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