'
  184. [ 1097.647782] HAL: creating pin 'hm2_5i20.0.encoder.00.index-enable'
  185. [ 1097.647785] HAL: creating pin 'hm2_5i20.0.encoder.00.latch-enable'
  186. [ 1097.647787] HAL: creating pin 'hm2_5i20.0.encoder.00.latch-polarity'
  187. [ 1097.647790] HAL: creating parameter 'hm2_5i20.0.encoder.00.scale'
  188. [ 1097.647793] HAL: creating parameter 'hm2_5i20.0.encoder.00.index-invert'
  189. [ 1097.647795] HAL: creating parameter 'hm2_5i20.0.encoder.00.index-mask'
  190. [ 1097.647798] HAL: creating parameter 'hm2_5i20.0.encoder.00.index-mask-invert'
  191. [ 1097.647801] HAL: creating parameter 'hm2_5i20.0.encoder.00.counter-mode'
  192. [ 1097.647804] HAL: creating parameter 'hm2_5i20.0.encoder.00.filter'
  193. [ 1097.647806] HAL: creating parameter 'hm2_5i20.0.encoder.00.vel-timeout'
  194. [ 1097.647809] HAL: creating pin 'hm2_5reating parameter 'hm2_5i20.0.encoder.02.scale'
  195. [ 1097.647822] HAL: creating parameter 'hm2_5i20.0.encoder.02.index-invert'
  196. [ 1097.647825] HAL: creating parameter 'hm2_5i20.0.encoder.02.index-mask'
  197. [ 1097.647828] HAL: creating parameter 'hm2_5i20.0.encoder.02.index-mask-invert'
  198. [ 1097.647831] HAL: creating parameter 'hm2_5i20.0.encoder.02.counter-mode'
  199. [ 1097.647833] HAL: creating parameter 'hm2_5i20.0.encoder.02.filter'
  200. [ 1097.647836] HAL: creating parameter 'hm2_5i20.0.encoder.02.vel-timeout'
  201. [ 1097.647839] hm2/hm2_5i20.0: MD 2: 8x Encoder v2: accepted, using 3
  202. [ 1097.647931] HAL: creating parameter 'hm2_5i20.0.pwmgen.pwm_frequency'
  203. [ 1097.647934] HAL: creating parameter 'hm2_5i20.0.pwmgen.pdm_frequency'
  204. [ 1097.647937] HAL: creating pin 'hm2_5i20.0.pwmgen.00.value'
  205. [ 1097.647939] HAL: creating pin 'hm2_5i20.0.pwmgen.00.enable'
  206. [ 1097.647941] HAL: creating parameter 'hm2_5i20.0.pwmgen.00.scale'
  207. [ 1097.647944] HAL: creating parameter 'hm2_5i20.0.pwmgen.00.output-type'
  208. [ 1097.647947] HAL: creating pin 'hm2_5i20.0.pwmgen.01.value'
  209. [ 1097.647949] HAL: creating pin 'hm2_5i20.0.pwmgen.01.enable'
  210. [ 1097.647952] HAL: creating parameter 'hm2_5i20.0.pwmgen.01.scale'
  211. [ 1097.647954] HAL: creating parameter 'hm2_5i20.0.pwmgen.01.output-type'
  212. [ 1097.647957] HAL: creating pin 'hm2_5i20.0.pwmgen.02.value'
  213. [ 1097.647960] HAL: creating pin 'hm2_5i20.0.pwmgen.02.enable'
  214. [ 1097.647962] HAL: creating parameter 'hm2_5i20.0.pwmgen.02.scale'
  215. [ 1097.647965] HAL: creating parameter 'hm2_5i20.0.pwmgen.02.output-type'
  216. [ 1097.647967] hm2/hm2_5i20.0: MD 3: 8x PWMGen v0: accepted, using 3
  217. [ 1097.647972] hm2/hm2_5i20.0: MD 4: 4x StepGen v2: accepted, using 0
  218. [ 1097.648063] HAL: creating pin 'hm2_5i20.0.led.CR01'
  219. [ 1097.648066] HAL: creating pin 'hm2_5i20.0.led.CR02'
  220. [ 1097.648068] HAL: creating pin 'hm2_5i20.0.led.CR03'
  221. [ 1097.648070] HAL: creating pin 'hm2_5i20.0.led.CR04'
  222. [ 1097.648073] HAL: creating pin 'hm2_5i20.0.led.CR05'
  223. [ 1097.648075] HAL: creating pin 'hm2_5i20.0.led.CR06'
  224. [ 1097.648078] HAL: creating pin 'hm2_5i20.0.led.CR07'
  225. [ 1097.648080] HAL: creating pin 'hm2_5i20.0.led.CR08'
  226. [ 1097.648082] hm2/hm2_5i20.0: MD 5: 1x LED v0: accepted, using 1
  227. [ 1097.648085] hm2/hm2_5i20.0: allocating Translation RAM buffers (reading 28 bytes, writing 24 bytes)
  228. [ 1097.648994] hm2/hm2_5i20.0: Translation RAM read buffer:
  229. [ 1097.648994] hm2/hm2_5i20.0: addr=0x1000, size=12, buffer=ffff88006904c680
  230. [ 1097.648994] hm2/hm2_5i20.0: addr=0x3300, size=4, buffer=ffff88006904c68c
  231. [ 1097.648994] hm2/hm2_5i20.0: addr=0x3000, size=12, buffer=ffff88006904c690
  232. [ 1097.648994] hm2/hm2_5i20.0: Translation RAM write buffer:
  233. [ 1097.648994] hm2/hm2_5i20.0: addr=0x1000, size=12, buffer=ffff88006904cb60
  234. [ 1097.648994] hm2/hm2_5i20.0: addr=0x4000, size=12, buffer=ffff88006904cb6c
  235. [ 1097.648994] HAL: creating pin 'hm2_5i20.0.gpio.000.in'
  236. [ 1097.648994] HAL: creating pin 'hm2_5i20.0.gpio.000.in_not'
  237. [ 1097.648994] HAL: creating pin 'hm2_5i20.0.gpio.001.in'
  238. [ 1097.648994] HAL: creating pin 'hm2_5i20.0.gpio.001.in_not'
  239. [ 1097.648994] HAL: creating pin 'hm2_5i20.0.gpio.002.in'
  240. [ 1097.648994] HAL: creating pin 'hm2_5i20.0.gpio.002.in_not'
  241. [ 1097.648994] HAL: creating pin 'hm2_5i20.0.gpio.003.in'
  242. [ 1097.648994] HAL: creating pin 'hm2_5i20.0.gpio.003.in_not'
  243. [ 1097.648994] HAL: creating pin 'hm2_5i20.0.gpio.004.in'
  244. [ 1097.648994] HAL: creating pin 'hm2_5i20.0.gpio.004.in_not'
  245. [ 1097.648994] HAL: creating pin 'hm2_5i20.0.gpio.005.in'
  246. [ 1097.648994] HAL: creating pin 'hm2_5i20.0.gpio.005.in_not'
  247. [ 1097.648994] HAL: creating pin 'hm2_5i20.0.gpio.006.in'
  248. [ 1097.648994] HAL: creating pin 'hHAL: creating parameter 'hm2_5i20.0.gpio.027.is_output'
  249. [ 1097.649987] HAL: creating pin 'hm2_5i20.0.gpio.028.in'
  250. [ 1097.649990] HAL: creating pin 'hm2_5i20.0.gpio.028.in_not'
  251. [ 1097.649992] HAL: creating parameter 'hm2_5i20.0.gpio.028.invert_output'
  252. [ 1097.649995] HAL: creating parameter 'hm2_5i20.0.gpio.028.is_opendrain'
  253. [ 1097.649998] HAL: creating pin 'hm2_5i20.0.gpio.028.out'
  254. [ 1097.650000] HAL: creating parameter 'hm2_5i20.0.gpio.028.is_output'
  255. [ 1097.650003] HAL: creating pin 'hm2_5i20.0.gpio.029.in'
  256. [ 1097.650005] HAL: creating pin 'hm2_5i20.0.gpio.029.in_not'
  257. [ 1097.650008] HAL: creating parameter 'hm2_5i20.0.gpio.029.invert_output'
  258. [ 1097.650010] HAL: creating parameter 'hm2_5i20.0.gpio.029.is_opendrain'
  259. [ 1097.650013] HAL: creating pin 'hm2_5i20.0.gpio.029.out'
  260. [ 1097.650016] HAL: creating parameter 'hm2_5i20.0.gpio.029.is_output'
  261. [ 1097.650018] HAL: creating pin 'hm2_5i20.0.gpio.030.in'
  262. [ 1097.650021] HAL: creating pin 'hm2_5i20.0.gpio.030.in_not'
  263. [ 1097.650023] HAL: creating parameter 'hm2_5i20.0.gpio.030.invert_output'
  264. [ 1097.650026] HAL: creating parameter 'hm2_5i20.0.gpio.030.is_opendrain'
  265. [ 1097.650029] HAL: creating pin 'hm2_5i20.0.gpio.030.out'
  266. [ 1097.650031] HAL: creating parameter 'hm2_5i20.0.gpio.030.is_output'
  267. [ 1097.650034] HAL: creating pin 'hm2_5i20.0.gpio.031.ihm2_5i20.0.gpio.034.is_opendrain'
  268. [ 1097.650056] HAL: creating pin 'hm2_5i20.0.gpio.034.out'
  269. [ 1097.650058] HAL: creating parameter 'hm2_5i20.0.gpio.034.is_output'
  270. [ 1097.650061] HAL: creating pin 'hm2_5i20.0.gpio.035.in'
  271. [ 1097.650063] HAL: creating pin 'hm2_5i20.0.gpio.035.in_not'
  272. [ 1097.650066] HAL: creating parameter 'hm2_5i20.0.gpio.035.invert_output'
  273. [ 1097.650068] HAL: creating parameter 'hm2_5i20.0.gpio.035.is_opendrain'
  274. [ 1097.650071] HAL: creating pin 'hm2_5i20.0.gpio.035.out'
  275. [ 1097.650074] HAL: creating parameter 'hm2_5i20.0.gpio.035.is_output'
  276. [ 1097.650076] HAL: creating pin 'hm2_5i20.0.gpio.036.in'
  277. [ 1097.650078] HAL: creating pin 'hm2_5i20.0.gpio.036.in_not'
  278. [ 1097.650078] HAL: creating parameter 'hm2_5i20.0.gpio.036.invert_output'
  279. [ 1097.650078] HAL: creating parameter 'hm2_5i20.0.gpio.036.is_opendrain'
  280. [ 1097.650078] HAL: creating pin 'hm2_5i20.0.gpio.036.out'
  281. [ 1097.650078] HAL: creating parameter 'hm2_5i20.0.gpio.036.is_output'
  282. [ 1097.650078] HAL: creating pin 'hm2_5i20.0.gpio.037.in'
  283. [ 1097.650078] HAL: creating pin 'hm2_5i20.0.gpio.037.in_not'
  284. [ 1097.650078] HAL: creating parameter 'hm2_5i20.0.gpio.037.invert_output'
  285. [ 1097.650078] HAL: creating parameter 'hm2_5i20.0.gpio.037.is_opendrain'
  286. [ 1097.650078] HAL: creating pin 'hm2_5i20.0.gpio.037.out'
  287. [ 1097.650078] HAL: creating paraHAL: creating pin 'hm2_5i20.0.gpio.040.out'
  288. [ 1097.650992] HAL: creating parameter 'hm2_5i20.0.gpio.040.is_output'
  289. [ 1097.650995] HAL: creating pin 'hm2_5i20.0.gpio.041.in'
  290. [ 1097.650998] HAL: creating pin 'hm2_5i20.0.gpio.041.in_not'
  291. [ 1097.651000] HAL: creating parameter 'hm2_5i20.0.gpio.041.invert_output'
  292. [ 1097.651003] HAL: creating parameter 'hm2_5i20.0.gpio.041.is_opendrain'
  293. [ 1097.651005] HAL: creating pin 'hm2_5i20.0.gpio.041.out'
  294. [ 1097.651008] HAL: creating parameter 'hm2_5i20.0.gpio.041.is_output'
  295. [ 1097.651011] HAL: creating pin 'hm2_5i20.0.gpio.042.in'
  296. [ 1097.651013] HAL: creating pin 'hm2_5i20.0.gpio.042.in_not'
  297. [ 1097.651015] HAL: creating parameter 'hm2_5i20.0.gpio.042.invert_output'
  298. [ 1097.651018] HAL: creating parameter 'hm2_5i20.0.gpio.042.is_opendrain'
  299. [ 1097.651021] HAL: creating pin 'hm2_5i20.0.gpio.042.out'
  300. [ 1097.651023] HAL: creating parameter 'hm2_5i20.0.gpio.042.is_output'
  301. [ 1097.651026] HAL: creating pin 'hm2_5i20.0.gpio.043.in'
  302. [ 1097.651028] HAL: creating pin 'hm2_5i20.0.gpio.043.in_not'
  303. [ 1097.651031] HAL: creating parameter 'hm2_5i20.0.gpio.043.invert_output'
  304. [ 1097.651033] HAL: creating parameter 'hm2_5i20.0.gpio.043.is_opendrain'
  305. [ 1097.651036] HAL: creating pin 'hm2_5i20.0.gpio.043.out'
  306. [ 1097.651039] HAL: creating parameter 'hm2_5i20.0.gpio.043.is_outpHAL: creating parameter 'hm2_5i20.0.gpio.050.invert_output'
  307. [ 1097.651991] HAL: creating parameter 'hm2_5i20.0.gpio.050.is_opendrain'
  308. [ 1097.651994] HAL: creating pin 'hm2_5i20.0.gpio.050.out'
  309. [ 1097.651996] HAL: creating parameter 'hm2_5i20.0.gpio.050.is_output'
  310. [ 1097.651999] HAL: creating pin 'hm2_5i20.0.gpio.051.in'
  311. [ 1097.652001] HAL: creating pin 'hm2_5i20.0.gpio.051.in_not'
  312. [ 1097.652004] HAL: creating parameter 'hm2_5i20.0.gpio.051.invert_output'
  313. [ 1097.652007] HAL: creating parameter 'hm2_5i20.0.gpio.051.is_opendrain'
  314. [ 1097.652009] HAL: creating pin 'hm2_5i20.0.gpio.051.out'
  315. [ 1097.652012] HAL: creating parameter 'hm2_5i20.0.gpio.051.is_output'
  316. [ 1097.652014] HAL: creating pin 'hm2_5i20.0.gpio.052.in'
  317. [ 1097.652017] HAL: creating pin 'hm2_5i20.0.gpio.052.in_not'
  318. [ 1097.652019] HAL: creating parameter 'hm2_5i20.0.gpio.052.invert_output'
  319. [ 1097.652022] HAL: creating parameter 'hm2_5i20.0.gpio.052.is_opendrain'
  320. [ 1097.652025] HAL: creating pin 'hm2_5i20.0.gpio.052.out'
  321. [ 1097.652027] HAL: creating parameter 'hm2_5i20.0.gpio.052.is_output'
  322. [ 1097.652030] HAL: creating pin 'hm2_5i20.0.gpio.053.in'
  323. [ 1097.652032] HAL: creating pin 'hm2_5i20.0.gpio.053.in_not'
  324. [ 1097.652035] HAL: creating parameter 'hm2_5i20.0.gpio.053.invert_output'
  325. [ 1097.652037] HAL: creating parameter 'hm2_5i20.0.HAL: creating parameter 'hm2_5i20.0.gpio.059.invert_output'
  326. [ 1097.652988] HAL: creating parameter 'hm2_5i20.0.gpio.059.is_opendrain'
  327. [ 1097.652991] HAL: creating pin 'hm2_5i20.0.gpio.059.out'
  328. [ 1097.652994] HAL: creating parameter 'hm2_5i20.0.gpio.059.is_output'
  329. [ 1097.652996] HAL: creating pin 'hm2_5i20.0.gpio.060.in'
  330. [ 1097.652999] HAL: creating pin 'hm2_5i20.0.gpio.060.in_not'
  331. [ 1097.653001] HAL: creating parameter 'hm2_5i20.0.gpio.060.invert_output'
  332. [ 1097.653004] HAL: creating parameter 'hm2_5i20.0.gpio.060.is_opendrain'
  333. [ 1097.653007] HAL: creating pin 'hm2_5i20.0.gpio.060.out'
  334. [ 1097.653009] HAL: creating parameter 'hm2_5i20.0.gpio.060.is_output'
  335. [ 1097.653012] HAL: creating pin 'hm2_5i20.0.gpio.061.in'
  336. [ 1097.653014] HAL: creating pin 'hm2_5i20.0.gpio.061.in_not'
  337. [ 1097.653017] HAL: creating parameter 'hm2_5i20.0.gpio.061.invert_output'
  338. [ 1097.653019] HAL: creating parameter 'hm2_5i20.0.gpio.061.is_opendrain'
  339. [ 1097.653022] HAL: creating pin 'hm2_5i20.0.gpio.061.out'
  340. [ 1097.653024] HAL: creating parameter 'hm2_5i20.0.gpio.061.is_output'
  341. [ 1097.653027] HAL: creating pin 'hm2_5i20.0.gpio.062.in'
  342. [ 1097.653029] HAL: creating pin 'hm2_5i20.0.gpio.062.in_not'
  343. [ 1097.653032] HAL: creating parameter 'hm2_5i20.0.gpio.062.invert_output'
  344. [ 1097.653035] HAL: creating parameter 'hm2_5i20.0.0.gpio.066.is_output'
  345. [ 1097.653045] HAL: creating pin 'hm2_5i20.0.gpio.067.in'
  346. [ 1097.654014] HAL: creating pin 'hm2_5i20.0.gpio.067.in_not'
  347. [ 1097.654017] HAL: creating parameter 'hm2_5i20.0.gpio.067.invert_output'
  348. [ 1097.654020] HAL: creating parameter 'hm2_5i20.0.gpio.067.is_opendrain'
  349. [ 1097.654023] HAL: creating pin 'hm2_5i20.0.gpio.067.out'
  350. [ 1097.654025] HAL: creating parameter 'hm2_5i20.0.gpio.067.is_output'
  351. [ 1097.654028] HAL: creating pin 'hm2_5i20.0.gpio.068.in'
  352. [ 1097.654030] HAL: creating pin 'hm2_5i20.0.gpio.068.in_not'
  353. [ 1097.654033] HAL: creating parameter 'hm2_5i20.0.gpio.068.invert_output'
  354. [ 1097.654035] HAL: creating parameter 'hm2_5i20.0.gpio.068.is_opendrain'
  355. [ 1097.654038] HAL: creating pin 'hm2_5i20.0.gpio.068.out'
  356. [ 1097.654040] HAL: creating parameter 'hm2_5i20.0.gpio.068.is_output'
  357. [ 1097.654043] HAL: creating pin 'hm2_5i20.0.gpio.069.in'
  358. [ 1097.654045] HAL: creating pin 'hm2_5i20.0.gpio.069.in_not'
  359. [ 1097.654048] HAL: creating parameter 'hm2_5i20.0.gpio.069.invert_output'
  360. [ 1097.654051] HAL: creating parameter 'hm2_5i20.0.gpio.069.is_opendrain'
  361. [ 1097.654053] HAL: creating pin 'hm2_5i20.0.gpio.069.out'
  362. [ 1097.654056] HAL: creating parameter 'hm2_5i20.0.gpio.069.is_output'
  363. [ 1097.654056] HAL: creating pin 'hm2_5i20.0.gpio.070.in'
  364. [ 1097.654056] HAL: creating pin 'hm2_5i20.0.gpio.070.in_not'
  365. [ 1097.654056] HAL: creating parameter 'hm2_5i20.0.gpio.070.invehm2/hm2_5i20.0: enable: 0x00000000
  366. [ 1097.654364] hm2/hm2_5i20.0: pwm_value_addr: 0x4000
  367. [ 1097.654367] hm2/hm2_5i20.0: pwm_mode_addr: 0x4100
  368. [ 1097.654370] hm2/hm2_5i20.0: pwmgen_master_rate_dds_addr: 0x4200
  369. [ 1097.654372] hm2/hm2_5i20.0: pdmgen_master_rate_dds_addr: 0x4300
  370. [ 1097.654375] hm2/hm2_5i20.0: enable_addr: 0x4400
  371. [ 1097.654377] hm2/hm2_5i20.0: instance 0:
  372. [ 1097.654379] hm2/hm2_5i20.0: hw:
  373. [ 1097.654382] hm2/hm2_5i20.0: pwm_val = 0x00000000 (0)
  374. [ 1097.654384] hm2/hm2_5i20.0: pwm_mode = 0x00000023
  375. [ 1097.654387] hm2/hm2_5i20.0: instance 1:
  376. [ 1097.654389] hm2/hm2_5i20.0: hw:
  377. [ 1097.654391] hm2/hm2_5i20.0: pwm_val = 0x00000000 (0)
  378. [ 1097.654394] hm2/hm2_5i20.0: pwm_mode = 0x00000023
  379. [ 1097.654396] hm2/hm2_5i20.0: instance 2:
  380. [ 1097.654398] hm2/hm2_5i20.0: hw:
  381. [ 1097.654401] hm2/hm2_5i20.0: pwm_val = 0x00000000 (0)
  382. [ 1097.654403] hm2/hm2_5i20.0: pwm_mode = 0x00000023
  383. [ 1097.654406] hm2/hm2_5i20.0: 3-phase PWMGen: 0
  384. [ 1097.654408] hm2/hm2_5i20.0: SSerial: 0
  385. [ 1097.654410] hm2/hm2_5i20.0: version 0
  386. [ 1097.654412] hm2/hm2_5i20.0: StepGen: 0
  387. [ 1097.654414] hm2/hm2_5i20.0: IO Ports: 3
  388. [ 1097.654417] hm2/hm2_5i20.0: clock_frequency: 33333333 Hz (33.333 MHz)
  389. [ 1097.654419] hm2/hm2_5i20.0: version: 0
  390. [ 1097.654421] hm2/hm2_5i20.0: dMOTION: setting Traj cycle time to 999885 nsecs
  391. [ 1097.702122] MOTION: setting Servo cycle time to 999885 nsecs
  392. [ 1097.703062] hm2/hm2_5i20.0: Watchdog has bit! (set the .has-bit pin to False to resume)
  393. [ 1097.759986] 58: CMD 1, code 45 SET_NUM_AXES 3
  394. [ 1097.760984] 59: CMD 2, code 39 SET_VEL
  395. [ 1097.761983] 60: CMD 3, code 40 SET_VEL_LIMIT
  396. [ 1097.762982] 61: CMD 4, code 43 SET_ACCEL
  397. [ 1097.763982] 62: CMD 5, code 46 SET_WORLD_HOME
  398. [ 1097.764983] 63: CMD 6, code 36 SET_BACKLASH 0
  399. [ 1097.765983] 64: CMD 7, code 35 SET_POSITION_LIMITS 0
  400. [ 1097.766983] 65: CMD 8, code 35 SET_POSITION_LIMITS 0
  401. [ 1097.767982] 66: CMD 9, code 38 SET_MAX_FERROR 0
  402. [ 1097.768982] 67: CMD 10, code 37 SET_MIN_FERROR 0
  403. [ 1097.769982] 68: CMD 11, code 47 SET_HOMING_PARAMS 0
  404. [ 1097.770982] 69: CMD 12, code 41 SET_JOINT_VEL_LIMIT 0
  405. [ 1097.771982] 70: CMD 13, code 42 SET_JOINT_ACC_LIMIT 0
  406. [ 1097.772983] 71: CMD 14, code 9 ACTIVATE_JOINT 0
  407. [ 1097.773982] 72: CMD 15, code 36 SET_BACKLASH 1
  408. [ 1097.774982] 73: CMD 16, code 35 SET_POSITION_LIMITS 1
  409. [ 1097.775982] 74: CMD 17, code 35 SET_POSITION_LIMITS 1
  410. [ 1097.776982] 75: CMD 18, code 38 SET_MAX_FERROR 1
  411. [ 1097.777982] 76: CMD 19, code 37 SET_MIN_FERROR 1
  412. [ 1097.778982] 77: CMD 20, code 47 SET_HOMING_PARAMS 1
  413. [ 1097.780984] 79: CMD 21, code 41 SET_JOINT_VEL_LIMIT 1
  414. [ 1097.782982] 81: CMD 22, code 42 SET_JOINT_ACC_LIMIT 1
  415. [ 1097.783982] 82: CMD 23, code 9 ACTIVATE_JOINT 1
  416. [ 1097.784982] 83: CMD 24, code 36 SET_BACKLASH 2
  417. [ 1097.785981] 84: CMD 25, code 35 SET_POSITION_LIMITS 2
  418. [ 1097.786981] 85: CMD 26, code 35 SET_POSITION_LIMITS 2
  419. [ 1097.787981] 86: CMD 27, code 38 SET_MAX_FERROR 2
  420. [ 1097.788981] 87: CMD 28, code 37 SET_MIN_FERROR 2
  421. [ 1097.790982] 89: CMD 29, code 47 SET_HOMING_PARAMS 2
  422. [ 1097.791981] 90: CMD 30, code 41 SET_JOINT_VEL_LIMIT 2
  423. [ 1097.792980] 91: CMD 31, code 42 SET_JOINT_ACC_LIMIT 2
  424. [ 1097.793980] 92: CMD 32, code 9 ACTIVATE_JOINT 2
  425. [ 1097.838975] 137: CMD 33, code 2 AXIS_ABORT 0
  426. [ 1097.839975] 138: CMD 34, code 2 AXIS_ABORT 1
  427. [ 1097.840975] 139: CMD 35, code 2 AXIS_ABORT 2
  428. [ 1097.841975] 140: CMD 36, code 2 AXIS_ABORT 3
  429. [ 1097.842974] 141: CMD 37, code 2 AXIS_ABORT 4
  430. [ 1097.843974] 142: CMD 38, code 2 AXIS_ABORT 5
  431. [ 1097.844975] 143: CMD 39, code 2 AXIS_ABORT 6
  432. [ 1097.845976] 144: CMD 40, code 2 AXIS_ABORT 7
  433. [ 1097.846975] 145: CMD 41, code 2 AXIS_ABORT 8
  434. [ 1097.847974] 146: CMD 42, code 1 ABORT 8
  435. [ 1097.848974] 147: CMD 43, code 54 SPINDLE_OFF
  436. [ 1097.855973] 154: CMD 44, code 6 DISABLE_AMP 0
  437. [ 1097.856973] 155: CMD 45, code 6 DISABLE_AMP 1
  438. [ 1097.857973] 156: CMD 46, code 6 DISABLE_AMP 2
  439. [ 1097.858972] 157: CMD 47, code 4 DISABLE
  440. [ 1097.943963] 242: CMD 48, code 2 AXIS_ABORT 0
  441. [ 1097.944964] 243: CMD 49, code 2 AXIS_ABORT 1
  442. [ 1097.945963] 244: CMD 50, code 2 AXIS_ABORT 2
  443. [ 1097.946963] 245: CMD 51, code 2 AXIS_ABORT 3
  444. [ 1097.947963] 246: CMD 52, code 2 AXIS_ABORT 4
  445. [ 1097.948963] 247: CMD 53, code 2 AXIS_ABORT 5
  446. [ 1097.949962] 248: CMD 54, code 2 AXIS_ABORT 6
  447. [ 1097.950962] 249: CMD 55, code 2 AXIS_ABORT 7
  448. [ 1097.951963] 250: CMD 56, code 2 AXIS_ABORT 8
  449. [ 1097.952962] 251: CMD 57, code 1 ABORT 8
  450. [ 1097.953961] 252: CMD 58, code 54 SPINDLE_OFF
  451. [ 1097.954963] 253: CMD 59, code 25 UNHOME -2
  452. [ 1097.956963] 255: CMD 60, code 14 FREE
  453. [ 1098.057951] 356: CMD 61, code 44 SET_TERM_COND
  454. [ 1099.662767] 1961: CMD 62, code 15 COORD
  455. [ 1099.663767] 1962: CMD 63, code 2 AXIS_ABORT 0
  456. [ 1099.665768] 1964: CMD 64, code 2 AXIS_ABORT 1
  457. [ 1099.666765] 1965: CMD 65, code 2 AXIS_ABORT 2
  458. [ 1099.668766] 1967: CMD 66, code 2 AXIS_ABORT 3
  459. [ 1099.669765] 1968: CMD 67, code 2 AXIS_ABORT 4
  460. [ 1099.670764] 1969: CMD 68, code 2 AXIS_ABORT 5
  461. [ 1099.672766] 1971: CMD 69, code 2 AXIS_ABORT 6
  462. [ 1099.673765] 1972: CMD 70, code 2 AXIS_ABORT 7
  463. [ 1099.676765] 1975: CMD 71, code 2 AXIS_ABORT 8
  464. [ 1099.677765] 1976: CMD 72, code 1 ABORT 8
  465. [ 1099.719759] 2018: CMD 73, code 15 COORD
  466. [ 1099.720760] 2019: CMD 74, code 2 AXIS_ABORT 0
  467. [ 1099.721759] 2020: CMD 75, code 2 AXIS_ABORT 1
  468. [ 1099.723760] 2022: CMD 76, code 2 AXIS_ABORT 2
  469. [ 1099.724759] 2023: CMD 77, code 2 AXIS_ABORT 3
  470. [ 1099.725758] 2024: CMD 78, code 2 AXIS_ABORT 4
  471. [ 1099.727760] 2026: CMD 79, code 2 AXIS_ABORT 5
  472. [ 1099.728758] 2027: CMD 80, code 2 AXIS_ABORT 6
  473. [ 1099.729759] 2028: CMD 81, code 2 AXIS_ABORT 7
  474. [ 1099.731760] 2030: CMD 82, code 2 AXIS_ABORT 8
  475. [ 1099.732759] 2031: CMD 83, code 1 ABORT 8
  476. [ 1100.032723] 2331: CMD 84, code 19 FEED SCALE
  477. [ 1100.043721] 2342: CMD 85, code 17 SPINDLE SCALE
  478. [ 1101.233587] 3532: CMD 86, code 40 SET_VEL_LIMIT
  479. [ 1101.244583] 3543: CMD 87, code 19 FEED SCALE
  480. [ 1102.993385] 5292: CMD 88, code 2 AXIS_ABORT 0
  481. [ 1102.995385] 5294: CMD 89, code 2 AXIS_ABORT 1
  482. [ 1102.996382] 5295: CMD 90, code 2 AXIS_ABORT 2
  483. [ 1102.997382] 5296: CMD 91, code 2 AXIS_ABORT 3
  484. [ 1102.999384] 5298: CMD 92, code 2 AXIS_ABORT 4
  485. [ 1103.000382] 5299: CMD 93, code 2 AXIS_ABORT 5
  486. [ 1103.002383] 5301: CMD 94, code 2 AXIS_ABORT 6
  487. [ 1103.003382] 5302: CMD 95, code 2 AXIS_ABORT 7
  488. [ 1103.004381] 5303: CMD 96, code 2 AXIS_ABORT 8
  489. [ 1103.005381] 5304: CMD 97, code 1 ABORT 8
  490. [ 1103.006381] 5305: CMD 98, code 54 SPINDLE_OFF
  491. [ 1103.572323] 5871: CMD 99, code 3 ENABLE
  492. [ 1103.573320] 5872: CMD 100, code 5 ENABLE_AMP 0
  493. [ 1103.575320] 5874: CMD 101, code 5 ENABLE_AMP 1
  494. [ 1103.576317] 5875: CMD 102, code 5 ENABLE_AMP 2
  495. [ 1103.594315] 5893: CMD 103, code 2 AXIS_ABORT 0
  496. [ 1103.595316] 5894: CMD 104, code 2 AXIS_ABORT 1
  497. [ 1103.597317] 5896: CMD 105, code 2 AXIS_ABORT 2
  498. [ 1103.598316] 5897: CMD 106, code 2 AXIS_ABORT 3
  499. [ 1103.599315] 5898: CMD 107, code 2 AXIS_ABORT 4
  500. [ 1103.600316] 5899: CMD 108, code 2 AXIS_ABORT 5
  501. [ 1103.606314] 5905: CMD 109, code 2 AXIS_ABORT 6
  502. [ 1103.607315] 5906: CMD 110, code 2 AXIS_ABORT 7
  503. [ 1103.608315] 5907: CMD 111, code 2 AXIS_ABORT 8
  504. [ 1103.609316] 5908: CMD 112, code 1 ABORT 8
  505. [ 1103.610314] 5909: CMD 113, code 14 FREE
  506. [ 1103.637309] 5936: CMD 114, code 14 FREE
  507. [ 1135.283675] 37586: CMD 115, code 4 DISABLE
  508. [ 1135.342354] hm2_5i20.0: dropping AnyIO board at 0000:05:00.0
  509. [ 1135.342357] hm2/hm2_5i20.0: unregistered
  510. [ 1135.342404] hm2_pci 0000:05:00.0: PCI INT A disabled
  511. [ 1135.343410] hm2_pci: driver unloaded
  512. [ 1135.343413] HAL: removing component 11
  513. [ 1135.343416] RTAPI: module 11 exiting
  514. [ 1135.343418] RTAPI: module 11 exited, name: 'HAL_hm2_pci'
  515. [ 1135.343420] HAL: component 11 removed, name = 'hm2_pci'
  516. [ 1135.349458] hm2: unloading
  517. [ 1135.349461] HAL: removing component 10
  518. [ 1135.349463] RTAPI: module 10 exiting
  519. [ 1135.349465] RTAPI: module 10 exited, name: 'HAL_hostmot2'
  520. [ 1135.349468] HAL: component 10 removed, name = 'hostmot2'
  521. [ 1135.356049] HAL: removing component 09
  522. [ 1135.356053] RTAPI: module 9 exiting
  523. [ 1135.356055] RTAPI: module 9 exited, name: 'HAL_probe_parport'
  524. [ 1135.356058] HAL: component 09 removed, name = 'probe_parport'
  525. [ 1135.361022] HAL: removing component 08
  526. [ 1135.361025] RTAPI: module 8 exiting
  527. [ 1135.361028] RTAPI: module 8 exited, name: 'HAL_pid'
  528. [ 1135.361030] HAL: component 08 removed, name = 'pid'
  529. [ 1135.367177] MOTION: cleanup_module() started.
  530. [ 1135.367180] HAL: threads stopped
  531. [ 1135.367567] RTAPI: shmem 02 freed by module 07
  532. [ 1135.367570] HAL: removing component 07
  533. [ 1135.367572] RTAPI: module 7 exiting
  534. [ 1135.367574] RTAPI: module 7 exited, name: 'HAL_motmod'
  535. [ 1135.367577] HAL: component 07 removed, name = 'motmod'
  536. [ 1135.367579] MOTION: cleanup_module() finished.
  537. [ 1135.372860] HAL: removing component 06
  538. [ 1135.372864] RTAPI: module 6 exiting
  539. [ 1135.372866] RTAPI: module 6 exited, name: 'HAL_trivkins'
  540. [ 1135.372868] HAL: component 06 removed, name = 'trivkins'
  541. [ 1135.871140] HAL_LIB: removing kernel lib
  542. [ 1135.871159] RTAPI: WARNING: tried to delete task 01 while running
  543. [ 1135.871208] RTAPI: task 01 deleted
  544. [ 1135.871283] RTAPI: shmem 01 freed by module 01
  545. [ 1135.871286] RTAPI: module 1 exiting
  546. [ 1135.871288] RTAPI: module 1 exited, name: 'HAL_LIB'
  547. [ 1135.871290] HAL_LIB: kernel lib removed successfully
  548. [ 1135.876737] RTAPI: Exiting
  549. [ 1135.876792] RTAPI: Exit complete
  550. [ 1135.881679] RTAI[math]: unloaded.
  551. [ 1135.947478] RTAI[malloc]: unloaded.
  552. [ 1136.047032] RTAI[sched]: unloaded (forced hard/soft/hard transitions: traps 0, syscalls 0).
  553. [ 1136.052824] I-pipe: Domain RTAI unregistered.
  554. [ 1136.052913] RTAI[hal]: unmounted.
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