[17629.279702] I-pipe: Domain RTAI registered. [17629.279717] RTAI[hal]: <3.6.1> mounted over IPIPE-NOTHREADS 2.0-04. [17629.279721] RTAI[hal]: compiled with gcc version 4.2.4 (Ubuntu 4.2.4-1ubuntu3). [17629.279729] RTAI[hal]: mounted (IPIPE-NOTHREADS, IMMEDIATE (INTERNAL IRQs DISPATCHED), ISOL_CPUS_MASK: 0). [17629.279734] PIPELINE layers: [17629.279738] f8bd3000 9ac15d93 RTAI 200 [17629.279742] c0383180 0 Linux 100 [17629.301905] RTAI[malloc]: global heap size = 2097152 bytes, . [17629.302509] RTAI[sched]: loaded (IMMEDIATE, UP, USER/KERNEL SPACE: , kstacks pool size = 524288 bytes. [17629.302520] RTAI[sched]: hard timer type/freq = 8254-PIT/1193180(Hz); default timing: periodic; linear timed lists. [17629.302527] RTAI[sched]: Linux timer freq = 250 (Hz), CPU freq = 2000124000 hz. [17629.302532] RTAI[sched]: timer setup = 2010 ns, resched latency = 2688 ns. [17629.402461] RTAI[math]: loaded. [17629.600734] hm2: loading Mesa HostMot2 driver version 0.15 [17629.607974] hm2_pci: loading Mesa AnyIO HostMot2 driver version 0.6 [17629.610532] hm2_pci: discovered 5i20 at 0000:00:08.0 [17629.730707] hm2/hm2_5i20.0: 72 I/O Pins used: [17629.730718] hm2/hm2_5i20.0: IO Pin 000 (P2-01): Encoder #1, pin B (Input) [17629.730725] hm2/hm2_5i20.0: IO Pin 001 (P2-03): Encoder #1, pin A (Input) [17629.730732] hm2/hm2_5i20.0: IO Pin 002 (P2-05): Encoder #0, pin B (Input) [17629.730739] hm2/hm2_5i20.0: IO Pin 003 (P2-07): Encoder #0, pin A (Input) [17629.730746] hm2/hm2_5i20.0: IO Pin 004 (P2-09): Encoder #1, pin Index (Input) [17629.730753] hm2/hm2_5i20.0: IO Pin 005 (P2-11): Encoder #0, pin Index (Input) [17629.730760] hm2/hm2_5i20.0: IO Pin 006 (P2-13): PWMGen #1, pin Out0 (PWM or Up) (Output) [17629.730768] hm2/hm2_5i20.0: IO Pin 007 (P2-15): PWMGen #0, pin Out0 (PWM or Up) (Output) [17629.730776] hm2/hm2_5i20.0: IO Pin 008 (P2-17): PWMGen #1, pin Out1 (Dir or Down) (Output) [17629.730784] hm2/hm2_5i20.0: IO Pin 009 (P2-19): PWMGen #0, pin Out1 (Dir or Down) (Output) [17629.730791] hm2/hm2_5i20.0: IO Pin 010 (P2-21): PWMGen #1, pin Not-Enable (Output) [17629.730799] hm2/hm2_5i20.0: IO Pin 011 (P2-23): PWMGen #0, pin Not-Enable (Output) [17629.730805] hm2/hm2_5i20.0: IO Pin 012 (P2-25): IOPort [17629.730811] hm2/hm2_5i20.0: IO Pin 013 (P2-27): IOPort [17629.730817] hm2/hm2_5i20.0: IO Pin 014 (P2-29): Encoder #2, pin B (Input) [17629.730824] hm2/hm2_5i20.0: IO Pin 015 (P2-31): Encoder #2, pin A (Input) [17629.730830] hm2/hm2_5i20.0: IO Pin 016 (P2-33): IOPort [17629.730836] hm2/hm2_5i20.0: IO Pin 017 (P2-35): Encoder #2, pin Index (Input) [17629.730842] hm2/hm2_5i20.0: IO Pin 018 (P2-37): IOPort [17629.730849] hm2/hm2_5i20.0: IO Pin 019 (P2-39): PWMGen #2, pin Out0 (PWM or Up) (Output) [17629.730856] hm2/hm2_5i20.0: IO Pin 020 (P2-41): IOPort [17629.730862] hm2/hm2_5i20.0: IO Pin 021 (P2-43): PWMGen #2, pin Out1 (Dir or Down) (Output) [17629.730869] hm2/hm2_5i20.0: IO Pin 022 (P2-45): IOPort [17629.730878] hm2/hm2_5i20.0: IO Pin 023 (P2-47): PWMGen #2, pin Not-Enable (Output) [17629.730885] hm2/hm2_5i20.0: IO Pin 024 (P3-01): IOPort [17629.730890] hm2/hm2_5i20.0: IO Pin 025 (P3-03): IOPort [17629.730896] hm2/hm2_5i20.0: IO Pin 026 (P3-05): IOPort [17629.730901] hm2/hm2_5i20.0: IO Pin 027 (P3-07): IOPort [17629.730906] hm2/hm2_5i20.0: IO Pin 028 (P3-09): IOPort [17629.730912] hm2/hm2_5i20.0: IO Pin 029 (P3-11): IOPort [17629.730917] hm2/hm2_5i20.0: IO Pin 030 (P3-13): IOPort [17629.730922] hm2/hm2_5i20.0: IO Pin 031 (P3-15): IOPort [17629.730928] hm2/hm2_5i20.0: IO Pin 032 (P3-17): IOPort [17629.730933] hm2/hm2_5i20.0: IO Pin 033 (P3-19): IOPort [17629.730938] hm2/hm2_5i20.0: IO Pin 034 (P3-21): IOPort [17629.730944] hm2/hm2_5i20.0: IO Pin 035 (P3-23): IOPort [17629.730949] hm2/hm2_5i20.0: IO Pin 036 (P3-25): IOPort [17629.730955] hm2/hm2_5i20.0: IO Pin 037 (P3-27): IOPort [17629.730960] hm2/hm2_5i20.0: IO Pin 038 (P3-29): IOPort [17629.730965] hm2/hm2_5i20.0: IO Pin 039 (P3-31): IOPort [17629.730971] hm2/hm2_5i20.0: IO Pin 040 (P3-33): IOPort [17629.730976] hm2/hm2_5i20.0: IO Pin 041 (P3-35): IOPort [17629.730981] hm2/hm2_5i20.0: IO Pin 042 (P3-37): IOPort [17629.730987] hm2/hm2_5i20.0: IO Pin 043 (P3-39): IOPort [17629.730992] hm2/hm2_5i20.0: IO Pin 044 (P3-41): IOPort [17629.730997] hm2/hm2_5i20.0: IO Pin 045 (P3-43): IOPort [17629.731003] hm2/hm2_5i20.0: IO Pin 046 (P3-45): IOPort [17629.731008] hm2/hm2_5i20.0: IO Pin 047 (P3-47): IOPort [17629.731013] hm2/hm2_5i20.0: IO Pin 048 (P4-01): IOPort [17629.731019] hm2/hm2_5i20.0: IO Pin 049 (P4-03): IOPort [17629.731024] hm2/hm2_5i20.0: IO Pin 050 (P4-05): IOPort [17629.731030] hm2/hm2_5i20.0: IO Pin 051 (P4-07): IOPort [17629.731035] hm2/hm2_5i20.0: IO Pin 052 (P4-09): IOPort [17629.731040] hm2/hm2_5i20.0: IO Pin 053 (P4-11): IOPort [17629.731046] hm2/hm2_5i20.0: IO Pin 054 (P4-13): IOPort [17629.731051] hm2/hm2_5i20.0: IO Pin 055 (P4-15): IOPort [17629.731056] hm2/hm2_5i20.0: IO Pin 056 (P4-17): IOPort [17629.731062] hm2/hm2_5i20.0: IO Pin 057 (P4-19): IOPort [17629.731067] hm2/hm2_5i20.0: IO Pin 058 (P4-21): IOPort [17629.731072] hm2/hm2_5i20.0: IO Pin 059 (P4-23): IOPort [17629.731078] hm2/hm2_5i20.0: IO Pin 060 (P4-25): IOPort [17629.731083] hm2/hm2_5i20.0: IO Pin 061 (P4-27): IOPort [17629.731088] hm2/hm2_5i20.0: IO Pin 062 (P4-29): IOPort [17629.731094] hm2/hm2_5i20.0: IO Pin 063 (P4-31): IOPort [17629.731099] hm2/hm2_5i20.0: IO Pin 064 (P4-33): IOPort [17629.731105] hm2/hm2_5i20.0: IO Pin 065 (P4-35): IOPort [17629.731110] hm2/hm2_5i20.0: IO Pin 066 (P4-37): IOPort [17629.731115] hm2/hm2_5i20.0: IO Pin 067 (P4-39): IOPort [17629.731121] hm2/hm2_5i20.0: IO Pin 068 (P4-41): IOPort [17629.731126] hm2/hm2_5i20.0: IO Pin 069 (P4-43): IOPort [17629.731131] hm2/hm2_5i20.0: IO Pin 070 (P4-45): IOPort [17629.731137] hm2/hm2_5i20.0: IO Pin 071 (P4-47): IOPort [17629.731255] hm2/hm2_5i20.0: registered [17629.731260] hm2_5i20.0: initialized AnyIO board at 0000:00:08.0 [17955.805138] hm2_5i20.0: dropping AnyIO board at 0000:00:08.0 [17955.805149] hm2/hm2_5i20.0: unregistered [17955.807854] hm2_pci: driver unloaded [17955.814640] hm2: unloading [17955.958009] RTAI[math]: unloaded. [17956.023191] SCHED releases registered named ALIEN RTGLBH [17956.049706] RTAI[malloc]: unloaded. [17956.148899] RTAI[sched]: unloaded (forced hard/soft/hard transitions: traps 0, syscalls 0). [17956.153227] I-pipe: Domain RTAI unregistered. [17956.153238] RTAI[hal]: unmounted. [17957.360402] I-pipe: Domain RTAI registered. [17957.360417] RTAI[hal]: <3.6.1> mounted over IPIPE-NOTHREADS 2.0-04. [17957.360422] RTAI[hal]: compiled with gcc version 4.2.4 (Ubuntu 4.2.4-1ubuntu3). [17957.360430] RTAI[hal]: mounted (IPIPE-NOTHREADS, IMMEDIATE (INTERNAL IRQs DISPATCHED), ISOL_CPUS_MASK: 0). [17957.360435] PIPELINE layers: [17957.360438] f8bd3000 9ac15d93 RTAI 200 [17957.360442] c0383180 0 Linux 100 [17957.381719] RTAI[malloc]: global heap size = 2097152 bytes, . [17957.382307] RTAI[sched]: loaded (IMMEDIATE, UP, USER/KERNEL SPACE: , kstacks pool size = 524288 bytes. [17957.382318] RTAI[sched]: hard timer type/freq = 8254-PIT/1193180(Hz); default timing: periodic; linear timed lists. [17957.382325] RTAI[sched]: Linux timer freq = 250 (Hz), CPU freq = 2000124000 hz. [17957.382330] RTAI[sched]: timer setup = 2010 ns, resched latency = 2688 ns. [17957.483034] RTAI[math]: loaded. [17957.648204] hm2: loading Mesa HostMot2 driver version 0.15 [17957.656306] hm2_pci: loading Mesa AnyIO HostMot2 driver version 0.6 [17957.658876] hm2_pci: discovered 5i20 at 0000:00:08.0 [17957.779201] hm2/hm2_5i20.0: 72 I/O Pins used: [17957.779212] hm2/hm2_5i20.0: IO Pin 000 (P2-01): Encoder #1, pin B (Input) [17957.779219] hm2/hm2_5i20.0: IO Pin 001 (P2-03): Encoder #1, pin A (Input) [17957.779226] hm2/hm2_5i20.0: IO Pin 002 (P2-05): Encoder #0, pin B (Input) [17957.779233] hm2/hm2_5i20.0: IO Pin 003 (P2-07): Encoder #0, pin A (Input) [17957.779240] hm2/hm2_5i20.0: IO Pin 004 (P2-09): Encoder #1, pin Index (Input) [17957.779248] hm2/hm2_5i20.0: IO Pin 005 (P2-11): Encoder #0, pin Index (Input) [17957.779255] hm2/hm2_5i20.0: IO Pin 006 (P2-13): PWMGen #1, pin Out0 (PWM or Up) (Output) [17957.779263] hm2/hm2_5i20.0: IO Pin 007 (P2-15): PWMGen #0, pin Out0 (PWM or Up) (Output) [17957.779271] hm2/hm2_5i20.0: IO Pin 008 (P2-17): PWMGen #1, pin Out1 (Dir or Down) (Output) [17957.779279] hm2/hm2_5i20.0: IO Pin 009 (P2-19): PWMGen #0, pin Out1 (Dir or Down) (Output) [17957.779286] hm2/hm2_5i20.0: IO Pin 010 (P2-21): PWMGen #1, pin Not-Enable (Output) [17957.779294] hm2/hm2_5i20.0: IO Pin 011 (P2-23): PWMGen #0, pin Not-Enable (Output) [17957.779300] hm2/hm2_5i20.0: IO Pin 012 (P2-25): IOPort [17957.779306] hm2/hm2_5i20.0: IO Pin 013 (P2-27): IOPort [17957.779312] hm2/hm2_5i20.0: IO Pin 014 (P2-29): Encoder #2, pin B (Input) [17957.779319] hm2/hm2_5i20.0: IO Pin 015 (P2-31): Encoder #2, pin A (Input) [17957.779325] hm2/hm2_5i20.0: IO Pin 016 (P2-33): IOPort [17957.779332] hm2/hm2_5i20.0: IO Pin 017 (P2-35): Encoder #2, pin Index (Input) [17957.779338] hm2/hm2_5i20.0: IO Pin 018 (P2-37): IOPort [17957.779345] hm2/hm2_5i20.0: IO Pin 019 (P2-39): PWMGen #2, pin Out0 (PWM or Up) (Output) [17957.779351] hm2/hm2_5i20.0: IO Pin 020 (P2-41): IOPort [17957.779358] hm2/hm2_5i20.0: IO Pin 021 (P2-43): PWMGen #2, pin Out1 (Dir or Down) (Output) [17957.779365] hm2/hm2_5i20.0: IO Pin 022 (P2-45): IOPort [17957.779371] hm2/hm2_5i20.0: IO Pin 023 (P2-47): PWMGen #2, pin Not-Enable (Output) [17957.779377] hm2/hm2_5i20.0: IO Pin 024 (P3-01): IOPort [17957.779383] hm2/hm2_5i20.0: IO Pin 025 (P3-03): IOPort [17957.779388] hm2/hm2_5i20.0: IO Pin 026 (P3-05): IOPort [17957.779394] hm2/hm2_5i20.0: IO Pin 027 (P3-07): IOPort [17957.779399] hm2/hm2_5i20.0: IO Pin 028 (P3-09): IOPort [17957.779405] hm2/hm2_5i20.0: IO Pin 029 (P3-11): IOPort [17957.779410] hm2/hm2_5i20.0: IO Pin 030 (P3-13): IOPort [17957.779416] hm2/hm2_5i20.0: IO Pin 031 (P3-15): IOPort [17957.779421] hm2/hm2_5i20.0: IO Pin 032 (P3-17): IOPort [17957.779426] hm2/hm2_5i20.0: IO Pin 033 (P3-19): IOPort [17957.779432] hm2/hm2_5i20.0: IO Pin 034 (P3-21): IOPort [17957.779437] hm2/hm2_5i20.0: IO Pin 035 (P3-23): IOPort [17957.779443] hm2/hm2_5i20.0: IO Pin 036 (P3-25): IOPort [17957.779448] hm2/hm2_5i20.0: IO Pin 037 (P3-27): IOPort [17957.779454] hm2/hm2_5i20.0: IO Pin 038 (P3-29): IOPort [17957.779459] hm2/hm2_5i20.0: IO Pin 039 (P3-31): IOPort [17957.779464] hm2/hm2_5i20.0: IO Pin 040 (P3-33): IOPort [17957.779470] hm2/hm2_5i20.0: IO Pin 041 (P3-35): IOPort [17957.779475] hm2/hm2_5i20.0: IO Pin 042 (P3-37): IOPort [17957.779481] hm2/hm2_5i20.0: IO Pin 043 (P3-39): IOPort [17957.779486] hm2/hm2_5i20.0: IO Pin 044 (P3-41): IOPort [17957.779492] hm2/hm2_5i20.0: IO Pin 045 (P3-43): IOPort [17957.779497] hm2/hm2_5i20.0: IO Pin 046 (P3-45): IOPort [17957.779502] hm2/hm2_5i20.0: IO Pin 047 (P3-47): IOPort [17957.779508] hm2/hm2_5i20.0: IO Pin 048 (P4-01): IOPort [17957.779513] hm2/hm2_5i20.0: IO Pin 049 (P4-03): IOPort [17957.779519] hm2/hm2_5i20.0: IO Pin 050 (P4-05): IOPort [17957.779524] hm2/hm2_5i20.0: IO Pin 051 (P4-07): IOPort [17957.779530] hm2/hm2_5i20.0: IO Pin 052 (P4-09): IOPort [17957.779535] hm2/hm2_5i20.0: IO Pin 053 (P4-11): IOPort [17957.779540] hm2/hm2_5i20.0: IO Pin 054 (P4-13): IOPort [17957.779546] hm2/hm2_5i20.0: IO Pin 055 (P4-15): IOPort [17957.779551] hm2/hm2_5i20.0: IO Pin 056 (P4-17): IOPort [17957.779557] hm2/hm2_5i20.0: IO Pin 057 (P4-19): IOPort [17957.779562] hm2/hm2_5i20.0: IO Pin 058 (P4-21): IOPort [17957.779568] hm2/hm2_5i20.0: IO Pin 059 (P4-23): IOPort [17957.779573] hm2/hm2_5i20.0: IO Pin 060 (P4-25): IOPort [17957.779579] hm2/hm2_5i20.0: IO Pin 061 (P4-27): IOPort [17957.779584] hm2/hm2_5i20.0: IO Pin 062 (P4-29): IOPort [17957.779589] hm2/hm2_5i20.0: IO Pin 063 (P4-31): IOPort [17957.779595] hm2/hm2_5i20.0: IO Pin 064 (P4-33): IOPort [17957.779600] hm2/hm2_5i20.0: IO Pin 065 (P4-35): IOPort [17957.779606] hm2/hm2_5i20.0: IO Pin 066 (P4-37): IOPort [17957.779611] hm2/hm2_5i20.0: IO Pin 067 (P4-39): IOPort [17957.779617] hm2/hm2_5i20.0: IO Pin 068 (P4-41): IOPort [17957.779622] hm2/hm2_5i20.0: IO Pin 069 (P4-43): IOPort [17957.779627] hm2/hm2_5i20.0: IO Pin 070 (P4-45): IOPort [17957.779633] hm2/hm2_5i20.0: IO Pin 071 (P4-47): IOPort [17957.779751] hm2/hm2_5i20.0: registered [17957.779756] hm2_5i20.0: initialized AnyIO board at 0000:00:08.0 [17964.118815] 6313: ERROR: joint 0 following error [17986.851856] 29094: ERROR: joint 0 following error [18098.247850] 140725: ERROR: joint 2 following error