hm2-5i20 errorlog

Hello all,
I use emc2 2.4.6 with mesa 5i20 card,but I get the error as following:

---

Print file information:
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-2.6.24-16-rtai/modules/emc2
EMC2_CONFIG_DIR=
EMC2_LANG_DIR=/usr/share/emc/tcl/msgs
INIVAR=inivar
HALCMD=halcmd
EMC2_EMCSH=/usr/bin/wish8.4
EMC2 - 2.4.6
Machine configuration directory is '/home/apizc/emc2/configs/hm2-servo'
Machine configuration file is '5i20.ini'
INIFILE=/home/apizc/emc2/configs/hm2-servo/5i20.ini
PARAMETER_FILE=hm2-servo.var
EMCMOT=motmod
EMCIO=io
TASK=milltask
HALUI=halui
DISPLAY=axis
NML_FILE=
Starting EMC2...
Starting EMC2 server program: emcsvr
Loading Real Time OS, RTAPI, and HAL_LIB modules
Starting EMC2 IO program: io
Starting HAL User Interface program: halui
Shutting down and cleaning up EMC2...
Killing task emcsvr, PID=5459
Removing HAL_LIB, RTAPI, and Real Time OS modules
Removing NML shared memory segments
Cleanup done

Debug file information:
inifile: warning: File contains DOS-style line endings.
inifile: warning: File contains DOS-style line endings.
inifile: warning: File contains DOS-style line endings.
inifile: warning: File contains DOS-style line endings.
inifile: warning: File contains DOS-style line endings.
inifile: warning: File contains DOS-style line endings.
inifile: warning: File contains DOS-style line endings.
inifile: warning: File contains DOS-style line endings.
inifile: warning: File contains DOS-style line endings.
inifile: warning: File contains DOS-style line endings.
hm2-servo.hal:25: Warning: File contains DOS-style line endings.
inifile: warning: File contains DOS-style line endings.
hm2-servo.hal:51: parameter or pin 'hm2_5i20.0.pwmgen.pwm_frequency' not found
5459
PID TTY STAT TIME COMMAND
Stopping realtime threads
Unloading hal components

Kernel message information:
[ 192.720970] I-pipe: Domain RTAI registered.
[ 192.720975] RTAI[hal]: <3.6.1> mounted over IPIPE-NOTHREADS 2.0-04.
[ 192.720976] RTAI[hal]: compiled with gcc version 4.2.4 (Ubuntu 4.2.4-1ubuntu3).
[ 192.720979] RTAI[hal]: mounted (IPIPE-NOTHREADS, IMMEDIATE (INTERNAL IRQs DISPATCHED), ISOL_CPUS_MASK: 0).
[ 192.720980] PIPELINE layers:
[ 192.720982] f8b35000 9ac15d93 RTAI 200
[ 192.720983] c0383180 0 Linux 100
[ 192.726769] RTAI[malloc]: global heap size = 2097152 bytes, <BSD>.
[ 192.729803] RTAI[sched]: loaded (IMMEDIATE, UP, USER/KERNEL SPACE: <with RTAI OWN KTASKs>, kstacks pool size = 524288 bytes.
[ 192.729806] RTAI[sched]: hard timer type/freq = 8254-PIT/1193180(Hz); default timing: periodic; linear timed lists.
[ 192.729808] RTAI[sched]: Linux timer freq = 250 (Hz), CPU freq = 2600185000 hz.
[ 192.729810] RTAI[sched]: timer setup = 2010 ns, resched latency = 2689 ns.
[ 192.751921] RTAI[math]: loaded.
[ 192.826309] hm2: loading Mesa HostMot2 driver version 0.15
[ 192.839141] hm2_pci: loading Mesa AnyIO HostMot2 driver version 0.6
[ 192.839811] hm2_pci: discovered 5i20 at 0000:02:0f.0
[ 192.973653] hm2/hm2_5i20.0: invalid config name, got 'HOQTMOT2', expected 'HOSTMOT2'
[ 192.973657] hm2_5i20.0: board fails HM2 registration
[ 192.974296] hm2_pci: probe of 0000:02:0f.0 failed with error -22
[ 193.092897] hm2_pci: driver unloaded
[ 193.100729] hm2: unloading
[ 195.200034] RTAI[math]: unloaded.
[ 195.234655] SCHED releases registered named ALIEN RTGLBH
[ 195.247901] RTAI[malloc]: unloaded.
[ 195.347499] RTAI[sched]: unloaded (forced hard/soft/hard transitions: traps 0, syscalls 0).
[ 195.349748] I-pipe: Domain RTAI unregistered.
[ 195.349753] RTAI[hal]: unmounted.

---

I don't know what's mean of "[ 192.973653] hm2/hm2_5i20.0: invalid config name, got 'HOQTMOT2', expected 'HOSTMOT2'",and I didn't find "HOQTMOT2" in the ini file and hal file.can you help me,thanks.

post your HAL file please

# #######################################
#
# HAL file for HostMot2 with 4 servos
#
# Derived from Ted Hyde's original hm2-servo config
#
# Based up work and discussion with Seb & Peter & Jeff
# GNU license references - insert here. www.linuxcnc.org
#
#
# ########################################
# Firmware files are in /lib/firmware/hm2/7i43/
# Must symlink the hostmot2 firmware directory of sanbox to
# /lib/firmware before running EMC2...
# sudo ln -s $HOME/emc2-sandbox/src/hal/drivers/mesa-hostmot2/firmware /lib/firmware/hm2
#
# See also:
# <www.linuxcnc.org/docs/devel/html/man/man...ml#config%20modparam>
# and wiki.linuxcnc.org/cgi-bin/emcinfo.pl?HostMot2
#
# #####################################################################
# ###################################
# Core EMC/HAL Loads
# ###################################

# kinematics
loadrt trivkins

# motion controller, get name and thread periods from ini file
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[TRAJ]AXES

# standard components
loadrt pid num_chan=3

# only the 7i43 needs this, but it doesnt hurt the others
loadrt probe_parport

# hostmot2 driver
# if you have any firmware trouble, enable the debug flags here and see what's going on in the syslog
#loadrt hostmot2 debug_idrom=1 debug_module_descriptors=1 debug_pin_descriptors=1 debug_modules=1
loadrt hostmot2
loadusr joystick
loadusr drodmis
loadusr limittrans
loadrt enableprobe
loadrt stopsign
loadrt mux2 count=1
# load low-level driver
loadrt [HOSTMOT2](DRIVER) config=[HOSTMOT2](CONFIG)

setp hm2_[HOSTMOT2](BOARD).0.pwmgen.pwm_frequency 40000

setp hm2_[HOSTMOT2](BOARD).0.watchdog.timeout_ns 10000000


# ################################################
# THREADS
# ################################################

addf hm2_[HOSTMOT2](BOARD).0.read servo-thread

addf motion-command-handler servo-thread
addf motion-controller servo-thread

addf stopsign.0 servo-thread
addf enableprobe.0 servo-thread
addf pid.0.do-pid-calcs servo-thread
addf pid.1.do-pid-calcs servo-thread
addf pid.2.do-pid-calcs servo-thread
addf mux2.0 servo-thread
addf hm2_[HOSTMOT2](BOARD).0.write servo-thread
addf hm2_[HOSTMOT2](BOARD).0.pet_watchdog servo-thread


# ######################################################
# Axis-of-motion Specific Configs (not the GUI)
# ######################################################

# ################
# halui parameter
# ################
#setp halui.jog-speed 6000
setp halui.jog-deadband 0
setp mux2.0.in0 6000
setp mux2.0.in1 3000
# ################
# X [0] Axis
# ################

# axis enable chain
newsig emcmot.00.enable bit

sets emcmot.00.enable FALSE

net emcmot.00.enable => pid.0.enable
net emcmot.00.enable => hm2_[HOSTMOT2](BOARD).0.pwmgen.00.enable
net emcmot.00.enable <= axis.0.amp-enable-out

# encoder feedback
setp hm2_[HOSTMOT2](BOARD).0.encoder.00.counter-mode 0
setp hm2_[HOSTMOT2](BOARD).0.encoder.00.filter 1
setp hm2_[HOSTMOT2](BOARD).0.encoder.00.index-invert 0
setp hm2_[HOSTMOT2](BOARD).0.encoder.00.index-mask 0
setp hm2_[HOSTMOT2](BOARD).0.encoder.00.index-mask-invert 0
setp hm2_[HOSTMOT2](BOARD).0.encoder.00.scale [AXIS_0]INPUT_SCALE
net motor.00.pos-fb hm2_[HOSTMOT2](BOARD).0.encoder.00.position => pid.0.feedback
net motor.00.pos-fb => axis.0.motor-pos-fb #push copy back to Axis GUI
net xsvr hm2_[HOSTMOT2](BOARD).0.gpio.036.in => stopsign.0.xsvr

# set PID loop gains from inifile
setp pid.0.Pgain [AXIS_0]P
setp pid.0.Igain [AXIS_0]I
setp pid.0.Dgain [AXIS_0]D
setp pid.0.bias [AXIS_0]BIAS
setp pid.0.FF0 [AXIS_0]FF0
setp pid.0.FF1 [AXIS_0]FF1
setp pid.0.FF2 [AXIS_0]FF2
setp pid.0.deadband [AXIS_0]DEADBAND
setp pid.0.maxoutput [AXIS_0]MAX_OUTPUT

# position command signals

setp hm2_[HOSTMOT2](BOARD).0.pwmgen.00.output-type 1 #pwm on pin1, dir on pin2
setp hm2_[HOSTMOT2](BOARD).0.pwmgen.00.scale [AXIS_0]OUTPUT_SCALE
net emcmot.00.pos-cmd axis.0.motor-pos-cmd => pid.0.command
net motor.00.command pid.0.output => hm2_[HOSTMOT2](BOARD).0.pwmgen.00.value
net jstk.axis.0.vel JOYJB200.axis.0.output => halui.jog.0.analog
net pos.0.fb axis.0.joint-pos-fb => JOYJB200.axis.0.position DRODMIS.axis.0.pos

# ################
# Y [1] Axis
# ################

# axis enable chain
newsig emcmot.01.enable bit
sets emcmot.01.enable FALSE
net emcmot.01.enable => pid.1.enable
net emcmot.01.enable => hm2_[HOSTMOT2](BOARD).0.pwmgen.01.enable
net emcmot.01.enable <= axis.1.amp-enable-out

# encoder feedback
setp hm2_[HOSTMOT2](BOARD).0.encoder.01.counter-mode 0
setp hm2_[HOSTMOT2](BOARD).0.encoder.01.filter 1
setp hm2_[HOSTMOT2](BOARD).0.encoder.01.index-invert 0
setp hm2_[HOSTMOT2](BOARD).0.encoder.01.index-mask 0
setp hm2_[HOSTMOT2](BOARD).0.encoder.01.index-mask-invert 0

setp hm2_[HOSTMOT2](BOARD).0.encoder.01.scale [AXIS_1]INPUT_SCALE
net motor.01.pos-fb hm2_[HOSTMOT2](BOARD).0.encoder.01.position => pid.1.feedback
net motor.01.pos-fb => axis.1.motor-pos-fb #push copy back to Axis GUI
net ysvr hm2_[HOSTMOT2](BOARD).0.gpio.037.in => stopsign.0.ysvr
# set PID loop gains from inifile
setp pid.1.Pgain [AXIS_1]P
setp pid.1.Igain [AXIS_1]I
setp pid.1.Dgain [AXIS_1]D
setp pid.1.bias [AXIS_1]BIAS
setp pid.1.FF0 [AXIS_1]FF0
setp pid.1.FF1 [AXIS_1]FF1
setp pid.1.FF2 [AXIS_1]FF2
setp pid.1.deadband [AXIS_1]DEADBAND
setp pid.1.maxoutput [AXIS_1]MAX_OUTPUT

# position command signals
setp hm2_[HOSTMOT2](BOARD).0.pwmgen.01.output-type 1 #pwm on pin1, dir on pin2
setp hm2_[HOSTMOT2](BOARD).0.pwmgen.01.scale [AXIS_1]OUTPUT_SCALE
net emcmot.01.pos-cmd axis.1.motor-pos-cmd => pid.1.command
net motor.01.command pid.1.output => hm2_[HOSTMOT2](BOARD).0.pwmgen.01.value
net jstk.axis.1.vel JOYJB200.axis.1.output => halui.jog.1.analog
net pos.1.fb axis.1.joint-pos-fb => JOYJB200.axis.1.position DRODMIS.axis.1.pos


# ################
# Z [2] Axis
# ################

# axis enable chain
newsig emcmot.02.enable bit
sets emcmot.02.enable FALSE
net emcmot.02.enable => pid.2.enable
net emcmot.02.enable => hm2_[HOSTMOT2](BOARD).0.pwmgen.02.enable
net emcmot.02.enable <= axis.2.amp-enable-out

# encoder feedback
setp hm2_[HOSTMOT2](BOARD).0.encoder.02.counter-mode 0
setp hm2_[HOSTMOT2](BOARD).0.encoder.02.filter 1
setp hm2_[HOSTMOT2](BOARD).0.encoder.02.index-invert 0
setp hm2_[HOSTMOT2](BOARD).0.encoder.02.index-mask 0
setp hm2_[HOSTMOT2](BOARD).0.encoder.02.index-mask-invert 0

setp hm2_[HOSTMOT2](BOARD).0.encoder.02.scale [AXIS_2]INPUT_SCALE
net motor.02.pos-fb hm2_[HOSTMOT2](BOARD).0.encoder.02.position => pid.2.feedback
net motor.02.pos-fb => axis.2.motor-pos-fb #push copy back to Axis GUI
net zsvr hm2_[HOSTMOT2](BOARD).0.gpio.038.in => stopsign.0.zsvr
# set PID loop gains from inifile
setp pid.2.Pgain [AXIS_2]P
setp pid.2.Igain [AXIS_2]I
setp pid.2.Dgain [AXIS_2]D
setp pid.2.bias [AXIS_2]BIAS
setp pid.2.FF0 [AXIS_2]FF0
setp pid.2.FF1 [AXIS_2]FF1
setp pid.2.FF2 [AXIS_2]FF2
setp pid.2.deadband [AXIS_2]DEADBAND
setp pid.2.maxoutput [AXIS_2]MAX_OUTPUT

# position command signals
setp hm2_[HOSTMOT2](BOARD).0.pwmgen.02.output-type 1 #pwm on pin1, dir on pin2
setp hm2_[HOSTMOT2](BOARD).0.pwmgen.02.scale [AXIS_2]OUTPUT_SCALE

net emcmot.02.pos-cmd axis.2.motor-pos-cmd => pid.2.command
net motor.02.command pid.2.output => hm2_[HOSTMOT2](BOARD).0.pwmgen.02.value
net jstk.axis.2.vel JOYJB200.axis.2.output => halui.jog.2.analog
net pos.2.fb axis.2.joint-pos-fb => JOYJB200.axis.2.position DRODMIS.axis.2.pos



# ##################################################
# Standard I/O Block - EStop, Etc
# ##################################################

# create a signal for the estop loopback net stop-signal hm2_[HOSTMOT2](BOARD).0.gpio.065.in => stopsign.0.jstop
#net estop-loop iocontrol.0.user-enable-out => iocontrol.0.emc-enable-in
net estop-loop stopsign.0.out => iocontrol.0.emc-enable-in
# create signals for tool loading loopback
net tool-prep-loop iocontrol.0.tool-prepare => iocontrol.0.tool-prepared
net tool-change-loop iocontrol.0.tool-change => iocontrol.0.tool-changed

############################
# homing
#
############################
#
#
# EMC expects the value on the .home-sw-in HAL pin to be active high, ie
# True when the switch is closed and False when the switch is open.
# We get this behavior by linking the GPIO .in_not pin instead of the .in
# pin.
#
#axis.0.home-sw-in
#axis.1.home-sw-in
#axis.2.home-sw-in
net home-switch-0 hm2_[HOSTMOT2](BOARD).0.gpio.057.in_not => LIMITTRANS.xlimitin
net home-switch-1 hm2_[HOSTMOT2](BOARD).0.gpio.058.in_not => LIMITTRANS.ylimitin
net home-switch-2 hm2_[HOSTMOT2](BOARD).0.gpio.059.in_not => LIMITTRANS.zlimitin

net y-index-enable hm2_[HOSTMOT2](BOARD).0.encoder.01.index-enable <=> axis.1.index-enable pid.1.index-enable
net z-index-enable hm2_[HOSTMOT2](BOARD).0.encoder.02.index-enable <=> axis.2.index-enable pid.2.index-enable
net x-index-enable hm2_[HOSTMOT2](BOARD).0.encoder.00.index-enable <=> axis.0.index-enable pid.0.index-enable
############################
# probe sign
############################
setp hm2_[HOSTMOT2](BOARD).0.gpio.066.is_output 1
setp hm2_[HOSTMOT2](BOARD).0.gpio.068.is_output 1
setp hm2_[HOSTMOT2](BOARD).0.gpio.056.is_output 1
#setp hm2_[HOSTMOT2](BOARD).0.gpio.066.invert_output 1
net probe_test hm2_[HOSTMOT2](BOARD).0.gpio.071.in => hm2_[HOSTMOT2](BOARD).0.encoder.00.latch-enable hm2_[HOSTMOT2](BOARD).0.encoder.01.latch-enable hm2_[HOSTMOT2](BOARD).0.encoder.02.latch-enable hm2_[HOSTMOT2](BOARD).0.gpio.056.out
net probet hm2_[HOSTMOT2](BOARD).0.gpio.071.in_not => JOYJB200.probesign hm2_[HOSTMOT2](BOARD).0.gpio.068.out DRODMIS.probesign


############################
# Spindle Setting
############################
#net spindle-cmd <= motion.spindle-speed-out => hm2_[HOSTMOT2](BOARD).0.pwmgen.05.value
net spindle-enable <= motion.spindle-on => hm2_[HOSTMOT2](BOARD).0.pwmgen.05.enable
net ssvr hm2_[HOSTMOT2](BOARD).0.gpio.041.in => stopsign.0.ssvr
setp hm2_[HOSTMOT2](BOARD).0.pwmgen.05.output-type 1 #pwm on pin1, dir on pin2
setp hm2_[HOSTMOT2](BOARD).0.pwmgen.05.scale 3000
############################
# limit Setting
############################

net xneglim LIMITTRANS.xneglimit => axis.0.neg-lim-sw-in
net xposlim LIMITTRANS.xposlimit => axis.0.pos-lim-sw-in
net yneglim LIMITTRANS.yneglimit => axis.1.neg-lim-sw-in
net yposlim LIMITTRANS.yposlimit => axis.1.pos-lim-sw-in
net zneglim LIMITTRANS.zneglimit => axis.2.neg-lim-sw-in
net zposlim LIMITTRANS.zposlimit => axis.2.pos-lim-sw-in

sorry I will need the ini file too

[HOSTMOT2]
DRIVER=hm2_pci
BOARD=5i20
CONFIG="firmware=hm2/5i20/5I20_SVST8_3P.BIT num_encoders=3 num_pwmgens=6 num_stepgens=0"




[EMC]

# Name of machine, for use with display, etc.
MACHINE = APIZC 5Axis_Milling


# Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
#DEBUG = 0x00000003
#DEBUG = 0x00000007
DEBUG = 0




[DISPLAY]

# Name of display program, e.g., tkemc
DISPLAY = axis
PYVCP = mypanel.xml
# Cycle time, in seconds, that display will sleep between polls
CYCLE_TIME = 0.0500

# Path to help file
HELP_FILE = tkemc.txt

# Initial display setting for position, RELATIVE or MACHINE
POSITION_OFFSET = MACHINE

# Initial display setting for position, COMMANDED or ACTUAL
POSITION_FEEDBACK = ACTUAL

# Highest value that will be allowed for feed override, 1.0 = 100%
MAX_FEED_OVERRIDE = 1.1

# Prefix to be used
PROGRAM_PREFIX = /home/apizc/emc2/nc_files

# Introductory graphic
INTRO_GRAPHIC = emc2.gif
INTRO_TIME = 5




[TASK]

# Name of task controller program, e.g., milltask
TASK = milltask

# Cycle time, in seconds, that task controller will sleep between polls
CYCLE_TIME = 0.010




[RS274NGC]

# File containing interpreter variables
PARAMETER_FILE = hm2-servo.var




[EMCMOT]

EMCMOT = motmod

# Timeout for comm to emcmot, in seconds
COMM_TIMEOUT = 1.0

# Interval between tries to emcmot, in seconds
COMM_WAIT = 0.010

# Servo task period, in nanoseconds
SERVO_PERIOD = 1000000




[HAL]

# The run script first uses halcmd to execute any HALFILE
# files, and then to execute any individual HALCMD commands.

# list of hal config files to run through halcmd
# files are executed in the order in which they appear
HALUI = halui
HALFILE = hm2-servo.hal
POSTGUI_HALFILE=customerconfig.hal
# list of halcmd commands to execute
# commands are executed in the order in which they appear
#HALCMD = save neta




[TRAJ]

AXES = 3
# COORDINATES = X Y Z R P W
COORDINATES = X Y Z
HOME = 0 0 0 0
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
CYCLE_TIME = 0.010
DEFAULT_VELOCITY = 100
MAX_VELOCITY = 200
DEFAULT_ACCELERATION = 400
MAX_ACCELERATION = 400




[AXIS_0]

TYPE = LINEAR
MAX_VELOCITY = 200
MAX_ACCELERATION = 400
BACKLASH = 0.000
FERROR = 200
MIN_FERROR = 150

INPUT_SCALE = -999.98966

OUTPUT_SCALE = 250
OUTPUT_OFFSET = 0
MAX_OUTPUT = 200

MIN_LIMIT = -3
MAX_LIMIT = 7010
HOME = 0
HOME_OFFSET = 0
#HOME_SEARCH_VEL = -10
#HOME_LATCH_VEL = 10
HOME_SEARCH_VEL = 0
HOME_LATCH_VEL = -10
# the X axis servo's encoder does not have an index channel, so we have to home without index
HOME_USE_INDEX = YES
HOME_IGNORE_LIMITS = NO

# PID tuning params
DEADBAND = 0.000015
P = 20
I = 0
D = 0
FF0 = 0.000
FF1 = 0.5
FF2 = 0.0
BIAS = 0.000




[AXIS_1]

TYPE = LINEAR
MAX_VELOCITY = 200
MAX_ACCELERATION = 400
BACKLASH = 0.000
FERROR = 200
MIN_FERROR = 150

INPUT_SCALE = -999.95326

OUTPUT_SCALE = 250
OUTPUT_OFFSET = 0
MAX_OUTPUT = 200

MIN_LIMIT = -1410
MAX_LIMIT = 3
HOME = 0
HOME_OFFSET = 0
#HOME_SEARCH_VEL = -10
#HOME_LATCH_VEL = 10
HOME_SEARCH_VEL = 0
HOME_LATCH_VEL = 10
# the Y axis servo's encoder has an index channel, so we use it to improve the home accuracy
HOME_USE_INDEX = YES
HOME_IGNORE_LIMITS = NO

# PID tuning params
DEADBAND = 0.000015
P = 20
I = 0
D = 0.000
FF0 = 0.000
FF1 = 0.5
FF2 = 0.0
BIAS = 0.000




[AXIS_2]

TYPE = LINEAR
MAX_VELOCITY = 200
MAX_ACCELERATION = 400
BACKLASH = 0.000
FERROR = 200
MIN_FERROR = 150

INPUT_SCALE = -1000.0200

OUTPUT_SCALE = -250
OUTPUT_OFFSET = 0.0
MAX_OUTPUT = 200

MIN_LIMIT = -2010
MAX_LIMIT = 3
HOME = 0
HOME_OFFSET = 0
#HOME_SEARCH_VEL = -10
#HOME_LATCH_VEL = 10
HOME_SEARCH_VEL = 0
HOME_LATCH_VEL = 10
# the Z axis servo's encoder does not have an index channel, so we have to home without index
HOME_USE_INDEX = YES
HOME_IGNORE_LIMITS = NO

# PID tuning params
DEADBAND = 0.000015
P = 20
I = 0
D = 0.000
FF0 = 0.000
FF1 = 0.5
FF2 = 0.0
BIAS = 0.000




[EMCIO]

# Name of IO controller program, e.g., io
EMCIO = io

# cycle time, in seconds
CYCLE_TIME = 0.100

# tool table file
TOOL_TABLE = tool.tbl

hmmm I can't find anything obvious...
If I had to guess, I would say there is corrupted data on the Mesa board or maybe the firmware?
Did this board every work ?
I'm sorry you'll have to wait for someone who knows more about firmware loading.

the card works well for a long time,I don't know what wrong with it.Thanks a lot.

did you re save the ini and hal files the seem to be previously saved in windows format etc

see -
hm2-servo.hal:25: Warning: File contains DOS-style line endings.
inifile: warning: File contains DOS-style line endings.
hm2-servo.hal:51: parameter or pin 'hm2_5i20.0.pwmgen.pwm_frequency' not found

so resave the files using gedit etc and change the line endings to be linux and you should find your ok
these errors are around as you can see line 25 & 51 in your hal file
this would stop the ini file loading the driver .

editing or transfering your hal files on a windows machine and sending by email etc to your linuxcnc can cause this if your not careful

If nothing else was changed when it stopped working I would suspect the 5I20 card/PC or PCI connector
I would try removing the 5I20 card, cleaning the contact fingers with 99% isopropyl alchohol
and reseating it. It looks like bad pci/localbus interface bit (bit 18 open/stuck low) but this would need to be confirmed
by additional tests.

BTW This error is very unlikely to be caused by a corrupted bitfile, as the FPGA CRC checks the bitlfile as it is loaded
and will not start if there is a CRC error.