peter@cnc:~$ emc EMC2 - 2.3.0 Machine configuration directory is '/usr/share/doc/emc2/examples/sample-configs/Sherline3Axis' Machine configuration file is 'Sherline3Axis_inch.ini' Starting EMC2... insmod: error inserting '/usr/realtime-2.6.24-16-rtai/modules/rtai_hal.ko': -1 File exists Realtime system did not load Shutting down and cleaning up EMC2... ERROR: Module hal_lib does not exist in /proc/modules ERROR: Module rtapi does not exist in /proc/modules ERROR: Module rtai_math does not exist in /proc/modules ERROR: Module rtai_sem does not exist in /proc/modules ERROR: Module rtai_fifos does not exist in /proc/modules ERROR: Module rtai_sched does not exist in /proc/modules ERROR: Module rtai_hal does not exist in /proc/modules Cleanup done EMC terminated with an error. You can find more information in the log: /home/peter/emc_debug.txt and /home/peter/emc_print.txt as well as in the output of the shell command 'dmesg' and in the terminal peter@cnc:~$ peter@cnc:~$ dmesg [ 0.000000] Linux version 2.6.24-16-rtai (root@hardy) (gcc version 4.2.3 (Ubuntu 4.2.3-2ubuntu7)) #1 Tue Sep 30 22:54:33 EEST 2008 (Ubuntu 2.6.24-12.22-generic) [ 0.000000] BIOS-provided physical RAM map: [ 0.000000] BIOS-e820: 0000000000000000 - 00000000000a0000 (usable) [ 0.000000] BIOS-e820: 00000000000f0000 - 0000000000100000 (reserved) [ 0.000000] BIOS-e820: 0000000000100000 - 000000003ff77000 (usable) [ 0.000000] BIOS-e820: 000000003ff77000 - 000000003ff79000 (ACPI NVS) [ 0.000000] BIOS-e820: 000000003ff79000 - 0000000040000000 (reserved) [ 0.000000] BIOS-e820: 00000000fec00000 - 00000000fec10000 (reserved) [ 0.000000] BIOS-e820: 00000000fee00000 - 00000000fee10000 (reserved) [ 0.000000] BIOS-e820: 00000000ffb00000 - 0000000100000000 (reserved) [ 0.000000] 127MB HIGHMEM available. [ 0.000000] 896MB LOWMEM available. [ 0.000000] Entering add_active_range(0, 0, 262007) 0 entries of 256 used [ 0.000000] Zone PFN ranges: [ 0.000000] DMA 0 -> 4096 [ 0.000000] Normal 4096 -> 229376 [ 0.000000] HighMem 229376 -> 262007 [ 0.000000] Movable zone start PFN for each node [ 0.000000] early_node_map[1] active PFN ranges [ 0.000000] 0: 0 -> 262007 [ 0.000000] On node 0 totalpages: 262007 [ 0.000000] DMA zone: 32 pages used for memmap [ 0.000000] DMA zone: 0 pages reserved [ 0.000000] DMA zone: 4064 pages, LIFO batch:0 [ 0.000000] Normal zone: 1760 pages used for memmap [ 0.000000] Normal zone: 223520 pages, LIFO batch:31 [ 0.000000] HighMem zone: 254 pages used for memmap [ 0.000000] HighMem zone: 32377 pages, LIFO batch:7 [ 0.000000] Movable zone: 0 pages used for memmap [ 0.000000] DMI 2.3 present. [ 0.000000] Allocating PCI resources starting at 50000000 (gap: 40000000:bec00000) [ 0.000000] Built 1 zonelists in Zone order, mobility grouping on. Total pages: 259961 [ 0.000000] Kernel command line: root=UUID=8956fd5b-3130-40c8-b36a-17bc0f91f06f ro quiet splash [ 0.000000] Enabling fast FPU save and restore... done. [ 0.000000] Enabling unmasked SIMD FPU exception support... done. [ 0.000000] Initializing CPU#0 [ 0.000000] PID hash table entries: 4096 (order: 12, 16384 bytes) [ 0.000000] Detected 1495.233 MHz processor. [ 27.557186] I-pipe 2.0-04: pipeline enabled. [ 27.558710] Console: colour VGA+ 80x25 [ 27.558716] console [tty0] enabled [ 27.559937] Dentry cache hash table entries: 131072 (order: 7, 524288 bytes) [ 27.561808] Inode-cache hash table entries: 65536 (order: 6, 262144 bytes) [ 27.618588] Memory: 1028656k/1048028k available (1440k kernel code, 18560k reserved, 573k data, 228k init, 130524k highmem) [ 27.618605] virtual kernel memory layout: [ 27.618608] fixmap : 0xfffed000 - 0xfffff000 ( 72 kB) [ 27.618610] pkmap : 0xff800000 - 0xffc00000 (4096 kB) [ 27.618612] vmalloc : 0xf8800000 - 0xff7fe000 ( 111 MB) [ 27.618614] lowmem : 0xc0000000 - 0xf8000000 ( 896 MB) [ 27.618616] .init : 0xc02fa000 - 0xc0333000 ( 228 kB) [ 27.618618] .data : 0xc026836d - 0xc02f77ec ( 573 kB) [ 27.618620] .text : 0xc0100000 - 0xc026836d (1440 kB) [ 27.618625] Checking if this processor honours the WP bit even in supervisor mode... Ok. [ 27.618727] SLUB: Genslabs=11, HWalign=64, Order=0-1, MinObjects=4, CPUs=1, Nodes=1 [ 27.698660] Calibrating delay using timer specific routine.. 2992.28 BogoMIPS (lpj=5984566) [ 27.698725] Security Framework initialized [ 27.698739] SELinux: Disabled at boot. [ 27.698766] AppArmor: AppArmor initialized [ 27.698777] Failure registering capabilities with primary security module. [ 27.698791] Mount-cache hash table entries: 512 [ 27.699042] CPU: After generic identify, caps: 3febfbff 00000000 00000000 00000000 00000000 00000000 00000000 00000000 [ 27.699059] CPU: Trace cache: 12K uops, L1 D cache: 8K [ 27.699063] CPU: L2 cache: 256K [ 27.699067] CPU: After all inits, caps: 3febfbff 00000000 00000000 0000b080 00000000 00000000 00000000 00000000 [ 27.699084] Compat vDSO mapped to ffffe000. [ 27.699103] CPU: Intel(R) Pentium(R) 4 CPU 1.50GHz stepping 02 [ 27.699119] Checking 'hlt' instruction... OK. [ 27.714972] Freeing SMP alternatives: 0k freed [ 27.715344] net_namespace: 64 bytes [ 27.716270] NET: Registered protocol family 16 [ 27.716653] EISA bus registered [ 27.742637] PCI: PCI BIOS revision 2.10 entry at 0xfbe4e, last bus=2 [ 27.742642] PCI: Using configuration type 1 [ 27.742645] Setting up standard PCI resources [ 27.744214] Linux Plug and Play Support v0.97 (c) Adam Belay [ 27.744680] PCI: Probing PCI hardware [ 27.744716] PCI: Probing PCI hardware (bus 00) [ 27.745007] PCI quirk: region 0800-087f claimed by ICH4 ACPI/GPIO/TCO [ 27.745014] PCI quirk: region 0880-08bf claimed by ICH4 GPIO [ 27.745683] PCI: Transparent bridge - 0000:00:1e.0 [ 27.746560] PCI: Using IRQ router PIIX/ICH [8086/2440] at 0000:00:1f.0 [ 27.758770] AppArmor: AppArmor Filesystem Enabled [ 27.759534] PCI: Bridge: 0000:00:01.0 [ 27.759540] IO window: e000-efff [ 27.759546] MEM window: ff900000-ffafffff [ 27.759552] PREFETCH window: f8000000-fbffffff [ 27.759559] PCI: Bridge: 0000:00:1e.0 [ 27.759563] IO window: d000-dfff [ 27.759570] MEM window: ff700000-ff8fffff [ 27.759576] PREFETCH window: disabled. [ 27.759601] PCI: Setting latency timer of device 0000:00:1e.0 to 64 [ 27.759624] NET: Registered protocol family 2 [ 27.762588] Time: tsc clocksource has been installed. [ 27.794656] IP route cache hash table entries: 32768 (order: 5, 131072 bytes) [ 27.795316] TCP established hash table entries: 131072 (order: 8, 1048576 bytes) [ 27.797873] TCP bind hash table entries: 65536 (order: 6, 262144 bytes) [ 27.798619] TCP: Hash tables configured (established 131072 bind 65536) [ 27.798629] TCP reno registered [ 27.810890] checking if image is initramfs... it is [ 28.963117] Freeing initrd memory: 6859k freed [ 28.963896] audit: initializing netlink socket (disabled) [ 28.963928] audit(1354184820.348:1): initialized [ 28.964215] highmem bounce pool size: 64 pages [ 28.967406] VFS: Disk quotas dquot_6.5.1 [ 28.967461] Dquot-cache hash table entries: 1024 (order 0, 4096 bytes) [ 28.967715] io scheduler noop registered [ 28.967720] io scheduler anticipatory registered [ 28.967723] io scheduler deadline registered [ 28.967746] io scheduler cfq registered (default) [ 28.967809] Boot video device is 0000:01:00.0 [ 28.968237] isapnp: Scanning for PnP cards... [ 29.322056] isapnp: No Plug & Play device found [ 29.396881] Real Time Clock Driver v1.12ac [ 29.396889] Serial: 8250/16550 driver $Revision: 1.90 $ 4 ports, IRQ sharing enabled [ 29.397074] serial8250: ttyS0 at I/O 0x3f8 (irq = 4) is a 16550A [ 29.397410] serial8250: ttyS1 at I/O 0x2f8 (irq = 3) is a 16550A [ 29.399295] RAMDISK driver initialized: 16 RAM disks of 65536K size 1024 blocksize [ 29.399464] input: Macintosh mouse button emulation as /devices/virtual/input/input0 [ 29.399714] PNP: No PS/2 controller found. Probing ports directly. [ 29.402356] serio: i8042 KBD port at 0x60,0x64 irq 1 [ 29.402366] serio: i8042 AUX port at 0x60,0x64 irq 12 [ 29.408778] mice: PS/2 mouse device common for all mice [ 29.409011] EISA: Probing bus 0 at eisa.0 [ 29.409059] EISA: Detected 0 cards. [ 29.409236] NET: Registered protocol family 1 [ 29.409261] Using IPI Shortcut mode [ 29.409427] BIOS EDD facility v0.16 2004-Jun-25, 0 devices found [ 29.409431] EDD information not available. [ 29.409918] Freeing unused kernel memory: 228k freed [ 30.924593] fuse init (API version 7.9) [ 31.714226] SCSI subsystem initialized [ 31.818139] usbcore: registered new interface driver usbfs [ 31.818187] usbcore: registered new interface driver hub [ 31.822501] PCI: setting IRQ 11 as level-triggered [ 31.822509] PCI: Found IRQ 11 for device 0000:02:0c.0 [ 31.822542] 3c59x: Donald Becker and others. [ 31.822556] 0000:02:0c.0: 3Com PCI 3c905C Tornado at f8816c00. [ 31.873645] usbcore: registered new device driver usb [ 31.875778] USB Universal Host Controller Interface driver v3.0 [ 31.878894] PCI: Found IRQ 11 for device 0000:00:1f.2 [ 31.878936] PCI: Setting latency timer of device 0000:00:1f.2 to 64 [ 31.878942] uhci_hcd 0000:00:1f.2: UHCI Host Controller [ 31.879457] uhci_hcd 0000:00:1f.2: new USB bus registered, assigned bus number 1 [ 31.879503] uhci_hcd 0000:00:1f.2: irq 11, io base 0x0000ff80 [ 31.879775] usb usb1: configuration #1 chosen from 1 choice [ 31.879820] hub 1-0:1.0: USB hub found [ 31.879832] hub 1-0:1.0: 2 ports detected [ 31.909497] libata version 3.00 loaded. [ 31.985626] PCI: setting IRQ 9 as level-triggered [ 31.985634] PCI: Found IRQ 9 for device 0000:00:1f.4 [ 31.985673] PCI: Setting latency timer of device 0000:00:1f.4 to 64 [ 31.985679] uhci_hcd 0000:00:1f.4: UHCI Host Controller [ 31.985733] uhci_hcd 0000:00:1f.4: new USB bus registered, assigned bus number 2 [ 31.985769] uhci_hcd 0000:00:1f.4: irq 9, io base 0x0000ff60 [ 31.985963] usb usb2: configuration #1 chosen from 1 choice [ 31.986007] hub 2-0:1.0: USB hub found [ 31.986019] hub 2-0:1.0: 2 ports detected [ 32.089729] ata_piix 0000:00:1f.1: version 2.12 [ 32.089849] PCI: Setting latency timer of device 0000:00:1f.1 to 64 [ 32.094039] scsi0 : ata_piix [ 32.096092] scsi1 : ata_piix [ 32.096196] ata1: PATA max UDMA/100 cmd 0x1f0 ctl 0x3f6 bmdma 0xffa0 irq 14 [ 32.096201] ata2: PATA max UDMA/100 cmd 0x170 ctl 0x376 bmdma 0xffa8 irq 15 [ 32.227589] usb 1-1: new low speed USB device using uhci_hcd and address 2 [ 32.257672] ata1.00: ATA-6: Maxtor 4D060H3, DAK019K0, max UDMA/133 [ 32.257680] ata1.00: 117231408 sectors, multi 8: LBA48 [ 32.273605] ata1.00: configured for UDMA/100 [ 32.399032] usb 1-1: configuration #1 chosen from 1 choice [ 32.613001] ata2.00: ATAPI: HL-DT-ST GCE-8160B, 2.11, max MWDMA2 [ 32.656647] usb 1-2: new low speed USB device using uhci_hcd and address 3 [ 32.792748] ata2.00: configured for MWDMA2 [ 32.792981] scsi 0:0:0:0: Direct-Access ATA Maxtor 4D060H3 DAK0 PQ: 0 ANSI: 5 [ 32.793412] scsi 1:0:0:0: CD-ROM HL-DT-ST CD-RW GCE-8160B 2.11 PQ: 0 ANSI: 5 [ 32.841390] usb 1-2: configuration #1 chosen from 1 choice [ 33.516689] Driver 'sd' needs updating - please use bus_type methods [ 33.523001] usbcore: registered new interface driver hiddev [ 33.529209] sd 0:0:0:0: [sda] 117231408 512-byte hardware sectors (60022 MB) [ 33.529236] sd 0:0:0:0: [sda] Write Protect is off [ 33.529242] sd 0:0:0:0: [sda] Mode Sense: 00 3a 00 00 [ 33.529275] sd 0:0:0:0: [sda] Write cache: enabled, read cache: enabled, doesn't support DPO or FUA [ 33.529397] sd 0:0:0:0: [sda] 117231408 512-byte hardware sectors (60022 MB) [ 33.529417] sd 0:0:0:0: [sda] Write Protect is off [ 33.529422] sd 0:0:0:0: [sda] Mode Sense: 00 3a 00 00 [ 33.529452] sd 0:0:0:0: [sda] Write cache: enabled, read cache: enabled, doesn't support DPO or FUA [ 33.529461] sda:<4>Driver 'sr' needs updating - please use bus_type methods [ 33.546631] input: USB Optical Mouse as /devices/pci0000:00/0000:00:1f.2/usb1/1-1/1-1:1.0/input/input1 [ 33.551821] sda1 sda2 <<6>input,hidraw0: USB HID v1.11 Mouse [USB Optical Mouse] on usb-0000:00:1f.2-1 [ 33.574741] input: CHICONY HP Basic USB Keyboard as /devices/pci0000:00/0000:00:1f.2/usb1/1-2/1-2:1.0/input/input2 [ 33.576013] sda5<6>input,hidraw1: USB HID v1.10 Keyboard [CHICONY HP Basic USB Keyboard] on usb-0000:00:1f.2-2 [ 33.586026] usbcore: registered new interface driver usbhid [ 33.586035] /home/juve/hardy-packages/linux-git/ubuntu-hardy/debian/build/custom-source-rtai/drivers/hid/usbhid/hid-core.c: v2.6:USB HID core driver [ 33.600672] sda6 > [ 33.600899] sd 0:0:0:0: [sda] Attached SCSI disk [ 33.610546] sd 0:0:0:0: Attached scsi generic sg0 type 0 [ 33.610584] sr 1:0:0:0: Attached scsi generic sg1 type 5 [ 33.612965] sr0: scsi3-mmc drive: 40x/40x writer cd/rw xa/form2 cdda tray [ 33.612975] Uniform CD-ROM driver Revision: 3.20 [ 33.613083] sr 1:0:0:0: Attached scsi CD-ROM sr0 [ 34.384919] kjournald starting. Commit interval 5 seconds [ 34.384954] EXT3-fs: mounted filesystem with ordered data mode. [ 42.517675] input: PC Speaker as /devices/platform/pcspkr/input/input3 [ 42.536865] intel_rng: FWH not detected [ 42.551590] Linux agpgart interface v0.102 [ 42.555109] agpgart: Detected an Intel 845G Chipset. [ 42.559272] agpgart: AGP aperture is 64M @ 0xf4000000 [ 42.589413] dcdbas dcdbas: Dell Systems Management Base Driver (version 5.6.0-3.2) [ 42.740060] iTCO_vendor_support: vendor-support=0 [ 42.952402] iTCO_wdt: Intel TCO WatchDog Timer Driver v1.02 (26-Jul-2007) [ 42.952516] iTCO_wdt: Found a ICH2 TCO device (Version=1, TCOBASE=0x0860) [ 42.952561] iTCO_wdt: initialized. heartbeat=30 sec (nowayout=0) [ 43.921027] PCI: setting IRQ 10 as level-triggered [ 43.921037] PCI: Found IRQ 10 for device 0000:00:1f.5 [ 43.921056] PCI: Sharing IRQ 10 with 0000:00:1f.3 [ 43.921084] PCI: Setting latency timer of device 0000:00:1f.5 to 64 [ 44.541958] intel8x0_measure_ac97_clock: measured 55878 usecs [ 44.541967] intel8x0: clocking to 41158 [ 46.973742] lp: driver loaded but no devices found [ 47.188939] Adding 1277128k swap on /dev/sda6. Priority:-1 extents:1 across:1277128k [ 47.770010] EXT3 FS on sda5, internal journal [ 49.558476] ip_tables: (C) 2000-2006 Netfilter Core Team [ 51.850326] ppdev: user-space parallel port driver [ 52.022751] audit(1354213644.302:2): type=1503 operation="inode_permission" requested_mask="a::" denied_mask="a::" name="/dev/tty" pid=4069 profile="/usr/sbin/cupsd" namespace="default" [ 53.493357] eth0: setting full-duplex. [ 53.594209] Bluetooth: Core ver 2.11 [ 53.602832] NET: Registered protocol family 31 [ 53.602841] Bluetooth: HCI device and connection manager initialized [ 53.602848] Bluetooth: HCI socket layer initialized [ 53.630428] Bluetooth: L2CAP ver 2.9 [ 53.630440] Bluetooth: L2CAP socket layer initialized [ 53.667278] Bluetooth: RFCOMM socket layer initialized [ 53.668510] Bluetooth: RFCOMM TTY layer initialized [ 53.668519] Bluetooth: RFCOMM ver 1.8 [ 56.849190] NET: Registered protocol family 17 [ 57.937936] [drm] Initialized drm 1.1.0 20060810 [ 57.972819] PCI: Found IRQ 11 for device 0000:01:00.0 [ 57.973106] [drm] Initialized r128 2.5.0 20030725 on minor 0 [ 57.981711] agpgart: Found an AGP 2.0 compliant device at 0000:00:00.0. [ 57.981746] agpgart: Putting AGP V2 device at 0000:00:00.0 into 1x mode [ 57.981769] agpgart: Putting AGP V2 device at 0000:01:00.0 into 1x mode [ 61.746134] NET: Registered protocol family 10 [ 61.747710] lo: Disabled Privacy Extensions [ 72.527439] eth0: no IPv6 routers present [ 155.323442] I-pipe: Domain RTAI registered. [ 155.323462] RTAI[hal]: <3.6.1> mounted over IPIPE-NOTHREADS 2.0-04. [ 155.323467] RTAI[hal]: compiled with gcc version 4.2.4 (Ubuntu 4.2.4-1ubuntu3). [ 155.323479] RTAI[hal]: mounted (IPIPE-NOTHREADS, IMMEDIATE (INTERNAL IRQs DISPATCHED), ISOL_CPUS_MASK: 0). [ 155.323483] PIPELINE layers: [ 155.323488] f8af3000 9ac15d93 RTAI 200 [ 155.323492] c0383180 0 Linux 100 [ 155.374067] RTAI[malloc]: global heap size = 2097152 bytes, . [ 155.374837] RTAI[sched]: loaded (IMMEDIATE, UP, USER/KERNEL SPACE: , kstacks pool size = 524288 bytes. [ 155.374850] RTAI[sched]: hard timer type/freq = 8254-PIT/1193180(Hz); default timing: periodic; linear timed lists. [ 155.374856] RTAI[sched]: Linux timer freq = 250 (Hz), CPU freq = 1495233000 hz. [ 155.374861] RTAI[sched]: timer setup = 2010 ns, resched latency = 2689 ns. [ 155.511056] RTAI[math]: loaded. [ 155.553277] rtapi: no version for "nano2count" found: kernel tainted. [ 190.678962] RTAPI: ERROR: Unexpected realtime delay on task 1 [ 190.678967] This Message will only display once per session. [ 190.678970] Run the Latency Test and resolve before continuing. [ 5386.608782] RTAI[math]: unloaded. [ 5386.708956] SCHED releases registered named ALIEN RTGLBH [ 5386.748222] RTAI[malloc]: unloaded. [ 5386.853314] RTAI[sched]: unloaded (forced hard/soft/hard transitions: traps 0, syscalls 0). [ 5386.862315] I-pipe: Domain RTAI unregistered. [ 5386.862339] RTAI[hal]: unmounted. [ 5505.816210] usb 2-1: new full speed USB device using uhci_hcd and address 2 [ 5505.984134] usb 2-1: configuration #1 chosen from 1 choice [ 5506.150261] usbcore: registered new interface driver libusual [ 5506.202025] Initializing USB Mass Storage driver... [ 5506.226217] scsi2 : SCSI emulation for USB Mass Storage devices [ 5506.233418] usbcore: registered new interface driver usb-storage [ 5506.235747] USB Mass Storage support registered. [ 5506.238356] usb-storage: device found at 2 [ 5506.238365] usb-storage: waiting for device to settle before scanning [ 5511.231367] usb-storage: device scan complete [ 5511.234397] scsi 2:0:0:0: Direct-Access Flash Disk 4.00 PQ: 0 ANSI: 2 [ 5511.246340] sd 2:0:0:0: [sdb] 506623 512-byte hardware sectors (259 MB) [ 5511.249319] sd 2:0:0:0: [sdb] Write Protect is off [ 5511.249328] sd 2:0:0:0: [sdb] Mode Sense: 00 00 00 00 [ 5511.249333] sd 2:0:0:0: [sdb] Assuming drive cache: write through [ 5511.258296] sd 2:0:0:0: [sdb] 506623 512-byte hardware sectors (259 MB) [ 5511.261298] sd 2:0:0:0: [sdb] Write Protect is off [ 5511.261306] sd 2:0:0:0: [sdb] Mode Sense: 00 00 00 00 [ 5511.261312] sd 2:0:0:0: [sdb] Assuming drive cache: write through [ 5511.261327] sdb: sdb1 [ 5511.270418] sd 2:0:0:0: [sdb] Attached SCSI removable disk [ 5511.270509] sd 2:0:0:0: Attached scsi generic sg2 type 0 peter@cnc:~$