Added board reboot error check.

motorApp/OmsSrc/drvOms58.cc

@@ -109,6 +109,9 @@ HeadURL:        $URL$
  * .37  02-05-09 rls - Have start_status() start ALL updates before waiting.
  * .38  06-18-09 rls - Make oms58Setup() error messages more prominent.
  * .39  03-15-10 rls - sprintf() not callable from any OS ISR.
+ * .40  01-26-11 rls - added reboot flag to DPRAM R/W reserved area. Driver
+ *                     sets flag to 0x4321; set_status() disables board if flag
+ *                     does not read 0x4321.
  *
  */
 
@@ -226,6 +229,8 @@ struct drvOms58_drvet
 
 extern "C" {epicsExportAddress(drvet, drvOms58);}
 
+static char rebootmsg[] = "\n***VME58 card #%d Disabled*** Reboot Detected.\n\n";
+
 static struct thread_args targs = {SCAN_RATE, &oms58_access, 0.000};
 
 /*----------------functions-----------------*/
@@ -416,6 +421,17 @@ static int set_status(int card, int signal)
     pmotor = (struct vmex_motor *) motor_state[card]->localaddr;
     status.All = motor_info->status.All;
 
+    if (pmotor->rebootind != 0x4321)    /* Test if board has rebooted. */
+    {
+        errlogPrintf(rebootmsg, card);
+        status.Bits.RA_PROBLEM = 1;
+        motor_info->status.All = status.All;
+        send_mess(card, STOP_ALL, (char) NULL);
+        /* Disable board. */
+        motor_state[card] = (struct controller *) NULL;
+        return(rtn_state = 1); /* End move. */
+    }
+
     if (motor_info->encoder_present == YES)
     {
         /* get 4 peices of info from axis */
@@ -1217,6 +1233,8 @@ static int motor_init()
                     errPrintf(0, __FILE__, __LINE__, "Interrupts Disabled!\n");
             }
 
+            pmotor->rebootind = 0x4321; /* Set reboot indicator. */
+
             start_status(card_index);
             for (motor_index = 0; motor_index < total_axis; motor_index++)
             {

motorApp/OmsSrc/drvOms58.h

@@ -6,6 +6,7 @@ USAGE...        OMS driver level "include" information that is specific to OMS
 Version:        $Revision$
 Modified By:    $Author$
 Last Modified:  $Date$
+HeadURL:        $URL$
 */
 
 /*
@@ -46,6 +47,7 @@ Last Modified:  $Date$
  * .09  05-09-97 jps increase maximum card count to 15
  * .10  08-22-01 rls "int" type specifications for all bit-fields.
  * .11  03-21-05 rls replace VxWorks specific "uint16_t" with "epicsUInt16".
+ * .12  01-26-11 rls added reboot flag in DPRAM R/W reserved area.
  *  
  */
 
@@ -247,17 +249,19 @@ typedef struct
 
 /* OMS VME dual port memory map */
 struct vmex_motor
-{
-    epicsInt16 inPutIndex;
-    epicsInt16 outGetIndex;
-    epicsInt16 inBuffer[BUFFER_SIZE];
-    epicsInt16 reserved0[254];
-    MOTOR_DATA_REGS data[OMS_NUM_CHANNELS];
-    epicsInt16 outPutIndex;
-    epicsInt16 inGetIndex;
-    epicsInt16 outBuffer[BUFFER_SIZE];
-    epicsInt16 reserved1[750];
-    MOTOR_CNTRL_REGS control;
+{                                               /* Offset */
+    epicsInt16 inPutIndex;                      /* 0x0000 */
+    epicsInt16 outGetIndex;                     /* 0x0002 */
+    epicsInt16 inBuffer[BUFFER_SIZE];           /* 0x0004 */
+    epicsInt16 reserved0[254];                  /* 0x0204 */
+    MOTOR_DATA_REGS data[OMS_NUM_CHANNELS];     /* 0x0400 */
+    epicsInt16 outPutIndex;                     /* 0x0800 */
+    epicsInt16 inGetIndex;                      /* 0x0802 */
+    epicsInt16 outBuffer[BUFFER_SIZE];          /* 0x0804 */
+    epicsInt16 rebootind;                       /* 0x0A04 - used by driver to
+                                                 * test for board reboot. */
+    epicsInt16 reserved1[749];                  /* 0x0A06 */
+    MOTOR_CNTRL_REGS control;                   /* 0x0FE0 */
 };
 
 #endif	/* INCdrvOms58h */