[25813.102215] I-pipe: Domain RTAI registered.
[25813.102221] RTAI[hal]: <3.9.1> mounted over IPIPE-NOTHREADS 2.11-02.
[25813.102223] RTAI[hal]: compiled with gcc version 4.5.2 (Ubuntu/Linaro 4.5.2-8ubuntu4) .
[25813.102259] RTAI[hal]: mounted (IPIPE-NOTHREADS, IMMEDIATE (INTERNAL IRQs VECTORED), ISOL_CPUS_MASK: 0).
[25813.102261] PIPELINE layers:
[25813.102263] f84618c0 9ac15d93 RTAI 2147483647
[25813.102265] c0898580 0 Linux 100
[25813.121197] RTAI[malloc]: global heap size = 2097152 bytes, <BSD>.
[25813.121332] RTAI[sched]: IMMEDIATE, MP, USER/KERNEL SPACE: <with RTAI OWN KTASKs>, <uses LINUX SYSCALLs>, kstacks pool size = 524288 bytes.
[25813.121338] RTAI[sched]: hard timer type/freq = APIC/12470070(Hz); default timing: periodic; linear timed lists.
[25813.121341] RTAI[sched]: Linux timer freq = 250 (Hz), TimeBase freq = 2394408000 hz.
[25813.121343] RTAI[sched]: timer setup = 999 ns, resched latency = 2943 ns.
[25813.165196] RTAI[math]: loaded.
[25813.238797] hm2: loading Mesa HostMot2 driver version 0.15
[25813.242292] hm2_pci: loading Mesa AnyIO HostMot2 driver version 0.7
[25813.242352] hm2_pci 0000:01:00.0: PCI INT A -> GSI 17 (level, low) -> IRQ 17
[25813.242355] hm2_pci: discovered 5i22-1.0M at 0000:01:00.0
[25813.580792] hm2/hm2_5i22.0: Smart Serial Firmware Version 41
[25813.584594] Board hm2_5i22.0.7i70.0.0 Hardware Mode 0 = standard
[25813.586457] Board hm2_5i22.0.7i70.0.0 Software Mode 0 = input_only
[25813.588531] Board hm2_5i22.0.7i70.0.0 Software Mode 1 = input_analog
[25813.591220] Board hm2_5i22.0.7i70.0.0 Software Mode 2 = input_fieldvoltage
[25813.645528] Board hm2_5i22.0.7i72.0.1 Hardware Mode 0 = standard
[25813.647953] Board hm2_5i22.0.7i72.0.1 Software Mode 0 = output_only
[25813.651467] Board hm2_5i22.0.7i72.0.1 Software Mode 1 = output_fieldvoltage
[25813.713667] hm2/hm2_5i22.0: 96 I/O Pins used:
[25813.713670] hm2/hm2_5i22.0:     IO Pin 000 (P2-01): StepGen #0, pin Step (Output)
[25813.713673] hm2/hm2_5i22.0:     IO Pin 001 (P2-03): StepGen #0, pin Direction (Output)
[25813.713676] hm2/hm2_5i22.0:     IO Pin 002 (P2-05): StepGen #1, pin Step (Output)
[25813.713678] hm2/hm2_5i22.0:     IO Pin 003 (P2-07): StepGen #1, pin Direction (Output)
[25813.713681] hm2/hm2_5i22.0:     IO Pin 004 (P2-09): Encoder #0, pin A (Input)
[25813.713684] hm2/hm2_5i22.0:     IO Pin 005 (P2-11): Encoder #2, pin A (Input)
[25813.713686] hm2/hm2_5i22.0:     IO Pin 006 (P2-13): Encoder #0, pin B (Input)
[25813.713689] hm2/hm2_5i22.0:     IO Pin 007 (P2-15): Encoder #2, pin B (Input)
[25813.713691] hm2/hm2_5i22.0:     IO Pin 008 (P2-17): Encoder #0, pin Index (Input)
[25813.713694] hm2/hm2_5i22.0:     IO Pin 009 (P2-19): Encoder #2, pin Index (Input)
[25813.713697] hm2/hm2_5i22.0:     IO Pin 010 (P2-21): Encoder #1, pin A (Input)
[25813.713699] hm2/hm2_5i22.0:     IO Pin 011 (P2-23): Encoder #3, pin A (Input)
[25813.713702] hm2/hm2_5i22.0:     IO Pin 012 (P2-25): Encoder #1, pin B (Input)
[25813.713705] hm2/hm2_5i22.0:     IO Pin 013 (P2-27): Encoder #3, pin B (Input)
[25813.713707] hm2/hm2_5i22.0:     IO Pin 014 (P2-29): Smart Serial Interface #0, pin RxData0 (Input)
[25813.713710] hm2/hm2_5i22.0:     IO Pin 015 (P2-31): Smart Serial Interface #0, pin RxData1 (Input)
[25813.713713] hm2/hm2_5i22.0:     IO Pin 016 (P2-33): StepGen #2, pin Step (Output)
[25813.713716] hm2/hm2_5i22.0:     IO Pin 017 (P2-35): StepGen #2, pin Direction (Output)
[25813.713718] hm2/hm2_5i22.0:     IO Pin 018 (P2-37): PWMGen #0, pin Out1 (Dir or Down) (Output)
[25813.713721] hm2/hm2_5i22.0:     IO Pin 019 (P2-39): PWMGen #0, pin Out0 (PWM or Up) (Output)
[25813.713724] hm2/hm2_5i22.0:     IO Pin 020 (P2-41): PWMGen #1, pin Out1 (Dir or Down) (Output)
[25813.713727] hm2/hm2_5i22.0:     IO Pin 021 (P2-43): PWMGen #1, pin Out0 (PWM or Up) (Output)
[25813.713729] hm2/hm2_5i22.0:     IO Pin 022 (P2-45): Smart Serial Interface #0, pin TxData0 (Output)
[25813.713732] hm2/hm2_5i22.0:     IO Pin 023 (P2-47): Smart Serial Interface #0, pin TxData1 (Output)
[25813.713735] hm2/hm2_5i22.0:     IO Pin 024 (P3-01): StepGen #3, pin Step (Output)
[25813.713738] hm2/hm2_5i22.0:     IO Pin 025 (P3-03): StepGen #3, pin Direction (Output)
[25813.713741] hm2/hm2_5i22.0:     IO Pin 026 (P3-05): StepGen #4, pin Step (Output)
[25813.713744] hm2/hm2_5i22.0:     IO Pin 027 (P3-07): StepGen #4, pin Direction (Output)
[25813.713747] hm2/hm2_5i22.0:     IO Pin 028 (P3-09): Encoder #4, pin A (Input)
[25813.713749] hm2/hm2_5i22.0:     IO Pin 029 (P3-11): Encoder #5, pin A (Input)
[25813.713752] hm2/hm2_5i22.0:     IO Pin 030 (P3-13): Encoder #4, pin B (Input)
[25813.713755] hm2/hm2_5i22.0:     IO Pin 031 (P3-15): Encoder #5, pin B (Input)
[25813.713757] hm2/hm2_5i22.0:     IO Pin 032 (P3-17): Encoder #4, pin Index (Input)
[25813.713760] hm2/hm2_5i22.0:     IO Pin 033 (P3-19): Encoder #5, pin Index (Input)
[25813.713763] hm2/hm2_5i22.0:     IO Pin 034 (P3-21): Encoder #6, pin A (Input)
[25813.713765] hm2/hm2_5i22.0:     IO Pin 035 (P3-23): Encoder #6, pin B (Input)
[25813.713768] hm2/hm2_5i22.0:     IO Pin 036 (P3-25): Encoder #6, pin Index (Input)
[25813.713770] hm2/hm2_5i22.0:     IO Pin 037 (P3-27): Encoder #1, pin Index (Input)
[25813.713773] hm2/hm2_5i22.0:     IO Pin 038 (P3-29): Encoder #3, pin Index (Input)
[25813.713775] hm2/hm2_5i22.0:     IO Pin 039 (P3-31): IOPort
[25813.713778] hm2/hm2_5i22.0:     IO Pin 040 (P3-33): PWMGen #2, pin Out1 (Dir or Down) (Output)
[25813.713781] hm2/hm2_5i22.0:     IO Pin 041 (P3-35): PWMGen #2, pin Out0 (PWM or Up) (Output)
[25813.713784] hm2/hm2_5i22.0:     IO Pin 042 (P3-37): StepGen #5, pin Step (Output)
[25813.713786] hm2/hm2_5i22.0:     IO Pin 043 (P3-39): StepGen #5, pin Direction (Output)
[25813.713789] hm2/hm2_5i22.0:     IO Pin 044 (P3-41): StepGen #6, pin Step (Output)
[25813.713792] hm2/hm2_5i22.0:     IO Pin 045 (P3-43): StepGen #6, pin Direction (Output)
[25813.713794] hm2/hm2_5i22.0:     IO Pin 046 (P3-45): IOPort
[25813.713796] hm2/hm2_5i22.0:     IO Pin 047 (P3-47): IOPort
[25813.713798] hm2/hm2_5i22.0:     IO Pin 048 (P4-01): IOPort
[25813.713800] hm2/hm2_5i22.0:     IO Pin 049 (P4-03): IOPort
[25813.713803] hm2/hm2_5i22.0:     IO Pin 050 (P4-05): IOPort
[25813.713805] hm2/hm2_5i22.0:     IO Pin 051 (P4-07): IOPort
[25813.713807] hm2/hm2_5i22.0:     IO Pin 052 (P4-09): IOPort
[25813.713809] hm2/hm2_5i22.0:     IO Pin 053 (P4-11): IOPort
[25813.713811] hm2/hm2_5i22.0:     IO Pin 054 (P4-13): IOPort
[25813.713813] hm2/hm2_5i22.0:     IO Pin 055 (P4-15): IOPort
[25813.713815] hm2/hm2_5i22.0:     IO Pin 056 (P4-17): IOPort
[25813.713817] hm2/hm2_5i22.0:     IO Pin 057 (P4-19): IOPort
[25813.713819] hm2/hm2_5i22.0:     IO Pin 058 (P4-21): IOPort
[25813.713821] hm2/hm2_5i22.0:     IO Pin 059 (P4-23): IOPort
[25813.713823] hm2/hm2_5i22.0:     IO Pin 060 (P4-25): IOPort
[25813.713825] hm2/hm2_5i22.0:     IO Pin 061 (P4-27): IOPort
[25813.713827] hm2/hm2_5i22.0:     IO Pin 062 (P4-29): IOPort
[25813.713830] hm2/hm2_5i22.0:     IO Pin 063 (P4-31): IOPort
[25813.713832] hm2/hm2_5i22.0:     IO Pin 064 (P4-33): IOPort
[25813.713834] hm2/hm2_5i22.0:     IO Pin 065 (P4-35): IOPort
[25813.713836] hm2/hm2_5i22.0:     IO Pin 066 (P4-37): IOPort
[25813.713838] hm2/hm2_5i22.0:     IO Pin 067 (P4-39): IOPort
[25813.713840] hm2/hm2_5i22.0:     IO Pin 068 (P4-41): IOPort
[25813.713842] hm2/hm2_5i22.0:     IO Pin 069 (P4-43): IOPort
[25813.713844] hm2/hm2_5i22.0:     IO Pin 070 (P4-45): IOPort
[25813.713846] hm2/hm2_5i22.0:     IO Pin 071 (P4-47): IOPort
[25813.713848] hm2/hm2_5i22.0:     IO Pin 072 (P5-01): IOPort
[25813.713850] hm2/hm2_5i22.0:     IO Pin 073 (P5-03): IOPort
[25813.713852] hm2/hm2_5i22.0:     IO Pin 074 (P5-05): IOPort
[25813.713854] hm2/hm2_5i22.0:     IO Pin 075 (P5-07): IOPort
[25813.713857] hm2/hm2_5i22.0:     IO Pin 076 (P5-09): IOPort
[25813.713859] hm2/hm2_5i22.0:     IO Pin 077 (P5-11): IOPort
[25813.713861] hm2/hm2_5i22.0:     IO Pin 078 (P5-13): IOPort
[25813.713863] hm2/hm2_5i22.0:     IO Pin 079 (P5-15): IOPort
[25813.713865] hm2/hm2_5i22.0:     IO Pin 080 (P5-17): IOPort
[25813.713867] hm2/hm2_5i22.0:     IO Pin 081 (P5-19): IOPort
[25813.713869] hm2/hm2_5i22.0:     IO Pin 082 (P5-21): IOPort
[25813.713871] hm2/hm2_5i22.0:     IO Pin 083 (P5-23): IOPort
[25813.713873] hm2/hm2_5i22.0:     IO Pin 084 (P5-25): IOPort
[25813.713875] hm2/hm2_5i22.0:     IO Pin 085 (P5-27): IOPort
[25813.713877] hm2/hm2_5i22.0:     IO Pin 086 (P5-29): IOPort
[25813.713879] hm2/hm2_5i22.0:     IO Pin 087 (P5-31): IOPort
[25813.713881] hm2/hm2_5i22.0:     IO Pin 088 (P5-33): IOPort
[25813.713883] hm2/hm2_5i22.0:     IO Pin 089 (P5-35): IOPort
[25813.713886] hm2/hm2_5i22.0:     IO Pin 090 (P5-37): IOPort
[25813.713888] hm2/hm2_5i22.0:     IO Pin 091 (P5-39): IOPort
[25813.713890] hm2/hm2_5i22.0:     IO Pin 092 (P5-41): IOPort
[25813.713892] hm2/hm2_5i22.0:     IO Pin 093 (P5-43): IOPort
[25813.713894] hm2/hm2_5i22.0:     IO Pin 094 (P5-45): IOPort
[25813.713896] hm2/hm2_5i22.0:     IO Pin 095 (P5-47): IOPort
[25813.714003] hm2/hm2_5i22.0: registered
[25813.714006] hm2_5i22.0: initialized AnyIO board at 0000:01:00.0

[25820.225119] milltask[16288]: segfault at 0 ip 08058736 sp bf89dcf4 error 4 in milltask[8048000+6f000]

[25820.343396] hm2_5i22.0: dropping AnyIO board at 0000:01:00.0
[25820.343402] hm2/hm2_5i22.0: unregistered
[25820.343434] hm2_pci 0000:01:00.0: PCI INT A disabled
[25820.343456] hm2_pci: driver unloaded
[25820.345362] hm2: unloading
[25820.422377] RTAI[math]: unloaded.
[25820.476193] RTAI[malloc]: unloaded.
[25820.576007] RTAI[sched]: unloaded (forced hard/soft/hard transitions: traps 0, syscalls 0).
[25820.577949] I-pipe: Domain RTAI unregistered.
[25820.577995] RTAI[hal]: unmounted.