On Tue, 28 Jan 2014, Viesturs L?cis wrote: > Date: Tue, 28 Jan 2014 15:58:32 +0200 > From: "[UTF-8] Viesturs L?cis" <viesturs.la...@gmail.com> > Reply-To: "Enhanced Machine Controller (EMC)" > <emc-users@lists.sourceforge.net> > To: "Enhanced Machine Controller (EMC)" <emc-users@lists.sourceforge.net> > Subject: [Emc-users] Trouble creating custom firmware for 5i23 > > Hello! > > I am trying to create custom firmware for 5i23 card. Machine has 5i23, 7i48 > on P2 and 7i37 on P3. In addition to 7i48, I need 3 stepgens and at least 1 > encoder on P4 connector. > > I created vhd file, Andy compiled it and in the end of this message is the > error I receive on LinuxCNC startup. > > I think that the essence is described here: > [ 107.276703] hm2/hm2_5i23.0: WARNING: this firmware has Muxed Encoder v2! > [ 107.276713] hm2/hm2_5i23.0: WARNING: velocity computation will be > incorrect! > [ 107.276719] hm2/hm2_5i23.0: WARNING: upgrade your firmware! > [ 107.278782] hm2/hm2_5i23.0: found duplicate Module Descriptor for > Encoder (inconsistent firmware), not loading driver.
A couple problems: 1. You need newer source (V3 muxed encoder) I would fetch source from Mesa 2. There's no support for mixing encoder types (muxed and non muxed) in the current hostmot2 driver. Ive worked around this by using only muxed encoders for example in your config you could set the number of muxed encoders to 14 replace the encoders on IO 54 through 65 with muxed encoders (numbered 3..6) the main side effect of this is wasted space and odd numbering of the higher ordered encoders (6,8,10,12) > > I do not understand, what should I change, because I based this on > SV12_2X7I48_72.vhd from here: > http://git.linuxcnc.org/gitweb?p=hostmot2-firmware.git;a=tree;h=3e97b6f53ad38c8cd05db36da8b888e5b7ac3850;hb=3e97b6f53ad38c8cd05db36da8b888e5b7ac3850 > > And particularly version of muxed encoders is 02 already there, so I do not > see the reason for any complaints. > > My vhd file is here: > http://cutting.lv/fileadmin/user_upload/SVST6_6_7I48.vhd > > I would appreciate any hints, where did I make the mistake. > > Viesturs > > Print file information: > RUN_IN_PLACE=no > LINUXCNC_DIR= > LINUXCNC_BIN_DIR=/usr/bin > LINUXCNC_TCL_DIR=/usr/lib/tcltk/linuxcnc > LINUXCNC_SCRIPT_DIR= > LINUXCNC_RTLIB_DIR=/usr/realtime-2.6.32-122-rtai/modules/linuxcnc > LINUXCNC_CONFIG_DIR= > LINUXCNC_LANG_DIR=/usr/share/linuxcnc/tcl/msgs > INIVAR=inivar > HALCMD=halcmd > LINUXCNC_EMCSH=/usr/bin/wish8.5 > LINUXCNC - 2.5.3 > Machine configuration directory is > '/home/waterjet/linuxcnc/configs/waterjet' > Machine configuration file is 'waterjet.ini' > INIFILE=/home/waterjet/linuxcnc/configs/waterjet/waterjet.ini > PARAMETER_FILE=waterjet.var > TASK=milltask > HALUI=halui > DISPLAY=axis > Starting LinuxCNC... > Starting LinuxCNC server program: linuxcncsvr > Loading Real Time OS, RTAPI, and HAL_LIB modules > Starting LinuxCNC IO program: io > Starting HAL User Interface program: halui > Shutting down and cleaning up LinuxCNC... > Killing task linuxcncsvr, PID=1282 > Removing HAL_LIB, RTAPI, and Real Time OS modules > Removing NML shared memory segments > Cleanup done > > Debug file information: > Can not find -sec MOT -var MOT -num 1 > Can not find -sec IO -var IO -num 1 > Can not find -sec LINUXCNC -var NML_FILE -num 1 > Can not find -sec EMC -var NML_FILE -num 1 > insmod: error inserting > '/usr/realtime-2.6.32-122-rtai/modules/linuxcnc/hm2_pci.ko': -1 Invalid > parameters > waterjet-motion.hal:47: exit value: 1 > waterjet-motion.hal:47: insmod failed, returned -1 > See the output of 'dmesg' for more information. > 1282 > PID TTY STAT TIME COMMAND > Stopping realtime threads > Unloading hal components > > Kernel message information: > [ 106.759312] I-pipe: Domain RTAI registered. > [ 106.759326] RTAI[hal]: <3.8.1> mounted over IPIPE-NOTHREADS 2.6-03. > [ 106.759331] RTAI[hal]: compiled with gcc version 4.4.3 (Ubuntu > 4.4.3-4ubuntu5) . > [ 106.759413] RTAI[hal]: mounted (IPIPE-NOTHREADS, IMMEDIATE (INTERNAL > IRQs DISPATCHED), ISOL_CPUS_MASK: 0). > [ 106.759418] PIPELINE layers: > [ 106.759423] f8fe7e20 9ac15d93 RTAI 200 > [ 106.759428] c085cb20 0 Linux 100 > [ 106.810587] RTAI[malloc]: global heap size = 2097152 bytes, <BSD>. > [ 106.811306] RTAI[sched]: IMMEDIATE, MP, USER/KERNEL SPACE: <with RTAI > OWN KTASKs>, kstacks pool size = 524288 bytes. > [ 106.811318] RTAI[sched]: hard timer type/freq = APIC/12500398(Hz); > default timing: periodic; linear timed lists. > [ 106.811325] RTAI[sched]: Linux timer freq = 250 (Hz), TimeBase freq = > 1800320000 hz. > [ 106.811331] RTAI[sched]: timer setup = 999 ns, resched latency = 2943 ns. > [ 106.811463] RTAI[usi]: enabled. > [ 106.901259] RTAI[math]: loaded. > [ 107.055558] hm2: loading Mesa HostMot2 driver version 0.15 > [ 107.062244] hm2_pci: loading Mesa AnyIO HostMot2 driver version 0.7 > [ 107.062310] alloc irq_desc for 20 on node -1 > [ 107.062316] alloc kstat_irqs on node -1 > [ 107.062329] hm2_pci 0000:05:00.0: PCI INT A -> GSI 20 (level, low) -> > IRQ 20 > [ 107.062336] hm2_pci: discovered 5i23 at 0000:05:00.0 > [ 107.062441] hm2_5i23.0: firmware: requesting hm2/5i23/SVST6_6_7I48.BIT > [ 107.276703] hm2/hm2_5i23.0: WARNING: this firmware has Muxed Encoder v2! > [ 107.276713] hm2/hm2_5i23.0: WARNING: velocity computation will be > incorrect! > [ 107.276719] hm2/hm2_5i23.0: WARNING: upgrade your firmware! > [ 107.278782] hm2/hm2_5i23.0: found duplicate Module Descriptor for > Encoder (inconsistent firmware), not loading driver > [ 107.278792] hm2/hm2_5i23.0: failed to parse Module Descriptor 5 > [ 107.278805] hm2_5i23.0: board fails HM2 registration > [ 107.278835] hm2_pci 0000:05:00.0: PCI INT A disabled > [ 107.278859] hm2_pci: probe of 0000:05:00.0 failed with error -22 > [ 108.106243] hm2: unloading > [ 108.169457] RTAI[math]: unloaded. > [ 108.215350] SCHED releases registered named ALIEN RTGLBH > [ 108.244433] RTAI[malloc]: unloaded. > [ 108.344025] RTAI[sched]: unloaded (forced hard/soft/hard transitions: > traps 0, syscalls 0). > [ 108.347930] I-pipe: Domain RTAI unregistered. > [ 108.348057] RTAI[hal]: unmounted. > ------------------------------------------------------------------------------ > WatchGuard Dimension instantly turns raw network data into actionable > security intelligence. 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Skip the complicated setup - simply import a virtual appliance and go from zero to informed in seconds. http://pubads.g.doubleclick.net/gampad/clk?id=123612991&iu=/4140/ostg.clktrk _______________________________________________ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
