Mesa 7i96 ETH + Mesa 7i80 ETH

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26 Jan 2022 04:50 #233148 by F0R3WER
Hello guys!

The 7i96 working fine, i can mooveing with axis and spindle. I made a ladder to hidraulic, lube, EMG and many options. Its working.
But the 7i96 card's ENA 0-3 outputs dont working. If i control ENA0 to ON, ENA 1-3 switch with than to ON. I check it on the HAL pins, only 00 output switched to 1. I think its a problem with my 7i96 board a damaged chip or optocouplers. Because i lost 4 output on my config i need more IO. I used 7i80. I can set the IP numbers 192.168.1.121 7i96 and 192.168.1.123 7i80HD.
my hal config works only 7i96, and i see the 7i80HD on HAL pin window. 
I switch a config on 7i80 with mesaflash to Just IO .bit
So my problem now, i dont know how can i use this GPIO -s to output. I try use setp hm2_7i80.0.gpio.00 is_output and try on and off the output.. but the 00 IO pin have only 5V. How can i wiring the GPIO to output or input and how can is set it on my .hal file?

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26 Jan 2022 04:59 #233149 by PCW
Replied by PCW on topic Mesa 7i96 ETH + Mesa 7i80 ETH
Do you mean 7I97? on a 7I97 analog outputs 0..3 are controlled by PWM enable 0
So that's expected behaviour.

If you set a GPIO bits is_output parameter true you should be able to set the
GPIOs output state by setting the corresponding out pin, though note if you have
a watchdog bite, the GPIO will revert to input mode (and be in a high state)

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26 Jan 2022 18:56 #233207 by F0R3WER
I think the problem in my hal file. I read your comments, and try the "setp hm2_7i80.0.gpio.00 is_output". But if this command on the hal file, linuxcnc cant start. If i send my hal file, do you help me?

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26 Jan 2022 19:03 #233209 by PCW
Replied by PCW on topic Mesa 7i96 ETH + Mesa 7i80 ETH
setp hm2_7i80.0.gpio.00 is_output

will fail if that GPIO pin is already claimed by a secondary function (Stepgen Encoder etc)

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26 Jan 2022 21:00 - 26 Jan 2022 21:04 #233229 by F0R3WER
All function on the 7i96. The 7i80 is only IO.
I think the problem on my hal file.. maybe the 2 ETH Mesa Card config.

loadrt hm2_eth board=ip"192.168.1.121,192.168.1.123" config=" num_encoders=6 num_pwngens=6 num_stepgens=0 sserial_port_0=00××××××"
setp [HMOT](CARD0).watchdog.timeout_ns 5000000
loadrt pid names=pid.x,pid.y,pid.z,pid.s

addf [HMOT](CARD0).read servo-thread
...

The [HMOT](CARD0) is the first card 7i97. Than i refer to 7i80? If i try this: setp hm2_7i80.0.gpio.00 is_output, linuxcnc cant load.

what i made bad?
Last edit: 26 Jan 2022 21:04 by F0R3WER.

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26 Jan 2022 21:25 #233234 by PCW
Replied by PCW on topic Mesa 7i96 ETH + Mesa 7i80 ETH
1. Unless you specifically disable special functions, they will all be enabled
so you need a config string for the 7I80 that disables all secondary functions
(or use firmware for the 7i80 that has only GPIO)

2. To actually work, you need read and write functions for both cards

3. Also for performance reasons, you need to overlap read operations
if you are using multiple Ethernet cards on one PC. This is done by using
the read-request functions, something like:

addf servo-thread hm2_7i96.0.read-request
addf servo-thread hm2_7i80.0.read-request
addf servo-thread hm2_7i96.0.read
addf servo-thread hm2_7i80.0.read

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27 Jan 2022 07:09 #233258 by F0R3WER
Thanks PCW,
so

1. I upload JUSTIO.bit firmware to 7i80

2. i try this
loadrt [KINS]KINEMATICS
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
loadrt hostmot2
loadrt hm2_eth board_ip="192.168.1.121,192.168.1.123" config=" num_encoders=6 num_pwmgens=6 num_stepgens=0 sserial_port_0=00xxxxxx"
setp    [HMOT](CARD0).watchdog.timeout_ns 5000000
setp    [HMOT](CARD1).watchdog.timeout_ns 5000000
loadrt pid names=pid.x,pid.y,pid.z,pid.s


addf [HMOT](CARD1).read-request    servo-thread
addf [HMOT](CARD0).read-request    servo-thread
addf [HMOT](CARD1).read           servo-thread
addf [HMOT](CARD0).read            servo-thread
addf motion-command-handler   servo-thread
addf motion-controller        servo-thread
addf pid.x.do-pid-calcs       servo-thread
addf pid.y.do-pid-calcs       servo-thread
addf pid.z.do-pid-calcs       servo-thread
addf pid.s.do-pid-calcs       servo-thread
addf [HMOT](CARD1).write         servo-thread
addf [HMOT](CARD0).write          servo-thread




# external output signals

net SRVEN_0 => [HMOT](CARD0).pwmgen.00.enable
net SRVEN_1 => [HMOT](CARD0).pwmgen.01.enable
net SRVEN_2 => [HMOT](CARD0).pwmgen.02.enable

setp [HMOT](CARD1).gpio.48.is_output true
setp [HMOT](CARD1).gpio.48.invert_output true


#net coolant-flood
net coolant-mist  => [HMOT](CARD0).ssr.00.out-03
...

my error report is
Error report created by /usr/lib/tcltk/linuxcnc/show_errors.tcl:

Print file information:
RUN_IN_PLACE=no
LINUXCNC_DIR=
LINUXCNC_BIN_DIR=/usr/bin
LINUXCNC_TCL_DIR=/usr/lib/tcltk/linuxcnc
LINUXCNC_SCRIPT_DIR=
LINUXCNC_RTLIB_DIR=/usr/lib/linuxcnc/modules
LINUXCNC_CONFIG_DIR=
LINUXCNC_LANG_DIR=/usr/lib/tcltk/linuxcnc/msgs
INIVAR=inivar
HALCMD=halcmd
LINUXCNC_EMCSH=/usr/bin/wish8.6
LINUXCNC - 2.8.2-11-g6a3d0a434
Machine configuration directory is '/home/linuxcnc/linuxcnc/configs/OERLIKON_DEVELOP'
Machine configuration file is 'oerlikon.ini'
INIFILE=/home/linuxcnc/linuxcnc/configs/OERLIKON_DEVELOP/oerlikon.ini
VERSION=1.1
PARAMETER_FILE=linuxcnc.var
TASK=milltask
HALUI=halui
DISPLAY=axis
COORDINATES=XYZA
KINEMATICS=trivkins coordinates=XYZA
Starting LinuxCNC...
Starting LinuxCNC server program: linuxcncsvr
Loading Real Time OS, RTAPI, and HAL_LIB modules
Starting LinuxCNC IO program: io
Starting HAL User Interface program: halui
Found file(REL): ./oerlikon.hal
hm2: loading Mesa HostMot2 driver version 0.15
hm2_eth: loading Mesa AnyIO HostMot2 ethernet driver version 0.2
hm2_eth: 192.168.1.121: INFO: Hardware address (MAC): 00:60:1b:17:00:20
hm2_eth: 192.168.1.123: INFO: Hardware address (MAC): 00:60:1b:11:81:4a
hm2_eth: discovered 7I97
hm2/hm2_7i97.0: Low Level init 0.15
hm2/hm2_7i97.0: Smart Serial Firmware Version 43
hm2/hm2_7i97.0: 51 I/O Pins used:
hm2/hm2_7i97.0:     IO Pin 000 (TB3-04): PWMGen #0, pin Out0 (PWM or Up) (Output)
hm2/hm2_7i97.0:     IO Pin 001 (TB3-08): PWMGen #1, pin Out0 (PWM or Up) (Output)
hm2/hm2_7i97.0:     IO Pin 002 (TB3-12): PWMGen #2, pin Out0 (PWM or Up) (Output)
hm2/hm2_7i97.0:     IO Pin 003 (TB3-16): PWMGen #3, pin Out0 (PWM or Up) (Output)
hm2/hm2_7i97.0:     IO Pin 004 (TB3-20): PWMGen #4, pin Out0 (PWM or Up) (Output)
hm2/hm2_7i97.0:     IO Pin 005 (AN_ENA4): PWMGen #4, pin Not-Enable (Output)
hm2/hm2_7i97.0:     IO Pin 006 (TB3-24): PWMGen #5, pin Out0 (PWM or Up) (Output)
hm2/hm2_7i97.0:     IO Pin 007 (AN_ENA5): PWMGen #5, pin Not-Enable (Output)
hm2/hm2_7i97.0:     IO Pin 008 (AN-ENA0..3): PWMGen #0, pin Not-Enable (Output)
hm2/hm2_7i97.0:     IO Pin 009 (TB1-01/TB1-09): Muxed Encoder #0, pin Muxed A (Input)
hm2/hm2_7i97.0:     IO Pin 010 (TB1-04/TB1-12): Muxed Encoder #0, pin Muxed B (Input)
hm2/hm2_7i97.0:     IO Pin 011 (TB1-07/TB1-15): Muxed Encoder #0, pin Muxed Index (Input)
hm2/hm2_7i97.0:     IO Pin 012 (TB1-17/TB2-01): Muxed Encoder #1, pin Muxed A (Input)
hm2/hm2_7i97.0:     IO Pin 013 (TB1-20/TB2-04): Muxed Encoder #1, pin Muxed B (Input)
hm2/hm2_7i97.0:     IO Pin 014 (TB1-23/TB2-07): Muxed Encoder #1, pin Muxed Index (Input)
hm2/hm2_7i97.0:     IO Pin 015 (TB2-09/TB2-17): Muxed Encoder #2, pin Muxed A (Input)
hm2/hm2_7i97.0:     IO Pin 016 (TB2-12/TB2-20): Muxed Encoder #2, pin Muxed B (Input)
hm2/hm2_7i97.0:     IO Pin 017 (TB2-15/TB2-23): Muxed Encoder #2, pin Muxed Index (Input)
hm2/hm2_7i97.0:     IO Pin 018 (Internal EncMux): Muxed Encoder Select #0, pin Mux Select 0 (Output)
hm2/hm2_7i97.0:     IO Pin 019 (TB5-13/TB5-14): SSR #0, pin Out-00 (Output)
hm2/hm2_7i97.0:     IO Pin 020 (TB5-15/TB5-16): SSR #0, pin Out-01 (Output)
hm2/hm2_7i97.0:     IO Pin 021 (TB5-17/TB5-18): SSR #0, pin Out-02 (Output)
hm2/hm2_7i97.0:     IO Pin 022 (TB5-19/TB5-20): SSR #0, pin Out-03 (Output)
hm2/hm2_7i97.0:     IO Pin 023 (TB5-21/TB5-22): SSR #0, pin Out-04 (Output)
hm2/hm2_7i97.0:     IO Pin 024 (TB5-23/TB5-24): SSR #0, pin Out-05 (Output)
hm2/hm2_7i97.0:     IO Pin 025 (Internal InMux0): SSR #0, pin AC Ref (internal) (Output)
hm2/hm2_7i97.0:     IO Pin 026 (Internal InMux1): InMux Input Mux #0, pin addr0 (Output)
hm2/hm2_7i97.0:     IO Pin 027 (Internal InMux2): InMux Input Mux #0, pin addr1 (Output)
hm2/hm2_7i97.0:     IO Pin 028 (Internal InMux3): InMux Input Mux #0, pin addr2 (Output)
hm2/hm2_7i97.0:     IO Pin 029 (Internal InMuxData): InMux Input Mux #0, pin addr3 (Output)
hm2/hm2_7i97.0:     IO Pin 030 (TB4-15/TB4-16): InMux Input Mux #0, pin muxdata (Input)
hm2/hm2_7i97.0:     IO Pin 031 (TB4-17/TB4-18): IOPort
hm2/hm2_7i97.0:     IO Pin 032 (TB4-17/TB4-18): IOPort
hm2/hm2_7i97.0:     IO Pin 033 (P1-01): IOPort
hm2/hm2_7i97.0:     IO Pin 034 (P1-02): IOPort
hm2/hm2_7i97.0:     IO Pin 035 (P1-03): IOPort
hm2/hm2_7i97.0:     IO Pin 036 (P1-04): IOPort
hm2/hm2_7i97.0:     IO Pin 037 (P1-05): IOPort
hm2/hm2_7i97.0:     IO Pin 038 (P1-06): IOPort
hm2/hm2_7i97.0:     IO Pin 039 (P1-07): IOPort
hm2/hm2_7i97.0:     IO Pin 040 (P1-08): IOPort
hm2/hm2_7i97.0:     IO Pin 041 (P1-09): IOPort
hm2/hm2_7i97.0:     IO Pin 042 (P1-11): IOPort
hm2/hm2_7i97.0:     IO Pin 043 (P1-13): IOPort
hm2/hm2_7i97.0:     IO Pin 044 (P1-15): IOPort
hm2/hm2_7i97.0:     IO Pin 045 (P1-17): IOPort
hm2/hm2_7i97.0:     IO Pin 046 (P1-19): IOPort
hm2/hm2_7i97.0:     IO Pin 047 (P1-21): IOPort
hm2/hm2_7i97.0:     IO Pin 048 (P1-23): IOPort
hm2/hm2_7i97.0:     IO Pin 049 (P1-25): IOPort
hm2/hm2_7i97.0: registered
hm2_eth: discovered 7I80HD-25
hm2/hm2_7i80.0: Low Level init 0.15
hm2/hm2_7i80.0: 72 I/O Pins used:
hm2/hm2_7i80.0:     IO Pin 000 (P1-01): IOPort
hm2/hm2_Shutting down and cleaning up LinuxCNC...
Running HAL shutdown script
7i80.0:     IO Pin 001 (P1-03): IOPort
hm2/hm2_7i80.0:     IO Pin 002 (P1-05): IOPort
hm2/hm2_7i80.0:     IO Pin 003 (P1-07): IOPort
hm2/hm2_7i80.0:     IO Pin 004 (P1-09): IOPort
hm2/hm2_7i80.0:     IO Pin 005 (P1-11): IOPort
hm2/hm2_7i80.0:     IO Pin 006 (P1-13): IOPort
hm2/hm2_7i80.0:     IO Pin 007 (P1-15): IOPort
hm2/hm2_7i80.0:     IO Pin 008 (P1-17): IOPort
hm2/hm2_7i80.0:     IO Pin 009 (P1-19): IOPort
hm2/hm2_7i80.0:     IO Pin 010 (P1-21): IOPort
hm2/hm2_7i80.0:     IO Pin 011 (P1-23): IOPort
hm2/hm2_7i80.0:     IO Pin 012 (P1-25): IOPort
hm2/hm2_7i80.0:     IO Pin 013 (P1-27): IOPort
hm2/hm2_7i80.0:     IO Pin 014 (P1-29): IOPort
hm2/hm2_7i80.0:     IO Pin 015 (P1-31): IOPort
hm2/hm2_7i80.0:     IO Pin 016 (P1-33): IOPort
hm2/hm2_7i80.0:     IO Pin 017 (P1-35): IOPort
hm2/hm2_7i80.0:     IO Pin 018 (P1-37): IOPort
hm2/hm2_7i80.0:     IO Pin 019 (P1-39): IOPort
hm2/hm2_7i80.0:     IO Pin 020 (P1-41): IOPort
hm2/hm2_7i80.0:     IO Pin 021 (P1-43): IOPort
hm2/hm2_7i80.0:     IO Pin 022 (P1-45): IOPort
hm2/hm2_7i80.0:     IO Pin 023 (P1-47): IOPort
hm2/hm2_7i80.0:     IO Pin 024 (P2-01): IOPort
hm2/hm2_7i80.0:     IO Pin 025 (P2-03): IOPort
hm2/hm2_7i80.0:     IO Pin 026 (P2-05): IOPort
hm2/hm2_7i80.0:     IO Pin 027 (P2-07): IOPort
hm2/hm2_7i80.0:     IO Pin 028 (P2-09): IOPort
hm2/hm2_7i80.0:     IO Pin 029 (P2-11): IOPort
hm2/hm2_7i80.0:     IO Pin 030 (P2-13): IOPort
hm2/hm2_7i80.0:     IO Pin 031 (P2-15): IOPort
hm2/hm2_7i80.0:     IO Pin 032 (P2-17): IOPort
hm2/hm2_7i80.0:     IO Pin 033 (P2-19): IOPort
hm2/hm2_7i80.0:     IO Pin 034 (P2-21): IOPort
hm2/hm2_7i80.0:     IO Pin 035 (P2-23): IOPort
hm2/hm2_7i80.0:     IO Pin 036 (P2-25): IOPort
hm2/hm2_7i80.0:     IO Pin 037 (P2-27): IOPort
hm2/hm2_7i80.0:     IO Pin 038 (P2-29): IOPort
hm2/hm2_7i80.0:     IO Pin 039 (P2-31): IOPort
hm2/hm2_7i80.0:     IO Pin 040 (P2-33): IOPort
hm2/hm2_7i80.0:     IO Pin 041 (P2-35): IOPort
hm2/hm2_7i80.0:     IO Pin 042 (P2-37): IOPort
hm2/hm2_7i80.0:     IO Pin 043 (P2-39): IOPort
hm2/hm2_7i80.0:     IO Pin 044 (P2-41): IOPort
hm2/hm2_7i80.0:     IO Pin 045 (P2-43): IOPort
hm2/hm2_7i80.0:     IO Pin 046 (P2-45): IOPort
hm2/hm2_7i80.0:     IO Pin 047 (P2-47): IOPort
hm2/hm2_7i80.0:     IO Pin 048 (P3-01): IOPort
hm2/hm2_7i80.0:     IO Pin 049 (P3-03): IOPort
hm2/hm2_7i80.0:     IO Pin 050 (P3-05): IOPort
hm2/hm2_7i80.0:     IO Pin 051 (P3-07): IOPort
hm2/hm2_7i80.0:     IO Pin 052 (P3-09): IOPort
hm2/hm2_7i80.0:     IO Pin 053 (P3-11): IOPort
hm2/hm2_7i80.0:     IO Pin 054 (P3-13): IOPort
hm2/hm2_7i80.0:     IO Pin 055 (P3-15): IOPort
hm2/hm2_7i80.0:     IO Pin 056 (P3-17): IOPort
hm2/hm2_7i80.0:     IO Pin 057 (P3-19): IOPort
hm2/hm2_7i80.0:     IO Pin 058 (P3-21): IOPort
hm2/hm2_7i80.0:     IO Pin 059 (P3-23): IOPort
hm2/hm2_7i80.0:     IO Pin 060 (P3-25): IOPort
hm2/hm2_7i80.0:     IO Pin 061 (P3-27): IOPort
hm2/hm2_7i80.0:     IO Pin 062 (P3-29): IOPort
hm2/hm2_7i80.0:     IO Pin 063 (P3-31): IOPort
hm2/hm2_7i80.0:     IO Pin 064 (P3-33): IOPort
hm2/hm2_7i80.0:     IO Pin 065 (P3-35): IOPort
hm2/hm2_7i80.0:     IO Pin 066 (P3-37): IOPort
hm2/hm2_7i80.0:     IO Pin 067 (P3-39): IOPort
hm2/hm2_7i80.0:     IO Pin 068 (P3-41): IOPort
hm2/hm2_7i80.0:     IO Pin 069 (P3-43): IOPort
hm2/hm2_7i80.0:     IO Pin 070 (P3-45): IOPort
hm2/hm2_7i80.0:     IO Pin 071 (P3-47): IOPort
hm2/hm2_7i80.0: registered
hm2_eth: in hm2_eth_reset
hm2_eth: in hm2_eth_reset
hm2_eth: HostMot2 ethernet driver unloaded
hm2: unloading
Removing HAL_LIB, RTAPI, and Real Time OS modules
Removing NML shared memory segments

Debug file information:
Note: Using POSIX realtime
./oerlikon.hal:37: parameter or pin 'hm2_7i80.0.gpio.48.is_output' not found
6775
Stopping realtime threads
Unloading hal components
Note: Using POSIX realtime



-----------------------------------------------------------------------
Info report created by linuxcnc_info:
The file:    /tmp/linuxcnc_info.txt
can be posted to a forum or a web site like:
     http://pastebin.com
in order to provide information about the linuxcnc
system and configuration.

                Date: Thu 27 Jan 07:08:07 GMT 2022
            UTC Date: Thu 27 Jan 07:08:07 UTC 2022
        this program: /usr/bin/linuxcnc_info
              uptime: 07:08:07 up 49 min, 1 user, load average: 0.33, 0.43, 0.43
     lsb_release -sa: Debian Debian GNU/Linux 10 (buster) 10 buster
      which linuxcnc: /usr/bin/linuxcnc
                 pwd: /home/linuxcnc/linuxcnc/configs/OERLIKON_DEVELOP
                USER: linuxcnc
             LOGNAME: linuxcnc
                HOME: /home/linuxcnc
              EDITOR:
              VISUAL:
            LANGUAGE: en_GB:en
                TERM: dumb
           COLORTERM:
             DISPLAY: :0.0
             DESKTOP: lightdm-xsession
        display size: 1280x1024 pixels (338x270 millimeters)
                PATH: /usr/bin:/home/linuxcnc/linuxcnc/configs/OERLIKON_DEVELOP/bin:/usr/bin:/usr/local/bin:/usr/bin:/bin:/usr/local/games:/usr/games

uname items:
         nodename -n: debian
      kernel-name -s: Linux
      kernel-vers -v: #1 SMP PREEMPT RT Debian 4.19.194-2 (2021-06-21)
          machine -m: x86_64
        processor -p: unknown
         platform -i: unknown
      oper system -o: GNU/Linux

/proc items:
             cmdline: BOOT_IMAGE=/boot/vmlinuz-4.19.0-17-rt-amd64 root=UUID=a5e8a6b7-7af7-45e9-ae4d-74d47975ee4f ro initrd=/install/gtk/initrd.gz quiet
          model name: Intel(R) Core(TM) i3-3240 CPU @ 3.40GHz
               cores: 2
             cpu MHz: 1778.970
             parport:
              serial: 0000-0000 : serial

Versions:
                 gcc: gcc (Debian 8.3.0-6) 8.3.0
              python: Python 2.7.16
                 git: git version 2.20.1
          git commit: NA
                 tcl: 8.6
                  tk: 8.6
               glade: not_in_PATH
          glade-gtk2: not_in_PATH

linuxcnc_var all:

     LINUXCNCVERSION: 2.8.2-11-g6a3d0a434
LINUXCNC_AUX_GLADEVCP: /usr/share/linuxcnc/aux_gladevcp
LINUXCNC_AUX_EXAMPLES: /usr/share/linuxcnc/aux_examples
            REALTIME: /etc/init.d/realtime
                 RTS: uspace
          HALLIB_DIR: /usr/share/linuxcnc/hallib

dpkg -l '*linuxcnc*':
Desired=Unknown/Install/Remove/Purge/Hold
| Status=Not/Inst/Conf-files/Unpacked/halF-conf/Half-inst/trig-aWait/Trig-pend
|/ Err?=(none)/Reinst-required (Status,Err: uppercase=bad)
||/ Name                Version               Architecture Description
+++-===================-=====================-============-=====================================================================
un  linuxcnc            <none>                <none>       (no description available)
un  linuxcnc-dev        <none>                <none>       (no description available)
un  linuxcnc-doc        <none>                <none>       (no description available)
ii  linuxcnc-doc-en     1:2.8.2.11.g6a3d0a434 all          motion controller for CNC machines and robots (English documentation)
ii  linuxcnc-doc-es     1:2.8.2.11.g6a3d0a434 all          controlador de movimiento para máquinas CNC y robots (Español).
ii  linuxcnc-doc-fr     1:2.8.2.11.g6a3d0a434 all          motion controller for CNC machines and robots (French documentation)
un  linuxcnc-sim        <none>                <none>       (no description available)
un  linuxcnc-sim-dev    <none>                <none>       (no description available)
ii  linuxcnc-uspace     1:2.8.2.11.g6a3d0a434 amd64        motion controller for CNC machines and robots
ii  linuxcnc-uspace-dev 1:2.8.2.11.g6a3d0a434 amd64        PC based motion controller for real-time Linux

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27 Jan 2022 15:18 #233278 by PCW
Replied by PCW on topic Mesa 7i96 ETH + Mesa 7i80 ETH
Not sure what the card name will be

You might try commenting out the lines that fail
and running halcmd in a terminal to find the actual names:

linuxcnc &

halcmd -kf

show all hm2

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27 Jan 2022 17:45 #233289 by F0R3WER
Works properly without GPIO commands

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27 Jan 2022 18:11 #233293 by PCW
Replied by PCW on topic Mesa 7i96 ETH + Mesa 7i80 ETH
What was the result of

linuxcnc &

halcmd -kf

show all hm2

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