268 lines
10 KiB
C
268 lines
10 KiB
C
/* $Id$ */
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/* Parameters for tasks on IOC */
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/*
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* Authors: Andy Kozubal, Jeff Hill, and Bob Dalesio
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* Date: 2-24-89
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*
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* Experimental Physics and Industrial Control System (EPICS)
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*
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* Copyright 1991, the Regents of the University of California,
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* and the University of Chicago Board of Governors.
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*
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* This software was produced under U.S. Government contracts:
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* (W-7405-ENG-36) at the Los Alamos National Laboratory,
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* and (W-31-109-ENG-38) at Argonne National Laboratory.
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*
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* Initial development by:
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* The Controls and Automation Group (AT-8)
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* Ground Test Accelerator
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* Accelerator Technology Division
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* Los Alamos National Laboratory
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*
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* Co-developed with
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* The Controls and Computing Group
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* Accelerator Systems Division
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* Advanced Photon Source
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* Argonne National Laboratory
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*
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* Modification Log:
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* -----------------
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* .01 07-23-91 ges Add time-stamp task.
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* .02 09-12-91 joh stack sizes increased for v5 vxWorks.
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* .03 10-24-91 lrd Increased stack sizes for scan tasks
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* .04 12-12-91 joh Increased stack size for the
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* wfDoneTask
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* .05 12-18-91 mrk Added callback task priorities
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* Changed def of PERIODSCAN_PRI and SEQUENCER_PRI
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* Shortened length of task names
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* .06 12-18-91 jba Global change of WDSCAN to TASKWD
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* .07 01-21-92 rcz Increased all stack sizes by 1000 for V5
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* .08 01-21-92 jrw added the GPIB & BB driver task info
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* .09 01-04-92 jba Added callback task priorities
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* .10 03-16-92 jrw added BB rx and tx specific task info
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* .11 05-22-92 lrd added the allen-bradley binary input Change of State scanner
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* .12 08-26-92 joh added xy 240 stuff
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* .13 08-26-92 joh added FP to CA repeater and on line to be safe
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* .14 02-16-92 joh removed historical items
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* .15 11-19-93 joh moved CA client priority up by one notch
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* .16 09-13-93 joh incresed CA on line beacon maximum delay
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* to 60 sec
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* .17 03-18-94 mcn added entries for breakpoint tasks
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* $Log$
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* Revision 1.3 1998/05/20 21:00:43 mrk
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* raised DB_CA_PRI to just higher than sequencer
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*
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* Revision 1.2 1998/01/20 21:49:54 mrk
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* added the arch_stack_factor for 64 bit architectures; changes for errlog
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*
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* Revision 1.1 1996/11/22 20:49:43 jhill
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* installed
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*
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* Revision 1.1 1996/06/24 13:32:35 mrk
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* added task_params.h
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*
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* Revision 1.3 1996/06/19 20:48:44 jhill
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* dounled ca stack for each ca cleint in the server
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*
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* Revision 1.2 1996/04/22 14:31:08 mrk
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* Changes for dynamic link modification
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*
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* Revision 1.1 1996/01/25 21:13:29 mrk
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* moved includes; .ascii=> .db; path changes
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*
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* Revision 1.27 1995/11/29 19:27:59 jhill
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* added $Log$
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* added Revision 1.3 1998/05/20 21:00:43 mrk
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* added raised DB_CA_PRI to just higher than sequencer
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* added
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* added Revision 1.2 1998/01/20 21:49:54 mrk
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* added added the arch_stack_factor for 64 bit architectures; changes for errlog
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* added
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* added Revision 1.1 1996/11/22 20:49:43 jhill
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* added installed
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* added
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* added Revision 1.1 1996/06/24 13:32:35 mrk
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* added added task_params.h
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* added
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* added Revision 1.3 1996/06/19 20:48:44 jhill
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* added dounled ca stack for each ca cleint in the server
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* added
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* added Revision 1.2 1996/04/22 14:31:08 mrk
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* added Changes for dynamic link modification
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* added
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* added Revision 1.1 1996/01/25 21:13:29 mrk
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* added moved includes; .ascii=> .db; path changes
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* added
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*
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*/
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#ifndef INCtaskLibh
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#include <taskLib.h>
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#endif
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#define VXTASKIDSELF 0
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/* Task Names */
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#define EVENTSCAN_NAME "scanEvent"
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#define SCANONCE_NAME "scanOnce"
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#define SMCMD_NAME "smCommand"
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#define SMRESP_NAME "smResponse"
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#define ABDONE_NAME "abDone"
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#define ABSCAN_NAME "abScan"
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#define ABCOS_NAME "abBiCosScanner"
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#define MOMENTARY_NAME "momentary"
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#define WFDONE_NAME "wfDone"
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#define SEQUENCER_NAME "sequencer"
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#define BKPT_CONT_NAME "bkptCont"
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#define SCANNER_NAME "scanner"
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#define REQ_SRVR_NAME "CA TCP"
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#define CA_CLIENT_NAME "CA client"
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#define CA_EVENT_NAME "CA event"
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#define CAST_SRVR_NAME "CA UDP"
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#define CA_REPEATER_NAME "CA repeater"
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#define CA_ONLINE_NAME "CA online"
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#define TASKWD_NAME "taskwd"
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#define SMIOTEST_NAME "smInout"
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#define SMROTTEST_NAME "smRotate"
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#define EVENT_PEND_NAME "event task"
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#define XY240_NAME "xy 240 scan"
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#define GPIBLINK_NAME "gpibLink"
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#define BBLINK_NAME "bbLinkTask"
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#define BBTXLINK_NAME "bbTx"
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#define BBRXLINK_NAME "bbRx"
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#define BBWDTASK_NAME "bbwd"
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#define ERRLOG_NAME "errlog"
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#define LOG_RESTART_NAME "logRestart"
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/* Task priorities */
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#define SCANONCE_PRI 85 /* scan one time */
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/*DO NOT RUN ANY RECORD PROCESSING TASKS AT HIGHER PRIORITY THAN _netTask=50*/
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#define CALLBACK_PRI_LOW 85 /* callback task - generall callback task */
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#define CALLBACK_PRI_MEDIUM 75 /* callback task - generall callback task */
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#define CALLBACK_PRI_HIGH 71 /* callback task - generall callback task */
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#define EVENTSCAN_PRI 72 /* Event Scanner - Runs on a global event */
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#define SMCMD_PRI 62 /* Stepper Motor Command Task - Waits for cmds */
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#define SMRESP_PRI 63 /* Stepper Motor Resp Task - Waits for resps */
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#define ABCOS_PRI 63 /* Allen-Bradley Binary Input COS io_event wakeup */
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#define ABDONE_PRI 64 /* Allen-Bradley Resp Task - Interrupt Driven */
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#define ABSCAN_PRI 65 /* Allen-Bradley Scan Task - Base Rate .1 secs */
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#define BBLINK_PRI 66
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#define BBWDTASK_PRI 65 /* BitBus watchdog task */
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#define BBRXLINK_PRI 66 /* BitBus link task */
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#define BBTXLINK_PRI 67 /* BitBus link task */
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#define GPIBLINK_PRI 67 /* GPIB link task */
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#define MOMENTARY_PRI 68 /* Momentary output - posted from watchdog */
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#define WFDONE_PRI 69 /* Waveform Task - Base Rate of .1 second */
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#define PERIODSCAN_PRI 78 /* Periodic Scanners - Slowest rate */
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#define DB_CA_PRI 88 /*database to channel access*/
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#define SEQUENCER_PRI 90
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#define XY240_PRI 111 /* xy 240 dio scanner */
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#define SCANNER_PRI 150
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#define REQ_SRVR_PRI 181 /* Channel Access TCP request server*/
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#define CA_CLIENT_PRI 180 /* Channel Access clients */
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#define CA_REPEATER_PRI 181 /* Channel Access repeater */
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#define ERRLOG_PRI CA_REPEATER_PRI /*error logger task*/
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#define CAST_SRVR_PRI 182 /* Channel Access broadcast server */
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#define CA_ONLINE_PRI 183 /* Channel Access server online notify */
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#define TASKWD_PRI 200 /* Watchdog Scan Task - runs every 6 seconds */
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#define SMIOTEST_PRI 205 /* Stepper Mtr in/out test - runs every .1 sec */
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#define SMROTTEST_PRI 205 /* Stepper Mtr rotate test - runs every .1 sec */
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#define LOG_RESTART_PRI 200 /* Log server connection watch dog */
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/* Task delay times (seconds) */
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#define TASKWD_DELAY 6
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/* Task delay times (tics) */
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#define ABSCAN_RATE (sysClkRateGet()/6)
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#define SEQUENCER_DELAY (sysClkRateGet()/5)
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#define SCANNER_DELAY (sysClkRateGet()/5)
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#define CA_ONLINE_DELAY (sysClkRateGet()*15)
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#define LOG_RESTART_DELAY (sysClkRateGet()*30)
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/* Task creation options */
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#define ERRLOG_OPT VX_FP_TASK
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#define EVENTSCAN_OPT VX_FP_TASK
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#define SCANONCE_OPT VX_FP_TASK
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#define CALLBACK_OPT VX_FP_TASK
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#define SMCMD_OPT VX_FP_TASK
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#define SMRESP_OPT VX_FP_TASK
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#define ABDONE_OPT VX_FP_TASK
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#define ABCOS_OPT VX_FP_TASK
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#define ABSCAN_OPT VX_FP_TASK
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#define MOMENTARY_OPT VX_FP_TASK
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#define PERIODSCAN_OPT VX_FP_TASK
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#define WFDONE_OPT VX_FP_TASK
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#define SEQUENCER_OPT VX_FP_TASK | VX_STDIO
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#define BKPT_CONT_OPT VX_FP_TASK
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#define SCANNER_OPT VX_FP_TASK
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#define REQ_SRVR_OPT VX_FP_TASK
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#define CAST_SRVR_OPT VX_FP_TASK
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#define CA_CLIENT_OPT VX_FP_TASK
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#define CA_REPEATER_OPT VX_FP_TASK
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#define CA_ONLINE_OPT VX_FP_TASK
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#define TASKWD_OPT VX_FP_TASK
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#define SMIOTEST_OPT VX_FP_TASK
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#define SMROTTEST_OPT VX_FP_TASK
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#define EVENT_PEND_OPT VX_FP_TASK
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#define GPIBLINK_OPT VX_FP_TASK|VX_STDIO
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#define BBLINK_OPT VX_FP_TASK|VX_STDIO
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#define BBTXLINK_OPT VX_FP_TASK|VX_STDIO
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#define BBRXLINK_OPT VX_FP_TASK|VX_STDIO
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#define BBWDTASK_OPT VX_FP_TASK|VX_STDIO
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#define DB_CA_OPT (VX_FP_TASK | VX_STDIO)
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#define XY_240_OPT (0) /* none */
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#define LOG_RESTART_OPT (VX_FP_TASK)
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/*
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* Task stack sizes
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*
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* (original stack sizes are appropriate for the 68k)
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* ARCH_STACK_FACTOR allows scaling the stacks on particular
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* processor architectures
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*/
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#if CPU_FAMILY == MC680X0
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#define ARCH_STACK_FACTOR 1
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#elif CPU_FAMILY == SPARC
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#define ARCH_STACK_FACTOR 2
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#else
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#define ARCH_STACK_FACTOR 2
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#endif
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#define ERRLOG_STACK (4000*ARCH_STACK_FACTOR)
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#define EVENTSCAN_STACK (11000*ARCH_STACK_FACTOR)
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#define SCANONCE_STACK (11000*ARCH_STACK_FACTOR)
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#define CALLBACK_STACK (11000*ARCH_STACK_FACTOR)
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#define SMCMD_STACK (3000*ARCH_STACK_FACTOR)
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#define SMRESP_STACK (3000*ARCH_STACK_FACTOR)
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#define ABCOS_STACK (3000*ARCH_STACK_FACTOR)
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#define ABDONE_STACK (3000*ARCH_STACK_FACTOR)
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#define ABSCAN_STACK (3000*ARCH_STACK_FACTOR)
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#define MOMENTARY_STACK (2000*ARCH_STACK_FACTOR)
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#define PERIODSCAN_STACK (11000*ARCH_STACK_FACTOR)
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#define WFDONE_STACK (9000*ARCH_STACK_FACTOR)
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#define SEQUENCER_STACK (5500*ARCH_STACK_FACTOR)
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#define BKPT_CONT_STACK (11000*ARCH_STACK_FACTOR)
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#define SCANNER_STACK (3048*ARCH_STACK_FACTOR)
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#define RSP_SRVR_STACK (5096*ARCH_STACK_FACTOR)
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#define REQ_SRVR_STACK (5096*ARCH_STACK_FACTOR)
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#define CAST_SRVR_STACK (5096*ARCH_STACK_FACTOR)
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#define CA_CLIENT_STACK (11000*ARCH_STACK_FACTOR)
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#define CA_REPEATER_STACK (5096*ARCH_STACK_FACTOR)
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#define CA_ONLINE_STACK (3048*ARCH_STACK_FACTOR)
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#define TASKWD_STACK (2000*ARCH_STACK_FACTOR)
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#define SMIOTEST_STACK (2000*ARCH_STACK_FACTOR)
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#define SMROTTEST_STACK (2000*ARCH_STACK_FACTOR)
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#define EVENT_PEND_STACK (5096*ARCH_STACK_FACTOR)
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#define TIMESTAMP_STACK (4000*ARCH_STACK_FACTOR)
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#define GPIBLINK_STACK (5000*ARCH_STACK_FACTOR)
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#define BBLINK_STACK (5000*ARCH_STACK_FACTOR)
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#define BBRXLINK_STACK (5000*ARCH_STACK_FACTOR)
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#define BBTXLINK_STACK (5000*ARCH_STACK_FACTOR)
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#define BBWDTASK_STACK (5000*ARCH_STACK_FACTOR)
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#define DB_CA_STACK (11000*ARCH_STACK_FACTOR)
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#define XY_240_STACK (4096*ARCH_STACK_FACTOR)
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#define LOG_RESTART_STACK (0x1000*ARCH_STACK_FACTOR)
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