Weird initial popups in axis

[the-snowwhite]

Every time I have run any hm2_soc based axis configuration I have been able to come up with in EmcApp it initially looks like this:

Exactly 11 messages I have to close each time I test on a physical hm2 setup.

The console looks like this:

machinekit@mksocfpga-ob-ox:~$ linuxcnc
LINUXCNC - 2.9.0~pre0
Machine configuration directory is '/home/machinekit/linuxcnc/configs/OX'
Machine configuration file is 'ox.ini'
Starting LinuxCNC...
rtapi_msgd command:  /usr/libexec/machinekit/rtapi_msgd --instance=0 --rtmsglevel=1 --usrmsglevel=1 --debug=1 --halsize=524288
rtapi_app command:  /usr/libexec/machinekit/rtapi_app --instance=0 --debug=1
3::6680:rt INFO:  Picked default flavor 'rt-preempt' automatically
Found file(REL): ./ob-ox_py.hal
emcTrajSetJoints(3) returned 0
emcTrajSetSpindles(1) returned 0
emcTrajSetAxes(3, 7)
emcTrajSetUnits(1.0000, 1.0000)
emcTrajSetVelocity(0.0000, 20.0000) returned 0
emcTrajSetMaxVelocity(200.0000) returned 0
emcTrajSetAcceleration(999999999999999967336168804116691273849533185806555472917961779471295845921727862608739868455469056.0000) returned 0
emcTrajSetMaxAcceleration(999999999999999967336168804116691273849533185806555472917961779471295845921727862608739868455469056.0000)
emcTrajSetHome(0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000) returned 0
emcJointSetType(0, 1)
emcJointSetUnits(0, 1.0000)
emcJointSetBacklash(0, 0.0600) returned 0
emcJointSetMinPositionLimit(0, -0.5000) returned 0
emcJointSetMaxPositionLimit(0, 320.0000) returned 0
emcJointSetFerror(0, 800.0000) returned 0
emcJointSetMinFerror(0, 200.0000) returned 0
emcJointSetHomingParams(0, 0.0000, 0.0000, -1.0000, -10.0000, 1.0000, 0, 1, 0, 1, 0) returned 0
emcJointSetMaxVelocity(0, 50.0000) returned 0
emcJointSetMaxAcceleration(0, 80.0000) returned 0
emcJointActivate(0) returned 0
emcJointSetType(1, 1)
emcJointSetUnits(1, 1.0000)
emcJointSetBacklash(1, 0.0800) returned 0
emcJointSetMinPositionLimit(1, -1.0000) returned 0
emcJointSetMaxPositionLimit(1, 500.1000) returned 0
emcJointSetFerror(1, 800.0000) returned 0
emcJointSetMinFerror(1, 200.0000) returned 0
emcJointSetHomingParams(1, 0.0000, 0.0000, -1.0000, -20.0000, 1.0000, 0, 1, 0, 1, 0) returned 0
emcJointSetMaxVelocity(1, 50.0000) returned 0
emcJointSetMaxAcceleration(1, 80.0000) returned 0
emcJointActivate(1) returned 0
emcJointSetType(2, 1)
emcJointSetUnits(2, 1.0000)
emcJointSetBacklash(2, 0.0200) returned 0
emcJointSetMinPositionLimit(2, -40.2000) returned 0
emcJointSetMaxPositionLimit(2, 0.2000) returned 0
emcJointSetFerror(2, 800.0000) returned 0
emcJointSetMinFerror(2, 200.0000) returned 0
emcJointSetHomingParams(2, 0.0000, 0.2000, -1.0000, 8.0000, -1.0000, 0, 1, 0, 0, 0) returned 0
emcJointSetMaxVelocity(2, 10.0000) returned 0
emcJointSetMaxAcceleration(2, 20.0000) returned 0
emcJointActivate(2) returned 0
emcAxisSetMinPositionLimit(0, -0.5000) returned 0
emcAxisSetMaxPositionLimit(0, 320.0000) returned 0
emcAxisSetMaxVelocity(0, 50.0000) returned 0
emcAxisSetMaxAcceleration(0, 80.0000) returned 0
emcAxisSetLockingJoint(0, -1) returned 0
emcAxisSetMinPositionLimit(1, -1.0000) returned 0
emcAxisSetMaxPositionLimit(1, 500.1000) returned 0
emcAxisSetMaxVelocity(1, 50.0000) returned 0
emcAxisSetMaxAcceleration(1, 90.0000) returned 0
emcAxisSetLockingJoint(1, -1) returned 0
emcAxisSetMinPositionLimit(2, -40.0000) returned 0
emcAxisSetMaxPositionLimit(2, 0.2000) returned 0
emcAxisSetMaxVelocity(2, 10.0000) returned 0
emcAxisSetMaxAcceleration(2, 20.0000) returned 0
emcAxisSetLockingJoint(2, -1) returned 0
hm2: loading Mesa HostMot2 driver version 0.15

hm2_soc_ol: loading Mesa AnyIO HostMot2 socfpga overlay driver version 0.9

hm2/hm2_5i25.0: 72 I/O Pins used:

hm2/hm2_5i25.0:     IO Pin 000 (GPIO0.P0-01): StepGen #0, pin Step (Output)

hm2/hm2_5i25.0:     IO Pin 001 (GPIO0.P0-02): StepGen #0, pin Direction (Output)

hm2/hm2_5i25.0:     IO Pin 002 (GPIO0.P0-03): StepGen #1, pin Step (Output)

hm2/hm2_5i25.0:     IO Pin 003 (GPIO0.P0-04): StepGen #1, pin Direction (Output)

hm2/hm2_5i25.0:     IO Pin 004 (GPIO0.P0-05): StepGen #2, pin Step (Output)

hm2/hm2_5i25.0:     IO Pin 005 (GPIO0.P0-06): StepGen #2, pin Direction (Output)

hm2/hm2_5i25.0:     IO Pin 006 (GPIO0.P0-07): StepGen #3, pin Step (Output)

hm2/hm2_5i25.0:     IO Pin 007 (GPIO0.P0-08): StepGen #3, pin Direction (Output)

hm2/hm2_5i25.0:     IO Pin 008 (GPIO0.P0-09): IOPort

hm2/hm2_5i25.0:     IO Pin 009 (GPIO0.P0-10): IOPort

hm2/hm2_5i25.0:     IO Pin 010 (GPIO0.P0-11): IOPort

hm2/hm2_5i25.0:     IO Pin 011 (GPIO0.P0-12): IOPort

hm2/hm2_5i25.0:     IO Pin 012 (GPIO0.P0-13): IOPort

hm2/hm2_5i25.0:     IO Pin 013 (GPIO0.P0-14): IOPort

hm2/hm2_5i25.0:     IO Pin 014 (GPIO0.P0-15): IOPort

hm2/hm2_5i25.0:     IO Pin 015 (GPIO0.P0-16): IOPort

hm2/hm2_5i25.0:     IO Pin 016 (GPIO0.P0-17): IOPort

hm2/hm2_5i25.0:     IO Pin 017 (GPIO0.P0-18): IOPort

hm2/hm2_5i25.0:     IO Pin 018 (GPIO0.P0-19): PWMGen #0, pin Out0 (PWM or Up) (Output)

hm2/hm2_5i25.0:     IO Pin 019 (GPIO0.P0-20): IOPort

hm2/hm2_5i25.0:     IO Pin 020 (GPIO0.P0-21): IOPort

hm2/hm2_5i25.0:     IO Pin 021 (GPIO0.P0-22): IOPort

hm2/hm2_5i25.0:     IO Pin 022 (GPIO0.P0-23): IOPort

hm2/hm2_5i25.0:     IO Pin 023 (GPIO0.P0-24): IOPort

note: MAXV     max: 200.000 units/sec 12000.000 units/min
note: LJOG     max: 200.000 units/sec 12000.000 units/min
note: LJOG default: 20.000 units/sec 1200.000 units/min
note: jog_order='XYZ'
note: jog_invert=set([])
task: main loop took 5.010159 seconds
task: main loop took 5.009645 seconds
task: main loop took 5.017873 seconds
task: main loop took 5.020367 seconds
task: main loop took 5.032520 seconds
emcTrajSetMaxVelocity(200.0000) returned 0
Shutting down and cleaning up LinuxCNC...
task: 8490 cycles, min=0.000943, max=5.032520, avg=0.013125, 5 latency excursions (> 10x expected cycle time of 0.010000s)
machinekit@mksocfpga-ob-ox:~$ 

And the config I have been able to come up with so far is here:

Hal log: (from DE0_Nano_soc)

machinekit@mksocfpga-ob-ox:~$ cat /var/log/hal.log

Oct 27 14:15:57 localhost msgd:0: hal_lib:7779:rt hm2: loading Mesa HostMot2 driver version 0.15
Oct 27 14:15:57 localhost msgd:0: hal_lib:7779:rt hm2_soc_ol: loading Mesa AnyIO HostMot2 socfpga overlay driver version 0.9
Oct 27 14:15:57 localhost msgd:0: hal_lib:7779:rt hm2/hm2_5i25.0: 72 I/O Pins used:
Oct 27 14:15:57 localhost msgd:0: hal_lib:7779:rt hm2/hm2_5i25.0:     IO Pin 000 (GPIO0.P0-01): StepGen #0, pin Step (Output)
Oct 27 14:15:57 localhost msgd:0: hal_lib:7779:rt hm2/hm2_5i25.0:     IO Pin 001 (GPIO0.P0-02): StepGen #0, pin Direction (Output)
Oct 27 14:15:57 localhost msgd:0: hal_lib:7779:rt hm2/hm2_5i25.0:     IO Pin 002 (GPIO0.P0-03): StepGen #1, pin Step (Output)
Oct 27 14:15:57 localhost msgd:0: hal_lib:7779:rt hm2/hm2_5i25.0:     IO Pin 003 (GPIO0.P0-04): StepGen #1, pin Direction (Output)
Oct 27 14:15:57 localhost msgd:0: hal_lib:7779:rt hm2/hm2_5i25.0:     IO Pin 004 (GPIO0.P0-05): StepGen #2, pin Step (Output)
Oct 27 14:15:57 localhost msgd:0: hal_lib:7779:rt hm2/hm2_5i25.0:     IO Pin 005 (GPIO0.P0-06): StepGen #2, pin Direction (Output)
Oct 27 14:15:57 localhost msgd:0: hal_lib:7779:rt hm2/hm2_5i25.0:     IO Pin 006 (GPIO0.P0-07): StepGen #3, pin Step (Output)
Oct 27 14:15:57 localhost msgd:0: hal_lib:7779:rt hm2/hm2_5i25.0:     IO Pin 007 (GPIO0.P0-08): StepGen #3, pin Direction (Output)
Oct 27 14:15:57 localhost msgd:0: hal_lib:7779:rt hm2/hm2_5i25.0:     IO Pin 008 (GPIO0.P0-09): IOPort
Oct 27 14:15:57 localhost msgd:0: hal_lib:7779:rt hm2/hm2_5i25.0:     IO Pin 009 (GPIO0.P0-10): IOPort
Oct 27 14:15:57 localhost msgd:0: hal_lib:7779:rt hm2/hm2_5i25.0:     IO Pin 010 (GPIO0.P0-11): IOPort
Oct 27 14:15:57 localhost msgd:0: hal_lib:7779:rt hm2/hm2_5i25.0:     IO Pin 011 (GPIO0.P0-12): IOPort
Oct 27 14:15:57 localhost msgd:0: hal_lib:7779:rt hm2/hm2_5i25.0:     IO Pin 012 (GPIO0.P0-13): IOPort
Oct 27 14:15:57 localhost msgd:0: hal_lib:7779:rt hm2/hm2_5i25.0:     IO Pin 013 (GPIO0.P0-14): IOPort
Oct 27 14:15:57 localhost msgd:0: hal_lib:7779:rt hm2/hm2_5i25.0:     IO Pin 014 (GPIO0.P0-15): IOPort
Oct 27 14:15:57 localhost msgd:0: hal_lib:7779:rt hm2/hm2_5i25.0:     IO Pin 015 (GPIO0.P0-16): IOPort
Oct 27 14:15:57 localhost msgd:0: hal_lib:7779:rt hm2/hm2_5i25.0:     IO Pin 016 (GPIO0.P0-17): IOPort
Oct 27 14:15:57 localhost msgd:0: hal_lib:7779:rt hm2/hm2_5i25.0:     IO Pin 017 (GPIO0.P0-18): IOPort
Oct 27 14:15:57 localhost msgd:0: hal_lib:7779:rt hm2/hm2_5i25.0:     IO Pin 018 (GPIO0.P0-19): PWMGen #0, pin Out0 (PWM or Up) (Output)
Oct 27 14:15:57 localhost msgd:0: hal_lib:7779:rt hm2/hm2_5i25.0:     IO Pin 019 (GPIO0.P0-20): IOPort
Oct 27 14:15:57 localhost msgd:0: hal_lib:7779:rt hm2/hm2_5i25.0:     IO Pin 020 (GPIO0.P0-21): IOPort
Oct 27 14:15:57 localhost msgd:0: hal_lib:7779:rt hm2/hm2_5i25.0:     IO Pin 021 (GPIO0.P0-22): IOPort
Oct 27 14:15:57 localhost msgd:0: hal_lib:7779:rt hm2/hm2_5i25.0:     IO Pin 022 (GPIO0.P0-23): IOPort
Oct 27 14:15:57 localhost msgd:0: hal_lib:7779:rt hm2/hm2_5i25.0:     IO Pin 023 (GPIO0.P0-24): IOPort
Oct 27 14:15:57 localhost msgd:0: hal_lib:7779:rt hm2/hm2_5i25.0:     IO Pin 024 (GPIO0.P1-25): IOPort
Oct 27 14:15:57 localhost msgd:0: hal_lib:7779:rt hm2/hm2_5i25.0:     IO Pin 025 (GPIO0.P1-26): IOPort
Oct 27 14:15:57 localhost msgd:0: hal_lib:7779:rt hm2/hm2_5i25.0:     IO Pin 026 (GPIO0.P1-27): IOPort
Oct 27 14:15:57 localhost msgd:0: hal_lib:7779:rt hm2/hm2_5i25.0:     IO Pin 027 (GPIO0.P1-28): IOPort
Oct 27 14:15:57 localhost msgd:0: hal_lib:7779:rt hm2/hm2_5i25.0:     IO Pin 028 (GPIO0.P1-29): IOPort
Oct 27 14:15:57 localhost msgd:0: hal_lib:7779:rt hm2/hm2_5i25.0:     IO Pin 029 (GPIO0.P1-30): IOPort
Oct 27 14:15:57 localhost msgd:0: hal_lib:7779:rt hm2/hm2_5i25.0:     IO Pin 030 (GPIO0.P1-31): IOPort
Oct 27 14:15:57 localhost msgd:0: hal_lib:7779:rt hm2/hm2_5i25.0:     IO Pin 031 (GPIO0.P1-32): IOPort
Oct 27 14:15:57 localhost msgd:0: hal_lib:7779:rt hm2/hm2_5i25.0:     IO Pin 032 (GPIO0.P1-33): IOPort
Oct 27 14:15:57 localhost msgd:0: hal_lib:7779:rt hm2/hm2_5i25.0:     IO Pin 033 (GPIO0.P1-34): IOPort
Oct 27 14:15:57 localhost msgd:0: hal_lib:7779:rt hm2/hm2_5i25.0:     IO Pin 034 (GPIO0.P1-35): IOPort
Oct 27 14:15:57 localhost msgd:0: hal_lib:7779:rt hm2/hm2_5i25.0:     IO Pin 035 (GPIO0.P1-36): IOPort
Oct 27 14:15:57 localhost msgd:0: hal_lib:7779:rt hm2/hm2_5i25.0:     IO Pin 036 (GPIO0.P1-37): CapSense #0, pin Charge Out Pin (Output)
Oct 27 14:15:57 localhost msgd:0: hal_lib:7779:rt hm2/hm2_5i25.0:     IO Pin 037 (GPIO0.P1-38): CapSense #0, pin Sense 0 Pin (Input)
Oct 27 14:15:57 localhost msgd:0: hal_lib:7779:rt hm2/hm2_5i25.0:     IO Pin 038 (GPIO0.P1-39): CapSense #0, pin Sense 1 Pin (Input)
Oct 27 14:15:57 localhost msgd:0: hal_lib:7779:rt hm2/hm2_5i25.0:     IO Pin 039 (GPIO0.P1-40): CapSense #0, pin Sense 2 Pin (Input)
Oct 27 14:15:57 localhost msgd:0: hal_lib:7779:rt hm2/hm2_5i25.0:     IO Pin 040 (GPIO0.P1-41): CapSense #0, pin Sense 3 Pin (Input)
Oct 27 14:15:57 localhost msgd:0: hal_lib:7779:rt hm2/hm2_5i25.0:     IO Pin 041 (GPIO0.P1-42): IOPort
Oct 27 14:15:57 localhost msgd:0: hal_lib:7779:rt hm2/hm2_5i25.0:     IO Pin 042 (GPIO0.P1-43): IOPort
Oct 27 14:15:57 localhost msgd:0: hal_lib:7779:rt hm2/hm2_5i25.0:     IO Pin 043 (GPIO0.P1-44): IOPort
Oct 27 14:15:57 localhost msgd:0: hal_lib:7779:rt hm2/hm2_5i25.0:     IO Pin 044 (GPIO0.P1-45): IOPort
Oct 27 14:15:57 localhost msgd:0: hal_lib:7779:rt hm2/hm2_5i25.0:     IO Pin 045 (GPIO0.P1-46): IOPort
Oct 27 14:15:57 localhost msgd:0: hal_lib:7779:rt hm2/hm2_5i25.0:     IO Pin 046 (GPIO0.P1-47): IOPort
Oct 27 14:15:57 localhost msgd:0: hal_lib:7779:rt hm2/hm2_5i25.0:     IO Pin 047 (GPIO0.P1-48): IOPort
Oct 27 14:15:57 localhost msgd:0: hal_lib:7779:rt hm2/hm2_5i25.0:     IO Pin 048 (GPIO0.P2-49): IOPort
Oct 27 14:15:57 localhost msgd:0: hal_lib:7779:rt hm2/hm2_5i25.0:     IO Pin 049 (GPIO0.P2-50): IOPort
Oct 27 14:15:57 localhost msgd:0: hal_lib:7779:rt hm2/hm2_5i25.0:     IO Pin 050 (GPIO0.P2-51): IOPort
Oct 27 14:15:57 localhost msgd:0: hal_lib:7779:rt hm2/hm2_5i25.0:     IO Pin 051 (GPIO0.P2-52): IOPort
Oct 27 14:15:57 localhost msgd:0: hal_lib:7779:rt hm2/hm2_5i25.0:     IO Pin 052 (GPIO0.P2-53): IOPort
Oct 27 14:15:57 localhost msgd:0: hal_lib:7779:rt hm2/hm2_5i25.0:     IO Pin 053 (GPIO0.P2-54): IOPort
Oct 27 14:15:57 localhost msgd:0: hal_lib:7779:rt hm2/hm2_5i25.0:     IO Pin 054 (GPIO0.P2-55): IOPort
Oct 27 14:15:57 localhost msgd:0: hal_lib:7779:rt hm2/hm2_5i25.0:     IO Pin 055 (GPIO0.P2-56): IOPort
Oct 27 14:15:57 localhost msgd:0: hal_lib:7779:rt hm2/hm2_5i25.0:     IO Pin 056 (GPIO0.P2-57): IOPort
Oct 27 14:15:57 localhost msgd:0: hal_lib:7779:rt hm2/hm2_5i25.0:     IO Pin 057 (GPIO0.P2-58): IOPort
Oct 27 14:15:57 localhost msgd:0: hal_lib:7779:rt hm2/hm2_5i25.0:     IO Pin 058 (GPIO0.P2-59): IOPort
Oct 27 14:15:57 localhost msgd:0: hal_lib:7779:rt hm2/hm2_5i25.0:     IO Pin 059 (GPIO0.P2-60): IOPort
Oct 27 14:15:57 localhost msgd:0: hal_lib:7779:rt hm2/hm2_5i25.0:     IO Pin 060 (GPIO0.P2-61): IOPort
Oct 27 14:15:57 localhost msgd:0: hal_lib:7779:rt hm2/hm2_5i25.0:     IO Pin 061 (GPIO0.P2-62): IOPort
Oct 27 14:15:57 localhost msgd:0: hal_lib:7779:rt hm2/hm2_5i25.0:     IO Pin 062 (GPIO0.P2-63): IOPort
Oct 27 14:15:57 localhost msgd:0: hal_lib:7779:rt hm2/hm2_5i25.0:     IO Pin 063 (GPIO0.P2-64): IOPort
Oct 27 14:15:57 localhost msgd:0: hal_lib:7779:rt hm2/hm2_5i25.0:     IO Pin 064 (GPIO0.P2-65): IOPort
Oct 27 14:15:57 localhost msgd:0: hal_lib:7779:rt hm2/hm2_5i25.0:     IO Pin 065 (GPIO0.P2-66): IOPort
Oct 27 14:15:57 localhost msgd:0: hal_lib:7779:rt hm2/hm2_5i25.0:     IO Pin 066 (GPIO0.P2-67): IOPort
Oct 27 14:15:57 localhost msgd:0: hal_lib:7779:rt hm2/hm2_5i25.0:     IO Pin 067 (GPIO0.P2-68): IOPort
Oct 27 14:15:57 localhost msgd:0: hal_lib:7779:rt hm2/hm2_5i25.0:     IO Pin 068 (GPIO0.P2-69): IOPort
Oct 27 14:15:57 localhost msgd:0: hal_lib:7779:rt hm2/hm2_5i25.0:     IO Pin 069 (GPIO0.P2-70): IOPort
Oct 27 14:15:57 localhost msgd:0: hal_lib:7779:rt hm2/hm2_5i25.0:     IO Pin 070 (GPIO0.P2-71): IOPort
Oct 27 14:15:57 localhost msgd:0: hal_lib:7779:rt hm2/hm2_5i25.0:     IO Pin 071 (GPIO0.P2-72): IOPort
Oct 27 14:15:57 localhost msgd:0: hal_lib:7779:rt hm2/hm2_5i25.0: registered
Oct 27 14:15:57 localhost msgd:0: hal_lib:7779:rt hm2_soc_ol: initialized AnyIO hm2_soc_ol_board hm2-socfpga0 on /dev/uio0
Oct 27 14:16:48 localhost msgd:0: hal_lib:7779:rt hm2/hm2_5i25.0: requested watchdog timeout is out of range, setting it to max: 4294967295 ns
Oct 27 14:16:48 localhost msgd:0: hal_lib:7779:rt hm2/hm2_5i25.0: unregistered
Oct 27 14:16:48 localhost msgd:0: hal_lib:7779:rt hm2: unloading
Oct 27 14:16:51 localhost rtapi:0: unload: '' not loaded
Oct 27 14:16:51 localhost rtapi:0: unload: '' not loaded
Oct 27 14:16:51 localhost rtapi:0: unload: '' not loaded
Oct 27 14:16:51 localhost rtapi:0: unload: '' not loaded
Oct 27 14:16:51 localhost rtapi:0: unload: '' not loaded
Oct 27 14:16:51 localhost rtapi:0: unload: '' not loaded
Oct 27 14:16:51 localhost rtapi:0: unload: '' not loaded
Oct 27 14:16:51 localhost rtapi:0: unload: '' not loaded
Oct 27 14:16:51 localhost rtapi:0: unload: '' not loaded
Oct 27 14:16:51 localhost rtapi:0: unload: '' not loaded
Oct 27 14:16:51 localhost rtapi:0: unload: '' not loaded
Oct 27 14:16:51 localhost msgd:0: rtapi_app exit detected - scheduled shutdown
Oct 27 14:16:53 localhost msgd:0: msgd shutting down
machinekit@mksocfpga-ob-ox:~$ 

[jallwine]

It looks like rtapi_print treats the message as an error (which is ultimately what is getting called by hm2, see here and here). In addition, that error is then passed through to the linuxcnc.error_channel in Python, which axis is picking up. I've seen similar non errors pop up as well, such as in the lutn component. I believe at some point machinekit-hal started exposing additional error messages through to the NML error_channel, but I'm not sure when. Before, the various components that were printing debugging messages as errors were silently ignored or simply logged to some file rather than being exposed to the error_channel. I imagine the fix is going through and changing debugging messages to a more appropriate log level, such as INFO or DEBUG.

[the-snowwhite]

machinekit/machinekit-hal#318

[zultron]

This is definitely about machinekit/machinekit-hal#318 bullet # 3. At some point, the EMC error channel was hijacked and all logs funneled through it, but that was originally meant only for carrying EMC-related application messages. A look through the LinuxCNC code will show the original intent. That behavior should be restored, and a separate ∅MQ channel between rtapi_app and rtapi_msgd should be established for ordinary HAL logging. Altering log levels artificially makes the Axis messages look normal, but hides a lot of important information that used to be logged to console or log file.

I took a crack at it a year or so ago, but after an enormous amount of work I still couldn't quite get it all straight and mothballed the project.