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- re-formated Mod log.

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- Terminate all commands with a ';'.
- More than one command with a response not allowed when terminated with a ';'. Broke "QA EA" into two commands.
- Fix for wrong command intermittently displayed from Command Error message. motorIsr() saves the message in a separate static buffer.
This commit is contained in:
Ron Sluiter
2014-08-19 14:18:35 +00:00
parent ea2616382d
commit 60339fb4df
1 changed files with 39 additions and 38 deletions
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motorApp/OmsSrc/drvMAXv.cc
+39 -38
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@@ -39,69 +39,64 @@ HeadURL: $URL$
* Verified with MAXv firmware:
* - ver:1.25
* - ver:1.29 (has ECO #1432; fixes initialization problem).
* - ver:1.31 (fixes DPRAM encoder position data problem when using
* mixed motor types.)
* - ver:1.31 (fixes DPRAM encoder position data problem when using mixed motor types.)
* - ver:1.33, FPGA:B2:A6 BOOT:1.2 (Watchdog Timeout Counter added)
* - ver:1.34, FPGA:03:A6 BOOT:1.3
* - ver:1.41 & 1.42, suffers from having limit switches disabled at
* power-up.
* - ver:1.41 & 1.42, suffers from having limit switches disabled at power-up.
* - ver:1.44, No known problems.
* - ver:1.45, limit switches are disabled by default.
*
* Modification Log:
* -----------------
* 01 04-05-04 rls Copied from drvOms58.cc
* 01 04-05-04 rls - Copied from drvOms58.cc
* 02 09-20-04 rls - support for 32axes/controller.
* - added MAXvConfig() with initilization string. Axis type
* MUST be set before iocInit is called.
* - added MAXvConfig() with initilization string. Axis type MUST be set before iocInit is called.
* 03 12-14-04 rls - MS Visual C compiler support.
* - eliminate calls to devConnectInterrupt() due to C++
* problems with devLib.h; i.e. "sorry, not implemented:
* `tree_list' not supported..." compiler error message.
* - eliminate calls to devConnectInterrupt() due to C++ problems with devLib.h; i.e. "sorry, not
* implemented: `tree_list' not supported..." compiler error message.
* 04 03-21-05 rls - Make MAXv OSI.
* 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.
* - register iocsh commands.
* - added USE_DEVLIB with RTEMS conditionial.
* - replaced errlogPrintf calls in ISR with epicsInterruptContextMessage calls.
* 08 08-20-07 rls - Make send_mess() and recv_mess() non-global.
* - removed unneeded stub start_status().
* 09 02-26-08 rls - set "update delay" to zero.
* 10 05-14-08 rls - read the commanded velocity.
* 11 05-20-08 rls - A24/A32 address mode bug fix.
* 12 01-05-09 rls - Dirk Zimoch's (PSI) bug fix for set_status() overwriting
* the home switch status in the response string.
* 12 01-05-09 rls - Dirk Zimoch's (PSI) bug fix for set_status() overwriting the home switch status in the response
* string.
* 13 06-18-09 rls - Make MAXvSetup() error messages more prominent.
* 14 07-02-09 rls - backwards compatibility with ver:1.29 and earlier
* firmware. OMS changed from '<LF><NULL>' to '<LF>' for
* RA, QA, EA and RL command with ver:1.30
* 14 07-02-09 rls - backwards compatibility with ver:1.29 and earlier firmware. OMS changed from '<LF><NULL>' to
* '<LF>' for RA, QA, EA and RL command with ver:1.30
* 15 09-09-09 rls - board "running" error check added.
* 16 03-08-10 rls - sprintf() not callable from RTEMS interrupt context.
* 17 03-09-10 rls - sprintf() not callable from any OS ISR.
* 18 06-01-10 rls - Save firmware version in static float array.
* - For firmware ver:1.33 and above, read Watchdog Timeout
* Counter. If Counter is nonzero, print error message and
* clear Counter.
* - For firmware ver:1.33 and above, read Watchdog Timeout Counter. If Counter is nonzero, print
* error message and clear Counter.
* 19 06-07-10 rls - Disable board if WDT CTR is nonzero; don't clear CTR.
* 20 02-03-11 rls - Increase max. config. string size from 150 to 300 bytes.
* - Increase all receive buffer sizes to same 300 bytes.
* - Add error checks for buffer overflow with MAXvConfig()'s
* configuration string argument and in readbuf().
* 21 02-04-11 rls - Added counter to send_mess()'s "waiting for message
* acknowledgement" loop to prevent infinite loop.
* - Add error checks for buffer overflow with MAXvConfig()'s configuration string argument and in
* readbuf().
* 21 02-04-11 rls - Added counter to send_mess()'s "waiting for message acknowledgement" loop to prevent infinite
* loop.
* 22 09-23-11 ajr - Added configuration word MAXvConfig.
* 23 10-26-11 rls - Changed Debug() to Mark River's variable arguments macro.
* - Added MAXvController data structure using private data in
* motor record to store motor type. Motor type used in
* device support (devOmsCom.cc) to allow MRES and ERES with
* different polarity (signs).
* 24 02-24-14 rls - After the initialization string is read, if limit mode is
* "Off", set it to "Hard".
* - Added MAXvConfig() 4th argument to support absolute
* encoders with grey code data formats.
* - Added MAXvController data structure using private data in motor record to store motor type. Motor
* type used in device support (devOmsCom.cc) to allow MRES and ERES with different polarity (signs).
* 24 02-24-14 rls - After the initialization string is read, if limit mode is "Off", set it to "Hard".
* - Added MAXvConfig() 4th argument to support absolute encoders with grey code data formats.
* 25 07-05-14 rls - send_mess() terminates all commands with a ';'. OMS tech support's suggested fix for intermittent
* "Command Error" messages on valid messages (e.g., "AY VB100 VL4000 AC19500 MA5100 GD ID").
* - More than one command with a response not allowed when terminated with a ';'. Broke "QA EA"
* command into two commands.
* - Fix for intermittent wrong command displayed from Command Error message. motorIsr() saves the
* message in a separate static buffer.
*
*/
@@ -138,7 +133,6 @@ HeadURL: $URL$
#endif
/* jps: INFO messages - add RV and move QA to top */
#define ALL_INFO "QA EA"
#define AXIS_INFO "QA"
#define ENCODER_QUERY "EA ID"
#define AXIS_CLEAR "CA" /* Clear done of addressed axis */
@@ -414,7 +408,9 @@ static int set_status(int card, int signal)
if (motor_info->encoder_present == YES)
{
/* get 4 pieces of info from axis */
send_recv_mess(card, ALL_INFO, MAXv_axis[signal], q_buf, 2);
send_recv_mess(card, "QA", MAXv_axis[signal], &q_buf[0], 1);
q_buf[4] = ',';
send_recv_mess(card, "EA", MAXv_axis[signal], &q_buf[5], 1);
got_encoder = true;
}
else
@@ -682,6 +678,9 @@ static RTN_STATUS send_mess(int card, char const *com, char *name)
strcat(cmndbuf, com);
}
if (cmndbuf[strlen(cmndbuf) - 1] != ';') /* Terminate command with a ';'. */
strcat(cmndbuf, ";");
Debug(9, "send_mess: ready to send message.\n");
putIndex = pmotor->outPutIndex;
for (pcmndbuf = cmndbuf; *pcmndbuf != '\0'; pcmndbuf++)
@@ -1071,6 +1070,7 @@ static void motorIsr(int card)
STATUS1 status1_flag;
static char errmsg1[] = "drvMAXv.cc:motorIsr: ***Invalid entry*** - card xx\n";
static char errmsg2[] = "drvMAXv.cc:motorIsr: ***Command Error*** - card xx\n";
static char CmndErrBuf[MAX_MSG_SIZE]; /* Hold the message that caused a Command Error here. */
if (card >= total_cards || (pmotorState = motor_state[card]) == NULL)
{
@@ -1092,8 +1092,9 @@ static void motorIsr(int card)
errmsg2[51-2] = '0' + card%10;
errmsg2[51-3] = '0' + (card/10)%10;
epicsInterruptContextMessage(errmsg2);
strcat(cmndbuf,"\n\n");
epicsInterruptContextMessage(cmndbuf);
strcpy(CmndErrBuf, cmndbuf); /* Copy message to static buffer. */
strcat(CmndErrBuf,"\n\n");
epicsInterruptContextMessage(CmndErrBuf);
}
if (status1_flag.Bits.text_response != 0) /* Don't clear this. */