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fixed at ssc

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This commit is contained in:
Bob Dalesio
1993-05-28 12:41:54 +00:00
parent 5db252252f
commit ad61532111
2 changed files with 297 additions and 231 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/drv/drvComet.c
+257 -143
View File
@@ -78,6 +78,8 @@ static char *sccsID = "@(#)drvComet.c 1.11\t9/16/92";
#include <fast_lock.h>
#include <vme.h>
#include <drvSup.h>
#include <dbDefs.h>
#include <dbScan.h>
#define COMET_NCHAN 4
#define COMET_CHANNEL_MEM_SIZE 0x20000 /* bytes */
@@ -140,20 +142,20 @@ struct comet_cr{
#define COMET_500KHZ 0x0003
/* defines for the auxiliary control register */
#define ONE_SHOT 0x08
#define ONE_SHOT 0x10
#define ALL_CHANNEL_MODE 0x80
#define FLAG_EOC 0x10
/* comet configuration data */
struct comet_config{
struct comet_cr *pcomet_csr; /* pointer to the control/status register */
unsigned short *pdata; /* pointer to data area for this COMET card */
void (*psub)(); /* subroutine to call on end of conversion */
void *parg[4]; /* argument to return to the arming routine */
FAST_LOCK lock; /* mutual exclusion lock */
FAST_LOCK lock; /* mutual exclusion lock */
IOSCANPVT ioscanpvt;
unsigned long nelements; /* number of elements to digitize/read */
};
/* task ID for the comet done task */
@@ -182,45 +184,99 @@ struct {
void
cometDoneTask()
{
register unsigned card;
register struct comet_config *pconfig;
register long i;
register unsigned card;
register struct comet_config *pconfig;
register long i;
while(TRUE){
while(TRUE)
{
if (scan_control <= 0)
taskDelay(2);
else{
taskDelay(scan_control);
if (scan_control <= 0)
taskDelay(2);
else
{
taskDelay(scan_control);
/* check each card for end of conversion */
for(card=0, pconfig = pcomet_config; card < 2;card++, pconfig++){
/* is the card present */
if (!pconfig->pcomet_csr) continue;
/* printf("DoneTask: entering for loop...\n"); */
/* is the card armed */
if (!pconfig->psub) continue;
/* check each card for end of conversion */
for(card=0, pconfig = pcomet_config; card < 2;card++, pconfig++)
{
/* is the card present */
if (!pconfig->pcomet_csr)
{
if (card == 0)
{
/*
printf("DoneTask: checking card present?...\n");
printf("DoneTask: pconfig->pcomet_csr %x...\n",pconfig->pcomet_csr);
*/
}
continue;
}
/* is the digitizer finished conversion */
if (*(pconfig->pdata+FLAG_EOC) == 0xffff) continue;
/* is the card armed */
if (!pconfig->psub)
{
if (card == 0)
{
/* printf("DoneTask: checking card armed?...\n"); */
}
continue;
}
/* reset each of the control registers */
pconfig->pcomet_csr->csrh = pconfig->pcomet_csr->csrl = 0;
pconfig->pcomet_csr->lcrh = pconfig->pcomet_csr->lcrl = 0;
pconfig->pcomet_csr->gdcrh = pconfig->pcomet_csr->gdcrl = 0;
pconfig->pcomet_csr->acr = 0;
/* is the digitizer finished conversion */
/* printf("pconfig->pdata: %x \n", pconfig->pdata); */
if (*(pconfig->pdata+pconfig->nelements) == 0xffff)
{
if (card == 0)
{
/* printf("DoneTask: finished conversion?...\n"); */
}
continue;
}
/* printf("DoneTask: pcomet_config->pcomet_csr %x...\n",pcomet_config->pcomet_csr); */
/* printf("DoneTask: DONE\n"); */
#if 0
/* reset each of the control registers */
pconfig->pcomet_csr->csrh = pconfig->pcomet_csr->csrl = 0;
pconfig->pcomet_csr->lcrh = pconfig->pcomet_csr->lcrl = 0;
pconfig->pcomet_csr->gdcrh = pconfig->pcomet_csr->gdcrl = 0;
pconfig->pcomet_csr->acr = 0;
#endif
/* clear the pointer to the subroutine to allow rearming */
pconfig->psub = NULL;
/* clear the pointer to the subroutine to allow rearming */
/* pconfig->psub = NULL; */
/* post the event */
/* - is there a bus error for long references to this card?? copy into VME mem? */
if(pconfig->parg[0]) (*pconfig->psub)(pconfig->parg[0],0xffff,pconfig->pdata);
if(pconfig->parg[1]) (*pconfig->psub)(pconfig->parg[1],0xffff,pconfig->pdata+COMET_DATA_MEM_SIZE/4);
if(pconfig->parg[2]) (*pconfig->psub)(pconfig->parg[2],0xffff,pconfig->pdata+COMET_DATA_MEM_SIZE/2);
if(pconfig->parg[3]) (*pconfig->psub)(pconfig->parg[3],0xffff,pconfig->pdata+(COMET_DATA_MEM_SIZE/4)*3);
}
}
/* post the event */
/* - is there a bus error for long references to this card?? copy into VME mem? */
if(pconfig->parg[0])
{
(*pconfig->psub)(pconfig->parg[0],pconfig->pdata);
}
if(pconfig->parg[1])
{
(*pconfig->psub)(pconfig->parg[1],(((char*)pconfig->pdata)+0x20000));
}
if(pconfig->parg[2])
{
(*pconfig->psub)(pconfig->parg[2],(((char*)pconfig->pdata)+0x40000));
}
if(pconfig->parg[3])
{
(*pconfig->psub)(pconfig->parg[3],(((char*)pconfig->pdata)+0x60000));
}
}
}
}
}
@@ -234,82 +290,93 @@ cometDoneTask()
*/
comet_init()
{
register struct comet_config *pconfig;
short readback,got_one,card;
int status;
struct comet_cr *pcomet_cr;
unsigned char *extaddr;
register struct comet_config *pconfig;
short readback,got_one,card;
int status;
struct comet_cr *pcomet_cr;
unsigned char *extaddr;
/* free memory and delete tasks from previous initialization */
if (cometDoneTaskId){
if ((status = taskDelete(cometDoneTaskId)) < 0)
logMsg("\nCOMET: Failed to delete cometDoneTask: %d",status);
}else{
pcomet_config =
(struct comet_config *)calloc(wf_num_cards[COMET],sizeof(struct comet_config));
if (pcomet_config == 0){
logMsg("\nCOMET: Couldn't allocate memory for the configuration data");
return;
}
}
/* free memory and delete tasks from previous initialization */
if (cometDoneTaskId)
{
if ((status = taskDelete(cometDoneTaskId)) < 0)
logMsg("\nCOMET: Failed to delete cometDoneTask: %d",status);
}
else
{
pcomet_config = (struct comet_config *)calloc(wf_num_cards[COMET],sizeof(struct comet_config));
if (pcomet_config == 0)
{
logMsg("\nCOMET: Couldn't allocate memory for the configuration data");
return;
}
}
/* get the standard and short address locations */
if ((status = sysBusToLocalAdrs(VME_AM_SUP_SHORT_IO,wf_addrs[COMET],&pcomet_cr)) != OK){
logMsg("\nCOMET: failed to map VME A16 base address\n");
return;
/* get the standard and short address locations */
if ((status = sysBusToLocalAdrs(VME_AM_SUP_SHORT_IO,wf_addrs[COMET],&pcomet_cr)) != OK){
logMsg("\nCOMET: failed to map VME A16 base address\n");
return;
}
if ((status = sysBusToLocalAdrs(VME_AM_EXT_SUP_DATA,wf_memaddrs[COMET],&extaddr)) != OK){
logMsg("\nCOMET: failed to map VME A32 base address\n");
return;
if ((status = sysBusToLocalAdrs(VME_AM_EXT_SUP_DATA,wf_memaddrs[COMET],&extaddr)) != OK){
logMsg("\nCOMET: failed to map VME A32 base address\n");
return;
}
/* determine which cards are present */
got_one = FALSE;
pconfig = pcomet_config;
for ( card = 0;
card < 2;
card++, pconfig++, pcomet_cr++, extaddr+= COMET_DATA_MEM_SIZE){
/* determine which cards are present */
got_one = FALSE;
pconfig = pcomet_config;
for ( card = 0;
card < 2;
card++, pconfig++, pcomet_cr++, extaddr+= COMET_DATA_MEM_SIZE){
/* is the card present */
if (vxMemProbe(pcomet_cr,READ,sizeof(readback),&readback) != OK)
{
continue;
}
if (vxMemProbe(extaddr,READ,sizeof(readback),&readback) != OK)
{
logMsg("\nCOMET: Found CSR but not data RAM %x\n",extaddr);
continue;
}
/* initialize the configuration data */
pconfig->pcomet_csr = pcomet_cr;
pconfig->pdata = (unsigned short *) extaddr;
got_one = TRUE;
FASTLOCKINIT(&pcomet_config[card].lock);
/* is the card present */
if (vxMemProbe(pcomet_cr,READ,sizeof(readback),&readback) != OK) continue;
if (vxMemProbe(extaddr,READ,sizeof(readback),&readback) != OK){
logMsg("\nCOMET: Found CSR but not data RAM %x",extaddr);
continue;
}
/* initialize the card */
pcomet_cr->csrh = ARM_DIGITIZER | AUTO_RESET_LOC_CNT;
pcomet_cr->csrl = COMET_1MHZ;
pcomet_cr->lcrh = pcomet_cr->lcrl = 0;
pcomet_cr->gdcrh = 0;
pcomet_cr->gdcrl = 1;
pcomet_cr->cdr = 0;
/* initialize the configuration data */
pconfig->pcomet_csr = pcomet_cr;
pconfig->pdata = (unsigned short *) extaddr;
got_one = TRUE;
/* run it once */
pcomet_cr->csrl |= SOFTWARE_TRIGGER;
taskDelay(1);
/* reset */
pcomet_cr->csrl = COMET_5MHZ;
pcomet_cr->acr = ONE_SHOT | ALL_CHANNEL_MODE;
FASTLOCKINIT(&pcomet_config[card].lock);
scanIoInit(&pconfig->ioscanpvt);
/* initialize the card */
pcomet_cr->csrh = ARM_DIGITIZER | AUTO_RESET_LOC_CNT;
pcomet_cr->csrl = COMET_1MHZ;
pcomet_cr->lcrh = pcomet_cr->lcrl = 0;
pcomet_cr->gdcrh = 0;
pcomet_cr->gdcrl = 1;
pcomet_cr->cdr = 0;
} /*end of for loop*/
/* run it once */
pcomet_cr->csrl |= SOFTWARE_TRIGGER;
taskDelay(1);
/* reset */
pcomet_cr->csrl = COMET_5MHZ;
}
/* initialization for processing comet digitizers */
if(got_one){
/* 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);
}
/* initialization for processing comet digitizers */
if(got_one)
{
/* 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);
}
}
static long report(level)
int level;
@@ -332,60 +399,82 @@ static long init()
* initiate waveform read
*
*/
comet_driver(card, signal, pcbroutine, parg)
register int card,signal;
comet_driver(card, signal, pcbroutine, parg, nelements)
register unsigned short card,signal;
unsigned int *pcbroutine;
unsigned int *parg; /* pointer to the waveform record */
unsigned long nelements;
{
register struct comet_cr *pcomet_csr;
register struct comet_config *pconfig;
register unsigned short *pcomet_data;
register struct comet_cr *pcomet_csr;
register struct comet_config *pconfig;
register unsigned short *pcomet_data;
register char *dummy;
/* check for valid card number */
if(card >= wf_num_cards[COMET])
return ERROR;
pconfig = (pcomet_config+card);
if(signal >= NELEMENTS(pconfig->parg))
return ERROR;
/* printf("comet_driver: BEGIN...\n"); */
/* printf("comet_driver: nelements: %d ...\n",nelements); */
/* check for card present */
if(!pconfig->pcomet_csr) return ERROR;
/* check for valid card number */
if(card >= wf_num_cards[COMET])
return ERROR;
pconfig = (pcomet_config+card);
if(signal >= NELEMENTS(pconfig->parg))
return ERROR;
pconfig->nelements = nelements * 2;
/* mutual exclusion area */
FASTLOCK(&pconfig->lock);
/* printf("comet_driver: check for card present...\n"); */
/* mark the card as armed */
if (pconfig->parg[signal] == 0)
pconfig->parg[signal] = parg;
if (pconfig->psub) return;
pconfig->psub = (void (*)()) pcbroutine;
/* check for card present */
if(!pconfig->pcomet_csr) return ERROR;
/* exit mutual exclusion area */
FASTUNLOCK(&pconfig->lock);
/* mutual exclusion area */
FASTLOCK(&pconfig->lock);
pcomet_csr = pconfig->pcomet_csr;
/* printf("comet_driver: mark the card as armed...\n"); */
/* reset each of the control registers */
pcomet_csr->csrh = pcomet_csr->csrl = 0;
pcomet_csr->lcrh = pcomet_csr->lcrl = 0;
pcomet_csr->gdcrh = pcomet_csr->gdcrl = 0;
pcomet_csr->acr = 0;
/* mark the card as armed */
/* if (pconfig->parg[signal] != 0) */
pconfig->parg[signal] = parg;
/* if (pconfig->psub) return; */
pconfig->psub = (void (*)()) pcbroutine;
/* exit mutual exclusion area */
FASTUNLOCK(&pconfig->lock);
pcomet_csr = pconfig->pcomet_csr;
/* reset each of the control registers */
pcomet_csr->csrh = pcomet_csr->csrl = 0;
pcomet_csr->lcrh = pcomet_csr->lcrl = 0;
pcomet_csr->gdcrh = pcomet_csr->gdcrl = 0;
pcomet_csr->acr = 0;
/* arm the card */
*(pconfig->pdata+FLAG_EOC) = 0xffff;
if (scan_control > 0)
{
pcomet_csr->gdcrh = 0xff; /* 64K samples per channel */
pcomet_csr->gdcrl = 0xff; /* 64K samples per channel */
pcomet_csr->acr = ONE_SHOT; /* disarm after the trigger */
pcomet_csr->csrl = 0; /* sample at 5MhZ */
/* arm, reset location counter to 0 on trigger, use external trigger */
pcomet_csr->csrh = ARM_DIGITIZER | AUTO_RESET_LOC_CNT | EXTERNAL_TRIG_ENABLED;
}
else
pcomet_csr->csrh |= ARM_DIGITIZER;
/* arm the card */
*(pconfig->pdata+pconfig->nelements) = 0xffff;
/* printf("comet_driver: pconfig->pcomet_csr %x...\n",pconfig->pcomet_csr); */
return OK;
if (scan_control > 0)
{
#if 0 /* for debugging purposes */
pcomet_csr->gdcrh = 0x03; /* # samples per channel */
pcomet_csr->gdcrl = 0xe8; /* # samples per channel */
#endif
pcomet_csr->gdcrh = (pconfig->nelements >> 8) & 0xff; /* # samples per channel */
pcomet_csr->gdcrl = pconfig->nelements & 0xff; /* # samples per channel */
pcomet_csr->acr = ONE_SHOT | ALL_CHANNEL_MODE; /* disarm after the trigger */
pcomet_csr->csrl = COMET_5MHZ; /* sample at 5MhZ */
/* arm, reset location counter to 0 on trigger, use external trigger */
pcomet_csr->csrh = ARM_DIGITIZER | AUTO_RESET_LOC_CNT | EXTERNAL_TRIG_ENABLED;
/* printf("comet_driver: gdcrh: %x gdcrl: %x nelements: %x\n ",pcomet_csr->gdcrh,pcomet_csr->gdcrl, pconfig->nelements); */
}
else
pcomet_csr->csrh |= ARM_DIGITIZER;
/* printf("comet_driver: pconfig->pcomet_csr %x...\n",pconfig->pcomet_csr); */
/* printf("comet_driver: END...\n"); */
return OK;
}
@@ -512,7 +601,7 @@ comet_mode(card,mode,arg,val)
case SCANDONE:
if (!pcomet_config[card].psub)
return ERROR;
/*pcomet_config[card].psub = NULL;*/ /* clear the pointer to subroutine to allow rearming */
/*pcomet_config[card].psub = NULL;*/ /* clear the pointer to subroutine to allow rearming */
(*pcomet_config[card].psub)(pcomet_config[card].parg,0xffff,pcomet_config[card].pdata);
break;
default:
@@ -520,3 +609,28 @@ comet_mode(card,mode,arg,val)
}
return OK;
}
/*********************************************/
cometGetioscanpvt(card,scanpvt)
short card;
IOSCANPVT *scanpvt;
{
register struct comet_config *pconfig;
pconfig=pcomet_config;
pconfig+=card;
if ((card >= wf_num_cards[COMET]) || (card < 0)) /* make sure hardware exists */
return(0);
/*
This is present in the mix driver...I don't know if I really need it.
if (!pconfig->present)
return(0);
*/
*scanpvt = pconfig->ioscanpvt;
return(0);
}
src/drv/drvOms.c
+40 -88
View File
@@ -1,6 +1,6 @@
/* drvOms.c */
/* share/src/drv $Id$ */
/* share/src/drv @(#)drvOms.c 1.14 4/23/93 */
/*
* subroutines and tasks that are used to interface to the
* Oregon Micro Systems six axis stepper motor drivers
@@ -58,13 +58,6 @@
* .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 08-26-92 mrk changed oms poll rate
* .20 08-27-92 joh silenced gcc warnings
* .21 08-27-92 joh started to fix driver function which returned
* with and without status but left new code #if'd
* out until the proper status can be determined
* .22 08-03-92 joh merged the include oms file
* .23 03-04-93 lrd modifed to request encoders for all axis
*/
/* data requests are made from the oms_task at
@@ -85,13 +78,14 @@
#include <dbDefs.h>
#include <drvSup.h>
#include <module_types.h>
#include <drvOms.h>
#include <steppermotor.h>
#define OMS_INT_LEV 5
/* If any of the following does not exist replace it with #define <> NULL */
long oms_io_report(int level);
long oms_driver_init(void);
static long report();
static long init();
struct {
long number;
@@ -99,47 +93,22 @@ struct {
DRVSUPFUN init;
} drvOms={
2,
oms_io_report,
oms_driver_init};
#define MAX_OMS_CARDS 8
#define MAX_OMS_CHANNELS 6
/* motor information */
struct oms_motor{
short active; /* flag to tell the oms_task if the motor is moving */
int callback; /* routine in database library to call with status */
int callback_arg; /* argument to callback routine */
short update_count;
short stop_count;
};
#define MIRQE 0x80
#define TRANSMIT_BUFFER_EMPTY 0x40
#define INPUT_BUFFER_FULL 0x20
#define MDONE 0x10
#define OMS_ENCODER 0x04
#define OMS_CMD_ERROR 0x01
struct vmex_motor{
char unused0;
char data;
char unused1;
char done;
char unused2;
char control;
char unused3;
char status;
char unused4;
char vector;
char unused5[6];
};
/* oms message defines */
#define OMS_MSG_SZ 32 /* response message size */
#define OMS_RESP_Q_SZ (OMS_MSG_SZ*500) /* response ring buffer size */
report,
init};
static long report(level)
int level;
{
oms_io_report(level);
}
static long init()
{
int status;
oms_driver_init();
return(0);
}
/*
* a rate of 10Hz when a motor is active
@@ -175,10 +144,9 @@ char read_buffer[MAX_OMS_CARDS][34];
/* forward reference. */
VOID oms_reset();
LOCAL void oms_intr();
LOCAL void oms_intr(card)
oms_intr(card)
register short card;
{
register struct vmex_motor *pmotor;
@@ -191,7 +159,7 @@ register short card;
/* pointer to this motor */
if ((pmotor = oms_motor_present[card]) == 0){
intUnlock(key);
return;
return(0);
}
pinx = &resp_inx[card];
@@ -204,6 +172,7 @@ register short card;
/* check if the encoder command caused an error */
if (pmotor->status & (OMS_ENCODER | OMS_CMD_ERROR))
encoder_present[card] = FALSE;
else encoder_present[card] = TRUE;
/* terminate and send the message */
read_buffer[card][*pinx] = 0;
if (rngBufPut(oms_resp_q,read_buffer[card],OMS_MSG_SZ)
@@ -229,6 +198,7 @@ register short card;
}
}
intUnlock(key);
return(0);
}
/*
@@ -259,7 +229,7 @@ oms_resp_task()
# endif
/* process requests in the command ring buffer */
while (rngBufGet(oms_resp_q,(char *)resp,OMS_MSG_SZ) == OMS_MSG_SZ){
while (rngBufGet(oms_resp_q,resp,OMS_MSG_SZ) == OMS_MSG_SZ){
if (oms_debug)
printf("card: %d msg:%s\n",resp[0],&resp[1]);
/* get the card number and pointers to the state and channel */
@@ -284,14 +254,14 @@ oms_resp_task()
/* convert encoder position */
}else if (*pstate == 1){
sscanf((char *)&resp[1],"%d",&temp);
sscanf(&resp[1],"%d",&temp);
pmotor_data_array->encoder_position = temp;
*pstate = 0;
/* convert motor position */
/* use the motor position for detecting end of motion because */
/* all motors use this, not all motors have encoders */
}else if (*pstate == 2){
sscanf((char *)&resp[1],"%d",&temp);
sscanf(&resp[1],"%d",&temp);
if ((pmotor_data_array->motor_position == temp)
&& (poms_motor_array->active == TRUE)){
poms_motor_array->stop_count++;
@@ -365,6 +335,7 @@ oms_task()
motor_active = TRUE;
while (motor_active){
motor_active = FALSE;
taskDelay(2);
for (channel = 0; channel < MAX_OMS_CHANNELS; channel++){
pmotor = oms_motor_present[0];
for (card = 0; card < MAX_OMS_CARDS; card++,pmotor++){
@@ -373,7 +344,7 @@ oms_task()
motor_active = TRUE;
/* request status data */
if (encoder_present[card])
if ((channel <= 1) && (encoder_present[card]))
strcpy(oms_msg,"A?\nRE\nRP\nRA\n");
else
strcpy(oms_msg,"A?\nRP\nRA\n");
@@ -381,7 +352,6 @@ oms_task()
oms_send_msg(oms_motor_present[card],oms_msg);
}
}
taskDelay(2);
}
}
}
@@ -392,8 +362,7 @@ oms_task()
*
* initialize all oms drivers present
*/
long oms_driver_init(void)
{
oms_driver_init(){
struct vmex_motor *pmotor;
short i,j,got_one;
int status;
@@ -407,13 +376,10 @@ long oms_driver_init(void)
/* find all cards present */
got_one = FALSE;
status = sysBusToLocalAdrs(
VME_AM_SUP_SHORT_IO,
(char *)sm_addrs[OMS_6AXIS],
&localaddr);
status = sysBusToLocalAdrs(VME_AM_SUP_SHORT_IO,sm_addrs[OMS_6AXIS], &localaddr);
if (status != OK){
logMsg("Addressing error in oms driver\n");
return ERROR;
return(ERROR);
}
rebootHookAdd(oms_reset);
pmotor = (struct vmex_motor *)localaddr;
@@ -478,8 +444,7 @@ long oms_driver_init(void)
}
}
}
return OK;
return(0);
}
/*
@@ -561,7 +526,7 @@ int arg2;
if (arg1 == 0){
oms_move_msg[1] = oms_motor_specifier[channel];
}else{
return (0);
return(0);
}
oms_send_msg(oms_motor_present[card],oms_move_msg);
@@ -608,10 +573,8 @@ int arg2;
break;
}
return (0);
return(0);
}
char last_msg[80];
int oms_count,oms_icount,oms_illcmd,oms_sleep,oms_isleep;
@@ -639,13 +602,8 @@ i = 0;
oms_icount++;
if ((oms_icount % 5) == 0){
oms_isleep++;
/*
* A taskDelay makes a 68040
* wait frequently
*/
# if 0
taskDelay(1);
# endif
/* A taskDelay makes a 68040 wait frequently */
/*taskDelay(1);*/
}
}
pmotor->data = 0x19; /* reset */
@@ -654,13 +612,8 @@ i = 0;
oms_count++;
if ((oms_count % 5) == 0){
oms_sleep++;
/*
* A taskDelay makes a 68040
* wait frequently
*/
# if 0
taskDelay(1);
# endif
/* A taskDelay makes a 68040 wait frequently */
/*taskDelay(1);*/
}
}
pmotor->data = *pmsg;
@@ -671,7 +624,8 @@ i = 0;
semGive(&oms_send_sem);
}
long oms_io_report(int level)
oms_io_report(level)
short int level;
{
register short int i,j;
@@ -685,8 +639,6 @@ long oms_io_report(int level)
}
}
return OK;
}
VOID oms_sm_stat(card,channel)