Re: CardBus on DBAu1500 -- IRQ storm?

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On Fri, Mar 07, 2003 at 06:11:53PM -0800, Pete Popov wrote:
> Check to see what yenta_interrupt is doing. Is it acknowledging the
> interrupt?
> 
> Pete

Pardon my delayed response -- I've got a lot of irons in a lot of different
fires over here ;)

To try to answer your question, Pete:

yenta_interrupt() is calling yenta_events(), which reads the CardBus socket
event register, and then writes the returned value back to the CardBus socket
event register. Presumably this tells the CardBus controller to clear those
bits in the event register. (I checked up on this in the PCI1510 data manual.)

Seemingly related: Today I discovered that my PCI->PCI bridge is rerouting INTA
to INTD. To help discover the culprit, our hardware dept temporarily rerouted
INTA to INTD on the CardBus bridge PCI card. This interrupt rerouting had *no*
effect -- the card still 'IRQ storms' when plugged in without the PCI->PCI
bridge.

Given this information, I added some debugging output to
arch/mips/kernel/irq.c. I discovered in the 'IRQ Storm' configuration,
the yenta_socket driver requests an IRQ which eventually ends up in
irq.c:setup_irq() being called, with an IRQ of '1'.  This IRQ is associated
with INTA.

Here's the pertinent part of the debugging output:

    ...
    yenta_open: Launched yenta_open_bh thread
    yenta_open: Exiting at end of fcn        
    yenta_open_bh: Entering          
    cb_writel: c0113eb0 0004 00000000
    yenta_open_bh: Attempted to disable all CardBus events
    exca_writeb: c0113eb0 0005 00                         
    yenta_open_bh: Attempted to disable all EXCA events
    cb_readl: c0113eb0 0004 00000000                   
    exca_readb: c0113eb0 0005 00    
    request_irq:544: entering             
    request_irq:583: About to run setup_irq
    setup_irq:851: entering. setting up irq number 1
    setup_irq:873: about to spinlock                
    setup_irq:898: adding new IRQ   
    yenta_interrupt: Entering    
    yenta_events: Entering   
    cb_readl: c0113eb0 0000 00000000
    cb_writel: c0113eb0 0000 00000000
    exca_readb: c0113eb0 0004 00     
    exca_readb: c0113eb0 0003 00
    yenta_events: Exiting (retval is 0)
    yenta_interrupt: Exiting           
    yenta_interrupt: Entering
    yenta_events: Entering   
    ... ( IRQ storm ensues ) ...

In the PCI->PCI bridge configuration, setup_irq was never called:

    ...
    yenta_open: Launched yenta_open_bh thread
    yenta_open: Exiting at end of fcn        
    yenta_open_bh: Entering          
    cb_writel: c0113eb0 0004 00000000
    yenta_open_bh: Attempted to disable all CardBus events
    exca_writeb: c0113eb0 0005 00                         
    yenta_open_bh: Attempted to disable all EXCA events
    cb_readl: c0113eb0 0004 00000000                   
    exca_readb: c0113eb0 0005 00    
    request_irq:544: entering             
    request_irq:561: Exiting 
    yenta_open_bh: exited testyenta_open_bh: totally exited testyenta_get_socket_capabilities: Entering
    yenta_probe_irq: Entering                                                                          
    config_readw: c0113eb0 003e 05c0
    cb_writel: c0113eb0 0000 ffffffff
    cb_writel: c0113eb0 0004 00000001
    ... happy ...

Any ideas?

Thanks so much for looking at this!

-Jeff


> > yenta_interrupt: Entering    
> > yenta_events: Entering   
> > cb_readl: c0113eb0 0000 00000000
> > cb_writel: c0113eb0 0000 00000000
> > exca_readb: c0113eb0 0004 00     
> > exca_readb: c0113eb0 0003 00
> > yenta_events: Exiting (retval is 0)
> > yenta_interrupt: Exiting           
> > yenta_interrupt: Entering
> > 
> > etc etc
> > 
> > I've verified using our PCI analyzer that no interrupt events are transmitted
> > by the CardBus bridge, so this seems to be a software problem.
> > 
> > I'm going to continue to hunt this down, on the assumption that the kernel's
> > interrupt table is getting incorrect / corrupt data.  Suggestions are always
> > appreciated.
> > 
> > May all your CardBuses be happy!
> > 
> > -Jeff
> > 
> > 
> > 
> > On Mon, Mar 03, 2003 at 06:14:21PM -0800, Jeff Baitis wrote:
> > > Pete and others:
> > > 
> > > Thanks! I can access CardBus-enabled cards... but only if I plug the CardBus
> > > card into a PCI bridge device. 
> > > 
> > > For those who might be interested in hearing, here's my current status:
> > > 
> > > I tested the PCI->PCI bridge code by copying pb1500/pci_ops.c into
> > > db1x00/pci_ops.c. It seemed to work. Great!
> > > 
> > > After noticing that yenta_socket driver still locked up, I plugged a PCI-PCI
> > > bridge board in between the Au1500 dev board and the CardBus bridge. CardBus
> > > didn't work quite right, so I checked the PCI configuration registers on all
> > > devices on my PCI bus.
> > > 
> > > I noticed the PCI bridge device's SUBORDINATE_BUS value was set to 01, which
> > > is completely incorrect. It should have been at *least* 11, given that
> > > the CardBus bridge's SECONDARY_BUS register was set to 10. 
> > > 
> > > So, I used setpci to change the PCI bridge's SUBORDINATE_BUS to 1f. I started
> > > the CardBus services, and it seems that everything worked with CardBus cards.
> > > Eject, insert, and status all good -- and I can look at all the PCI
> > > configuration registers on the CardBus card.
> > > 
> > > ***
> > > 
> > > It seems like the issue with plugging in the CardBus bridge directly into
> > > PCI bus 0 (no PCI-PCI bridge) has to do with 16-bit CardBus support.
> > > I enabled debugging on yenta_socket, and here's some results. First, I present
> > > information *without* the PCI bridge, and then *with* PCI bridge.
> > > 
> > > 
> > > Without PCI bridge:
> > > 
> > > dmesg gives:
> > > 
> > >   Autoconfig PCI channel 0x8029fc38°°
> > >     Scanning bus 00, I/O 0x00000300:0x00100000, Mem 0x40000000:0x44000000
> > >     00:0c.0 Class 0104: 1103:0007 (rev 01)°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°                                                                
> > >             I/O at 0x00000300 [size=0x8]°°                         
> > >             I/O at 0x00000308 [size=0x4]
> > >             I/O at 0x00000310 [size=0x8]
> > >             I/O at 0x00000318 [size=0x4]
> > >             I/O at 0x00000400 [size=0x100]
> > >     00:0d.0 Class 0607: 104c:ac56°°°°°°°°°                         
> > >             Mem at 0x40000000 [size=0x1000]                        
> > >             Mem unavailable -- skipping°°°°                        
> > >             I/O at 0x00000500 [size=0x4]                           
> > >             Mem at 0x40001000 [size=0x1000]                        
> > >             Mem at 0x40002000 [size=0x1000]                        
> > >             Mem at 0x40003000 [size=0x1000]                        
> > >   
> > > lspci -v gives:
> > >   
> > >   00:0c.0 RAID bus controller: Triones Technologies, Inc.: Unknown device 0007
> > >   (rev 01)
> > >           Subsystem: Triones Technologies, Inc.: Unknown device 0001
> > >           Flags: bus master, 66Mhz, medium devsel, latency 128, IRQ 1
> > >           I/O ports at 0300 [size=8]
> > >           I/O ports at 0308 [size=4]
> > >           I/O ports at 0310 [size=8]
> > >           I/O ports at 0318 [size=4]
> > >           I/O ports at 0400 [size=256]
> > >           Expansion ROM at <unassigned> [disabled] [size=128K]   
> > >           Capabilities: [60] Power Management version 2          
> > >   
> > >   00:0d.0 CardBus bridge: Texas Instruments: Unknown device ac56 
> > >           Subsystem: Unknown device 5678:1234                    
> > >           Flags: bus master, medium devsel, latency 128, IRQ 1   
> > >           Memory at 40000000 (32-bit, non-prefetchable) [size=4K]
> > >           Bus: primary=00, secondary=05, subordinate=00, sec-latency=0      
> > >           Memory window 0: 40001000-40002000 (prefetchable)      
> > >           I/O window 0: 00000000-00000003                        
> > >           I/O window 1: 00000000-00000003                        
> > >           16-bit legacy interface ports at 0001                  
> > > 
> > > 
> > > root@10.1.1.154:~# modprobe yenta_socket                       
> > > 
> > >   Linux Kernel Card Services 3.1.22
> > >     options:  [pci] [cardbus]°°°°°°
> > >   config_writel: c0112bd0 0044 00000000
> > >   config_writel: c0112bd0 0010 40000000
> > >   config_writew: c0112bd0 0004 0087°°°°
> > >   config_writeb: c0112bd0 000c 08°°
> > >   config_writeb: c0112bd0 000d a8
> > >   config_writel: c0112bd0 0018 b0000500
> > >   config_readw: c0112bd0 003e 0340°°°°°
> > >   config_writew: c0112bd0 003e 0580
> > >   exca_writeb: c0112bd0 001e 00°°°°
> > >   exca_writeb: c0112bd0 0016 00
> > >   cb_writel: c0112bd0 000c 00004000
> > >   cb_writel: c0112bd0 0004 00000000
> > >   config_readl: c0112bd0 001c 40001000
> > >   config_readl: c0112bd0 0020 40002000
> > >   config_readl: c0112bd0 0024 40003000
> > >   config_readl: c0112bd0 0028 00000000
> > >   config_writel: c0112bd0 0024 40400000
> > >   config_writel: c0112bd0 0028 407fffff
> > >   config_readl: c0112bd0 002c 00000000°
> > >   config_readl: c0112bd0 0030 00000000
> > >   config_writel: c0112bd0 002c 00004000
> > >   config_writel: c0112bd0 0030 000040ff
> > >   config_readl: c0112bd0 0034 00000000°
> > >   config_readl: c0112bd0 0038 00000000
> > >   config_writel: c0112bd0 0034 00004400
> > >   config_writel: c0112bd0 0038 000044ff
> > >   cb_readl: c0112bd0 0000 00000006°°°°°
> > >   cb_writel: c0112bd0 0000 00000006
> > >   exca_readb: c0112bd0 0004 00°°°°°
> > >   exca_readb: c0112bd0 0003 00
> > >   cb_readl: c0112bd0 0000 00000000
> > >   cb_writel: c0112bd0 0000 00000000
> > >   exca_readb: c0112bd0 0004 00°°°°°
> > >   exca_readb: c0112bd0 0003 00
> > >   cb_readl: c0112bd0 0000 00000000
> > >   cb_writel: c0112bd0 0000 00000000
> > >   exca_readb: c0112bd0 0004 00°°°°°
> > >   exca_readb: c0112bd0 0003 00
> > >   cb_readl: c0112bd0 0000 00000000
> > >   cb_writel: c0112bd0 0000 00000000
> > >   exca_readb: c0112bd0 0004 00°°°°°
> > >   exca_readb: c0112bd0 0003 00
> > >   cb_readl: c0112bd0 0000 00000000
> > >   cb_writel: c0112bd0 0000 00000000
> > >   exca_readb: c0112bd0 0004 00°°°°°
> > >   exca_readb: c0112bd0 0003 00
> > >   cb_readl: c0112bd0 0000 00000000
> > >   cb_writel: c0112bd0 0000 00000000
> > >   exca_readb: c0112bd0 0004 00°°°°°
> > >   exca_readb: c0112bd0 0003 00
> > >     ** following portion loops indefinitely **
> > >   cb_readl: c0112bd0 0000 00000000
> > >   cb_writel: c0112bd0 0000 00000000
> > >   exca_readb: c0112bd0 0004 00°°°°°
> > >   exca_readb: c0112bd0 0003 00
> > > 
> > > With PCI bridge:
> > > 
> > >   Autoconfig PCI channel 0x8029fc38°°
> > >   Scanning bus 00, I/O 0x00000300:0x00100000, Mem 0x40000000:0x44000000
> > >   00:0c.0 Class 0104: 1103:0007 (rev 01)°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°
> > >           I/O at 0x00000300 [size=0x8]°°
> > >           I/O at 0x00000308 [size=0x4]
> > >           I/O at 0x00000310 [size=0x8]
> > >           I/O at 0x00000318 [size=0x4]
> > >           I/O at 0x00000400 [size=0x100]
> > >   00:0d.0 Class 0604: 1011:0022 (rev 02)
> > >           Bridge: primary=00, secondary=01
> > >   Scanning sub bus 01, I/O 0x00001000, Mem 0x40000000
> > >   01:07.0 Class 0607: 104c:ac56°°°°°°°°°°°°°°°°°°°°°°
> > >           Mem at 0x40000000 [size=0x1000]
> > >           Mem unavailable -- skipping°°°°
> > >           I/O at 0x00001000 [size=0x4]
> > >           Mem at 0x40001000 [size=0x1000]
> > >           Mem at 0x40002000 [size=0x1000]
> > >           Mem at 0x40003000 [size=0x1000]
> > >   Back to bus 00°°°°°°°°°°°°°°°°°°°°°°°°°
> > > 
> > > lspci -v gives:
> > >   
> > >   00:0c.0 RAID bus controller: Triones Technologies, Inc.: Unknown device 0007
> > >   (rev 01)
> > >           Subsystem: Triones Technologies, Inc.: Unknown device 0001
> > >           Flags: bus master, 66Mhz, medium devsel, latency 128, IRQ 1
> > >           I/O ports at 0300 [size=8]
> > >           I/O ports at 0308 [size=4]
> > >           I/O ports at 0310 [size=8]
> > >           I/O ports at 0318 [size=4]
> > >           I/O ports at 0400 [size=256]
> > >           Expansion ROM at <unassigned> [disabled] [size=128K]
> > >           Capabilities: [60] Power Management version 2
> > >   
> > >   00:0d.0 PCI bridge: Digital Equipment Corporation DECchip 21150 (rev 02)
> > >   (prog-if 00 [Normal decode])
> > >           Flags: bus master, medium devsel, latency 0
> > >           Bus: primary=00, secondary=01, subordinate=1f, sec-latency=0
> > >           I/O behind bridge: 00001000-00001fff     
> > >           Memory behind bridge: 40000000-400fffff  
> > >           Prefetchable memory behind bridge: 0000000000000000-0000000000000000
> > >   
> > >   01:07.0 CardBus bridge: Texas Instruments: Unknown device ac56
> > >           Subsystem: Unknown device 5678:1234      
> > >           Flags: bus master, medium devsel, latency 128, IRQ 255
> > >           Memory at 40000000 (32-bit, non-prefetchable) [size=4K]
> > >           Bus: primary=00, secondary=10, subordinate=00, sec-latency=0
> > >           Memory window 0: 40001000-40002000 (prefetchable)
> > >           I/O window 0: 00000000-00000003
> > >           I/O window 1: 00000000-00000003
> > >           16-bit legacy interface ports at 0001    
> > > 
> > > root@10.1.1.154:~# modprobe yenta_socket                       
> > > 
> > >   Linux Kernel Card Services 3.1.22
> > >     options:  [pci] [cardbus]°°°°°°
> > >   config_writel: c0112bd0 0044 00000000
> > >   config_writel: c0112bd0 0010 40000000
> > >   config_writew: c0112bd0 0004 0087°°°°
> > >   config_writeb: c0112bd0 000c 08°°
> > >   config_writeb: c0112bd0 000d a8
> > >   config_writel: c0112bd0 0018 b0001000
> > >   config_readw: c0112bd0 003e 0340°°°°°
> > >   config_writew: c0112bd0 003e 0580
> > >   exca_writeb: c0112bd0 001e 00°°°°
> > >   exca_writeb: c0112bd0 0016 00
> > >   cb_writel: c0112bd0 000c 00004000
> > >   cb_writel: c0112bd0 0004 00000000
> > >   config_readl: c0112bd0 001c 40001000
> > >   config_readl: c0112bd0 0020 40002000
> > >   config_readl: c0112bd0 0024 40003000
> > >   config_readl: c0112bd0 0028 00000000
> > >   config_writel: c0112bd0 0024 10000000
> > >   config_writel: c0112bd0 0028 103fffff
> > >   config_readl: c0112bd0 002c 00000000°
> > >   config_readl: c0112bd0 0030 00000000
> > >   config_writel: c0112bd0 002c 00004000
> > >   config_writel: c0112bd0 0030 000040ff
> > >   config_readl: c0112bd0 0034 00000000°
> > >   config_readl: c0112bd0 0038 00000000
> > >   config_writel: c0112bd0 0034 00004400
> > >   config_writel: c0112bd0 0038 000044ff
> > >   config_readw: c0112bd0 003e 05c0°°°°°
> > >   cb_writel: c0112bd0 0000 ffffffff
> > >   cb_writel: c0112bd0 0004 00000001
> > >   exca_writeb: c0112bd0 0005 00°°°°
> > >   warning: end_irq 60 did not enable (6)
> > >   warning: end_irq 59 did not enable (6)
> > >   warning: end_irq 58 did not enable (6)
> > >   warning: end_irq 57 did not enable (6)
> > >   warning: end_irq 55 did not enable (6)
> > >   warning: end_irq 52 did not enable (6)
> > >   warning: end_irq 48 did not enable (6)
> > >   warning: end_irq 46 did not enable (6)
> > >   warning: end_irq 45 did not enable (6)
> > >   warning: end_irq 44 did not enable (6)
> > >   warning: end_irq 43 did not enable (6)
> > >   warning: end_irq 42 did not enable (6)
> > >   warning: end_irq 41 did not enable (6)
> > >   warning: end_irq 40 did not enable (6)
> > >   warning: end_irq 39 did not enable (6)
> > >   warning: end_irq 38 did not enable (6)
> > >   warning: end_irq 31 did not enable (6)
> > >   warning: end_irq 27 did not enable (6)
> > >   warning: end_irq 18 did not enable (6)
> > >   warning: end_irq 14 did not enable (6)
> > >   warning: end_irq 5 did not enable (6)°
> > >   warning: end_irq 4 did not enable (6)
> > >   warning: end_irq 2 did not enable (6)
> > >   warning: end_irq 1 did not enable (6)
> > >   warning: end_irq 60 did not enable (16)
> > >   warning: end_irq 59 did not enable (16)
> > >   warning: end_irq 58 did not enable (16)
> > >   warning: end_irq 57 did not enable (16)
> > >   warning: end_irq 55 did not enable (16)
> > >   warning: end_irq 52 did not enable (16)
> > >   warning: end_irq 48 did not enable (16)
> > >   warning: end_irq 46 did not enable (16)
> > >   warning: end_irq 45 did not enable (16)
> > >   warning: end_irq 44 did not enable (16)
> > >   warning: end_irq 43 did not enable (16)
> > >   warning: end_irq 42 did not enable (16)
> > >   warning: end_irq 41 did not enable (16)
> > >   warning: end_irq 40 did not enable (16)
> > >   warning: end_irq 39 did not enable (16)
> > >   warning: end_irq 38 did not enable (16)
> > >   warning: end_irq 27 did not enable (16)
> > >   warning: end_irq 18 did not enable (16)
> > >   warning: end_irq 5 did not enable (16)°
> > >   warning: end_irq 4 did not enable (16)
> > >   warning: end_irq 2 did not enable (16)
> > >   warning: end_irq 1 did not enable (16)
> > >   exca_writeb: c0112bd0 0005 31°°°°°°°°°
> > >   cb_writel: c0112bd0 000c 00000001
> > >   cb_writel: c0112bd0 0000 ffffffff
> > >   exca_writeb: c0112bd0 0005 91°°°°
> > >   cb_writel: c0112bd0 000c 00000001
> > >   cb_writel: c0112bd0 0000 ffffffff
> > >   exca_writeb: c0112bd0 0005 a1°°°°
> > >   cb_writel: c0112bd0 000c 00000001
> > >   cb_writel: c0112bd0 0000 ffffffff
> > >   exca_writeb: c0112bd0 0005 b1°°°°
> > >   cb_writel: c0112bd0 000c 00000001
> > >   cb_writel: c0112bd0 0000 ffffffff
> > >   cb_writel: c0112bd0 0004 00000000
> > >   exca_writeb: c0112bd0 0005 00°°°°
> > >   config_writew: c0112bd0 003e 0540
> > >   Yenta IRQ list 0000, PCI irq0°°°°
> > >   cb_readl: c0112bd0 0008 30000020
> > >   Socket status: 30000020°°°°°°°°°
> > >   config_writel: c0112bd0 0044 00000000
> > >   config_writel: c0112bd0 0010 40000000
> > >   config_writew: c0112bd0 0004 0087°°°°
> > >   config_writeb: c0112bd0 000c 08°°
> > >   config_writeb: c0112bd0 000d a8
> > >   config_writel: c0112bd0 0018 b0001000
> > >   config_readw: c0112bd0 003e 0540°°°°°
> > >   config_writew: c0112bd0 003e 0580
> > >   exca_writeb: c0112bd0 001e 00°°°°
> > >   exca_writeb: c0112bd0 0016 00
> > >   cb_writel: c0112bd0 000c 00004000
> > >   cb_readl: c0112bd0 0010 00000400°
> > >   cb_writel: c0112bd0 0010 00000000
> > >   config_readw: c0112bd0 003e 05c0°
> > >   cb_readl: c0112bd0 0008 30000820
> > >   exca_readb: c0112bd0 0003 00°°°°
> > >   exca_writeb: c0112bd0 0003 00
> > >   config_writew: c0112bd0 003e 0580
> > >   cb_writel: c0112bd0 0000 ffffffff
> > >   cb_writel: c0112bd0 0004 00000006
> > >   exca_readb: c0112bd0 0006 00°°°°°
> > >   exca_writew: c0112bd0 0008 0000
> > >   exca_writew: c0112bd0 000a 0001
> > >   exca_readb: c0112bd0 0007 00°°°
> > >   exca_writeb: c0112bd0 0007 00
> > >   exca_readb: c0112bd0 0006 00°
> > >   exca_writew: c0112bd0 000c 0000
> > >   exca_writew: c0112bd0 000e 0001
> > >   exca_readb: c0112bd0 0007 00°°°
> > >   exca_writeb: c0112bd0 0007 00
> > >   exca_readb: c0112bd0 0006 00°
> > >   exca_writeb: c0112bd0 0040 00
> > >   exca_writew: c0112bd0 0010 0000
> > >   exca_writew: c0112bd0 0012 0000
> > >   exca_writew: c0112bd0 0014 0000
> > >   ..... etc etc 
> > >   
> > > Thanks, all, for the information. I hope someone finds this useful!
> > > I'm gonna get remote kgdb goin' here, so I can hopefully fix the obnoxious
> > > infinite loop...
> > > 
> > > -Jeff
> > > 
> > > 
> > > On Fri, Feb 28, 2003 at 10:15:58PM -0800, Pete Popov wrote:
> > > > On Fri, 2003-02-28 at 19:48, Jeff Baitis wrote:
> > > > > Hey Pete and others!
> > > > > 
> > > > > I'm finally working on CardBus support on the DBAu1500. Just got acquainted
> > > > > with PCI today. :)
> > > > > 
> > > > > I decided that the first step is to plug in a PCI->PCI bridge, and try to see
> > > > > if it would work, which it did not. After winding around inside of the kernel,
> > > > > I finally arrived in arch/mips/au1000/db1x00/pci_ops.c:
> > > > > 
> > > > > Inside of config_access(unsigned char access_type, struct pci_dev *dev,
> > > > > unsigned char where, u32 * data), on line 97, a little surprise:
> > > > > 
> > > > >     if (bus != 0) {
> > > > >         *data = 0xffffffff;
> > > > >         return -1;
> > > > >     }
> > > > > 
> > > > > At this point, I concluded that I cannot traverse a PCI-PCI or CardBus bridge,
> > > > > since any devices behind the bridge will require Type 1 Configuration Cycles,
> > > > > and it seems that only Type 0 is currently supported.
> > > > > 
> > > > > I assume that I should add code to handle the case where I need to generate
> > > > > Type 1 Configuration Cycles inside of config_access. Pete, since you authored
> > > > > this code, I thought I'd quickly run this by you to make sure that I'm on
> > > > > track.
> > > > > 
> > > > > Thanks for your suggestions!
> > > > 
> > > > Take a look at arch/mips/au1000/pb1500/pci_ops.c for type 1 config
> > > > access. The patch was courtesy of David Gathright and apparently I
> > > > missed adding it in the db1500. Actually, we need to combine that code
> > > > because it's the same. Let me get through my eternal struggle of getting
> > > > the 36 bit patch applied (with Ralf's help I think a modified patch
> > > > should be ready this weekend) and then I'll worry about clean ups :)
> > > > 
> > > > Pete
> > > > 
> > > > 
> > > 
> > > -- 
> > >          Jeffrey Baitis - Associate Software Engineer
> > > 
> > >                     Evolution Robotics, Inc.
> > >                      130 West Union Street
> > >                        Pasadena CA 91103
> > > 
> > >  tel: 626.535.2776  |  fax: 626.535.2777  |  baitisj@evolution.com 
> > > 
> > > 
> 

-- 
         Jeffrey Baitis - Associate Software Engineer

                    Evolution Robotics, Inc.
                     130 West Union Street
                       Pasadena CA 91103

 tel: 626.535.2776  |  fax: 626.535.2777  |  baitisj@evolution.com 



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