halcmd: loadrt hostmot2 Note: Using POSIX realtime hm2: loading Mesa HostMot2 driver version 0.15 halcmd: loadrt hm2_pci config=" num_encoders=5 num_pwmgens=1 num_stepgens=5 sserial_port_0=1110xx" hm2_pci: loading Mesa AnyIO HostMot2 driver version 0.7 hm2_pci: discovered 5i25 at 0000:01:05.0 hm2/hm2_5i25.0: Smart Serial Firmware Version 43 hm2/hm2_5i25.0: 34 I/O Pins used: hm2/hm2_5i25.0: IO Pin 000 (P3-01): StepGen #0, pin Step (Output) hm2/hm2_5i25.0: IO Pin 001 (P3-14): IOPort hm2/hm2_5i25.0: IO Pin 002 (P3-02): StepGen #0, pin Direction (Output) hm2/hm2_5i25.0: IO Pin 003 (P3-15): IOPort hm2/hm2_5i25.0: IO Pin 004 (P3-03): StepGen #1, pin Step (Output) hm2/hm2_5i25.0: IO Pin 005 (P3-16): IOPort hm2/hm2_5i25.0: IO Pin 006 (P3-04): StepGen #1, pin Direction (Output) hm2/hm2_5i25.0: IO Pin 007 (P3-17): IOPort hm2/hm2_5i25.0: IO Pin 008 (P3-05): StepGen #2, pin Step (Output) hm2/hm2_5i25.0: IO Pin 009 (P3-06): StepGen #2, pin Direction (Output) hm2/hm2_5i25.0: IO Pin 010 (P3-07): StepGen #3, pin Step (Output) hm2/hm2_5i25.0: IO Pin 011 (P3-08): StepGen #3, pin Direction (Output) hm2/hm2_5i25.0: IO Pin 012 (P3-09): StepGen #4, pin Step (Output) hm2/hm2_5i25.0: IO Pin 013 (P3-10): StepGen #4, pin Direction (Output) hm2/hm2_5i25.0: IO Pin 014 (P3-11): IOPort hm2/hm2_5i25.0: IO Pin 015 (P3-12): IOPort hm2/hm2_5i25.0: IO Pin 016 (P3-13): PWMGen #0, pin Out0 (PWM or Up) (Output) hm2/hm2_5i25.0: IO Pin 017 (P2-01): Encoder #0, pin A (Input) hm2/hm2_5i25.0: IO Pin 018 (P2-14): Encoder #4, pin B (Input) hm2/hm2_5i25.0: IO Pin 019 (P2-02): Encoder #0, pin B (Input) hm2/hm2_5i25.0: IO Pin 020 (P2-15): Encoder #4, pin Index (Input) hm2/hm2_5i25.0: IO Pin 021 (P2-03): Encoder #0, pin Index (Input) hm2/hm2_5i25.0: IO Pin 022 (P2-16): IOPort hm2/hm2_5i25.0: IO Pin 023 (P2-04): Encoder #2, pin A (Input) hm2/hm2_5i25.0: IO Pin 024 (P2-17): IOPort hm2/hm2_5i25.0: IO Pin 025 (P2-05): Encoder #1, pin B (Input) hm2/hm2_5i25.0: IO Pin 026 (P2-06): Encoder #1, pin Index (Input) hm2/hm2_5i25.0: IO Pin 027 (P2-07): Encoder #2, pin A (Input) hm2/hm2_5i25.0: IO Pin 028 (P2-08): Encoder #2, pin B (Input) hm2/hm2_5i25.0: IO Pin 029 (P2-09): Encoder #2, pin Index (Input) hm2/hm2_5i25.0: IO Pin 030 (P2-10): Encoder #3, pin A (Input) hm2/hm2_5i25.0: IO Pin 031 (P2-11): Encoder #3, pin B (Input) hm2/hm2_5i25.0: IO Pin 032 (P2-12): Encoder #3, pin Index (Input) hm2/hm2_5i25.0: IO Pin 033 (P2-13): Encoder #4, pin A (Input) hm2/hm2_5i25.0: registered hm2_5i25.0: initialized AnyIO board at 0000:01:05.0 halcmd: show pin hm2_5i25 Component Pins: Owner Type Dir Value Name 7 s32 OUT 0 hm2_5i25.0.encoder.00.count 7 s32 OUT 0 hm2_5i25.0.encoder.00.count-latched 7 bit I/O FALSE hm2_5i25.0.encoder.00.index-enable 7 bit OUT TRUE hm2_5i25.0.encoder.00.input-a 7 bit OUT TRUE hm2_5i25.0.encoder.00.input-b 7 bit OUT FALSE hm2_5i25.0.encoder.00.input-index 7 bit IN FALSE hm2_5i25.0.encoder.00.latch-enable 7 bit IN FALSE hm2_5i25.0.encoder.00.latch-polarity 7 float OUT 0 hm2_5i25.0.encoder.00.position 7 float OUT 0 hm2_5i25.0.encoder.00.position-latched 7 bit OUT FALSE hm2_5i25.0.encoder.00.quad-error 7 bit IN FALSE hm2_5i25.0.encoder.00.quad-error-enable 7 s32 OUT 0 hm2_5i25.0.encoder.00.rawcounts 7 s32 OUT 0 hm2_5i25.0.encoder.00.rawlatch 7 bit IN FALSE hm2_5i25.0.encoder.00.reset 7 float OUT 0 hm2_5i25.0.encoder.00.velocity 7 float OUT 0 hm2_5i25.0.encoder.00.velocity-rpm 7 s32 OUT 0 hm2_5i25.0.encoder.01.count 7 s32 OUT 0 hm2_5i25.0.encoder.01.count-latched 7 bit I/O FALSE hm2_5i25.0.encoder.01.index-enable 7 bit OUT FALSE hm2_5i25.0.encoder.01.input-a 7 bit OUT TRUE hm2_5i25.0.encoder.01.input-b 7 bit OUT FALSE hm2_5i25.0.encoder.01.input-index 7 bit IN FALSE hm2_5i25.0.encoder.01.latch-enable 7 bit IN FALSE hm2_5i25.0.encoder.01.latch-polarity 7 float OUT 0 hm2_5i25.0.encoder.01.position 7 float OUT 0 hm2_5i25.0.encoder.01.position-latched 7 bit OUT FALSE hm2_5i25.0.encoder.01.quad-error 7 bit IN FALSE hm2_5i25.0.encoder.01.quad-error-enable 7 s32 OUT 65535 hm2_5i25.0.encoder.01.rawcounts 7 s32 OUT 65535 hm2_5i25.0.encoder.01.rawlatch 7 bit IN FALSE hm2_5i25.0.encoder.01.reset 7 float OUT 0 hm2_5i25.0.encoder.01.velocity 7 float OUT 0 hm2_5i25.0.encoder.01.velocity-rpm 7 s32 OUT 0 hm2_5i25.0.encoder.02.count 7 s32 OUT 0 hm2_5i25.0.encoder.02.count-latched 7 bit I/O FALSE hm2_5i25.0.encoder.02.index-enable 7 bit OUT TRUE hm2_5i25.0.encoder.02.input-a 7 bit OUT TRUE hm2_5i25.0.encoder.02.input-b 7 bit OUT FALSE hm2_5i25.0.encoder.02.input-index 7 bit IN FALSE hm2_5i25.0.encoder.02.latch-enable 7 bit IN FALSE hm2_5i25.0.encoder.02.latch-polarity 7 float OUT 0 hm2_5i25.0.encoder.02.position 7 float OUT 0 hm2_5i25.0.encoder.02.position-latched 7 bit OUT FALSE hm2_5i25.0.encoder.02.quad-error 7 bit IN FALSE hm2_5i25.0.encoder.02.quad-error-enable 7 s32 OUT 0 hm2_5i25.0.encoder.02.rawcounts 7 s32 OUT 0 hm2_5i25.0.encoder.02.rawlatch 7 bit IN FALSE hm2_5i25.0.encoder.02.reset 7 float OUT 0 hm2_5i25.0.encoder.02.velocity 7 float OUT 0 hm2_5i25.0.encoder.02.velocity-rpm 7 s32 OUT 0 hm2_5i25.0.encoder.03.count 7 s32 OUT 0 hm2_5i25.0.encoder.03.count-latched 7 bit I/O FALSE hm2_5i25.0.encoder.03.index-enable 7 bit OUT TRUE hm2_5i25.0.encoder.03.input-a 7 bit OUT TRUE hm2_5i25.0.encoder.03.input-b 7 bit OUT FALSE hm2_5i25.0.encoder.03.input-index 7 bit IN FALSE hm2_5i25.0.encoder.03.latch-enable 7 bit IN FALSE hm2_5i25.0.encoder.03.latch-polarity 7 float OUT 0 hm2_5i25.0.encoder.03.position 7 float OUT 0 hm2_5i25.0.encoder.03.position-latched 7 bit OUT FALSE hm2_5i25.0.encoder.03.quad-error 7 bit IN FALSE hm2_5i25.0.encoder.03.quad-error-enable 7 s32 OUT 0 hm2_5i25.0.encoder.03.rawcounts 7 s32 OUT 0 hm2_5i25.0.encoder.03.rawlatch 7 bit IN FALSE hm2_5i25.0.encoder.03.reset 7 float OUT 0 hm2_5i25.0.encoder.03.velocity 7 float OUT 0 hm2_5i25.0.encoder.03.velocity-rpm 7 s32 OUT 0 hm2_5i25.0.encoder.04.count 7 s32 OUT 0 hm2_5i25.0.encoder.04.count-latched 7 bit I/O FALSE hm2_5i25.0.encoder.04.index-enable 7 bit OUT TRUE hm2_5i25.0.encoder.04.input-a 7 bit OUT TRUE hm2_5i25.0.encoder.04.input-b 7 bit OUT FALSE hm2_5i25.0.encoder.04.input-index 7 bit IN FALSE hm2_5i25.0.encoder.04.latch-enable 7 bit IN FALSE hm2_5i25.0.encoder.04.latch-polarity 7 float OUT 0 hm2_5i25.0.encoder.04.position 7 float OUT 0 hm2_5i25.0.encoder.04.position-latched 7 bit OUT FALSE hm2_5i25.0.encoder.04.quad-error 7 bit IN FALSE hm2_5i25.0.encoder.04.quad-error-enable 7 s32 OUT 0 hm2_5i25.0.encoder.04.rawcounts 7 s32 OUT 0 hm2_5i25.0.encoder.04.rawlatch 7 bit IN FALSE hm2_5i25.0.encoder.04.reset 7 float OUT 0 hm2_5i25.0.encoder.04.velocity 7 float OUT 0 hm2_5i25.0.encoder.04.velocity-rpm 7 u32 IN 0x00001FC8 hm2_5i25.0.encoder.sample-frequency 7 bit OUT FALSE hm2_5i25.0.gpio.000.in 7 bit OUT TRUE hm2_5i25.0.gpio.000.in_not 7 bit OUT TRUE hm2_5i25.0.gpio.001.in 7 bit OUT FALSE hm2_5i25.0.gpio.001.in_not 7 bit IN FALSE hm2_5i25.0.gpio.001.out 7 bit OUT FALSE hm2_5i25.0.gpio.002.in 7 bit OUT TRUE hm2_5i25.0.gpio.002.in_not 7 bit OUT TRUE hm2_5i25.0.gpio.003.in 7 bit OUT FALSE hm2_5i25.0.gpio.003.in_not 7 bit IN FALSE hm2_5i25.0.gpio.003.out 7 bit OUT FALSE hm2_5i25.0.gpio.004.in 7 bit OUT TRUE hm2_5i25.0.gpio.004.in_not 7 bit OUT TRUE hm2_5i25.0.gpio.005.in 7 bit OUT FALSE hm2_5i25.0.gpio.005.in_not 7 bit IN FALSE hm2_5i25.0.gpio.005.out 7 bit OUT FALSE hm2_5i25.0.gpio.006.in 7 bit OUT TRUE hm2_5i25.0.gpio.006.in_not 7 bit OUT TRUE hm2_5i25.0.gpio.007.in 7 bit OUT FALSE hm2_5i25.0.gpio.007.in_not 7 bit IN FALSE hm2_5i25.0.gpio.007.out 7 bit OUT FALSE hm2_5i25.0.gpio.008.in 7 bit OUT TRUE hm2_5i25.0.gpio.008.in_not 7 bit OUT FALSE hm2_5i25.0.gpio.009.in 7 bit OUT TRUE hm2_5i25.0.gpio.009.in_not 7 bit OUT FALSE hm2_5i25.0.gpio.010.in 7 bit OUT TRUE hm2_5i25.0.gpio.010.in_not 7 bit OUT FALSE hm2_5i25.0.gpio.011.in 7 bit OUT TRUE hm2_5i25.0.gpio.011.in_not 7 bit OUT FALSE hm2_5i25.0.gpio.012.in 7 bit OUT TRUE hm2_5i25.0.gpio.012.in_not 7 bit OUT FALSE hm2_5i25.0.gpio.013.in 7 bit OUT TRUE hm2_5i25.0.gpio.013.in_not 7 bit OUT TRUE hm2_5i25.0.gpio.014.in 7 bit OUT FALSE hm2_5i25.0.gpio.014.in_not 7 bit IN FALSE hm2_5i25.0.gpio.014.out 7 bit OUT TRUE hm2_5i25.0.gpio.015.in 7 bit OUT FALSE hm2_5i25.0.gpio.015.in_not 7 bit IN FALSE hm2_5i25.0.gpio.015.out 7 bit OUT FALSE hm2_5i25.0.gpio.016.in 7 bit OUT TRUE hm2_5i25.0.gpio.016.in_not 7 bit OUT TRUE hm2_5i25.0.gpio.017.in 7 bit OUT FALSE hm2_5i25.0.gpio.017.in_not 7 bit OUT TRUE hm2_5i25.0.gpio.018.in 7 bit OUT FALSE hm2_5i25.0.gpio.018.in_not 7 bit OUT TRUE hm2_5i25.0.gpio.019.in 7 bit OUT FALSE hm2_5i25.0.gpio.019.in_not 7 bit OUT TRUE hm2_5i25.0.gpio.020.in 7 bit OUT FALSE hm2_5i25.0.gpio.020.in_not 7 bit OUT TRUE hm2_5i25.0.gpio.021.in 7 bit OUT FALSE hm2_5i25.0.gpio.021.in_not 7 bit OUT TRUE hm2_5i25.0.gpio.022.in 7 bit OUT FALSE hm2_5i25.0.gpio.022.in_not 7 bit IN FALSE hm2_5i25.0.gpio.022.out 7 bit OUT TRUE hm2_5i25.0.gpio.023.in 7 bit OUT FALSE hm2_5i25.0.gpio.023.in_not 7 bit OUT TRUE hm2_5i25.0.gpio.024.in 7 bit OUT FALSE hm2_5i25.0.gpio.024.in_not 7 bit IN FALSE hm2_5i25.0.gpio.024.out 7 bit OUT TRUE hm2_5i25.0.gpio.025.in 7 bit OUT FALSE hm2_5i25.0.gpio.025.in_not 7 bit OUT TRUE hm2_5i25.0.gpio.026.in 7 bit OUT FALSE hm2_5i25.0.gpio.026.in_not 7 bit OUT TRUE hm2_5i25.0.gpio.027.in 7 bit OUT FALSE hm2_5i25.0.gpio.027.in_not 7 bit OUT TRUE hm2_5i25.0.gpio.028.in 7 bit OUT FALSE hm2_5i25.0.gpio.028.in_not 7 bit OUT TRUE hm2_5i25.0.gpio.029.in 7 bit OUT FALSE hm2_5i25.0.gpio.029.in_not 7 bit OUT TRUE hm2_5i25.0.gpio.030.in 7 bit OUT FALSE hm2_5i25.0.gpio.030.in_not 7 bit OUT TRUE hm2_5i25.0.gpio.031.in 7 bit OUT FALSE hm2_5i25.0.gpio.031.in_not 7 bit OUT TRUE hm2_5i25.0.gpio.032.in 7 bit OUT FALSE hm2_5i25.0.gpio.032.in_not 7 bit OUT TRUE hm2_5i25.0.gpio.033.in 7 bit OUT FALSE hm2_5i25.0.gpio.033.in_not 7 bit IN FALSE hm2_5i25.0.led.CR01 7 bit IN FALSE hm2_5i25.0.led.CR02 7 bit IN FALSE hm2_5i25.0.pwmgen.00.enable 7 float IN 0 hm2_5i25.0.pwmgen.00.value 7 s32 OUT 0 hm2_5i25.0.read.time 7 s32 OUT 0 hm2_5i25.0.read_gpio.time 7 bit IN FALSE hm2_5i25.0.stepgen.00.control-type 7 s32 OUT 0 hm2_5i25.0.stepgen.00.counts 7 float OUT 0 hm2_5i25.0.stepgen.00.dbg_err_at_match 7 float OUT 0 hm2_5i25.0.stepgen.00.dbg_ff_vel 7 float OUT 0 hm2_5i25.0.stepgen.00.dbg_pos_minus_prev_cmd 7 float OUT 0 hm2_5i25.0.stepgen.00.dbg_s_to_match 7 s32 OUT 0 hm2_5i25.0.stepgen.00.dbg_step_rate 7 float OUT 0 hm2_5i25.0.stepgen.00.dbg_vel_error 7 bit IN FALSE hm2_5i25.0.stepgen.00.enable 7 float IN 0 hm2_5i25.0.stepgen.00.position-cmd 7 float OUT 0 hm2_5i25.0.stepgen.00.position-fb 7 float IN 0 hm2_5i25.0.stepgen.00.velocity-cmd 7 float OUT 0 hm2_5i25.0.stepgen.00.velocity-fb 7 bit IN FALSE hm2_5i25.0.stepgen.01.control-type 7 s32 OUT 0 hm2_5i25.0.stepgen.01.counts 7 float OUT 0 hm2_5i25.0.stepgen.01.dbg_err_at_match 7 float OUT 0 hm2_5i25.0.stepgen.01.dbg_ff_vel 7 float OUT 0 hm2_5i25.0.stepgen.01.dbg_pos_minus_prev_cmd 7 float OUT 0 hm2_5i25.0.stepgen.01.dbg_s_to_match 7 s32 OUT 0 hm2_5i25.0.stepgen.01.dbg_step_rate 7 float OUT 0 hm2_5i25.0.stepgen.01.dbg_vel_error 7 bit IN FALSE hm2_5i25.0.stepgen.01.enable 7 float IN 0 hm2_5i25.0.stepgen.01.position-cmd 7 float OUT 0 hm2_5i25.0.stepgen.01.position-fb 7 float IN 0 hm2_5i25.0.stepgen.01.velocity-cmd 7 float OUT 0 hm2_5i25.0.stepgen.01.velocity-fb 7 bit IN FALSE hm2_5i25.0.stepgen.02.control-type 7 s32 OUT 0 hm2_5i25.0.stepgen.02.counts 7 float OUT 0 hm2_5i25.0.stepgen.02.dbg_err_at_match 7 float OUT 0 hm2_5i25.0.stepgen.02.dbg_ff_vel 7 float OUT 0 hm2_5i25.0.stepgen.02.dbg_pos_minus_prev_cmd 7 float OUT 0 hm2_5i25.0.stepgen.02.dbg_s_to_match 7 s32 OUT 0 hm2_5i25.0.stepgen.02.dbg_step_rate 7 float OUT 0 hm2_5i25.0.stepgen.02.dbg_vel_error 7 bit IN FALSE hm2_5i25.0.stepgen.02.enable 7 float IN 0 hm2_5i25.0.stepgen.02.position-cmd 7 float OUT 0 hm2_5i25.0.stepgen.02.position-fb 7 float IN 0 hm2_5i25.0.stepgen.02.velocity-cmd 7 float OUT 0 hm2_5i25.0.stepgen.02.velocity-fb 7 bit IN FALSE hm2_5i25.0.stepgen.03.control-type 7 s32 OUT 0 hm2_5i25.0.stepgen.03.counts 7 float OUT 0 hm2_5i25.0.stepgen.03.dbg_err_at_match 7 float OUT 0 hm2_5i25.0.stepgen.03.dbg_ff_vel 7 float OUT 0 hm2_5i25.0.stepgen.03.dbg_pos_minus_prev_cmd 7 float OUT 0 hm2_5i25.0.stepgen.03.dbg_s_to_match 7 s32 OUT 0 hm2_5i25.0.stepgen.03.dbg_step_rate 7 float OUT 0 hm2_5i25.0.stepgen.03.dbg_vel_error 7 bit IN FALSE hm2_5i25.0.stepgen.03.enable 7 float IN 0 hm2_5i25.0.stepgen.03.position-cmd 7 float OUT 0 hm2_5i25.0.stepgen.03.position-fb 7 float IN 0 hm2_5i25.0.stepgen.03.velocity-cmd 7 float OUT 0 hm2_5i25.0.stepgen.03.velocity-fb 7 bit IN FALSE hm2_5i25.0.stepgen.04.control-type 7 s32 OUT 0 hm2_5i25.0.stepgen.04.counts 7 float OUT 0 hm2_5i25.0.stepgen.04.dbg_err_at_match 7 float OUT 0 hm2_5i25.0.stepgen.04.dbg_ff_vel 7 float OUT 0 hm2_5i25.0.stepgen.04.dbg_pos_minus_prev_cmd 7 float OUT 0 hm2_5i25.0.stepgen.04.dbg_s_to_match 7 s32 OUT 0 hm2_5i25.0.stepgen.04.dbg_step_rate 7 float OUT 0 hm2_5i25.0.stepgen.04.dbg_vel_error 7 bit IN FALSE hm2_5i25.0.stepgen.04.enable 7 float IN 0 hm2_5i25.0.stepgen.04.position-cmd 7 float OUT 0 hm2_5i25.0.stepgen.04.position-fb 7 float IN 0 hm2_5i25.0.stepgen.04.velocity-cmd 7 float OUT 0 hm2_5i25.0.stepgen.04.velocity-fb 7 bit I/O FALSE hm2_5i25.0.watchdog.has_bit 7 s32 OUT 0 hm2_5i25.0.write.time 7 s32 OUT 0 hm2_5i25.0.write_gpio.time