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Added OMS board reboot detection test.

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This commit is contained in:
Ron Sluiter
2012-07-26 19:18:18 +00:00
parent b645e0ff9b
commit 43fff62788
2 changed files with 92 additions and 59 deletions
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motorApp/OmsSrc/drvOms.cc
+44 -12
View File
@@ -1,6 +1,6 @@
/*
FILENAME... drvOms.cc
USAGE... Driver level support for OMS models VME8, VME44 and VS4.
USAGE... Driver level support for OMS models VME8, VME44, VS4 and VX2.
Version: $Revision$
Modified By: $Author$
@@ -79,6 +79,9 @@ HeadURL: $URL$
* .16 04-12-10 rls - enable interrupts after encoder check in motor_init() so
* user does not see "motorIsr: command error" messages at
* iocInit time.
* .17 07-26-12 rls - Added reboot flag to IRQ control register. Driver
* sets IRQ_RESET_ID bit on; set_status() and send_mess()
* read IRQ register and disable board if flag is off.
*/
/*========================stepper motor driver ========================
@@ -206,6 +209,7 @@ struct drvOms_drvet
extern "C" {epicsExportAddress(drvet, drvOms);}
static struct thread_args targs = {SCAN_RATE, &oms_access, 0.010};
static char rebootmsg[] = "\n\n*** OMS card #%d Disabled *** Reboot Detected.\n\n";
/*----------------functions-----------------*/
@@ -257,11 +261,27 @@ static int set_status(int card, int signal)
int rtn_state;
bool ls_active = false;
msta_field status;
struct controller *pmotorState;
struct vmex_motor *pmotor;
motor_info = &(motor_state[card]->motor_info[signal]);
if ((pmotorState = motor_state[card]) == NULL ||
(pmotor = (struct vmex_motor *) pmotorState->localaddr) == NULL)
return(rtn_state = 1); /* End move. */
motor_info = &(pmotorState->motor_info[signal]);
nodeptr = motor_info->motor_motion;
status.All = motor_info->status.All;
if ((pmotor->control & IRQ_RESET_ID) != 0x01) /* Test if board has rebooted. */
{
errlogPrintf(rebootmsg, card);
status.Bits.RA_PROBLEM = 1;
motor_info->status.All = status.All;
/* Disable board. */
motor_state[card] = (struct controller *) NULL;
return(rtn_state = 1); /* End move. */
}
if (motor_state[card]->motor_info[signal].encoder_present == YES)
{
/* get 4 peices of info from axis */
@@ -440,6 +460,8 @@ static RTN_STATUS send_mess(int card, char const *com, char *name)
{
char outbuf[MAX_MSG_SIZE];
RTN_STATUS return_code;
volatile struct controller *pmotorState;
volatile struct vmex_motor *pmotor;
if (strlen(com) > MAX_MSG_SIZE)
{
@@ -448,12 +470,22 @@ static RTN_STATUS send_mess(int card, char const *com, char *name)
}
/* Check that card exists */
if (!motor_state[card])
if ((pmotorState = motor_state[card]) == NULL)
{
errlogPrintf("drvOms.cc:send_mess() - invalid card #%d\n", card);
return(ERROR);
}
pmotor = (struct vmex_motor *) pmotorState->localaddr;
if ((pmotor->control & IRQ_RESET_ID) != 0x01) /* Test if board has rebooted. */
{
errlogPrintf(rebootmsg, card);
/* Disable board. */
motor_state[card] = (struct controller *) NULL;
return(ERROR);
}
/* Check/Clear command errors */
omsError(card);
@@ -689,7 +721,8 @@ static RTN_STATUS omsPut(int card, char *pmess)
struct irqdatastr *irqdata;
int key, msgsize;
pmotorState = motor_state[card];
if ((pmotorState = motor_state[card]) == NULL)
return(ERROR);
irqdata = (struct irqdatastr *) pmotorState->DevicePrivate;
pmotor = (struct vmex_motor *) pmotorState->localaddr;
msgsize = strlen(pmess);
@@ -902,7 +935,7 @@ static int motorIsrEnable(int card)
"Can't connect to vector %d\n",
omsInterruptVector + card);
irqdata->irqEnable = FALSE; /* Interrupts disable on card */
pmotor->control = 0;
pmotor->control = IRQ_RESET_ID;
return(ERROR);
}
@@ -914,7 +947,7 @@ static int motorIsrEnable(int card)
"Can't enable enterrupt level %d\n",
omsInterruptLevel);
irqdata->irqEnable = FALSE; /* Interrupts disable on card */
pmotor->control = 0;
pmotor->control = IRQ_RESET_ID;
return(ERROR);
}
}
@@ -935,7 +968,7 @@ static int motorIsrEnable(int card)
cardStatus = pmotor->status;
/* enable interrupt-when-done and input-buffer-full interrupts */
pmotor->control = IRQ_ENABLE_ALL;
pmotor->control = (IRQ_ENABLE_ALL | IRQ_RESET_ID);
return(OK);
}
@@ -953,11 +986,10 @@ static void motorIsrDisable(int card)
pmotor = (struct vmex_motor *) (pmotorState->localaddr);
/* Disable interrupts */
pmotor->control = 0;
pmotor->control = IRQ_RESET_ID;
#ifdef vxWorks
status = pdevLibVirtualOS->pDevDisconnectInterruptVME(
omsInterruptVector + card, (void (*)(void *)) motorIsr);
status = pdevLibVirtualOS->pDevDisconnectInterruptVME(omsInterruptVector + card, (void (*)(void *)) motorIsr);
#endif
if (!RTN_SUCCESS(status))
@@ -1136,7 +1168,7 @@ static int motor_init()
irqdata = (struct irqdatastr *) malloc(sizeof(struct irqdatastr));
pmotorState->DevicePrivate = irqdata;
irqdata->irqEnable = FALSE;
pmotor->control = 0;
pmotor->control = IRQ_RESET_ID;
send_mess(card_index, "EF", (char) NULL);
send_mess(card_index, ERROR_CLEAR, (char) NULL);
@@ -1237,7 +1269,7 @@ static void oms_reset(void *arg)
if (motor_state[card] != NULL)
{
pmotor = (struct vmex_motor *) motor_state[card]->localaddr;
pmotor->control = 0; /* Disable all interrupts. */
pmotor->control = IRQ_RESET_ID; /* Disable all interrupts. */
}
}
}
motorApp/OmsSrc/drvOms.h
+48 -47
View File
@@ -1,11 +1,11 @@
/*
FILENAME... drvOms.h
FILENAME... drvOms.h
USAGE... This file contains OMS driver "include" information that is
specific to OMS models VME8 and VME44.
specific to OMS models VME8 and VME44.
Version: $Revision$
Modified By: $Author$
Last Modified: $Date$
Version: $Revision$
Modified By: $Author$
Last Modified: $Date$
*/
/*
@@ -19,26 +19,26 @@ Last Modified: $Date$
* and (W-31-109-ENG-38) at Argonne National Laboratory.
*
* Initial development by:
* The Controls and Automation Group (AT-8)
* Ground Test Accelerator
* Accelerator Technology Division
* Los Alamos National Laboratory
* The Controls and Automation Group (AT-8)
* Ground Test Accelerator
* Accelerator Technology Division
* Los Alamos National Laboratory
*
* Co-developed with
* The Controls and Computing Group
* Accelerator Systems Division
* Advanced Photon Source
* Argonne National Laboratory
* The Controls and Computing Group
* Accelerator Systems Division
* Advanced Photon Source
* Argonne National Laboratory
*
* Modification Log:
* -----------------
* .00 10-23-03 rls - VX2 spurious interrupt fix; enable all interrupts, including
* transmit buffer empty.
* transmit buffer empty.
* .01 10-28-03 rls - moved OMS specific "irqdatastr" from motordrvCom.h to here.
*/
#ifndef INCdrvOmsh
#define INCdrvOmsh 1
#ifndef INCdrvOmsh
#define INCdrvOmsh 1
#include "drvOmsCom.h"
#include "epicsRingBytes.h"
@@ -47,39 +47,40 @@ Last Modified: $Date$
* VME8/44 default profile
*/
#define OMS_NUM_CARDS 8
#define OMS_NUM_CHANNELS 8
#define OMS_NUM_ADDRS 0xFC00
#define OMS_BRD_SIZE 0x10 /* card address boundary */
#define OMS_RESP_Q_SZ 0x100 /* maximum oms response message size */
#define OMS_NUM_CARDS 8
#define OMS_NUM_CHANNELS 8
#define OMS_NUM_ADDRS 0xFC00
#define OMS_BRD_SIZE 0x10 /* card address boundary */
#define OMS_RESP_Q_SZ 0x100 /* maximum oms response message size */
/* status register */
#define STAT_IRQ 0x80
#define STAT_TRANS_BUF_EMPTY 0x40
#define STAT_INPUT_BUF_FULL 0x20
#define STAT_DONE 0x10
#define STAT_OVERTRAVEL 0x08
#define STAT_ENCODER_REQ 0x04
#define STAT_UNUSED 0x02
#define STAT_ERROR 0x01
#define STAT_IRQ 0x80
#define STAT_TRANS_BUF_EMPTY 0x40
#define STAT_INPUT_BUF_FULL 0x20
#define STAT_DONE 0x10
#define STAT_OVERTRAVEL 0x08
#define STAT_ENCODER_REQ 0x04
#define STAT_INIT 0x02
#define STAT_ERROR 0x01
/* done flag register */
#define DONE_X 0x01
#define DONE_Y 0x02
#define DONE_Z 0x04
#define DONE_T 0x08
#define DONE_U 0x10
#define DONE_V 0x20
#define DONE_R 0x40
#define DONE_S 0x80
#define DONE_X 0x01
#define DONE_Y 0x02
#define DONE_Z 0x04
#define DONE_T 0x08
#define DONE_U 0x10
#define DONE_V 0x20
#define DONE_R 0x40
#define DONE_S 0x80
/* interrupt control register */
#define IRQ_ENABLE 0x80
#define IRQ_TRANS_BUF 0x40
#define IRQ_INPUT_BUF 0x20
#define IRQ_DONE 0x10
#define IRQ_ENABLE 0x80
#define IRQ_TRANS_BUF 0x40
#define IRQ_INPUT_BUF 0x20
#define IRQ_DONE 0x10
#define IRQ_RESET_ID 0x01
#define IRQ_ENABLE_ALL (IRQ_ENABLE|IRQ_TRANS_BUF|IRQ_INPUT_BUF|IRQ_DONE)
#define IRQ_ENABLE_ALL (IRQ_ENABLE|IRQ_TRANS_BUF|IRQ_INPUT_BUF|IRQ_DONE)
struct vmex_motor
{
@@ -96,14 +97,14 @@ struct vmex_motor
epicsUInt8 unused5[6];
};
struct irqdatastr /* Used only for VME44. */
struct irqdatastr /* Used only for VME44. */
{
/* Interrupt Handling control elements */
int irqErrno; /* Error indicator from isr */
int irqErrno; /* Error indicator from isr */
epicsUInt8 irqEnable;
epicsRingBytesId recv_rng; /* message receiving control */
epicsRingBytesId recv_rng; /* message receiving control */
epicsEvent *recv_sem;
epicsRingBytesId send_rng; /* message transmitting control */
epicsRingBytesId send_rng; /* message transmitting control */
};
#endif /* INCdrvOmsh */
#endif /* INCdrvOmsh */