mpm@enshu:~$ sudo dmesg
[57830.699811] I-pipe: Domain RTAI registered.
[57830.699821] RTAI[hal]: <3.8.1> mounted over IPIPE-NOTHREADS 2.6-03.
[57830.699826] RTAI[hal]: compiled with gcc version 4.4.3 (Ubuntu 4.4.3-4ubuntu5) .
[57830.699894] RTAI[hal]: mounted (IPIPE-NOTHREADS, IMMEDIATE (INTERNAL IRQs DISPATCHED), ISOL_CPUS_MASK: 0).
[57830.699894] PIPELINE layers:
[57830.699897] f8245e20 9ac15d93 RTAI 200
[57830.699901] c085cb20 0 Linux 100
[57830.721931] RTAI[malloc]: global heap size = 2097152 bytes, <BSD>.
[57830.722133] RTAI[sched]: IMMEDIATE, MP, USER/KERNEL SPACE: <with RTAI OWN KTASKs>, kstacks pool size = 524288 bytes.
[57830.722140] RTAI[sched]: hard timer type/freq = APIC/12469080(Hz); default timing: periodic; linear timed lists.
[57830.722145] RTAI[sched]: Linux timer freq = 250 (Hz), TimeBase freq = 3392042000 hz.
[57830.722148] RTAI[sched]: timer setup = 999 ns, resched latency = 2943 ns.
[57830.723272] RTAI[usi]: enabled.
[57830.785700] RTAI[math]: loaded.
[57830.870406] PARPORT: linux parport parport0 does not support mode 4.
[57830.870409] PARPORT: continuing anyway.
[57830.870416] PARPORT: Using Linux parport parport0 at ioaddr=0x378:0x778
[57830.870430] PPMC: checking EPP bus 0 at port 0378
[57830.870438] PPMC: slot 0: ID code: 21 PPMC DAC card
[57830.870454] PPMC:  exporting PPMC DAC
[57830.870556] read cache bitmap: 00000000
[57830.870564] write cache bitmap: 000000ff
[57830.870567] PPMC: slot 1: nothing detected
[57830.870613] PPMC: slot 2: ID code: 12 PPMC encoder card 2
[57830.870631] PPMC: exporting encoder pins / params
[57830.871132] read cache bitmap: 00001fff
[57830.871138] write cache bitmap: 00002000
[57830.871141] PPMC: slot 3: nothing detected
[57830.871182] PPMC: slot 4: ID code: 12 PPMC encoder card 4
[57830.871200] PPMC: exporting encoder pins / params
[57830.871653] read cache bitmap: 00001fff
[57830.871657] write cache bitmap: 00002000
[57830.871660] PPMC: slot 5: nothing detected
[57830.871698] PPMC: slot 6: ID code: 32 PPMC Digital I/O card
[57830.871712] PPMC:  exporting PPMC digital inputs
[57830.872109] PPMC:  exporting as MASTER D In
[57830.872113] PPMC:  exporting PPMC digital outputs
[57830.872233] PPMC:  master DIO at # 8
[57830.872250] PPMC:  exporting as MASTER D Out
[57830.872253] read cache bitmap: 00000007
[57830.872255] write cache bitmap: 00000007
[57830.872258] PPMC: slot 7: nothing detected
[57830.872296] PPMC: slot 8: ID code: 33 PPMC Digital I/O card
[57830.872309] PPMC:  exporting PPMC digital inputs
[57830.872782] PPMC:  exporting as SLAVE D In
[57830.872785] PPMC:  exporting PPMC digital outputs
[57830.872794] PPMC:  slave DIO addr 82
[57830.872803] PPMC:  slave DIO # 8
[57830.872939] PPMC:  exporting as SLAVE D Out
[57830.872948] read cache bitmap: 00000003
[57830.872951] write cache bitmap: 00000001
[57830.872953] PPMC: slot 9: nothing detected
[57830.872991] PPMC: slot 10: ID code: 33 PPMC Digital I/O card
[57830.873005] PPMC:  exporting PPMC digital inputs
[57830.873519] PPMC:  exporting as SLAVE D In
[57830.873523] PPMC:  exporting PPMC digital outputs
[57830.873532] PPMC:  slave DIO addr a2
[57830.873540] PPMC:  slave DIO # 16
[57830.873709] PPMC:  exporting as SLAVE D Out
[57830.873718] read cache bitmap: 00000003
[57830.873721] write cache bitmap: 00000001
[57830.873723] PPMC: slot 11: nothing detected
[57830.873762] PPMC: slot 12: ID code: 33 PPMC Digital I/O card
[57830.873775] PPMC:  exporting PPMC digital inputs
[57830.874380] PPMC:  exporting as SLAVE D In
[57830.874383] PPMC:  exporting PPMC digital outputs
[57830.874392] PPMC:  slave DIO addr c2
[57830.874401] PPMC:  slave DIO # 24
[57830.874588] PPMC:  exporting as SLAVE D Out
[57830.874597] read cache bitmap: 00000003
[57830.874605] write cache bitmap: 00000001
[57830.874608] PPMC: slot 13: nothing detected
[57830.874646] PPMC: slot 14: nothing detected
[57830.874684] PPMC: slot 15: nothing detected
[57830.874738] PPMC: bus 0 complete
[57849.940152] 
[57849.940155] In recent history there were
[57849.940156] 1722712, 1875772, 1709554, 1737502, and 1719958
[57849.940157] elapsed clocks between calls to the motion controller.
[57849.940162] This time, there were 2321137 which is so anomalously
[57849.940163] large that it probably signifies a problem with your
[57849.940165] realtime configuration.  For the rest of this run of
[57849.940166] EMC, this message will be suppressed.
[57849.940167] 
[57864.596929] RTAPI: ERROR: Unexpected realtime delay on task 1
[57864.596929] This Message will only display once per session.
[57864.596929] Run the Latency Test and resolve before continuing.
[57879.387097] PPMC: shutting down
[57881.510858] RTAI[math]: unloaded.
[57881.553558] SCHED releases registered named ALIEN RTGLBH
[57881.584344] RTAI[malloc]: unloaded.
[57881.684026] RTAI[sched]: unloaded (forced hard/soft/hard transitions: traps 0, syscalls 0).
[57881.687121] I-pipe: Domain RTAI unregistered.
[57881.687196] RTAI[hal]: unmounted.
mpm@enshu:~$