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RobertBerger

alignment_trap_1

RobertBerger
Aug 25th, 2014
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  1. Aug 21 12:35:59 beagle-bone-black-ml authpriv.notice sudo: root : TTY=pts/0 ; PWD=/usr/share/machinekit/machinekit/configs/ARM/BeagleBone/CRAMPS ; USER=root ; COMMAND
  2. =/bin/su -c echo gpio > /sys/devices/ocp.3/P9_42_pinmux.49/state
  3. Aug 21 12:35:59 beagle-bone-black-ml authpriv.info su[2334]: Successful su for root by root
  4. Aug 21 12:35:59 beagle-bone-black-ml authpriv.info su[2334]: + ??? root:root
  5. Aug 21 12:35:59 beagle-bone-black-ml authpriv.notice sudo: root : TTY=pts/0 ; PWD=/usr/share/machinekit/machinekit/configs/ARM/BeagleBone/CRAMPS ; USER=root ; COMMAND
  6. =/bin/su -c echo in > /sys/class/gpio/gpio114/direction
  7. Aug 21 12:35:59 beagle-bone-black-ml authpriv.info su[2344]: Successful su for root by root
  8. Aug 21 12:35:59 beagle-bone-black-ml authpriv.info su[2344]: + ??? root:root
  9. Aug 21 12:35:59 beagle-bone-black-ml authpriv.notice sudo: root : TTY=pts/0 ; PWD=/usr/share/machinekit/machinekit/configs/ARM/BeagleBone/CRAMPS ; USER=root ; COMMAND
  10. =/bin/su -c echo gpio > /sys/devices/ocp.3/P9_92_pinmux.50/state
  11. Aug 21 12:35:59 beagle-bone-black-ml authpriv.info su[2345]: Successful su for root by root
  12. Aug 21 12:35:59 beagle-bone-black-ml authpriv.info su[2345]: + ??? root:root
  13. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1932:user HAL: hal_rtapi_detach(): HAL shm segment detached
  14. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1932:user HAL: initializing hal_lib
  15. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1932:user HAL: hal_rtapi_attach(): HAL shm segment attached
  16. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:2346:user /usr/share/machinekit/machinekit/libexec/rtapi_app_xenomai
  17. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:2346:user --instance=0
  18. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:2346:user load
  19. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:2346:user trivkins
  20. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:2346:user
  21. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: initializing component 'trivkins'
  22. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: component 'trivkins' initialized, ID = 11
  23. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: rtapi_app:1925:user trivkins: loaded from trivkins.so
  24. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1932:user HAL: hal_rtapi_detach(): HAL shm segment detached
  25. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1932:user HAL: initializing hal_lib
  26. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1932:user HAL: hal_rtapi_attach(): HAL shm segment attached
  27. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:2347:user /usr/share/machinekit/machinekit/libexec/rtapi_app_xenomai
  28. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:2347:user --instance=0
  29. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:2347:user load
  30. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:2347:user motmod
  31. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:2347:user servo_period_nsec=1000000
  32. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:2347:user num_joints=4
  33. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:2347:user
  34. Aug 21 12:35:59 beagle-bone-black-ml local1.notice msgd:0: hal_lib:1925:rt MOTION: init_module() starting...
  35. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: initializing component 'motmod'
  36. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: component 'motmod' initialized, ID = 13
  37. Aug 21 12:35:59 beagle-bone-black-ml local1.notice msgd:0: hal_lib:1925:rt MOTION: init_hal_io() starting...
  38. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating pin 'motion.probe-input'
  39. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating pin 'motion.spindle-index-enable'
  40. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating pin 'motion.spindle-on'
  41. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating pin 'motion.spindle-forward'
  42. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating pin 'motion.spindle-reverse'
  43. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating pin 'motion.spindle-brake'
  44. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating pin 'motion.spindle-speed-out'
  45. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating pin 'motion.spindle-speed-out-abs'
  46. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating pin 'motion.spindle-speed-out-rps' [874/6811]
  47. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating pin 'motion.spindle-speed-out-rps-abs'
  48. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating pin 'motion.spindle-speed-cmd-rps'
  49. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating pin 'motion.spindle-inhibit'
  50. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating pin 'motion.spindle-orient-angle'
  51. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating pin 'motion.spindle-orient-mode'
  52. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating pin 'motion.spindle-orient'
  53. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating pin 'motion.spindle-locked'
  54. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating pin 'motion.spindle-is-oriented'
  55. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating pin 'motion.spindle-orient-fault'
  56. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating pin 'motion.spindle-revs'
  57. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating pin 'motion.spindle-speed-in'
  58. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating pin 'motion.spindle-at-speed'
  59. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating pin 'motion.adaptive-feed'
  60. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating pin 'motion.feed-hold'
  61. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating pin 'motion.feed-inhibit'
  62. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating pin 'motion.enable'
  63. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating pin 'motion.digital-out-00'
  64. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating pin 'motion.digital-in-00'
  65. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating pin 'motion.digital-out-01'
  66. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating pin 'motion.digital-in-01'
  67. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating pin 'motion.digital-out-02'
  68. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating pin 'motion.digital-in-02'
  69. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating pin 'motion.digital-out-03'
  70. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating pin 'motion.digital-in-03'
  71. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating pin 'motion.analog-out-00'
  72. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating pin 'motion.analog-in-00'
  73. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating pin 'motion.analog-out-01'
  74. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating pin 'motion.analog-in-01'
  75. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating pin 'motion.analog-out-02'
  76. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating pin 'motion.analog-in-02'
  77. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating pin 'motion.analog-out-03' [866/6834]
  78. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating pin 'motion.analog-in-03'
  79. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating pin 'motion.motion-enabled'
  80. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating pin 'motion.in-position'
  81. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating pin 'motion.coord-mode'
  82. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating pin 'motion.teleop-mode'
  83. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating pin 'motion.coord-error'
  84. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating pin 'motion.on-soft-limit'
  85. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating pin 'motion.current-vel'
  86. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating pin 'motion.requested-vel'
  87. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating pin 'motion.distance-to-go'
  88. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating pin 'motion.program-line'
  89. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating parameter 'motion.debug-bit-0'
  90. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating parameter 'motion.debug-bit-1'
  91. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating parameter 'motion.debug-float-0'
  92. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating parameter 'motion.debug-float-1'
  93. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating parameter 'motion.debug-float-2'
  94. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating parameter 'motion.debug-float-3'
  95. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating parameter 'motion.debug-s32-0'
  96. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating parameter 'motion.debug-s32-1'
  97. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating parameter 'traj.pos_out'
  98. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating parameter 'traj.vel_out'
  99. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating parameter 'traj.active_tc'
  100. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating parameter 'tc.0.pos'
  101. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating parameter 'tc.0.vel'
  102. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating parameter 'tc.0.acc'
  103. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating parameter 'tc.1.pos'
  104. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating parameter 'tc.1.vel'
  105. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating parameter 'tc.1.acc'
  106. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating parameter 'tc.2.pos'
  107. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating parameter 'tc.2.vel'
  108. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating parameter 'tc.2.acc'
  109. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating parameter 'tc.3.pos'
  110. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating parameter 'tc.3.vel'
  111. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating parameter 'tc.3.acc'
  112. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating parameter 'motion.servo.last-period'
  113. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating parameter 'motion.servo.overruns'
  114. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating pin 'motion.tooloffset.x'
  115. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating pin 'motion.tooloffset.y'
  116. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating pin 'motion.tooloffset.z'
  117. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating pin 'motion.tooloffset.a'
  118. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating pin 'motion.tooloffset.b'
  119. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating pin 'motion.tooloffset.c'
  120. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating pin 'motion.tooloffset.u'
  121. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating pin 'motion.tooloffset.v'
  122. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating pin 'motion.tooloffset.w'
  123. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating pin 'motion.pause-state'
  124. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating pin 'motion.pause-offset-enable' [819/6834]
  125. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating pin 'motion.paused-at-motion'
  126. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating pin 'motion.current-motion'
  127. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating pin 'motion.pause-offset-in-range'
  128. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating pin 'motion.pause-jog-feed'
  129. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating pin 'motion.pause-offset-x'
  130. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating pin 'motion.pause-offset-y'
  131. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating pin 'motion.pause-offset-z'
  132. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating pin 'motion.pause-offset-a'
  133. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating pin 'motion.pause-offset-b'
  134. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating pin 'motion.pause-offset-c'
  135. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating pin 'motion.pause-offset-u'
  136. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating pin 'motion.pause-offset-v'
  137. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating pin 'motion.pause-offset-w'
  138. Aug 21 12:35:59 beagle-bone-black-ml local1.notice msgd:0: hal_lib:1925:rt MOTION: init_hal_io() complete, 4 axes.
  139. Aug 21 12:35:59 beagle-bone-black-ml local1.notice msgd:0: hal_lib:1925:rt MOTION: init_comm_buffers() starting...
  140. Aug 21 12:35:59 beagle-bone-black-ml local1.notice msgd:0: hal_lib:1925:rt MOTION: init_comm_buffers() complete
  141. Aug 21 12:35:59 beagle-bone-black-ml local1.notice msgd:0: hal_lib:1925:rt MOTION: init_threads() starting...
  142. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating thread servo-thread, 1000000 nsec
  143. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt Creating new task 1 'servo-thread:0': req prio 98 (highest=99 lowest=0) stack=32768
  144. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt Task CPU: 0
  145. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt RTAPI: task 01 installed by module 01, priority 98, code: 0xb6f142f8
  146. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt rtapi_task_start: starting task 1 'servo-thread:0'
  147. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt RTAPI: period_nsec: 1000000
  148. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt rtapi_task_wrapper: task 0xb6f6f084 'servo-thread:0' period=1000000 prio=98 ratio=1
  149. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: thread servo-thread created prio=98
  150. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: exporting function 'motion-controller'
  151. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating parameter 'motion-controller.time'
  152. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating parameter 'motion-controller.tmax'
  153. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: exporting function 'motion-command-handler'
  154. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating parameter 'motion-command-handler.time'
  155. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating parameter 'motion-command-handler.tmax'
  156. Aug 21 12:35:59 beagle-bone-black-ml local1.notice msgd:0: hal_lib:1925:rt MOTION: setting Servo cycle time to 1000000 nsecs
  157. Aug 21 12:35:59 beagle-bone-black-ml local1.notice msgd:0: hal_lib:1925:rt MOTION: setting Traj cycle time to 1000000 nsecs
  158. Aug 21 12:35:59 beagle-bone-black-ml local1.notice msgd:0: hal_lib:1925:rt MOTION: init_threads() complete
  159. Aug 21 12:35:59 beagle-bone-black-ml local1.notice msgd:0: hal_lib:1925:rt MOTION: init_module() complete
  160. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: rtapi_app:1925:user motmod: loaded from motmod.so
  161. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1932:user HAL: hal_rtapi_detach(): HAL shm segment detached
  162. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1932:user HAL: initializing hal_lib
  163. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1932:user HAL: hal_rtapi_attach(): HAL shm segment attached
  164. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:2349:user /usr/share/machinekit/machinekit/libexec/rtapi_app_xenomai
  165. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:2349:user --instance=0
  166. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:2349:user load
  167. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:2349:user hal_bb_gpio
  168. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:2349:user output_pins=116,122,123,124,125,126,214,223,225
  169. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:2349:user input_pins=107,108,109,110,117,211,213
  170. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:2349:user
  171. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: initializing component 'hal_bb_gpio' [772/6834]
  172. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: component 'hal_bb_gpio' initialized, ID = 15
  173. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating pin 'bb_gpio.p8.in-07'
  174. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating parameter 'bb_gpio.p8.in-07.invert'
  175. Aug 21 12:35:59 beagle-bone-black-ml local1.debug msgd:0: hal_lib:1925:rt memmapped gpio port 2 to 0xb6bf2000, oe: 0xb6bf2134, set: 0xb6bf2194, clr: 0xb6bf2190
  176. Aug 21 12:35:59 beagle-bone-black-ml local1.debug msgd:0: hal_lib:1925:rt pin 7 maps to pin 2-2, mode 85
  177. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating pin 'bb_gpio.p8.in-08'
  178. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating parameter 'bb_gpio.p8.in-08.invert'
  179. Aug 21 12:35:59 beagle-bone-black-ml local1.debug msgd:0: hal_lib:1925:rt pin 8 maps to pin 2-3, mode 85
  180. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating pin 'bb_gpio.p8.in-09'
  181. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating parameter 'bb_gpio.p8.in-09.invert'
  182. Aug 21 12:35:59 beagle-bone-black-ml local1.debug msgd:0: hal_lib:1925:rt pin 9 maps to pin 2-5, mode 85
  183. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating pin 'bb_gpio.p8.in-10'
  184. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating parameter 'bb_gpio.p8.in-10.invert'
  185. Aug 21 12:35:59 beagle-bone-black-ml local1.debug msgd:0: hal_lib:1925:rt pin 10 maps to pin 2-4, mode 85
  186. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating pin 'bb_gpio.p8.in-17'
  187. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating parameter 'bb_gpio.p8.in-17.invert'
  188. Aug 21 12:35:59 beagle-bone-black-ml local1.debug msgd:0: hal_lib:1925:rt memmapped gpio port 0 to 0xb6bf0000, oe: 0xb6bf0134, set: 0xb6bf0194, clr: 0xb6bf0190
  189. Aug 21 12:35:59 beagle-bone-black-ml local1.debug msgd:0: hal_lib:1925:rt pin 17 maps to pin 0-27, mode 85
  190. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating pin 'bb_gpio.p9.in-11'
  191. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating parameter 'bb_gpio.p9.in-11.invert'
  192. Aug 21 12:35:59 beagle-bone-black-ml local1.debug msgd:0: hal_lib:1925:rt pin 11 maps to pin 0-30, mode 85
  193. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating pin 'bb_gpio.p9.in-13'
  194. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating parameter 'bb_gpio.p9.in-13.invert'
  195. Aug 21 12:35:59 beagle-bone-black-ml local1.debug msgd:0: hal_lib:1925:rt pin 13 maps to pin 0-31, mode 85
  196. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating pin 'bb_gpio.p8.out-16'
  197. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating parameter 'bb_gpio.p8.out-16.invert'
  198. Aug 21 12:35:59 beagle-bone-black-ml local1.debug msgd:0: hal_lib:1925:rt memmapped gpio port 1 to 0xb6bee000, oe: 0xb6bee134, set: 0xb6bee194, clr: 0xb6bee190
  199. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating pin 'bb_gpio.p8.out-22'
  200. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating parameter 'bb_gpio.p8.out-22.invert'
  201. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating pin 'bb_gpio.p8.out-23'
  202. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating parameter 'bb_gpio.p8.out-23.invert'
  203. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating pin 'bb_gpio.p8.out-24'
  204. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating parameter 'bb_gpio.p8.out-24.invert'
  205. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating pin 'bb_gpio.p8.out-25'
  206. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating parameter 'bb_gpio.p8.out-25.invert'
  207. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating pin 'bb_gpio.p8.out-26'
  208. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating parameter 'bb_gpio.p8.out-26.invert'
  209. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating pin 'bb_gpio.p9.out-14'
  210. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating parameter 'bb_gpio.p9.out-14.invert'
  211. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating pin 'bb_gpio.p9.out-23'
  212. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating parameter 'bb_gpio.p9.out-23.invert'
  213. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating pin 'bb_gpio.p9.out-25'
  214. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating parameter 'bb_gpio.p9.out-25.invert'
  215. Aug 21 12:35:59 beagle-bone-black-ml local1.debug msgd:0: hal_lib:1925:rt memmapped gpio port 3 to 0xb6bec000, oe: 0xb6bec134, set: 0xb6bec194, clr: 0xb6bec190
  216. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: exporting function 'bb_gpio.write'
  217. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating parameter 'bb_gpio.write.time'
  218. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating parameter 'bb_gpio.write.time' [726/6834]
  219. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating parameter 'bb_gpio.write.tmax'
  220. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: exporting function 'bb_gpio.read'
  221. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating parameter 'bb_gpio.read.time'
  222. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating parameter 'bb_gpio.read.tmax'
  223. Aug 21 12:35:59 beagle-bone-black-ml local1.notice msgd:0: hal_lib:1925:rt hal_bb_gpio: installed driver
  224. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: rtapi_app:1925:user hal_bb_gpio: loaded from hal_bb_gpio.so
  225. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1932:user HAL: hal_rtapi_detach(): HAL shm segment detached
  226. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1932:user HAL: initializing hal_lib
  227. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1932:user HAL: hal_rtapi_attach(): HAL shm segment attached
  228. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:2350:user /usr/share/machinekit/machinekit/libexec/rtapi_app_xenomai
  229. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:2350:user --instance=0
  230. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:2350:user load
  231. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:2350:user hal_pru_generic
  232. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:2350:user prucode=/usr/share/machinekit/machinekit/rtlib/xenomai/pru_generic.bin
  233. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:2350:user pru=1
  234. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:2350:user num_stepgens=4
  235. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:2350:user num_pwmgens=6
  236. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:2350:user
  237. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: initializing component 'hal_pru_generic'
  238. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: component 'hal_pru_generic' initialized, ID = 17
  239. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt hpg: module 'uio_pruss' already loaded
  240. Aug 21 12:35:59 beagle-bone-black-ml local1.debug msgd:0: hal_lib:1925:rt prussdrv_init
  241. Aug 21 12:35:59 beagle-bone-black-ml local1.debug msgd:0: hal_lib:1925:rt prussdrv_open
  242. Aug 21 12:35:59 beagle-bone-black-ml local1.notice msgd:0: hal_lib:1925:rt prussdrv: AM33XX detected
  243. Aug 21 12:35:59 beagle-bone-black-ml local1.debug msgd:0: hal_lib:1925:rt prussdrv_pruintc_init
  244. Aug 21 12:35:59 beagle-bone-black-ml local1.debug msgd:0: hal_lib:1925:rt prussdrv_map_prumem
  245. Aug 21 12:35:59 beagle-bone-black-ml local1.debug msgd:0: hal_lib:1925:rt PRU data ram mapped
  246. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt hal_pru_generic: PRU data ram mapped at 0xb6b65000
  247. Aug 21 12:35:59 beagle-bone-black-ml local1.debug msgd:0: hal_lib:1925:rt num_pwmgens : 6
  248. Aug 21 12:35:59 beagle-bone-black-ml local1.debug msgd:0: hal_lib:1925:rt num_stepgens: 4
  249. Aug 21 12:35:59 beagle-bone-black-ml local1.debug msgd:0: hal_lib:1925:rt num_encoders: 0
  250. Aug 21 12:35:59 beagle-bone-black-ml local1.debug msgd:0: hal_lib:1925:rt Init pwm
  251. Aug 21 12:35:59 beagle-bone-black-ml local1.debug msgd:0: hal_lib:1925:rt hpg_pwm_init
  252. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt hpg: pru_malloc requested 40 bytes, allocated 40 bytes starting at 000c
  253. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt hpg: Adding first task: addr=000c
  254. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating parameter 'hal_pru_generic.pwmgen.00.pwm_period'
  255. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating pin 'hal_pru_generic.pwmgen.00.out.00.enable'
  256. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating pin 'hal_pru_generic.pwmgen.00.out.00.value'
  257. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating parameter 'hal_pru_generic.pwmgen.00.out.00.scale'
  258. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating parameter 'hal_pru_generic.pwmgen.00.out.00.pin'
  259. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating pin 'hal_pru_generic.pwmgen.00.out.01.enable'
  260. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating pin 'hal_pru_generic.pwmgen.00.out.01.value'
  261. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating parameter 'hal_pru_generic.pwmgen.00.out.01.scale'
  262. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating parameter 'hal_pru_generic.pwmgen.00.out.01.pin'
  263. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating pin 'hal_pru_generic.pwmgen.00.out.02.enable'
  264. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating pin 'hal_pru_generic.pwmgen.00.out.02.value'
  265. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating parameter 'hal_pru_generic.pwmgen.00.out.02.scale' [679/6834]
  266. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating parameter 'hal_pru_generic.pwmgen.00.out.02.pin'
  267. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating pin 'hal_pru_generic.pwmgen.00.out.03.enable'
  268. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating pin 'hal_pru_generic.pwmgen.00.out.03.value'
  269. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating parameter 'hal_pru_generic.pwmgen.00.out.03.scale'
  270. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating parameter 'hal_pru_generic.pwmgen.00.out.03.pin'
  271. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating pin 'hal_pru_generic.pwmgen.00.out.04.enable'
  272. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating pin 'hal_pru_generic.pwmgen.00.out.04.value'
  273. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating parameter 'hal_pru_generic.pwmgen.00.out.04.scale'
  274. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating parameter 'hal_pru_generic.pwmgen.00.out.04.pin'
  275. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating pin 'hal_pru_generic.pwmgen.00.out.05.enable'
  276. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating pin 'hal_pru_generic.pwmgen.00.out.05.value'
  277. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating parameter 'hal_pru_generic.pwmgen.00.out.05.scale'
  278. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating parameter 'hal_pru_generic.pwmgen.00.out.05.pin'
  279. Aug 21 12:35:59 beagle-bone-black-ml local1.debug msgd:0: hal_lib:1925:rt Init stepgen
  280. Aug 21 12:35:59 beagle-bone-black-ml local1.debug msgd:0: hal_lib:1925:rt hpg_stepgen_init
  281. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt hpg: pru_malloc requested 36 bytes, allocated 36 bytes starting at 0034
  282. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt hpg: Adding task: addr=0034 prev=000c
  283. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating pin 'hal_pru_generic.stepgen.00.position-cmd'
  284. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating pin 'hal_pru_generic.stepgen.00.velocity-cmd'
  285. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating pin 'hal_pru_generic.stepgen.00.velocity-fb'
  286. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating pin 'hal_pru_generic.stepgen.00.position-fb'
  287. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating pin 'hal_pru_generic.stepgen.00.counts'
  288. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating pin 'hal_pru_generic.stepgen.00.enable'
  289. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating pin 'hal_pru_generic.stepgen.00.control-type'
  290. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating pin 'hal_pru_generic.stepgen.00.dbg_pos_minus_'
  291. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating pin 'hal_pru_generic.stepgen.00.dbg_ff_vel'
  292. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating pin 'hal_pru_generic.stepgen.00.dbg_s_to_match'
  293. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating pin 'hal_pru_generic.stepgen.00.dbg_vel_error'
  294. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating pin 'hal_pru_generic.stepgen.00.dbg_err_at_mat'
  295. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating pin 'hal_pru_generic.stepgen.00.dbg_step_rate'
  296. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating pin 'hal_pru_generic.stepgen.00.test1'
  297. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating pin 'hal_pru_generic.stepgen.00.test2'
  298. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating pin 'hal_pru_generic.stepgen.00.test3'
  299. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating parameter 'hal_pru_generic.stepgen.00.position-scale'
  300. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating parameter 'hal_pru_generic.stepgen.00.maxvel'
  301. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating parameter 'hal_pru_generic.stepgen.00.maxaccel'
  302. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating parameter 'hal_pru_generic.stepgen.00.steplen'
  303. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating parameter 'hal_pru_generic.stepgen.00.stepspace'
  304. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating parameter 'hal_pru_generic.stepgen.00.dirsetup'
  305. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating parameter 'hal_pru_generic.stepgen.00.dirhold'
  306. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating parameter 'hal_pru_generic.stepgen.00.steppin'
  307. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating parameter 'hal_pru_generic.stepgen.00.dirpin'
  308. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating parameter 'hal_pru_generic.stepgen.00.stepinvert'
  309. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt hpg: pru_malloc requested 36 bytes, allocated 36 bytes starting at 0058
  310. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt hpg: Adding task: addr=0058 prev=0034
  311. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating pin 'hal_pru_generic.stepgen.01.position-cmd'
  312. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating pin 'hal_pru_generic.stepgen.01.velocity-cmd' [632/6834]
  313. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating pin 'hal_pru_generic.stepgen.01.velocity-fb'
  314. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating pin 'hal_pru_generic.stepgen.01.position-fb'
  315. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating pin 'hal_pru_generic.stepgen.01.counts'
  316. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating pin 'hal_pru_generic.stepgen.01.enable'
  317. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating pin 'hal_pru_generic.stepgen.01.control-type'
  318. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating pin 'hal_pru_generic.stepgen.01.dbg_pos_minus_'
  319. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating pin 'hal_pru_generic.stepgen.01.dbg_ff_vel'
  320. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating pin 'hal_pru_generic.stepgen.01.dbg_s_to_match'
  321. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating pin 'hal_pru_generic.stepgen.01.dbg_vel_error'
  322. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating pin 'hal_pru_generic.stepgen.01.dbg_err_at_mat'
  323. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating pin 'hal_pru_generic.stepgen.01.dbg_step_rate'
  324. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating pin 'hal_pru_generic.stepgen.01.test1'
  325. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating pin 'hal_pru_generic.stepgen.01.test2'
  326. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating pin 'hal_pru_generic.stepgen.01.test3'
  327. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating parameter 'hal_pru_generic.stepgen.01.position-scale'
  328. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating parameter 'hal_pru_generic.stepgen.01.maxvel'
  329. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating parameter 'hal_pru_generic.stepgen.01.maxaccel'
  330. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating parameter 'hal_pru_generic.stepgen.01.steplen'
  331. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating parameter 'hal_pru_generic.stepgen.01.stepspace'
  332. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating parameter 'hal_pru_generic.stepgen.01.dirsetup'
  333. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating parameter 'hal_pru_generic.stepgen.01.dirhold'
  334. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating parameter 'hal_pru_generic.stepgen.01.steppin'
  335. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating parameter 'hal_pru_generic.stepgen.01.dirpin'
  336. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating parameter 'hal_pru_generic.stepgen.01.stepinvert'
  337. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt hpg: pru_malloc requested 36 bytes, allocated 36 bytes starting at 007c
  338. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt hpg: Adding task: addr=007c prev=0058
  339. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating pin 'hal_pru_generic.stepgen.02.position-cmd'
  340. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating pin 'hal_pru_generic.stepgen.02.velocity-cmd'
  341. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating pin 'hal_pru_generic.stepgen.02.velocity-fb'
  342. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating pin 'hal_pru_generic.stepgen.02.position-fb'
  343. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating pin 'hal_pru_generic.stepgen.02.counts'
  344. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating pin 'hal_pru_generic.stepgen.02.enable'
  345. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating pin 'hal_pru_generic.stepgen.02.control-type'
  346. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating pin 'hal_pru_generic.stepgen.02.dbg_pos_minus_'
  347. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating pin 'hal_pru_generic.stepgen.02.dbg_ff_vel'
  348. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating pin 'hal_pru_generic.stepgen.02.dbg_s_to_match'
  349. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating pin 'hal_pru_generic.stepgen.02.dbg_vel_error'
  350. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating pin 'hal_pru_generic.stepgen.02.dbg_err_at_mat'
  351. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating pin 'hal_pru_generic.stepgen.02.dbg_step_rate'
  352. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating pin 'hal_pru_generic.stepgen.02.test1'
  353. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating pin 'hal_pru_generic.stepgen.02.test2'
  354. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating pin 'hal_pru_generic.stepgen.02.test3'
  355. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating parameter 'hal_pru_generic.stepgen.02.position-scale'
  356. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating parameter 'hal_pru_generic.stepgen.02.maxvel'
  357. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating parameter 'hal_pru_generic.stepgen.02.maxaccel'
  358. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating parameter 'hal_pru_generic.stepgen.02.steplen'
  359. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating parameter 'hal_pru_generic.stepgen.02.stepspace' [585/6834]
  360. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating parameter 'hal_pru_generic.stepgen.02.dirsetup'
  361. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating parameter 'hal_pru_generic.stepgen.02.dirhold'
  362. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating parameter 'hal_pru_generic.stepgen.02.steppin'
  363. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating parameter 'hal_pru_generic.stepgen.02.dirpin'
  364. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating parameter 'hal_pru_generic.stepgen.02.stepinvert'
  365. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt hpg: pru_malloc requested 36 bytes, allocated 36 bytes starting at 00a0
  366. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt hpg: Adding task: addr=00a0 prev=007c
  367. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating pin 'hal_pru_generic.stepgen.03.position-cmd'
  368. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating pin 'hal_pru_generic.stepgen.03.velocity-cmd'
  369. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating pin 'hal_pru_generic.stepgen.03.velocity-fb'
  370. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating pin 'hal_pru_generic.stepgen.03.position-fb'
  371. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating pin 'hal_pru_generic.stepgen.03.counts'
  372. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating pin 'hal_pru_generic.stepgen.03.enable'
  373. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating pin 'hal_pru_generic.stepgen.03.control-type'
  374. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating pin 'hal_pru_generic.stepgen.03.dbg_pos_minus_'
  375. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating pin 'hal_pru_generic.stepgen.03.dbg_ff_vel'
  376. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating pin 'hal_pru_generic.stepgen.03.dbg_s_to_match'
  377. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating pin 'hal_pru_generic.stepgen.03.dbg_vel_error'
  378. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating pin 'hal_pru_generic.stepgen.03.dbg_err_at_mat'
  379. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating pin 'hal_pru_generic.stepgen.03.dbg_step_rate'
  380. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating pin 'hal_pru_generic.stepgen.03.test1'
  381. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating pin 'hal_pru_generic.stepgen.03.test2'
  382. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating pin 'hal_pru_generic.stepgen.03.test3'
  383. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating parameter 'hal_pru_generic.stepgen.03.position-scale'
  384. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating parameter 'hal_pru_generic.stepgen.03.maxvel'
  385. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating parameter 'hal_pru_generic.stepgen.03.maxaccel'
  386. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating parameter 'hal_pru_generic.stepgen.03.steplen'
  387. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating parameter 'hal_pru_generic.stepgen.03.stepspace'
  388. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating parameter 'hal_pru_generic.stepgen.03.dirsetup'
  389. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating parameter 'hal_pru_generic.stepgen.03.dirhold'
  390. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating parameter 'hal_pru_generic.stepgen.03.steppin'
  391. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating parameter 'hal_pru_generic.stepgen.03.dirpin'
  392. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating parameter 'hal_pru_generic.stepgen.03.stepinvert'
  393. Aug 21 12:35:59 beagle-bone-black-ml local1.debug msgd:0: hal_lib:1925:rt Init encoder
  394. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt hpg: pru_malloc requested 8 bytes, allocated 8 bytes starting at 00c4
  395. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt hpg: Adding task: addr=00c4 prev=00a0
  396. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating parameter 'hal_pru_generic.pru_busy_pin'
  397. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: exporting function 'hal_pru_generic.update'
  398. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating parameter 'hal_pru_generic.update.time'
  399. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating parameter 'hal_pru_generic.update.tmax'
  400. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: exporting function 'hal_pru_generic.capture-position'
  401. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating parameter 'hal_pru_generic.capture-position.time'
  402. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating parameter 'hal_pru_generic.capture-position.tmax'
  403. Aug 21 12:35:59 beagle-bone-black-ml local1.notice msgd:0: hal_lib:1925:rt hpg: installed
  404. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: rtapi_app:1925:user hal_pru_generic: loaded from hal_pru_generic.so
  405. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1932:user HAL: hal_rtapi_detach(): HAL shm segment detached
  406.  
  407. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating pin 'motion.analog-out-03'
  408. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating pin 'motion.analog-in-03'
  409. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating pin 'motion.motion-enabled'
  410. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating pin 'motion.in-position'
  411. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating pin 'motion.coord-mode'
  412. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating pin 'motion.teleop-mode'
  413. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating pin 'motion.coord-error'
  414. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating pin 'motion.on-soft-limit'
  415. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating pin 'motion.current-vel'
  416. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating pin 'motion.requested-vel'
  417. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating pin 'motion.distance-to-go'
  418. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating pin 'motion.program-line'
  419. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating parameter 'motion.debug-bit-0'
  420. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating parameter 'motion.debug-bit-1'
  421. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating parameter 'motion.debug-float-0'
  422. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating parameter 'motion.debug-float-1'
  423. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1932:user HAL: initializing hal_lib [538/6834]
  424. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1932:user HAL: hal_rtapi_attach(): HAL shm segment attached
  425. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:2351:user /usr/share/machinekit/machinekit/libexec/rtapi_app_xenomai
  426. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:2351:user --instance=0
  427. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:2351:user load
  428. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:2351:user pid
  429. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:2351:user num_chan=2
  430. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:2351:user
  431. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: initializing component 'pid'
  432. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: component 'pid' initialized, ID = 19
  433. Aug 21 12:35:59 beagle-bone-black-ml local1.notice msgd:0: hal_lib:1925:rt PID: installed 2 PID loops
  434. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: rtapi_app:1925:user pid: loaded from pid.so
  435. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1932:user HAL: hal_rtapi_detach(): HAL shm segment detached
  436. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1932:user HAL: initializing hal_lib
  437. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1932:user HAL: hal_rtapi_attach(): HAL shm segment attached
  438. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:2352:user /usr/share/machinekit/machinekit/libexec/rtapi_app_xenomai
  439. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:2352:user --instance=0
  440. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:2352:user load
  441. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:2352:user limit1
  442. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:2352:user count=2
  443. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:2352:user
  444. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: initializing component 'limit1'
  445. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: component 'limit1' initialized, ID = 21
  446. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating pin 'limit1.0.in'
  447. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating pin 'limit1.0.out'
  448. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating parameter 'limit1.0.min'
  449. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating parameter 'limit1.0.max'
  450. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: exporting function 'limit1.0'
  451. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating parameter 'limit1.0.time'
  452. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating parameter 'limit1.0.tmax'
  453. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating pin 'limit1.1.in'
  454. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating pin 'limit1.1.out'
  455. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating parameter 'limit1.1.min'
  456. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating parameter 'limit1.1.max'
  457. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: exporting function 'limit1.1'
  458. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating parameter 'limit1.1.time'
  459. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt HAL: creating parameter 'limit1.1.tmax'
  460. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: rtapi_app:1925:user limit1: loaded from limit1.so
  461. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1932:user HAL: hal_rtapi_detach(): HAL shm segment detached
  462. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1932:user HAL: initializing hal_lib
  463. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:1932:user HAL: hal_rtapi_attach(): HAL shm segment attached
  464. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:2353:user ./ReadTemp.py
  465. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:2353:user -n
  466. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:2353:user Therm
  467. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:2353:user --num_chan
  468. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:2353:user 2
  469. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:2353:user -t
  470. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:2353:user 1 [491/6834]
  471. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:2353:user 1
  472. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:2353:user -a
  473. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:2353:user 4
  474. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:2353:user 5
  475. Aug 21 12:35:59 beagle-bone-black-ml local1.info msgd:0: hal_lib:2353:user
  476. Aug 21 12:36:00 beagle-bone-black-ml local1.info msgd:0: hal_lib:2353:user HAL: initializing hal_lib
  477. Aug 21 12:36:00 beagle-bone-black-ml local1.info msgd:0: hal_lib:2353:user HAL: hal_rtapi_attach(): HAL shm segment attached
  478. Aug 21 12:36:00 beagle-bone-black-ml local1.info msgd:0: hal_lib:2353:user HAL: component 'Therm' initialized, ID = 23
  479. Aug 21 12:36:00 beagle-bone-black-ml local1.info msgd:0: hal_lib:2353:user HAL: creating pin 'Therm.raw0'
  480. Aug 21 12:36:00 beagle-bone-black-ml local1.info msgd:0: hal_lib:2353:user HAL: creating pin 'Therm.temp0'
  481. Aug 21 12:36:00 beagle-bone-black-ml local1.info msgd:0: hal_lib:2353:user HAL: creating pin 'Therm.raw1'
  482. Aug 21 12:36:00 beagle-bone-black-ml local1.info msgd:0: hal_lib:2353:user HAL: creating pin 'Therm.temp1'
  483. Aug 21 12:36:00 beagle-bone-black-ml local1.info msgd:0: hal_lib:1932:user HAL: adding function 'hal_pru_generic.capture-position' to thread 'servo-thread'
  484. Aug 21 12:36:00 beagle-bone-black-ml local1.info msgd:0: hal_lib:1932:user HAL: adding function 'bb_gpio.read' to thread 'servo-thread'
  485. Aug 21 12:36:00 beagle-bone-black-ml local1.info msgd:0: hal_lib:1932:user HAL: adding function 'motion-command-handler' to thread 'servo-thread'
  486. Aug 21 12:36:00 beagle-bone-black-ml local1.info msgd:0: hal_lib:1932:user HAL: adding function 'motion-controller' to thread 'servo-thread'
  487. Aug 21 12:36:00 beagle-bone-black-ml local1.info msgd:0: hal_lib:1932:user HAL: adding function 'pid.0.do-pid-calcs' to thread 'servo-thread'
  488. Aug 21 12:36:00 beagle-bone-black-ml local1.info msgd:0: hal_lib:1932:user HAL: adding function 'pid.1.do-pid-calcs' to thread 'servo-thread'
  489. Aug 21 12:36:00 beagle-bone-black-ml local1.info msgd:0: hal_lib:1932:user HAL: adding function 'limit1.0' to thread 'servo-thread'
  490. Aug 21 12:36:00 beagle-bone-black-ml local1.info msgd:0: hal_lib:1932:user HAL: adding function 'limit1.1' to thread 'servo-thread'
  491. Aug 21 12:36:00 beagle-bone-black-ml local1.info msgd:0: hal_lib:1932:user HAL: adding function 'hal_pru_generic.update' to thread 'servo-thread'
  492. Aug 21 12:36:00 beagle-bone-black-ml local1.info msgd:0: hal_lib:1932:user HAL: adding function 'bb_gpio.write' to thread 'servo-thread'
  493. Aug 21 12:36:00 beagle-bone-black-ml local1.info msgd:0: hal_lib:1932:user HAL: creating signal 'emcmot.00.enable'
  494. Aug 21 12:36:00 beagle-bone-black-ml local1.info msgd:0: hal_lib:1932:user setting signal 'emcmot.00.enable'
  495. Aug 21 12:36:00 beagle-bone-black-ml local1.info msgd:0: hal_lib:1932:user HAL: linking pin 'axis.0.amp-enable-out' to 'emcmot.00.enable'
  496. Aug 21 12:36:00 beagle-bone-black-ml local1.info msgd:0: hal_lib:1932:user HAL: linking pin 'hal_pru_generic.stepgen.00.enable' to 'emcmot.00.enable'
  497. Aug 21 12:36:00 beagle-bone-black-ml local1.info msgd:0: hal_lib:1932:user HAL: creating signal 'emcmot.00.pos-cmd'
  498. Aug 21 12:36:00 beagle-bone-black-ml local1.info msgd:0: hal_lib:1932:user HAL: linking pin 'axis.0.motor-pos-cmd' to 'emcmot.00.pos-cmd'
  499. Aug 21 12:36:00 beagle-bone-black-ml local1.info msgd:0: hal_lib:1932:user HAL: linking pin 'hal_pru_generic.stepgen.00.position-cmd' to 'emcmot.00.pos-cmd'
  500. Aug 21 12:36:00 beagle-bone-black-ml local1.info msgd:0: hal_lib:1932:user HAL: creating signal 'motor.00.pos-fb'
  501. Aug 21 12:36:00 beagle-bone-black-ml local1.info msgd:0: hal_lib:1932:user HAL: linking pin 'hal_pru_generic.stepgen.00.position-fb' to 'motor.00.pos-fb'
  502. Aug 21 12:36:00 beagle-bone-black-ml local1.info msgd:0: hal_lib:1932:user HAL: linking pin 'axis.0.motor-pos-fb' to 'motor.00.pos-fb'
  503. Aug 21 12:36:00 beagle-bone-black-ml local1.info msgd:0: hal_lib:1932:user HAL: creating signal 'emcmot.01.enable'
  504. Aug 21 12:36:00 beagle-bone-black-ml local1.info msgd:0: hal_lib:1932:user setting signal 'emcmot.01.enable'
  505. Aug 21 12:36:00 beagle-bone-black-ml local1.info msgd:0: hal_lib:1932:user HAL: linking pin 'axis.1.amp-enable-out' to 'emcmot.01.enable'
  506. Aug 21 12:36:00 beagle-bone-black-ml local1.info msgd:0: hal_lib:1932:user HAL: linking pin 'hal_pru_generic.stepgen.01.enable' to 'emcmot.01.enable'
  507. Aug 21 12:36:00 beagle-bone-black-ml local1.info msgd:0: hal_lib:1932:user HAL: creating signal 'emcmot.01.pos-cmd'
  508. Aug 21 12:36:00 beagle-bone-black-ml local1.info msgd:0: hal_lib:1932:user HAL: linking pin 'axis.1.motor-pos-cmd' to 'emcmot.01.pos-cmd'
  509. Aug 21 12:36:00 beagle-bone-black-ml local1.info msgd:0: hal_lib:1932:user HAL: linking pin 'hal_pru_generic.stepgen.01.position-cmd' to 'emcmot.01.pos-cmd'
  510. Aug 21 12:36:00 beagle-bone-black-ml local1.info msgd:0: hal_lib:1932:user HAL: creating signal 'motor.01.pos-fb'
  511. Aug 21 12:36:00 beagle-bone-black-ml local1.info msgd:0: hal_lib:1932:user HAL: linking pin 'hal_pru_generic.stepgen.01.position-fb' to 'motor.01.pos-fb'
  512. Aug 21 12:36:00 beagle-bone-black-ml local1.info msgd:0: hal_lib:1932:user HAL: linking pin 'axis.1.motor-pos-fb' to 'motor.01.pos-fb'
  513. Aug 21 12:36:00 beagle-bone-black-ml local1.info msgd:0: hal_lib:1932:user HAL: creating signal 'emcmot.02.enable'
  514. Aug 21 12:36:00 beagle-bone-black-ml local1.info msgd:0: hal_lib:1932:user setting signal 'emcmot.02.enable'
  515. Aug 21 12:36:00 beagle-bone-black-ml local1.info msgd:0: hal_lib:1932:user HAL: linking pin 'axis.2.amp-enable-out' to 'emcmot.02.enable'
  516. Aug 21 12:36:00 beagle-bone-black-ml local1.info msgd:0: hal_lib:1932:user HAL: linking pin 'hal_pru_generic.stepgen.02.enable' to 'emcmot.02.enable'
  517. Aug 21 12:36:00 beagle-bone-black-ml local1.info msgd:0: hal_lib:1932:user HAL: creating signal 'emcmot.02.pos-cmd' [444/6834]
  518. Aug 21 12:36:00 beagle-bone-black-ml local1.info msgd:0: hal_lib:1932:user HAL: linking pin 'axis.2.motor-pos-cmd' to 'emcmot.02.pos-cmd'
  519. Aug 21 12:36:00 beagle-bone-black-ml local1.info msgd:0: hal_lib:1932:user HAL: linking pin 'hal_pru_generic.stepgen.02.position-cmd' to 'emcmot.02.pos-cmd'
  520. Aug 21 12:36:00 beagle-bone-black-ml local1.info msgd:0: hal_lib:1932:user HAL: creating signal 'motor.02.pos-fb'
  521. Aug 21 12:36:00 beagle-bone-black-ml local1.info msgd:0: hal_lib:1932:user HAL: linking pin 'hal_pru_generic.stepgen.02.position-fb' to 'motor.02.pos-fb'
  522. Aug 21 12:36:00 beagle-bone-black-ml local1.info msgd:0: hal_lib:1932:user HAL: linking pin 'axis.2.motor-pos-fb' to 'motor.02.pos-fb'
  523. Aug 21 12:36:00 beagle-bone-black-ml local1.info msgd:0: hal_lib:1932:user HAL: creating signal 'emcmot.03.enable'
  524. Aug 21 12:36:00 beagle-bone-black-ml local1.info msgd:0: hal_lib:1932:user setting signal 'emcmot.03.enable'
  525. Aug 21 12:36:00 beagle-bone-black-ml local1.info msgd:0: hal_lib:1932:user HAL: linking pin 'axis.3.amp-enable-out' to 'emcmot.03.enable'
  526. Aug 21 12:36:00 beagle-bone-black-ml local1.info msgd:0: hal_lib:1932:user HAL: linking pin 'hal_pru_generic.stepgen.03.enable' to 'emcmot.03.enable'
  527. Aug 21 12:36:00 beagle-bone-black-ml local1.info msgd:0: hal_lib:1932:user HAL: creating signal 'emcmot.03.pos-cmd'
  528. Aug 21 12:36:00 beagle-bone-black-ml local1.info msgd:0: hal_lib:1932:user HAL: linking pin 'axis.3.motor-pos-cmd' to 'emcmot.03.pos-cmd'
  529. Aug 21 12:36:00 beagle-bone-black-ml local1.info msgd:0: hal_lib:1932:user HAL: linking pin 'hal_pru_generic.stepgen.03.position-cmd' to 'emcmot.03.pos-cmd'
  530. Aug 21 12:36:00 beagle-bone-black-ml local1.info msgd:0: hal_lib:1932:user HAL: creating signal 'motor.03.pos-fb'
  531. Aug 21 12:36:00 beagle-bone-black-ml local1.info msgd:0: hal_lib:1932:user HAL: linking pin 'hal_pru_generic.stepgen.03.position-fb' to 'motor.03.pos-fb'
  532. Aug 21 12:36:00 beagle-bone-black-ml local1.info msgd:0: hal_lib:1932:user HAL: linking pin 'axis.3.motor-pos-fb' to 'motor.03.pos-fb'
  533. Aug 21 12:36:00 beagle-bone-black-ml user.warn kernel: [ 1152.742208] Alignment trap: halcmd (1932) PC=0xb6f1f96c Instr=0x0885000c Address=0xb6e0fb79 FSR 0x801
  534. Aug 21 12:36:00 beagle-bone-black-ml local1.info msgd:0: hal_lib:1932:user HAL: creating signal 'estop-out'
  535. Aug 21 12:36:00 beagle-bone-black-ml local1.info msgd:0: hal_lib:1932:user HAL: linking pin 'iocontrol.0.user-enable-out' to 'estop-out'
  536. Aug 21 12:36:00 beagle-bone-black-ml local1.info msgd:0: hal_lib:1932:user HAL: linking pin 'bb_gpio.p8.out-26' to 'estop-out'
  537. Aug 21 12:36:00 beagle-bone-black-ml local1.info msgd:0: hal_lib:1932:user HAL: creating signal 'estop-loop'
  538. Aug 21 12:36:00 beagle-bone-black-ml local1.info msgd:0: hal_lib:1932:user HAL: linking pin 'bb_gpio.p8.in-17' to 'estop-loop'
  539. Aug 21 12:36:00 beagle-bone-black-ml user.warn kernel: [ 1152.756009] Alignment trap: halcmd (1932) PC=0xb6f1f96c Instr=0x0885000c Address=0xb6e0fb7a FSR 0x801
  540. Aug 21 12:36:00 beagle-bone-black-ml local1.info msgd:0: hal_lib:1932:user HAL: linking pin 'iocontrol.0.emc-enable-in' to 'estop-loop'
  541. Aug 21 12:36:00 beagle-bone-black-ml local1.info msgd:0: hal_lib:1932:user HAL: creating signal 'tool-prep-loop'
  542. Aug 21 12:36:00 beagle-bone-black-ml local1.info msgd:0: hal_lib:1932:user HAL: linking pin 'iocontrol.0.tool-prepare' to 'tool-prep-loop'
  543. Aug 21 12:36:00 beagle-bone-black-ml local1.info msgd:0: hal_lib:1932:user HAL: linking pin 'iocontrol.0.tool-prepared' to 'tool-prep-loop'
  544. Aug 21 12:36:00 beagle-bone-black-ml local1.info msgd:0: hal_lib:1932:user HAL: creating signal 'tool-change-loop'
  545. Aug 21 12:36:00 beagle-bone-black-ml local1.info msgd:0: hal_lib:1932:user HAL: linking pin 'iocontrol.0.tool-change' to 'tool-change-loop'
  546. Aug 21 12:36:00 beagle-bone-black-ml user.warn kernel: [ 1152.773991] Alignment trap: halcmd (1932) PC=0xb6f1f96c Instr=0x0885000c Address=0xb6e0fb7b FSR 0x801
  547. Aug 21 12:36:00 beagle-bone-black-ml local1.info msgd:0: hal_lib:1932:user HAL: linking pin 'iocontrol.0.tool-changed' to 'tool-change-loop'
  548. Aug 21 12:36:00 beagle-bone-black-ml local1.info msgd:0: hal_lib:1932:user HAL: linking pin 'bb_gpio.p9.out-14' to 'emcmot.00.enable'
  549. Aug 21 12:36:00 beagle-bone-black-ml local1.info msgd:0: hal_lib:1932:user HAL: linking pin 'bb_gpio.p9.out-23' to 'emcmot.00.enable'
  550. Aug 21 12:36:00 beagle-bone-black-ml local1.info msgd:0: hal_lib:1932:user HAL: linking pin 'bb_gpio.p9.out-25' to 'emcmot.00.enable'
  551. Aug 21 12:36:00 beagle-bone-black-ml local1.info msgd:0: hal_lib:1932:user HAL: creating signal 'limit-x-min'
  552. Aug 21 12:36:00 beagle-bone-black-ml local1.info msgd:0: hal_lib:1932:user HAL: creating signal 'limit-x-max'
  553. Aug 21 12:36:00 beagle-bone-black-ml local1.info msgd:0: hal_lib:1932:user HAL: creating signal 'limit-y-min'
  554. Aug 21 12:36:00 beagle-bone-black-ml local1.info msgd:0: hal_lib:1932:user HAL: creating signal 'limit-y-max'
  555. Aug 21 12:36:00 beagle-bone-black-ml local1.info msgd:0: hal_lib:1932:user HAL: creating signal 'limit-z-min'
  556. Aug 21 12:36:00 beagle-bone-black-ml local1.info msgd:0: hal_lib:1932:user HAL: creating signal 'limit-z-max'
  557. Aug 21 12:36:00 beagle-bone-black-ml local1.info msgd:0: hal_lib:1932:user HAL: linking pin 'bb_gpio.p8.in-08' to 'limit-x-min'
  558. Aug 21 12:36:00 beagle-bone-black-ml local1.info msgd:0: hal_lib:1932:user HAL: linking pin 'bb_gpio.p8.in-07' to 'limit-x-max'
  559. Aug 21 12:36:00 beagle-bone-black-ml user.warn kernel: [ 1152.791696] Alignment trap: halcmd (1932) PC=0xb6f1f96c Instr=0x0885000c Address=0xb6e0fb7d FSR 0x801
  560. Aug 21 12:36:00 beagle-bone-black-ml user.warn kernel: [ 1152.803873] Alignment trap: halcmd (1932) PC=0xb6f1f96c Instr=0x0885000c Address=0xb6e0fb7e FSR 0x801
  561. Aug 21 12:36:00 beagle-bone-black-ml local1.info msgd:0: hal_lib:1932:user HAL: linking pin 'bb_gpio.p8.in-10' to 'limit-y-min'
  562. Aug 21 12:36:00 beagle-bone-black-ml user.warn kernel: [ 1152.815682] Alignment trap: halcmd (1932) PC=0xb6f1f96c Instr=0x0885000c Address=0xb6e0fb7f FSR 0x801
  563. Aug 21 12:36:00 beagle-bone-black-ml local1.info msgd:0: hal_lib:1932:user HAL: linking pin 'bb_gpio.p8.in-09' to 'limit-y-max'
  564. Aug 21 12:36:00 beagle-bone-black-ml local1.info msgd:0: hal_lib:1932:user HAL: linking pin 'bb_gpio.p9.out-14' to 'emcmot.00.enable' [413/6834]
  565. Aug 21 12:36:00 beagle-bone-black-ml local1.info msgd:0: hal_lib:1932:user HAL: linking pin 'bb_gpio.p9.out-23' to 'emcmot.00.enable'
  566. Aug 21 12:36:00 beagle-bone-black-ml local1.info msgd:0: hal_lib:1932:user HAL: linking pin 'bb_gpio.p9.out-25' to 'emcmot.00.enable'
  567. Aug 21 12:36:00 beagle-bone-black-ml local1.info msgd:0: hal_lib:1932:user HAL: creating signal 'limit-x-min'
  568. Aug 21 12:36:00 beagle-bone-black-ml local1.info msgd:0: hal_lib:1932:user HAL: creating signal 'limit-x-max'
  569. Aug 21 12:36:00 beagle-bone-black-ml local1.info msgd:0: hal_lib:1932:user HAL: creating signal 'limit-y-min'
  570. Aug 21 12:36:00 beagle-bone-black-ml local1.info msgd:0: hal_lib:1932:user HAL: creating signal 'limit-y-max'
  571. Aug 21 12:36:00 beagle-bone-black-ml local1.info msgd:0: hal_lib:1932:user HAL: creating signal 'limit-z-min'
  572. Aug 21 12:36:00 beagle-bone-black-ml local1.info msgd:0: hal_lib:1932:user HAL: creating signal 'limit-z-max'
  573. Aug 21 12:36:00 beagle-bone-black-ml local1.info msgd:0: hal_lib:1932:user HAL: linking pin 'bb_gpio.p8.in-08' to 'limit-x-min'
  574. Aug 21 12:36:00 beagle-bone-black-ml local1.info msgd:0: hal_lib:1932:user HAL: linking pin 'bb_gpio.p8.in-07' to 'limit-x-max'
  575. Aug 21 12:36:00 beagle-bone-black-ml user.warn kernel: [ 1152.791696] Alignment trap: halcmd (1932) PC=0xb6f1f96c Instr=0x0885000c Address=0xb6e0fb7d FSR 0x801
  576. Aug 21 12:36:00 beagle-bone-black-ml user.warn kernel: [ 1152.803873] Alignment trap: halcmd (1932) PC=0xb6f1f96c Instr=0x0885000c Address=0xb6e0fb7e FSR 0x801
  577. Aug 21 12:36:00 beagle-bone-black-ml local1.info msgd:0: hal_lib:1932:user HAL: linking pin 'bb_gpio.p8.in-10' to 'limit-y-min'
  578. Aug 21 12:36:00 beagle-bone-black-ml user.warn kernel: [ 1152.815682] Alignment trap: halcmd (1932) PC=0xb6f1f96c Instr=0x0885000c Address=0xb6e0fb7f FSR 0x801
  579. Aug 21 12:36:00 beagle-bone-black-ml local1.info msgd:0: hal_lib:1932:user HAL: linking pin 'bb_gpio.p8.in-09' to 'limit-y-max'
  580. Aug 21 12:36:00 beagle-bone-black-ml user.warn kernel: [ 1152.828027] Alignment trap: halcmd (1932) PC=0xb6f1f96c Instr=0x0885000c Address=0xb6e0fb81 FSR 0x801
  581. Aug 21 12:36:00 beagle-bone-black-ml local1.info msgd:0: hal_lib:1932:user HAL: linking pin 'bb_gpio.p9.in-13' to 'limit-z-min'
  582. Aug 21 12:36:00 beagle-bone-black-ml local1.info msgd:0: hal_lib:1932:user HAL: linking pin 'bb_gpio.p9.in-11' to 'limit-z-max'
  583. Aug 21 12:36:00 beagle-bone-black-ml user.warn kernel: [ 1152.852281] Alignment trap: halcmd (1932) PC=0xb6f1f96c Instr=0x0885000c Address=0xb6e0fb82 FSR 0x801
  584. Aug 21 12:36:00 beagle-bone-black-ml local1.info msgd:0: hal_lib:1932:user HAL: linking pin 'axis.0.home-sw-in' to 'limit-x-min'
  585. Aug 21 12:36:00 beagle-bone-black-ml local1.info msgd:0: hal_lib:1932:user HAL: linking pin 'axis.1.home-sw-in' to 'limit-y-min'
  586. Aug 21 12:36:00 beagle-bone-black-ml local1.info msgd:0: hal_lib:1932:user HAL: linking pin 'axis.2.home-sw-in' to 'limit-z-min'
  587. Aug 21 12:36:00 beagle-bone-black-ml local1.info msgd:0: hal_lib:1932:user HAL: creating signal 'eMMC-disabled'
  588. Aug 21 12:36:00 beagle-bone-black-ml local1.info msgd:0: hal_lib:1932:user setting signal 'eMMC-disabled'
  589. Aug 21 12:36:00 beagle-bone-black-ml local1.info msgd:0: hal_lib:1932:user HAL: linking pin 'bb_gpio.p8.out-16' to 'eMMC-disabled'
  590. Aug 21 12:36:00 beagle-bone-black-ml local1.info msgd:0: hal_lib:1932:user HAL: creating signal 'servo.1'
  591. Aug 21 12:36:00 beagle-bone-black-ml local1.info msgd:0: hal_lib:1932:user HAL: creating signal 'servo.2'
  592. Aug 21 12:36:00 beagle-bone-black-ml local1.info msgd:0: hal_lib:1932:user HAL: creating signal 'servo.3'
  593. Aug 21 12:36:00 beagle-bone-black-ml local1.info msgd:0: hal_lib:1932:user HAL: creating signal 'servo.4'
  594. Aug 21 12:36:00 beagle-bone-black-ml local1.info msgd:0: hal_lib:1932:user setting signal 'servo.1'
  595. Aug 21 12:36:00 beagle-bone-black-ml local1.info msgd:0: hal_lib:1932:user setting signal 'servo.2'
  596. Aug 21 12:36:00 beagle-bone-black-ml local1.info msgd:0: hal_lib:1932:user setting signal 'servo.3'
  597. Aug 21 12:36:00 beagle-bone-black-ml user.warn kernel: [ 1152.869025] Alignment trap: halcmd (1932) PC=0xb6f1f96c Instr=0x0885000c Address=0xb6e0fb83 FSR 0x801
  598. Aug 21 12:36:00 beagle-bone-black-ml local1.info msgd:0: hal_lib:1932:user setting signal 'servo.4'
  599. Aug 21 12:36:00 beagle-bone-black-ml local1.info msgd:0: hal_lib:1932:user HAL: linking pin 'bb_gpio.p8.out-25' to 'servo.1'
  600. Aug 21 12:36:00 beagle-bone-black-ml user.warn kernel: [ 1152.881542] Alignment trap: halcmd (1932) PC=0xb6f1f96c Instr=0x0885000c Address=0xb6e0fb85 FSR 0x801
  601. Aug 21 12:36:00 beagle-bone-black-ml local1.info msgd:0: hal_lib:1932:user HAL: linking pin 'bb_gpio.p8.out-24' to 'servo.2'
  602. Aug 21 12:36:00 beagle-bone-black-ml local1.info msgd:0: hal_lib:1932:user HAL: linking pin 'bb_gpio.p8.out-23' to 'servo.3'
  603. Aug 21 12:36:00 beagle-bone-black-ml user.warn kernel: [ 1152.893198] Alignment trap: halcmd (1932) PC=0xb6f1f96c Instr=0x0885000c Address=0xb6e0fb86 FSR 0x801
  604. Aug 21 12:36:00 beagle-bone-black-ml local1.info msgd:0: hal_lib:1932:user HAL: linking pin 'bb_gpio.p8.out-22' to 'servo.4'
  605. Aug 21 12:36:00 beagle-bone-black-ml local1.info msgd:0: hal_lib:1932:user HAL: creating signal 'e0.temp.set'
  606. Aug 21 12:36:00 beagle-bone-black-ml local1.info msgd:0: hal_lib:1932:user HAL: creating signal 'e0.temp.meas'
  607. Aug 21 12:36:00 beagle-bone-black-ml local1.info msgd:0: hal_lib:1932:user HAL: creating signal 'bed.temp.set'
  608. Aug 21 12:36:00 beagle-bone-black-ml local1.info msgd:0: hal_lib:1932:user HAL: creating signal 'bed.temp.meas'
  609. Aug 21 12:36:00 beagle-bone-black-ml local1.info msgd:0: hal_lib:1932:user HAL: linking pin 'Therm.temp0' to 'e0.temp.meas'
  610. Aug 21 12:36:00 beagle-bone-black-ml local1.info msgd:0: hal_lib:1932:user HAL: linking pin 'pid.0.feedback' to 'e0.temp.meas'
  611. Aug 21 12:36:00 beagle-bone-black-ml local1.info msgd:0: hal_lib:1932:user setting signal 'e0.temp.set' [366/6834]
  612. Aug 21 12:36:00 beagle-bone-black-ml local1.info msgd:0: hal_lib:1932:user HAL: linking pin 'pid.0.command' to 'e0.temp.set'
  613. Aug 21 12:36:00 beagle-bone-black-ml local1.info msgd:0: hal_lib:1932:user HAL: creating signal 'e0.heater'
  614. Aug 21 12:36:00 beagle-bone-black-ml local1.info msgd:0: hal_lib:1932:user HAL: linking pin 'pid.0.output' to 'e0.heater'
  615. Aug 21 12:36:00 beagle-bone-black-ml local1.info msgd:0: hal_lib:1932:user HAL: linking pin 'limit1.0.in' to 'e0.heater'
  616. Aug 21 12:36:00 beagle-bone-black-ml local1.info msgd:0: hal_lib:1932:user HAL: creating signal 'e0.heaterl'
  617. Aug 21 12:36:00 beagle-bone-black-ml local1.info msgd:0: hal_lib:1932:user HAL: linking pin 'limit1.0.out' to 'e0.heaterl'
  618. Aug 21 12:36:00 beagle-bone-black-ml local1.info msgd:0: hal_lib:1932:user HAL: linking pin 'hal_pru_generic.pwmgen.00.out.01.value' to 'e0.heaterl'
  619. Aug 21 12:36:00 beagle-bone-black-ml local1.info msgd:0: hal_lib:1932:user HAL: linking pin 'Therm.temp1' to 'bed.temp.meas'
  620. Aug 21 12:36:00 beagle-bone-black-ml local1.info msgd:0: hal_lib:1932:user HAL: linking pin 'pid.1.feedback' to 'bed.temp.meas'
  621. Aug 21 12:36:00 beagle-bone-black-ml local1.info msgd:0: hal_lib:1932:user setting signal 'bed.temp.set'
  622. Aug 21 12:36:00 beagle-bone-black-ml local1.info msgd:0: hal_lib:1932:user HAL: linking pin 'pid.1.command' to 'bed.temp.set'
  623. Aug 21 12:36:00 beagle-bone-black-ml local1.info msgd:0: hal_lib:1932:user HAL: creating signal 'bed.heater'
  624. Aug 21 12:36:00 beagle-bone-black-ml local1.info msgd:0: hal_lib:1932:user HAL: linking pin 'pid.1.output' to 'bed.heater'
  625. Aug 21 12:36:00 beagle-bone-black-ml local1.info msgd:0: hal_lib:1932:user HAL: linking pin 'limit1.1.in' to 'bed.heater'
  626. Aug 21 12:36:00 beagle-bone-black-ml local1.info msgd:0: hal_lib:1932:user HAL: creating signal 'bed.heaterl'
  627. Aug 21 12:36:00 beagle-bone-black-ml local1.info msgd:0: hal_lib:1932:user HAL: linking pin 'limit1.1.out' to 'bed.heaterl'
  628. Aug 21 12:36:00 beagle-bone-black-ml local1.info msgd:0: hal_lib:1932:user HAL: linking pin 'hal_pru_generic.pwmgen.00.out.00.value' to 'bed.heaterl'
  629. Aug 21 12:36:00 beagle-bone-black-ml local1.info msgd:0: hal_lib:1932:user HAL: removing component 07
  630. Aug 21 12:36:00 beagle-bone-black-ml local1.info msgd:0: hal_lib:1932:user HAL: component 07 removed, name = 'halcmd1932'
  631. Aug 21 12:36:00 beagle-bone-black-ml local1.info msgd:0: hal_lib:1932:user HAL: hal_rtapi_detach(): HAL shm segment detached
  632. Aug 21 12:36:00 beagle-bone-black-ml local1.info msgd:0: hal_lib:1932:user _ulapi_cleanup():
  633. Aug 21 12:36:00 beagle-bone-black-ml local1.info msgd:0: hal_lib:1932:user ULAPI:0 v2.7.0~pre0~yocto-native-sim-dev~60cccc5 exit
  634. Aug 21 12:36:00 beagle-bone-black-ml local1.info msgd:0: hal_lib:2358:user HAL: initializing hal_lib
  635. Aug 21 12:36:00 beagle-bone-black-ml local1.info msgd:0: hal_lib:2358:user HAL: hal_rtapi_attach(): HAL shm segment attached
  636. Aug 21 12:36:00 beagle-bone-black-ml local1.info msgd:0: hal_lib:2358:user HAL: component 'halcmd2358' initialized, ID = 25
  637. Aug 21 12:36:00 beagle-bone-black-ml local1.info msgd:0: hal_lib:2358:user HAL: starting threads
  638. Aug 21 12:36:00 beagle-bone-black-ml local1.notice msgd:0: hal_lib:1925:rt MOTION: setting Traj cycle time to 1000000 nsecs
  639. Aug 21 12:36:00 beagle-bone-black-ml local1.notice msgd:0: hal_lib:1925:rt MOTION: setting Servo cycle time to 1000000 nsecs
  640. Aug 21 12:36:00 beagle-bone-black-ml local1.info msgd:0: hal_lib:2358:user HAL: removing component 25
  641. Aug 21 12:36:00 beagle-bone-black-ml local1.info msgd:0: hal_lib:2358:user HAL: component 25 removed, name = 'halcmd2358'
  642. Aug 21 12:36:00 beagle-bone-black-ml local1.info msgd:0: hal_lib:2358:user HAL: hal_rtapi_detach(): HAL shm segment detached
  643. Aug 21 12:36:00 beagle-bone-black-ml local1.info msgd:0: hal_lib:2358:user _ulapi_cleanup():
  644. Aug 21 12:36:00 beagle-bone-black-ml local1.info msgd:0: hal_lib:2358:user ULAPI:0 v2.7.0~pre0~yocto-native-sim-dev~60cccc5 exit
  645. Aug 21 12:36:01 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt 697: CMD 1, code 45
  646. Aug 21 12:36:01 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt SET_NUM_AXES
  647. Aug 21 12:36:01 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt 4
  648. Aug 21 12:36:01 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt
  649. Aug 21 12:36:01 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt 698: CMD 2, code 39
  650. Aug 21 12:36:01 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt SET_VEL
  651. Aug 21 12:36:01 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt
  652. Aug 21 12:36:01 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt 699: CMD 3, code 40
  653. Aug 21 12:36:01 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt SET_VEL_LIMIT
  654. Aug 21 12:36:01 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt
  655. Aug 21 12:36:01 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt 700: CMD 4, code 43
  656. Aug 21 12:36:01 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt SET_ACCEL
  657. Aug 21 12:36:01 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt
  658. ...
  659. Aug 21 12:36:01 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt AXIS_ABORT [17/6834]
  660. Aug 21 12:36:01 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt 4
  661. Aug 21 12:36:01 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt
  662. Aug 21 12:36:01 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt 914: CMD 65, code 2
  663. Aug 21 12:36:01 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt AXIS_ABORT
  664. Aug 21 12:36:01 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt 5
  665. Aug 21 12:36:01 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt
  666. Aug 21 12:36:01 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt 915: CMD 66, code 2
  667. Aug 21 12:36:01 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt AXIS_ABORT
  668. Aug 21 12:36:01 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt 6
  669. Aug 21 12:36:01 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt
  670. Aug 21 12:36:01 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt 916: CMD 67, code 2
  671. Aug 21 12:36:01 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt AXIS_ABORT
  672. Aug 21 12:36:01 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt 7
  673. Aug 21 12:36:01 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt
  674. Aug 21 12:36:01 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt 921: CMD 68, code 2
  675. Aug 21 12:36:01 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt AXIS_ABORT
  676. Aug 21 12:36:01 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt 8
  677. Aug 21 12:36:01 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt
  678. Aug 21 12:36:01 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt 926: CMD 69, code 1
  679. Aug 21 12:36:01 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt ABORT
  680. Aug 21 12:36:01 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt 8
  681. Aug 21 12:36:01 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt
  682. Aug 21 12:36:01 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt 933: CMD 70, code 53
  683. Aug 21 12:36:01 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt SPINDLE_OFF
  684. Aug 21 12:36:01 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt
  685. Aug 21 12:36:01 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt 934: CMD 71, code 25
  686. Aug 21 12:36:01 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt UNHOME
  687. Aug 21 12:36:01 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt -2
  688. Aug 21 12:36:01 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt
  689. Aug 21 12:36:01 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt 937: CMD 72, code 14
  690. Aug 21 12:36:01 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt FREE
  691. Aug 21 12:36:01 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt
  692. Aug 21 12:36:01 beagle-bone-black-ml local1.info msgd:0: hal_lib:1927:user EMC_TOOL_ABORT
  693. Aug 21 12:36:01 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt 1022: CMD 73, code 44
  694. Aug 21 12:36:01 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt SET_TERM_COND
  695. Aug 21 12:36:01 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt
  696. Aug 21 12:36:01 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt 1025: CMD 74, code 44
  697. Aug 21 12:36:01 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt SET_TERM_COND
  698. Aug 21 12:36:01 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt
  699. Aug 21 12:38:16 beagle-bone-black-ml user.warn kernel: [ 1288.925880] Alignment trap: io (1927) PC=0xb6f0a624 Instr=0xe893000c Address=0xb6df1b79 FSR 0x001
  700. Aug 21 12:38:16 beagle-bone-black-ml user.warn kernel: [ 1288.967395] Alignment trap: io (1927) PC=0xb6f0a624 Instr=0xe893000c Address=0xb6df1b7b FSR 0x001
  701. Aug 21 12:38:16 beagle-bone-black-ml user.warn kernel: [ 1289.008496] Alignment trap: io (1927) PC=0xb6f0a624 Instr=0xe893000c Address=0xb6df1b7b FSR 0x001
  702. Aug 21 12:38:16 beagle-bone-black-ml local1.info msgd:0: hal_lib:1927:user HAL: removing component 05
  703. Aug 21 12:38:16 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt 135725: CMD 75, code 4
  704. Aug 21 12:38:16 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt DISABLE
  705. Aug 21 12:38:16 beagle-bone-black-ml local1.info msgd:0: hal_lib:1925:rt
  706. Aug 21 12:38:16 beagle-bone-black-ml local1.info msgd:0: hal_lib:2353:user HAL: removing component 23
  707. Aug 21 12:38:16 beagle-bone-black-ml local1.info msgd:0: hal_lib:2359:user HAL: hal_rtapi_detach(): HAL shm segment detached
  708. Aug 21 12:38:16 beagle-bone-black-ml local1.info msgd:0: hal_lib:2359:user _ulapi_cleanup():
  709. Aug 21 12:38:16 beagle-bone-black-ml local1.info msgd:0: hal_lib:2359:user ULAPI:0 v2.7.0~pre0~yocto-native-sim-dev~60cccc5 exit
  710. Aug 21 12:38:16 beagle-bone-black-ml user.warn kernel: [ 1289.040178] Alignment trap: io (1927) PC=0xb6f0a624 Instr=0xe893000c Address=0xb6df1b7a FSR 0x001
  711. Aug 21 12:38:16 beagle-bone-black-ml user.warn kernel: [ 1289.069670] Alignment trap: io (1927) PC=0xb6f0a624 Instr=0xe893000c Address=0xb6df1b7a FSR 0x001
  712. Aug 21 12:38:16 beagle-bone-black-ml local1.info msgd:0: hal_lib:1927:user HAL: component 05 removed, name = 'iocontrol'
  713. Aug 21 12:38:16 beagle-bone-black-ml local1.info msgd:0: hal_lib:1927:user HAL: hal_rtapi_detach(): HAL shm segment detached
  714. Aug 21 12:38:16 beagle-bone-black-ml local1.info msgd:0: hal_lib:1927:user _ulapi_cleanup():
  715. Aug 21 12:38:16 beagle-bone-black-ml local1.info msgd:0: hal_lib:1927:user ULAPI:0 v2.7.0~pre0~yocto-native-sim-dev~60cccc5 exit
  716. Aug 21 12:38:16 beagle-bone-black-ml local1.info msgd:0: hal_lib:2353:user HAL: component 23 removed, name = 'Therm'
  717. Aug 21 12:38:16 beagle-bone-black-ml local1.info msgd:0: hal_lib:2353:user HAL: hal_rtapi_detach(): HAL shm segment detached
  718. Aug 21 12:38:16 beagle-bone-black-ml local1.info msgd:0: hal_lib:2353:user _ulapi_cleanup():
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