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- Moved MAXv firmware version storage from local drvMAXv.cc structure to wider access structure; "MAXvController".

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- Added (MAXvCntrl->fwver > 1.29) test to LOAD_POS code in oms_build_trans() to prevent "Command errors" on LPE command from earlier firmware.
This commit is contained in:
Ron Sluiter
2014-02-06 21:16:54 +00:00
parent 8a4fe8fa0c
commit 51d54168aa
4 changed files with 28 additions and 22 deletions
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motorApp/OmsSrc/devOmsCom.cc
+3 -2
View File
@@ -230,7 +230,8 @@ RTN_STATUS oms_build_trans(motor_cmnd command, double *parms, struct motorRecord
if (trans->state != BUILD_STATE)
return(rtnind = ERROR);
brdptr = (*trans->tabptr->card_array)[card];
if ((brdptr = (*trans->tabptr->card_array)[card]) == NULL) /* Test for disabled board. */
return(rtnind = ERROR);
if (strncmp(brdptr->ident, "MAXv", 4) == 0)
{
@@ -518,7 +519,7 @@ errorexit: errMessage(-1, "Invalid device directive");
break;
case LOAD_POS:
if ((MAXv == true) && (MAXvCntrl->typeID[signal] != PSO))
if ((MAXv == true) && (MAXvCntrl->typeID[signal] != PSO) && (MAXvCntrl->fwver > 1.29))
{
long int ref = NINT(parms[0]);
long int fdbk = ref;
motorApp/OmsSrc/drvMAXv.cc
+12 -10
View File
@@ -268,11 +268,6 @@ extern "C" {epicsExportAddress(drvet, drvMAXv);}
static struct thread_args targs = {SCAN_RATE, &MAXv_access, 0.000};
static struct MAXvbrdinfo /* MAXv board info. */
{
float fwver[MAXv_NUM_CARDS]; /* firmware version */
} MAXvdata;
static char wdctrmsg[] = "\n***MAXv card #%d Disabled*** Watchdog Timeout CTR %s\n\n";
static char norunmsg[] = "\n*** MAXv card #%d is NOT running *** status = 0x%x\n";
@@ -371,6 +366,9 @@ static int set_status(int card, int signal)
char *p, *tok_save;
struct axis_status *ax_stat;
struct encoder_status *en_stat;
struct controller *brdptr;
struct MAXvController *MAXvCntrl;
char q_buf[MAX_IDENT_LEN], outbuf[50];
int index;
bool ls_active = false;
@@ -386,7 +384,11 @@ static int set_status(int card, int signal)
pmotor = (struct MAXv_motor *) motor_state[card]->localaddr;
status.All = motor_info->status.All;
if (MAXvdata.fwver[card] >= 1.33)
if ((brdptr = motor_state[card]) == NULL) /* Test for board disabled. */
return(rtn_state = 1); /* End move. */
MAXvCntrl = (struct MAXvController *) brdptr->DevicePrivate;
if (MAXvCntrl->fwver >= 1.33)
{
send_recv_mess(card, "#WS", (char) NULL, q_buf, 1);
if (strcmp(q_buf, "=0") != 0)
@@ -585,7 +587,7 @@ errorexit: errMessage(-1, "Invalid device directive");
}
motor_info->status.All = status.All; /* Update status from local copy. */
return (rtn_state);
return(rtn_state);
}
/**************************************************
@@ -1243,13 +1245,13 @@ static int motor_init()
send_recv_mess(card_index, GET_IDENT, (char) NULL, (char *) pmotorState->ident, 1);
Debug(3, "Identification = %s\n", pmotorState->ident);
/* Save firmware version to static float array. */
/* Save firmware version. */
pos_ptr = strchr((char *)pmotorState->ident, ':');
sscanf(++pos_ptr, "%f", &MAXvdata.fwver[card_index]);
sscanf(++pos_ptr, "%f", &pvtdata->fwver);
wdtrip = false;
if (MAXvdata.fwver[card_index] >= 1.33)
if (pvtdata->fwver >= 1.33)
{
send_recv_mess(card_index, "#WS", (char) NULL, axis_pos, 1);
if (strcmp(axis_pos, "=0") != 0)
motorApp/OmsSrc/drvMAXv.h
+1
View File
@@ -65,6 +65,7 @@ enum MotorTypes {PSO, // Stepper; w/o encoder
struct MAXvController
{
MotorTypes typeID[8];
float fwver; /* firmware version */
epicsMutexId message_mutex;
};
motorApp/OmsSrc/drvMAXv_trajectory.cc
+12 -10
View File
@@ -260,11 +260,6 @@ extern "C" {epicsExportAddress(drvet, drvMAXv);}
static struct thread_args targs = {SCAN_RATE, &MAXv_access, 0.000};
static struct MAXvbrdinfo /* MAXv board info. */
{
float fwver[MAXv_NUM_CARDS]; /* firmware version */
} MAXvdata;
#define DISABLE_ON_WD_CTR 0
#if DISABLE_ON_WD_CTR
static char wdctrmsg[] = "\n***MAXv card #%d Disabled*** Watchdog Timeout CTR %s\n\n";
@@ -368,6 +363,9 @@ static int set_status(int card, int signal)
char *p, *tok_save;
struct axis_status *ax_stat;
struct encoder_status *en_stat;
struct controller *brdptr;
struct MAXvController *MAXvCntrl;
char q_buf[MAX_IDENT_LEN], outbuf[50];
int index;
bool ls_active = false;
@@ -381,7 +379,11 @@ static int set_status(int card, int signal)
pmotor = (struct MAXv_motor *) motor_state[card]->localaddr;
status.All = motor_info->status.All;
if (MAXvdata.fwver[card] >= 1.33)
if ((brdptr = motor_state[card]) == NULL) /* Test for board disabled. */
return(rtn_state = 1); /* End move. */
MAXvCntrl = (struct MAXvController *) brdptr->DevicePrivate;
if (MAXvCntrl->fwver >= 1.33)
{
/*send_mess(card, "#WS", (char) NULL); recv_mess(card, q_buf, 1);*/
send_recv_mess(card, "#WS", (char) NULL, q_buf, 1);
@@ -585,7 +587,7 @@ errorexit: errMessage(-1, "Invalid device directive");
}
motor_info->status.All = status.All; /* Update status from local copy. */
return (rtn_state);
return(rtn_state);
}
/**************************************************
@@ -1238,13 +1240,13 @@ static int motor_init()
send_recv_mess(card_index, GET_IDENT, (char) NULL, (char *) pmotorState->ident, 1);
Debug(3, "Identification = %s\n", pmotorState->ident);
/* Save firmware version to static float array. */
/* Save firmware version. */
pos_ptr = strchr((char *)pmotorState->ident, ':');
sscanf(++pos_ptr, "%f", &MAXvdata.fwver[card_index]);
sscanf(++pos_ptr, "%f", &pvtdata->fwver);
wdtrip = false;
if (MAXvdata.fwver[card_index] >= 1.33)
if (pvtdata->fwver >= 1.33)
{
/* send_mess(card_index, "#WS", (char) NULL); recv_mess(card_index, axis_pos, 1);*/
send_recv_mess(card_index, "#WS", (char) NULL, axis_pos, 1);