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Allow a OSI omsLib to be built, but not ran.

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This commit is contained in:
Ron Sluiter
2005-03-23 22:16:12 +00:00
parent 013faf5226
commit 12caea0c67
4 changed files with 179 additions and 169 deletions
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motorApp/OmsSrc/Makefile
+7 -4
View File
@@ -9,10 +9,7 @@ include $(TOP)/configure/CONFIG
DBD += devOms.dbd
LIBRARY_IOC_vxWorks = oms
# The following is required for all OMS device drivers.
SRCS += devOmsCom.cc
LIBRARY_IOC = oms
# The following is required for the OMS VME8/44 (i.e., devOMS) device driver.
SRCS += devOms.cc drvOms.cc
@@ -23,6 +20,12 @@ SRCS += devOms58.cc drvOms58.cc
# The following is required for the OMS MAXv device driver.
SRCS += devMAXv.cc drvMAXv.cc
# The following is required for all OMS device drivers.
SRCS += devOmsCom.cc
oms_LIBS += motor
oms_LIBS += $(EPICS_BASE_IOC_LIBS)
include $(TOP)/configure/RULES
#----------------------------------------
# ADD RULES AFTER THIS LINE
motorApp/OmsSrc/drvMAXv.cc
+63 -60
View File
@@ -2,9 +2,9 @@
FILENAME... drvMAXv.cc
USAGE... Motor record driver level support for OMS model MAXv.
Version: $Revision: 1.4 $
Version: $Revision: 1.5 $
Modified By: $Author: sluiter $
Last Modified: $Date: 2004-12-20 22:00:58 $
Last Modified: $Date: 2005-03-23 22:16:11 $
*/
/*
@@ -48,27 +48,17 @@ Last Modified: $Date: 2004-12-20 22:00:58 $
* - eliminate calls to devConnectInterrupt() due to C++
* problems with devLib.h; i.e. "sorry, not implemented:
* `tree_list' not supported..." compiler error message.
*
* 04 03-21-05 rls - Make MAXv OSI.
*/
#include <vxLib.h>
#include <sysLib.h>
#include <string.h>
#include <rebootLib.h>
#include <logLib.h>
#include <taskLib.h>
#include <dbCommon.h>
#include <drvSup.h>
#include <epicsVersion.h>
#if EPICS_MODIFICATION <= 4
extern "C" {
#include <devLib.h>
}
#else
#include <devLib.h>
#endif
#include <dbAccess.h>
#include <epicsThread.h>
#include <epicsExit.h>
#include "motorRecord.h" /* For Driver Power Monitor feature only. */
#include "motor.h"
@@ -90,14 +80,19 @@ extern "C" {
/*----------------debugging-----------------*/
#ifdef DEBUG
volatile int drvMAXvdebug = 0;
#define Debug(l, f, args...) { if(l<=drvMAXvdebug) printf(f,## args); }
#ifdef __GNUG__
#ifdef DEBUG
#define Debug(l, f, args...) {if (l <= drvMAXvdebug) printf(f, ## args);}
#else
#define Debug(l, f, args...)
#endif
#else
#define Debug(l, f, args...)
#define Debug
#endif
volatile int drvMAXvdebug = 0;
extern "C" {epicsExportAddress(int, drvMAXvdebug);}
#define pack2x16(p) ((uint32_t)(((p[0])<<16)|(p[1])))
#define pack2x16(p) ((epicsUInt32)(((p[0])<<16)|(p[1])))
#define INITSTR_SIZE 150 /* 150 byte intialization string. */
/* Global data. */
@@ -127,7 +122,7 @@ RTN_STATUS send_mess(int, char const *, char *);
int recv_mess(int, char *, int);
static void motorIsr(int);
static int motor_init();
static void MAXv_reset();
static void MAXv_reset(void *);
static char *readbuf(volatile struct MAXv_motor *, char *);
static void start_status(int card);
@@ -186,7 +181,7 @@ static long report(int level)
printf(" Oms MAXv motor card #%d not found.\n", card);
else
printf(" Oms MAXv motor card #%d @ 0x%X, id: %s \n", card,
(uint_t) motor_state[card]->localaddr,
(epicsUInt32) motor_state[card]->localaddr,
motor_state[card]->ident);
}
}
@@ -388,8 +383,8 @@ static int set_status(int card, int signal)
struct motor_trans *trans = (struct motor_trans *) nodeptr->mrecord->dpvt;
if (trans->dpm == true)
{
logMsg((char *) "Drive power failure at MAXv card#%d motor#%d\n",
card, signal, 0, 0, 0, 0);
errlogPrintf("Drive power failure at MAXv card#%d motor#%d\n",
card, signal);
}
}
@@ -417,7 +412,7 @@ static int set_status(int card, int signal)
/* Copy device directive to buffer. */
strncpy(buffer, nodeptr->postmsgptr, size);
buffer[size] = NULL;
buffer[size] = (char) NULL;
if (strncmp(buffer, "@PUT(", 5) != 0)
goto errorexit;
@@ -487,21 +482,19 @@ RTN_STATUS send_mess(int card, char const *com, char *name)
if (strlen(com) > MAX_MSG_SIZE)
{
logMsg((char *) "drvMAXv.cc:send_mess(); message size violation.\n",
0, 0, 0, 0, 0, 0);
errlogPrintf("drvMAXv.cc:send_mess(); message size violation.\n");
return (ERROR);
}
/* Check that card exists */
if (!motor_state[card])
{
logMsg((char *) "drvMAXv.cc:send_mess() - invalid card #%d\n", card,
0, 0, 0, 0, 0);
errlogPrintf("drvMAXv.cc:send_mess() - invalid card #%d\n", card);
return (ERROR);
}
pmotor = (struct MAXv_motor *) motor_state[card]->localaddr;
Debug(9, "send_mess: pmotor = %x\n", (uint_t) pmotor);
Debug(9, "send_mess: pmotor = %x\n", (epicsUInt32) pmotor);
return_code = OK;
@@ -541,12 +534,14 @@ RTN_STATUS send_mess(int card, char const *com, char *name)
while (pmotor->outPutIndex != pmotor->outGetIndex)
{
epicsInt16 deltaIndex;
Debug(5, "send_mess: Waiting for ack: index delta=%d\n",
(((deltaIndex = pmotor->outPutIndex - pmotor->outGetIndex) < 0) ?
BUFFER_SIZE + deltaIndex : deltaIndex));
taskDelay(0);
#ifdef DEBUG
epicsInt16 deltaIndex, delta;
deltaIndex = pmotor->outPutIndex - pmotor->outGetIndex;
delta = (deltaIndex < 0) ? BUFFER_SIZE + deltaIndex : deltaIndex;
Debug(5, "send_mess: Waiting for ack: index delta=%d\n", delta);
#endif
epicsThreadSleep(epicsThreadSleepQuantum());
};
return (return_code);
@@ -611,7 +606,7 @@ int recv_mess(int card, char *com, int amount)
}
bufptr = com;
*bufptr = NULL;
*bufptr = (char) NULL;
do
{
@@ -678,7 +673,7 @@ static char *readbuf(volatile struct MAXv_motor *pmotor, char *bufptr)
getIndex -= BUFFER_SIZE;
bufptr += (bufsize - 1);
*bufptr = NULL;
*bufptr = (char) NULL;
while (getIndex != pmotor->inPutIndex)
{
@@ -718,9 +713,10 @@ RTN_VALUES MAXvSetup(int num_cards, /* maximum number of cards in rack */
{
case 16:
MAXv_ADDRS_TYPE = atVMEA16;
if ((uint32_t) addrs & 0xFFFF0000)
if ((epicsUInt32) addrs & 0xFFFF0000)
{
errlogPrintf("MAXvSetup(): invalid A16 address = 0x%X.\n", (uint_t) addrs);
errlogPrintf("MAXvSetup(): invalid A16 address = 0x%X.\n",
(epicsUInt32) addrs);
rtnind = ERROR;
}
else
@@ -728,9 +724,10 @@ RTN_VALUES MAXvSetup(int num_cards, /* maximum number of cards in rack */
break;
case 24:
MAXv_ADDRS_TYPE = atVMEA24;
if ((uint32_t) addrs & 0xF0000000)
if ((epicsUInt32) addrs & 0xF0000000)
{
errlogPrintf("MAXvSetup(): invalid A24 address = 0x%X.\n", (uint_t) addrs);
errlogPrintf("MAXvSetup(): invalid A24 address = 0x%X.\n",
(epicsUInt32) addrs);
rtnind = ERROR;
}
else
@@ -741,14 +738,15 @@ RTN_VALUES MAXvSetup(int num_cards, /* maximum number of cards in rack */
MAXv_addrs = (char *) addrs;
break;
default:
errlogPrintf("MAXvSetup(): invalid VME address type = %d.\n", (uint_t) addrs_type);
errlogPrintf("MAXvSetup(): invalid VME address type = %d.\n", addrs_type);
rtnind = ERROR;
break;
}
if ((uint32_t) addrs & 0x00000FFF)
if ((epicsUInt32) addrs & 0x00000FFF)
{
errlogPrintf("MAXvSetup(): address = 0x%X, not aligned on 4K boundary.\n", (uint_t) addrs);
errlogPrintf("MAXvSetup(): address = 0x%X, not aligned on 4K boundary.\n",
(epicsUInt32) addrs);
rtnind = ERROR;
}
@@ -782,7 +780,7 @@ RTN_VALUES MAXvSetup(int num_cards, /* maximum number of cards in rack */
for (itera = 0, strptr = &initstring[0]; itera < MAXv_num_cards; itera++, strptr++)
{
*strptr = (char *) malloc(INITSTR_SIZE);
**strptr = NULL;
**strptr = (char) NULL;
}
return(rtnind);
@@ -817,7 +815,7 @@ static void motorIsr(int card)
if (card >= total_cards || (pmotorState = motor_state[card]) == NULL)
{
logMsg((char *) "Invalid entry-card #%d\n", card, 0, 0, 0, 0, 0);
errlogPrintf("Invalid entry-card #%d\n", card);
return;
}
@@ -832,8 +830,8 @@ static void motorIsr(int card)
}
if (status1_flag.Bits.cmndError)
logMsg((char *) "command error detected by motorISR() on card %d\n",
card, 0, 0, 0, 0, 0);
errlogPrintf("command error detected by motorISR() on card %d\n",
card);
if (status1_flag.Bits.text_response != 0) /* Don't clear this. */
status1_flag.Bits.text_response = 0;
@@ -851,6 +849,8 @@ static int motorIsrSetup(int card)
pmotor = (struct MAXv_motor *) (motor_state[card]->localaddr);
#ifdef vxWorks
status = pdevLibVirtualOS->pDevConnectInterruptVME(
MAXvInterruptVector + card, (void (*)()) motorIsr, (void *) card);
@@ -868,6 +868,8 @@ static int motorIsrSetup(int card)
return (ERROR);
}
#endif
/* Setup card for interrupt-on-done */
status1_irq.All = 0;
status1_irq.Bits.done = 0xFF;
@@ -913,7 +915,7 @@ static int motor_init()
total_cards = MAXv_num_cards;
if (rebootHookAdd((FUNCPTR) MAXv_reset) == ERROR)
if (epicsAtExit(MAXv_reset, NULL) == ERROR)
Debug(1, "MAXv motor_init: MAXv_reset disabled\n");
for (card_index = 0; card_index < MAXv_num_cards; card_index++)
@@ -927,16 +929,19 @@ static int motor_init()
startAddr = (int8_t *) probeAddr;
endAddr = startAddr + MAXv_BRD_SIZE;
Debug(9, "motor_init: devNoResponseProbe() on addr 0x%x\n", (uint_t) probeAddr);
Debug(9, "motor_init: devNoResponseProbe() on addr 0x%x\n",
(epicsUInt32) probeAddr);
/* Scan memory space to assure card id */
#ifdef vxWorks
do
{
status = devNoResponseProbe(MAXv_ADDRS_TYPE, (unsigned int) startAddr, 2);
startAddr += 0x100;
} while (PROBE_SUCCESS(status) && startAddr < endAddr);
#endif
if (PROBE_SUCCESS(status))
{
#ifdef vxWorks
status = devRegisterAddress(__FILE__, MAXv_ADDRS_TYPE,
(size_t) probeAddr, MAXv_BRD_SIZE,
(volatile void **) &localaddr);
@@ -947,8 +952,9 @@ static int motor_init()
(unsigned int) probeAddr);
return (ERROR);
}
#endif
Debug(9, "motor_init: localaddr = %x\n", (uint_t) localaddr);
Debug(9, "motor_init: localaddr = %x\n", (epicsUInt32) localaddr);
pmotor = (struct MAXv_motor *) localaddr;
if (pmotor->firmware_status.Bits.running == 0)
@@ -1064,7 +1070,8 @@ static int motor_init()
recv_mess(card_index, axis_pos, 1);
}
Debug(2, "motor_init: Init Address=0x%8.8x\n", (uint_t) localaddr);
Debug(2, "motor_init: Init Address=0x%8.8x\n",
(epicsUInt32) localaddr);
Debug(3, "motor_init: Total encoders = %d\n", total_encoders);
Debug(3, "motor_init: Total with PID = %d\n", total_pidcnt);
}
@@ -1091,7 +1098,7 @@ static int motor_init()
/* Deallocate memory for initialization strings. */
for (itera = 0, strptr = &initstring[0]; itera < MAXv_num_cards; itera++, strptr++)
cfree(*strptr);
free(*strptr);
return (0);
}
@@ -1099,21 +1106,17 @@ static int motor_init()
/* Disables interrupts. Called on CTL X reboot. */
static void MAXv_reset()
static void MAXv_reset(void *arg)
{
short card;
volatile struct MAXv_motor *pmotor;
short status;
for (card = 0; card < total_cards; card++)
{
if (motor_state[card] != NULL)
{
pmotor = (struct MAXv_motor *) motor_state[card]->localaddr;
if (vxMemProbe((char *) pmotor, READ, sizeof(short), (char *) &status) == OK)
{
pmotor->status1_irq_enable.All = 0;
}
pmotor->status1_irq_enable.All = 0;
}
}
}
motorApp/OmsSrc/drvOms.cc
+50 -50
View File
@@ -2,9 +2,9 @@
FILENAME... drvOms.cc
USAGE... Driver level support for OMS models VME8, VME44 and VS4.
Version: $Revision: 1.20 $
Version: $Revision: 1.21 $
Modified By: $Author: sluiter $
Last Modified: $Date: 2004-12-21 15:18:48 $
Last Modified: $Date: 2005-03-23 22:16:12 $
*/
/*
@@ -67,6 +67,7 @@ Last Modified: $Date: 2004-12-21 15:18:48 $
* - eliminate calls to devConnectInterrupt() due to C++
* problems with devLib.h; i.e. "sorry, not implemented:
* `tree_list' not supported..." compiler error message.
* .11 03-23-05 rls - Make OSI.
*/
/*========================stepper motor driver ========================
@@ -86,17 +87,15 @@ Last Modified: $Date: 2004-12-21 15:18:48 $
========================stepper motor driver ========================*/
#include <vxLib.h>
#include <sysLib.h>
#include <string.h>
#include <rebootLib.h>
#include <logLib.h>
#include <drvSup.h>
#include <epicsVersion.h>
#include <devLib.h>
#include <dbAccess.h>
#include <epicsThread.h>
#include <epicsInterrupt.h>
#include <epicsExit.h>
#include <epicsEvent.h>
#include "motor.h"
#include "drvOms.h"
@@ -115,12 +114,17 @@ Last Modified: $Date: 2004-12-21 15:18:48 $
#define DONE_QUERY "RA"
/*----------------debugging-----------------*/
#ifdef DEBUG
volatile int drvOMSdebug = 0;
#define Debug(l, f, args...) { if(l<=drvOMSdebug) printf(f,## args); }
#ifdef __GNUG__
#ifdef DEBUG
#define Debug(l, f, args...) {if (l <= drvOMSdebug) printf(f, ## args);}
#else
#define Debug(l, f, args...)
#endif
#else
#define Debug(l, f, args...)
#define Debug
#endif
volatile int drvOMSdebug = 0;
extern "C" {epicsExportAddress(int, drvOMSdebug);}
/* Global data. */
int oms44_num_cards = 0;
@@ -146,7 +150,7 @@ static RTN_STATUS send_mess(int, char const *, char *);
static int recv_mess(int, char *, int);
static void motorIsr(int);
static int motor_init();
static void oms_reset();
static void oms_reset(void *);
static int omsGet(int card, char *pcom, bool timeout);
static RTN_STATUS omsPut(int card, char *pcom);
@@ -202,7 +206,7 @@ static long report(int level)
for (card = 0; card < oms44_num_cards; card++)
if (motor_state[card])
printf(" Oms VME8/44 motor card %d @ 0x%X, id: %s \n", card,
(uint_t) motor_state[card]->localaddr,
(epicsUInt32) motor_state[card]->localaddr,
motor_state[card]->ident);
}
return (0);
@@ -371,7 +375,7 @@ static int set_status(int card, int signal)
/* Copy device directive to buffer. */
strncpy(buffer, nodeptr->postmsgptr, size);
buffer[size] = NULL;
buffer[size] = (char) NULL;
if (strncmp(buffer, "@PUT(", 5) != 0)
goto errorexit;
@@ -426,16 +430,14 @@ static RTN_STATUS send_mess(int card, char const *com, char *name)
if (strlen(com) > MAX_MSG_SIZE)
{
logMsg((char *) "drvOms.cc:send_mess(); message size violation.\n",
0, 0, 0, 0, 0, 0);
errlogPrintf("drvOms.cc:send_mess(); message size violation.\n");
return (ERROR);
}
/* Check that card exists */
if (!motor_state[card])
{
logMsg((char *) "drvOms.cc:send_mess() - invalid card #%d\n", card,
0, 0, 0, 0, 0);
errlogPrintf("drvOms.cc:send_mess() - invalid card #%d\n", card);
return (ERROR);
}
@@ -636,7 +638,7 @@ static int omsGet(int card, char *pchar, bool timeout)
}
if (!irqdata->recv_rng->isEmpty())
{
*pchar = (char) irqdata->recv_rng->pop();
*pchar = (char) ((epicsUInt32) irqdata->recv_rng->pop() & 0xFF);
getCnt = 1;
}
}
@@ -679,13 +681,13 @@ static RTN_STATUS omsPut(int card, char *pmess)
{
putptr = pmess;
/* Put string into isr transmitt buffer */
while (*putptr != NULL)
while (*putptr != (char) NULL)
{
char outchar = *putptr;
if (!irqdata->send_rng->push((char *) outchar))
{
logMsg((char *) "omsPut: card %d send ring full, lost '%c'\n", card,
*putptr, 0, 0, 0, 0);
errlogPrintf("omsPut: card %d send ring full, lost '%c'\n",
card, *putptr);
return(ERROR);
}
putptr++;
@@ -786,7 +788,7 @@ static void motorIsr(int card)
if (card >= total_cards || (pmotorState = motor_state[card]) == NULL)
{
logMsg((char *) "Invalid entry-card #%d\n", card, 0, 0, 0, 0, 0);
errlogPrintf("Invalid entry-card #%d\n", card);
return;
}
@@ -806,8 +808,7 @@ static void motorIsr(int card)
#ifdef DEBUG
if (drvOMSdebug >= 10)
logMsg((char *) "entry card #%d,status=0x%X,done=0x%X\n", card,
status, doneFlags, 0, 0, 0);
errlogPrintf("entry card #%d,status=0x%X,done=0x%X\n", card, status, doneFlags);
#endif
/* Motion done handling */
@@ -823,8 +824,7 @@ static void motorIsr(int card)
/* Send null character to indicate error */
#ifdef DEBUG
if (drvOMSdebug >= 1)
logMsg((char *) "command error detected on card %d\n", card, 0, 0,
0, 0, 0);
errlogPrintf("command error detected on card %d\n", card);
#endif
irqdata->irqErrno |= STAT_ERROR;
}
@@ -835,7 +835,7 @@ static void motorIsr(int card)
if (irqdata->send_rng->isEmpty())
control &= ~IRQ_TRANS_BUF; /* Transmit done - disable irq */
else
pmotor->data = (char) irqdata->send_rng->pop();
pmotor->data = (char) ((epicsUInt32) irqdata->send_rng->pop() & 0xFF);
}
/* Read Response */
@@ -845,8 +845,8 @@ static void motorIsr(int card)
if (!irqdata->recv_rng->push((char *) dataChar))
{
logMsg((char *) "card %d recv ring full, lost '%c'\n", card,
dataChar, 0, 0, 0, 0);
errlogPrintf("card %d recv ring full, lost '%c'\n", card,
dataChar);
irqdata->irqErrno |= STAT_INPUT_BUF_FULL;
}
irqdata->recv_sem->signal();
@@ -869,7 +869,7 @@ static int motorIsrEnable(int card)
irqdata = (struct irqdatastr *) pmotorState->DevicePrivate;
pmotor = (struct vmex_motor *) (pmotorState->localaddr);
#ifdef vxWorks
status = pdevLibVirtualOS->pDevConnectInterruptVME(
omsInterruptVector + card, (void (*)()) motorIsr, (void *) card);
@@ -894,6 +894,8 @@ static int motorIsrEnable(int card)
return (ERROR);
}
#endif
/* Setup card for interrupt-on-done */
pmotor->vector = omsInterruptVector + card;
@@ -910,7 +912,6 @@ static int motorIsrEnable(int card)
/* enable interrupt-when-done and input-buffer-full interrupts */
pmotor->control = IRQ_ENABLE_ALL;
return (OK);
}
@@ -930,8 +931,10 @@ static void motorIsrDisable(int card)
/* Disable interrupts */
pmotor->control = 0;
#ifdef vxWorks
status = pdevLibVirtualOS->pDevDisconnectInterruptVME(
omsInterruptVector + card, (void (*)(void *)) motorIsr);
#endif
if (!RTN_SUCCESS(status))
errPrintf(status, __FILE__, __LINE__, "Can't disconnect vector %d\n",
@@ -963,9 +966,9 @@ int omsSetup(int num_cards, /* maximum number of cards in rack */
oms44_num_cards = num_cards;
/* Check boundary(16byte) on base address */
if ((uint32_t) addrs & 0xF)
if ((epicsUInt32) addrs & 0xF)
{
Debug(1, "omsSetup: invalid base address 0x%X\n", (uint_t) addrs);
Debug(1, "omsSetup: invalid base address 0x%X\n", (epicsUInt32) addrs);
oms_addrs = (char *) OMS_NUM_ADDRS;
}
else
@@ -1033,10 +1036,10 @@ static int motor_init()
/* allocate structure space for each motor present */
total_cards = oms44_num_cards;
if (rebootHookAdd((FUNCPTR) oms_reset) == ERROR)
if (epicsAtExit(oms_reset, NULL) == ERROR)
Debug(1, "vme8/44 motor_init: oms_reset disabled\n");
for (card_index = 0; card_index < oms44_num_cards; card_index++)
{
int8_t *startAddr;
@@ -1048,18 +1051,21 @@ static int motor_init()
startAddr = (int8_t *) probeAddr + 1;
endAddr = startAddr + OMS_BRD_SIZE;
Debug(9, "motor_init: devNoResponseProbe() on addr 0x%x\n", (uint_t) probeAddr);
Debug(9, "motor_init: devNoResponseProbe() on addr 0x%x\n",
(epicsUInt32) probeAddr);
/* Scan memory space to assure card id */
#ifdef vxWorks
do
{
status = devNoResponseProbe(OMS_ADDRS_TYPE, (unsigned int) startAddr, 1);
startAddr += 0x2;
} while (PROBE_SUCCESS(status) && startAddr < endAddr);
#endif
if (PROBE_SUCCESS(status))
{
struct irqdatastr *irqdata;
#ifdef vxWorks
status = devRegisterAddress(__FILE__, OMS_ADDRS_TYPE,
(size_t) probeAddr, OMS_BRD_SIZE,
(volatile void **) &localaddr);
@@ -1071,8 +1077,8 @@ static int motor_init()
"Can't register address 0x%x\n", (unsigned) probeAddr);
return (ERROR);
}
Debug(9, "motor_init: localaddr = %x\n", (int) localaddr);
#endif
Debug(9, "motor_init: localaddr = %x\n", (epicsUInt32) localaddr);
pmotor = (struct vmex_motor *) localaddr;
Debug(9, "motor_init: malloc'ing motor_state\n");
@@ -1149,8 +1155,8 @@ static int motor_init()
set_status(card_index, motor_index);
}
Debug(2, "Init Address=0x%08.8x\n", (uint_t) localaddr);
Debug(3, "Total encoders = %d\n\n", (int) total_encoders);
Debug(2, "Init Address=0x%8.8x\n", (epicsUInt32) localaddr);
Debug(3, "Total encoders = %d\n\n", total_encoders);
}
else
{
@@ -1177,23 +1183,17 @@ static int motor_init()
/* Disables interrupts. Called on CTL X reboot. */
static void oms_reset()
static void oms_reset(void *arg)
{
short card;
struct vmex_motor *pmotor;
short status;
for (card = 0; card < total_cards; card++)
{
if (motor_state[card] != NULL)
{
char *memptr, byteread;
pmotor = (struct vmex_motor *) motor_state[card]->localaddr;
memptr = (char *) &pmotor->data;
status = vxMemProbe(memptr, READ, sizeof(char), (char *) &byteread);
if (status == OK)
pmotor->control = 0; /* Disable all interrupts. */
pmotor->control = 0; /* Disable all interrupts. */
}
}
}
motorApp/OmsSrc/drvOms58.cc
+59 -55
View File
@@ -2,9 +2,9 @@
FILENAME... drvOms58.cc
USAGE... Motor record driver level support for OMS model VME58.
Version: $Revision: 1.13 $
Version: $Revision: 1.14 $
Modified By: $Author: sluiter $
Last Modified: $Date: 2004-12-21 15:19:34 $
Last Modified: $Date: 2005-03-23 22:16:12 $
*/
/*
@@ -86,20 +86,17 @@ Last Modified: $Date: 2004-12-21 15:19:34 $
* - eliminate calls to devConnectInterrupt() due to C++
* problems with devLib.h; i.e. "sorry, not implemented:
* `tree_list' not supported..." compiler error message.
* .30 03-23-05 rls - Make OSI.
*/
#include <vxLib.h>
#include <sysLib.h>
#include <string.h>
#include <rebootLib.h>
#include <logLib.h>
#include <taskLib.h>
#include <dbCommon.h>
#include <drvSup.h>
#include <epicsVersion.h>
#include <devLib.h>
#include <dbAccess.h>
#include <epicsThread.h>
#include <epicsExit.h>
#include "motorRecord.h" /* For Driver Power Monitor feature only. */
#include "motor.h"
@@ -123,14 +120,20 @@ Last Modified: $Date: 2004-12-21 15:19:34 $
/*----------------debugging-----------------*/
#ifdef DEBUG
volatile int drvOms58debug = 0;
#define Debug(l, f, args...) { if(l<=drvOms58debug) printf(f,## args); }
#else
#ifdef __GNUG__
#ifdef DEBUG
#define Debug(l, f, args...) {if (l <= drvOms58debug) \
errlogPrintf(f, ## args);}
#else
#define Debug(l, f, args...)
#endif
#else
#define Debug
#endif
volatile int drvOms58debug = 0;
extern "C" {epicsExportAddress(int, drvOms58debug);}
#define pack2x16(p) ((uint32_t)(((p[0])<<16)|(p[1])))
#define pack2x16(p) ((epicsUInt32)(((p[0])<<16)|(p[1])))
/* Global data. */
int oms58_num_cards = 0;
@@ -145,6 +148,7 @@ static volatile epicsUInt8 omsInterruptLevel = OMS_INT_LEVEL;
static volatile int max_io_tries = MAX_COUNT;
static volatile int motionTO = 10;
static char *oms58_axis[] = {"X", "Y", "Z", "T", "U", "V", "R", "S"};
static double quantum;
/*----------------functions-----------------*/
@@ -157,7 +161,7 @@ static RTN_STATUS send_mess(int, char const *, char *);
static int recv_mess(int, char *, int);
static void motorIsr(int card);
static int motor_init();
static void oms_reset();
static void oms_reset(void *);
static void start_status(int card);
static int motorIsrSetup(int card);
@@ -215,7 +219,7 @@ static long report(int level)
printf(" Oms Vme58 motor card #%d not found.\n", card);
else
printf(" Oms Vme58 motor card #%d @ 0x%X, id: %s \n", card,
(uint_t) brdptr->localaddr,
(epicsUInt32) brdptr->localaddr,
brdptr->ident);
}
}
@@ -239,7 +243,7 @@ static void query_done(int card, int axis, struct mess_node *nodeptr)
#if (CPU == PPC604 || CPU == PPC603)
if (strcmp(motor_state[card]->ident, "VME58 ver 2.35-8") == 0)
taskDelay(1); /* Work around for intermittent wrong LS status. */
epicsThreadSleep(quantum * 2.0); /* Work around for intermittent wrong LS status. */
#endif
if (nodeptr->status.Bits.RA_PROBLEM)
@@ -269,7 +273,7 @@ static void start_status(int card)
while(cntrlReg.Bits.update != 0)
{
Debug(1, "start_status(): Update Wait: card #%d\n", card);
taskDelay(0);
epicsThreadSleep(quantum);
cntrlReg.All = pmotor->control.cntrlReg;
};
@@ -289,7 +293,7 @@ static void start_status(int card)
while(cntrlReg.Bits.update != 0)
{
Debug(1, "start_status(): Update Wait: card #%d\n", index);
taskDelay(0);
epicsThreadSleep(quantum);
cntrlReg.All = pmotor->control.cntrlReg;
};
@@ -437,7 +441,7 @@ static int set_status(int card, int signal)
/* Wait for data area update to complete on card */
while (cntrlReg.All & pmotor->control.cntrlReg)
taskDelay(0);
epicsThreadSleep(quantum);
pmotorData = &pmotor->data[signal];
@@ -491,8 +495,8 @@ static int set_status(int card, int signal)
{
status.Bits.RA_PLUS_LS = 1; /* Turn on both limit switches. */
status.Bits.RA_MINUS_LS = 1;
logMsg((char *) "Drive power failure at VME58 card#%d motor#%d\n",
card, signal, 0, 0, 0, 0);
errlogPrintf("Drive power failure at VME58 card#%d motor#%d\n",
card, signal);
}
}
}
@@ -521,7 +525,7 @@ static int set_status(int card, int signal)
/* Copy device directive to buffer. */
strncpy(buffer, nodeptr->postmsgptr, size);
buffer[size] = NULL;
buffer[size] = (char) NULL;
if (strncmp(buffer, "@PUT(", 5) != 0)
goto errorexit;
@@ -591,21 +595,19 @@ static RTN_STATUS send_mess(int card, char const *com, char *name)
if (strlen(com) > MAX_MSG_SIZE)
{
logMsg((char *) "drvOms58.cc:send_mess(); message size violation.\n",
0, 0, 0, 0, 0, 0);
errlogPrintf("drvOms58.cc:send_mess(); message size violation.\n");
return (ERROR);
}
/* Check that card exists */
if (!motor_state[card])
{
logMsg((char *) "drvOms58.cc:send_mess() - invalid card #%d\n", card,
0, 0, 0, 0, 0);
errlogPrintf("drvOms58.cc:send_mess() - invalid card #%d\n", card);
return (ERROR);
}
pmotor = (struct vmex_motor *) motor_state[card]->localaddr;
Debug(9, "send_mess: pmotor = %x\n", (uint_t) pmotor);
Debug(9, "send_mess: pmotor = %x\n", (epicsUInt32) pmotor);
return_code = OK;
@@ -649,12 +651,14 @@ static RTN_STATUS send_mess(int card, char const *com, char *name)
while (pmotor->outPutIndex != pmotor->outGetIndex)
{
epicsInt16 deltaIndex;
Debug(5, "send_mess: Waiting for ack: index delta=%d\n",
(((deltaIndex = pmotor->outPutIndex - pmotor->outGetIndex) < 0) ?
BUFFER_SIZE + deltaIndex : deltaIndex));
taskDelay(0);
#ifdef DEBUG
epicsInt16 deltaIndex, delta;
deltaIndex = pmotor->outPutIndex - pmotor->outGetIndex;
delta = (deltaIndex < 0) ? BUFFER_SIZE + deltaIndex : deltaIndex;
Debug(5, "send_mess: Waiting for ack: index delta=%d\n", delta);
#endif
epicsThreadSleep(quantum);
};
return (return_code);
@@ -825,9 +829,9 @@ int oms58Setup(int num_cards, /* maximum number of cards in rack */
oms58_num_cards = num_cards;
/* Check range and boundary(4K) on base address */
if (addrs > (void *) 0xF000 || ((uint32_t) addrs & 0xFFF))
if (addrs > (void *) 0xF000 || ((epicsUInt32) addrs & 0xFFF))
{
Debug(1, "omsSetup: invalid base address 0x%X\n", (uint_t) addrs);
Debug(1, "omsSetup: invalid base address 0x%X\n", (epicsUInt32) addrs);
oms_addrs = (char *) OMS_NUM_ADDRS;
}
else
@@ -873,7 +877,7 @@ static void motorIsr(int card)
if (card >= total_cards || (pmotorState = motor_state[card]) == NULL)
{
logMsg((char *) "Invalid entry-card #%d\n", card, 0, 0, 0, 0, 0);
errlogPrintf("Invalid entry-card #%d\n", card);
return;
}
@@ -907,8 +911,8 @@ static void motorIsr(int card)
#ifdef DEBUG
if (drvOms58debug >= 10)
logMsg((char *) "entry card #%d,status=0x%X,done=0x%X\n", card,
statusBuf.All, doneFlags, 0, 0, 0);
errlogPrintf("entry card #%d,status=0x%X,done=0x%X\n", card,
statusBuf.All, doneFlags);
#endif
/* Motion done handling */
@@ -917,12 +921,12 @@ static void motorIsr(int card)
motor_sem.signal();
if (statusBuf.Bits.cmndError)
logMsg((char *) "command error detected by motorISR() on card %d\n",
card, 0, 0, 0, 0, 0);
errlogPrintf("command error detected by motorISR() on card %d\n", card);
}
static int motorIsrSetup(int card)
{
#ifdef vxWorks
volatile struct vmex_motor *pmotor;
long status;
CNTRL_REG cntrlBuf;
@@ -963,6 +967,7 @@ static int motorIsrSetup(int card)
cntrlBuf.Bits.intReqEna = 1;
pmotor->control.cntrlReg = cntrlBuf.All;
#endif
return (OK);
}
@@ -985,6 +990,7 @@ static int motor_init()
void *probeAddr;
tok_save = NULL;
quantum = epicsThreadSleepQuantum();
/* Check for setup */
if (oms58_num_cards <= 0)
@@ -1001,7 +1007,7 @@ static int motor_init()
total_cards = oms58_num_cards;
if (rebootHookAdd((FUNCPTR) oms_reset) == ERROR)
if (epicsAtExit(oms_reset, NULL) == ERROR)
Debug(1, "vme58 motor_init: oms_reset disabled\n");
for (card_index = 0; card_index < oms58_num_cards; card_index++)
@@ -1015,16 +1021,18 @@ static int motor_init()
startAddr = (int8_t *) probeAddr;
endAddr = startAddr + OMS_BRD_SIZE;
Debug(9, "motor_init: devNoResponseProbe() on addr 0x%x\n", (uint_t) probeAddr);
Debug(9, "motor_init: devNoResponseProbe() on addr 0x%x\n", (epicsUInt32) probeAddr);
/* Scan memory space to assure card id */
#ifdef vxWorks
do
{
status = devNoResponseProbe(OMS_ADDRS_TYPE, (unsigned int) startAddr, 2);
startAddr += 0x100;
} while (PROBE_SUCCESS(status) && startAddr < endAddr);
#endif
if (PROBE_SUCCESS(status))
{
#ifdef vxWorks
status = devRegisterAddress(__FILE__, OMS_ADDRS_TYPE,
(size_t) probeAddr, OMS_BRD_SIZE,
(volatile void **) &localaddr);
@@ -1035,8 +1043,8 @@ static int motor_init()
(unsigned int) probeAddr);
return (ERROR);
}
Debug(9, "motor_init: localaddr = %x\n", (uint_t) localaddr);
#endif
Debug(9, "motor_init: localaddr = %x\n", (epicsUInt32) localaddr);
pmotor = (struct vmex_motor *) localaddr;
Debug(9, "motor_init: malloc'ing motor_state\n");
@@ -1078,7 +1086,7 @@ static int motor_init()
/* Test if motor has an encoder. */
send_mess(card_index, ENCODER_QUERY, oms58_axis[motor_index]);
while (!pmotor->control.doneReg) /* Wait for command to complete. */
taskDelay(1);
epicsThreadSleep(quantum * 2.0);
statusReg.All = pmotor->control.statusReg;
@@ -1098,7 +1106,7 @@ static int motor_init()
send_mess(card_index, PID_QUERY, oms58_axis[motor_index]);
do /* Wait for command to complete. */
{
taskDelay(1);
epicsThreadSleep(quantum);
statusReg.All = pmotor->control.statusReg;
} while(statusReg.Bits.done == 0);
@@ -1141,7 +1149,7 @@ static int motor_init()
recv_mess(card_index, axis_pos, 1);
}
Debug(2, "motor_init: Init Address=0x%08.8x\n", (uint_t) localaddr);
Debug(2, "motor_init: Init Address=0x%8.8x\n", (epicsUInt32) localaddr);
Debug(3, "motor_init: Total encoders = %d\n", total_encoders);
Debug(3, "motor_init: Total with PID = %d\n", total_pidcnt);
}
@@ -1171,11 +1179,10 @@ static int motor_init()
/* Disables interrupts. Called on CTL X reboot. */
static void oms_reset()
static void oms_reset(void *arg)
{
short card;
volatile struct vmex_motor *pmotor;
short status;
CNTRL_REG cntrlBuf;
for (card = 0; card < total_cards; card++)
@@ -1183,12 +1190,9 @@ static void oms_reset()
if (motor_state[card] != NULL)
{
pmotor = (struct vmex_motor *) motor_state[card]->localaddr;
if (vxMemProbe((char *) pmotor, READ, sizeof(short), (char *) &status) == OK)
{
cntrlBuf.All = pmotor->control.cntrlReg;
cntrlBuf.Bits.intReqEna = 0;
pmotor->control.cntrlReg = cntrlBuf.All;
}
cntrlBuf.All = pmotor->control.cntrlReg;
cntrlBuf.Bits.intReqEna = 0;
pmotor->control.cntrlReg = cntrlBuf.All;
}
}
}