svb@LiteXCNC-hdev:~/linuxcnc/configs/TOLP2_impr$ halrun -I halrun-test.hal Note: Using POSIX realtime litexcnc: Loading Litex CNC driver version 1.1.0 litexcnc: loading litexCNC etherbone driver version 0.02 litexcnc: Connecting to board at address: 192.168.0.45:1234 litexcnc: Setting up modules... litexcnc: - Watchdog litexcnc: - Wallclock litexcnc: - GPIO litexcnc: - PWM litexcnc: - Stepgen litexcnc: - Encoder litexcnc: Creating read and write buffers... litexcnc: - Write buffer: 180 bytes) litexcnc: - Read buffer: 164 bytes) litexcnc: Exporting functions... litexcnc: Hello world halcmd: rtapi_app: caught signal 11 - dumping core halcmd: show Loaded HAL Components: ID Type Name PID State 19 User halcmd25003 25003 ready 17 RT pos2vel ready 14 RT litexcnc_eth ready 11 RT litexcnc ready 8 RT __servo-thread ready 7 RT motmod ready 4 RT trivkins ready Component Pins: Owner Type Dir Value Name 7 float OUT 0 axis.a.eoffset 7 bit IN FALSE axis.a.eoffset-clear 7 s32 IN 0 axis.a.eoffset-counts 7 bit IN FALSE axis.a.eoffset-enable 7 float OUT 0 axis.a.eoffset-request 7 float IN 0 axis.a.eoffset-scale 7 float IN 1 axis.a.jog-accel-fraction 7 s32 IN 0 axis.a.jog-counts 7 bit IN FALSE axis.a.jog-enable 7 float IN 0 axis.a.jog-scale 7 bit IN FALSE axis.a.jog-vel-mode 7 bit OUT FALSE axis.a.kb-jog-active 7 float OUT 0 axis.a.pos-cmd 7 float OUT 0 axis.a.teleop-pos-cmd 7 bit OUT FALSE axis.a.teleop-tp-enable 7 float OUT 0 axis.a.teleop-vel-cmd 7 float OUT 0 axis.a.teleop-vel-lim 7 bit OUT FALSE axis.a.wheel-jog-active 7 float OUT 0 axis.b.eoffset 7 bit IN FALSE axis.b.eoffset-clear 7 s32 IN 0 axis.b.eoffset-counts 7 bit IN FALSE axis.b.eoffset-enable 7 float OUT 0 axis.b.eoffset-request 7 float IN 0 axis.b.eoffset-scale 7 float IN 1 axis.b.jog-accel-fraction 7 s32 IN 0 axis.b.jog-counts 7 bit IN FALSE axis.b.jog-enable 7 float IN 0 axis.b.jog-scale 7 bit IN FALSE axis.b.jog-vel-mode 7 bit OUT FALSE axis.b.kb-jog-active 7 float OUT 0 axis.b.pos-cmd 7 float OUT 0 axis.b.teleop-pos-cmd 7 bit OUT FALSE axis.b.teleop-tp-enable 7 float OUT 0 axis.b.teleop-vel-cmd 7 float OUT 0 axis.b.teleop-vel-lim 7 bit OUT FALSE axis.b.wheel-jog-active 7 float OUT 0 axis.c.eoffset 7 bit IN FALSE axis.c.eoffset-clear 7 s32 IN 0 axis.c.eoffset-counts 7 bit IN FALSE axis.c.eoffset-enable 7 float OUT 0 axis.c.eoffset-request 7 float IN 0 axis.c.eoffset-scale 7 float IN 1 axis.c.jog-accel-fraction 7 s32 IN 0 axis.c.jog-counts 7 bit IN FALSE axis.c.jog-enable 7 float IN 0 axis.c.jog-scale 7 bit IN FALSE axis.c.jog-vel-mode 7 bit OUT FALSE axis.c.kb-jog-active 7 float OUT 0 axis.c.pos-cmd 7 float OUT 0 axis.c.teleop-pos-cmd 7 bit OUT FALSE axis.c.teleop-tp-enable 7 float OUT 0 axis.c.teleop-vel-cmd 7 float OUT 0 axis.c.teleop-vel-lim 7 bit OUT FALSE axis.c.wheel-jog-active 7 float OUT 0 axis.u.eoffset 7 bit IN FALSE axis.u.eoffset-clear 7 s32 IN 0 axis.u.eoffset-counts 7 bit IN FALSE axis.u.eoffset-enable 7 float OUT 0 axis.u.eoffset-request 7 float IN 0 axis.u.eoffset-scale 7 float IN 1 axis.u.jog-accel-fraction 7 s32 IN 0 axis.u.jog-counts 7 bit IN FALSE axis.u.jog-enable 7 float IN 0 axis.u.jog-scale 7 bit IN FALSE axis.u.jog-vel-mode 7 bit OUT FALSE axis.u.kb-jog-active 7 float OUT 0 axis.u.pos-cmd 7 float OUT 0 axis.u.teleop-pos-cmd 7 bit OUT FALSE axis.u.teleop-tp-enable 7 float OUT 0 axis.u.teleop-vel-cmd 7 float OUT 0 axis.u.teleop-vel-lim 7 bit OUT FALSE axis.u.wheel-jog-active 7 float OUT 0 axis.v.eoffset 7 bit IN FALSE axis.v.eoffset-clear 7 s32 IN 0 axis.v.eoffset-counts 7 bit IN FALSE axis.v.eoffset-enable 7 float OUT 0 axis.v.eoffset-request 7 float IN 0 axis.v.eoffset-scale 7 float IN 1 axis.v.jog-accel-fraction 7 s32 IN 0 axis.v.jog-counts 7 bit IN FALSE axis.v.jog-enable 7 float IN 0 axis.v.jog-scale 7 bit IN FALSE axis.v.jog-vel-mode 7 bit OUT FALSE axis.v.kb-jog-active 7 float OUT 0 axis.v.pos-cmd 7 float OUT 0 axis.v.teleop-pos-cmd 7 bit OUT FALSE axis.v.teleop-tp-enable 7 float OUT 0 axis.v.teleop-vel-cmd 7 float OUT 0 axis.v.teleop-vel-lim 7 bit OUT FALSE axis.v.wheel-jog-active 7 float OUT 0 axis.w.eoffset 7 bit IN FALSE axis.w.eoffset-clear 7 s32 IN 0 axis.w.eoffset-counts 7 bit IN FALSE axis.w.eoffset-enable 7 float OUT 0 axis.w.eoffset-request 7 float IN 0 axis.w.eoffset-scale 7 float IN 1 axis.w.jog-accel-fraction 7 s32 IN 0 axis.w.jog-counts 7 bit IN FALSE axis.w.jog-enable 7 float IN 0 axis.w.jog-scale 7 bit IN FALSE axis.w.jog-vel-mode 7 bit OUT FALSE axis.w.kb-jog-active 7 float OUT 0 axis.w.pos-cmd 7 float OUT 0 axis.w.teleop-pos-cmd 7 bit OUT FALSE axis.w.teleop-tp-enable 7 float OUT 0 axis.w.teleop-vel-cmd 7 float OUT 0 axis.w.teleop-vel-lim 7 bit OUT FALSE axis.w.wheel-jog-active 7 float OUT 0 axis.x.eoffset 7 bit IN FALSE axis.x.eoffset-clear 7 s32 IN 0 axis.x.eoffset-counts 7 bit IN FALSE axis.x.eoffset-enable 7 float OUT 0 axis.x.eoffset-request 7 float IN 0 axis.x.eoffset-scale 7 float IN 1 axis.x.jog-accel-fraction 7 s32 IN 0 axis.x.jog-counts 7 bit IN FALSE axis.x.jog-enable 7 float IN 0 axis.x.jog-scale 7 bit IN FALSE axis.x.jog-vel-mode 7 bit OUT FALSE axis.x.kb-jog-active 7 float OUT 0 axis.x.pos-cmd 7 float OUT 0 axis.x.teleop-pos-cmd 7 bit OUT FALSE axis.x.teleop-tp-enable 7 float OUT 0 axis.x.teleop-vel-cmd 7 float OUT 0 axis.x.teleop-vel-lim 7 bit OUT FALSE axis.x.wheel-jog-active 7 float OUT 0 axis.y.eoffset 7 bit IN FALSE axis.y.eoffset-clear 7 s32 IN 0 axis.y.eoffset-counts 7 bit IN FALSE axis.y.eoffset-enable 7 float OUT 0 axis.y.eoffset-request 7 float IN 0 axis.y.eoffset-scale 7 float IN 1 axis.y.jog-accel-fraction 7 s32 IN 0 axis.y.jog-counts 7 bit IN FALSE axis.y.jog-enable 7 float IN 0 axis.y.jog-scale 7 bit IN FALSE axis.y.jog-vel-mode 7 bit OUT FALSE axis.y.kb-jog-active 7 float OUT 0 axis.y.pos-cmd 7 float OUT 0 axis.y.teleop-pos-cmd 7 bit OUT FALSE axis.y.teleop-tp-enable 7 float OUT 0 axis.y.teleop-vel-cmd 7 float OUT 0 axis.y.teleop-vel-lim 7 bit OUT FALSE axis.y.wheel-jog-active 7 float OUT 0 axis.z.eoffset 7 bit IN FALSE axis.z.eoffset-clear 7 s32 IN 0 axis.z.eoffset-counts 7 bit IN FALSE axis.z.eoffset-enable 7 float OUT 0 axis.z.eoffset-request 7 float IN 0 axis.z.eoffset-scale 7 float IN 1 axis.z.jog-accel-fraction 7 s32 IN 0 axis.z.jog-counts 7 bit IN FALSE axis.z.jog-enable 7 float IN 0 axis.z.jog-scale 7 bit IN FALSE axis.z.jog-vel-mode 7 bit OUT FALSE axis.z.kb-jog-active 7 float OUT 0 axis.z.pos-cmd 7 float OUT 0 axis.z.teleop-pos-cmd 7 bit OUT FALSE axis.z.teleop-tp-enable 7 float OUT 0 axis.z.teleop-vel-cmd 7 float OUT 0 axis.z.teleop-vel-lim 7 bit OUT FALSE axis.z.wheel-jog-active 7 float OUT 0 joint.0.acc-cmd 7 bit OUT FALSE joint.0.active 7 bit OUT FALSE joint.0.amp-enable-out 7 bit IN FALSE joint.0.amp-fault-in 7 float OUT 0 joint.0.backlash-corr 7 float OUT 0 joint.0.backlash-filt 7 float OUT 0 joint.0.backlash-vel 7 float OUT 0 joint.0.coarse-pos-cmd 7 bit OUT FALSE joint.0.error 7 float OUT 0 joint.0.f-error 7 float OUT 0.01 joint.0.f-error-lim 7 bit OUT FALSE joint.0.f-errored 7 bit OUT FALSE joint.0.faulted 7 float OUT 0 joint.0.free-pos-cmd 7 bit OUT FALSE joint.0.free-tp-enable 7 float OUT 0 joint.0.free-vel-lim 7 s32 OUT 0 joint.0.home-state 7 bit IN FALSE joint.0.home-sw-in 7 bit OUT FALSE joint.0.homed 7 bit OUT FALSE joint.0.homing 7 bit OUT TRUE joint.0.in-position 7 bit I/O FALSE joint.0.index-enable 7 float IN 1 joint.0.jog-accel-fraction 7 s32 IN 0 joint.0.jog-counts 7 bit IN FALSE joint.0.jog-enable 7 float IN 0 joint.0.jog-scale 7 bit IN FALSE joint.0.jog-vel-mode 7 bit OUT FALSE joint.0.kb-jog-active 7 float OUT 0 joint.0.motor-offset 7 float OUT 0 joint.0.motor-pos-cmd 7 float IN 0 joint.0.motor-pos-fb 7 bit OUT FALSE joint.0.neg-hard-limit 7 bit IN FALSE joint.0.neg-lim-sw-in 7 float OUT 0 joint.0.pos-cmd 7 float OUT 0 joint.0.pos-fb 7 bit OUT FALSE joint.0.pos-hard-limit 7 bit IN FALSE joint.0.pos-lim-sw-in 7 float OUT 0 joint.0.vel-cmd 7 bit OUT FALSE joint.0.wheel-jog-active 7 s32 OUT 2424 motion-command-handler.time 7 s32 OUT 32732 motion-controller.time 7 float IN 1 motion.adaptive-feed 7 float IN 0 motion.analog-in-00 7 float IN 0 motion.analog-in-01 7 float IN 0 motion.analog-in-02 7 float IN 0 motion.analog-in-03 7 float OUT 0 motion.analog-out-00 7 float OUT 0 motion.analog-out-01 7 float OUT 0 motion.analog-out-02 7 float OUT 0 motion.analog-out-03 7 bit OUT FALSE motion.coord-error 7 bit OUT FALSE motion.coord-mode 7 float OUT 0 motion.current-vel 7 bit IN FALSE motion.digital-in-00 7 bit IN FALSE motion.digital-in-01 7 bit IN FALSE motion.digital-in-02 7 bit IN FALSE motion.digital-in-03 7 bit OUT FALSE motion.digital-out-00 7 bit OUT FALSE motion.digital-out-01 7 bit OUT FALSE motion.digital-out-02 7 bit OUT FALSE motion.digital-out-03 7 float OUT 0 motion.distance-to-go 7 bit IN TRUE motion.enable 7 bit OUT FALSE motion.eoffset-active 7 bit OUT FALSE motion.eoffset-limited 7 bit IN FALSE motion.feed-hold 7 bit IN FALSE motion.feed-inhibit 7 bit IN FALSE motion.homing-inhibit 7 bit OUT TRUE motion.in-position 7 bit OUT FALSE motion.motion-enabled 7 s32 OUT 0 motion.motion-type 7 bit OUT FALSE motion.on-soft-limit 7 bit IN FALSE motion.probe-input 7 s32 OUT 0 motion.program-line 7 float OUT 0 motion.requested-vel 7 u32 OUT 0x020C4550 motion.servo.last-period 7 bit OUT FALSE motion.teleop-mode 7 float OUT 0 motion.tooloffset.a 7 float OUT 0 motion.tooloffset.b 7 float OUT 0 motion.tooloffset.c 7 float OUT 0 motion.tooloffset.u 7 float OUT 0 motion.tooloffset.v 7 float OUT 0 motion.tooloffset.w 7 float OUT 0 motion.tooloffset.x 7 float OUT 0 motion.tooloffset.y 7 float OUT 0 motion.tooloffset.z 7 bit OUT FALSE motion.tp-reverse 17 bit IN FALSE pos2vel.0.debug 17 float IN 0 pos2vel.0.position-cmd 17 float IN 0 pos2vel.0.position-feedback 17 float OUT 0 pos2vel.0.velocity-cmd 17 float IN 0 pos2vel.0.velocity-feedback 17 s32 OUT 1976 pos2vel.convert.time 17 float IN 0 pos2vel.period_s 17 float IN 0 pos2vel.period_s_recip 8 s32 OUT 1818640 servo-thread.time 7 bit IN FALSE spindle.0.amp-fault-in 7 bit IN TRUE spindle.0.at-speed 7 bit OUT FALSE spindle.0.brake 7 bit OUT FALSE spindle.0.forward 7 bit I/O FALSE spindle.0.index-enable 7 bit IN FALSE spindle.0.inhibit 7 bit IN FALSE spindle.0.is-oriented 7 bit OUT FALSE spindle.0.locked 7 bit OUT FALSE spindle.0.on 7 bit OUT FALSE spindle.0.orient 7 float OUT 0 spindle.0.orient-angle 7 s32 IN 0 spindle.0.orient-fault 7 s32 OUT 0 spindle.0.orient-mode 7 bit OUT FALSE spindle.0.reverse 7 float IN 0 spindle.0.revs 7 float OUT 0 spindle.0.speed-cmd-rps 7 float IN 0 spindle.0.speed-in 7 float OUT 0 spindle.0.speed-out 7 float OUT 0 spindle.0.speed-out-abs 7 float OUT 0 spindle.0.speed-out-rps 7 float OUT 0 spindle.0.speed-out-rps-abs 14 s32 IN 0 test_PWM_GPIO.encoder.00.counts 14 bit IN FALSE test_PWM_GPIO.encoder.00.index_enable 14 bit OUT FALSE test_PWM_GPIO.encoder.00.index_pulse 14 bit OUT FALSE test_PWM_GPIO.encoder.00.overflow_occurred 14 float OUT 0 test_PWM_GPIO.encoder.00.position 14 bit IN FALSE test_PWM_GPIO.encoder.00.reset 14 float OUT 0 test_PWM_GPIO.encoder.00.velocity 14 float OUT 0 test_PWM_GPIO.encoder.00.velocity_rpm 14 s32 IN 0 test_PWM_GPIO.encoder.01.counts 14 bit IN FALSE test_PWM_GPIO.encoder.01.index_enable 14 bit OUT FALSE test_PWM_GPIO.encoder.01.index_pulse 14 bit OUT FALSE test_PWM_GPIO.encoder.01.overflow_occurred 14 float OUT 0 test_PWM_GPIO.encoder.01.position 14 bit IN FALSE test_PWM_GPIO.encoder.01.reset 14 float OUT 0 test_PWM_GPIO.encoder.01.velocity 14 float OUT 0 test_PWM_GPIO.encoder.01.velocity_rpm 14 s32 IN 0 test_PWM_GPIO.encoder.02.counts 14 bit IN FALSE test_PWM_GPIO.encoder.02.index_enable 14 bit OUT FALSE test_PWM_GPIO.encoder.02.index_pulse 14 bit OUT FALSE test_PWM_GPIO.encoder.02.overflow_occurred 14 float OUT 0 test_PWM_GPIO.encoder.02.position 14 bit IN FALSE test_PWM_GPIO.encoder.02.reset 14 float OUT 0 test_PWM_GPIO.encoder.02.velocity 14 float OUT 0 test_PWM_GPIO.encoder.02.velocity_rpm 14 s32 IN 0 test_PWM_GPIO.encoder.03.counts 14 bit IN FALSE test_PWM_GPIO.encoder.03.index_enable 14 bit OUT FALSE test_PWM_GPIO.encoder.03.index_pulse 14 bit OUT FALSE test_PWM_GPIO.encoder.03.overflow_occurred 14 float OUT 0 test_PWM_GPIO.encoder.03.position 14 bit IN FALSE test_PWM_GPIO.encoder.03.reset 14 float OUT 0 test_PWM_GPIO.encoder.03.velocity 14 float OUT 0 test_PWM_GPIO.encoder.03.velocity_rpm 14 s32 IN 0 test_PWM_GPIO.encoder.04.counts 14 bit IN FALSE test_PWM_GPIO.encoder.04.index_enable 14 bit OUT FALSE test_PWM_GPIO.encoder.04.index_pulse 14 bit OUT FALSE test_PWM_GPIO.encoder.04.overflow_occurred 14 float OUT 0 test_PWM_GPIO.encoder.04.position 14 bit IN FALSE test_PWM_GPIO.encoder.04.reset 14 float OUT 0 test_PWM_GPIO.encoder.04.velocity 14 float OUT 0 test_PWM_GPIO.encoder.04.velocity_rpm 14 s32 IN 0 test_PWM_GPIO.encoder.05.counts 14 bit IN FALSE test_PWM_GPIO.encoder.05.index_enable 14 bit OUT FALSE test_PWM_GPIO.encoder.05.index_pulse 14 bit OUT FALSE test_PWM_GPIO.encoder.05.overflow_occurred 14 float OUT 0 test_PWM_GPIO.encoder.05.position 14 bit IN FALSE test_PWM_GPIO.encoder.05.reset 14 float OUT 0 test_PWM_GPIO.encoder.05.velocity 14 float OUT 0 test_PWM_GPIO.encoder.05.velocity_rpm 14 bit OUT FALSE test_PWM_GPIO.gpio.00.in 14 bit OUT TRUE test_PWM_GPIO.gpio.00.in-not 14 bit IN FALSE test_PWM_GPIO.gpio.00.out 14 bit OUT FALSE test_PWM_GPIO.gpio.01.in 14 bit OUT TRUE test_PWM_GPIO.gpio.01.in-not 14 bit IN FALSE test_PWM_GPIO.gpio.01.out 14 bit OUT FALSE test_PWM_GPIO.gpio.02.in 14 bit OUT TRUE test_PWM_GPIO.gpio.02.in-not 14 bit IN FALSE test_PWM_GPIO.gpio.02.out 14 bit OUT FALSE test_PWM_GPIO.gpio.03.in 14 bit OUT TRUE test_PWM_GPIO.gpio.03.in-not 14 bit IN FALSE test_PWM_GPIO.gpio.03.out 14 bit OUT FALSE test_PWM_GPIO.gpio.04.in 14 bit OUT TRUE test_PWM_GPIO.gpio.04.in-not 14 bit IN FALSE test_PWM_GPIO.gpio.04.out 14 bit OUT FALSE test_PWM_GPIO.gpio.05.in 14 bit OUT TRUE test_PWM_GPIO.gpio.05.in-not 14 bit IN FALSE test_PWM_GPIO.gpio.05.out 14 bit OUT FALSE test_PWM_GPIO.gpio.06.in 14 bit OUT TRUE test_PWM_GPIO.gpio.06.in-not 14 bit IN FALSE test_PWM_GPIO.gpio.06.out 14 bit OUT FALSE test_PWM_GPIO.gpio.07.in 14 bit OUT TRUE test_PWM_GPIO.gpio.07.in-not 14 bit IN FALSE test_PWM_GPIO.gpio.07.out 14 bit OUT FALSE test_PWM_GPIO.gpio.08.in 14 bit OUT TRUE test_PWM_GPIO.gpio.08.in-not 14 bit IN FALSE test_PWM_GPIO.gpio.08.out 14 bit OUT FALSE test_PWM_GPIO.gpio.09.in 14 bit OUT TRUE test_PWM_GPIO.gpio.09.in-not 14 bit IN FALSE test_PWM_GPIO.gpio.09.out 14 bit OUT FALSE test_PWM_GPIO.gpio.10.in 14 bit OUT TRUE test_PWM_GPIO.gpio.10.in-not 14 bit IN FALSE test_PWM_GPIO.gpio.10.out 14 bit OUT FALSE test_PWM_GPIO.gpio.11.in 14 bit OUT TRUE test_PWM_GPIO.gpio.11.in-not 14 bit IN FALSE test_PWM_GPIO.gpio.11.out 14 bit OUT FALSE test_PWM_GPIO.gpio.12.in 14 bit OUT TRUE test_PWM_GPIO.gpio.12.in-not 14 bit IN FALSE test_PWM_GPIO.gpio.12.out 14 bit OUT FALSE test_PWM_GPIO.gpio.13.in 14 bit OUT TRUE test_PWM_GPIO.gpio.13.in-not 14 bit IN FALSE test_PWM_GPIO.gpio.13.out 14 bit OUT FALSE test_PWM_GPIO.gpio.14.in 14 bit OUT TRUE test_PWM_GPIO.gpio.14.in-not 14 bit IN FALSE test_PWM_GPIO.gpio.14.out 14 bit OUT TRUE test_PWM_GPIO.gpio.15.in 14 bit OUT FALSE test_PWM_GPIO.gpio.15.in-not 14 bit IN FALSE test_PWM_GPIO.gpio.15.out 14 bit OUT TRUE test_PWM_GPIO.gpio.16.in 14 bit OUT FALSE test_PWM_GPIO.gpio.16.in-not 14 bit IN FALSE test_PWM_GPIO.gpio.16.out 14 bit OUT TRUE test_PWM_GPIO.gpio.17.in 14 bit OUT FALSE test_PWM_GPIO.gpio.17.in-not 14 bit IN FALSE test_PWM_GPIO.gpio.17.out 14 bit OUT FALSE test_PWM_GPIO.gpio.18.in 14 bit OUT TRUE test_PWM_GPIO.gpio.18.in-not 14 bit IN FALSE test_PWM_GPIO.gpio.18.out 14 bit OUT FALSE test_PWM_GPIO.gpio.19.in 14 bit OUT TRUE test_PWM_GPIO.gpio.19.in-not 14 bit IN FALSE test_PWM_GPIO.gpio.19.out 14 bit OUT FALSE test_PWM_GPIO.gpio.20.in 14 bit OUT TRUE test_PWM_GPIO.gpio.20.in-not 14 bit IN FALSE test_PWM_GPIO.gpio.20.out 14 bit OUT FALSE test_PWM_GPIO.gpio.21.in 14 bit OUT TRUE test_PWM_GPIO.gpio.21.in-not 14 bit IN FALSE test_PWM_GPIO.gpio.21.out 14 bit OUT FALSE test_PWM_GPIO.gpio.22.in 14 bit OUT TRUE test_PWM_GPIO.gpio.22.in-not 14 bit IN FALSE test_PWM_GPIO.gpio.22.out 14 bit OUT FALSE test_PWM_GPIO.gpio.23.in 14 bit OUT TRUE test_PWM_GPIO.gpio.23.in-not 14 bit IN FALSE test_PWM_GPIO.gpio.23.out 14 float OUT 0 test_PWM_GPIO.pwm.00.curr_dc 14 u32 OUT 0x00000000 test_PWM_GPIO.pwm.00.curr_period 14 float OUT 0 test_PWM_GPIO.pwm.00.curr_pwm_freq 14 u32 OUT 0x00000000 test_PWM_GPIO.pwm.00.curr_width 14 bit IN FALSE test_PWM_GPIO.pwm.00.dither_pwm 14 bit IN FALSE test_PWM_GPIO.pwm.00.enable 14 float IN 1 test_PWM_GPIO.pwm.00.max_dc 14 float IN 0 test_PWM_GPIO.pwm.00.min_dc 14 float IN 0 test_PWM_GPIO.pwm.00.offset 14 float IN 100000 test_PWM_GPIO.pwm.00.pwm_freq 14 float IN 1 test_PWM_GPIO.pwm.00.scale 14 float IN 0 test_PWM_GPIO.pwm.00.value 14 float OUT 0 test_PWM_GPIO.pwm.01.curr_dc 14 u32 OUT 0x00000000 test_PWM_GPIO.pwm.01.curr_period 14 float OUT 0 test_PWM_GPIO.pwm.01.curr_pwm_freq 14 u32 OUT 0x00000000 test_PWM_GPIO.pwm.01.curr_width 14 bit IN FALSE test_PWM_GPIO.pwm.01.dither_pwm 14 bit IN FALSE test_PWM_GPIO.pwm.01.enable 14 float IN 1 test_PWM_GPIO.pwm.01.max_dc 14 float IN 0 test_PWM_GPIO.pwm.01.min_dc 14 float IN 0 test_PWM_GPIO.pwm.01.offset 14 float IN 100000 test_PWM_GPIO.pwm.01.pwm_freq 14 float IN 1 test_PWM_GPIO.pwm.01.scale 14 float IN 0 test_PWM_GPIO.pwm.01.value 14 float OUT 0 test_PWM_GPIO.pwm.02.curr_dc 14 u32 OUT 0x00000000 test_PWM_GPIO.pwm.02.curr_period 14 float OUT 0 test_PWM_GPIO.pwm.02.curr_pwm_freq 14 u32 OUT 0x00000000 test_PWM_GPIO.pwm.02.curr_width 14 bit IN FALSE test_PWM_GPIO.pwm.02.dither_pwm 14 bit IN FALSE test_PWM_GPIO.pwm.02.enable 14 float IN 1 test_PWM_GPIO.pwm.02.max_dc 14 float IN 0 test_PWM_GPIO.pwm.02.min_dc 14 float IN 0 test_PWM_GPIO.pwm.02.offset 14 float IN 100000 test_PWM_GPIO.pwm.02.pwm_freq 14 float IN 1 test_PWM_GPIO.pwm.02.scale 14 float IN 0 test_PWM_GPIO.pwm.02.value 14 s32 OUT 444600 test_PWM_GPIO.read.time 14 float IN 0 test_PWM_GPIO.stepgen.00.acceleration-cmd1 14 float IN 0 test_PWM_GPIO.stepgen.00.acceleration-cmd2 14 u32 OUT 0x00000000 test_PWM_GPIO.stepgen.00.counts 14 bit IN FALSE test_PWM_GPIO.stepgen.00.debug 14 bit IN FALSE test_PWM_GPIO.stepgen.00.enable 14 float OUT 0 test_PWM_GPIO.stepgen.00.position-feedback 14 float OUT 0 test_PWM_GPIO.stepgen.00.position_prediction 14 float IN 0 test_PWM_GPIO.stepgen.00.velocity-cmd1 14 float IN 0 test_PWM_GPIO.stepgen.00.velocity-cmd2 14 float OUT 0 test_PWM_GPIO.stepgen.00.velocity-feedback 14 float OUT 0 test_PWM_GPIO.stepgen.00.velocity-prediction 14 float IN 0 test_PWM_GPIO.stepgen.01.acceleration-cmd1 14 float IN 0 test_PWM_GPIO.stepgen.01.acceleration-cmd2 14 u32 OUT 0x00000000 test_PWM_GPIO.stepgen.01.counts 14 bit IN FALSE test_PWM_GPIO.stepgen.01.debug 14 bit IN FALSE test_PWM_GPIO.stepgen.01.enable 14 float OUT 0 test_PWM_GPIO.stepgen.01.position-feedback 14 float OUT 0 test_PWM_GPIO.stepgen.01.position_prediction 14 float IN 0 test_PWM_GPIO.stepgen.01.velocity-cmd1 14 float IN 0 test_PWM_GPIO.stepgen.01.velocity-cmd2 14 float OUT 0 test_PWM_GPIO.stepgen.01.velocity-feedback 14 float OUT 0 test_PWM_GPIO.stepgen.01.velocity-prediction 14 float IN 0 test_PWM_GPIO.stepgen.02.acceleration-cmd1 14 float IN 0 test_PWM_GPIO.stepgen.02.acceleration-cmd2 14 u32 OUT 0x00000000 test_PWM_GPIO.stepgen.02.counts 14 bit IN FALSE test_PWM_GPIO.stepgen.02.debug 14 bit IN FALSE test_PWM_GPIO.stepgen.02.enable 14 float OUT 0 test_PWM_GPIO.stepgen.02.position-feedback 14 float OUT 0 test_PWM_GPIO.stepgen.02.position_prediction 14 float IN 0 test_PWM_GPIO.stepgen.02.velocity-cmd1 14 float IN 0 test_PWM_GPIO.stepgen.02.velocity-cmd2 14 float OUT 0 test_PWM_GPIO.stepgen.02.velocity-feedback 14 float OUT 0 test_PWM_GPIO.stepgen.02.velocity-prediction 14 float IN 0 test_PWM_GPIO.stepgen.03.acceleration-cmd1 14 float IN 0 test_PWM_GPIO.stepgen.03.acceleration-cmd2 14 u32 OUT 0x00000000 test_PWM_GPIO.stepgen.03.counts 14 bit IN FALSE test_PWM_GPIO.stepgen.03.debug 14 bit IN FALSE test_PWM_GPIO.stepgen.03.enable 14 float OUT 0 test_PWM_GPIO.stepgen.03.position-feedback 14 float OUT 0 test_PWM_GPIO.stepgen.03.position_prediction 14 float IN 0 test_PWM_GPIO.stepgen.03.velocity-cmd1 14 float IN 0 test_PWM_GPIO.stepgen.03.velocity-cmd2 14 float OUT 0 test_PWM_GPIO.stepgen.03.velocity-feedback 14 float OUT 0 test_PWM_GPIO.stepgen.03.velocity-prediction 14 float IN 0 test_PWM_GPIO.stepgen.04.acceleration-cmd1 14 float IN 0 test_PWM_GPIO.stepgen.04.acceleration-cmd2 14 u32 OUT 0x00000000 test_PWM_GPIO.stepgen.04.counts 14 bit IN FALSE test_PWM_GPIO.stepgen.04.debug 14 bit IN FALSE test_PWM_GPIO.stepgen.04.enable 14 float OUT 0 test_PWM_GPIO.stepgen.04.position-feedback 14 float OUT 0 test_PWM_GPIO.stepgen.04.position_prediction 14 float IN 0 test_PWM_GPIO.stepgen.04.velocity-cmd1 14 float IN 0 test_PWM_GPIO.stepgen.04.velocity-cmd2 14 float OUT 0 test_PWM_GPIO.stepgen.04.velocity-feedback 14 float OUT 0 test_PWM_GPIO.stepgen.04.velocity-prediction 14 float IN 0 test_PWM_GPIO.stepgen.05.acceleration-cmd1 14 float IN 0 test_PWM_GPIO.stepgen.05.acceleration-cmd2 14 u32 OUT 0x00000000 test_PWM_GPIO.stepgen.05.counts 14 bit IN FALSE test_PWM_GPIO.stepgen.05.debug 14 bit IN FALSE test_PWM_GPIO.stepgen.05.enable 14 float OUT 0 test_PWM_GPIO.stepgen.05.position-feedback 14 float OUT 0 test_PWM_GPIO.stepgen.05.position_prediction 14 float IN 0 test_PWM_GPIO.stepgen.05.velocity-cmd1 14 float IN 0 test_PWM_GPIO.stepgen.05.velocity-cmd2 14 float OUT 0 test_PWM_GPIO.stepgen.05.velocity-feedback 14 float OUT 0 test_PWM_GPIO.stepgen.05.velocity-prediction 14 float OUT 0.009994106 test_PWM_GPIO.stepgen.period-s 14 float OUT 100.059 test_PWM_GPIO.stepgen.period-s-recip 14 u32 I/O 0xC701B59D test_PWM_GPIO.wallclock.ticks_lsb 14 u32 OUT 0x00000013 test_PWM_GPIO.wallclock.ticks_msb 14 bit I/O FALSE test_PWM_GPIO.watchdog.enable 14 s32 OUT 1768188 test_PWM_GPIO.write.time Pin Aliases: Alias Original Name Signals: Type Value Name (linked to) Parameters: Owner Type Dir Value Name 7 s32 RW 2424 motion-command-handler.tmax 7 bit RO TRUE motion-command-handler.tmax-increased 7 s32 RW 43172 motion-controller.tmax 7 bit RO FALSE motion-controller.tmax-increased 7 bit RO FALSE motion.debug-bit-0 7 bit RO FALSE motion.debug-bit-1 7 float RO 0 motion.debug-float-0 7 float RO 0 motion.debug-float-1 7 float RO 0 motion.debug-float-2 7 float RO 1 motion.debug-float-3 7 s32 RO 0 motion.debug-s32-0 7 s32 RO 0 motion.debug-s32-1 17 float RW 0 pos2vel.0.max-acceleration 17 s32 RW 3980 pos2vel.convert.tmax 17 bit RO FALSE pos2vel.convert.tmax-increased 8 s32 RW 1818640 servo-thread.tmax 7 float RO 0 tc.0.acc 7 float RO 0 tc.0.pos 7 float RO 0 tc.0.vel 7 float RO 0 tc.1.acc 7 float RO 0 tc.1.pos 7 float RO 0 tc.1.vel 7 float RO 0 tc.2.acc 7 float RO 0 tc.2.pos 7 float RO 0 tc.2.vel 7 float RO 0 tc.3.acc 7 float RO 0 tc.3.pos 7 float RO 0 tc.3.vel 14 bit RW FALSE test_PWM_GPIO.debug 14 float RW 0 test_PWM_GPIO.encoder.00.position_scale 14 bit RW FALSE test_PWM_GPIO.encoder.00.x4_mode 14 float RW 0 test_PWM_GPIO.encoder.01.position_scale 14 bit RW FALSE test_PWM_GPIO.encoder.01.x4_mode 14 float RW 0 test_PWM_GPIO.encoder.02.position_scale 14 bit RW FALSE test_PWM_GPIO.encoder.02.x4_mode 14 float RW 0 test_PWM_GPIO.encoder.03.position_scale 14 bit RW FALSE test_PWM_GPIO.encoder.03.x4_mode 14 float RW 0 test_PWM_GPIO.encoder.04.position_scale 14 bit RW FALSE test_PWM_GPIO.encoder.04.x4_mode 14 float RW 0 test_PWM_GPIO.encoder.05.position_scale 14 bit RW FALSE test_PWM_GPIO.encoder.05.x4_mode 14 bit RW FALSE test_PWM_GPIO.gpio.00.invert_output 14 bit RW FALSE test_PWM_GPIO.gpio.01.invert_output 14 bit RW FALSE test_PWM_GPIO.gpio.02.invert_output 14 bit RW FALSE test_PWM_GPIO.gpio.03.invert_output 14 bit RW FALSE test_PWM_GPIO.gpio.04.invert_output 14 bit RW FALSE test_PWM_GPIO.gpio.05.invert_output 14 bit RW FALSE test_PWM_GPIO.gpio.06.invert_output 14 bit RW FALSE test_PWM_GPIO.gpio.07.invert_output 14 bit RW FALSE test_PWM_GPIO.gpio.08.invert_output 14 bit RW FALSE test_PWM_GPIO.gpio.09.invert_output 14 bit RW FALSE test_PWM_GPIO.gpio.10.invert_output 14 bit RW FALSE test_PWM_GPIO.gpio.11.invert_output 14 bit RW FALSE test_PWM_GPIO.gpio.12.invert_output 14 bit RW FALSE test_PWM_GPIO.gpio.13.invert_output 14 bit RW FALSE test_PWM_GPIO.gpio.14.invert_output 14 bit RW FALSE test_PWM_GPIO.gpio.15.invert_output 14 bit RW FALSE test_PWM_GPIO.gpio.16.invert_output 14 bit RW FALSE test_PWM_GPIO.gpio.17.invert_output 14 bit RW FALSE test_PWM_GPIO.gpio.18.invert_output 14 bit RW FALSE test_PWM_GPIO.gpio.19.invert_output 14 bit RW FALSE test_PWM_GPIO.gpio.20.invert_output 14 bit RW FALSE test_PWM_GPIO.gpio.21.invert_output 14 bit RW FALSE test_PWM_GPIO.gpio.22.invert_output 14 bit RW FALSE test_PWM_GPIO.gpio.23.invert_output 14 s32 RW 444600 test_PWM_GPIO.read.tmax 14 bit RO TRUE test_PWM_GPIO.read.tmax-increased 14 u32 RW 0x00000000 test_PWM_GPIO.stepgen.00.dir-hold-time 14 u32 RW 0x00000000 test_PWM_GPIO.stepgen.00.dir-setup-time 14 float RO 0 test_PWM_GPIO.stepgen.00.frequency 14 float RW 0 test_PWM_GPIO.stepgen.00.max-acceleration 14 float RW 0 test_PWM_GPIO.stepgen.00.max-velocity 14 float RW 0 test_PWM_GPIO.stepgen.00.position-scale 14 u32 RW 0x00000000 test_PWM_GPIO.stepgen.00.steplen 14 u32 RW 0x00000000 test_PWM_GPIO.stepgen.00.stepspace 14 u32 RW 0x00000000 test_PWM_GPIO.stepgen.01.dir-hold-time 14 u32 RW 0x00000000 test_PWM_GPIO.stepgen.01.dir-setup-time 14 float RO 0 test_PWM_GPIO.stepgen.01.frequency 14 float RW 0 test_PWM_GPIO.stepgen.01.max-acceleration 14 float RW 0 test_PWM_GPIO.stepgen.01.max-velocity 14 float RW 0 test_PWM_GPIO.stepgen.01.position-scale 14 u32 RW 0x00000000 test_PWM_GPIO.stepgen.01.steplen 14 u32 RW 0x00000000 test_PWM_GPIO.stepgen.01.stepspace 14 u32 RW 0x00000000 test_PWM_GPIO.stepgen.02.dir-hold-time 14 u32 RW 0x00000000 test_PWM_GPIO.stepgen.02.dir-setup-time 14 float RO 0 test_PWM_GPIO.stepgen.02.frequency 14 float RW 0 test_PWM_GPIO.stepgen.02.max-acceleration 14 float RW 0 test_PWM_GPIO.stepgen.02.max-velocity 14 float RW 0 test_PWM_GPIO.stepgen.02.position-scale 14 u32 RW 0x00000000 test_PWM_GPIO.stepgen.02.steplen 14 u32 RW 0x00000000 test_PWM_GPIO.stepgen.02.stepspace 14 u32 RW 0x00000000 test_PWM_GPIO.stepgen.03.dir-hold-time 14 u32 RW 0x00000000 test_PWM_GPIO.stepgen.03.dir-setup-time 14 float RO 0 test_PWM_GPIO.stepgen.03.frequency 14 float RW 0 test_PWM_GPIO.stepgen.03.max-acceleration 14 float RW 0 test_PWM_GPIO.stepgen.03.max-velocity 14 float RW 0 test_PWM_GPIO.stepgen.03.position-scale 14 u32 RW 0x00000000 test_PWM_GPIO.stepgen.03.steplen 14 u32 RW 0x00000000 test_PWM_GPIO.stepgen.03.stepspace 14 u32 RW 0x00000000 test_PWM_GPIO.stepgen.04.dir-hold-time 14 u32 RW 0x00000000 test_PWM_GPIO.stepgen.04.dir-setup-time 14 float RO 0 test_PWM_GPIO.stepgen.04.frequency 14 float RW 0 test_PWM_GPIO.stepgen.04.max-acceleration 14 float RW 0 test_PWM_GPIO.stepgen.04.max-velocity 14 float RW 0 test_PWM_GPIO.stepgen.04.position-scale 14 u32 RW 0x00000000 test_PWM_GPIO.stepgen.04.steplen 14 u32 RW 0x00000000 test_PWM_GPIO.stepgen.04.stepspace 14 u32 RW 0x00000000 test_PWM_GPIO.stepgen.05.dir-hold-time 14 u32 RW 0x00000000 test_PWM_GPIO.stepgen.05.dir-setup-time 14 float RO 0 test_PWM_GPIO.stepgen.05.frequency 14 float RW 0 test_PWM_GPIO.stepgen.05.max-acceleration 14 float RW 0 test_PWM_GPIO.stepgen.05.max-velocity 14 float RW 0 test_PWM_GPIO.stepgen.05.position-scale 14 u32 RW 0x00000000 test_PWM_GPIO.stepgen.05.steplen 14 u32 RW 0x00000000 test_PWM_GPIO.stepgen.05.stepspace 14 u32 RO 0x00000000 test_PWM_GPIO.watchdog.timeout_cycles 14 u32 RW 0x004C4B40 test_PWM_GPIO.watchdog.timeout_ns 14 s32 RW 1768188 test_PWM_GPIO.write.tmax 14 bit RO TRUE test_PWM_GPIO.write.tmax-increased 7 u32 RO 0x00000000 traj.active_tc 7 float RO 0 traj.pos_out 7 float RO 0 traj.vel_out Parameter Aliases: Alias Original Name Exported Functions: Owner CodeAddr Arg FP Users Name 00007 7f772dbb06e5 00000000 YES 1 motion-command-handler 00007 7f772dbb3f6b 00000000 YES 1 motion-controller 00017 7f772d8391b5 7f772dbc83d0 YES 1 pos2vel.convert 00014 7f772e9778d8 55e3edfe93b0 YES 1 test_PWM_GPIO.read 00014 7f772e977539 55e3edfe93b0 YES 1 test_PWM_GPIO.write Realtime Threads: Period FP Name ( Time, Max-Time ) 10000000 YES servo-thread ( 1818640, 1818640 ) 1 test_PWM_GPIO.read 2 motion-command-handler 3 motion-controller 4 pos2vel.convert 5 test_PWM_GPIO.write halcmd: