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universal stepper controller issue with emc 2.4.6 ubuntu 10.04

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Dec 13th, 2010
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  1. root@emc:~/tmp/univstepdiag# ./univstepdiags test bus
  2. io addr = 378
  3. parport addr 0x378
  4. Bus Map
  5. Board Addr Type Ver.
  6. 0 Univ. Stepper 3
  7. 2 No Board ff
  8. rest say no board
  9.  
  10. root@emc:~/tmp/univstepdiag# ./univstepdiags test commtest
  11. io addr = 378
  12. parport addr 0x378
  13. 1000 test cycles, 0 errors
  14. 2000 test cycles, 0 errors
  15. 3000 test cycles, 0 errors
  16. 4000 test cycles, 0 errors
  17. 5000 test cycles, 0 errors
  18. goes on forever
  19.  
  20. Here is what happens when I start EMC:
  21. Print file information:
  22. RUN_IN_PLACE=no
  23. EMC2_DIR=
  24. EMC2_BIN_DIR=/usr/bin
  25. EMC2_TCL_DIR=/usr/share/emc/tcl
  26. EMC2_SCRIPT_DIR=
  27. EMC2_RTLIB_DIR=/usr/realtime-2.6.32-122-rtai/modules/emc2
  28. EMC2_CONFIG_DIR=
  29. EMC2_LANG_DIR=/usr/share/emc/tcl/msgs
  30. INIVAR=inivar
  31. HALCMD=halcmd
  32. EMC2_EMCSH=/usr/bin/wish8.5
  33. EMC2 - 2.4.6
  34. Machine configuration directory is '/root/univstep'
  35. Machine configuration file is 'univstep.ini'
  36. INIFILE=/root/univstep/univstep.ini
  37. PARAMETER_FILE=univstep.var
  38. EMCMOT=motmod
  39. EMCIO=io
  40. TASK=milltask
  41. HALUI=
  42. DISPLAY=axis
  43. NML_FILE=emc.nml
  44. Starting EMC2...
  45. Starting EMC2 server program: emcsvr
  46. Loading Real Time OS, RTAPI, and HAL_LIB modules
  47. Starting EMC2 IO program: io
  48. iocontrol: machine: 'EMC2-USC-Thread' version '1.6'
  49. libnml/buffer/physmem.cc 143: PHYSMEM_HANDLE: Can't write 6348 bytes at offset 60 from buffer of size 4064.
  50. libnml/cms/cms_in.cc 1383: CMS:(toolSts) Error writing 6348 bytes to global memory at offset 80565C4
  51. (See libnml/cms/cms_in.cc line 1386.)
  52.  
  53. **********************************************************
  54. * Current Directory = /root/univstep
  55. *
  56. **********************************************************
  57. * BufferName = toolSts
  58. * BufferType = 0
  59. * ProcessName = tool
  60. * Configuration File = emc.nml
  61. * CMS Status = -3 (CMS_INTERNAL_ACCESS_ERROR: An error occured during an internal access function. )
  62. * Recent errors repeated:
  63.  
  64. PHYSMEM_HANDLE: Can't write 6348 bytes at offset 60 from buffer of size 4064.
  65.  
  66. CMS:(toolSts) Error writing 6348 bytes to global memory at offset 80565C4
  67. (See libnml/cms/cms_in.
  68.  
  69. * BufferLine: B toolSts SHMEM localhost 4096 0 0 5 16 1005 TCP=5005 xdr
  70. * ProcessLine: P tool toolSts LOCAL localhost W 0 1.0 0 3
  71. * error_type = 5 (NML_INTERNAL_CMS_ERROR)
  72. ************************************************************
  73.  
  74. libnml/buffer/physmem.cc 143: PHYSMEM_HANDLE: Can't write 6348 bytes at offset 60 from buffer of size 4064.
  75. libnml/cms/cms_in.cc 1383: CMS:(toolSts) Error writing 6348 bytes to global memory at offset 80565C4
  76. (See libnml/cms/cms_in.cc line 1386.)
  77. Shutting down and cleaning up EMC2...
  78. Killing task emcsvr, PID=1412
  79. Removing HAL_LIB, RTAPI, and Real Time OS modules
  80. Removing NML shared memory segments
  81. Cleanup done
  82.  
  83. Debug file information:
  84. (time=1292268865.654589,pid=1412): Registering server on TCP port 5005.
  85. (time=1292268865.654850,pid=1412): running server for TCP port 5005 (connection_socket = 3).
  86. Unrecognized line skipped: POC FMS LEN DIAM COMMENT
  87. insmod: error inserting '/usr/realtime-2.6.32-122-rtai/modules/emc2/hal_ppmc.ko': -1 Operation not permitted
  88. univstep_load.hal:13: exit value: 1
  89. univstep_load.hal:13: insmod failed, returned -1
  90. See the output of 'dmesg' for more information.
  91. 1412
  92. (time=1292268867.123106,pid=1412): Deleting 5 channels from the NML_Main_Channel_List.
  93. (time=1292268867.123178,pid=1412): Deleting emcCommand NML channel from NML_Main_Channel_List.
  94. (time=1292268867.123195,pid=1412): deleting NML (1)
  95. (time=1292268867.123210,pid=1412): delete (CMS *) 84441E8;
  96. (time=1292268867.123237,pid=1412): rcs_shm_close(shm->key=1001(0x3E9),shm->size=8192(0x2000),shm->addr=0xB7841000)
  97. (time=1292268867.123295,pid=1412): deleting CMS (emcCommand)
  98. (time=1292268867.123321,pid=1412): free( data = 8444B00);
  99. (time=1292268867.123337,pid=1412): Leaving ~CMS()
  100. (time=1292268867.123352,pid=1412): CMS::delete(84441E8)
  101. (time=1292268867.123367,pid=1412): CMS::delete successful.
  102. (time=1292268867.123384,pid=1412): Leaving ~NML()
  103. (time=1292268867.123397,pid=1412): NML channel deleted from NML_Main_Channel_List
  104. (time=1292268867.123411,pid=1412): Deleting emcStatus NML channel from NML_Main_Channel_List.
  105. (time=1292268867.123426,pid=1412): deleting NML (2)
  106. (time=1292268867.123440,pid=1412): delete (CMS *) 8449AB8;
  107. (time=1292268867.123456,pid=1412): rcs_shm_close(shm->key=1002(0x3EA),shm->size=10240(0x2800),shm->addr=0xB783E000)
  108. (time=1292268867.123489,pid=1412): deleting CMS (emcStatus)
  109. (time=1292268867.123508,pid=1412): free( data = 844A3D0);
  110. (time=1292268867.123525,pid=1412): Leaving ~CMS()
  111. (time=1292268867.123539,pid=1412): CMS::delete(8449AB8)
  112. (time=1292268867.123553,pid=1412): CMS::delete successful.
  113. (time=1292268867.123567,pid=1412): Leaving ~NML()
  114. (time=1292268867.123582,pid=1412): NML channel deleted from NML_Main_Channel_List
  115. (time=1292268867.123595,pid=1412): Deleting emcError NML channel from NML_Main_Channel_List.
  116. (time=1292268867.123609,pid=1412): deleting NML (3)
  117. (time=1292268867.123624,pid=1412): delete (CMS *) 844D0D0;
  118. (time=1292268867.123639,pid=1412): rcs_shm_close(shm->key=1003(0x3EB),shm->size=8192(0x2000),shm->addr=0xB783C000)
  119. (time=1292268867.123663,pid=1412): deleting CMS (emcError)
  120. (time=1292268867.123683,pid=1412): free( data = 844D9E8);
  121. (time=1292268867.123697,pid=1412): Leaving ~CMS()
  122. (time=1292268867.123711,pid=1412): CMS::delete(844D0D0)
  123. (time=1292268867.123727,pid=1412): CMS::delete successful.
  124. (time=1292268867.123742,pid=1412): Leaving ~NML()
  125. (time=1292268867.123755,pid=1412): NML channel deleted from NML_Main_Channel_List
  126. (time=1292268867.123770,pid=1412): Deleting toolCmd NML channel from NML_Main_Channel_List.
  127. (time=1292268867.123785,pid=1412): deleting NML (4)
  128. (time=1292268867.123798,pid=1412): delete (CMS *) 844FE38;
  129. (time=1292268867.123813,pid=1412): rcs_shm_close(shm->key=1004(0x3EC),shm->size=1024(0x400),shm->addr=0xB783B000)
  130. (time=1292268867.123838,pid=1412): deleting CMS (toolCmd)
  131. (time=1292268867.123856,pid=1412): free( data = 8450750);
  132. (time=1292268867.123872,pid=1412): Leaving ~CMS()
  133. (time=1292268867.123886,pid=1412): CMS::delete(844FE38)
  134. (time=1292268867.123900,pid=1412): CMS::delete successful.
  135. (time=1292268867.123914,pid=1412): Leaving ~NML()
  136. (time=1292268867.123929,pid=1412): NML channel deleted from NML_Main_Channel_List
  137. (time=1292268867.123942,pid=1412): Deleting toolSts NML channel from NML_Main_Channel_List.
  138. (time=1292268867.123955,pid=1412): deleting NML (5)
  139. (time=1292268867.123970,pid=1412): delete (CMS *) 8450FD0;
  140. (time=1292268867.123985,pid=1412): rcs_shm_close(shm->key=1005(0x3ED),shm->size=4096(0x1000),shm->addr=0xB783A000)
  141. (time=1292268867.124008,pid=1412): deleting CMS (toolSts)
  142. (time=1292268867.124028,pid=1412): free( data = 84518E8);
  143. (time=1292268867.124042,pid=1412): Leaving ~CMS()
  144. (time=1292268867.124056,pid=1412): CMS::delete(8450FD0)
  145. (time=1292268867.124071,pid=1412): CMS::delete successful.
  146. (time=1292268867.124106,pid=1412): Leaving ~NML()
  147. (time=1292268867.124123,pid=1412): NML channel deleted from NML_Main_Channel_List
  148. (time=1292268867.124139,pid=1412): deleting NML (1)
  149. (time=1292268867.124154,pid=1412): Leaving ~NML()
  150. (time=1292268867.124169,pid=1412): NML::operater delete(8444008)
  151. (time=1292268867.124185,pid=1412): NML channel deleted from Dynamically_Allocated_NML_Objects
  152. (time=1292268867.124199,pid=1412): deleting NML (2)
  153. (time=1292268867.124212,pid=1412): Leaving ~NML()
  154. (time=1292268867.124227,pid=1412): NML::operater delete(8449938)
  155. (time=1292268867.124241,pid=1412): NML channel deleted from Dynamically_Allocated_NML_Objects
  156. (time=1292268867.124255,pid=1412): deleting NML (3)
  157. (time=1292268867.124270,pid=1412): Leaving ~NML()
  158. (time=1292268867.124283,pid=1412): NML::operater delete(844CED0)
  159. (time=1292268867.124297,pid=1412): NML channel deleted from Dynamically_Allocated_NML_Objects
  160. (time=1292268867.124311,pid=1412): deleting NML (4)
  161. (time=1292268867.124326,pid=1412): Leaving ~NML()
  162. (time=1292268867.124340,pid=1412): NML::operater delete(844FCB8)
  163. (time=1292268867.124353,pid=1412): NML channel deleted from Dynamically_Allocated_NML_Objects
  164. (time=1292268867.124367,pid=1412): deleting NML (5)
  165. (time=1292268867.124383,pid=1412): Leaving ~NML()
  166. (time=1292268867.124396,pid=1412): NML::operater delete(8450E50)
  167. (time=1292268867.124410,pid=1412): NML channel deleted from Dynamically_Allocated_NML_Objects
  168. PID TTY STAT TIME COMMAND
  169. Stopping realtime threads
  170. Unloading hal components
  171.  
  172. Kernel message information:
  173. [ 284.454017] I-pipe: Domain RTAI registered.
  174. [ 284.454029] RTAI[hal]: <3.8.1> mounted over IPIPE-NOTHREADS 2.6-03.
  175. [ 284.454032] RTAI[hal]: compiled with gcc version 4.4.3 (Ubuntu 4.4.3-4ubuntu5) .
  176. [ 284.454040] RTAI[hal]: mounted (IPIPE-NOTHREADS, IMMEDIATE (INTERNAL IRQs DISPATCHED), ISOL_CPUS_MASK: 0).
  177. [ 284.454042] PIPELINE layers:
  178. [ 284.454046] f8346e20 9ac15d93 RTAI 200
  179. [ 284.454049] c085cb20 0 Linux 100
  180. [ 284.483819] RTAI[malloc]: global heap size = 2097152 bytes, <BSD>.
  181. [ 284.484260] RTAI[sched]: IMMEDIATE, MP, USER/KERNEL SPACE: <with RTAI OWN KTASKs>, kstacks pool size = 524288 bytes.
  182. [ 284.484266] RTAI[sched]: hard timer type/freq = APIC/20880644(Hz); default timing: periodic; linear timed lists.
  183. [ 284.484271] RTAI[sched]: Linux timer freq = 250 (Hz), TimeBase freq = 1921126000 hz.
  184. [ 284.484274] RTAI[sched]: timer setup = 999 ns, resched latency = 2943 ns.
  185. [ 284.484404] RTAI[usi]: enabled.
  186. [ 284.586077] RTAI[math]: loaded.
  187. [ 284.756601] PPMC: Check Parallel Port connection.
  188. [ 284.756616] PPMC: Check Parallel Port connection.
  189. [ 284.756662] PPMC: Check Parallel Port connection.
  190. [ 284.756674] PPMC: Check Parallel Port connection.
  191. [ 284.756685] PPMC: Check Parallel Port connection.
  192. [ 284.756862] PPMC: Check Parallel Port connection.
  193. [ 284.756900] PPMC: ERROR: no boards found on bus 0, port 0378
  194. [ 284.756904] PPMC: shutting down
  195. [ 285.302953] RTAI[math]: unloaded.
  196. [ 285.373305] SCHED releases registered named ALIEN RTGLBH
  197. [ 285.388997] RTAI[malloc]: unloaded.
  198. [ 285.488016] RTAI[sched]: unloaded (forced hard/soft/hard transitions: traps 0, syscalls 0).
  199. [ 285.493402] I-pipe: Domain RTAI unregistered.
  200. [ 285.493414] RTAI[hal]: unmounted.
  201.  
  202.  
  203.  
  204.  
  205. At this point the univstepdiags can't find the board:
  206. root@emc:~/tmp/univstepdiag# ./univstepdiags test bus
  207. io addr = 378
  208. parport addr 0x378
  209. Bus Map
  210. Board Addr Type Ver.
  211. 0 No Board ff
  212. 1 Unknown 9f
  213. 2 No Board ff
  214. 3 No Board ff
  215. 4 No Board ff
  216. 5 Unknown 9f
  217. 6 Unknown 9f
  218. 7 No Board ff
  219. 8 No Board ff
  220. 9 Unknown 9f
  221. a Unknown 9f
  222. b Unknown 9f
  223. c No Board ff
  224. d No Board ff
  225. e No Board ff
  226. f Unknown 9f
  227.  
  228.  
  229. The No board and Unknown vary for each board #everytime I run it. commtest is a complete failure of course.
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