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This commit is contained in:
Marty Kraimer
1993-08-04 10:17:17 +00:00
parent c37f2c7726
commit 817da309c3
11 changed files with 72 additions and 36 deletions
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11
src/drv/drvAb.c
View File

@@ -1,9 +1,5 @@
/* drvAb.c */
/* drvAb.c - Driver Support Routines for Allen Bradley */
/* share/src/drv $Id$ */
/* drvAb.c - Driver Support Routines for Alleb Bradley */
/* share/src/drv @(#)ab_driver.c 1.4 5/15/92 */
/*
* routines that are used, below the ai, ao, bi and bo drivers to interface
* to the Allen-Bradley Remote Serial IO
@@ -185,6 +181,7 @@
* .58 07-22-93 mrk For AB1771IL sign_bit>>= becomes sign_bit<<=
* .59 07-27-93 mrk Included changes made by Jeff Hill to stop warning messages
* .60 07-27-93 mrk Made changes for vxWorks 5.x semLib
* .61 08-02-93 mrk Added call to taskwdInsert
*/
/*
@@ -304,6 +301,7 @@
#include <dbDefs.h>
#include <drvSup.h>
#include <taskwd.h>
#include <module_types.h>
#include <drvAb.h>
@@ -1291,15 +1289,18 @@ ab_driver_init()
if (abScanId) td(abScanId);
abScanId = taskSpawn(ABSCAN_NAME,ABSCAN_PRI,ABSCAN_OPT,
ABSCAN_STACK,abScanTask);
taskwdInsert(abScanId,NULL,NULL);
/* spawn the done task to handle block transfer responses */
if (abDoneId) td(abDoneId);
abDoneId = taskSpawn(ABDONE_NAME,ABDONE_PRI,ABDONE_OPT,
ABDONE_STACK,abDoneTask);
taskwdInsert(abDoneId,NULL,NULL);
/* spawn the ab change of state interrupt simulator */
if (abCOSId) td(abCOSId);
abCOSId = taskSpawn(ABCOS_NAME,ABCOS_PRI,ABCOS_OPT,ABCOS_STACK,ab_bi_cos_simulator);
taskwdInsert(abCOSId,NULL,NULL);
}
return(0);
}

12
src/drv/drvBitBus.c
View File

@@ -35,6 +35,7 @@
* .05 02-12-92 jrw removed IRQ based transmission.
* .06 04-08-92 jrw moved the device configs into module_types.h
* .07 09-28-92 jrw upped the reset delay time to 1/2 second
* .08 08-02-93 mrk Added call to taskwdInsert
*
* NOTES:
* This driver currently needs work on error message generation.
@@ -59,6 +60,7 @@
#include <link.h>
#include <callback.h>
#include <fast_lock.h>
#include <taskwd.h>
#include <drvBitBusInterface.h>
#include "drvBitBus.h"
@@ -137,6 +139,7 @@ initBB()
int probeValue;
struct xvmeRegs *pXvmeRegs;
char *nameTemp[50];
int taskId;
if (init_called)
{
@@ -232,22 +235,25 @@ initBB()
/* start a task to manage the TX link */
sprintf(nameTemp, "%s%d", BBTXLINK_NAME, i);
if (taskSpawn(nameTemp, BBTXLINK_PRI, BBTXLINK_OPT, BBTXLINK_STACK, xvmeTxTask, i) == ERROR)
if ((taskId=taskSpawn(nameTemp, BBTXLINK_PRI, BBTXLINK_OPT, BBTXLINK_STACK, xvmeTxTask, i)) == ERROR)
{
printf("initBB: failed to start TX link task for link %d\n", i);
}
taskwdInsert(taskId,NULL,NULL);
/* start a task to manage the RX link */
sprintf(nameTemp, "%s%d", BBRXLINK_NAME, i);
if (taskSpawn(nameTemp, BBRXLINK_PRI, BBRXLINK_OPT, BBRXLINK_STACK, xvmeRxTask, i) == ERROR)
if ((taskId=taskSpawn(nameTemp, BBRXLINK_PRI, BBRXLINK_OPT, BBRXLINK_STACK, xvmeRxTask, i)) == ERROR)
{
printf("initBB: failed to start RX link task for link %d\n", i);
}
taskwdInsert(taskId,NULL,NULL);
/* start a task to keep an eye on the busy list */
sprintf(nameTemp, "%s%d", BBWDTASK_NAME, i);
if (taskSpawn(nameTemp, BBWDTASK_PRI, BBWDTASK_OPT, BBWDTASK_STACK, xvmeWdTask, i) == ERROR)
if ((taskId=taskSpawn(nameTemp, BBWDTASK_PRI, BBWDTASK_OPT, BBWDTASK_STACK, xvmeWdTask, i)) == ERROR)
{
printf("initBB: failed to start watchdog task for link %d\n", i);
}
taskwdInsert(taskId,NULL,NULL);
}
pXvmeRegs++; /* ready for next board window */
}

4
src/drv/drvComet.c
View File

@@ -52,6 +52,7 @@
* .12 joh 092992 card number validation now based on module_types.h.
* signal number checking now based on the array element
* count.
* .13 mrk 080293 Added call to taskwdInsert
*/
static char *sccsID = "@(#)drvComet.c 1.11\t9/16/92";
@@ -80,6 +81,7 @@ static char *sccsID = "@(#)drvComet.c 1.11\t9/16/92";
#include <drvSup.h>
#include <dbDefs.h>
#include <dbScan.h>
#include <taskwd.h>
#define COMET_NCHAN 4
#define COMET_CHANNEL_MEM_SIZE 0x20000 /* bytes */
@@ -299,6 +301,7 @@ comet_init()
/* free memory and delete tasks from previous initialization */
if (cometDoneTaskId)
{
taskwdRemove(cometDoneTaskId);
if ((status = taskDelete(cometDoneTaskId)) < 0)
logMsg("\nCOMET: Failed to delete cometDoneTask: %d",status);
}
@@ -374,6 +377,7 @@ comet_init()
/* start the waveform readback task */
scan_control = 2; /* scan rate in vxWorks clock ticks */
cometDoneTaskId = taskSpawn("cometWFTask",WFDONE_PRI,WFDONE_OPT,WFDONE_STACK,(FUNCPTR) cometDoneTask);
taskwdInsert(cometDoneTaskId,NULL,NULL);
}
}

11
src/drv/drvCompuSm.c
View File

@@ -1,6 +1,5 @@
/* drvCompuSm.c */
/* share/src/drv @(#)drvCompuSm.c 1.9 8/27/92 */
/* share/src/drv $Id$ */
/*
* subroutines and tasks that are used to interface to the Compumotor 1830
* stepper motor drivers
@@ -51,6 +50,7 @@
* .12 08-06-92 joh merged compu sm include file
* .13 08-27-92 joh silenced ANSI C function proto warning
* .14 08-27-92 joh fixed no epics init
* .15 08-02-93 mrk Added call to taskwdInsert
*/
#include <vxWorks.h>
#include <vme.h>
@@ -66,6 +66,7 @@
#include <module_types.h>
#include <steppermotor.h>
#include <task_params.h>
#include <taskwd.h>
long compu_sm_io_report();
@@ -556,6 +557,7 @@ compu_driver_init(){
struct compumotor *pmtr; /* memory port to motor card */
int cok = CBBR; /*to reset board */
short none_found; /* flags a steppermotor is present */
int taskId;
/* intialize each driver which is present */
none_found = TRUE;
@@ -604,8 +606,9 @@ compu_driver_init(){
/* spawn the sleeping motor driver command and response tasks */
smRespId =
taskSpawn("compu_resp_task",SMRESP_PRI,SMRESP_OPT,SMRESP_STACK,compu_resp_task);
taskSpawn("compu_task",SMRESP_PRI,SMRESP_OPT,2000,compu_task);
taskwdInsert(smRespId,NULL,NULL);
taskId = taskSpawn("compu_task",SMRESP_PRI,SMRESP_OPT,2000,compu_task);
taskwdInsert(taskId,NULL,NULL);
return(0);
}

14
src/drv/drvFp.c
View File

@@ -50,6 +50,7 @@
* .12 joh 072792 added soft reboot int disable
* .13 joh 082792 converted to V5 vxorks
* .14 mrk 090192 support epics I/O event scan, and added DRVET
* .15 mrk 080293 Add call to taskwdInsert
*/
@@ -86,7 +87,7 @@
*
*/
static char *sccsId = "$Id$\t$Date$";
static char *sccsId = "@(#)drvFp.c 1.12\t6/4/93";
#include "vxWorks.h"
#include "vme.h"
@@ -100,6 +101,7 @@ static char *sccsId = "$Id$\t$Date$";
#include "module_types.h"
#include <dbDefs.h>
#include <drvSup.h>
#include <taskwd.h>
#ifndef EPICS_V2
#include <dbScan.h>
#endif
@@ -515,11 +517,13 @@ fp_monitor()
static char *name = "fpmon";
int tid;
if ((tid = taskNameToId(name)) != ERROR)
if ((tid = taskNameToId(name)) != ERROR) {
taskwdRemove(tid);
taskDelete(tid);
if (taskSpawn(name,25,VX_SUPERVISOR_MODE|VX_STDIO,
1000,fp_mon) == ERROR)
return -1;
}
if((tid = taskSpawn(name,25,VX_SUPERVISOR_MODE|VX_STDIO,
1000,fp_mon)) == ERROR) return -1;
taskwdInsert(tid,NULL,NULL);
return 0;
}

6
src/drv/drvGpib.c
View File

@@ -40,6 +40,7 @@
* .05 02-26-92 jrw changed pnode references in the link task's
* busy-list checking, was an endless loop
* .06 04-10-92 jrw moved the device configs into module_types.h
* .07 08-02-92 mrk Added call to taskwdInsert
*
******************************************************************************
*
@@ -70,6 +71,7 @@
#include <dbDefs.h>
#include <link.h>
#include <fast_lock.h>
#include <taskwd.h>
#include <drvGpibInterface.h>
#include <drvBitBusInterface.h>
@@ -1178,6 +1180,7 @@ ibLinkStart(plink)
struct ibLink *plink;
{
int j;
int taskId;
if (ibDebug || bbibDebug)
printf("ibLinkStart(%08.8X): entered for linkType %d, link %d\n", plink, plink->linkType, plink->linkId);
@@ -1206,11 +1209,12 @@ struct ibLink *plink;
}
/* Start a task to manage the link */
if (taskSpawn(GPIBLINK_NAME, GPIBLINK_PRI, GPIBLINK_OPT, GPIBLINK_STACK, ibLinkTask, plink) == ERROR)
if ((taskId = taskSpawn(GPIBLINK_NAME, GPIBLINK_PRI, GPIBLINK_OPT, GPIBLINK_STACK, ibLinkTask, plink)) == ERROR)
{
printf("ibLinkStart(): failed to start link task for link %d\n", plink->linkId);
return(ERROR);
}
taskwdInsert(taskId,NULL,NULL);
taskDelay(10); /* give it a chance to start running */
return(OK);
}

5
src/drv/drvJgvtr1.c
View File

@@ -1,5 +1,5 @@
/* drvJgvtr1.c */
/* share/src/drv @(#)drvJgvtr1.c 1.9 8/27/92 */
/* share/src/drv $Id$ */
/*
* Author: Jeff Hill
* Date: 5-89
@@ -51,6 +51,7 @@
* 062992 joh removed file pointer argument added to io
* report by bg
* 082792 joh added ANSI C function prototypes
* 080293 mrk added call to taskwdInsert
*/
static char *sccsID = "@(#)drvJgvtr1.c 1.9\t8/27/92";
@@ -76,6 +77,7 @@ static char *sccsID = "@(#)drvJgvtr1.c 1.9\t8/27/92";
#include <module_types.h>
#include <task_params.h>
#include <fast_lock.h>
#include <taskwd.h>
#include <types.h>
#include <vme.h>
@@ -284,6 +286,7 @@ long jgvtr1_init(
(FUNCPTR) jgvtr1DoneTask);
if(status == ERROR)
return ERROR;
taskwdInsert(status,NULL,NULL);
# ifdef INTERRUPT_HARDWARE_FIXED

10
src/drv/drvMsg.c
View File

@@ -29,6 +29,7 @@
* -----------------
* .01 04-14-92 jrw created
* .02 05-26-92 jrw changed enumeration of the record types
* .03 08-02-93 mrk Added call to taskwdInsert
*
*/
@@ -57,6 +58,7 @@
#include <link.h>
#include <callback.h>
#include <fast_lock.h>
#include <taskwd.h>
#include <rec/dbCommon.h>
#include <rec/aoRecord.h>
@@ -354,6 +356,7 @@ struct link *plink; /* I/O link structure from record */
char name[20];
long status;
int j;
int taskId;
if (msgDebug)
printf("In drvMsg_genLink\n");
@@ -384,14 +387,15 @@ struct link *plink; /* I/O link structure from record */
return(NULL);
}
sprintf(name, "%s", pparmBlock->pdrvBlock->taskName);
if (taskSpawn(name, pparmBlock->pdrvBlock->taskPri, pparmBlock->pdrvBlock->taskOpt, pparmBlock->pdrvBlock->taskStack, msgTask, pparmBlock->pdrvBlock, pmsgLink) == ERROR)
if ((taskId = taskSpawn(name, pparmBlock->pdrvBlock->taskPri, pparmBlock->pdrvBlock->taskOpt, pparmBlock->pdrvBlock->taskStack, msgTask, pparmBlock->pdrvBlock, pmsgLink)) == ERROR)
{
printf("Message driver: Failed to start link task %s\n", name);
/* BUG --delete the FASTLOCK in here */
status = ERROR;
}
else
} else {
taskwdInsert(taskId,NULL,NULL);
status = OK;
}
if (status == ERROR)
{

20
src/drv/drvOms.c
View File

@@ -1,6 +1,5 @@
/* drvOms.c */
/* share/src/drv @(#)drvOms.c 1.14 4/23/93 */
/* share/src/drv $Id$ */
/*
* subroutines and tasks that are used to interface to the
* Oregon Micro Systems six axis stepper motor drivers
@@ -58,6 +57,7 @@
* .16 06-26-92 bg Combined drvOms.c with oms_driver.c
* .17 06-29-92 joh took file pointer arg out of io report
* .18 08-11-92 joh io report format cleanup
* .19 08-02-93 mrk Added call to taskwdInsert
*/
/* data requests are made from the oms_task at
@@ -80,6 +80,7 @@
#include <module_types.h>
#include <drvOms.h>
#include <steppermotor.h>
#include <taskwd.h>
#define OMS_INT_LEV 5
@@ -354,10 +355,11 @@ oms_task()
*/
oms_driver_init(){
struct vmex_motor *pmotor;
short i,j,got_one;
int status;
short dummy;
char oms_init_msg[20];
short i,j,got_one;
int status;
short dummy;
char oms_init_msg[20];
int taskId;
for (i = 0; i < MAX_OMS_CARDS; i++){
resp_inx[i] = 0;
@@ -418,10 +420,12 @@ oms_driver_init(){
if(!(oms_send_sem=semBCreate(SEM_Q_FIFO,SEM_FULL)))
errMessage(0,"semBcreate failed in oms_driver_init");
/* spawn the motor data request task */
taskSpawn("oms_task",42,VX_FP_TASK,8000,oms_task);
taskId = taskSpawn("oms_task",42,VX_FP_TASK,8000,oms_task);
taskwdInsert(taskId,NULL,NULL);
/* spawn the motor data request task */
taskSpawn("oms_resp_task",42,VX_FP_TASK,8000,oms_resp_task);
taskId = taskSpawn("oms_resp_task",42,VX_FP_TASK,8000,oms_resp_task);
taskwdInsert(taskId,NULL,NULL);
/* enable echo on each motor that is present */

6
src/drv/drvXy240.c
View File

@@ -1,5 +1,5 @@
/* xy240_driver.c */
/* share/src/drv @(#)xy240_driver.c 1.1 6/25/92 */
/* share/src/drv $Id$ */
/*
* routines used to test and interface with Xycom240
* digital i/o module
@@ -50,6 +50,7 @@
* be printed even when no xy240's are present
* .14 09-17-92 joh io report now tabs over detailed info
* .15 09-18-92 joh documentation
* .16 08-02-93 mrk Added call to taskwdInsert
*/
#include "vxWorks.h"
@@ -61,6 +62,7 @@
#ifndef EPICS_V2
#include <dbDefs.h>
#include <dbScan.h>
#include <taskwd.h>
#else
extern short wakeup_init; /* flags that the database scan initialization i
s complete */
@@ -247,6 +249,7 @@ xy240_init()
if (at_least_one_present)
{
if ((tid = taskNameToId(XY240_NAME)) != ERROR){
taskwdRemove(tid);
taskDelete(tid);
}
@@ -259,6 +262,7 @@ xy240_init()
if (status == ERROR){
printf("Unable to create XY240 scan task\n");
}
else taskwdInsert(status,NULL,NULL);
}

9
src/drv/drvXy566.c
View File

@@ -1,9 +1,5 @@
/* drvXy566.c */
/* share/src/drv $Id$ */
/*
* drvXy566.c - Driver Support Routines for xy566
/* drvXy566.c - Driver Support Routines for xy566
*
* Author: Bob Dalesio
* Date: 6-13-88
@@ -81,6 +77,7 @@
* .21 08-27-92 joh fixed routines which return with and without
* status
* .22 08-27-92 joh fixed nonexsistant EPICS init
* .23 08-02-93 mrk Added call to taskwdInsert
*/
#include <vxWorks.h>
@@ -92,6 +89,7 @@
#include <drvSup.h>
#include <module_types.h>
#include <task_params.h>
#include <taskwd.h>
static char SccsId[] = "$Id$\t$Date$ ";
@@ -1132,6 +1130,7 @@ xy566_init()
WFDONE_OPT,
WFDONE_STACK,
xy566DoneTask);
taskwdInsert(wfDoneId,NULL,NULL);
return 0;
}