All pastes #350874 Raw Edit

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#350874 ·published 2007-02-11 20:25 UTC
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RUN_IN_PLACE=no
EMC2_DIR=
EMC2_BIN_DIR=/usr/bin
EMC2_TCL_DIR=/usr/share/emc/tcl
EMC2_SCRIPT_DIR=
EMC2_RTLIB_DIR=/usr/realtime-2.6.15-magma/modules/emc2
EMC2_CONFIG_DIR=
EMC2_LANG_DIR=/usr/share/emc/tcl/msgs
INIVAR=/usr/bin/inivar
HALCMD=/usr/bin/halcmd
EMC2_EMCSH=/usr/bin/emcsh
EMC2_IOSH=/usr/bin/iosh
EMC2 - 2.1.0
Machine configuration directory is '/home/noel/emc2/configs/m5i20'
Machine configuration file is 'm5i20.ini'
INIFILE=/home/noel/emc2/configs/m5i20/m5i20.ini
PARAMETER_FILE=m5i20.var
EMCMOT=motmod
EMCIO=io
TASK=milltask
HALUI=
DISPLAY=axis
NML_FILE=emc.nml
Starting EMC2...
Starting EMC2 server program: emcsvr
Loading Real Time OS, RTAPI, and HAL_LIB modules
Starting EMC2 IO program: io
Running HAL config file /home/noel/emc2/configs/m5i20/core_servo.hal
Running HAL config file /home/noel/emc2/configs/m5i20/m5i20_motion.hal
Running HAL config file /home/noel/emc2/configs/m5i20/m5i20_io.hal
Running HAL command: loadrt scope_rt num_samples=32000
HAL:0: ERROR: systemv failed, returned 1
HAL:0: ERROR: insmod failed, returned -1
ini file HAL command loadrt scope_rt num_samples=32000 failed.
Shutting down and cleaning up EMC2...
Killing task emcsvr, PID=27005
Removing HAL_LIB, RTAPI, and Real Time OS modules
Cleanup done

Kernel message information:
[68564.859052] I-pipe: Domain RTAI registered.
[68564.859061] RTAI[hal]: <magma> mounted over IPIPE-NOTHREADS 1.3-00.
[68564.859064] RTAI[hal]: compiled with gcc version 4.0.3 (Ubuntu 4.0.3-1ubuntu5).
[68564.859069] RTAI[hal]: mounted (IPIPE-NOTHREADS, IMMEDIATE (INTERNAL IRQs VECTORED), ISOL_CPUS_MASK: 0).
[68564.859072] PIPELINE layers:
[68564.859075] f8a65780 9ac15d93 RTAI 200
[68564.859078] c02d1680 0 Linux 100
[68564.866200] RTAI[malloc]: vmalloced extent f8ab2000, size 2097152.
[68564.866263] RTAI[malloc]: loaded (global heap size=2097152 bytes).
[68564.869389] RTAI[sched_lxrt]: loaded (IMMEDIATE, UP, USER/KERNEL SPACE <with RTAI TASKs>).
[68564.869395] RTAI[sched_lxrt]: hard timer type/freq = 8254-PIT/1193180(Hz); default timing mode is periodic; linear ordering of timed lists.
[68564.869400] RTAI[sched_lxrt]: Linux timer freq = 1000 (Hz), CPU freq = 2668311000 hz.
[68564.869403] RTAI[sched_lxrt]: timer setup = 2010 ns, resched latency = 2689 ns.
[68564.890774] RTAI[math]: loaded.
[68564.895499] RTAPI: Init
[68564.895520] RTAPI: Init complete
[68564.935007] MOTION: init_module() starting...
[68564.935016] MOTION: init_hal_io() starting...
[68564.936216] MOTION: init_hal_io() complete, 8 axes.
[68564.936219] MOTION: init_comm_buffers() starting...
[68564.937957] MOTION: init_comm_buffers() complete
[68564.937961] MOTION: init_threads() starting...
[68564.937965] HAL: creating thread base-thread, 50000 nsec
[68564.937992] HAL: thread created
[68564.937994] HAL: creating thread servo-thread, 250000 nsec
[68564.938004] HAL: thread created
[68564.938021] MOTION: setting Traj cycle time to 1000000 nsecs
[68564.938025] MOTION: setting Servo cycle time to 250000 nsecs
[68564.938039] MOTION: init_threads() complete
[68564.938041] MOTION: init_module() complete
[68564.947285] PID: installed 3 PID loops
[68564.962212] M5I20: Card detected in Slot:  2
[68564.962275] M5I20: Card address @ f8e40000, Len = 65536
[68564.962286] M5I20: Card address @ f8ea0000, Len = 65536
[68564.962302] M5I20: Card address @ f89cec00, Len = 128
[68565.020211] HAL: creating thread test-thread, 2000000 nsec
[68565.020223] HAL: thread created
[68565.020225] THREADS: created 2000 uS thread
[68565.124151] scope_rt: Unknown parameter `num_samples'
[68565.197809] MOTION: cleanup_module() started.
[68565.197815] HAL: threads stopped
[68565.197953] MOTION: cleanup_module() finished.
[68565.374111] RTAPI: WARNING: tried to delete task 03 while running
[68565.374129] RTAPI: WARNING: tried to delete task 02 while running
[68565.374134] RTAPI: WARNING: tried to delete task 01 while running
[68565.378222] RTAPI: Exiting
[68565.378259] RTAPI: Exit complete
[68565.382546] RTAI[math]: unloaded.
[68565.404132] RTAI[malloc]: vfreed extent f8ab2000, size 2097152.
[68565.404295] RTAI[malloc]: unloaded.
[68565.503809] RTAI[sched_lxrt]: unloaded (forced hard/soft/hard transitions: traps 0, syscalls 0).
[68565.506897] I-pipe: Domain RTAI unregistered.
[68565.506905] RTAI[hal]: unmounted.

Debug file information:
Can not find -sec HAL -var HALUI -num 1 
Can not find -sec HAL -var HALFILE -num 4 
insmod: error inserting '/usr/realtime-2.6.15-magma/modules/emc2/scope_rt.ko': -1 Unknown symbol in module
Stopping realtime threads
Unloading hal components
27005
  PID TTY      STAT   TIME COMMAND








noel@p805:~$ sudo dmesg
Password:
[68564.859052] I-pipe: Domain RTAI registered.
[68564.859061] RTAI[hal]: <magma> mounted over IPIPE-NOTHREADS 1.3-00.
[68564.859064] RTAI[hal]: compiled with gcc version 4.0.3 (Ubuntu 4.0.3-1ubuntu5).
[68564.859069] RTAI[hal]: mounted (IPIPE-NOTHREADS, IMMEDIATE (INTERNAL IRQs VECTORED), ISOL_CPUS_MASK: 0).
[68564.859072] PIPELINE layers:
[68564.859075] f8a65780 9ac15d93 RTAI 200
[68564.859078] c02d1680 0 Linux 100
[68564.866200] RTAI[malloc]: vmalloced extent f8ab2000, size 2097152.
[68564.866263] RTAI[malloc]: loaded (global heap size=2097152 bytes).
[68564.869389] RTAI[sched_lxrt]: loaded (IMMEDIATE, UP, USER/KERNEL SPACE <with RTAI TASKs>).
[68564.869395] RTAI[sched_lxrt]: hard timer type/freq = 8254-PIT/1193180(Hz); default timing mode is periodic; linear ordering of timed lists.
[68564.869400] RTAI[sched_lxrt]: Linux timer freq = 1000 (Hz), CPU freq = 2668311000 hz.
[68564.869403] RTAI[sched_lxrt]: timer setup = 2010 ns, resched latency = 2689 ns.
[68564.890774] RTAI[math]: loaded.
[68564.895499] RTAPI: Init
[68564.895520] RTAPI: Init complete
[68564.935007] MOTION: init_module() starting...
[68564.935016] MOTION: init_hal_io() starting...
[68564.936216] MOTION: init_hal_io() complete, 8 axes.
[68564.936219] MOTION: init_comm_buffers() starting...
[68564.937957] MOTION: init_comm_buffers() complete
[68564.937961] MOTION: init_threads() starting...
[68564.937965] HAL: creating thread base-thread, 50000 nsec
[68564.937992] HAL: thread created
[68564.937994] HAL: creating thread servo-thread, 250000 nsec
[68564.938004] HAL: thread created
[68564.938021] MOTION: setting Traj cycle time to 1000000 nsecs
[68564.938025] MOTION: setting Servo cycle time to 250000 nsecs
[68564.938039] MOTION: init_threads() complete
[68564.938041] MOTION: init_module() complete
[68564.947285] PID: installed 3 PID loops
[68564.962212] M5I20: Card detected in Slot:  2
[68564.962275] M5I20: Card address @ f8e40000, Len = 65536
[68564.962286] M5I20: Card address @ f8ea0000, Len = 65536
[68564.962302] M5I20: Card address @ f89cec00, Len = 128
[68565.020211] HAL: creating thread test-thread, 2000000 nsec
[68565.020223] HAL: thread created
[68565.020225] THREADS: created 2000 uS thread
[68565.124151] scope_rt: Unknown parameter `num_samples'
[68565.197809] MOTION: cleanup_module() started.
[68565.197815] HAL: threads stopped
[68565.197953] MOTION: cleanup_module() finished.
[68565.374111] RTAPI: WARNING: tried to delete task 03 while running
[68565.374129] RTAPI: WARNING: tried to delete task 02 while running
[68565.374134] RTAPI: WARNING: tried to delete task 01 while running
[68565.378222] RTAPI: Exiting
[68565.378259] RTAPI: Exit complete
[68565.382546] RTAI[math]: unloaded.
[68565.404132] RTAI[malloc]: vfreed extent f8ab2000, size 2097152.
[68565.404295] RTAI[malloc]: unloaded.
[68565.503809] RTAI[sched_lxrt]: unloaded (forced hard/soft/hard transitions: traps 0, syscalls 0).
[68565.506897] I-pipe: Domain RTAI unregistered.
[68565.506905] RTAI[hal]: unmounted.
noel@p805:~$