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"DSHIFT" problem resolved; read positions from DPRAM.

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This commit is contained in:
Ron Sluiter
2004-08-30 17:12:48 +00:00
parent c07939a5c7
commit 58094d3a61
1 changed files with 47 additions and 48 deletions
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motorApp/OmsSrc/drvMAXv.cc
+47 -48
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@@ -1,10 +1,10 @@
/*
FILENAME... drvMAXv.cc
USAGE... Motor record driver level support for OMS model VME58.
USAGE... Motor record driver level support for OMS model MAXv.
Version: $Revision: 1.1 $
Version: $Revision: 1.2 $
Modified By: $Author: sluiter $
Last Modified: $Date: 2004-06-21 21:42:30 $
Last Modified: $Date: 2004-08-30 17:12:48 $
*/
/*
@@ -74,8 +74,8 @@ extern "C" {
#define PROBE_SUCCESS(STATUS) ((STATUS)==S_dev_addressOverlap)
/* jps: INFO messages - add RV and move QA to top */
#define ALL_INFO "QA RP RE EA" /* jps: add RV */
#define AXIS_INFO "QA RP" /* jps: add RV */
#define ALL_INFO "QA EA"
#define AXIS_INFO "QA"
#define ENCODER_QUERY "EA ID"
#define AXIS_CLEAR "CA" /* Clear done of addressed axis */
#define DONE_QUERY "RA" /* ?? Is this needed?? */
@@ -114,8 +114,8 @@ static long report(int level);
static long init();
static void query_done(int, int, struct mess_node *);
static int set_status(int card, int signal);
RTN_STATUS send_mess(int card, char const *com, char c);
int recv_mess(int, char *, int);
static RTN_STATUS send_mess(int card, char const *com, char c);
static int recv_mess(int, char *, int);
static void motorIsr(int card);
static int motor_init();
static void MAXv_reset();
@@ -199,11 +199,6 @@ static void query_done(int card, int axis, struct mess_node *nodeptr)
send_mess(card, DONE_QUERY, MAXv_axis[axis]);
recv_mess(card, buffer, 1);
#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. */
#endif
if (nodeptr->status.Bits.RA_PROBLEM)
send_mess(card, AXIS_STOP, MAXv_axis[axis]);
}
@@ -287,14 +282,14 @@ static int set_status(int card, int signal)
{
/* get 4 peices of info from axis */
send_mess(card, ALL_INFO, MAXv_axis[signal]);
recv_mess(card, q_buf, 4);
recv_mess(card, q_buf, 2);
got_encoder = true;
}
else
{
/* get 2 peices of info from axis */
send_mess(card, AXIS_INFO, MAXv_axis[signal]);
recv_mess(card, q_buf, 2);
recv_mess(card, q_buf, 1);
got_encoder = false;
}
@@ -335,33 +330,7 @@ static int set_status(int card, int signal)
}
break;
case 1: /* motor pulse count (position) */
sscanf(p, "%index", &motorData);
if (motorData == motor_info->position)
{
if (nodeptr != 0) /* Increment counter only if motor is moving. */
motor_info->no_motion_count++;
}
else
{
motor_info->no_motion_count = 0;
motor_info->position = motorData;
}
if (motor_info->no_motion_count > motionTO)
{
status.Bits.RA_PROBLEM = 1;
send_mess(card, AXIS_STOP, MAXv_axis[signal]);
motor_info->no_motion_count = 0;
errlogSevPrintf(errlogMinor, "Motor motion timeout ERROR on card: %d, signal: %d\n",
card, signal);
}
else
status.Bits.RA_PROBLEM = 0;
break;
case 2: /* encoder status */
case 1: /* encoder status */
en_stat = (struct encoder_status *) p;
status.Bits.EA_SLIP = (en_stat->slip_enable == 'E') ? 1 : 0;
@@ -375,6 +344,31 @@ static int set_status(int card, int signal)
}
}
/* motor pulse count (position) */
motorData = pmotor->cmndPos[signal];
if (motorData == motor_info->position)
{
if (nodeptr != 0) /* Increment counter only if motor is moving. */
motor_info->no_motion_count++;
}
else
{
motor_info->no_motion_count = 0;
motor_info->position = motorData;
}
if (motor_info->no_motion_count > motionTO)
{
status.Bits.RA_PROBLEM = 1;
send_mess(card, AXIS_STOP, MAXv_axis[signal]);
motor_info->no_motion_count = 0;
errlogSevPrintf(errlogMinor, "Motor motion timeout ERROR on card: %d, signal: %d\n",
card, signal);
}
else
status.Bits.RA_PROBLEM = 0;
/* Get encoder position */
motorData = pmotor->encPos[signal];
@@ -385,7 +379,7 @@ 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 VME58 card#%d motor#%d\n",
logMsg((char *) "Drive power failure at MAXv card#%d motor#%d\n",
card, signal, 0, 0, 0, 0);
}
}
@@ -475,7 +469,7 @@ errorexit: errMessage(-1, "Invalid device directive");
/* send a message to the OMS board */
/* send_mess() */
/*****************************************************/
RTN_STATUS send_mess(int card, char const *com, char inchar)
static RTN_STATUS send_mess(int card, char const *com, char inchar)
{
volatile struct MAXv_motor *pmotor;
epicsInt16 putIndex;
@@ -578,7 +572,7 @@ RTN_STATUS send_mess(int card, char const *com, char inchar)
* ENDFOR
*
*/
int recv_mess(int card, char *com, int amount)
static int recv_mess(int card, char *com, int amount)
{
volatile struct MAXv_motor *pmotor;
int itera;
@@ -835,7 +829,8 @@ static int motorIsrSetup(int card)
/* enable interrupt-when-done irq */
pmotor->status1_irq_enable = 0; /* ???????????? */
pmotor->status1_irq_enable = 0x1; /* Enable ALL interrupts. */
pmotor->status2_irq_enable = 0x0;
return (OK);
}
@@ -862,7 +857,7 @@ static int motor_init()
/* Check for setup */
if (MAXv_num_cards <= 0)
{
Debug(1, "motor_init: *OMS58 driver disabled* \n MAXvSetup() is missing from startup script.\n");
Debug(1, "motor_init: MAXv driver disabled\nMAXvSetup() is missing from startup script.\n");
return (ERROR);
}
@@ -875,7 +870,7 @@ static int motor_init()
total_cards = MAXv_num_cards;
if (rebootHookAdd((FUNCPTR) MAXv_reset) == ERROR)
Debug(1, "vme58 motor_init: MAXv_reset disabled\n");
Debug(1, "MAXv motor_init: MAXv_reset disabled\n");
for (card_index = 0; card_index < MAXv_num_cards; card_index++)
{
@@ -922,7 +917,11 @@ static int motor_init()
pmotorState->motor_in_motion = 0;
pmotorState->cmnd_response = false;
pmotor->IACK_vector = MAXvInterruptVector + card_index;
if (MAXvInterruptVector == 0)
pmotor->IACK_vector = 0;
else
pmotor->IACK_vector = MAXvInterruptVector + card_index;
pmotor->status1_flag.All = 0xFFFFFFFF;
pmotor->status2_flag = 0xFFFFFFFF;
/* Disable all interrupts */