Error: "Insmod for DRIVER failed, returned -1"

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-3.4-9-rtai-686-pae/modules/linuxcnc
LINUXCNC_CONFIG_DIR=
LINUXCNC_LANG_DIR=/usr/share/linuxcnc/tcl/msgs
INIVAR=inivar
HALCMD=halcmd
LINUXCNC_EMCSH=/usr/bin/wish8.5
LINUXCNC - 2.7.11
Machine configuration directory is '/home/a/linuxcnc/configs/lms'
Machine configuration file is 'lms.ini'
INIFILE=/home/a/linuxcnc/configs/lms/lms.ini
PARAMETER_FILE=linuxcnc.var
TASK=milltask
HALUI=
DISPLAY=axis
Starting LinuxCNC...
Starting LinuxCNC server program: linuxcncsvr
Loading Real Time OS, RTAPI, and HAL_LIB modules
Starting LinuxCNC IO program: io
emc/iotask/ioControl.cc 768: can't load tool table.
Found file(REL): ./lms.hal
Shutting down and cleaning up LinuxCNC...
Killing task linuxcncsvr, PID=3832
Removing HAL_LIB, RTAPI, and Real Time OS modules
Removing NML shared memory segments

./lms.hal:9: child did not exit normally
./lms.hal:9: insmod for lms_canopen_driver failed, returned -1
See the output of 'dmesg' for more information.
3832
  PID TTY      STAT   TIME COMMAND
Stopping realtime threads
Unloading hal components
Error: Module lms_canopen_driver is in use
<commandline>:0: exit value: 1
<commandline>:0: rmmod failed, returned -1
<commandline>:0: unloadrt failed
Error: Module hal_lib is in use by: lms_canopen_driver
Error: Module rtapi is in use by: hal_lib lms_canopen_driver
Error: Module rtai_sched is in use by: rtapi
Error: Module rtai_hal is in use by: rtapi rtai_sched

[    0.000000] Initializing cgroup subsys cpuset
[    0.000000] Initializing cgroup subsys cpu
[    0.000000] Linux version 3.4-9-rtai-686-pae (Debian 3.4.55-4linuxcnc) () (gcc version 4.6.3 (Debian 4.6.3-14) ) #1 SMP PREEMPT Debian 3.4.55-4linuxcnc
[    0.000000] BIOS-provided physical RAM map:
[    0.000000]  BIOS-e820: 0000000000000000 - 000000000009fc00 (usable)
[    0.000000]  BIOS-e820: 000000000009fc00 - 00000000000a0000 (reserved)
[    0.000000]  BIOS-e820: 00000000000f0000 - 0000000000100000 (reserved)
[    0.000000]  BIOS-e820: 0000000000100000 - 000000003fff0000 (usable)
[    0.000000]  BIOS-e820: 000000003fff0000 - 0000000040000000 (ACPI data)
[    0.000000]  BIOS-e820: 00000000fec00000 - 00000000fec01000 (reserved)
[    0.000000]  BIOS-e820: 00000000fee00000 - 00000000fee01000 (reserved)
[    0.000000]  BIOS-e820: 00000000fffc0000 - 0000000100000000 (reserved)
[    0.000000] Notice: NX (Execute Disable) protection missing in CPU!
[    0.000000] SMBIOS 2.5 present.
[    0.000000] DMI: innotek GmbH VirtualBox/VirtualBox, BIOS VirtualBox 12/01/2006
[    0.000000] e820 update range: 0000000000000000 - 0000000000010000 (usable) ==> (reserved)
[    0.000000] e820 remove range: 00000000000a0000 - 0000000000100000 (usable)
[    0.000000] last_pfn = 0x3fff0 max_arch_pfn = 0x100000
[    0.000000] MTRR default type: uncachable
[    0.000000] MTRR variable ranges disabled:
[    0.000000] x86 PAT enabled: cpu 0, old 0x7040600070406, new 0x7010600070106
[    0.000000] CPU MTRRs all blank - virtualized system.
[    0.000000] initial memory mapped : 0 - 01800000
[    0.000000] Base memory trampoline at [c009b000] 9b000 size 16384
[    0.000000] init_memory_mapping: 0000000000000000-00000000377fe000
[    0.000000]  0000000000 - 0000400000 page 4k
[    0.000000]  0000400000 - 0037400000 page 2M
[    0.000000]  0037400000 - 00377fe000 page 4k
[    0.000000] kernel direct mapping tables up to 0x377fdfff @ [mem 0x017f8000-0x017fffff]
[    0.000000] RAMDISK: 36528000 - 3728c000
[    0.000000] ACPI: RSDP 000e0000 00024 (v02 VBOX  )
[    0.000000] ACPI: XSDT 3fff0030 00034 (v01 VBOX   VBOXXSDT 00000001 ASL  00000061)
[    0.000000] ACPI: FACP 3fff00f0 000F4 (v04 VBOX   VBOXFACP 00000001 ASL  00000061)
[    0.000000] ACPI: DSDT 3fff0410 021FF (v02 VBOX   VBOXBIOS 00000002 INTL 20100528)
[    0.000000] ACPI: FACS 3fff0200 00040
[    0.000000] ACPI: SSDT 3fff0240 001CC (v01 VBOX   VBOXCPUT 00000002 INTL 20100528)
[    0.000000] 135MB HIGHMEM available.
[    0.000000] 887MB LOWMEM available.
[    0.000000]   mapped low ram: 0 - 377fe000
[    0.000000]   low ram: 0 - 377fe000
[    0.000000] Zone PFN ranges:
[    0.000000]   DMA      0x00000010 -> 0x00001000
[    0.000000]   Normal   0x00001000 -> 0x000377fe
[    0.000000]   HighMem  0x000377fe -> 0x0003fff0
[    0.000000] Movable zone start PFN for each node
[    0.000000] Early memory PFN ranges
[    0.000000]     0: 0x00000010 -> 0x0000009f
[    0.000000]     0: 0x00000100 -> 0x0003fff0
[    0.000000] On node 0 totalpages: 262015
[    0.000000] free_area_init_node: node 0, pgdat c1498a00, node_mem_map f5d28200
[    0.000000]   DMA zone: 32 pages used for memmap
[    0.000000]   DMA zone: 0 pages reserved
[    0.000000]   DMA zone: 3951 pages, LIFO batch:0
[    0.000000]   Normal zone: 1744 pages used for memmap
[    0.000000]   Normal zone: 221486 pages, LIFO batch:31
[    0.000000]   HighMem zone: 272 pages used for memmap
[    0.000000]   HighMem zone: 34530 pages, LIFO batch:7
[    0.000000] Using APIC driver default
[    0.000000] ACPI: PM-Timer IO Port: 0x4008
[    0.000000] SMP: Allowing 1 CPUs, 0 hotplug CPUs
[    0.000000] Found and enabled local APIC!
[    0.000000] nr_irqs_gsi: 16
[    0.000000] PM: Registered nosave memory: 000000000009f000 - 00000000000a0000
[    0.000000] PM: Registered nosave memory: 00000000000a0000 - 00000000000f0000
[    0.000000] PM: Registered nosave memory: 00000000000f0000 - 0000000000100000
[    0.000000] Allocating PCI resources starting at 40000000 (gap: 40000000:bec00000)
[    0.000000] setup_percpu: NR_CPUS:8 nr_cpumask_bits:8 nr_cpu_ids:1 nr_node_ids:1
[    0.000000] PERCPU: Embedded 17 pages/cpu @f77e5000 s48384 r0 d21248 u69632
[    0.000000] pcpu-alloc: s48384 r0 d21248 u69632 alloc=17*4096
[    0.000000] pcpu-alloc: [0] 0 
[    0.000000] Built 1 zonelists in Zone order, mobility grouping on.  Total pages: 259967
[    0.000000] Kernel command line: BOOT_IMAGE=/boot/vmlinuz-3.4-9-rtai-686-pae root=UUID=34b49d64-570f-4fc4-b6f5-964bcf98c7f1 ro initrd=/install/gtk/initrd.gz lapic quiet rootdelay=5
[    0.000000] PID hash table entries: 4096 (order: 2, 16384 bytes)
[    0.000000] Dentry cache hash table entries: 131072 (order: 7, 524288 bytes)
[    0.000000] Inode-cache hash table entries: 65536 (order: 6, 262144 bytes)
[    0.000000] Initializing CPU#0
[    0.000000] xsave/xrstor: enabled xstate_bv 0x7, cntxt size 0x340
[    0.000000] allocated 2096896 bytes of page_cgroup
[    0.000000] please try 'cgroup_disable=memory' option if you don't want memory cgroups
[    0.000000] Initializing HighMem for node 0 (000377fe:0003fff0)
[    0.000000] Memory: 1017348k/1048512k available (3495k kernel code, 30712k reserved, 1237k data, 416k init, 139208k highmem)
[    0.000000] virtual kernel memory layout:
[    0.000000]     fixmap  : 0xfff17000 - 0xfffff000   ( 928 kB)
[    0.000000]     pkmap   : 0xff800000 - 0xffc00000   (4096 kB)
[    0.000000]     vmalloc : 0xf7ffe000 - 0xff7fe000   ( 120 MB)
[    0.000000]     lowmem  : 0xc0000000 - 0xf77fe000   ( 887 MB)
[    0.000000]       .init : 0xc14a0000 - 0xc1508000   ( 416 kB)
[    0.000000]       .data : 0xc1369d4a - 0xc149f480   (1237 kB)
[    0.000000]       .text : 0xc1000000 - 0xc1369d4a   (3495 kB)
[    0.000000] Checking if this processor honours the WP bit even in supervisor mode...Ok.
[    0.000000] Preemptible hierarchical RCU implementation.
[    0.000000] 	RCU dyntick-idle grace-period acceleration is enabled.
[    0.000000] NR_IRQS:2304 nr_irqs:256 16
[    0.000000] CPU 0 irqstacks, hard=f5806000 soft=f5808000
[    0.000000] Interrupt pipeline (release #3)
[    0.000000] Console: colour VGA+ 80x25
[    0.000000] console [tty0] enabled
[    0.000000] Fast TSC calibration failed
[    0.016000] TSC: Unable to calibrate against PIT
[    0.016000] TSC: using PMTIMER reference calibration
[    0.016000] Detected 2807.899 MHz processor.
[    0.000001] Calibrating delay loop (skipped), value calculated using timer frequency.. 5615.79 BogoMIPS (lpj=11231596)
[    0.000004] pid_max: default: 32768 minimum: 301
[    0.000038] Security Framework initialized
[    0.000041] AppArmor: AppArmor disabled by boot time parameter
[    0.000051] Mount-cache hash table entries: 512
[    0.000210] Initializing cgroup subsys cpuacct
[    0.000212] Initializing cgroup subsys memory
[    0.000216] Initializing cgroup subsys devices
[    0.000218] Initializing cgroup subsys freezer
[    0.000219] Initializing cgroup subsys net_cls
[    0.000221] Initializing cgroup subsys blkio
[    0.000225] Initializing cgroup subsys perf_event
[    0.000295] CPU: Physical Processor ID: 0
[    0.002496] mce: CPU supports 0 MCE banks
[    0.002805] SMP alternatives: switching to UP code
[    0.010103] Freeing SMP alternatives: 16k freed
[    0.010108] ACPI: Core revision 20120320
[    0.010857] ACPI: setting ELCR to 0200 (from 0e00)
[    0.010944] weird, boot CPU (#0) not listed by the BIOS.
[    0.010949] SMP motherboard not detected.
[    0.010952] Enabling APIC mode:  Flat.  Using 0 I/O APICs
[    0.117038] SMP disabled
[    0.117041] Performance Events: unsupported p6 CPU model 158 no PMU driver, software events only.
[    0.129879] NMI watchdog: disabled (cpu0): hardware events not enabled
[    0.130277] Brought up 1 CPUs
[    0.130292] Total of 1 processors activated (5615.79 BogoMIPS).
[    0.130599] devtmpfs: initialized
[    0.131009] dummy: 
[    0.131057] NET: Registered protocol family 16
[    0.131183] ACPI: bus type pci registered
[    0.131420] PCI: PCI BIOS revision 2.10 entry at 0xfda26, last bus=0
[    0.131422] PCI: Using configuration type 1 for base access
[    0.131951] bio: create slab <bio-0> at 0
[    0.132023] ACPI: Added _OSI(Module Device)
[    0.132025] ACPI: Added _OSI(Processor Device)
[    0.132028] ACPI: Added _OSI(3.0 _SCP Extensions)
[    0.132030] ACPI: Added _OSI(Processor Aggregator Device)
[    0.132678] ACPI: EC: Look up EC in DSDT
[    0.133068] ACPI: Executed 1 blocks of module-level executable AML code
[    0.135319] ACPI: Interpreter enabled
[    0.135328] ACPI: (supports S0 S5)
[    0.135336] ACPI: Using PIC for interrupt routing
[    0.138361] ACPI: No dock devices found.
[    0.138366] PCI: Ignoring host bridge windows from ACPI; if necessary, use "pci=use_crs" and report a bug
[    0.138445] ACPI: PCI Root Bridge [PCI0] (domain 0000 [bus 00-ff])
[    0.138557] pci_root PNP0A03:00: host bridge window [io  0x0000-0x0cf7] (ignored)
[    0.138559] pci_root PNP0A03:00: host bridge window [io  0x0d00-0xffff] (ignored)
[    0.138560] pci_root PNP0A03:00: host bridge window [mem 0x000a0000-0x000bffff] (ignored)
[    0.138562] pci_root PNP0A03:00: host bridge window [mem 0x40000000-0xfdffffff] (ignored)
[    0.138563] PCI: root bus 00: using default resources
[    0.138580] PCI host bridge to bus 0000:00
[    0.138581] pci_bus 0000:00: root bus resource [io  0x0000-0xffff]
[    0.138583] pci_bus 0000:00: root bus resource [mem 0x00000000-0xffffffff]
[    0.138627] pci 0000:00:00.0: [8086:1237] type 00 class 0x060000
[    0.138980] pci 0000:00:01.0: [8086:7000] type 00 class 0x060100
[    0.139526] pci 0000:00:01.1: [8086:7111] type 00 class 0x01018a
[    0.139974] pci 0000:00:01.1: reg 20: [io  0xd000-0xd00f]
[    0.140256] pci 0000:00:02.0: [80ee:beef] type 00 class 0x030000
[    0.140851] pci 0000:00:02.0: reg 10: [mem 0xe0000000-0xe0ffffff pref]
[    0.144011] pci 0000:00:03.0: [8086:100e] type 00 class 0x020000
[    0.144377] pci 0000:00:03.0: reg 10: [mem 0xf0000000-0xf001ffff]
[    0.144885] pci 0000:00:03.0: reg 18: [io  0xd010-0xd017]
[    0.146100] pci 0000:00:04.0: [80ee:cafe] type 00 class 0x088000
[    0.146369] pci 0000:00:04.0: reg 10: [io  0xd020-0xd03f]
[    0.146615] pci 0000:00:04.0: reg 14: [mem 0xf0400000-0xf07fffff]
[    0.146855] pci 0000:00:04.0: reg 18: [mem 0xf0800000-0xf0803fff pref]
[    0.147864] pci 0000:00:05.0: [8086:2415] type 00 class 0x040100
[    0.147956] pci 0000:00:05.0: reg 10: [io  0xd100-0xd1ff]
[    0.148022] pci 0000:00:05.0: reg 14: [io  0xd200-0xd23f]
[    0.148434] pci 0000:00:06.0: [106b:003f] type 00 class 0x0c0310
[    0.148719] pci 0000:00:06.0: reg 10: [mem 0xf0804000-0xf0804fff]
[    0.150318] pci 0000:00:07.0: [8086:7113] type 00 class 0x068000
[    0.150827] pci 0000:00:07.0: quirk: [io  0x4000-0x403f] claimed by PIIX4 ACPI
[    0.150837] pci 0000:00:07.0: quirk: [io  0x4100-0x410f] claimed by PIIX4 SMB
[    0.151017] pci 0000:00:0d.0: [8086:2829] type 00 class 0x010601
[    0.151419] pci 0000:00:0d.0: reg 10: [io  0xd240-0xd247]
[    0.151743] pci 0000:00:0d.0: reg 14: [io  0xd248-0xd24b]
[    0.152064] pci 0000:00:0d.0: reg 18: [io  0xd250-0xd257]
[    0.152346] pci 0000:00:0d.0: reg 1c: [io  0xd258-0xd25b]
[    0.152624] pci 0000:00:0d.0: reg 20: [io  0xd260-0xd26f]
[    0.152901] pci 0000:00:0d.0: reg 24: [mem 0xf0806000-0xf0807fff]
[    0.153392] pci_bus 0000:00: on NUMA node 0
[    0.153405] ACPI: PCI Interrupt Routing Table [\_SB_.PCI0._PRT]
[    0.154376]  pci0000:00: Unable to request _OSC control (_OSC support mask: 0x0e)
[    0.159984] ACPI: PCI Interrupt Link [LNKA] (IRQs 5 9 10 *11)
[    0.160157] ACPI: PCI Interrupt Link [LNKB] (IRQs 5 9 *10 11)
[    0.160217] ACPI: PCI Interrupt Link [LNKC] (IRQs 5 *9 10 11)
[    0.160277] ACPI: PCI Interrupt Link [LNKD] (IRQs 5 9 10 *11)
[    0.160373] vgaarb: device added: PCI:0000:00:02.0,decodes=io+mem,owns=io+mem,locks=none
[    0.160376] vgaarb: loaded
[    0.160377] vgaarb: bridge control possible 0000:00:02.0
[    0.160392] PCI: Using ACPI for IRQ routing
[    0.160394] PCI: pci_cache_line_size set to 64 bytes
[    0.160579] reserve RAM buffer: 000000000009fc00 - 000000000009ffff 
[    0.160583] reserve RAM buffer: 000000003fff0000 - 000000003fffffff 
[    0.160688] pnp: PnP ACPI init
[    0.160693] ACPI: bus type pnp registered
[    0.160764] pnp 00:00: [bus 00-ff]
[    0.160766] pnp 00:00: [io  0x0cf8-0x0cff]
[    0.160767] pnp 00:00: [io  0x0000-0x0cf7 window]
[    0.160769] pnp 00:00: [io  0x0d00-0xffff window]
[    0.160770] pnp 00:00: [mem 0x000a0000-0x000bffff window]
[    0.160771] pnp 00:00: [mem 0x40000000-0xfdffffff window]
[    0.160788] pnp 00:00: Plug and Play ACPI device, IDs PNP0a03 (active)
[    0.160799] pnp 00:01: [io  0x0060]
[    0.160800] pnp 00:01: [io  0x0064]
[    0.160802] pnp 00:01: [irq 1]
[    0.160812] pnp 00:01: Plug and Play ACPI device, IDs PNP0303 (active)
[    0.160817] pnp 00:02: [io  0x0000-0x000f]
[    0.160818] pnp 00:02: [io  0x0080-0x008f]
[    0.160819] pnp 00:02: [io  0x00c0-0x00df]
[    0.160820] pnp 00:02: [dma 4]
[    0.160829] pnp 00:02: Plug and Play ACPI device, IDs PNP0200 (active)
[    0.160862] pnp 00:03: [irq 12]
[    0.160874] pnp 00:03: Plug and Play ACPI device, IDs PNP0f03 (active)
[    0.161495] pnp: PnP ACPI: found 4 devices
[    0.161496] ACPI: ACPI bus type pnp unregistered
[    0.161498] PnPBIOS: Disabled by ACPI PNP
[    0.196668] Switching to clocksource acpi_pm
[    0.196687] pci_bus 0000:00: resource 4 [io  0x0000-0xffff]
[    0.196689] pci_bus 0000:00: resource 5 [mem 0x00000000-0xffffffff]
[    0.196726] NET: Registered protocol family 2
[    0.196760] IP route cache hash table entries: 32768 (order: 5, 131072 bytes)
[    0.196841] TCP established hash table entries: 131072 (order: 8, 1048576 bytes)
[    0.196973] TCP bind hash table entries: 65536 (order: 7, 524288 bytes)
[    0.197039] TCP: Hash tables configured (established 131072 bind 65536)
[    0.197040] TCP: reno registered
[    0.197042] UDP hash table entries: 512 (order: 2, 16384 bytes)
[    0.197045] UDP-Lite hash table entries: 512 (order: 2, 16384 bytes)
[    0.197076] NET: Registered protocol family 1
[    0.197082] pci 0000:00:00.0: Limiting direct PCI/PCI transfers
[    0.197694] pci 0000:00:01.0: Activating ISA DMA hang workarounds
[    0.197723] pci 0000:00:02.0: Boot video device
[    0.197990] ACPI: PCI Interrupt Link [LNKB] enabled at IRQ 10
[    0.197992] PCI: setting IRQ 10 as level-triggered
[    0.198244] PCI: CLS 0 bytes, default 64
[    0.198270] Unpacking initramfs...
[    0.464901] Freeing initrd memory: 13712k freed
[    0.466690] platform rtc_cmos: registered platform RTC device (no PNP device found)
[    0.467497] audit: initializing netlink socket (disabled)
[    0.467538] type=2000 audit(1512925101.372:1): initialized
[    0.477552] highmem bounce pool size: 64 pages
[    0.477555] HugeTLB registered 4 MB page size, pre-allocated 0 pages
[    0.477707] VFS: Disk quotas dquot_6.5.2
[    0.477721] Dquot-cache hash table entries: 1024 (order 0, 4096 bytes)
[    0.477760] msgmni has been set to 1741
[    0.477849] alg: No test for stdrng (krng)
[    0.477863] Block layer SCSI generic (bsg) driver version 0.4 loaded (major 253)
[    0.477865] io scheduler noop registered
[    0.477867] io scheduler deadline registered
[    0.477874] io scheduler cfq registered (default)
[    0.477909] pci_hotplug: PCI Hot Plug PCI Core version: 0.5
[    0.477919] pciehp: PCI Express Hot Plug Controller Driver version: 0.4
[    0.477920] acpiphp: ACPI Hot Plug PCI Controller Driver version: 0.5
[    0.478133] GHES: HEST is not enabled!
[    0.478140] isapnp: Scanning for PnP cards...
[    0.848718] isapnp: No Plug & Play device found
[    0.848764] Serial: 8250/16550 driver, 4 ports, IRQ sharing enabled
[    0.849035] Linux agpgart interface v0.103
[    0.849142] i8042: PNP: PS/2 Controller [PNP0303:PS2K,PNP0f03:PS2M] at 0x60,0x64 irq 1,12
[    0.849440] serio: i8042 KBD port at 0x60,0x64 irq 1
[    0.849454] serio: i8042 AUX port at 0x60,0x64 irq 12
[    0.849490] mousedev: PS/2 mouse device common for all mice
[    0.849668] input: AT Translated Set 2 keyboard as /devices/platform/i8042/serio0/input/input0
[    0.849933] rtc_cmos rtc_cmos: rtc core: registered rtc_cmos as rtc0
[    0.849951] rtc0: alarms up to one day, 114 bytes nvram
[    0.850019] TCP: cubic registered
[    0.850038] NET: Registered protocol family 10
[    0.850150] Mobile IPv6
[    0.850151] NET: Registered protocol family 17
[    0.850153] Registering the dns_resolver key type
[    0.850184] Using IPI No-Shortcut mode
[    0.850219] PM: Hibernation image not present or could not be loaded.
[    0.850227] registered taskstats version 1
[    0.850556] rtc_cmos rtc_cmos: setting system clock to 2017-12-10 16:58:22 UTC (1512925102)
[    0.850595] Freeing unused kernel memory: 416k freed
[    0.850663] Write protecting the kernel text: 3496k
[    0.850674] Write protecting the kernel read-only data: 984k
[    0.861205] udevd[44]: starting version 175
[    0.870376] SCSI subsystem initialized
[    0.873710] e1000: Intel(R) PRO/1000 Network Driver - version 7.3.21-k8-NAPI
[    0.873712] e1000: Copyright (c) 1999-2006 Intel Corporation.
[    0.873973] ACPI: PCI Interrupt Link [LNKC] enabled at IRQ 9
[    0.873975] PCI: setting IRQ 9 as level-triggered
[    0.874025] e1000 0000:00:03.0: setting latency timer to 64
[    0.877610] usbcore: registered new interface driver usbfs
[    0.877640] usbcore: registered new interface driver hub
[    0.894863] libata version 3.00 loaded.
[    0.899041] usbcore: registered new device driver usb
[    0.899353] ehci_hcd: USB 2.0 'Enhanced' Host Controller (EHCI) Driver
[    0.899532] ohci_hcd: USB 1.1 'Open' Host Controller (OHCI) Driver
[    0.904031] microcode: CPU0 sig=0x906e9, pf=0x8, revision=0x0
[    0.930728] microcode: Microcode Update Driver: v2.00 <tigran@aivazian.fsnet.co.uk>, Peter Oruba
[    1.260010] e1000 0000:00:03.0: eth0: (PCI:33MHz:32-bit) 08:00:27:2e:e2:33
[    1.260018] e1000 0000:00:03.0: eth0: Intel(R) PRO/1000 Network Connection
[    1.260028] ata_piix 0000:00:01.1: version 2.13
[    1.260108] ata_piix 0000:00:01.1: setting latency timer to 64
[    1.260931] scsi0 : ata_piix
[    1.261011] scsi1 : ata_piix
[    1.261035] ata1: PATA max UDMA/33 cmd 0x1f0 ctl 0x3f6 bmdma 0xd000 irq 14
[    1.261037] ata2: PATA max UDMA/33 cmd 0x170 ctl 0x376 bmdma 0xd008 irq 15
[    1.261131] ohci_hcd 0000:00:06.0: setting latency timer to 64
[    1.261142] ohci_hcd 0000:00:06.0: OHCI Host Controller
[    1.261156] ohci_hcd 0000:00:06.0: new USB bus registered, assigned bus number 1
[    1.261175] ohci_hcd 0000:00:06.0: irq 10, io mem 0xf0804000
[    1.316424] usb usb1: New USB device found, idVendor=1d6b, idProduct=0001
[    1.316428] usb usb1: New USB device strings: Mfr=3, Product=2, SerialNumber=1
[    1.316431] usb usb1: Product: OHCI Host Controller
[    1.316433] usb usb1: Manufacturer: Linux 3.4-9-rtai-686-pae ohci_hcd
[    1.316436] usb usb1: SerialNumber: 0000:00:06.0
[    1.316573] hub 1-0:1.0: USB hub found
[    1.316588] hub 1-0:1.0: 12 ports detected
[    1.316923] ahci 0000:00:0d.0: version 3.0
[    1.317795] ACPI: PCI Interrupt Link [LNKA] enabled at IRQ 11
[    1.317798] PCI: setting IRQ 11 as level-triggered
[    1.317892] ahci: SSS flag set, parallel bus scan disabled
[    1.318057] ahci 0000:00:0d.0: AHCI 0001.0100 32 slots 1 ports 3 Gbps 0x1 impl SATA mode
[    1.318060] ahci 0000:00:0d.0: flags: 64bit ncq stag only ccc 
[    1.318088] ahci 0000:00:0d.0: setting latency timer to 64
[    1.318553] scsi2 : ahci
[    1.318603] ata3: SATA max UDMA/133 abar m8192@0xf0806000 port 0xf0806100 irq 11
[    1.414996] ata2.00: ATAPI: VBOX CD-ROM, 1.0, max UDMA/133
[    1.415406] ata2.00: configured for UDMA/33
[    1.415924] scsi 1:0:0:0: CD-ROM            VBOX     CD-ROM           1.0  PQ: 0 ANSI: 5
[    1.474405] Refined TSC clocksource calibration: 2807.689 MHz.
[    1.474410] Switching to clocksource tsc
[    1.639010] ata3: SATA link up 3.0 Gbps (SStatus 123 SControl 300)
[    1.639233] ata3.00: ATA-6: VBOX HARDDISK, 1.0, max UDMA/133
[    1.639236] ata3.00: 16777216 sectors, multi 128: LBA48 NCQ (depth 31/32)
[    1.639313] ata3.00: configured for UDMA/133
[    1.654104] scsi 2:0:0:0: Direct-Access     ATA      VBOX HARDDISK    1.0  PQ: 0 ANSI: 5
[    1.659519] sr0: scsi3-mmc drive: 32x/32x xa/form2 tray
[    1.659521] cdrom: Uniform CD-ROM driver Revision: 3.20
[    1.660293] sr 1:0:0:0: Attached scsi CD-ROM sr0
[    1.660848] sd 2:0:0:0: [sda] 16777216 512-byte logical blocks: (8.58 GB/8.00 GiB)
[    1.660871] sd 2:0:0:0: [sda] Write Protect is off
[    1.660873] sd 2:0:0:0: [sda] Mode Sense: 00 3a 00 00
[    1.660882] sd 2:0:0:0: [sda] Write cache: enabled, read cache: enabled, doesn't support DPO or FUA
[    1.661509]  sda: sda1 sda2 < sda5 >
[    1.661625] sd 2:0:0:0: [sda] Attached SCSI disk
[    1.662659] sr 1:0:0:0: Attached scsi generic sg0 type 5
[    1.662694] sd 2:0:0:0: Attached scsi generic sg1 type 0
[    1.721865] usb 1-1: new full-speed USB device number 2 using ohci_hcd
[    1.988281] usb 1-1: New USB device found, idVendor=80ee, idProduct=0021
[    1.988285] usb 1-1: New USB device strings: Mfr=1, Product=3, SerialNumber=0
[    1.988289] usb 1-1: Product: USB Tablet
[    1.988291] usb 1-1: Manufacturer: VirtualBox
[    2.012267] input: VirtualBox USB Tablet as /devices/pci0000:00/0000:00:06.0/usb1/1-1/1-1:1.0/input/input1
[    2.012505] generic-usb 0003:80EE:0021.0001: input,hidraw0: USB HID v1.10 Mouse [VirtualBox USB Tablet] on usb-0000:00:06.0-1/input0
[    2.013000] usbcore: registered new interface driver usbhid
[    2.013005] usbhid: USB HID core driver
[    7.027825] PM: Starting manual resume from disk
[    7.027825] PM: Hibernation image partition 8:5 present
[    7.027825] PM: Looking for hibernation image.
[    7.028313] PM: Image not found (code -22)
[    7.028315] PM: Hibernation image not present or could not be loaded.
[    7.034072] EXT4-fs (sda1): INFO: recovery required on readonly filesystem
[    7.034075] EXT4-fs (sda1): write access will be enabled during recovery
[    7.094548] EXT4-fs (sda1): orphan cleanup on readonly fs
[    7.094554] EXT4-fs (sda1): ext4_orphan_cleanup: deleting unreferenced inode 151817
[    7.094583] EXT4-fs (sda1): ext4_orphan_cleanup: deleting unreferenced inode 151816
[    7.094591] EXT4-fs (sda1): ext4_orphan_cleanup: deleting unreferenced inode 131270
[    7.094597] EXT4-fs (sda1): 3 orphan inodes deleted
[    7.094598] EXT4-fs (sda1): recovery complete
[    7.101416] EXT4-fs (sda1): mounted filesystem with ordered data mode. Opts: (null)
[    7.422664] udevd[319]: starting version 175
[    7.557173] input: Power Button as /devices/LNXSYSTM:00/LNXPWRBN:00/input/input2
[    7.557177] ACPI: Power Button [PWRF]
[    7.557805] input: Sleep Button as /devices/LNXSYSTM:00/LNXSLPBN:00/input/input3
[    7.557813] ACPI: Sleep Button [SLPF]
[    7.622175] input: Video Bus as /devices/LNXSYSTM:00/LNXSYBUS:00/PNP0A03:00/LNXVIDEO:00/input/input4
[    7.622180] ACPI: Video Device [GFX0] (multi-head: yes  rom: no  post: no)
[    7.656221] ACPI: PCI Interrupt Link [LNKD] enabled at IRQ 11
[    7.656911] vgdrvHeartbeatInit: Setting up heartbeat to trigger every 2000 milliseconds
[    7.656999] input: Unspecified device as /devices/pci0000:00/0000:00:04.0/input/input5
[    7.657424] vboxguest: misc device minor 59, IRQ 11, I/O port d020, MMIO at 00000000f0400000 (size 0x400000)
[    7.657426] vboxguest: Successfully loaded version 5.2.2 (interface 0x00010004)
[    7.668787] ACPI: AC Adapter [AC] (off-line)
[    7.669858] ACPI: Battery Slot [BAT0] (battery present)
[    7.670784] piix4_smbus 0000:00:07.0: SMBus Host Controller at 0x4100, revision 0
[    7.673838] input: ImExPS/2 Generic Explorer Mouse as /devices/platform/i8042/serio1/input/input6
[    7.700732] intel8x0: disable (unknown or VT-d) VM optimization
[    7.700767] snd_intel8x0 0000:00:05.0: setting latency timer to 64
[    8.820909] intel8x0: white list rate for 1028:0177 is 48000
[    9.231743] Adding 392188k swap on /dev/sda5.  Priority:-1 extents:1 across:392188k 
[    9.249745] EXT4-fs (sda1): re-mounted. Opts: (null)
[    9.341434] EXT4-fs (sda1): re-mounted. Opts: errors=remount-ro
[    9.366090] loop: module loaded
[   10.159034] RPC: Registered named UNIX socket transport module.
[   10.159036] RPC: Registered udp transport module.
[   10.159037] RPC: Registered tcp transport module.
[   10.159038] RPC: Registered tcp NFSv4.1 backchannel transport module.
[   10.166501] FS-Cache: Loaded
[   10.172197] NFS: Registering the id_resolver key type
[   10.172209] FS-Cache: Netfs 'nfs' registered for caching
[   10.176478] Installing knfsd (copyright (C) 1996 okir@monad.swb.de).
[   11.171681] vboxsf: Successfully loaded version 5.2.2 (interface 0x00010004)
[   11.636406] Bluetooth: Core ver 2.16
[   11.636645] NET: Registered protocol family 31
[   11.636647] Bluetooth: HCI device and connection manager initialized
[   11.636648] Bluetooth: HCI socket layer initialized
[   11.636649] Bluetooth: L2CAP socket layer initialized
[   11.636653] Bluetooth: SCO socket layer initialized
[   11.648761] Bluetooth: RFCOMM TTY layer initialized
[   11.648771] Bluetooth: RFCOMM socket layer initialized
[   11.648776] Bluetooth: RFCOMM ver 1.11
[   11.649553] Bluetooth: BNEP (Ethernet Emulation) ver 1.3
[   11.649554] Bluetooth: BNEP filters: protocol multicast
[   11.783398] input: ACPI Virtual Keyboard Device as /devices/virtual/input/input7
[   11.822293] lp: driver loaded but no devices found
[   11.824766] ppdev: user-space parallel port driver
[   12.240267] ADDRCONF(NETDEV_UP): eth0: link is not ready
[   12.242023] e1000: eth0 NIC Link is Up 1000 Mbps Full Duplex, Flow Control: RX
[   12.242577] ADDRCONF(NETDEV_CHANGE): eth0: link becomes ready
[   12.346213] VBoxService 5.2.2 r119230 (verbosity: 0) linux.x86 (Nov 22 2017 17:24:10) release log
[   12.346214] 00:00:00.000134 main     Log opened 2017-12-10T16:58:34.018021000Z
[   12.346268] 00:00:00.000227 main     OS Product: Linux
[   12.346295] 00:00:00.000260 main     OS Release: 3.4-9-rtai-686-pae
[   12.346321] 00:00:00.000286 main     OS Version: #1 SMP PREEMPT Debian 3.4.55-4linuxcnc
[   12.346366] 00:00:00.000315 main     Executable: /opt/VBoxGuestAdditions-5.2.2/sbin/VBoxService
[   12.346366] 00:00:00.000316 main     Process ID: 2905
[   12.346367] 00:00:00.000317 main     Package type: LINUX_32BITS_GENERIC
[   12.347543] 00:00:00.001504 main     5.2.2 r119230 started. Verbose level = 0
[   12.429762] hrtimer: interrupt took 5003042 ns
[   22.835863] eth0: no IPv6 routers present
[   77.913640] I-pipe: head domain RTAI registered.
[   77.913647] RTAI[hal]: compiled with gcc version 4.7.2 (Debian 4.7.2-5) .
[   77.913651] RTAI[hal]: mounted (IPIPE-NOTHREADS, IMMEDIATE (INTERNAL IRQs DISPATCHED), ISOL_CPUS_MASK: 0).
[   77.913654] SYSINFO: CPUs 1, LINUX APIC IRQ 2312, TIM_FREQ 62493414, CLK_FREQ 2807899000, CPU_FREQ 2807899000
[   77.913655] RTAI_APIC_TIMER_IPI: RTAI DEFINED 2314, VECTOR 2314; LINUX_APIC_TIMER_IPI: RTAI DEFINED 2312, VECTOR 2312
[   77.913660] TIMER NAME: lapic; VARIOUSLY FOUND APIC FREQs: 62493414, 62493414, 55655500
[   77.927816] RTAI[malloc]: global heap size = 2097152 bytes, <BSD>.
[   77.927857] , <uses LINUX SYSCALLs>, kstacks pool size = 524288 bytes.
[   77.927859] RTAI[sched]: hard timer type/freq = APIC/62493414(Hz); default timing: oneshot; linear timed lists.
[   77.927861] RTAI[sched]: Linux timer freq = 250 (Hz), TimeBase freq = 2807899000 hz.
[   77.927862] RTAI[sched]: timer setup = 999 ns, resched latency = 2944 ns.
[   77.936208] RTAI[math]: loaded.
[   78.100499] BUG: unable to handle kernel NULL pointer dereference at   (null)
[   78.100503] IP: [<f848e069>] add_inverter_to_list+0xa/0x13 [lms_canopen_driver]
[   78.100507] *pde = 00000000 
[   78.100509] Oops: 0000 [#1] PREEMPT SMP 
[   78.100511] Modules linked in: lms_canopen_driver(O+) motmod(O) trivkins(O) hal_lib(O) rtapi(O) rtai_math(O) rtai_sched(O) rtai_hal(O) parport_pc ppdev lp parport bnep rfcomm bluetooth rfkill vboxsf(O) uinput nfsd nfs nfs_acl auth_rpcgss fscache lockd sunrpc loop joydev snd_intel8x0 snd_ac97_codec snd_pcm snd_page_alloc snd_seq snd_seq_device snd_timer i2c_piix4 psmouse battery serio_raw ac i2c_core evdev power_supply snd vboxguest(O) video crc32c_intel thermal_sys aesni_intel aes_i586 aes_generic cryptd soundcore ac97_bus button ext4 crc16 jbd2 mbcache usbhid hid sg sd_mod crc_t10dif sr_mod cdrom ata_generic ahci libahci microcode ohci_hcd ehci_hcd ata_piix usbcore usb_common e1000 libata scsi_mod [last unloaded: scsi_wait_scan]
[   78.100549] 
[   78.100551] Pid: 3859, comm: insmod Tainted: G           O 3.4-9-rtai-686-pae #1 innotek GmbH VirtualBox/VirtualBox
[   78.100555] EIP: 0060:[<f848e069>] EFLAGS: 00210246 CPU: 0
[   78.100556] EIP is at add_inverter_to_list+0xa/0x13 [lms_canopen_driver]
[   78.100558] EAX: f84e1c20 EBX: f84e1c20 ECX: f8526530 EDX: 00000000
[   78.100559] ESI: f848f15d EDI: 0000007b EBP: 00000000 ESP: ec791ea8
[   78.100560]  DS: 007b ES: 007b FS: 00d8 GS: 00e0 SS: 0068
[   78.100562] CR0: 8005003b CR2: 00000000 CR3: 2c502000 CR4: 000406d0
[   78.100565] DR0: 00000000 DR1: 00000000 DR2: 00000000 DR3: 00000000
[   78.100566] DR6: ffff0ff0 DR7: 00000400
[   78.100568] Process insmod (pid: 3859, ti=ec790000 task=f2c4a600 task.ti=ec790000)
[   78.100569] I-pipe domain Linux
[   78.100570] Stack:
[   78.100571]  f848e110 ec791e5c f8490004 000004c7 00000001 f848e15a 00000000 ec791f10
[   78.100575]  00000000 00000002 00000001 00000001 0002c78b fffffffe 00000000 00000000
[   78.100580]  f8490004 f848e000 6de4d304 f8490004 c1001112 c1024a11 00000002 00000000
[   78.100584] Call Trace:
[   78.100587]  [<f848e110>] ? add_inverter+0x9e/0xa8 [lms_canopen_driver]
[   78.100589]  [<f848e15a>] ? init_module+0x40/0xee6 [lms_canopen_driver]
[   78.100592]  [<f848e000>] ? 0xf848dfff
[   78.100595]  [<c1001112>] ? do_one_initcall+0x32/0x190
[   78.100598]  [<c1024a11>] ? set_memory_ro+0x31/0x40
[   78.100600]  [<f848e11a>] ? add_inverter+0xa8/0xa8 [lms_canopen_driver]
[   78.100603]  [<c1075bbd>] ? sys_init_module+0x8bd/0x1ad0
[   78.100610]  [<c1368c28>] ? sysenter_do_call+0x12/0x16
[   78.100611] Code: 48 f8 6a 03 e8 99 80 01 00 3e 0f ba 35 5c 01 49 f8 00 19 c0 59 58 c3 a1 00 00 49 f8 e9 d1 7c fd ff 8b 15 58 01 49 f8 eb 02 89 ca <8b> 0a 85 c9 75 f8 89 02 c3 57 89 d7 56 89 c6 53 b8 14 00 00 00 
[   78.100642] EIP: [<f848e069>] add_inverter_to_list+0xa/0x13 [lms_canopen_driver] SS:ESP 0068:ec791ea8
[   78.100645] CR2: 0000000000000000
[   78.100647] ---[ end trace 7fa60f5f662be3fe ]---
[   80.311079] RTAI[math]: unloaded.

[6] loadrt trivkins
[7] loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[TRAJ]AXES
[9] loadrt lms_canopen_driver
[12] loadrt pid names=x-pid,y-pid,z-pid,a-pid
[30] addf lms_canopen_driver.read servo-thread
[32] addf motion-command-handler servo-thread
[33] addf motion-controller servo-thread
[35] addf x-pid.do-pid-calcs servo-thread
[36] addf y-pid.do-pid-calcs servo-thread
[37] addf z-pid.do-pid-calcs servo-thread
[38] addf a-pid.do-pid-calcs servo-thread
[40] addf lms_canopen_driver.write servo-thread
[46] net voltage-on => iocontrol.0.emc-enable-in