diff --git a/README b/README index f8ec00eb..d482d705 100644 --- a/README +++ b/README @@ -1,13 +1,14 @@ -Motor Record R6-5 Release Notice +Motor Record R6-6 Release Notice =============================================================================== The motor record software in this release is compatible with EPICS base -R3-14-10. +R3-14-11. See the /configure/RELEASE file for support module version +dependencies. Contents ======== - + This contains the following motor record related items: - motor record and device driver database definitions. - the record level support library. @@ -137,8 +138,8 @@ Modification Log from R6-5 to R6-6 ================================== 1) Aerotech Ensemble asyn motor driver would crash the IOC at boot-up if the - Ensemble was not power-ed up and able to communicate. - + Ensemble was not powered up and able to communicate. + Files modified: drvEnsembleAsyn.cc 2) Aerotech Ensemble EOT limit switch status was not available except via an @@ -147,6 +148,36 @@ Modification Log from R6-5 to R6-6 Files modified: drvEnsembleAsyn.cc; add Parameters.h +3) Jens Eden's (PTB) added support for the OMS MAXnet motor controller with an + asyn motor port driver. + + Files added to OmsSrc: drvMAXnetAsyn.h, drvMAXnetAsyn.cc, README_MAXnet + +4) For OMS MAXv firmware ver:1.33 and above, the EPICS driver reads the MAXv's + Watchdog Timeout Counter at bootup, and with every motor status update. + If the Counter is nonzero, an error message is sent to both the errlog + task and the console. Since a watchdog timer trip indicates that the + MAXv has rebooted and no longer has valid motor positions, the + controller is disabled and is no longer available to EPICS until after + the VME crate has been power cycled. Other MAXv boards in the system + are unaffected by this scenario. + + To better communicate this problem to the user, several medm displays + have been changed. Small displays (motorx_tiny.adl, motorx.adl) will + show a yellow border around their position readback values. Larger + displays (motorx_more.adl, motorx_all.adl) will display the message + "Controller Error" in yellow. The following error message at the + console and/or in the errlog is definitive; + + "***MAXv card # Disabled*** Watchdog Timeout CTR =" + + motor_end_trans_com() was modified to set RA_PROBLEM rather than + CNTRL_COMM_ERR when a NULL motor_state[] pointer is detected. + + Files modified: motordevCom.cc, drvMAXv.cc, motorx_tiny.adl, + motorx.adl, motorx_more.adl + + Modification Log from R6-4 to R6-5 ================================== @@ -170,9 +201,9 @@ Modification Log from R6-4 to R6-5 motorAxisSetDouble(). 4) A problem was introduced in R6-4 (fixed in R6-4-2) of the old motor record - device drive architecture. If during the move of one or motors the - motor task did not issue an OS delay during status updates, it could - potentially not respond to any further motor commands. + device drive architecture. If during the move of one or more motors + the motor task did not issue an OS delay during status updates, it + could potentially not respond to any further motor commands. Files modified: - MotorSrc/motordrvCom.cc; always check for incoming messages. @@ -260,7 +291,7 @@ Modification Log from R6-4 to R6-5 Files modified: devPM500.cc, drvPM500.cc, motorRecord.dbd -17) Mark Rivers made numerous changes to elminate 64-bit compiler warning +17) Mark Rivers made numerous changes to eliminate 64-bit compiler warning messages. 18) Applied item #11 above to the Newport XPS driver. @@ -321,7 +352,7 @@ Modification Log from R6-4 to R6-5 29) Added synchronize field (SYNC) that sets VAL/DVAL/RVAL to RBV/DRBV/RRBV. Files modified: motorRecord.cc, motorRecord.dbd - + Modification Log from R6-3 to R6-4 @@ -467,12 +498,12 @@ Modification Log from R6-3 to R6-4 12) Fixed OMS MAXv bug with incorrect scaling of PID parameters reported by Jerome Hosselet (CNRS). - + File modified: OmsSrc/devOmsCom.cc 13) motorUtilAux.cc was not declaring pdbbase correctly. Consequently, link errors were occuring with Visual C++. - + File modified: MotorSrc/motorUtilAux.cc 14) With previous releases, motor_task() would not allow the next polling @@ -598,13 +629,13 @@ Modification Log from R6-2 to R6-3 status" that occurred only with version 2.35 firmware is removed. Finally, start_status() is modified to wait for DPRAM update before exiting. - + File modified: motorApp/OmsSrc/drvOms58.cc 9) Raised the precedence of INIT string in motor_init_record_com() for controllers (PI C-848) that require an INIT string primitive before a LOAD_POS can be executed. - + File modified: motorApp/MotorSrc/motordevCom.cc 10) Numerous fixes for the PI C-848 controller. @@ -831,7 +862,7 @@ Modification Log from R5-8 to R5-9 support". This is a preliminary release of work in progress. Do not use "asynMotor" device support at this time, except for development and testing purposes only. - + Directory added - MotorSimSrc; motor simulation software. Files added - /motorApp/MotorSrc/devMotorAsyn.c - /motorApp/MotorSrc/drvMotorAsyn.c @@ -1055,7 +1086,7 @@ Modification Log from R5-6 to R5-7 This value is set in motordrvCom.h to 5 seconds. This helps prevent the "dev_NoInit (init_record_com: callback2 timeout" error message at motor record initialization. - + Files modified: - Added MAX_TIMEOUT to motordrvCom.h. - Reference MAX_TIMEOUT in motor_init_record_com() in motordevCom.cc. @@ -1203,7 +1234,7 @@ Modification Log from R5-3 to R5-4 5) Delta Tau PMAC device support was added. Files added: added the motorApp/DeltaTauSrc directory. - + Modification Log from R5-2 to R5-3 ================================== @@ -1633,7 +1664,7 @@ Modification Log from R4-4 to R4-5 3) For two CPU board configurations only (i.e., EPICS and IP satellite boards), erroneous timeouts occurred if the EPICS board booted much faster than the satellite board. - + File modified: CommSrc/serialIOMPF.cc; increased timeout from 2 to 10 seconds in call to msgQReceive() from serialIO(). @@ -2155,7 +2186,7 @@ Modification Log from V3-5 to R4-0 - Modified motor_init_record_com() in motordevCom.c so that a "Load Pos" command is issued only if the position from the controller is zero. - + 6) Consolidated common driver local variables in the motordrvComCode.h file. - Created motordrvComCode.h - Moved common local variables from drvOms.c, drvOms58.c, drvMM3000.c, @@ -2177,7 +2208,7 @@ Modification Log from V3-5 to R4-0 - initialized pointer to local initialized indicator in driver table. - set initialized indicator ON in init(). - + 8) Both the MM3000 and MM4000 device driver support could generate a bus error under the following conditions: 1) The user selected GPIB communication mode. @@ -2187,7 +2218,7 @@ Modification Log from V3-5 to R4-0 - Modified MM3000_build_trans() and MM4000_build_trans() in devMM3000.c and devMM4000.c, respectively, to test for NULL board pointer. - + 9) Eliminated MM3000 and MM4000 device driver "internal" offset. - Removed "offset" from MM3000_build_trans() and MM4000_build_trans() @@ -2377,4 +2408,3 @@ Modification Log from V3-5 to R4-0 1,000 to 5,000 bytes. Files modified: devSoftAux.c -