    11  float I/O          0.01  pid.x.deadband
    11  bit   IN          FALSE  pid.x.enable <== xenable
    11  float IN              0  pid.x.feedback <== xpos-fb
    11  bit   IN          FALSE  pid.x.index-enable <== x-index-enable
    11  float I/O            10  pid.x.maxoutput
    11  float OUT             0  pid.x.output ==> xoutput
    11  float I/O             0  pid.y.Dgain
    11  float I/O             0  pid.y.FF0
    11  float I/O             0  pid.y.FF1
    11  float I/O             0  pid.y.FF2
    11  float I/O             0  pid.y.Igain
    11  float I/O             1  pid.y.Pgain
    11  float I/O             0  pid.y.bias
    11  float IN              0  pid.y.command <== ypos-cmd
    11  float I/O             0  pid.y.deadband
    11  bit   IN          FALSE  pid.y.enable <== yenable
    11  float IN              0  pid.y.feedback <== ypos-fb
    11  bit   IN          FALSE  pid.y.index-enable <== y-index-enable
    11  float I/O            10  pid.y.maxoutput
    11  float OUT             0  pid.y.output ==> youtput
    11  float I/O             0  pid.z.Dgain
    11  float I/O             0  pid.z.FF0
    11  float I/O             0  pid.z.FF1
    11  float I/O             0  pid.z.FF2
    11  float I/O             0  pid.z.Igain
    11  float I/O             1  pid.z.Pgain
    11  float I/O             0  pid.z.bias
    11  float IN              0  pid.z.command <== zpos-cmd
    11  float I/O             0  pid.z.deadband
    11  bit   IN          FALSE  pid.z.enable <== zenable
    11  float IN              0  pid.z.feedback <== zpos-fb
    11  bit   IN          FALSE  pid.z.index-enable <== z-index-enable
    11  float I/O            10  pid.z.maxoutput
    11  float OUT             0  pid.z.output ==> zoutput

Pin Aliases:
 Alias                                      Original Name
 pid.x.Dgain                                pid.0.Dgain
 pid.x.FF0                                  pid.0.FF0
 pid.x.FF1                                  pid.0.FF1
 pid.x.FF2                                  pid.0.FF2
 pid.x.Igain                                pid.0.Igain
 pid.x.Pgain                                pid.0.Pgain
 pid.x.bias                                 pid.0.bias
 pid.x.command                              pid.0.command
 pid.x.deadband                             pid.0.deadband
 pid.x.enable                               pid.0.enable
 pid.x.feedback                             pid.0.feedback
 pid.x.index-enable                         pid.0.index-enable
 pid.x.maxoutput                            pid.0.maxoutput
 pid.x.output                               pid.0.output
 pid.y.Dgain                                pid.1.Dgain
 pid.y.FF0                                  pid.1.FF0
 pid.y.FF1                                  pid.1.FF1
 pid.y.FF2                                  pid.1.FF2
 pid.y.Igain                                pid.1.Igain
 pid.y.Pgain                                pid.1.Pgain
 pid.y.bias                                 pid.1.bias
 pid.y.command                              pid.1.command
 pid.y.deadband                             pid.1.deadband
 pid.y.enable                               pid.1.enable
 pid.y.feedback                             pid.1.feedback
 pid.y.index-enable                         pid.1.index-enable
 pid.y.maxoutput                            pid.1.maxoutput
 pid.y.output                               pid.1.output
 pid.z.Dgain                                pid.2.Dgain
 pid.z.FF0                                  pid.2.FF0
 pid.z.FF1                                  pid.2.FF1
 pid.z.FF2                                  pid.2.FF2
 pid.z.Igain                                pid.2.Igain
 pid.z.Pgain                                pid.2.Pgain
 pid.z.bias                                 pid.2.bias
 pid.z.command                              pid.2.command
 pid.z.deadband                             pid.2.deadband
 pid.z.enable                               pid.2.enable
 pid.z.feedback                             pid.2.feedback
 pid.z.index-enable                         pid.2.index-enable
 pid.z.maxoutput                            pid.2.maxoutput
 pid.z.output                               pid.2.output

Signals:
Type          Value  Name     (linked to)
bit           FALSE  coolant-flood
                         <== iocontrol.0.coolant-flood
bit           FALSE  coolant-mist
                         <== iocontrol.0.coolant-mist
bit           FALSE  estop-ext
                         <== hm2_5i20.0.gpio.049.in_not
                         ==> iocontrol.0.emc-enable-in
bit           FALSE  estop-out
                         <== iocontrol.0.user-enable-out
bit           FALSE  jog-x-neg
                         <== hm2_5i20.0.gpio.060.in_not
bit           FALSE  jog-x-pos
                         <== hm2_5i20.0.gpio.058.in_not
bit           FALSE  jog-y-neg
                         <== hm2_5i20.0.gpio.057.in_not
bit           FALSE  jog-y-pos
                         <== hm2_5i20.0.gpio.048.in_not
bit           FALSE  jog-z-neg
                         <== hm2_5i20.0.gpio.064.in_not
bit           FALSE  jog-z-pos
                         <== hm2_5i20.0.gpio.066.in_not
bit           FALSE  probe-in
                         ==> motion.probe-input
bit            TRUE  spindle-at-speed
                         ==> motion.spindle-at-speed
bit            TRUE  spindle-brake
                         <== motion.spindle-brake
bit           FALSE  spindle-ccw
                         <== motion.spindle-reverse
bit           FALSE  spindle-cw
                         <== motion.spindle-forward
bit           FALSE  spindle-enable
                         <== motion.spindle-on
bit           FALSE  spindle-index-enable
                         <=> motion.spindle-index-enable
bit           FALSE  spindle-manual-cw
                         <== hm2_5i20.0.gpio.053.in_not
bit           FALSE  spindle-manual-stop
                         <== hm2_5i20.0.gpio.051.in_not
float             0  spindle-revs
                         ==> motion.spindle-revs
float             0  spindle-vel-cmd
                         <== motion.spindle-speed-out
float             0  spindle-vel-cmd-rps
                         <== motion.spindle-speed-out-rps
float             0  spindle-vel-fb
                         ==> motion.spindle-speed-in
bit           FALSE  tool-change-confirmed
                         <== hal_manualtoolchange.changed
                         ==> iocontrol.0.tool-changed
bit           FALSE  tool-change-request
                         ==> hal_manualtoolchange.change
                         <== iocontrol.0.tool-change
s32               0  tool-number
                         ==> hal_manualtoolchange.number
                         <== iocontrol.0.tool-prep-number
bit           FALSE  tool-prepare-loopback
                         <== iocontrol.0.tool-prepare
                         ==> iocontrol.0.tool-prepared
bit           FALSE  x-home-sw
                         ==> axis.0.home-sw-in
bit           FALSE  x-index-enable
                         <=> axis.0.index-enable
                         <=> hm2_5i20.0.encoder.01.index-enable
                         ==> pid.x.index-enable
bit           FALSE  x-neg-limit
                         ==> axis.0.neg-lim-sw-in
bit           FALSE  x-pos-limit
                         ==> axis.0.pos-lim-sw-in
bit           FALSE  xenable
                         <== axis.0.amp-enable-out
                         ==> hm2_5i20.0.pwmgen.01.enable
                         ==> pid.x.enable
float             0  xoutput
                         ==> hm2_5i20.0.pwmgen.01.value
                         <== pid.x.output
float             0  xpos-cmd
                         <== axis.0.motor-pos-cmd
                         ==> pid.x.command
float             0  xpos-fb
                         ==> axis.0.motor-pos-fb
                         <== hm2_5i20.0.encoder.01.position
                         ==> pid.x.feedback
bit           FALSE  y-home-sw
                         ==> axis.1.home-sw-in
bit           FALSE  y-index-enable
                         <=> axis.1.index-enable
                         <=> hm2_5i20.0.encoder.00.index-enable
                         ==> pid.y.index-enable
bit           FALSE  y-neg-limit
                         ==> axis.1.neg-lim-sw-in
bit           FALSE  y-pos-limit
                         ==> axis.1.pos-lim-sw-in
bit           FALSE  yenable
                         <== axis.1.amp-enable-out
                         ==> hm2_5i20.0.pwmgen.00.enable
                         ==> pid.y.enable
float             0  youtput
                         ==> hm2_5i20.0.pwmgen.00.value
                         <== pid.y.output
float             0  ypos-cmd
                         <== axis.1.motor-pos-cmd
                         ==> pid.y.command
float             0  ypos-fb
                         ==> axis.1.motor-pos-fb
                         <== hm2_5i20.0.encoder.00.position
                         ==> pid.y.feedback
bit           FALSE  z-home-sw
                         ==> axis.2.home-sw-in
bit           FALSE  z-index-enable
                         <=> axis.2.index-enable
                         <=> hm2_5i20.0.encoder.02.index-enable
                         ==> pid.z.index-enable
bit           FALSE  z-neg-limit
                         ==> axis.2.neg-lim-sw-in
bit           FALSE  z-pos-limit
                         ==> axis.2.pos-lim-sw-in
bit           FALSE  zenable
                         <== axis.2.amp-enable-out
                         ==> hm2_5i20.0.pwmgen.02.enable
                         ==> pid.z.enable
float             0  zoutput
                         ==> hm2_5i20.0.pwmgen.02.value
                         <== pid.z.output
float             0  zpos-cmd
                         <== axis.2.motor-pos-cmd
                         ==> pid.z.command
float             0  zpos-fb
                         ==> axis.2.motor-pos-fb
                         <== hm2_5i20.0.encoder.02.position
                         ==> pid.z.feedback

Parameters:
Owner   Type  Dir         Value  Name
     6  s32   RO              0  axis.0.home-state
     6  s32   RO              0  axis.1.home-state
     6  s32   RO              0  axis.2.home-state
     9  bit   RW          FALSE  hm2_5i20.0.encoder.00.counter-mode
     9  bit   RW           TRUE  hm2_5i20.0.encoder.00.filter
     9  bit   RW          FALSE  hm2_5i20.0.encoder.00.index-invert
     9  bit   RW          FALSE  hm2_5i20.0.encoder.00.index-mask
     9  bit   RW          FALSE  hm2_5i20.0.encoder.00.index-mask-invert
     9  float RW           2000  hm2_5i20.0.encoder.00.scale
     9  float RW            0.5  hm2_5i20.0.encoder.00.vel-timeout
     9  bit   RW          FALSE  hm2_5i20.0.encoder.01.counter-mode
     9  bit   RW           TRUE  hm2_5i20.0.encoder.01.filter
     9  bit   RW          FALSE  hm2_5i20.0.encoder.01.index-invert
     9  bit   RW          FALSE  hm2_5i20.0.encoder.01.index-mask
     9  bit   RW          FALSE  hm2_5i20.0.encoder.01.index-mask-invert
     9  float RW           2000  hm2_5i20.0.encoder.01.scale
     9  float RW            0.5  hm2_5i20.0.encoder.01.vel-timeout
     9  bit   RW          FALSE  hm2_5i20.0.encoder.02.counter-mode
     9  bit   RW           TRUE  hm2_5i20.0.encoder.02.filter
     9  bit   RW          FALSE  hm2_5i20.0.encoder.02.index-invert
     9  bit   RW          FALSE  hm2_5i20.0.encoder.02.index-mask
     9  bit   RW          FALSE  hm2_5i20.0.encoder.02.index-mask-invert
     9  float RW           2000  hm2_5i20.0.encoder.02.scale
     9  float RW            0.5  hm2_5i20.0.encoder.02.vel-timeout
     9  bit   RW          FALSE  hm2_5i20.0.gpio.006.invert_output
     9  bit   RW          FALSE  hm2_5i20.0.gpio.006.is_opendrain
     9  bit   RW          FALSE  hm2_5i20.0.gpio.007.invert_output
     9  bit   RW          FALSE  hm2_5i20.0.gpio.007.is_opendrain
     9  bit   RW          FALSE  hm2_5i20.0.gpio.008.invert_output
     9  bit   RW          FALSE  hm2_5i20.0.gpio.008.is_opendrain
     9  bit   RW          FALSE  hm2_5i20.0.gpio.009.invert_output
     9  bit   RW          FALSE  hm2_5i20.0.gpio.009.is_opendrain
     9  bit   RW          FALSE  hm2_5i20.0.gpio.010.invert_output
     9  bit   RW          FALSE  hm2_5i20.0.gpio.010.is_opendrain
     9  bit   RW          FALSE  hm2_5i20.0.gpio.011.invert_output
     9  bit   RW          FALSE  hm2_5i20.0.gpio.011.is_opendrain
     9  bit   RW          FALSE  hm2_5i20.0.gpio.012.invert_output
     9  bit   RW          FALSE  hm2_5i20.0.gpio.012.is_opendrain
     9  bit   RW          FALSE  hm2_5i20.0.gpio.012.is_output
     9  bit   RW          FALSE  hm2_5i20.0.gpio.013.invert_output
     9  bit   RW          FALSE  hm2_5i20.0.gpio.013.is_opendrain
     9  bit   RW          FALSE  hm2_5i20.0.gpio.013.is_output
     9  bit   RW          FALSE  hm2_5i20.0.gpio.016.invert_output
     9  bit   RW          FALSE  hm2_5i20.0.gpio.016.is_opendrain
     9  bit   RW          FALSE  hm2_5i20.0.gpio.016.is_output
     9  bit   RW          FALSE  hm2_5i20.0.gpio.018.invert_output
     9  bit   RW          FALSE  hm2_5i20.0.gpio.018.is_opendrain
     9  bit   RW          FALSE  hm2_5i20.0.gpio.018.is_output
     9  bit   RW          FALSE  hm2_5i20.0.gpio.019.invert_output
     9  bit   RW          FALSE  hm2_5i20.0.gpio.019.is_opendrain
     9  bit   RW          FALSE  hm2_5i20.0.gpio.020.invert_output
     9  bit   RW          FALSE  hm2_5i20.0.gpio.020.is_opendrain
     9  bit   RW          FALSE  hm2_5i20.0.gpio.020.is_output
     9  bit   RW          FALSE  hm2_5i20.0.gpio.021.invert_output
     9  bit   RW          FALSE  hm2_5i20.0.gpio.021.is_opendrain
     9  bit   RW          FALSE  hm2_5i20.0.gpio.022.invert_output
     9  bit   RW          FALSE  hm2_5i20.0.gpio.022.is_opendrain
     9  bit   RW          FALSE  hm2_5i20.0.gpio.022.is_output
     9  bit   RW          FALSE  hm2_5i20.0.gpio.023.invert_output
     9  bit   RW          FALSE  hm2_5i20.0.gpio.023.is_opendrain
     9  bit   RW          FALSE  hm2_5i20.0.gpio.024.invert_output
     9  bit   RW          FALSE  hm2_5i20.0.gpio.024.is_opendrain
     9  bit   RW          FALSE  hm2_5i20.0.gpio.024.is_output
     9  bit   RW          FALSE  hm2_5i20.0.gpio.025.invert_output
     9  bit   RW          FALSE  hm2_5i20.0.gpio.025.is_opendrain
     9  bit   RW          FALSE  hm2_5i20.0.gpio.025.is_output
     9  bit   RW          FALSE  hm2_5i20.0.gpio.026.invert_output
     9  bit   RW          FALSE  hm2_5i20.0.gpio.026.is_opendrain
     9  bit   RW          FALSE  hm2_5i20.0.gpio.026.is_output
     9  bit   RW          FALSE  hm2_5i20.0.gpio.027.invert_output
     9  bit   RW          FALSE  hm2_5i20.0.gpio.027.is_opendrain
     9  bit   RW          FALSE  hm2_5i20.0.gpio.027.is_output
     9  bit   RW          FALSE  hm2_5i20.0.gpio.028.invert_output
     9  bit   RW          FALSE  hm2_5i20.0.gpio.028.is_opendrain
     9  bit   RW          FALSE  hm2_5i20.0.gpio.028.is_output
     9  bit   RW          FALSE  hm2_5i20.0.gpio.029.invert_output
     9  bit   RW          FALSE  hm2_5i20.0.gpio.029.is_opendrain
     9  bit   RW          FALSE  hm2_5i20.0.gpio.029.is_output
     9  bit   RW          FALSE  hm2_5i20.0.gpio.030.invert_output
     9  bit   RW          FALSE  hm2_5i20.0.gpio.030.is_opendrain
     9  bit   RW          FALSE  hm2_5i20.0.gpio.030.is_output
     9  bit   RW          FALSE  hm2_5i20.0.gpio.031.invert_output
     9  bit   RW          FALSE  hm2_5i20.0.gpio.031.is_opendrain
     9  bit   RW          FALSE  hm2_5i20.0.gpio.031.is_output
     9  bit   RW          FALSE  hm2_5i20.0.gpio.032.invert_output
     9  bit   RW          FALSE  hm2_5i20.0.gpio.032.is_opendrain
     9  bit   RW          FALSE  hm2_5i20.0.gpio.032.is_output
     9  bit   RW          FALSE  hm2_5i20.0.gpio.033.invert_output
     9  bit   RW          FALSE  hm2_5i20.0.gpio.033.is_opendrain
     9  bit   RW          FALSE  hm2_5i20.0.gpio.033.is_output
     9  bit   RW          FALSE  hm2_5i20.0.gpio.034.invert_output
     9  bit   RW          FALSE  hm2_5i20.0.gpio.034.is_opendrain
     9  bit   RW          FALSE  hm2_5i20.0.gpio.034.is_output
     9  bit   RW          FALSE  hm2_5i20.0.gpio.035.invert_output
     9  bit   RW          FALSE  hm2_5i20.0.gpio.035.is_opendrain
     9  bit   RW          FALSE  hm2_5i20.0.gpio.035.is_output
     9  bit   RW          FALSE  hm2_5i20.0.gpio.036.invert_output
     9  bit   RW          FALSE  hm2_5i20.0.gpio.036.is_opendrain
     9  bit   RW          FALSE  hm2_5i20.0.gpio.036.is_output
     9  bit   RW          FALSE  hm2_5i20.0.gpio.037.invert_output
     9  bit   RW          FALSE  hm2_5i20.0.gpio.037.is_opendrain
     9  bit   RW          FALSE  hm2_5i20.0.gpio.037.is_output
     9  bit   RW          FALSE  hm2_5i20.0.gpio.038.invert_output
     9  bit   RW          FALSE  hm2_5i20.0.gpio.038.is_opendrain
     9  bit   RW          FALSE  hm2_5i20.0.gpio.038.is_output
     9  bit   RW          FALSE  hm2_5i20.0.gpio.039.invert_output
     9  bit   RW          FALSE  hm2_5i20.0.gpio.039.is_opendrain
     9  bit   RW          FALSE  hm2_5i20.0.gpio.039.is_output
     9  bit   RW          FALSE  hm2_5i20.0.gpio.040.invert_output
     9  bit   RW          FALSE  hm2_5i20.0.gpio.040.is_opendrain
     9  bit   RW          FALSE  hm2_5i20.0.gpio.040.is_output
     9  bit   RW          FALSE  hm2_5i20.0.gpio.041.invert_output
     9  bit   RW          FALSE  hm2_5i20.0.gpio.041.is_opendrain
     9  bit   RW          FALSE  hm2_5i20.0.gpio.041.is_output
     9  bit   RW          FALSE  hm2_5i20.0.gpio.042.invert_output
     9  bit   RW          FALSE  hm2_5i20.0.gpio.042.is_opendrain
     9  bit   RW          FALSE  hm2_5i20.0.gpio.042.is_output
     9  bit   RW          FALSE  hm2_5i20.0.gpio.043.invert_output
     9  bit   RW          FALSE  hm2_5i20.0.gpio.043.is_opendrain
     9  bit   RW          FALSE  hm2_5i20.0.gpio.043.is_output
     9  bit   RW          FALSE  hm2_5i20.0.gpio.044.invert_output
     9  bit   RW          FALSE  hm2_5i20.0.gpio.044.is_opendrain
     9  bit   RW          FALSE  hm2_5i20.0.gpio.044.is_output
     9  bit   RW          FALSE  hm2_5i20.0.gpio.045.invert_output
     9  bit   RW          FALSE  hm2_5i20.0.gpio.045.is_opendrain
     9  bit   RW          FALSE  hm2_5i20.0.gpio.045.is_output
     9  bit   RW          FALSE  hm2_5i20.0.gpio.046.invert_output
     9  bit   RW          FALSE  hm2_5i20.0.gpio.046.is_opendrain
     9  bit   RW          FALSE  hm2_5i20.0.gpio.046.is_output
     9  bit   RW          FALSE  hm2_5i20.0.gpio.047.invert_output
     9  bit   RW          FALSE  hm2_5i20.0.gpio.047.is_opendrain
     9  bit   RW          FALSE  hm2_5i20.0.gpio.047.is_output
     9  bit   RW          FALSE  hm2_5i20.0.gpio.048.invert_output
     9  bit   RW          FALSE  hm2_5i20.0.gpio.048.is_opendrain
     9  bit   RW          FALSE  hm2_5i20.0.gpio.048.is_output
     9  bit   RW          FALSE  hm2_5i20.0.gpio.049.invert_output
     9  bit   RW          FALSE  hm2_5i20.0.gpio.049.is_opendrain
     9  bit   RW          FALSE  hm2_5i20.0.gpio.049.is_output
     9  bit   RW          FALSE  hm2_5i20.0.gpio.050.invert_output
     9  bit   RW          FALSE  hm2_5i20.0.gpio.050.is_opendrain
     9  bit   RW          FALSE  hm2_5i20.0.gpio.050.is_output
     9  bit   RW          FALSE  hm2_5i20.0.gpio.051.invert_output
     9  bit   RW          FALSE  hm2_5i20.0.gpio.051.is_opendrain
     9  bit   RW          FALSE  hm2_5i20.0.gpio.051.is_output
     9  bit   RW          FALSE  hm2_5i20.0.gpio.052.invert_output
     9  bit   RW          FALSE  hm2_5i20.0.gpio.052.is_opendrain
     9  bit   RW          FALSE  hm2_5i20.0.gpio.052.is_output
     9  bit   RW          FALSE  hm2_5i20.0.gpio.053.invert_output
     9  bit   RW          FALSE  hm2_5i20.0.gpio.053.is_opendrain
     9  bit   RW          FALSE  hm2_5i20.0.gpio.053.is_output
     9  bit   RW          FALSE  hm2_5i20.0.gpio.054.invert_output
     9  bit   RW          FALSE  hm2_5i20.0.gpio.054.is_opendrain
     9  bit   RW          FALSE  hm2_5i20.0.gpio.054.is_output
     9  bit   RW          FALSE  hm2_5i20.0.gpio.055.invert_output
     9  bit   RW          FALSE  hm2_5i20.0.gpio.055.is_opendrain
     9  bit   RW          FALSE  hm2_5i20.0.gpio.055.is_output
     9  bit   RW          FALSE  hm2_5i20.0.gpio.056.invert_output
     9  bit   RW          FALSE  hm2_5i20.0.gpio.056.is_opendrain
     9  bit   RW          FALSE  hm2_5i20.0.gpio.056.is_output
     9  bit   RW          FALSE  hm2_5i20.0.gpio.057.invert_output
     9  bit   RW          FALSE  hm2_5i20.0.gpio.057.is_opendrain
     9  bit   RW          FALSE  hm2_5i20.0.gpio.057.is_output
     9  bit   RW          FALSE  hm2_5i20.0.gpio.058.invert_output
     9  bit   RW          FALSE  hm2_5i20.0.gpio.058.is_opendrain
     9  bit   RW          FALSE  hm2_5i20.0.gpio.058.is_output
     9  bit   RW          FALSE  hm2_5i20.0.gpio.059.invert_output
     9  bit   RW          FALSE  hm2_5i20.0.gpio.059.is_opendrain
     9  bit   RW          FALSE  hm2_5i20.0.gpio.059.is_output
     9  bit   RW          FALSE  hm2_5i20.0.gpio.060.invert_output
     9  bit   RW          FALSE  hm2_5i20.0.gpio.060.is_opendrain
     9  bit   RW          FALSE  hm2_5i20.0.gpio.060.is_output
     9  bit   RW          FALSE  hm2_5i20.0.gpio.061.invert_output
     9  bit   RW          FALSE  hm2_5i20.0.gpio.061.is_opendrain
     9  bit   RW          FALSE  hm2_5i20.0.gpio.061.is_output
     9  bit   RW          FALSE  hm2_5i20.0.gpio.062.invert_output
     9  bit   RW          FALSE  hm2_5i20.0.gpio.062.is_opendrain
     9  bit   RW          FALSE  hm2_5i20.0.gpio.062.is_output
     9  bit   RW          FALSE  hm2_5i20.0.gpio.063.invert_output
     9  bit   RW          FALSE  hm2_5i20.0.gpio.063.is_opendrain
     9  bit   RW          FALSE  hm2_5i20.0.gpio.063.is_output
     9  bit   RW          FALSE  hm2_5i20.0.gpio.064.invert_output
     9  bit   RW          FALSE  hm2_5i20.0.gpio.064.is_opendrain
     9  bit   RW          FALSE  hm2_5i20.0.gpio.064.is_output
     9  bit   RW          FALSE  hm2_5i20.0.gpio.065.invert_output
     9  bit   RW          FALSE  hm2_5i20.0.gpio.065.is_opendrain
     9  bit   RW          FALSE  hm2_5i20.0.gpio.065.is_output
     9  bit   RW          FALSE  hm2_5i20.0.gpio.066.invert_output
     9  bit   RW          FALSE  hm2_5i20.0.gpio.066.is_opendrain
     9  bit   RW          FALSE  hm2_5i20.0.gpio.066.is_output
     9  bit   RW          FALSE  hm2_5i20.0.gpio.067.invert_output
     9  bit   RW          FALSE  hm2_5i20.0.gpio.067.is_opendrain
     9  bit   RW          FALSE  hm2_5i20.0.gpio.067.is_output
     9  bit   RW          FALSE  hm2_5i20.0.gpio.068.invert_output
     9  bit   RW          FALSE  hm2_5i20.0.gpio.068.is_opendrain
     9  bit   RW          FALSE  hm2_5i20.0.gpio.068.is_output
     9  bit   RW          FALSE  hm2_5i20.0.gpio.069.invert_output
     9  bit   RW          FALSE  hm2_5i20.0.gpio.069.is_opendrain
     9  bit   RW          FALSE  hm2_5i20.0.gpio.069.is_output
     9  bit   RW          FALSE  hm2_5i20.0.gpio.070.invert_output
     9  bit   RW          FALSE  hm2_5i20.0.gpio.070.is_opendrain
     9  bit   RW          FALSE  hm2_5i20.0.gpio.070.is_output
     9  bit   RW          FALSE  hm2_5i20.0.gpio.071.invert_output
     9  bit   RW          FALSE  hm2_5i20.0.gpio.071.is_opendrain
     9  bit   RW          FALSE  hm2_5i20.0.gpio.071.is_output
     9  bit   RW          FALSE  hm2_5i20.0.io_error
     9  s32   RO           4320  hm2_5i20.0.pet_watchdog.time
     9  s32   RW          10062  hm2_5i20.0.pet_watchdog.tmax
     9  s32   RW              1  hm2_5i20.0.pwmgen.00.output-type
     9  float RW              1  hm2_5i20.0.pwmgen.00.scale
     9  s32   RW              1  hm2_5i20.0.pwmgen.01.output-type
     9  float RW              1  hm2_5i20.0.pwmgen.01.scale
     9  s32   RW              1  hm2_5i20.0.pwmgen.02.output-type
     9  float RW              1  hm2_5i20.0.pwmgen.02.scale
     9  u32   RW     0x000186A0  hm2_5i20.0.pwmgen.pdm_frequency
     9  u32   RW     0x000186A0  hm2_5i20.0.pwmgen.pwm_frequency
     9  s32   RO          85482  hm2_5i20.0.read.time
     9  s32   RW         112653  hm2_5i20.0.read.tmax
     9  s32   RO              0  hm2_5i20.0.read_gpio.time
     9  s32   RW              0  hm2_5i20.0.read_gpio.tmax
     9  u32   RW     0x00989680  hm2_5i20.0.watchdog.timeout_ns
     9  s32   RO          39402  hm2_5i20.0.write.time
     9  s32   RW          59985  hm2_5i20.0.write.tmax
     9  s32   RO              0  hm2_5i20.0.write_gpio.time
     9  s32   RW              0  hm2_5i20.0.write_gpio.tmax
     6  s32   RO           3312  motion-command-handler.time
     6  s32   RW          10629  motion-command-handler.tmax
     6  s32   RO          70326  motion-controller.time
     6  s32   RW          81918  motion-controller.tmax
     6  bit   RO          FALSE  motion.debug-bit-0
     6  bit   RO          FALSE  motion.debug-bit-1
     6  float RO              1  motion.debug-float-0
     6  float RO              0  motion.debug-float-1
     6  float RO              0  motion.debug-float-2
     6  float RO              1  motion.debug-float-3
     6  s32   RO              0  motion.debug-s32-0
     6  s32   RO              0  motion.debug-s32-1
     6  u32   RO     0x001A6B53  motion.servo.last-period
     6  float RO       961766.8  motion.servo.last-period-ns
     6  u32   RW     0x00000000  motion.servo.overruns
    10  float RW              0  near.0.difference
    10  float RW              1  near.0.scale
    10  s32   RO            459  near.0.time
    10  s32   RW           4563  near.0.tmax
    11  s32   RO           2016  pid.0.do-pid-calcs.time
    11  s32   RW          10314  pid.0.do-pid-calcs.tmax
    11  s32   RO            756  pid.1.do-pid-calcs.time
    11  s32   RW           7092  pid.1.do-pid-calcs.tmax
    11  s32   RO           1404  pid.2.do-pid-calcs.time
    11  s32   RW           8757  pid.2.do-pid-calcs.tmax
     6  float RO              0  tc.0.acc
     6  float RO              0  tc.0.pos
     6  float RO              0  tc.0.vel
     6  float RO              0  tc.1.acc
     6  float RO              0  tc.1.pos
     6  float RO              0  tc.1.vel
     6  float RO              0  tc.2.acc
     6  float RO              0  tc.2.pos
     6  float RO              0  tc.2.vel
     6  float RO              0  tc.3.acc
     6  float RO              0  tc.3.pos
     6  float RO              0  tc.3.vel
     6  u32   RO     0x00000000  traj.active_tc
     6  float RO              0  traj.pos_out
     6  float RO              0  traj.vel_out

Parameter Aliases:
 Alias                                      Original Name

Exported Functions:
Owner   CodeAddr  Arg       FP   Users  Name
 00009  fb67217b  c13aa000  NO       1   hm2_5i20.0.pet_watchdog
 00009  fb66b921  c13aa000  YES      1   hm2_5i20.0.read
 00009  fb66b870  c13aa000  YES      0   hm2_5i20.0.read_gpio
 00009  fb66b8a1  c13aa000  YES      1   hm2_5i20.0.write
 00009  fb66b83f  c13aa000  YES      0   hm2_5i20.0.write_gpio
 00006  fb4a88d0  00000000  YES      1   motion-command-handler
 00006  fb4aad9a  00000000  YES      1   motion-controller
 00010  fb691000  fb438568  YES      1   near.0
 00011  fb69c000  fb438590  YES      1   pid.0.do-pid-calcs
 00011  fb69c000  fb438618  YES      1   pid.1.do-pid-calcs
 00011  fb69c000  fb4386a0  YES      1   pid.2.do-pid-calcs

Realtime Threads:
     Period  FP     Name               (     Time, Max-Time )
     999888  YES          servo-thread (    81540,   282267 )
                  1 hm2_5i20.0.read
                  2 motion-command-handler
                  3 motion-controller
                  4 pid.0.do-pid-calcs
                  5 pid.1.do-pid-calcs
                  6 pid.2.do-pid-calcs
                  7 near.0
                  8 hm2_5i20.0.write
                  9 hm2_5i20.0.pet_watchdog

grigory@grigory-desktop:~$ 
