Kernel: Linux beaglebone 3.8.13-xenomai-r83 #1 Wed Jan 4 23:10:15 UTC 2017 armv7l GNU/Linux
Packages from: http://deb.mgware.co.uk/ Log: Attached. I already have pru_generic.bin: /usr/lib/linuxcnc/rt-preempt/pru_generic.bin /usr/lib/linuxcnc/prubin/pru_generic.bin Please let me know if you need anything else. On Thursday, October 5, 2017 at 1:46:48 PM UTC+3, Schooner wrote: > > > On 05/10/17 10:55, 'Dimitar Dobrev' via Machinekit wrote: > > Hello all, > > My name is Dimitar Dobrev. I work as an application programmer and I have > tried using CRAMPS. I have encountered an error I would like to ask for > your help about. > I have a BeagleBone Black with Debian Stretch. > > > kernel? kernel version? git version of Machinekit? etc. etc. > > I need to start Machinekit on to connect to a real machine. I started > run.py and got one error which I solved but I am now stuck at: > > CRAMPS.hal:28: insmod failed, returned -1; > rtapi_app_main(hal_pru_generic): -1 Operation not permitted > > > What is the rest of the error output (/var/log/linuxcnc.log or dmesg if it > caused a segfault) > insmod errors are rather vague and can be from several causes. > > Try running with 'DEBUG=5 preceding the machinekit command and change the > inifile 'debug = ' stanza to a higher number > if you don't get a cause printed. > Make sure you have rsyslogd running to log output > > If you are running an older pull of machinekit, on a rt_preempt kernel, it > won't have my recent > commits which make pru_generic.bin etc available > > https://github.com/machinekit/machinekit/commit/a6ac2576fc9a7f9d8a9a3f0e9da0eb244b8336d3 > > That is one possibility, but impossible to say with this little info. > > My Machinekit is installed from packages rather than built from source. > > > Where did you get the packages? > > There is no official support for Stretch yet. > > The only packages for Stretch are in my unofficial repo. > They HAVE been tested on a BBB and work > > I have been able to find > https://groups.google.com/forum/#!msg/machinekit/RrNLUo4ASP4/840ireJEBgAJ > and https://groups.google.com/forum/#!topic/machinekit/qncQ_Dh7V9s but I > haven't been able to find a solution there. Any direction you can give me > will be both useful and appreciated. > Thank you for your time. > > Dimitar Dobrev, > https://gitlab.com/ddobrev/QtSharp > -- > website: http://www.machinekit.io blog: http://blog.machinekit.io github: > https://github.com/machinekit > --- > You received this message because you are subscribed to the Google Groups > "Machinekit" group. > To unsubscribe from this group and stop receiving emails from it, send an > email to [email protected] <javascript:>. > Visit this group at https://groups.google.com/group/machinekit. > For more options, visit https://groups.google.com/d/optout. > > > -- website: http://www.machinekit.io blog: http://blog.machinekit.io github: https://github.com/machinekit --- You received this message because you are subscribed to the Google Groups "Machinekit" group. To unsubscribe from this group and stop receiving emails from it, send an email to [email protected]. Visit this group at https://groups.google.com/group/machinekit. For more options, visit https://groups.google.com/d/optout.
Oct 6 23:33:03 beaglebone msgd:0: startup pid=10171 flavor=rt-preempt rtlevel=5 usrlevel=5 halsize=524288 shm=Posix cc=gcc 6.3.0 20170516 version=v0.1~combined-pru-stuff~da7162cf1 Oct 6 23:33:03 beaglebone msgd:0: ØMQ=4.0.5 czmq=2.2.0 protobuf=3.0.0 atomics=gcc intrinsics libwebsockets=2.0.3 Oct 6 23:33:03 beaglebone msgd:0: configured: sha=da7162cf1 Oct 6 23:33:03 beaglebone msgd:0: built: Sep 17 2017 15:38:24 sha=da7162cf1 Oct 6 23:33:03 beaglebone msgd:0: register_stuff: actual hostname as announced by avahi='beaglebone.local' Oct 6 23:33:03 beaglebone msgd:0: zeroconf: registering: 'Log service on beaglebone.local pid 10171' Oct 6 23:33:04 beaglebone rtapi:0: 2:rtapi_app:10176:user rtapi:0: cannot create core dumps - /proc/sys/fs/suid_dumpable contains 0 Oct 6 23:33:04 beaglebone rtapi:0: 2:rtapi_app:10176:user you might have to run 'echo 1 > /proc/sys/fs/suid_dumpable' as root to enable rtapi_app core dumps Oct 6 23:33:04 beaglebone msgd:0: zeroconf: registered 'Log service on beaglebone.local pid 10171' _machinekit._tcp 49152 TXT "uuid=a42c8c6b-4025-4f83-ba28-dad21114744a" "instance=b2a9d14a-aaee-11e7-94ff-04a316b72571" "service=log" "dsn=tcp://beaglebone.local:49152" Oct 6 23:33:04 beaglebone rtapi:0: 4:rtapi_app:10176:user rtapi.so default iparms: '' Oct 6 23:33:04 beaglebone rtapi:0: 4:rtapi_app:10176:user RTAPI:0 rt-preempt v0.1~combined-pru-stuff~da7162cf1 init Oct 6 23:33:04 beaglebone rtapi:0: 4:rtapi_app:10176:user rtapi: loaded from rtapi.so Oct 6 23:33:04 beaglebone rtapi:0: 4:rtapi_app:10176:user hal_lib.so default iparms: '' Oct 6 23:33:04 beaglebone rtapi:0: 4:rtapi_app:10176:user rtapi_app_main:195 HAL: initializing RT hal_lib support Oct 6 23:33:04 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_xinitfv:90 HAL: initializing component 'hal_lib' type=4 arg1=0 arg2=0/0x0 Oct 6 23:33:04 beaglebone rtapi:0: 4:rtapi_app:10176:user hal_heap_addmem:58 HAL: extending arena by 262144 bytes Oct 6 23:33:04 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_export_xfunctfv:85 HAL: exporting function 'newinst' type 2 fp=0 owner=66 Oct 6 23:33:04 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_export_xfunctfv:85 HAL: exporting function 'delinst' type 2 fp=0 owner=66 Oct 6 23:33:04 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_xinitfv:271 HAL: singleton component 'hal_lib' id=66 initialized Oct 6 23:33:04 beaglebone rtapi:0: 4:rtapi_app:10176:user rtapi_app_main:199 HAL: RT hal_lib support initialized rc=66 Oct 6 23:33:04 beaglebone rtapi:0: 4:rtapi_app:10176:user hal_lib: loaded from hal_lib.so Oct 6 23:33:04 beaglebone rtapi:0: 4:rtapi_app:10176:user accepting commands at ipc:///tmp/0.rtapi.a42c8c6b-4025-4f83-ba28-dad21114744a Oct 6 23:33:04 beaglebone rtapi:0: 3:rtapi_app:10176:user rtapi_app:0 ready flavor=rt-preempt gcc=6.3.0 20170516 git=v0.1~combined-pru-stuff~da7162cf1 Oct 6 23:33:05 beaglebone rtapi:0: 4:rtapi_app:10176:user pid=10176 flavor=rt-preempt gcc=6.3.0 20170516 git=v0.1~combined-pru-stuff~da7162cf1 Oct 6 23:33:05 beaglebone rtapi:0: 4:rtapi_app:10176:user pid=10176 flavor=rt-preempt gcc=6.3.0 20170516 git=v0.1~combined-pru-stuff~da7162cf1 Oct 6 23:33:05 beaglebone msgd:0: ulapi:10177:user _ulapi_init(): ulapi rt-preempt v0.1~combined-pru-stuff~da7162cf1 loaded Oct 6 23:33:05 beaglebone msgd:0: ulapi:10177:user halg_xinitfv:271 HAL: singleton component 'hal_lib10177' id=70 initialized Oct 6 23:33:05 beaglebone msgd:0: hal_lib:10177:user --halcmd ping Oct 6 23:33:05 beaglebone msgd:0: hal_lib:10177:user halg_exit:293 HAL: removing component 72 'halcmd10177' Oct 6 23:33:05 beaglebone msgd:0: hal_lib:10177:user ulapi_hal_lib_cleanup:235 HAL: lib_module_id=70 Oct 6 23:33:05 beaglebone msgd:0: hal_lib:10177:user halg_exit:293 HAL: removing component 70 'hal_lib10177' Oct 6 23:33:05 beaglebone msgd:0: hal_lib:10177:user halg_exit:315 HAL: hal_errorcount()=0 Oct 6 23:33:05 beaglebone msgd:0: hal_lib:10177:user halg_exit:316 HAL: _halerrno=0 Oct 6 23:33:05 beaglebone rtapi:0: 4:rtapi_app:10176:user pid=10176 flavor=rt-preempt gcc=6.3.0 20170516 git=v0.1~combined-pru-stuff~da7162cf1 Oct 6 23:33:06 beaglebone msgd:0: ulapi:10182:user _ulapi_init(): ulapi rt-preempt v0.1~combined-pru-stuff~da7162cf1 loaded Oct 6 23:33:06 beaglebone msgd:0: ulapi:10182:user halg_xinitfv:271 HAL: singleton component 'hal_lib10182' id=74 initialized Oct 6 23:33:06 beaglebone msgd:0: hal_lib:10182:user --halcmd loadusr -Wn iocontrol io -ini /home/machinekit/CRAMPS/mkwrapper.ini Oct 6 23:33:06 beaglebone msgd:0: hal_lib:10182:user io Oct 6 23:33:06 beaglebone msgd:0: hal_lib:10182:user -ini Oct 6 23:33:06 beaglebone msgd:0: hal_lib:10182:user /home/machinekit/CRAMPS/mkwrapper.ini Oct 6 23:33:06 beaglebone msgd:0: hal_lib:10182:user Oct 6 23:33:06 beaglebone msgd:0: ulapi:10186:user _ulapi_init(): ulapi rt-preempt v0.1~combined-pru-stuff~da7162cf1 loaded Oct 6 23:33:06 beaglebone msgd:0: ulapi:10186:user halg_xinitfv:271 HAL: singleton component 'hal_lib10186' id=78 initialized Oct 6 23:33:06 beaglebone msgd:0: hal_lib:10186:user halg_pin_newfv:192 HAL: creating pin 'iocontrol.0.user-enable-out' bit OUT false Oct 6 23:33:06 beaglebone msgd:0: hal_lib:10186:user halg_pin_newfv:192 HAL: creating pin 'iocontrol.0.user-request-enable' bit OUT false Oct 6 23:33:06 beaglebone msgd:0: hal_lib:10186:user halg_pin_newfv:192 HAL: creating pin 'iocontrol.0.coolant-flood' bit OUT false Oct 6 23:33:06 beaglebone msgd:0: hal_lib:10186:user halg_pin_newfv:192 HAL: creating pin 'iocontrol.0.coolant-mist' bit OUT false Oct 6 23:33:06 beaglebone msgd:0: hal_lib:10186:user halg_pin_newfv:192 HAL: creating pin 'iocontrol.0.lube' bit OUT false Oct 6 23:33:06 beaglebone msgd:0: hal_lib:10186:user halg_pin_newfv:192 HAL: creating pin 'iocontrol.0.tool-prepare' bit OUT false Oct 6 23:33:06 beaglebone msgd:0: hal_lib:10186:user halg_pin_newfv:192 HAL: creating pin 'iocontrol.0.tool-number' s32 OUT 0 Oct 6 23:33:06 beaglebone msgd:0: hal_lib:10186:user halg_pin_newfv:192 HAL: creating pin 'iocontrol.0.tool-prep-number' s32 OUT 0 Oct 6 23:33:06 beaglebone msgd:0: hal_lib:10186:user halg_pin_newfv:192 HAL: creating pin 'iocontrol.0.tool-prep-pocket' s32 OUT 0 Oct 6 23:33:06 beaglebone msgd:0: hal_lib:10186:user halg_pin_newfv:192 HAL: creating pin 'iocontrol.0.tool-prepared' bit IN false Oct 6 23:33:06 beaglebone msgd:0: hal_lib:10186:user halg_pin_newfv:192 HAL: creating pin 'iocontrol.0.tool-change' bit OUT false Oct 6 23:33:06 beaglebone msgd:0: hal_lib:10186:user halg_pin_newfv:192 HAL: creating pin 'iocontrol.0.tool-changed' bit IN false Oct 6 23:33:06 beaglebone msgd:0: hal_lib:10186:user halg_pin_newfv:192 HAL: creating pin 'iocontrol.0.emc-enable-in' bit IN false Oct 6 23:33:06 beaglebone msgd:0: hal_lib:10186:user halg_pin_newfv:192 HAL: creating pin 'iocontrol.0.lube_level' bit IN false Oct 6 23:33:06 beaglebone msgd:0: hal_lib:10182:user halg_exit:293 HAL: removing component 76 'halcmd10182' Oct 6 23:33:06 beaglebone msgd:0: hal_lib:10182:user ulapi_hal_lib_cleanup:235 HAL: lib_module_id=74 Oct 6 23:33:06 beaglebone msgd:0: hal_lib:10182:user halg_exit:293 HAL: removing component 74 'hal_lib10182' Oct 6 23:33:06 beaglebone msgd:0: hal_lib:10182:user halg_exit:315 HAL: hal_errorcount()=0 Oct 6 23:33:06 beaglebone msgd:0: hal_lib:10182:user halg_exit:316 HAL: _halerrno=0 Oct 6 23:33:07 beaglebone rtapi:0: 4:rtapi_app:10176:user pid=10176 flavor=rt-preempt gcc=6.3.0 20170516 git=v0.1~combined-pru-stuff~da7162cf1 Oct 6 23:33:07 beaglebone msgd:0: ulapi:10191:user _ulapi_init(): ulapi rt-preempt v0.1~combined-pru-stuff~da7162cf1 loaded Oct 6 23:33:07 beaglebone msgd:0: ulapi:10191:user halg_xinitfv:271 HAL: singleton component 'hal_lib10191' id=96 initialized Oct 6 23:33:07 beaglebone msgd:0: hal_lib:10191:user --halcmd -i /home/machinekit/CRAMPS/mkwrapper.ini -f CRAMPS.hal Oct 6 23:33:07 beaglebone msgd:0: hal_lib:10191:user ./setup.sh Oct 6 23:33:07 beaglebone msgd:0: hal_lib:10191:user Oct 6 23:33:09 beaglebone rtapi:0: 4:rtapi_app:10176:user trivkins.so default iparms: '' Oct 6 23:33:09 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_xinitfv:90 HAL: initializing component 'trivkins' type=1 arg1=0 arg2=0/0x0 Oct 6 23:33:09 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_export_vtable:28 HAL: exporting vtable 'trivkins' version=1000 owner=100 at 0xb6fb5044 Oct 6 23:33:09 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_export_vtable:54 HAL: created vtable 'trivkins' vtable=0xb6fb5044 version=1000 Oct 6 23:33:09 beaglebone rtapi:0: 4:rtapi_app:10176:user trivkins: loaded from trivkins.so Oct 6 23:33:09 beaglebone rtapi:0: 4:rtapi_app:10176:user tp.so default iparms: '' Oct 6 23:33:09 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_xinitfv:90 HAL: initializing component 'tp' type=1 arg1=0 arg2=0/0x0 Oct 6 23:33:09 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_export_vtable:28 HAL: exporting vtable 'tp' version=2000 owner=103 at 0xb52ff088 Oct 6 23:33:09 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_export_vtable:54 HAL: created vtable 'tp' vtable=0xb52ff088 version=2000 Oct 6 23:33:09 beaglebone rtapi:0: 4:rtapi_app:10176:user tp: loaded from tp.so Oct 6 23:33:09 beaglebone rtapi:0: 4:rtapi_app:10176:user motmod.so default iparms: '' Oct 6 23:33:09 beaglebone rtapi:0: 3:rtapi_app:10176:user MOTION: init_module() starting... Oct 6 23:33:09 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_xinitfv:90 HAL: initializing component 'motmod' type=1 arg1=0 arg2=0/0x0 Oct 6 23:33:09 beaglebone rtapi:0: 3:rtapi_app:10176:user MOTION: init_hal_io() starting... Oct 6 23:33:09 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'motion.probe-input' bit IN false Oct 6 23:33:10 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'motion.spindle-index-enable' bit I/O false Oct 6 23:33:10 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'motion.spindle-on' bit OUT false Oct 6 23:33:10 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'motion.spindle-forward' bit OUT false Oct 6 23:33:10 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'motion.spindle-reverse' bit OUT false Oct 6 23:33:10 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'motion.spindle-brake' bit OUT false Oct 6 23:33:10 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'motion.spindle-speed-out' float OUT 0.000000 Oct 6 23:33:10 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'motion.spindle-speed-out-abs' float OUT 0.000000 Oct 6 23:33:10 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'motion.spindle-speed-out-rps' float OUT 0.000000 Oct 6 23:33:10 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'motion.spindle-speed-out-rps-abs' float OUT 0.000000 Oct 6 23:33:10 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'motion.spindle-speed-cmd-rps' float OUT 0.000000 Oct 6 23:33:10 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'motion.spindle-inhibit' bit IN false Oct 6 23:33:10 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'motion.spindle-orient-angle' float OUT 0.000000 Oct 6 23:33:10 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'motion.spindle-orient-mode' s32 OUT 0 Oct 6 23:33:10 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'motion.spindle-orient' bit OUT false Oct 6 23:33:10 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'motion.spindle-locked' bit OUT false Oct 6 23:33:10 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'motion.spindle-is-oriented' bit IN false Oct 6 23:33:10 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'motion.spindle-orient-fault' s32 IN 0 Oct 6 23:33:10 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'motion.spindle-revs' float IN 0.000000 Oct 6 23:33:10 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'motion.spindle-speed-in' float IN 0.000000 Oct 6 23:33:10 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'motion.spindle-at-speed' bit IN false Oct 6 23:33:10 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'motion.adaptive-feed' float IN 0.000000 Oct 6 23:33:10 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'motion.feed-hold' bit IN false Oct 6 23:33:10 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'motion.feed-inhibit' bit IN false Oct 6 23:33:10 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'motion.enable' bit IN false Oct 6 23:33:10 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'motion.digital-out-00' bit OUT false Oct 6 23:33:10 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'motion.digital-in-00' bit IN false Oct 6 23:33:10 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'motion.digital-out-io-00' bit I/O false Oct 6 23:33:10 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'motion.digital-out-01' bit OUT false Oct 6 23:33:10 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'motion.digital-in-01' bit IN false Oct 6 23:33:10 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'motion.digital-out-io-01' bit I/O false Oct 6 23:33:10 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'motion.digital-out-02' bit OUT false Oct 6 23:33:10 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'motion.digital-in-02' bit IN false Oct 6 23:33:10 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'motion.digital-out-io-02' bit I/O false Oct 6 23:33:10 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'motion.digital-out-03' bit OUT false Oct 6 23:33:10 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'motion.digital-in-03' bit IN false Oct 6 23:33:10 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'motion.digital-out-io-03' bit I/O false Oct 6 23:33:10 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'motion.analog-out-00' float OUT 0.000000 Oct 6 23:33:10 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'motion.analog-in-00' float IN 0.000000 Oct 6 23:33:10 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'motion.analog-out-io-00' float I/O 0.000000 Oct 6 23:33:10 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'motion.analog-out-01' float OUT 0.000000 Oct 6 23:33:10 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'motion.analog-in-01' float IN 0.000000 Oct 6 23:33:10 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'motion.analog-out-io-01' float I/O 0.000000 Oct 6 23:33:10 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'motion.analog-out-02' float OUT 0.000000 Oct 6 23:33:10 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'motion.analog-in-02' float IN 0.000000 Oct 6 23:33:10 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'motion.analog-out-io-02' float I/O 0.000000 Oct 6 23:33:10 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'motion.analog-out-03' float OUT 0.000000 Oct 6 23:33:10 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'motion.analog-in-03' float IN 0.000000 Oct 6 23:33:10 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'motion.analog-out-io-03' float I/O 0.000000 Oct 6 23:33:10 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'motion.motion-enabled' bit OUT false Oct 6 23:33:10 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'motion.in-position' bit OUT false Oct 6 23:33:10 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'motion.coord-mode' bit OUT false Oct 6 23:33:10 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'motion.teleop-mode' bit OUT false Oct 6 23:33:10 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'motion.coord-error' bit OUT false Oct 6 23:33:10 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'motion.on-soft-limit' bit OUT false Oct 6 23:33:10 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'motion.current-vel' float OUT 0.000000 Oct 6 23:33:10 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'motion.requested-vel' float OUT 0.000000 Oct 6 23:33:10 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'motion.distance-to-go' float OUT 0.000000 Oct 6 23:33:10 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'motion.program-line' s32 OUT 0 Oct 6 23:33:10 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_param_newfv:143 HAL: creating parameter 'motion.debug-bit-0' Oct 6 23:33:10 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_param_newfv:143 HAL: creating parameter 'motion.debug-bit-1' Oct 6 23:33:10 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_param_newfv:143 HAL: creating parameter 'motion.debug-float-0' Oct 6 23:33:10 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_param_newfv:143 HAL: creating parameter 'motion.debug-float-1' Oct 6 23:33:10 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_param_newfv:143 HAL: creating parameter 'motion.debug-float-2' Oct 6 23:33:10 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_param_newfv:143 HAL: creating parameter 'motion.debug-float-3' Oct 6 23:33:10 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_param_newfv:143 HAL: creating parameter 'motion.debug-s32-0' Oct 6 23:33:10 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_param_newfv:143 HAL: creating parameter 'motion.debug-s32-1' Oct 6 23:33:10 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_param_newfv:143 HAL: creating parameter 'traj.pos_out' Oct 6 23:33:10 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_param_newfv:143 HAL: creating parameter 'traj.vel_out' Oct 6 23:33:10 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_param_newfv:143 HAL: creating parameter 'traj.active_tc' Oct 6 23:33:10 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_param_newfv:143 HAL: creating parameter 'tc.0.pos' Oct 6 23:33:10 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_param_newfv:143 HAL: creating parameter 'tc.0.vel' Oct 6 23:33:10 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_param_newfv:143 HAL: creating parameter 'tc.0.acc' Oct 6 23:33:10 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_param_newfv:143 HAL: creating parameter 'tc.1.pos' Oct 6 23:33:10 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_param_newfv:143 HAL: creating parameter 'tc.1.vel' Oct 6 23:33:10 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_param_newfv:143 HAL: creating parameter 'tc.1.acc' Oct 6 23:33:10 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_param_newfv:143 HAL: creating parameter 'tc.2.pos' Oct 6 23:33:10 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_param_newfv:143 HAL: creating parameter 'tc.2.vel' Oct 6 23:33:10 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_param_newfv:143 HAL: creating parameter 'tc.2.acc' Oct 6 23:33:10 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_param_newfv:143 HAL: creating parameter 'tc.3.pos' Oct 6 23:33:10 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_param_newfv:143 HAL: creating parameter 'tc.3.vel' Oct 6 23:33:10 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_param_newfv:143 HAL: creating parameter 'tc.3.acc' Oct 6 23:33:10 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_param_newfv:143 HAL: creating parameter 'motion.servo.last-period' Oct 6 23:33:10 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_param_newfv:143 HAL: creating parameter 'motion.servo.overruns' Oct 6 23:33:10 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'motion.tooloffset.x' float OUT 0.000000 Oct 6 23:33:10 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'motion.tooloffset.y' float OUT 0.000000 Oct 6 23:33:10 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'motion.tooloffset.z' float OUT 0.000000 Oct 6 23:33:10 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'motion.tooloffset.a' float OUT 0.000000 Oct 6 23:33:10 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'motion.tooloffset.b' float OUT 0.000000 Oct 6 23:33:10 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'motion.tooloffset.c' float OUT 0.000000 Oct 6 23:33:10 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'motion.tooloffset.u' float OUT 0.000000 Oct 6 23:33:10 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'motion.tooloffset.v' float OUT 0.000000 Oct 6 23:33:10 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'motion.tooloffset.w' float OUT 0.000000 Oct 6 23:33:10 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'motion.pause-state' s32 OUT 0 Oct 6 23:33:10 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'motion.pause-offset-enable' bit IN false Oct 6 23:33:10 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'motion.paused-at-motion' s32 OUT 0 Oct 6 23:33:10 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'motion.current-motion' s32 OUT 0 Oct 6 23:33:10 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'motion.pause-offset-in-range' bit OUT false Oct 6 23:33:10 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'motion.pause-jog-feed' float IN 0.000000 Oct 6 23:33:10 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'motion.pause-offset-x' float IN 0.000000 Oct 6 23:33:10 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'motion.pause-offset-y' float IN 0.000000 Oct 6 23:33:10 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'motion.pause-offset-z' float IN 0.000000 Oct 6 23:33:10 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'motion.pause-offset-a' float IN 0.000000 Oct 6 23:33:10 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'motion.pause-offset-b' float IN 0.000000 Oct 6 23:33:10 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'motion.pause-offset-c' float IN 0.000000 Oct 6 23:33:11 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'motion.pause-offset-u' float IN 0.000000 Oct 6 23:33:11 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'motion.pause-offset-v' float IN 0.000000 Oct 6 23:33:11 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'motion.pause-offset-w' float IN 0.000000 Oct 6 23:33:11 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'axis.0.joint-pos-cmd' float OUT 0.000000 Oct 6 23:33:11 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'axis.0.joint-pos-fb' float OUT 0.000000 Oct 6 23:33:11 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'axis.0.motor-pos-cmd' float OUT 0.000000 Oct 6 23:33:11 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'axis.0.motor-offset' float OUT 0.000000 Oct 6 23:33:11 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'axis.0.motor-pos-fb' float IN 0.000000 Oct 6 23:33:11 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'axis.0.pos-lim-sw-in' bit IN false Oct 6 23:33:11 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'axis.0.neg-lim-sw-in' bit IN false Oct 6 23:33:11 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'axis.0.home-sw-in' bit IN false Oct 6 23:33:11 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'axis.0.index-enable' bit I/O false Oct 6 23:33:11 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'axis.0.amp-enable-out' bit OUT false Oct 6 23:33:11 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'axis.0.amp-fault-in' bit IN false Oct 6 23:33:11 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'axis.0.jog-counts' s32 IN 0 Oct 6 23:33:11 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'axis.0.jog-enable' bit IN false Oct 6 23:33:11 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'axis.0.jog-scale' float IN 0.000000 Oct 6 23:33:11 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'axis.0.jog-vel-mode' bit IN false Oct 6 23:33:11 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'axis.0.homing' bit OUT false Oct 6 23:33:11 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'axis.0.coarse-pos-cmd' float OUT 0.000000 Oct 6 23:33:11 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'axis.0.joint-vel-cmd' float OUT 0.000000 Oct 6 23:33:11 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'axis.0.backlash-corr' float OUT 0.000000 Oct 6 23:33:11 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'axis.0.backlash-filt' float OUT 0.000000 Oct 6 23:33:11 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'axis.0.backlash-vel' float OUT 0.000000 Oct 6 23:33:11 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'axis.0.f-error' float OUT 0.000000 Oct 6 23:33:11 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'axis.0.f-error-lim' float OUT 0.000000 Oct 6 23:33:11 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'axis.0.free-pos-cmd' float OUT 0.000000 Oct 6 23:33:11 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'axis.0.free-vel-lim' float OUT 0.000000 Oct 6 23:33:11 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'axis.0.free-tp-enable' bit OUT false Oct 6 23:33:11 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'axis.0.kb-jog-active' bit OUT false Oct 6 23:33:11 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'axis.0.wheel-jog-active' bit OUT false Oct 6 23:33:11 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'axis.0.active' bit OUT false Oct 6 23:33:11 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'axis.0.in-position' bit OUT false Oct 6 23:33:11 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'axis.0.error' bit OUT false Oct 6 23:33:11 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'axis.0.pos-hard-limit' bit OUT false Oct 6 23:33:11 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'axis.0.neg-hard-limit' bit OUT false Oct 6 23:33:11 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'axis.0.homed' bit OUT false Oct 6 23:33:11 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'axis.0.f-errored' bit OUT false Oct 6 23:33:11 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'axis.0.faulted' bit OUT false Oct 6 23:33:11 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'axis.0.home-state' s32 OUT 0 Oct 6 23:33:11 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'axis.1.joint-pos-cmd' float OUT 0.000000 Oct 6 23:33:11 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'axis.1.joint-pos-fb' float OUT 0.000000 Oct 6 23:33:11 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'axis.1.motor-pos-cmd' float OUT 0.000000 Oct 6 23:33:11 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'axis.1.motor-offset' float OUT 0.000000 Oct 6 23:33:11 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'axis.1.motor-pos-fb' float IN 0.000000 Oct 6 23:33:11 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'axis.1.pos-lim-sw-in' bit IN false Oct 6 23:33:11 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'axis.1.neg-lim-sw-in' bit IN false Oct 6 23:33:11 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'axis.1.home-sw-in' bit IN false Oct 6 23:33:11 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'axis.1.index-enable' bit I/O false Oct 6 23:33:11 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'axis.1.amp-enable-out' bit OUT false Oct 6 23:33:11 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'axis.1.amp-fault-in' bit IN false Oct 6 23:33:11 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'axis.1.jog-counts' s32 IN 0 Oct 6 23:33:11 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'axis.1.jog-enable' bit IN false Oct 6 23:33:11 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'axis.1.jog-scale' float IN 0.000000 Oct 6 23:33:11 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'axis.1.jog-vel-mode' bit IN false Oct 6 23:33:11 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'axis.1.homing' bit OUT false Oct 6 23:33:11 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'axis.1.coarse-pos-cmd' float OUT 0.000000 Oct 6 23:33:11 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'axis.1.joint-vel-cmd' float OUT 0.000000 Oct 6 23:33:11 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'axis.1.backlash-corr' float OUT 0.000000 Oct 6 23:33:11 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'axis.1.backlash-filt' float OUT 0.000000 Oct 6 23:33:11 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'axis.1.backlash-vel' float OUT 0.000000 Oct 6 23:33:11 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'axis.1.f-error' float OUT 0.000000 Oct 6 23:33:11 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'axis.1.f-error-lim' float OUT 0.000000 Oct 6 23:33:11 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'axis.1.free-pos-cmd' float OUT 0.000000 Oct 6 23:33:11 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'axis.1.free-vel-lim' float OUT 0.000000 Oct 6 23:33:11 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'axis.1.free-tp-enable' bit OUT false Oct 6 23:33:11 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'axis.1.kb-jog-active' bit OUT false Oct 6 23:33:11 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'axis.1.wheel-jog-active' bit OUT false Oct 6 23:33:11 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'axis.1.active' bit OUT false Oct 6 23:33:11 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'axis.1.in-position' bit OUT false Oct 6 23:33:11 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'axis.1.error' bit OUT false Oct 6 23:33:11 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'axis.1.pos-hard-limit' bit OUT false Oct 6 23:33:11 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'axis.1.neg-hard-limit' bit OUT false Oct 6 23:33:11 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'axis.1.homed' bit OUT false Oct 6 23:33:11 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'axis.1.f-errored' bit OUT false Oct 6 23:33:11 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'axis.1.faulted' bit OUT false Oct 6 23:33:11 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'axis.1.home-state' s32 OUT 0 Oct 6 23:33:11 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'axis.2.joint-pos-cmd' float OUT 0.000000 Oct 6 23:33:11 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'axis.2.joint-pos-fb' float OUT 0.000000 Oct 6 23:33:11 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'axis.2.motor-pos-cmd' float OUT 0.000000 Oct 6 23:33:11 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'axis.2.motor-offset' float OUT 0.000000 Oct 6 23:33:11 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'axis.2.motor-pos-fb' float IN 0.000000 Oct 6 23:33:11 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'axis.2.pos-lim-sw-in' bit IN false Oct 6 23:33:11 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'axis.2.neg-lim-sw-in' bit IN false Oct 6 23:33:11 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'axis.2.home-sw-in' bit IN false Oct 6 23:33:11 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'axis.2.index-enable' bit I/O false Oct 6 23:33:11 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'axis.2.amp-enable-out' bit OUT false Oct 6 23:33:11 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'axis.2.amp-fault-in' bit IN false Oct 6 23:33:11 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'axis.2.jog-counts' s32 IN 0 Oct 6 23:33:11 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'axis.2.jog-enable' bit IN false Oct 6 23:33:11 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'axis.2.jog-scale' float IN 0.000000 Oct 6 23:33:11 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'axis.2.jog-vel-mode' bit IN false Oct 6 23:33:11 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'axis.2.homing' bit OUT false Oct 6 23:33:11 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'axis.2.coarse-pos-cmd' float OUT 0.000000 Oct 6 23:33:11 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'axis.2.joint-vel-cmd' float OUT 0.000000 Oct 6 23:33:11 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'axis.2.backlash-corr' float OUT 0.000000 Oct 6 23:33:11 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'axis.2.backlash-filt' float OUT 0.000000 Oct 6 23:33:11 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'axis.2.backlash-vel' float OUT 0.000000 Oct 6 23:33:11 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'axis.2.f-error' float OUT 0.000000 Oct 6 23:33:11 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'axis.2.f-error-lim' float OUT 0.000000 Oct 6 23:33:11 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'axis.2.free-pos-cmd' float OUT 0.000000 Oct 6 23:33:11 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'axis.2.free-vel-lim' float OUT 0.000000 Oct 6 23:33:11 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'axis.2.free-tp-enable' bit OUT false Oct 6 23:33:11 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'axis.2.kb-jog-active' bit OUT false Oct 6 23:33:11 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'axis.2.wheel-jog-active' bit OUT false Oct 6 23:33:11 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'axis.2.active' bit OUT false Oct 6 23:33:11 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'axis.2.in-position' bit OUT false Oct 6 23:33:12 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'axis.2.error' bit OUT false Oct 6 23:33:12 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'axis.2.pos-hard-limit' bit OUT false Oct 6 23:33:12 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'axis.2.neg-hard-limit' bit OUT false Oct 6 23:33:12 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'axis.2.homed' bit OUT false Oct 6 23:33:12 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'axis.2.f-errored' bit OUT false Oct 6 23:33:12 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'axis.2.faulted' bit OUT false Oct 6 23:33:12 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'axis.2.home-state' s32 OUT 0 Oct 6 23:33:12 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'axis.3.joint-pos-cmd' float OUT 0.000000 Oct 6 23:33:12 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'axis.3.joint-pos-fb' float OUT 0.000000 Oct 6 23:33:12 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'axis.3.motor-pos-cmd' float OUT 0.000000 Oct 6 23:33:12 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'axis.3.motor-offset' float OUT 0.000000 Oct 6 23:33:12 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'axis.3.motor-pos-fb' float IN 0.000000 Oct 6 23:33:12 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'axis.3.pos-lim-sw-in' bit IN false Oct 6 23:33:12 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'axis.3.neg-lim-sw-in' bit IN false Oct 6 23:33:12 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'axis.3.home-sw-in' bit IN false Oct 6 23:33:12 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'axis.3.index-enable' bit I/O false Oct 6 23:33:12 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'axis.3.amp-enable-out' bit OUT false Oct 6 23:33:12 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'axis.3.amp-fault-in' bit IN false Oct 6 23:33:12 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'axis.3.jog-counts' s32 IN 0 Oct 6 23:33:12 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'axis.3.jog-enable' bit IN false Oct 6 23:33:12 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'axis.3.jog-scale' float IN 0.000000 Oct 6 23:33:12 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'axis.3.jog-vel-mode' bit IN false Oct 6 23:33:12 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'axis.3.homing' bit OUT false Oct 6 23:33:12 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'axis.3.coarse-pos-cmd' float OUT 0.000000 Oct 6 23:33:12 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'axis.3.joint-vel-cmd' float OUT 0.000000 Oct 6 23:33:12 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'axis.3.backlash-corr' float OUT 0.000000 Oct 6 23:33:12 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'axis.3.backlash-filt' float OUT 0.000000 Oct 6 23:33:12 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'axis.3.backlash-vel' float OUT 0.000000 Oct 6 23:33:12 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'axis.3.f-error' float OUT 0.000000 Oct 6 23:33:12 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'axis.3.f-error-lim' float OUT 0.000000 Oct 6 23:33:12 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'axis.3.free-pos-cmd' float OUT 0.000000 Oct 6 23:33:12 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'axis.3.free-vel-lim' float OUT 0.000000 Oct 6 23:33:12 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'axis.3.free-tp-enable' bit OUT false Oct 6 23:33:12 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'axis.3.kb-jog-active' bit OUT false Oct 6 23:33:12 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'axis.3.wheel-jog-active' bit OUT false Oct 6 23:33:12 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'axis.3.active' bit OUT false Oct 6 23:33:12 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'axis.3.in-position' bit OUT false Oct 6 23:33:12 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'axis.3.error' bit OUT false Oct 6 23:33:12 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'axis.3.pos-hard-limit' bit OUT false Oct 6 23:33:12 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'axis.3.neg-hard-limit' bit OUT false Oct 6 23:33:12 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'axis.3.homed' bit OUT false Oct 6 23:33:12 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'axis.3.f-errored' bit OUT false Oct 6 23:33:12 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'axis.3.faulted' bit OUT false Oct 6 23:33:12 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'axis.3.home-state' s32 OUT 0 Oct 6 23:33:12 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'axis.3.unlock' bit OUT false Oct 6 23:33:12 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'axis.3.is-unlocked' bit IN false Oct 6 23:33:12 beaglebone rtapi:0: 3:rtapi_app:10176:user MOTION: init_hal_io() complete, 4 axes. Oct 6 23:33:12 beaglebone rtapi:0: 3:rtapi_app:10176:user MOTION: init_comm_buffers() starting... Oct 6 23:33:12 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_reference_vtable:124 HAL: vtable trivkins,1000 found vtable=0xb6fb5044 context=0 Oct 6 23:33:12 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_reference_vtable:124 HAL: vtable tp,2000 found vtable=0xb52ff088 context=0 Oct 6 23:33:12 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'axis.0.home' float IN 0.000000 Oct 6 23:33:12 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'axis.0.home-offset' float IN 0.000000 Oct 6 23:33:12 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'axis.1.home' float IN 0.000000 Oct 6 23:33:12 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'axis.1.home-offset' float IN 0.000000 Oct 6 23:33:12 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'axis.2.home' float IN 0.000000 Oct 6 23:33:12 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'axis.2.home-offset' float IN 0.000000 Oct 6 23:33:12 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'axis.3.home' float IN 0.000000 Oct 6 23:33:12 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'axis.3.home-offset' float IN 0.000000 Oct 6 23:33:12 beaglebone rtapi:0: 3:rtapi_app:10176:user MOTION: init_comm_buffers() complete Oct 6 23:33:12 beaglebone rtapi:0: 3:rtapi_app:10176:user MOTION: init_threads() starting... Oct 6 23:33:12 beaglebone rtapi:0: 4:rtapi_app:10176:user hal_create_xthread:153 HAL: creating thread servo-thread, 1000000 nsec fp=1 Oct 6 23:33:12 beaglebone rtapi:0: 4:rtapi_app:10176:user rtapi_clock_set_period (res=1) -> 1000000 Oct 6 23:33:12 beaglebone rtapi:0: 4:rtapi_app:10176:user Creating new task 1 'servo-thread:0': req prio 98 (highest=99 lowest=1) stack=32768 fp=1 flags=0 Oct 6 23:33:12 beaglebone rtapi:0: 4:rtapi_app:10176:user Task CPU: 0 Oct 6 23:33:12 beaglebone rtapi:0: 4:rtapi_app:10176:user RTAPI: task 01 installed by module 66, priority 98, code: 0xb64a4d23 Oct 6 23:33:12 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'servo-thread.time' s32 OUT 0 Oct 6 23:33:12 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'servo-thread.tmax' s32 I/O 0 Oct 6 23:33:12 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'servo-thread.curr-period' s32 OUT 0 Oct 6 23:33:12 beaglebone rtapi:0: 4:rtapi_app:10176:user rtapi_task_start: starting task 1 'servo-thread:0' Oct 6 23:33:12 beaglebone rtapi:0: 4:rtapi_app:10176:user RTAPI: period_nsec: 1000000 Oct 6 23:33:12 beaglebone rtapi:0: 4:rtapi_app:10176:user About to pthread_create task 1 Oct 6 23:33:12 beaglebone rtapi:0: 4:rtapi_app:10176:user Created task 1 Oct 6 23:33:12 beaglebone rtapi:0: 3:rtapi_app:10176:user RTAPI: task 'servo-thread:0' at 0xb65bd398 period = 1000000 ratio=1 id=1 TID=10440, RT scheduling Oct 6 23:33:12 beaglebone rtapi:0: 4:rtapi_app:10176:user realtime_set_affinity(): task servo-thread:0 assigned to CPU 0 Oct 6 23:33:12 beaglebone rtapi:0: 4:rtapi_app:10176:user Task 1 finished its basic init Oct 6 23:33:12 beaglebone rtapi:0: 4:rtapi_app:10176:user hal_create_xthread:274 HAL: thread servo-thread id 1 created prio=98 Oct 6 23:33:12 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_export_xfunctfv:85 HAL: exporting function 'motion-controller' type 1 fp=1 owner=106 Oct 6 23:33:12 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'motion-controller.time' s32 OUT 0 Oct 6 23:33:12 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'motion-controller.tmax' s32 I/O 0 Oct 6 23:33:12 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'motion-controller.tmax-inc' bit OUT false Oct 6 23:33:12 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_export_xfunctfv:85 HAL: exporting function 'motion-command-handler' type 1 fp=1 owner=106 Oct 6 23:33:12 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'motion-command-handler.time' s32 OUT 0 Oct 6 23:33:12 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'motion-command-handler.tmax' s32 I/O 0 Oct 6 23:33:12 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'motion-command-handler.tmax-inc' bit OUT false Oct 6 23:33:12 beaglebone rtapi:0: 3:rtapi_app:10176:user MOTION: setting Servo cycle time to 1000000 nsecs Oct 6 23:33:12 beaglebone rtapi:0: 3:rtapi_app:10176:user MOTION: setting Traj cycle time to 1000000 nsecs Oct 6 23:33:12 beaglebone rtapi:0: 3:rtapi_app:10176:user MOTION: init_threads() complete Oct 6 23:33:12 beaglebone rtapi:0: 3:rtapi_app:10176:user MOTION: init_module() complete Oct 6 23:33:12 beaglebone rtapi:0: 4:rtapi_app:10176:user motmod: loaded from motmod.so Oct 6 23:33:12 beaglebone rtapi:0: 4:rtapi_app:10176:user hal_bb_gpio.so default iparms: '' Oct 6 23:33:12 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_xinitfv:90 HAL: initializing component 'hal_bb_gpio' type=1 arg1=0 arg2=0/0x0 Oct 6 23:33:12 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'bb_gpio.p8.in-07' bit OUT false Oct 6 23:33:12 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'bb_gpio.p8.in-07.invert' bit IN false Oct 6 23:33:12 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'bb_gpio.p8.in-08' bit OUT false Oct 6 23:33:12 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'bb_gpio.p8.in-08.invert' bit IN false Oct 6 23:33:12 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'bb_gpio.p8.in-09' bit OUT false Oct 6 23:33:12 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'bb_gpio.p8.in-09.invert' bit IN false Oct 6 23:33:13 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'bb_gpio.p8.in-10' bit OUT false Oct 6 23:33:13 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'bb_gpio.p8.in-10.invert' bit IN false Oct 6 23:33:13 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'bb_gpio.p8.in-17' bit OUT false Oct 6 23:33:13 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'bb_gpio.p8.in-17.invert' bit IN false Oct 6 23:33:13 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'bb_gpio.p9.in-11' bit OUT false Oct 6 23:33:13 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'bb_gpio.p9.in-11.invert' bit IN false Oct 6 23:33:13 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'bb_gpio.p9.in-13' bit OUT false Oct 6 23:33:13 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'bb_gpio.p9.in-13.invert' bit IN false Oct 6 23:33:13 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'bb_gpio.p8.out-16' bit IN false Oct 6 23:33:13 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'bb_gpio.p8.out-16.invert' bit IN false Oct 6 23:33:13 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'bb_gpio.p8.out-22' bit IN false Oct 6 23:33:13 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'bb_gpio.p8.out-22.invert' bit IN false Oct 6 23:33:13 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'bb_gpio.p8.out-23' bit IN false Oct 6 23:33:13 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'bb_gpio.p8.out-23.invert' bit IN false Oct 6 23:33:13 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'bb_gpio.p8.out-24' bit IN false Oct 6 23:33:13 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'bb_gpio.p8.out-24.invert' bit IN false Oct 6 23:33:13 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'bb_gpio.p8.out-25' bit IN false Oct 6 23:33:13 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'bb_gpio.p8.out-25.invert' bit IN false Oct 6 23:33:13 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'bb_gpio.p8.out-26' bit IN false Oct 6 23:33:13 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'bb_gpio.p8.out-26.invert' bit IN false Oct 6 23:33:13 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'bb_gpio.p9.out-14' bit IN false Oct 6 23:33:13 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'bb_gpio.p9.out-14.invert' bit IN false Oct 6 23:33:13 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'bb_gpio.p9.out-23' bit IN false Oct 6 23:33:13 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'bb_gpio.p9.out-23.invert' bit IN false Oct 6 23:33:13 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'bb_gpio.p9.out-25' bit IN false Oct 6 23:33:13 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'bb_gpio.p9.out-25.invert' bit IN false Oct 6 23:33:13 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_export_xfunctfv:85 HAL: exporting function 'bb_gpio.write' type 0 fp=0 owner=386 Oct 6 23:33:13 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'bb_gpio.write.time' s32 OUT 0 Oct 6 23:33:13 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'bb_gpio.write.tmax' s32 I/O 0 Oct 6 23:33:13 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'bb_gpio.write.tmax-inc' bit OUT false Oct 6 23:33:13 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_export_xfunctfv:85 HAL: exporting function 'bb_gpio.read' type 0 fp=0 owner=386 Oct 6 23:33:13 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'bb_gpio.read.time' s32 OUT 0 Oct 6 23:33:13 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'bb_gpio.read.tmax' s32 I/O 0 Oct 6 23:33:13 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'bb_gpio.read.tmax-inc' bit OUT false Oct 6 23:33:13 beaglebone rtapi:0: 3:rtapi_app:10176:user hal_bb_gpio: installed driver Oct 6 23:33:13 beaglebone rtapi:0: 4:rtapi_app:10176:user hal_bb_gpio: loaded from hal_bb_gpio.so Oct 6 23:33:13 beaglebone rtapi:0: 4:rtapi_app:10176:user hal_pru_generic.so default iparms: '' Oct 6 23:33:13 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_xinitfv:90 HAL: initializing component 'hal_pru_generic' type=1 arg1=0 arg2=0/0x0 Oct 6 23:33:13 beaglebone rtapi:0: 4:rtapi_app:10176:user hpg: module 'uio_pruss' already loaded Oct 6 23:33:13 beaglebone rtapi:0: 3:rtapi_app:10176:user prussdrv: AM33XX detected Oct 6 23:33:13 beaglebone rtapi:0: 4:rtapi_app:10176:user hal_pru_generic: PRU data ram mapped at 0xb4e63000 Oct 6 23:33:13 beaglebone rtapi:0: 4:rtapi_app:10176:user hpg: pru_malloc requested 40 bytes, allocated 40 bytes starting at 000c Oct 6 23:33:13 beaglebone rtapi:0: 4:rtapi_app:10176:user hpg: Adding first task: addr=000c Oct 6 23:33:13 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'hpg.pwmgen.00.pwm_period' u32 IN 0 Oct 6 23:33:13 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'hpg.pwmgen.00.out.00.enable' bit IN false Oct 6 23:33:13 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'hpg.pwmgen.00.out.00.value' float IN 0.000000 Oct 6 23:33:13 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'hpg.pwmgen.00.out.00.scale' float IN 0.000000 Oct 6 23:33:13 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'hpg.pwmgen.00.out.00.pin' u32 IN 0 Oct 6 23:33:13 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'hpg.pwmgen.00.out.01.enable' bit IN false Oct 6 23:33:13 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'hpg.pwmgen.00.out.01.value' float IN 0.000000 Oct 6 23:33:13 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'hpg.pwmgen.00.out.01.scale' float IN 0.000000 Oct 6 23:33:13 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'hpg.pwmgen.00.out.01.pin' u32 IN 0 Oct 6 23:33:13 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'hpg.pwmgen.00.out.02.enable' bit IN false Oct 6 23:33:13 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'hpg.pwmgen.00.out.02.value' float IN 0.000000 Oct 6 23:33:13 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'hpg.pwmgen.00.out.02.scale' float IN 0.000000 Oct 6 23:33:13 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'hpg.pwmgen.00.out.02.pin' u32 IN 0 Oct 6 23:33:13 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'hpg.pwmgen.00.out.03.enable' bit IN false Oct 6 23:33:13 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'hpg.pwmgen.00.out.03.value' float IN 0.000000 Oct 6 23:33:13 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'hpg.pwmgen.00.out.03.scale' float IN 0.000000 Oct 6 23:33:13 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'hpg.pwmgen.00.out.03.pin' u32 IN 0 Oct 6 23:33:13 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'hpg.pwmgen.00.out.04.enable' bit IN false Oct 6 23:33:13 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'hpg.pwmgen.00.out.04.value' float IN 0.000000 Oct 6 23:33:13 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'hpg.pwmgen.00.out.04.scale' float IN 0.000000 Oct 6 23:33:13 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'hpg.pwmgen.00.out.04.pin' u32 IN 0 Oct 6 23:33:13 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'hpg.pwmgen.00.out.05.enable' bit IN false Oct 6 23:33:13 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'hpg.pwmgen.00.out.05.value' float IN 0.000000 Oct 6 23:33:13 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'hpg.pwmgen.00.out.05.scale' float IN 0.000000 Oct 6 23:33:13 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'hpg.pwmgen.00.out.05.pin' u32 IN 0 Oct 6 23:33:13 beaglebone rtapi:0: 4:rtapi_app:10176:user hpg: pru_malloc requested 36 bytes, allocated 36 bytes starting at 0034 Oct 6 23:33:13 beaglebone rtapi:0: 4:rtapi_app:10176:user hpg: Adding task: addr=0034 prev=000c Oct 6 23:33:13 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'hpg.stepgen.00.position-cmd' float IN 0.000000 Oct 6 23:33:13 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'hpg.stepgen.00.velocity-cmd' float IN 0.000000 Oct 6 23:33:13 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'hpg.stepgen.00.velocity-fb' float OUT 0.000000 Oct 6 23:33:13 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'hpg.stepgen.00.position-fb' float OUT 0.000000 Oct 6 23:33:13 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'hpg.stepgen.00.counts' s32 OUT 0 Oct 6 23:33:13 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'hpg.stepgen.00.enable' bit IN false Oct 6 23:33:13 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'hpg.stepgen.00.control-type' bit IN false Oct 6 23:33:13 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'hpg.stepgen.00.dbg_pos_minus_prev_cmd' float OUT 0.000000 Oct 6 23:33:13 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'hpg.stepgen.00.dbg_ff_vel' float OUT 0.000000 Oct 6 23:33:13 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'hpg.stepgen.00.dbg_s_to_match' float OUT 0.000000 Oct 6 23:33:13 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'hpg.stepgen.00.dbg_vel_error' float OUT 0.000000 Oct 6 23:33:13 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'hpg.stepgen.00.dbg_err_at_match' float OUT 0.000000 Oct 6 23:33:13 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'hpg.stepgen.00.dbg_step_rate' s32 OUT 0 Oct 6 23:33:13 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'hpg.stepgen.00.test1' s32 OUT 0 Oct 6 23:33:13 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'hpg.stepgen.00.test2' s32 OUT 0 Oct 6 23:33:13 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'hpg.stepgen.00.test3' s32 OUT 0 Oct 6 23:33:13 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'hpg.stepgen.00.position-scale' float IN 0.000000 Oct 6 23:33:13 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'hpg.stepgen.00.maxvel' float IN 0.000000 Oct 6 23:33:13 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'hpg.stepgen.00.maxaccel' float IN 0.000000 Oct 6 23:33:13 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'hpg.stepgen.00.minvel' float IN 0.000000 Oct 6 23:33:13 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'hpg.stepgen.00.steplen' u32 IN 0 Oct 6 23:33:13 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'hpg.stepgen.00.stepspace' u32 IN 0 Oct 6 23:33:13 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'hpg.stepgen.00.dirsetup' u32 IN 0 Oct 6 23:33:13 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'hpg.stepgen.00.dirhold' u32 IN 0 Oct 6 23:33:13 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'hpg.stepgen.00.steppin' u32 IN 0 Oct 6 23:33:13 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'hpg.stepgen.00.dirpin' u32 IN 0 Oct 6 23:33:13 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'hpg.stepgen.00.stepinvert' bit IN false Oct 6 23:33:13 beaglebone rtapi:0: 4:rtapi_app:10176:user hpg: pru_malloc requested 36 bytes, allocated 36 bytes starting at 0058 Oct 6 23:33:13 beaglebone rtapi:0: 4:rtapi_app:10176:user hpg: Adding task: addr=0058 prev=0034 Oct 6 23:33:13 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'hpg.stepgen.01.position-cmd' float IN 0.000000 Oct 6 23:33:13 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'hpg.stepgen.01.velocity-cmd' float IN 0.000000 Oct 6 23:33:13 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'hpg.stepgen.01.velocity-fb' float OUT 0.000000 Oct 6 23:33:13 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'hpg.stepgen.01.position-fb' float OUT 0.000000 Oct 6 23:33:13 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'hpg.stepgen.01.counts' s32 OUT 0 Oct 6 23:33:13 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'hpg.stepgen.01.enable' bit IN false Oct 6 23:33:13 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'hpg.stepgen.01.control-type' bit IN false Oct 6 23:33:13 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'hpg.stepgen.01.dbg_pos_minus_prev_cmd' float OUT 0.000000 Oct 6 23:33:13 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'hpg.stepgen.01.dbg_ff_vel' float OUT 0.000000 Oct 6 23:33:13 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'hpg.stepgen.01.dbg_s_to_match' float OUT 0.000000 Oct 6 23:33:14 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'hpg.stepgen.01.dbg_vel_error' float OUT 0.000000 Oct 6 23:33:14 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'hpg.stepgen.01.dbg_err_at_match' float OUT 0.000000 Oct 6 23:33:14 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'hpg.stepgen.01.dbg_step_rate' s32 OUT 0 Oct 6 23:33:14 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'hpg.stepgen.01.test1' s32 OUT 0 Oct 6 23:33:14 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'hpg.stepgen.01.test2' s32 OUT 0 Oct 6 23:33:14 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'hpg.stepgen.01.test3' s32 OUT 0 Oct 6 23:33:14 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'hpg.stepgen.01.position-scale' float IN 0.000000 Oct 6 23:33:14 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'hpg.stepgen.01.maxvel' float IN 0.000000 Oct 6 23:33:14 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'hpg.stepgen.01.maxaccel' float IN 0.000000 Oct 6 23:33:14 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'hpg.stepgen.01.minvel' float IN 0.000000 Oct 6 23:33:14 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'hpg.stepgen.01.steplen' u32 IN 0 Oct 6 23:33:14 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'hpg.stepgen.01.stepspace' u32 IN 0 Oct 6 23:33:14 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'hpg.stepgen.01.dirsetup' u32 IN 0 Oct 6 23:33:14 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'hpg.stepgen.01.dirhold' u32 IN 0 Oct 6 23:33:14 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'hpg.stepgen.01.steppin' u32 IN 0 Oct 6 23:33:14 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'hpg.stepgen.01.dirpin' u32 IN 0 Oct 6 23:33:14 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'hpg.stepgen.01.stepinvert' bit IN false Oct 6 23:33:14 beaglebone rtapi:0: 4:rtapi_app:10176:user hpg: pru_malloc requested 36 bytes, allocated 36 bytes starting at 007c Oct 6 23:33:14 beaglebone rtapi:0: 4:rtapi_app:10176:user hpg: Adding task: addr=007c prev=0058 Oct 6 23:33:14 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'hpg.stepgen.02.position-cmd' float IN 0.000000 Oct 6 23:33:14 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'hpg.stepgen.02.velocity-cmd' float IN 0.000000 Oct 6 23:33:14 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'hpg.stepgen.02.velocity-fb' float OUT 0.000000 Oct 6 23:33:14 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'hpg.stepgen.02.position-fb' float OUT 0.000000 Oct 6 23:33:14 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'hpg.stepgen.02.counts' s32 OUT 0 Oct 6 23:33:14 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'hpg.stepgen.02.enable' bit IN false Oct 6 23:33:14 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'hpg.stepgen.02.control-type' bit IN false Oct 6 23:33:14 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'hpg.stepgen.02.dbg_pos_minus_prev_cmd' float OUT 0.000000 Oct 6 23:33:14 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'hpg.stepgen.02.dbg_ff_vel' float OUT 0.000000 Oct 6 23:33:14 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'hpg.stepgen.02.dbg_s_to_match' float OUT 0.000000 Oct 6 23:33:14 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'hpg.stepgen.02.dbg_vel_error' float OUT 0.000000 Oct 6 23:33:14 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'hpg.stepgen.02.dbg_err_at_match' float OUT 0.000000 Oct 6 23:33:14 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'hpg.stepgen.02.dbg_step_rate' s32 OUT 0 Oct 6 23:33:14 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'hpg.stepgen.02.test1' s32 OUT 0 Oct 6 23:33:14 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'hpg.stepgen.02.test2' s32 OUT 0 Oct 6 23:33:14 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'hpg.stepgen.02.test3' s32 OUT 0 Oct 6 23:33:14 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'hpg.stepgen.02.position-scale' float IN 0.000000 Oct 6 23:33:14 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'hpg.stepgen.02.maxvel' float IN 0.000000 Oct 6 23:33:14 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'hpg.stepgen.02.maxaccel' float IN 0.000000 Oct 6 23:33:14 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'hpg.stepgen.02.minvel' float IN 0.000000 Oct 6 23:33:14 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'hpg.stepgen.02.steplen' u32 IN 0 Oct 6 23:33:14 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'hpg.stepgen.02.stepspace' u32 IN 0 Oct 6 23:33:14 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'hpg.stepgen.02.dirsetup' u32 IN 0 Oct 6 23:33:14 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'hpg.stepgen.02.dirhold' u32 IN 0 Oct 6 23:33:14 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'hpg.stepgen.02.steppin' u32 IN 0 Oct 6 23:33:14 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'hpg.stepgen.02.dirpin' u32 IN 0 Oct 6 23:33:14 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'hpg.stepgen.02.stepinvert' bit IN false Oct 6 23:33:14 beaglebone rtapi:0: 4:rtapi_app:10176:user hpg: pru_malloc requested 36 bytes, allocated 36 bytes starting at 00a0 Oct 6 23:33:14 beaglebone rtapi:0: 4:rtapi_app:10176:user hpg: Adding task: addr=00a0 prev=007c Oct 6 23:33:14 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'hpg.stepgen.03.position-cmd' float IN 0.000000 Oct 6 23:33:14 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'hpg.stepgen.03.velocity-cmd' float IN 0.000000 Oct 6 23:33:14 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'hpg.stepgen.03.velocity-fb' float OUT 0.000000 Oct 6 23:33:14 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'hpg.stepgen.03.position-fb' float OUT 0.000000 Oct 6 23:33:14 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'hpg.stepgen.03.counts' s32 OUT 0 Oct 6 23:33:14 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'hpg.stepgen.03.enable' bit IN false Oct 6 23:33:14 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'hpg.stepgen.03.control-type' bit IN false Oct 6 23:33:14 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'hpg.stepgen.03.dbg_pos_minus_prev_cmd' float OUT 0.000000 Oct 6 23:33:14 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'hpg.stepgen.03.dbg_ff_vel' float OUT 0.000000 Oct 6 23:33:14 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'hpg.stepgen.03.dbg_s_to_match' float OUT 0.000000 Oct 6 23:33:14 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'hpg.stepgen.03.dbg_vel_error' float OUT 0.000000 Oct 6 23:33:14 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'hpg.stepgen.03.dbg_err_at_match' float OUT 0.000000 Oct 6 23:33:14 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'hpg.stepgen.03.dbg_step_rate' s32 OUT 0 Oct 6 23:33:14 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'hpg.stepgen.03.test1' s32 OUT 0 Oct 6 23:33:14 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'hpg.stepgen.03.test2' s32 OUT 0 Oct 6 23:33:14 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'hpg.stepgen.03.test3' s32 OUT 0 Oct 6 23:33:14 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'hpg.stepgen.03.position-scale' float IN 0.000000 Oct 6 23:33:14 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'hpg.stepgen.03.maxvel' float IN 0.000000 Oct 6 23:33:14 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'hpg.stepgen.03.maxaccel' float IN 0.000000 Oct 6 23:33:14 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'hpg.stepgen.03.minvel' float IN 0.000000 Oct 6 23:33:14 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'hpg.stepgen.03.steplen' u32 IN 0 Oct 6 23:33:14 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'hpg.stepgen.03.stepspace' u32 IN 0 Oct 6 23:33:14 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'hpg.stepgen.03.dirsetup' u32 IN 0 Oct 6 23:33:14 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'hpg.stepgen.03.dirhold' u32 IN 0 Oct 6 23:33:14 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'hpg.stepgen.03.steppin' u32 IN 0 Oct 6 23:33:14 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'hpg.stepgen.03.dirpin' u32 IN 0 Oct 6 23:33:14 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'hpg.stepgen.03.stepinvert' bit IN false Oct 6 23:33:14 beaglebone rtapi:0: 4:rtapi_app:10176:user hpg: pru_malloc requested 8 bytes, allocated 8 bytes starting at 00c4 Oct 6 23:33:14 beaglebone rtapi:0: 4:rtapi_app:10176:user hpg: Adding task: addr=00c4 prev=00a0 Oct 6 23:33:14 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'hal_pru_generic.pru_busy_pin' u32 IN 0 Oct 6 23:33:14 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_export_xfunctfv:85 HAL: exporting function 'hpg.update' type 0 fp=1 owner=428 Oct 6 23:33:14 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'hpg.update.time' s32 OUT 0 Oct 6 23:33:14 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'hpg.update.tmax' s32 I/O 0 Oct 6 23:33:14 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'hpg.update.tmax-inc' bit OUT false Oct 6 23:33:14 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_export_xfunctfv:85 HAL: exporting function 'hpg.capture-position' type 0 fp=1 owner=428 Oct 6 23:33:14 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'hpg.capture-position.time' s32 OUT 0 Oct 6 23:33:14 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'hpg.capture-position.tmax' s32 I/O 0 Oct 6 23:33:14 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_pin_newfv:192 HAL: creating pin 'hpg.capture-position.tmax-inc' bit OUT false Oct 6 23:33:14 beaglebone rtapi:0: 1:rtapi_app:10176:user hal_pru_generic: cant find /usr/lib/linuxcnc/xenomai/pru_generic.bin in /home/machinekit/CRAMPS or /lib/firmware/pru/ Oct 6 23:33:14 beaglebone rtapi:0: 1:rtapi_app:10176:user hpg: ERROR: failed to initialize PRU Oct 6 23:33:14 beaglebone msgd:0: hal_lib:10191:user halg_exit:293 HAL: removing component 98 'halcmd10191' Oct 6 23:33:14 beaglebone msgd:0: hal_lib:10191:user ulapi_hal_lib_cleanup:235 HAL: lib_module_id=96 Oct 6 23:33:14 beaglebone msgd:0: hal_lib:10191:user halg_exit:293 HAL: removing component 96 'hal_lib10191' Oct 6 23:33:14 beaglebone msgd:0: hal_lib:10191:user halg_exit:315 HAL: hal_errorcount()=0 Oct 6 23:33:14 beaglebone msgd:0: hal_lib:10191:user halg_exit:316 HAL: _halerrno=0 Oct 6 23:33:14 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_exit:293 HAL: removing component 428 'hal_pru_generic' Oct 6 23:33:14 beaglebone rtapi:0: rtapi_app_main(hal_pru_generic): -1 Operation not permitted Oct 6 23:33:14 beaglebone rtapi:0: 1:rtapi_app:10176:user rtapi_app_main(hal_pru_generic): -1 Operation not permitted Oct 6 23:33:14 beaglebone rtapi:0: 1:rtapi_app:10176:user 19: Unexpected realtime delay on RT thread 1 Oct 6 23:33:14 beaglebone rtapi:0: 2:rtapi_app:10176:user updates=2 api_err=0 other_err=0 Oct 6 23:33:17 beaglebone rtapi:0: 4:rtapi_app:10176:user pid=10176 flavor=rt-preempt gcc=6.3.0 20170516 git=v0.1~combined-pru-stuff~da7162cf1 Oct 6 23:33:17 beaglebone msgd:0: ulapi:10460:user _ulapi_init(): ulapi rt-preempt v0.1~combined-pru-stuff~da7162cf1 loaded Oct 6 23:33:17 beaglebone msgd:0: ulapi:10460:user halg_xinitfv:271 HAL: singleton component 'hal_lib10460' id=572 initialized Oct 6 23:33:17 beaglebone msgd:0: hal_lib:10460:user --halcmd stop Oct 6 23:33:17 beaglebone msgd:0: hal_lib:10460:user hal_stop_threads:354 HAL: threads stopped Oct 6 23:33:18 beaglebone msgd:0: hal_lib:10460:user halg_exit:293 HAL: removing component 574 'halcmd10460' Oct 6 23:33:18 beaglebone msgd:0: hal_lib:10460:user ulapi_hal_lib_cleanup:235 HAL: lib_module_id=572 Oct 6 23:33:18 beaglebone msgd:0: hal_lib:10460:user halg_exit:293 HAL: removing component 572 'hal_lib10460' Oct 6 23:33:18 beaglebone msgd:0: hal_lib:10460:user halg_exit:315 HAL: hal_errorcount()=0 Oct 6 23:33:18 beaglebone msgd:0: hal_lib:10460:user halg_exit:316 HAL: _halerrno=0 Oct 6 23:33:18 beaglebone rtapi:0: 4:rtapi_app:10176:user pid=10176 flavor=rt-preempt gcc=6.3.0 20170516 git=v0.1~combined-pru-stuff~da7162cf1 Oct 6 23:33:18 beaglebone msgd:0: ulapi:10463:user _ulapi_init(): ulapi rt-preempt v0.1~combined-pru-stuff~da7162cf1 loaded Oct 6 23:33:18 beaglebone msgd:0: ulapi:10463:user halg_xinitfv:271 HAL: singleton component 'hal_lib10463' id=576 initialized Oct 6 23:33:18 beaglebone msgd:0: hal_lib:10463:user --halcmd unload all Oct 6 23:33:18 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_exit:293 HAL: removing component 386 'hal_bb_gpio' Oct 6 23:33:18 beaglebone rtapi:0: 4:rtapi_app:10176:user 'hal_bb_gpio' unloaded Oct 6 23:33:18 beaglebone msgd:0: hal_lib:10186:user halg_exit:293 HAL: removing component 80 'iocontrol' Oct 6 23:33:18 beaglebone msgd:0: hal_lib:10186:user ulapi_hal_lib_cleanup:235 HAL: lib_module_id=78 Oct 6 23:33:18 beaglebone msgd:0: hal_lib:10186:user halg_exit:293 HAL: removing component 78 'hal_lib10186' Oct 6 23:33:18 beaglebone msgd:0: hal_lib:10186:user halg_exit:315 HAL: hal_errorcount()=0 Oct 6 23:33:18 beaglebone msgd:0: hal_lib:10186:user halg_exit:316 HAL: _halerrno=0 Oct 6 23:33:18 beaglebone rtapi:0: 3:rtapi_app:10176:user MOTION: cleanup_module() started. Oct 6 23:33:18 beaglebone rtapi:0: 4:rtapi_app:10176:user hal_stop_threads:354 HAL: threads stopped Oct 6 23:33:18 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_unreference_vtable:158 HAL: vtable trivkins/102 refcount=0 Oct 6 23:33:18 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_unreference_vtable:158 HAL: vtable tp/105 refcount=0 Oct 6 23:33:18 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_exit:293 HAL: removing component 106 'motmod' Oct 6 23:33:18 beaglebone rtapi:0: 3:rtapi_app:10176:user MOTION: cleanup_module() finished. Oct 6 23:33:18 beaglebone rtapi:0: 4:rtapi_app:10176:user 'motmod' unloaded Oct 6 23:33:18 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_remove_vtable:81 HAL: vtable tp/105 version 2000 removed Oct 6 23:33:18 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_exit:293 HAL: removing component 103 'tp' Oct 6 23:33:18 beaglebone rtapi:0: 4:rtapi_app:10176:user 'tp' unloaded Oct 6 23:33:18 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_remove_vtable:81 HAL: vtable trivkins/102 version 1000 removed Oct 6 23:33:18 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_exit:293 HAL: removing component 100 'trivkins' Oct 6 23:33:18 beaglebone rtapi:0: 4:rtapi_app:10176:user 'trivkins' unloaded Oct 6 23:33:18 beaglebone msgd:0: hal_lib:10463:user halg_exit:293 HAL: removing component 578 'halcmd10463' Oct 6 23:33:18 beaglebone msgd:0: hal_lib:10463:user ulapi_hal_lib_cleanup:235 HAL: lib_module_id=576 Oct 6 23:33:18 beaglebone msgd:0: hal_lib:10463:user halg_exit:293 HAL: removing component 576 'hal_lib10463' Oct 6 23:33:18 beaglebone msgd:0: hal_lib:10463:user halg_exit:315 HAL: hal_errorcount()=0 Oct 6 23:33:18 beaglebone msgd:0: hal_lib:10463:user halg_exit:316 HAL: _halerrno=0 Oct 6 23:33:19 beaglebone rtapi:0: 4:rtapi_app:10176:user pid=10176 flavor=rt-preempt gcc=6.3.0 20170516 git=v0.1~combined-pru-stuff~da7162cf1 Oct 6 23:33:19 beaglebone msgd:0: ulapi:10468:user _ulapi_init(): ulapi rt-preempt v0.1~combined-pru-stuff~da7162cf1 loaded Oct 6 23:33:19 beaglebone msgd:0: ulapi:10468:user halg_xinitfv:271 HAL: singleton component 'hal_lib10468' id=580 initialized Oct 6 23:33:19 beaglebone msgd:0: hal_lib:10468:user --halcmd list comp Oct 6 23:33:19 beaglebone msgd:0: hal_lib:10468:user halg_exit:293 HAL: removing component 582 'halcmd10468' Oct 6 23:33:19 beaglebone msgd:0: hal_lib:10468:user ulapi_hal_lib_cleanup:235 HAL: lib_module_id=580 Oct 6 23:33:19 beaglebone msgd:0: hal_lib:10468:user halg_exit:293 HAL: removing component 580 'hal_lib10468' Oct 6 23:33:19 beaglebone msgd:0: hal_lib:10468:user halg_exit:315 HAL: hal_errorcount()=0 Oct 6 23:33:19 beaglebone msgd:0: hal_lib:10468:user halg_exit:316 HAL: _halerrno=0 Oct 6 23:33:19 beaglebone rtapi:0: 4:rtapi_app:10176:user pid=10176 flavor=rt-preempt gcc=6.3.0 20170516 git=v0.1~combined-pru-stuff~da7162cf1 Oct 6 23:33:19 beaglebone msgd:0: ulapi:10474:user _ulapi_init(): ulapi rt-preempt v0.1~combined-pru-stuff~da7162cf1 loaded Oct 6 23:33:19 beaglebone msgd:0: ulapi:10474:user halg_xinitfv:271 HAL: singleton component 'hal_lib10474' id=584 initialized Oct 6 23:33:19 beaglebone msgd:0: hal_lib:10474:user --halcmd list comp Oct 6 23:33:19 beaglebone msgd:0: hal_lib:10474:user halg_exit:293 HAL: removing component 586 'halcmd10474' Oct 6 23:33:19 beaglebone msgd:0: hal_lib:10474:user ulapi_hal_lib_cleanup:235 HAL: lib_module_id=584 Oct 6 23:33:19 beaglebone msgd:0: hal_lib:10474:user halg_exit:293 HAL: removing component 584 'hal_lib10474' Oct 6 23:33:19 beaglebone msgd:0: hal_lib:10474:user halg_exit:315 HAL: hal_errorcount()=0 Oct 6 23:33:19 beaglebone msgd:0: hal_lib:10474:user halg_exit:316 HAL: _halerrno=0 Oct 6 23:33:20 beaglebone rtapi:0: 4:rtapi_app:10176:user pid=10176 flavor=rt-preempt gcc=6.3.0 20170516 git=v0.1~combined-pru-stuff~da7162cf1 Oct 6 23:33:20 beaglebone msgd:0: ulapi:10480:user _ulapi_init(): ulapi rt-preempt v0.1~combined-pru-stuff~da7162cf1 loaded Oct 6 23:33:20 beaglebone msgd:0: ulapi:10480:user halg_xinitfv:271 HAL: singleton component 'hal_lib10480' id=588 initialized Oct 6 23:33:20 beaglebone msgd:0: hal_lib:10480:user --halcmd list comp Oct 6 23:33:20 beaglebone msgd:0: hal_lib:10480:user halg_exit:293 HAL: removing component 590 'halcmd10480' Oct 6 23:33:20 beaglebone msgd:0: hal_lib:10480:user ulapi_hal_lib_cleanup:235 HAL: lib_module_id=588 Oct 6 23:33:20 beaglebone msgd:0: hal_lib:10480:user halg_exit:293 HAL: removing component 588 'hal_lib10480' Oct 6 23:33:20 beaglebone msgd:0: hal_lib:10480:user halg_exit:315 HAL: hal_errorcount()=0 Oct 6 23:33:20 beaglebone msgd:0: hal_lib:10480:user halg_exit:316 HAL: _halerrno=0 Oct 6 23:33:20 beaglebone rtapi:0: 4:rtapi_app:10176:user pid=10176 flavor=rt-preempt gcc=6.3.0 20170516 git=v0.1~combined-pru-stuff~da7162cf1 Oct 6 23:33:21 beaglebone msgd:0: ulapi:10486:user _ulapi_init(): ulapi rt-preempt v0.1~combined-pru-stuff~da7162cf1 loaded Oct 6 23:33:21 beaglebone msgd:0: ulapi:10486:user halg_xinitfv:271 HAL: singleton component 'hal_lib10486' id=592 initialized Oct 6 23:33:21 beaglebone msgd:0: hal_lib:10486:user --halcmd list comp Oct 6 23:33:21 beaglebone msgd:0: hal_lib:10486:user halg_exit:293 HAL: removing component 594 'halcmd10486' Oct 6 23:33:21 beaglebone msgd:0: hal_lib:10486:user ulapi_hal_lib_cleanup:235 HAL: lib_module_id=592 Oct 6 23:33:21 beaglebone msgd:0: hal_lib:10486:user halg_exit:293 HAL: removing component 592 'hal_lib10486' Oct 6 23:33:21 beaglebone msgd:0: hal_lib:10486:user halg_exit:315 HAL: hal_errorcount()=0 Oct 6 23:33:21 beaglebone msgd:0: hal_lib:10486:user halg_exit:316 HAL: _halerrno=0 Oct 6 23:33:21 beaglebone rtapi:0: 4:rtapi_app:10176:user pid=10176 flavor=rt-preempt gcc=6.3.0 20170516 git=v0.1~combined-pru-stuff~da7162cf1 Oct 6 23:33:21 beaglebone msgd:0: ulapi:10494:user _ulapi_init(): ulapi rt-preempt v0.1~combined-pru-stuff~da7162cf1 loaded Oct 6 23:33:21 beaglebone msgd:0: ulapi:10494:user halg_xinitfv:271 HAL: singleton component 'hal_lib10494' id=596 initialized Oct 6 23:33:21 beaglebone msgd:0: hal_lib:10494:user --halcmd list comp Oct 6 23:33:21 beaglebone msgd:0: hal_lib:10494:user halg_exit:293 HAL: removing component 598 'halcmd10494' Oct 6 23:33:21 beaglebone msgd:0: hal_lib:10494:user ulapi_hal_lib_cleanup:235 HAL: lib_module_id=596 Oct 6 23:33:21 beaglebone msgd:0: hal_lib:10494:user halg_exit:293 HAL: removing component 596 'hal_lib10494' Oct 6 23:33:21 beaglebone msgd:0: hal_lib:10494:user halg_exit:315 HAL: hal_errorcount()=0 Oct 6 23:33:21 beaglebone msgd:0: hal_lib:10494:user halg_exit:316 HAL: _halerrno=0 Oct 6 23:33:21 beaglebone rtapi:0: 4:rtapi_app:10176:user pid=10176 flavor=rt-preempt gcc=6.3.0 20170516 git=v0.1~combined-pru-stuff~da7162cf1 Oct 6 23:33:22 beaglebone msgd:0: ulapi:10502:user _ulapi_init(): ulapi rt-preempt v0.1~combined-pru-stuff~da7162cf1 loaded Oct 6 23:33:22 beaglebone msgd:0: ulapi:10502:user halg_xinitfv:271 HAL: singleton component 'hal_lib10502' id=600 initialized Oct 6 23:33:22 beaglebone msgd:0: hal_lib:10502:user --halcmd list comp Oct 6 23:33:22 beaglebone msgd:0: hal_lib:10502:user halg_exit:293 HAL: removing component 602 'halcmd10502' Oct 6 23:33:22 beaglebone msgd:0: hal_lib:10502:user ulapi_hal_lib_cleanup:235 HAL: lib_module_id=600 Oct 6 23:33:22 beaglebone msgd:0: hal_lib:10502:user halg_exit:293 HAL: removing component 600 'hal_lib10502' Oct 6 23:33:22 beaglebone msgd:0: hal_lib:10502:user halg_exit:315 HAL: hal_errorcount()=0 Oct 6 23:33:22 beaglebone msgd:0: hal_lib:10502:user halg_exit:316 HAL: _halerrno=0 Oct 6 23:33:22 beaglebone rtapi:0: 4:rtapi_app:10176:user pid=10176 flavor=rt-preempt gcc=6.3.0 20170516 git=v0.1~combined-pru-stuff~da7162cf1 Oct 6 23:33:22 beaglebone msgd:0: ulapi:10508:user _ulapi_init(): ulapi rt-preempt v0.1~combined-pru-stuff~da7162cf1 loaded Oct 6 23:33:22 beaglebone msgd:0: ulapi:10508:user halg_xinitfv:271 HAL: singleton component 'hal_lib10508' id=604 initialized Oct 6 23:33:22 beaglebone msgd:0: hal_lib:10508:user --halcmd list comp Oct 6 23:33:22 beaglebone msgd:0: hal_lib:10508:user halg_exit:293 HAL: removing component 606 'halcmd10508' Oct 6 23:33:22 beaglebone msgd:0: hal_lib:10508:user ulapi_hal_lib_cleanup:235 HAL: lib_module_id=604 Oct 6 23:33:22 beaglebone msgd:0: hal_lib:10508:user halg_exit:293 HAL: removing component 604 'hal_lib10508' Oct 6 23:33:22 beaglebone msgd:0: hal_lib:10508:user halg_exit:315 HAL: hal_errorcount()=0 Oct 6 23:33:22 beaglebone msgd:0: hal_lib:10508:user halg_exit:316 HAL: _halerrno=0 Oct 6 23:33:22 beaglebone rtapi:0: 4:rtapi_app:10176:user pid=10176 flavor=rt-preempt gcc=6.3.0 20170516 git=v0.1~combined-pru-stuff~da7162cf1 Oct 6 23:33:22 beaglebone msgd:0: ulapi:10517:user _ulapi_init(): ulapi rt-preempt v0.1~combined-pru-stuff~da7162cf1 loaded Oct 6 23:33:22 beaglebone msgd:0: ulapi:10517:user halg_xinitfv:271 HAL: singleton component 'hal_lib10517' id=608 initialized Oct 6 23:33:22 beaglebone msgd:0: hal_lib:10517:user --halcmd list comp Oct 6 23:33:22 beaglebone msgd:0: hal_lib:10517:user halg_exit:293 HAL: removing component 610 'halcmd10517' Oct 6 23:33:22 beaglebone msgd:0: hal_lib:10517:user ulapi_hal_lib_cleanup:235 HAL: lib_module_id=608 Oct 6 23:33:22 beaglebone msgd:0: hal_lib:10517:user halg_exit:293 HAL: removing component 608 'hal_lib10517' Oct 6 23:33:22 beaglebone msgd:0: hal_lib:10517:user halg_exit:315 HAL: hal_errorcount()=0 Oct 6 23:33:22 beaglebone msgd:0: hal_lib:10517:user halg_exit:316 HAL: _halerrno=0 Oct 6 23:33:23 beaglebone rtapi:0: 4:rtapi_app:10176:user pid=10176 flavor=rt-preempt gcc=6.3.0 20170516 git=v0.1~combined-pru-stuff~da7162cf1 Oct 6 23:33:23 beaglebone msgd:0: ulapi:10523:user _ulapi_init(): ulapi rt-preempt v0.1~combined-pru-stuff~da7162cf1 loaded Oct 6 23:33:23 beaglebone msgd:0: ulapi:10523:user halg_xinitfv:271 HAL: singleton component 'hal_lib10523' id=612 initialized Oct 6 23:33:23 beaglebone msgd:0: hal_lib:10523:user --halcmd list comp Oct 6 23:33:23 beaglebone msgd:0: hal_lib:10523:user halg_exit:293 HAL: removing component 614 'halcmd10523' Oct 6 23:33:23 beaglebone msgd:0: hal_lib:10523:user ulapi_hal_lib_cleanup:235 HAL: lib_module_id=612 Oct 6 23:33:23 beaglebone msgd:0: hal_lib:10523:user halg_exit:293 HAL: removing component 612 'hal_lib10523' Oct 6 23:33:23 beaglebone msgd:0: hal_lib:10523:user halg_exit:315 HAL: hal_errorcount()=0 Oct 6 23:33:23 beaglebone msgd:0: hal_lib:10523:user halg_exit:316 HAL: _halerrno=0 Oct 6 23:33:23 beaglebone rtapi:0: 4:rtapi_app:10176:user pid=10176 flavor=rt-preempt gcc=6.3.0 20170516 git=v0.1~combined-pru-stuff~da7162cf1 Oct 6 23:33:23 beaglebone msgd:0: ulapi:10529:user _ulapi_init(): ulapi rt-preempt v0.1~combined-pru-stuff~da7162cf1 loaded Oct 6 23:33:23 beaglebone msgd:0: ulapi:10529:user halg_xinitfv:271 HAL: singleton component 'hal_lib10529' id=616 initialized Oct 6 23:33:23 beaglebone msgd:0: hal_lib:10529:user --halcmd list comp Oct 6 23:33:23 beaglebone msgd:0: hal_lib:10529:user halg_exit:293 HAL: removing component 618 'halcmd10529' Oct 6 23:33:23 beaglebone msgd:0: hal_lib:10529:user ulapi_hal_lib_cleanup:235 HAL: lib_module_id=616 Oct 6 23:33:23 beaglebone msgd:0: hal_lib:10529:user halg_exit:293 HAL: removing component 616 'hal_lib10529' Oct 6 23:33:23 beaglebone msgd:0: hal_lib:10529:user halg_exit:315 HAL: hal_errorcount()=0 Oct 6 23:33:23 beaglebone msgd:0: hal_lib:10529:user halg_exit:316 HAL: _halerrno=0 Oct 6 23:33:23 beaglebone rtapi:0: 4:rtapi_app:10176:user pid=10176 flavor=rt-preempt gcc=6.3.0 20170516 git=v0.1~combined-pru-stuff~da7162cf1 Oct 6 23:33:23 beaglebone rtapi:0: 4:rtapi_app:10176:user hal_stop_threads:354 HAL: threads stopped Oct 6 23:33:24 beaglebone rtapi:0: 4:rtapi_app:10176:user unload_usr_cb:604 HAL: comp halcmd10553: sending SIGTERM to pid 10553 Oct 6 23:33:24 beaglebone rtapi:0: unload: '' not loaded Oct 6 23:33:24 beaglebone rtapi:0: unload: '' not loaded Oct 6 23:33:24 beaglebone rtapi:0: unload: '' not loaded Oct 6 23:33:24 beaglebone rtapi:0: unload: 'hal_bb_gpio' not loaded Oct 6 23:33:24 beaglebone rtapi:0: 4:rtapi_app:10176:user rtapi_app_exit:205 HAL: removing RT hal_lib support Oct 6 23:33:24 beaglebone msgd:0: ulapi:10553:user _ulapi_init(): ulapi rt-preempt v0.1~combined-pru-stuff~da7162cf1 loaded Oct 6 23:33:24 beaglebone msgd:0: ulapi:10553:user halg_xinitfv:271 HAL: singleton component 'hal_lib10553' id=620 initialized Oct 6 23:33:24 beaglebone msgd:0: hal_lib:10553:user --halcmd shutdown Oct 6 23:33:24 beaglebone rtapi:0: 4:rtapi_app:10176:user rt_task_delete 1 "servo-thread:0" Oct 6 23:33:24 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_exit_thread:318 HAL: 1 thread exited Oct 6 23:33:24 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_exit:293 HAL: removing component 66 'hal_lib' Oct 6 23:33:24 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_exit:315 HAL: hal_errorcount()=25 Oct 6 23:33:24 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_exit:316 HAL: _halerrno=0 Oct 6 23:33:24 beaglebone rtapi:0: 4:rtapi_app:10176:user report_heapstatus:151 HAL: HAL heap heap status Oct 6 23:33:24 beaglebone rtapi:0: 4:rtapi_app:10176:user report_heapstatus:153 HAL: arena=262144 totail_avail=228880 fragments=1 largest=228880 Oct 6 23:33:24 beaglebone rtapi:0: 4:rtapi_app:10176:user report_heapstatus:157 HAL: requested=29120 allocated=29120 freed=0 waste=0% Oct 6 23:33:24 beaglebone rtapi:0: 4:rtapi_app:10176:user report_heapstatus:151 HAL: global heap heap status Oct 6 23:33:24 beaglebone rtapi:0: 4:rtapi_app:10176:user report_heapstatus:153 HAL: arena=790272 totail_avail=248968 fragments=1 largest=248968 Oct 6 23:33:24 beaglebone rtapi:0: 4:rtapi_app:10176:user report_heapstatus:157 HAL: requested=535275 allocated=537152 freed=0 waste=0% Oct 6 23:33:24 beaglebone rtapi:0: 4:rtapi_app:10176:user report_memory_usage:168 HAL: strings on global heap: alloc=10795 freed=0 balance=10795 Oct 6 23:33:24 beaglebone rtapi:0: 4:rtapi_app:10176:user report_memory_usage:175 HAL: RT objects: 67264 alignment loss: 34 (0%) Oct 6 23:33:24 beaglebone rtapi:0: 4:rtapi_app:10176:user report_memory_usage:177 HAL: hal_malloc(): 67230 Oct 6 23:33:24 beaglebone rtapi:0: 4:rtapi_app:10176:user report_memory_usage:179 HAL: unused: 194624 Oct 6 23:33:24 beaglebone rtapi:0: 4:rtapi_app:10176:user halg_exit:320 HAL: hal_sweep: 516 objects freed Oct 6 23:33:24 beaglebone rtapi:0: 4:rtapi_app:10176:user rtapi_app_exit:213 HAL: RT hal_lib support removed successfully Oct 6 23:33:24 beaglebone rtapi:0: 4:rtapi_app:10176:user 'hal_lib' unloaded Oct 6 23:33:24 beaglebone rtapi:0: 4:rtapi_app:10176:user RTAPI:0 exit Oct 6 23:33:24 beaglebone rtapi:0: 4:rtapi_app:10176:user 'rtapi' unloaded Oct 6 23:33:24 beaglebone rtapi:0: 3:rtapi_app:10176:user exiting mainloop (by remote command) Oct 6 23:33:24 beaglebone msgd:0: hal_lib:10553:user halg_exit:293 HAL: removing component 622 'halcmd10553' Oct 6 23:33:24 beaglebone msgd:0: hal_lib:10553:user ulapi_hal_lib_cleanup:235 HAL: lib_module_id=620 Oct 6 23:33:24 beaglebone msgd:0: hal_lib:10553:user halg_exit:293 HAL: removing component 620 'hal_lib10553' Oct 6 23:33:24 beaglebone msgd:0: hal_lib:10553:user halg_exit:315 HAL: hal_errorcount()=0 Oct 6 23:33:24 beaglebone msgd:0: hal_lib:10553:user halg_exit:316 HAL: _halerrno=0 Oct 6 23:33:24 beaglebone msgd:0: rtapi_app exit detected - scheduled shutdown Oct 6 23:33:26 beaglebone msgd:0: msgd shutting down Oct 6 23:33:26 beaglebone msgd:0: zeroconf: unregistering 'Log service on beaglebone.local pid 10171' Oct 6 23:33:26 beaglebone msgd:0: log buffer hwm: 0% (21 msgs, 2218 bytes out of 524288) Oct 6 23:33:26 beaglebone msgd:0: normal shutdown - global segment detached
