Hello! I am trying to create custom firmware for 5i23 card. Machine has 5i23, 7i48 on P2 and 7i37 on P3. In addition to 7i48, I need 3 stepgens and at least 1 encoder on P4 connector.
I created vhd file, Andy compiled it and in the end of this message is the error I receive on LinuxCNC startup. I think that the essence is described here: [ 107.276703] hm2/hm2_5i23.0: WARNING: this firmware has Muxed Encoder v2! [ 107.276713] hm2/hm2_5i23.0: WARNING: velocity computation will be incorrect! [ 107.276719] hm2/hm2_5i23.0: WARNING: upgrade your firmware! [ 107.278782] hm2/hm2_5i23.0: found duplicate Module Descriptor for Encoder (inconsistent firmware), not loading driver. I do not understand, what should I change, because I based this on SV12_2X7I48_72.vhd from here: http://git.linuxcnc.org/gitweb?p=hostmot2-firmware.git;a=tree;h=3e97b6f53ad38c8cd05db36da8b888e5b7ac3850;hb=3e97b6f53ad38c8cd05db36da8b888e5b7ac3850 And particularly version of muxed encoders is 02 already there, so I do not see the reason for any complaints. My vhd file is here: http://cutting.lv/fileadmin/user_upload/SVST6_6_7I48.vhd I would appreciate any hints, where did I make the mistake. Viesturs 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/realtime-2.6.32-122-rtai/modules/linuxcnc LINUXCNC_CONFIG_DIR= LINUXCNC_LANG_DIR=/usr/share/linuxcnc/tcl/msgs INIVAR=inivar HALCMD=halcmd LINUXCNC_EMCSH=/usr/bin/wish8.5 LINUXCNC - 2.5.3 Machine configuration directory is '/home/waterjet/linuxcnc/configs/waterjet' Machine configuration file is 'waterjet.ini' INIFILE=/home/waterjet/linuxcnc/configs/waterjet/waterjet.ini PARAMETER_FILE=waterjet.var TASK=milltask HALUI=halui DISPLAY=axis 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 Shutting down and cleaning up LinuxCNC... Killing task linuxcncsvr, PID=1282 Removing HAL_LIB, RTAPI, and Real Time OS modules Removing NML shared memory segments Cleanup done Debug file information: Can not find -sec MOT -var MOT -num 1 Can not find -sec IO -var IO -num 1 Can not find -sec LINUXCNC -var NML_FILE -num 1 Can not find -sec EMC -var NML_FILE -num 1 insmod: error inserting '/usr/realtime-2.6.32-122-rtai/modules/linuxcnc/hm2_pci.ko': -1 Invalid parameters waterjet-motion.hal:47: exit value: 1 waterjet-motion.hal:47: insmod failed, returned -1 See the output of 'dmesg' for more information. 1282 PID TTY STAT TIME COMMAND Stopping realtime threads Unloading hal components Kernel message information: [ 106.759312] I-pipe: Domain RTAI registered. [ 106.759326] RTAI[hal]: <3.8.1> mounted over IPIPE-NOTHREADS 2.6-03. [ 106.759331] RTAI[hal]: compiled with gcc version 4.4.3 (Ubuntu 4.4.3-4ubuntu5) . [ 106.759413] RTAI[hal]: mounted (IPIPE-NOTHREADS, IMMEDIATE (INTERNAL IRQs DISPATCHED), ISOL_CPUS_MASK: 0). [ 106.759418] PIPELINE layers: [ 106.759423] f8fe7e20 9ac15d93 RTAI 200 [ 106.759428] c085cb20 0 Linux 100 [ 106.810587] RTAI[malloc]: global heap size = 2097152 bytes, <BSD>. [ 106.811306] RTAI[sched]: IMMEDIATE, MP, USER/KERNEL SPACE: <with RTAI OWN KTASKs>, kstacks pool size = 524288 bytes. [ 106.811318] RTAI[sched]: hard timer type/freq = APIC/12500398(Hz); default timing: periodic; linear timed lists. [ 106.811325] RTAI[sched]: Linux timer freq = 250 (Hz), TimeBase freq = 1800320000 hz. [ 106.811331] RTAI[sched]: timer setup = 999 ns, resched latency = 2943 ns. [ 106.811463] RTAI[usi]: enabled. [ 106.901259] RTAI[math]: loaded. [ 107.055558] hm2: loading Mesa HostMot2 driver version 0.15 [ 107.062244] hm2_pci: loading Mesa AnyIO HostMot2 driver version 0.7 [ 107.062310] alloc irq_desc for 20 on node -1 [ 107.062316] alloc kstat_irqs on node -1 [ 107.062329] hm2_pci 0000:05:00.0: PCI INT A -> GSI 20 (level, low) -> IRQ 20 [ 107.062336] hm2_pci: discovered 5i23 at 0000:05:00.0 [ 107.062441] hm2_5i23.0: firmware: requesting hm2/5i23/SVST6_6_7I48.BIT [ 107.276703] hm2/hm2_5i23.0: WARNING: this firmware has Muxed Encoder v2! [ 107.276713] hm2/hm2_5i23.0: WARNING: velocity computation will be incorrect! [ 107.276719] hm2/hm2_5i23.0: WARNING: upgrade your firmware! [ 107.278782] hm2/hm2_5i23.0: found duplicate Module Descriptor for Encoder (inconsistent firmware), not loading driver [ 107.278792] hm2/hm2_5i23.0: failed to parse Module Descriptor 5 [ 107.278805] hm2_5i23.0: board fails HM2 registration [ 107.278835] hm2_pci 0000:05:00.0: PCI INT A disabled [ 107.278859] hm2_pci: probe of 0000:05:00.0 failed with error -22 [ 108.106243] hm2: unloading [ 108.169457] RTAI[math]: unloaded. [ 108.215350] SCHED releases registered named ALIEN RTGLBH [ 108.244433] RTAI[malloc]: unloaded. [ 108.344025] RTAI[sched]: unloaded (forced hard/soft/hard transitions: traps 0, syscalls 0). [ 108.347930] I-pipe: Domain RTAI unregistered. [ 108.348057] RTAI[hal]: unmounted. ------------------------------------------------------------------------------ WatchGuard Dimension instantly turns raw network data into actionable security intelligence. It gives you real-time visual feedback on key security issues and trends. 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