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Added Jens Eden (BESSY) modifications;

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- register iocsh commands.
- added USE_DEVLIB with RTEMS conditionial.
- replaced errlogPrintf in ISR with epicsInterruptContextMessage calls.
This commit is contained in:
Ron Sluiter
2007-06-06 18:50:41 +00:00
parent f7920a3ada
commit 5aadc1123e
1 changed files with 77 additions and 17 deletions
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motorApp/OmsSrc/drvMAXv.cc
+77 -17
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@@ -2,9 +2,9 @@
FILENAME... drvMAXv.cc
USAGE... Motor record driver level support for OMS model MAXv.
Version: $Revision: 1.12 $
Version: $Revision: 1.13 $
Modified By: $Author: sluiter $
Last Modified: $Date: 2007-03-22 21:42:35 $
Last Modified: $Date: 2007-06-06 18:50:41 $
*/
/*
@@ -53,6 +53,12 @@ Last Modified: $Date: 2007-03-22 21:42:35 $
* 05 05-02-05 rls - Bug fix for stale data delay; set delay = 10ms.
* 06 05-17-06 rls - Allow polling rate up to 1/epicsThreadSleepQuantum().
* - Protect against multiple MAXvSetup() calls.
* 07 06-05-07 rls - Added Jens Eden (BESSY) modifications;
* - register iocsh commands.
* - added USE_DEVLIB with RTEMS conditionial.
* - replaced errlogPrintf calls in ISR with
* epicsInterruptContextMessage calls.
*
*/
#include <string.h>
@@ -62,6 +68,8 @@ Last Modified: $Date: 2007-03-22 21:42:35 $
#include <devLib.h>
#include <dbAccess.h>
#include <epicsThread.h>
#include <epicsInterrupt.h>
#include <iocsh.h>
#include <epicsExit.h>
#include <cantProceed.h>
@@ -75,6 +83,11 @@ Last Modified: $Date: 2007-03-22 21:42:35 $
/* Define for return test on devNoResponseProbe() */
#define PROBE_SUCCESS(STATUS) ((STATUS)==S_dev_addressOverlap)
/* Are we using VME-Bus/devLib */
#if (defined(vxWorks) || defined(__rtems__))
#define USE_DEVLIB
#endif
/* jps: INFO messages - add RV and move QA to top */
#define ALL_INFO "QA EA"
#define AXIS_INFO "QA"
@@ -289,14 +302,14 @@ static int set_status(int card, int signal)
if (motor_info->encoder_present == YES)
{
/* get 4 peices of info from axis */
/* get 4 pieces of info from axis */
send_mess(card, ALL_INFO, MAXv_axis[signal]);
recv_mess(card, q_buf, 2);
got_encoder = true;
}
else
{
/* get 2 peices of info from axis */
/* get 2 pieces of info from axis */
send_mess(card, AXIS_INFO, MAXv_axis[signal]);
recv_mess(card, q_buf, 1);
got_encoder = false;
@@ -698,12 +711,12 @@ static char *readbuf(volatile struct MAXv_motor *pmotor, char *bufptr)
/* Configuration function for module_types data */
/* areas. MAXvSetup() */
/*****************************************************/
RTN_VALUES MAXvSetup(int num_cards, /* maximum number of cards in rack */
int addrs_type, /* VME address type; 16 - A16, 24 - A24 or 32 - A32. */
void *addrs, /* Base Address on 4K (0x1000) boundary. */
unsigned vector, /* noninterrupting(0), valid vectors(64-255) */
int int_level, /* interrupt level (1-6) */
int scan_rate) /* polling rate - 1/60 sec units */
RTN_VALUES MAXvSetup(int num_cards, /* maximum number of cards in rack */
int addrs_type, /* VME address type; 16 - A16, 24 - A24 or 32 - A32. */
unsigned int addrs, /* Base Address on 4K (0x1000) boundary. */
unsigned int vector, /* noninterrupting(0), valid vectors(64-255) */
int int_level, /* interrupt level (1-6) */
int scan_rate) /* polling rate - 1/60 sec units */
{
int itera;
char **strptr;
@@ -809,8 +822,10 @@ RTN_VALUES MAXvConfig(int card, /* number of card being configur
const char *initstr) /* initialization string */
{
if (card < 0 || card >= MAXv_num_cards)
{
errlogPrintf("MAXvConfig: invalid card %d\n", card);
return(ERROR);
}
if (strlen(initstr) > INITSTR_SIZE)
{
errlogPrintf("MAXvConfig: initialization string > %d bytes.\n", INITSTR_SIZE);
@@ -831,10 +846,12 @@ static void motorIsr(int card)
volatile struct controller *pmotorState;
volatile struct MAXv_motor *pmotor;
STATUS1 status1_flag;
static char errmsg[60];
if (card >= total_cards || (pmotorState = motor_state[card]) == NULL)
{
errlogPrintf("Invalid entry-card #%d\n", card);
sprintf(errmsg, "%s(%d): Invalid entry-card #%d.\n", __FILE__, __LINE__, card);
epicsInterruptContextMessage(errmsg);
return;
}
@@ -849,8 +866,10 @@ static void motorIsr(int card)
}
if (status1_flag.Bits.cmndError)
errlogPrintf("command error detected by motorISR() on card %d\n",
card);
{
sprintf(errmsg, "%s(%d): command error on card #%d.\n", __FILE__, __LINE__, card);
epicsInterruptContextMessage(errmsg);
}
if (status1_flag.Bits.text_response != 0) /* Don't clear this. */
status1_flag.Bits.text_response = 0;
@@ -868,7 +887,7 @@ static int motorIsrSetup(int card)
pmotor = (struct MAXv_motor *) (motor_state[card]->localaddr);
#ifdef vxWorks
#ifdef USE_DEVLIB
status = pdevLibVirtualOS->pDevConnectInterruptVME(
MAXvInterruptVector + card,
@@ -956,7 +975,7 @@ static int motor_init()
Debug(9, "motor_init: devNoResponseProbe() on addr 0x%x\n",
(epicsUInt32) probeAddr);
/* Scan memory space to assure card id */
#ifdef vxWorks
#ifdef USE_DEVLIB
do
{
status = devNoResponseProbe(MAXv_ADDRS_TYPE, (unsigned int) startAddr, 2);
@@ -965,7 +984,7 @@ static int motor_init()
#endif
if (PROBE_SUCCESS(status))
{
#ifdef vxWorks
#ifdef USE_DEVLIB
status = devRegisterAddress(__FILE__, MAXv_ADDRS_TYPE,
(size_t) probeAddr, MAXv_BRD_SIZE,
(volatile void **) &localaddr);
@@ -1147,3 +1166,44 @@ static void MAXv_reset(void *arg)
}
}
extern "C"
{
// Oms Setup arguments
static const iocshArg setupArg0 = {"Max. controller count", iocshArgInt};
static const iocshArg setupArg1 = {"VME address type", iocshArgInt};
static const iocshArg setupArg2 = {"Base Address on 4K (0x1000) boundary", iocshArgInt};
static const iocshArg setupArg3 = {"noninterrupting(0), valid vectors(64-255)", iocshArgInt};
static const iocshArg setupArg4 = {"interrupt level (1-6)", iocshArgInt};
static const iocshArg setupArg5 = {"polling rate - 1/60 sec units", iocshArgInt};
// Oms Config arguments
static const iocshArg configArg0 = {"Card being configured", iocshArgInt};
static const iocshArg configArg1 = {"initialization string", iocshArgString};
static const iocshArg * const OmsSetupArgs[6] = {&setupArg0, &setupArg1,
&setupArg2, &setupArg3, &setupArg4, &setupArg5};
static const iocshArg * const OmsConfigArgs[2] = {&configArg0, &configArg1};
static const iocshFuncDef setupMAXv = {"MAXvSetup", 6, OmsSetupArgs};
static const iocshFuncDef configMAXv = {"MAXvConfig", 2, OmsConfigArgs};
static void setupMAXvCallFunc(const iocshArgBuf *args)
{
MAXvSetup(args[0].ival, args[1].ival, args[2].ival, args[3].ival, args[4].ival, args[5].ival);
}
static void configMAXvCallFunc(const iocshArgBuf *args)
{
MAXvConfig(args[0].ival, args[1].sval);
}
static void OmsMAXvRegister(void)
{
iocshRegister(&setupMAXv, setupMAXvCallFunc);
iocshRegister(&configMAXv, configMAXvCallFunc);
}
epicsExportRegistrar(OmsMAXvRegister);
} // extern "C"