Pleo boot loader
7361 - Nov 15 2007 21:34:31
Starting image 8128 - Mar 19 2008 06:24:52

8128 - Mar 19 2008 06:24:52
Reset Source = 0x00010001: User Reset 1; Brownout 0; Type 0 = Normal
INFO: low: motion: Initializing motion control subsystem
INFO: low: motion: MotorController 0 firmware version 28
INFO: low: motion: MotorController 0 comms test passed
INFO: low: motion: MotorController 0 A/D filter K=1 N=2
INFO: low: motion: MotorController 0 outputs set to P00=1, P01=0
INFO: low: motion: MotorController 1 firmware version 28
INFO: low: motion: MotorController 1 comms test passed
INFO: low: motion: MotorController 1 A/D filter K=1 N=2
INFO: low: motion: MotorController 1 outputs set to P00=1, P01=0
INFO: low: motion: MotorController 2 firmware version 28
INFO: low: motion: MotorController 2 comms test passed
INFO: low: motion: MotorController 2 A/D filter K=1 N=2
INFO: low: motion: MotorController 2 outputs set to P00=1, P01=0
INFO: low: motion: MotorController 3 firmware version 28
INFO: low: motion: MotorController 3 comms test passed
INFO: low: motion: MotorController 3 A/D filter K=1 N=2
INFO: low: motion: MotorController 3 outputs set to P00=1, P01=0
INFO: low: motion: Successfully loaded calibration data from dataflash.
INFO: low: motion: ident | calibration  |  PID constants    |
INFO: low: motion: joint  low zero upper kp ki kd kf kni kdb
INFO: low: motion:     0  66  126   229 70 35  0  0  16   4
INFO: low: motion:     1  61   63   169 50 20  0  0  16   4
INFO: low: motion:     2  63  121   219 70 35  0  0  16   4
INFO: low: motion:     3  58   59   168 50 20  0  0  16   4
INFO: low: motion:     4  46  123   204 50 100  0  0  12   4
INFO: low: motion:     5  65  177   177 70 20  0  0  10   4
INFO: low: motion:     6  44  124   200 50 100  0  0  12   4
INFO: low: motion:     7  71  189   189 70 20  0  0  10   4
INFO: low: motion:     8  98  125   142 80 40  0  0  10   4
INFO: low: motion:     9  22  121   228 40 90  0  0   8   4
INFO: low: motion:    10  20  133   226 75 50  0  0  24   4
INFO: low: motion:    11  24  125   225 80 50  0  0  32   4
INFO: low: motion:    12  18  145   229 60 30  0  0  32   4
INFO: low: motion:    13  64  123   223 40 35  0  0   8   4
INFO: low: motion: Acroname MotorControllers present and functioning.  Enabling motion control system.
INFO: low: Rev 17.8; setting current sense gain to 9, vbat_kb = 24, vbat_ki = 46
INFO: low: io: ts 933: eopen(/SYS_STATS.SSF, r)
INFO: low: io: ts 936: eclose()
INFO: low: res: stats: Statistics file read ok.
INFO: low: res: stats: CRC is ok!  Statistics file is good.
INFO: nxp: Resetting head; flash = 0
INFO: nxp: 8128 - Mar 19 2008 06:25:46
INFO: nxp: Stack end:
INFO: nxp: 40001C1C
INFO: nxp: SRAM end:
INFO: nxp: 40001490
INFO: nxp: SRAM remaining:
INFO: nxp: 0000078C
INFO: low: Turning on head sensors.
INFO: low: object tx=1, speed=100
INFO: high: hl_init()
INFO: low: Loading from DataFlash
INFO: low: io: ts 1788: eopen(automon.txt, r)

>
> Calculating Adler32...
1%2%3%4%5%6%7%8%9%10%11%12%13%14%15%16%17%18%19%20%21%22%23%24%25%26%27%28%29%30%31%32%33%34%35%36%37%38%39%40%41%42%43%44%45%46%47%48%49%50%51%52%53%54%55%56%57%58%59%60%61%62%63%64%65%66%67%68%69%70%71%72%73%74%75%76%77%78%79%80%81%82%83%84%85%86%87%88%89%90%91%92%93%94%95%96%97%98%99%...Adler32 from file: 0xEF4FD6B2, calculated:0xEF4FD6B2 in 3698ms