Hi,
I've tried posting the message below onto emc-users but for some reason
it has not appeared. Are new posters vetted in the first instance? Or
does the attachment cause a problem?
Regards
Will
---
We are planning on using a HAL based system as a general machine
controller to replace a PLC+HMI. We have a Mesa Electronics 7i65 board
to provide analog in/out functions.
I'm using both the latest linuxcnc-master & hostmot2-firmwarefrom git
repo; I've compiled the firmware 2X7i65 using the Xilinx Webpack 9.2 ISE
which completed without error.
The firmware works OK for gpio using the following hal configuration;
"
loadrt hostmot2 debug_idrom=1 debug_module_descriptors=1
debug_pin_descriptors=1 debug_modules=1
loadrt hm2_pci config="firmware=hm2/5i20/2X7I65_72.BIT num_encoders=0
num_pwmgens=0 num_stepgens=0 num_bspis=1"
# loadrt mesa_7i65 bspi_chans=hm2_5i20.0.bspi.0
loadrt threads name1=test period1=10000000
addf hm2_5i20.0.read test
addf hm2_5i20.0.write test
addf hm2_5i20.0.pet_watchdog test
start
"
When I uncomment the loadrt mesa_7i65 I have the following error in dmesg
"
[39776.467704] RTAPI: Task 1[eadbc800]: Fault with vec=14, signo=11
ip=fc939017.
[39776.467708] RTAPI: This fault may not be recoverable without rebooting.
"
I've attached the full output of dmesg from starting hal.
Neither the gpio or the 7i65 respond to hal commands after this.
Does anyone have any suggestions? Perhaps I should post this to the
developers list as I'm using as yet unreleased component?
Will
--
[39776.205811] I-pipe: Domain RTAI registered.
[39776.205819] RTAI[hal]: <3.8.1> mounted over IPIPE-NOTHREADS 2.6-03.
[39776.205822] RTAI[hal]: compiled with gcc version 4.4.3 (Ubuntu
4.4.3-4ubuntu5) .
[39776.205860] RTAI[hal]: mounted (IPIPE-NOTHREADS, IMMEDIATE (INTERNAL IRQs
DISPATCHED), ISOL_CPUS_MASK: 0).
[39776.205863] PIPELINE layers:
[39776.205866] fc58fe20 9ac15d93 RTAI 200
[39776.205870] c085cb20 0 Linux 100
[39776.227055] RTAI[malloc]: global heap size = 2097152 bytes, <BSD>.
[39776.227231] RTAI[sched]: IMMEDIATE, MP, USER/KERNEL SPACE: <with RTAI OWN
KTASKs>, kstacks pool size = 524288 bytes.
[39776.227238] RTAI[sched]: hard timer type/freq = APIC/12459631(Hz); default
timing: periodic; linear timed lists.
[39776.227242] RTAI[sched]: Linux timer freq = 250 (Hz), TimeBase freq =
1794143000 hz.
[39776.227245] RTAI[sched]: timer setup = 999 ns, resched latency = 2944 ns.
[39776.227330] RTAI[usi]: enabled.
[39776.266644] RTAI[math]: loaded.
[39776.295610] hm2: loading Mesa HostMot2 driver version 0.15
[39776.298789] hm2_pci: loading Mesa AnyIO HostMot2 driver version 0.7
[39776.298825] hm2_pci: discovered 5i20 at 0000:03:02.0
[39776.298924] hm2_5i20.0: firmware: requesting hm2/5i20/2X7I65_72.BIT
[39776.434042] hm2/hm2_5i20.0: IDRom:
[39776.434048] hm2/hm2_5i20.0: IDRom Type: 0x00000003
[39776.434051] hm2/hm2_5i20.0: Offset to Modules: 0x00000040
[39776.434054] hm2/hm2_5i20.0: Offset to Pin Description: 0x000001C0
[39776.434057] hm2/hm2_5i20.0: Board Name: MESA5I20
[39776.434060] hm2/hm2_5i20.0: FPGA Size: 200
[39776.434063] hm2/hm2_5i20.0: FPGA Pins: 208
[39776.434065] hm2/hm2_5i20.0: Port Width: 24
[39776.434068] hm2/hm2_5i20.0: IO Ports: 3
[39776.434071] hm2/hm2_5i20.0: IO Width: 72
[39776.434074] hm2/hm2_5i20.0: Clock Low: 33333333 Hz (33333 KHz, 33 MHz)
[39776.434078] hm2/hm2_5i20.0: Clock High: 100000000 Hz (100000 KHz, 100
MHz)
[39776.434081] hm2/hm2_5i20.0: Instance Stride 0: 0x00000004
[39776.434084] hm2/hm2_5i20.0: Instance Stride 1: 0x00000040
[39776.434087] hm2/hm2_5i20.0: Register Stride 0: 0x00000100
[39776.434089] hm2/hm2_5i20.0: Register Stride 1: 0x00000100
[39776.434169] hm2/hm2_5i20.0: 72 HM2 Pin Descriptors:
[39776.434172] hm2/hm2_5i20.0: pin 0:
[39776.434175] hm2/hm2_5i20.0: Primary Tag: 0x03 (IOPort)
[39776.434179] hm2/hm2_5i20.0: Secondary Tag: 0x0C (Muxed Encoder)
[39776.434181] hm2/hm2_5i20.0: Secondary Unit: 0x00
[39776.434185] hm2/hm2_5i20.0: Secondary Pin: 0x01 (Muxed A, Input)
[39776.434188] hm2/hm2_5i20.0: pin 1:
[39776.434191] hm2/hm2_5i20.0: Primary Tag: 0x03 (IOPort)
[39776.434194] hm2/hm2_5i20.0: Secondary Tag: 0x0C (Muxed Encoder)
[39776.434196] hm2/hm2_5i20.0: Secondary Unit: 0x00
[39776.434199] hm2/hm2_5i20.0: Secondary Pin: 0x02 (Muxed B, Input)
[39776.434202] hm2/hm2_5i20.0: pin 2:
[39776.434205] hm2/hm2_5i20.0: Primary Tag: 0x03 (IOPort)
[39776.434208] hm2/hm2_5i20.0: Secondary Tag: 0x0C (Muxed Encoder)
[39776.434211] hm2/hm2_5i20.0: Secondary Unit: 0x00
[39776.434214] hm2/hm2_5i20.0: Secondary Pin: 0x03 (Muxed Index, Input)
[39776.434217] hm2/hm2_5i20.0: pin 3:
[39776.434219] hm2/hm2_5i20.0: Primary Tag: 0x03 (IOPort)
[39776.434222] hm2/hm2_5i20.0: Secondary Tag: 0x0C (Muxed Encoder)
[39776.434225] hm2/hm2_5i20.0: Secondary Unit: 0x01
[39776.434228] hm2/hm2_5i20.0: Secondary Pin: 0x01 (Muxed A, Input)
[39776.434231] hm2/hm2_5i20.0: pin 4:
[39776.434234] hm2/hm2_5i20.0: Primary Tag: 0x03 (IOPort)
[39776.434237] hm2/hm2_5i20.0: Secondary Tag: 0x0C (Muxed Encoder)
[39776.434240] hm2/hm2_5i20.0: Secondary Unit: 0x01
[39776.434243] hm2/hm2_5i20.0: Secondary Pin: 0x02 (Muxed B, Input)
[39776.434245] hm2/hm2_5i20.0: pin 5:
[39776.434248] hm2/hm2_5i20.0: Primary Tag: 0x03 (IOPort)
[39776.434251] hm2/hm2_5i20.0: Secondary Tag: 0x0C (Muxed Encoder)
[39776.434254] hm2/hm2_5i20.0: Secondary Unit: 0x01
[39776.434257] hm2/hm2_5i20.0: Secondary Pin: 0x03 (Muxed Index, Input)
[39776.434260] hm2/hm2_5i20.0: pin 6:
[39776.434262] hm2/hm2_5i20.0: Primary Tag: 0x03 (IOPort)
[39776.434266] hm2/hm2_5i20.0: Secondary Tag: 0x0C (Muxed Encoder)
[39776.434269] hm2/hm2_5i20.0: Secondary Unit: 0x02
[39776.434272] hm2/hm2_5i20.0: Secondary Pin: 0x01 (Muxed A, Input)
[39776.434275] hm2/hm2_5i20.0: pin 7:
[39776.434277] hm2/hm2_5i20.0: Primary Tag: 0x03 (IOPort)
[39776.434280] hm2/hm2_5i20.0: Secondary Tag: 0x0C (Muxed Encoder)
[39776.434283] hm2/hm2_5i20.0: Secondary Unit: 0x02
[39776.434286] hm2/hm2_5i20.0: Secondary Pin: 0x02 (Muxed B, Input)
[39776.434289] hm2/hm2_5i20.0: pin 8:
[39776.434292] hm2/hm2_5i20.0: Primary Tag: 0x03 (IOPort)
[39776.434295] hm2/hm2_5i20.0: Secondary Tag: 0x0C (Muxed Encoder)
[39776.434297] hm2/hm2_5i20.0: Secondary Unit: 0x02
[39776.434300] hm2/hm2_5i20.0: Secondary Pin: 0x03 (Muxed Index, Input)
[39776.434303] hm2/hm2_5i20.0: pin 9:
[39776.434306] hm2/hm2_5i20.0: Primary Tag: 0x03 (IOPort)
[39776.434309] hm2/hm2_5i20.0: Secondary Tag: 0x0C (Muxed Encoder)
[39776.434312] hm2/hm2_5i20.0: Secondary Unit: 0x03
[39776.434315] hm2/hm2_5i20.0: Secondary Pin: 0x01 (Muxed A, Input)
[39776.434318] hm2/hm2_5i20.0: pin 10:
[39776.434320] hm2/hm2_5i20.0: Primary Tag: 0x03 (IOPort)
[39776.434324] hm2/hm2_5i20.0: Secondary Tag: 0x0C (Muxed Encoder)
[39776.434326] hm2/hm2_5i20.0: Secondary Unit: 0x03
[39776.434329] hm2/hm2_5i20.0: Secondary Pin: 0x02 (Muxed B, Input)
[39776.434332] hm2/hm2_5i20.0: pin 11:
[39776.434335] hm2/hm2_5i20.0: Primary Tag: 0x03 (IOPort)
[39776.434338] hm2/hm2_5i20.0: Secondary Tag: 0x0C (Muxed Encoder)
[39776.434341] hm2/hm2_5i20.0: Secondary Unit: 0x03
[39776.434344] hm2/hm2_5i20.0: Secondary Pin: 0x03 (Muxed Index, Input)
[39776.434347] hm2/hm2_5i20.0: pin 12:
[39776.434349] hm2/hm2_5i20.0: Primary Tag: 0x03 (IOPort)
[39776.434352] hm2/hm2_5i20.0: pin 13:
[39776.434355] hm2/hm2_5i20.0: Primary Tag: 0x03 (IOPort)
[39776.434358] hm2/hm2_5i20.0: Secondary Tag: 0x0D (Muxed Encoder
Select)
[39776.434361] hm2/hm2_5i20.0: Secondary Unit: 0x00
[39776.434364] hm2/hm2_5i20.0: Secondary Pin: 0x81 (Mux Select 0,
Output)
[39776.434367] hm2/hm2_5i20.0: pin 14:
[39776.434370] hm2/hm2_5i20.0: Primary Tag: 0x03 (IOPort)
[39776.434373] hm2/hm2_5i20.0: Secondary Tag: 0x0E (Buffered SPI
Interface)
[39776.434376] hm2/hm2_5i20.0: Secondary Unit: 0x00
[39776.434379] hm2/hm2_5i20.0: Secondary Pin: 0x81 (/Frame, Output)
[39776.434382] hm2/hm2_5i20.0: pin 15:
[39776.434385] hm2/hm2_5i20.0: Primary Tag: 0x03 (IOPort)
[39776.434388] hm2/hm2_5i20.0: Secondary Tag: 0x0E (Buffered SPI
Interface)
[39776.434391] hm2/hm2_5i20.0: Secondary Unit: 0x00
[39776.434394] hm2/hm2_5i20.0: Secondary Pin: 0x82 (Serial Out, Output)
[39776.434397] hm2/hm2_5i20.0: pin 16:
[39776.434400] hm2/hm2_5i20.0: Primary Tag: 0x03 (IOPort)
[39776.434403] hm2/hm2_5i20.0: Secondary Tag: 0x0E (Buffered SPI
Interface)
[39776.434406] hm2/hm2_5i20.0: Secondary Unit: 0x00
[39776.434409] hm2/hm2_5i20.0: Secondary Pin: 0x83 (Clock, Output)
[39776.434412] hm2/hm2_5i20.0: pin 17:
[39776.434414] hm2/hm2_5i20.0: Primary Tag: 0x03 (IOPort)
[39776.434417] hm2/hm2_5i20.0: Secondary Tag: 0x0E (Buffered SPI
Interface)
[39776.434420] hm2/hm2_5i20.0: Secondary Unit: 0x00
[39776.434423] hm2/hm2_5i20.0: Secondary Pin: 0x04 (Serial In, Input)
[39776.434426] hm2/hm2_5i20.0: pin 18:
[39776.434429] hm2/hm2_5i20.0: Primary Tag: 0x03 (IOPort)
[39776.434432] hm2/hm2_5i20.0: Secondary Tag: 0x0E (Buffered SPI
Interface)
[39776.434435] hm2/hm2_5i20.0: Secondary Unit: 0x00
[39776.434438] hm2/hm2_5i20.0: Secondary Pin: 0x87 (CS2, Output)
[39776.434441] hm2/hm2_5i20.0: pin 19:
[39776.434444] hm2/hm2_5i20.0: Primary Tag: 0x03 (IOPort)
[39776.434447] hm2/hm2_5i20.0: Secondary Tag: 0x0E (Buffered SPI
Interface)
[39776.434450] hm2/hm2_5i20.0: Secondary Unit: 0x00
[39776.434453] hm2/hm2_5i20.0: Secondary Pin: 0x86 (CS1, Output)
[39776.434455] hm2/hm2_5i20.0: pin 20:
[39776.434458] hm2/hm2_5i20.0: Primary Tag: 0x03 (IOPort)
[39776.434461] hm2/hm2_5i20.0: Secondary Tag: 0x0E (Buffered SPI
Interface)
[39776.434464] hm2/hm2_5i20.0: Secondary Unit: 0x00
[39776.434467] hm2/hm2_5i20.0: Secondary Pin: 0x85 (CS0, Output)
[39776.434470] hm2/hm2_5i20.0: pin 21:
[39776.434472] hm2/hm2_5i20.0: Primary Tag: 0x03 (IOPort)
[39776.434475] hm2/hm2_5i20.0: pin 22:
[39776.434478] hm2/hm2_5i20.0: Primary Tag: 0x03 (IOPort)
[39776.434480] hm2/hm2_5i20.0: pin 23:
[39776.434483] hm2/hm2_5i20.0: Primary Tag: 0x03 (IOPort)
[39776.434486] hm2/hm2_5i20.0: pin 24:
[39776.434488] hm2/hm2_5i20.0: Primary Tag: 0x03 (IOPort)
[39776.434491] hm2/hm2_5i20.0: Secondary Tag: 0x0C (Muxed Encoder)
[39776.434494] hm2/hm2_5i20.0: Secondary Unit: 0x04
[39776.434497] hm2/hm2_5i20.0: Secondary Pin: 0x01 (Muxed A, Input)
[39776.434500] hm2/hm2_5i20.0: pin 25:
[39776.434503] hm2/hm2_5i20.0: Primary Tag: 0x03 (IOPort)
[39776.434506] hm2/hm2_5i20.0: Secondary Tag: 0x0C (Muxed Encoder)
[39776.434509] hm2/hm2_5i20.0: Secondary Unit: 0x04
[39776.434511] hm2/hm2_5i20.0: Secondary Pin: 0x02 (Muxed B, Input)
[39776.434514] hm2/hm2_5i20.0: pin 26:
[39776.434517] hm2/hm2_5i20.0: Primary Tag: 0x03 (IOPort)
[39776.434520] hm2/hm2_5i20.0: Secondary Tag: 0x0C (Muxed Encoder)
[39776.434523] hm2/hm2_5i20.0: Secondary Unit: 0x04
[39776.434526] hm2/hm2_5i20.0: Secondary Pin: 0x03 (Muxed Index, Input)
[39776.434528] hm2/hm2_5i20.0: pin 27:
[39776.434531] hm2/hm2_5i20.0: Primary Tag: 0x03 (IOPort)
[39776.434534] hm2/hm2_5i20.0: Secondary Tag: 0x0C (Muxed Encoder)
[39776.434537] hm2/hm2_5i20.0: Secondary Unit: 0x05
[39776.434540] hm2/hm2_5i20.0: Secondary Pin: 0x01 (Muxed A, Input)
[39776.434543] hm2/hm2_5i20.0: pin 28:
[39776.434545] hm2/hm2_5i20.0: Primary Tag: 0x03 (IOPort)
[39776.434548] hm2/hm2_5i20.0: Secondary Tag: 0x0C (Muxed Encoder)
[39776.434551] hm2/hm2_5i20.0: Secondary Unit: 0x05
[39776.434554] hm2/hm2_5i20.0: Secondary Pin: 0x02 (Muxed B, Input)
[39776.434557] hm2/hm2_5i20.0: pin 29:
[39776.434559] hm2/hm2_5i20.0: Primary Tag: 0x03 (IOPort)
[39776.434562] hm2/hm2_5i20.0: Secondary Tag: 0x0C (Muxed Encoder)
[39776.434565] hm2/hm2_5i20.0: Secondary Unit: 0x05
[39776.434568] hm2/hm2_5i20.0: Secondary Pin: 0x03 (Muxed Index, Input)
[39776.434571] hm2/hm2_5i20.0: pin 30:
[39776.434574] hm2/hm2_5i20.0: Primary Tag: 0x03 (IOPort)
[39776.434577] hm2/hm2_5i20.0: Secondary Tag: 0x0C (Muxed Encoder)
[39776.434580] hm2/hm2_5i20.0: Secondary Unit: 0x06
[39776.434582] hm2/hm2_5i20.0: Secondary Pin: 0x01 (Muxed A, Input)
[39776.434585] hm2/hm2_5i20.0: pin 31:
[39776.434588] hm2/hm2_5i20.0: Primary Tag: 0x03 (IOPort)
[39776.434591] hm2/hm2_5i20.0: Secondary Tag: 0x0C (Muxed Encoder)
[39776.434594] hm2/hm2_5i20.0: Secondary Unit: 0x06
[39776.434597] hm2/hm2_5i20.0: Secondary Pin: 0x02 (Muxed B, Input)
[39776.434599] hm2/hm2_5i20.0: pin 32:
[39776.434602] hm2/hm2_5i20.0: Primary Tag: 0x03 (IOPort)
[39776.434605] hm2/hm2_5i20.0: Secondary Tag: 0x0C (Muxed Encoder)
[39776.434608] hm2/hm2_5i20.0: Secondary Unit: 0x06
[39776.434611] hm2/hm2_5i20.0: Secondary Pin: 0x03 (Muxed Index, Input)
[39776.434614] hm2/hm2_5i20.0: pin 33:
[39776.434616] hm2/hm2_5i20.0: Primary Tag: 0x03 (IOPort)
[39776.434620] hm2/hm2_5i20.0: Secondary Tag: 0x0C (Muxed Encoder)
[39776.434622] hm2/hm2_5i20.0: Secondary Unit: 0x07
[39776.434626] hm2/hm2_5i20.0: Secondary Pin: 0x01 (Muxed A, Input)
[39776.434628] hm2/hm2_5i20.0: pin 34:
[39776.434631] hm2/hm2_5i20.0: Primary Tag: 0x03 (IOPort)
[39776.434634] hm2/hm2_5i20.0: Secondary Tag: 0x0C (Muxed Encoder)
[39776.434637] hm2/hm2_5i20.0: Secondary Unit: 0x07
[39776.434640] hm2/hm2_5i20.0: Secondary Pin: 0x02 (Muxed B, Input)
[39776.434643] hm2/hm2_5i20.0: pin 35:
[39776.434645] hm2/hm2_5i20.0: Primary Tag: 0x03 (IOPort)
[39776.434648] hm2/hm2_5i20.0: Secondary Tag: 0x0C (Muxed Encoder)
[39776.434651] hm2/hm2_5i20.0: Secondary Unit: 0x07
[39776.434654] hm2/hm2_5i20.0: Secondary Pin: 0x03 (Muxed Index, Input)
[39776.434657] hm2/hm2_5i20.0: pin 36:
[39776.434660] hm2/hm2_5i20.0: Primary Tag: 0x03 (IOPort)
[39776.434662] hm2/hm2_5i20.0: pin 37:
[39776.434665] hm2/hm2_5i20.0: Primary Tag: 0x03 (IOPort)
[39776.434668] hm2/hm2_5i20.0: Secondary Tag: 0x0D (Muxed Encoder
Select)
[39776.434671] hm2/hm2_5i20.0: Secondary Unit: 0x00
[39776.434674] hm2/hm2_5i20.0: Secondary Pin: 0x81 (Mux Select 0,
Output)
[39776.434677] hm2/hm2_5i20.0: pin 38:
[39776.434679] hm2/hm2_5i20.0: Primary Tag: 0x03 (IOPort)
[39776.434682] hm2/hm2_5i20.0: Secondary Tag: 0x0E (Buffered SPI
Interface)
[39776.434685] hm2/hm2_5i20.0: Secondary Unit: 0x01
[39776.434688] hm2/hm2_5i20.0: Secondary Pin: 0x81 (/Frame, Output)
[39776.434691] hm2/hm2_5i20.0: pin 39:
[39776.434694] hm2/hm2_5i20.0: Primary Tag: 0x03 (IOPort)
[39776.434697] hm2/hm2_5i20.0: Secondary Tag: 0x0E (Buffered SPI
Interface)
[39776.434700] hm2/hm2_5i20.0: Secondary Unit: 0x01
[39776.434703] hm2/hm2_5i20.0: Secondary Pin: 0x82 (Serial Out, Output)
[39776.434706] hm2/hm2_5i20.0: pin 40:
[39776.434709] hm2/hm2_5i20.0: Primary Tag: 0x03 (IOPort)
[39776.434712] hm2/hm2_5i20.0: Secondary Tag: 0x0E (Buffered SPI
Interface)
[39776.434714] hm2/hm2_5i20.0: Secondary Unit: 0x01
[39776.434718] hm2/hm2_5i20.0: Secondary Pin: 0x83 (Clock, Output)
[39776.434720] hm2/hm2_5i20.0: pin 41:
[39776.434723] hm2/hm2_5i20.0: Primary Tag: 0x03 (IOPort)
[39776.434726] hm2/hm2_5i20.0: Secondary Tag: 0x0E (Buffered SPI
Interface)
[39776.434729] hm2/hm2_5i20.0: Secondary Unit: 0x01
[39776.434732] hm2/hm2_5i20.0: Secondary Pin: 0x04 (Serial In, Input)
[39776.434735] hm2/hm2_5i20.0: pin 42:
[39776.434738] hm2/hm2_5i20.0: Primary Tag: 0x03 (IOPort)
[39776.434741] hm2/hm2_5i20.0: Secondary Tag: 0x0E (Buffered SPI
Interface)
[39776.434744] hm2/hm2_5i20.0: Secondary Unit: 0x01
[39776.434747] hm2/hm2_5i20.0: Secondary Pin: 0x87 (CS2, Output)
[39776.434749] hm2/hm2_5i20.0: pin 43:
[39776.434752] hm2/hm2_5i20.0: Primary Tag: 0x03 (IOPort)
[39776.434755] hm2/hm2_5i20.0: Secondary Tag: 0x0E (Buffered SPI
Interface)
[39776.434758] hm2/hm2_5i20.0: Secondary Unit: 0x01
[39776.434761] hm2/hm2_5i20.0: Secondary Pin: 0x86 (CS1, Output)
[39776.434764] hm2/hm2_5i20.0: pin 44:
[39776.434766] hm2/hm2_5i20.0: Primary Tag: 0x03 (IOPort)
[39776.434769] hm2/hm2_5i20.0: Secondary Tag: 0x0E (Buffered SPI
Interface)
[39776.434772] hm2/hm2_5i20.0: Secondary Unit: 0x01
[39776.434775] hm2/hm2_5i20.0: Secondary Pin: 0x85 (CS0, Output)
[39776.434778] hm2/hm2_5i20.0: pin 45:
[39776.434781] hm2/hm2_5i20.0: Primary Tag: 0x03 (IOPort)
[39776.434783] hm2/hm2_5i20.0: pin 46:
[39776.434786] hm2/hm2_5i20.0: Primary Tag: 0x03 (IOPort)
[39776.434789] hm2/hm2_5i20.0: pin 47:
[39776.434792] hm2/hm2_5i20.0: Primary Tag: 0x03 (IOPort)
[39776.434794] hm2/hm2_5i20.0: pin 48:
[39776.434797] hm2/hm2_5i20.0: Primary Tag: 0x03 (IOPort)
[39776.434800] hm2/hm2_5i20.0: pin 49:
[39776.434803] hm2/hm2_5i20.0: Primary Tag: 0x03 (IOPort)
[39776.434805] hm2/hm2_5i20.0: pin 50:
[39776.434808] hm2/hm2_5i20.0: Primary Tag: 0x03 (IOPort)
[39776.434811] hm2/hm2_5i20.0: pin 51:
[39776.434813] hm2/hm2_5i20.0: Primary Tag: 0x03 (IOPort)
[39776.434816] hm2/hm2_5i20.0: pin 52:
[39776.434819] hm2/hm2_5i20.0: Primary Tag: 0x03 (IOPort)
[39776.434821] hm2/hm2_5i20.0: pin 53:
[39776.434824] hm2/hm2_5i20.0: Primary Tag: 0x03 (IOPort)
[39776.434827] hm2/hm2_5i20.0: pin 54:
[39776.434829] hm2/hm2_5i20.0: Primary Tag: 0x03 (IOPort)
[39776.434832] hm2/hm2_5i20.0: pin 55:
[39776.434834] hm2/hm2_5i20.0: Primary Tag: 0x03 (IOPort)
[39776.434837] hm2/hm2_5i20.0: pin 56:
[39776.434840] hm2/hm2_5i20.0: Primary Tag: 0x03 (IOPort)
[39776.434842] hm2/hm2_5i20.0: pin 57:
[39776.434845] hm2/hm2_5i20.0: Primary Tag: 0x03 (IOPort)
[39776.434848] hm2/hm2_5i20.0: pin 58:
[39776.434850] hm2/hm2_5i20.0: Primary Tag: 0x03 (IOPort)
[39776.434853] hm2/hm2_5i20.0: pin 59:
[39776.434856] hm2/hm2_5i20.0: Primary Tag: 0x03 (IOPort)
[39776.434858] hm2/hm2_5i20.0: pin 60:
[39776.434861] hm2/hm2_5i20.0: Primary Tag: 0x03 (IOPort)
[39776.434864] hm2/hm2_5i20.0: pin 61:
[39776.434866] hm2/hm2_5i20.0: Primary Tag: 0x03 (IOPort)
[39776.434869] hm2/hm2_5i20.0: pin 62:
[39776.434872] hm2/hm2_5i20.0: Primary Tag: 0x03 (IOPort)
[39776.434874] hm2/hm2_5i20.0: pin 63:
[39776.434877] hm2/hm2_5i20.0: Primary Tag: 0x03 (IOPort)
[39776.434880] hm2/hm2_5i20.0: pin 64:
[39776.434882] hm2/hm2_5i20.0: Primary Tag: 0x03 (IOPort)
[39776.434885] hm2/hm2_5i20.0: pin 65:
[39776.434887] hm2/hm2_5i20.0: Primary Tag: 0x03 (IOPort)
[39776.434890] hm2/hm2_5i20.0: pin 66:
[39776.434893] hm2/hm2_5i20.0: Primary Tag: 0x03 (IOPort)
[39776.434895] hm2/hm2_5i20.0: pin 67:
[39776.434898] hm2/hm2_5i20.0: Primary Tag: 0x03 (IOPort)
[39776.434901] hm2/hm2_5i20.0: pin 68:
[39776.434903] hm2/hm2_5i20.0: Primary Tag: 0x03 (IOPort)
[39776.434906] hm2/hm2_5i20.0: pin 69:
[39776.434909] hm2/hm2_5i20.0: Primary Tag: 0x03 (IOPort)
[39776.434911] hm2/hm2_5i20.0: pin 70:
[39776.434914] hm2/hm2_5i20.0: Primary Tag: 0x03 (IOPort)
[39776.434917] hm2/hm2_5i20.0: pin 71:
[39776.434919] hm2/hm2_5i20.0: Primary Tag: 0x03 (IOPort)
[39776.434926] hm2/hm2_5i20.0: Module Descriptor 0 at 0x0440:
[39776.434929] hm2/hm2_5i20.0: General Function Tag: 2 (Watchdog)
[39776.434933] hm2/hm2_5i20.0: Version: 0
[39776.434936] hm2/hm2_5i20.0: Clock Tag: 1 (33.333 MHz)
[39776.434940] hm2/hm2_5i20.0: Instances: 1
[39776.434943] hm2/hm2_5i20.0: Base Address: 0x0C00
[39776.434946] hm2/hm2_5i20.0: -- Num Registers: 3
[39776.434949] hm2/hm2_5i20.0: Register Stride: 0x00000100
[39776.434952] hm2/hm2_5i20.0: -- Instance Stride: 0x00000004
[39776.434955] hm2/hm2_5i20.0: -- Multiple Registers: 0x00000000
[39776.434962] hm2/hm2_5i20.0: Module Descriptor 1 at 0x044C:
[39776.434965] hm2/hm2_5i20.0: General Function Tag: 3 (IOPort)
[39776.434968] hm2/hm2_5i20.0: Version: 0
[39776.434972] hm2/hm2_5i20.0: Clock Tag: 1 (33.333 MHz)
[39776.434975] hm2/hm2_5i20.0: Instances: 3
[39776.434978] hm2/hm2_5i20.0: Base Address: 0x1000
[39776.434981] hm2/hm2_5i20.0: -- Num Registers: 5
[39776.434984] hm2/hm2_5i20.0: Register Stride: 0x00000100
[39776.434987] hm2/hm2_5i20.0: -- Instance Stride: 0x00000004
[39776.434991] hm2/hm2_5i20.0: -- Multiple Registers: 0x0000001F
[39776.434997] hm2/hm2_5i20.0: Module Descriptor 2 at 0x0458:
[39776.435001] hm2/hm2_5i20.0: General Function Tag: 12 (Muxed Encoder)
[39776.435004] hm2/hm2_5i20.0: Version: 2
[39776.435008] hm2/hm2_5i20.0: Clock Tag: 1 (33.333 MHz)
[39776.435011] hm2/hm2_5i20.0: Instances: 16
[39776.435014] hm2/hm2_5i20.0: Base Address: 0x3500
[39776.435017] hm2/hm2_5i20.0: -- Num Registers: 5
[39776.435020] hm2/hm2_5i20.0: Register Stride: 0x00000100
[39776.435024] hm2/hm2_5i20.0: -- Instance Stride: 0x00000004
[39776.435027] hm2/hm2_5i20.0: -- Multiple Registers: 0x00000003
[39776.435034] hm2/hm2_5i20.0: Module Descriptor 3 at 0x0464:
[39776.435037] hm2/hm2_5i20.0: General Function Tag: 13 (Muxed Encoder
Select)
[39776.435040] hm2/hm2_5i20.0: Version: 0
[39776.435044] hm2/hm2_5i20.0: Clock Tag: 1 (33.333 MHz)
[39776.435047] hm2/hm2_5i20.0: Instances: 1
[39776.435050] hm2/hm2_5i20.0: Base Address: 0x0000
[39776.435053] hm2/hm2_5i20.0: -- Num Registers: 0
[39776.435056] hm2/hm2_5i20.0: Register Stride: 0x00000100
[39776.435059] hm2/hm2_5i20.0: -- Instance Stride: 0x00000004
[39776.435063] hm2/hm2_5i20.0: -- Multiple Registers: 0x00000000
[39776.435069] hm2/hm2_5i20.0: Module Descriptor 4 at 0x0470:
[39776.435073] hm2/hm2_5i20.0: General Function Tag: 14 (Buffered SPI
Interface)
[39776.435076] hm2/hm2_5i20.0: Version: 0
[39776.435080] hm2/hm2_5i20.0: Clock Tag: 1 (33.333 MHz)
[39776.435083] hm2/hm2_5i20.0: Instances: 2
[39776.435086] hm2/hm2_5i20.0: Base Address: 0x5400
[39776.435089] hm2/hm2_5i20.0: -- Num Registers: 3
[39776.435092] hm2/hm2_5i20.0: Register Stride: 0x00000100
[39776.435095] hm2/hm2_5i20.0: -- Instance Stride: 0x00000040
[39776.435098] hm2/hm2_5i20.0: -- Multiple Registers: 0x00000007
[39776.435105] hm2/hm2_5i20.0: Module Descriptor 5 at 0x047C:
[39776.435108] hm2/hm2_5i20.0: General Function Tag: 128 (LED)
[39776.435112] hm2/hm2_5i20.0: Version: 0
[39776.435115] hm2/hm2_5i20.0: Clock Tag: 1 (33.333 MHz)
[39776.435118] hm2/hm2_5i20.0: Instances: 1
[39776.435121] hm2/hm2_5i20.0: Base Address: 0x0200
[39776.435124] hm2/hm2_5i20.0: -- Num Registers: 1
[39776.435127] hm2/hm2_5i20.0: Register Stride: 0x00000100
[39776.435131] hm2/hm2_5i20.0: -- Instance Stride: 0x00000004
[39776.435134] hm2/hm2_5i20.0: -- Multiple Registers: 0x00000000
[39776.435150] hm2/hm2_5i20.0: WARNING: this firmware has Muxed Encoder v2!
[39776.435153] hm2/hm2_5i20.0: WARNING: velocity computation will be incorrect!
[39776.435156] hm2/hm2_5i20.0: WARNING: upgrade your firmware!
[39776.435161] hm2/hm2_5i20.0: created Buffered SPI function hm2_5i20.0.bspi.0.
[39776.438515] hm2/hm2_5i20.0: 72 I/O Pins used:
[39776.438519] hm2/hm2_5i20.0: IO Pin 000 (P2-01): IOPort
[39776.438522] hm2/hm2_5i20.0: IO Pin 001 (P2-03): IOPort
[39776.438525] hm2/hm2_5i20.0: IO Pin 002 (P2-05): IOPort
[39776.438528] hm2/hm2_5i20.0: IO Pin 003 (P2-07): IOPort
[39776.438531] hm2/hm2_5i20.0: IO Pin 004 (P2-09): IOPort
[39776.438534] hm2/hm2_5i20.0: IO Pin 005 (P2-11): IOPort
[39776.438537] hm2/hm2_5i20.0: IO Pin 006 (P2-13): IOPort
[39776.438540] hm2/hm2_5i20.0: IO Pin 007 (P2-15): IOPort
[39776.438543] hm2/hm2_5i20.0: IO Pin 008 (P2-17): IOPort
[39776.438545] hm2/hm2_5i20.0: IO Pin 009 (P2-19): IOPort
[39776.438548] hm2/hm2_5i20.0: IO Pin 010 (P2-21): IOPort
[39776.438551] hm2/hm2_5i20.0: IO Pin 011 (P2-23): IOPort
[39776.438554] hm2/hm2_5i20.0: IO Pin 012 (P2-25): IOPort
[39776.438557] hm2/hm2_5i20.0: IO Pin 013 (P2-27): IOPort
[39776.438561] hm2/hm2_5i20.0: IO Pin 014 (P2-29): Buffered SPI Interface
#0, pin /Frame (Output)
[39776.438565] hm2/hm2_5i20.0: IO Pin 015 (P2-31): Buffered SPI Interface
#0, pin Serial Out (Output)
[39776.438569] hm2/hm2_5i20.0: IO Pin 016 (P2-33): Buffered SPI Interface
#0, pin Clock (Output)
[39776.438573] hm2/hm2_5i20.0: IO Pin 017 (P2-35): Buffered SPI Interface
#0, pin Serial In (Input)
[39776.438577] hm2/hm2_5i20.0: IO Pin 018 (P2-37): Buffered SPI Interface
#0, pin CS2 (Output)
[39776.438581] hm2/hm2_5i20.0: IO Pin 019 (P2-39): Buffered SPI Interface
#0, pin CS1 (Output)
[39776.438585] hm2/hm2_5i20.0: IO Pin 020 (P2-41): Buffered SPI Interface
#0, pin CS0 (Output)
[39776.438588] hm2/hm2_5i20.0: IO Pin 021 (P2-43): IOPort
[39776.438591] hm2/hm2_5i20.0: IO Pin 022 (P2-45): IOPort
[39776.438594] hm2/hm2_5i20.0: IO Pin 023 (P2-47): IOPort
[39776.438597] hm2/hm2_5i20.0: IO Pin 024 (P3-01): IOPort
[39776.438600] hm2/hm2_5i20.0: IO Pin 025 (P3-03): IOPort
[39776.438603] hm2/hm2_5i20.0: IO Pin 026 (P3-05): IOPort
[39776.438606] hm2/hm2_5i20.0: IO Pin 027 (P3-07): IOPort
[39776.438608] hm2/hm2_5i20.0: IO Pin 028 (P3-09): IOPort
[39776.438611] hm2/hm2_5i20.0: IO Pin 029 (P3-11): IOPort
[39776.438614] hm2/hm2_5i20.0: IO Pin 030 (P3-13): IOPort
[39776.438617] hm2/hm2_5i20.0: IO Pin 031 (P3-15): IOPort
[39776.438620] hm2/hm2_5i20.0: IO Pin 032 (P3-17): IOPort
[39776.438623] hm2/hm2_5i20.0: IO Pin 033 (P3-19): IOPort
[39776.438626] hm2/hm2_5i20.0: IO Pin 034 (P3-21): IOPort
[39776.438629] hm2/hm2_5i20.0: IO Pin 035 (P3-23): IOPort
[39776.438632] hm2/hm2_5i20.0: IO Pin 036 (P3-25): IOPort
[39776.438635] hm2/hm2_5i20.0: IO Pin 037 (P3-27): IOPort
[39776.438638] hm2/hm2_5i20.0: IO Pin 038 (P3-29): IOPort
[39776.438641] hm2/hm2_5i20.0: IO Pin 039 (P3-31): IOPort
[39776.438643] hm2/hm2_5i20.0: IO Pin 040 (P3-33): IOPort
[39776.438646] hm2/hm2_5i20.0: IO Pin 041 (P3-35): IOPort
[39776.438649] hm2/hm2_5i20.0: IO Pin 042 (P3-37): IOPort
[39776.438652] hm2/hm2_5i20.0: IO Pin 043 (P3-39): IOPort
[39776.438655] hm2/hm2_5i20.0: IO Pin 044 (P3-41): IOPort
[39776.438658] hm2/hm2_5i20.0: IO Pin 045 (P3-43): IOPort
[39776.438661] hm2/hm2_5i20.0: IO Pin 046 (P3-45): IOPort
[39776.438664] hm2/hm2_5i20.0: IO Pin 047 (P3-47): IOPort
[39776.438667] hm2/hm2_5i20.0: IO Pin 048 (P4-01): IOPort
[39776.438670] hm2/hm2_5i20.0: IO Pin 049 (P4-03): IOPort
[39776.438672] hm2/hm2_5i20.0: IO Pin 050 (P4-05): IOPort
[39776.438676] hm2/hm2_5i20.0: IO Pin 051 (P4-07): IOPort
[39776.438679] hm2/hm2_5i20.0: IO Pin 052 (P4-09): IOPort
[39776.438681] hm2/hm2_5i20.0: IO Pin 053 (P4-11): IOPort
[39776.438684] hm2/hm2_5i20.0: IO Pin 054 (P4-13): IOPort
[39776.438687] hm2/hm2_5i20.0: IO Pin 055 (P4-15): IOPort
[39776.438690] hm2/hm2_5i20.0: IO Pin 056 (P4-17): IOPort
[39776.438693] hm2/hm2_5i20.0: IO Pin 057 (P4-19): IOPort
[39776.438696] hm2/hm2_5i20.0: IO Pin 058 (P4-21): IOPort
[39776.438699] hm2/hm2_5i20.0: IO Pin 059 (P4-23): IOPort
[39776.438702] hm2/hm2_5i20.0: IO Pin 060 (P4-25): IOPort
[39776.438704] hm2/hm2_5i20.0: IO Pin 061 (P4-27): IOPort
[39776.438707] hm2/hm2_5i20.0: IO Pin 062 (P4-29): IOPort
[39776.438710] hm2/hm2_5i20.0: IO Pin 063 (P4-31): IOPort
[39776.438713] hm2/hm2_5i20.0: IO Pin 064 (P4-33): IOPort
[39776.438716] hm2/hm2_5i20.0: IO Pin 065 (P4-35): IOPort
[39776.438719] hm2/hm2_5i20.0: IO Pin 066 (P4-37): IOPort
[39776.438722] hm2/hm2_5i20.0: IO Pin 067 (P4-39): IOPort
[39776.438725] hm2/hm2_5i20.0: IO Pin 068 (P4-41): IOPort
[39776.438727] hm2/hm2_5i20.0: IO Pin 069 (P4-43): IOPort
[39776.438730] hm2/hm2_5i20.0: IO Pin 070 (P4-45): IOPort
[39776.438733] hm2/hm2_5i20.0: IO Pin 071 (P4-47): IOPort
[39776.438736] hm2/hm2_5i20.0: HM2 Modules used:
[39776.438739] hm2/hm2_5i20.0: Encoders: 0
[39776.438742] hm2/hm2_5i20.0: resolvers: 0
[39776.438744] hm2/hm2_5i20.0: PWMGen: 0
[39776.438747] hm2/hm2_5i20.0: 3-phase PWMGen: 0
[39776.438749] hm2/hm2_5i20.0: SSerial: 0
[39776.438752] hm2/hm2_5i20.0: version 0
[39776.438754] hm2/hm2_5i20.0: StepGen: 0
[39776.438757] hm2/hm2_5i20.0: Buffered SPI: 1
[39776.438760] hm2/hm2_5i20.0: version: 0
[39776.438762] hm2/hm2_5i20.0: channel configurations
[39776.438766] hm2/hm2_5i20.0: clock_frequency: 33333333 Hz (33.333 MHz)
[39776.438769] hm2/hm2_5i20.0: instance 0:
[39776.438772] hm2/hm2_5i20.0: HAL name = hm2_5i20.0.bspi.0
[39776.438775] hm2/hm2_5i20.0: frame 0 config = 00000000
[39776.438777] hm2/hm2_5i20.0: address = 00005400
[39776.438780] hm2/hm2_5i20.0: frame 1 config = 00000000
[39776.438783] hm2/hm2_5i20.0: address = 00005404
[39776.438786] hm2/hm2_5i20.0: frame 2 config = 00000000
[39776.438789] hm2/hm2_5i20.0: address = 00005408
[39776.438792] hm2/hm2_5i20.0: frame 3 config = 00000000
[39776.438795] hm2/hm2_5i20.0: address = 0000540c
[39776.438798] hm2/hm2_5i20.0: frame 4 config = 00000000
[39776.438801] hm2/hm2_5i20.0: address = 00005410
[39776.438803] hm2/hm2_5i20.0: frame 5 config = 00000000
[39776.438806] hm2/hm2_5i20.0: address = 00005414
[39776.438809] hm2/hm2_5i20.0: frame 6 config = 00000000
[39776.438812] hm2/hm2_5i20.0: address = 00005418
[39776.438815] hm2/hm2_5i20.0: frame 7 config = 00000000
[39776.438818] hm2/hm2_5i20.0: address = 0000541c
[39776.438821] hm2/hm2_5i20.0: frame 8 config = 00000000
[39776.438824] hm2/hm2_5i20.0: address = 00005420
[39776.438826] hm2/hm2_5i20.0: frame 9 config = 00000000
[39776.438829] hm2/hm2_5i20.0: address = 00005424
[39776.438832] hm2/hm2_5i20.0: frame 10 config = 00000000
[39776.438835] hm2/hm2_5i20.0: address = 00005428
[39776.438838] hm2/hm2_5i20.0: frame 11 config = 00000000
[39776.438841] hm2/hm2_5i20.0: address = 0000542c
[39776.438844] hm2/hm2_5i20.0: frame 12 config = 00000000
[39776.438847] hm2/hm2_5i20.0: address = 00005430
[39776.438850] hm2/hm2_5i20.0: frame 13 config = 00000000
[39776.438853] hm2/hm2_5i20.0: address = 00005434
[39776.438855] hm2/hm2_5i20.0: frame 14 config = 00000000
[39776.438858] hm2/hm2_5i20.0: address = 00005438
[39776.438861] hm2/hm2_5i20.0: frame 15 config = 00000000
[39776.438864] hm2/hm2_5i20.0: address = 0000543c
[39776.438867] hm2/hm2_5i20.0: IO Ports: 3
[39776.438870] hm2/hm2_5i20.0: clock_frequency: 33333333 Hz (33.333 MHz)
[39776.438873] hm2/hm2_5i20.0: version: 0
[39776.438876] hm2/hm2_5i20.0: data_addr: 0x1000
[39776.438878] hm2/hm2_5i20.0: ddr_addr: 0x1100
[39776.438881] hm2/hm2_5i20.0: alt_source_addr: 0x1200
[39776.438884] hm2/hm2_5i20.0: open_drain_addr: 0x1300
[39776.438886] hm2/hm2_5i20.0: output_invert_addr: 0x1400
[39776.438889] hm2/hm2_5i20.0: instance 0:
[39776.438892] hm2/hm2_5i20.0: data_read = 0xE07FFF
[39776.438894] hm2/hm2_5i20.0: data_write = 0x000000
[39776.438897] hm2/hm2_5i20.0: ddr = 0x1DC000
[39776.438900] hm2/hm2_5i20.0: alt_source = 0x1FC000
[39776.438902] hm2/hm2_5i20.0: open_drain = 0x000000
[39776.438905] hm2/hm2_5i20.0: output_invert = 0x000000
[39776.438908] hm2/hm2_5i20.0: instance 1:
[39776.438911] hm2/hm2_5i20.0: data_read = 0xFFFFFF
[39776.438913] hm2/hm2_5i20.0: data_write = 0x000000
[39776.438916] hm2/hm2_5i20.0: ddr = 0x000000
[39776.438918] hm2/hm2_5i20.0: alt_source = 0x000000
[39776.438921] hm2/hm2_5i20.0: open_drain = 0x000000
[39776.438924] hm2/hm2_5i20.0: output_invert = 0x000000
[39776.438926] hm2/hm2_5i20.0: instance 2:
[39776.438929] hm2/hm2_5i20.0: data_read = 0xFFFFFF
[39776.438932] hm2/hm2_5i20.0: data_write = 0x000000
[39776.438934] hm2/hm2_5i20.0: ddr = 0x000000
[39776.438937] hm2/hm2_5i20.0: alt_source = 0x000000
[39776.438940] hm2/hm2_5i20.0: open_drain = 0x000000
[39776.438942] hm2/hm2_5i20.0: output_invert = 0x000000
[39776.438945] hm2/hm2_5i20.0: Watchdog: 1
[39776.438949] hm2/hm2_5i20.0: clock_frequency: 33333333 Hz (33.333 MHz)
[39776.438952] hm2/hm2_5i20.0: version: 0
[39776.438954] hm2/hm2_5i20.0: timer_addr: 0x0C00
[39776.438957] hm2/hm2_5i20.0: status_addr: 0x0D00
[39776.438959] hm2/hm2_5i20.0: reset_addr: 0x0E00
[39776.438962] hm2/hm2_5i20.0: instance 0:
[39776.438965] hm2/hm2_5i20.0: param timeout_ns = 5000000
[39776.438967] hm2/hm2_5i20.0: pin has_bit = 0
[39776.438970] hm2/hm2_5i20.0: reg timer = 0x80000000
[39776.439063] hm2/hm2_5i20.0: registered
[39776.439066] hm2_5i20.0: initialized AnyIO board at 0000:03:02.0
[39776.467704] RTAPI: Task 1[eadbc800]: Fault with vec=14, signo=11 ip=fc939017.
[39776.467708] RTAPI: This fault may not be recoverable without rebooting.
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