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- moved OMS specific "irqdatastr" from motordrvCom.h to

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drvOms.h and DevicePrivate.
- removed "max_io_tries" from timeout calculations.
- changed omsGet() timeout argument to type bool.
- changed recv_rng and send_rng from C to C++ interface.
This commit is contained in:
Ron Sluiter
2003-10-28 16:57:01 +00:00
parent a6e50a06f4
commit 65538e87af
1 changed files with 68 additions and 56 deletions
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motorApp/OmsSrc/drvOms.cc
+68 -56
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@@ -2,9 +2,9 @@
FILENAME... drvOms.cc
USAGE... Driver level support for OMS models VME8, VME44 and VS4.
Version: $Revision: 1.9 $
Version: $Revision: 1.10 $
Modified By: $Author: sluiter $
Last Modified: $Date: 2003-10-24 14:40:12 $
Last Modified: $Date: 2003-10-28 16:57:01 $
*/
/*
@@ -48,6 +48,11 @@ Last Modified: $Date: 2003-10-24 14:40:12 $
* .02 06-05-03 rls extended device directive support to PREM and POST.
* .03 10-23-03 rls - VX2 spurious interrupt fix; support transmit buffer
* empty interrupt in omsPut() and motorIsr().
* .04 10-28-03 rls - moved OMS specific "irqdatastr" from motordrvCom.h
* drvOms.h and DevicePrivate.
* - removed "max_io_tries" from timeout calculations.
* - changed omsGet() timeout argument to type bool.
* - changed recv_rng and send_rng from C to C++ interface.
*/
/*========================stepper motor driver ========================
@@ -115,7 +120,6 @@ volatile int omsSpyClkRate = 0;
static char *oms_addrs = 0x0;
static volatile unsigned omsInterruptVector = 0;
static volatile epicsUInt8 omsInterruptLevel = OMS_INT_LEVEL;
static volatile int max_io_tries = MAX_COUNT;
static volatile int motionTO = 10;
static char oms_axis[] = {'X', 'Y', 'Z', 'T', 'U', 'V', 'R', 'S'};
@@ -132,7 +136,7 @@ static void motorIsr(int card);
static int motor_init();
static void oms_reset();
static int omsGet(int card, char *pcom, int timeout);
static int omsGet(int card, char *pcom, bool timeout);
static RTN_STATUS omsPut(int card, char *pcom);
static int omsError(int card);
static int motorIsrEnable(int card);
@@ -538,7 +542,7 @@ static int recv_mess(int card, char *com, int amount)
{
/* Process request to flush receive queue */
Debug(7, "recv flush -------------");
while (omsGet(card, &junk, 0))
while (omsGet(card, &junk, false))
{
Debug(7, "%inchar", junk);
}
@@ -554,7 +558,7 @@ static int recv_mess(int card, char *com, int amount)
for (piece = 0, trys = 0; piece < 3 && trys < 3; trys++)
{
if (omsGet(card, &inchar, max_io_tries))
if (omsGet(card, &inchar, true))
{
Debug(7, "%02x", inchar);
@@ -608,7 +612,7 @@ static int recv_mess(int card, char *com, int amount)
com[i] = '\0';
Debug(4, "recv_mess: card %d", card);
Debug(4, " com %s\n", com);
Debug(4, " com %s", com);
return (0);
}
@@ -617,29 +621,28 @@ static int recv_mess(int card, char *com, int amount)
/* Get next character from OMS input buffer */
/* omsGet() */
/*****************************************************/
static int omsGet(int card, char *pchar, int timeout)
static int omsGet(int card, char *pchar, bool timeout)
{
volatile struct controller *pmotorState;
volatile struct vmex_motor *pmotor;
struct irqdatastr *irqdata;
int getCnt = 0;
int retry = 0;
pmotorState = motor_state[card];
irqdata = (struct irqdatastr *) pmotorState->DevicePrivate;
if (pmotorState->irqdata->irqEnable)
if (irqdata->irqEnable)
{
/* Get character from isr - if available */
while (epicsRingPointerIsEmpty(pmotorState->irqdata->recv_rng) && retry < timeout)
while (irqdata->recv_rng->isEmpty() && timeout == true && retry < 100)
{
pmotorState->irqdata->recv_sem->wait(0.01); /* Wait for character */
retry += 5000; /* Compensate for semaphore timeout */
irqdata->recv_sem->wait(0.01); /* Wait for character */
retry ++;
}
if (!epicsRingPointerIsEmpty(pmotorState->irqdata->recv_rng))
if (!irqdata->recv_rng->isEmpty())
{
void *rngptr;
rngptr = epicsRingPointerPop(pmotorState->irqdata->recv_rng);
*pchar = (char) rngptr;
*pchar = (char) irqdata->recv_rng->pop();
getCnt = 1;
}
}
@@ -648,13 +651,14 @@ static int omsGet(int card, char *pchar, int timeout)
/* Direct read from card */
pmotor = (struct vmex_motor *) pmotorState->localaddr;
while (getCnt == 0 && retry++ < timeout)
if (timeout == true)
while (retry++ < 10 && !(pmotor->status & STAT_INPUT_BUF_FULL))
epicsThreadSleep(0.001);
if (pmotor->status & STAT_INPUT_BUF_FULL)
{
if (pmotor->status & STAT_INPUT_BUF_FULL)
{
getCnt++;
*pchar = pmotor->data;
}
getCnt++;
*pchar = pmotor->data;
}
}
return (getCnt);
@@ -668,20 +672,23 @@ static RTN_STATUS omsPut(int card, char *pmess)
{
volatile struct controller *pmotorState;
volatile struct vmex_motor *pmotor;
struct irqdatastr *irqdata;
int key;
char *putptr;
int trys;
pmotorState = motor_state[card];
irqdata = (struct irqdatastr *) pmotorState->DevicePrivate;
pmotor = (struct vmex_motor *) pmotorState->localaddr;
if (pmotorState->irqdata->irqEnable)
if (irqdata->irqEnable)
{
putptr = pmess;
/* Put string into isr transmitt buffer */
while (*putptr != NULL)
{
if (!epicsRingPointerPush(pmotorState->irqdata->send_rng, (void *) *putptr))
char outchar = *putptr;
if (!irqdata->send_rng->push((char *) outchar))
{
logMsg((char *) "omsPut: card %d send ring full, lost '%c'\n", card,
*putptr, 0, 0, 0, 0);
@@ -703,7 +710,7 @@ static RTN_STATUS omsPut(int card, char *pmess)
trys = 0;
while (!(pmotor->status & STAT_TRANS_BUF_EMPTY))
{
if (trys > max_io_tries)
if (trys > 10) /* Set timeout to 0.01 sec. */
{
Debug(1, "omsPut: Time_out occurred in send\n");
return(ERROR);
@@ -713,6 +720,7 @@ static RTN_STATUS omsPut(int card, char *pmess)
Debug(1, "omsPut: error occurred in send\n");
}
trys++;
epicsThreadSleep(0.001);
}
pmotor->data = *putptr;
}
@@ -729,18 +737,20 @@ static int omsError(int card)
{
volatile struct controller *pmotorState;
volatile struct vmex_motor *pmotor;
struct irqdatastr *irqdata;
int rtnStat = FALSE;
pmotorState = motor_state[card];
irqdata = (struct irqdatastr *) pmotorState->DevicePrivate;
pmotor = (struct vmex_motor *) pmotorState->localaddr;
if (pmotorState->irqdata->irqEnable)
if (irqdata->irqEnable)
{
/* Check status of last message */
if (pmotorState->irqdata->irqErrno & STAT_ERROR)
if (irqdata->irqErrno & STAT_ERROR)
{
/* Error on the card is cleared by the ISR */
pmotorState->irqdata->irqErrno &= ~STAT_ERROR;
irqdata->irqErrno &= ~STAT_ERROR;
rtnStat = TRUE;
}
}
@@ -774,6 +784,7 @@ static void motorIsr(int card)
{
volatile struct controller *pmotorState;
volatile struct vmex_motor *pmotor;
struct irqdatastr *irqdata;
epicsUInt8 control;
epicsUInt8 status;
epicsUInt8 doneFlags;
@@ -785,6 +796,7 @@ static void motorIsr(int card)
return;
}
irqdata = (struct irqdatastr *) pmotorState->DevicePrivate;
pmotor = (struct vmex_motor *) (pmotorState->localaddr);
/* Save interrupt state */
@@ -820,21 +832,16 @@ static void motorIsr(int card)
logMsg((char *) "command error detected on card %d\n", card, 0, 0,
0, 0, 0);
#endif
pmotorState->irqdata->irqErrno |= STAT_ERROR;
irqdata->irqErrno |= STAT_ERROR;
}
/* Send message */
if (status & STAT_TRANS_BUF_EMPTY)
{
if (epicsRingPointerIsEmpty(pmotorState->irqdata->send_rng))
if (irqdata->send_rng->isEmpty())
control &= ~IRQ_TRANS_BUF; /* Transmit done - disable irq */
else
{
void *rngptr;
rngptr = epicsRingPointerPop(pmotorState->irqdata->send_rng);
pmotor->data = (char) rngptr;
}
pmotor->data = (char) irqdata->send_rng->pop();
}
/* Read Response */
@@ -842,13 +849,13 @@ static void motorIsr(int card)
{
dataChar = pmotor->data;
if (!epicsRingPointerPush(pmotorState->irqdata->recv_rng, (void *) dataChar))
if (!irqdata->recv_rng->push((char *) dataChar))
{
logMsg((char *) "card %d recv ring full, lost '%c'\n", card,
dataChar, 0, 0, 0, 0);
pmotorState->irqdata->irqErrno |= STAT_INPUT_BUF_FULL;
irqdata->irqErrno |= STAT_INPUT_BUF_FULL;
}
pmotorState->irqdata->recv_sem->signal();
irqdata->recv_sem->signal();
}
/* Update-interrupt state */
pmotor->control = control;
@@ -858,12 +865,14 @@ static int motorIsrEnable(int card)
{
volatile struct controller *pmotorState;
volatile struct vmex_motor *pmotor;
struct irqdatastr *irqdata;
long status;
epicsUInt8 cardStatus;
Debug(5, "motorIsrEnable: Entry card#%d\n", card);
pmotorState = motor_state[card];
irqdata = (struct irqdatastr *) pmotorState->DevicePrivate;
pmotor = (struct vmex_motor *) (pmotorState->localaddr);
status = devConnectInterrupt(intVME, omsInterruptVector + card,
@@ -873,7 +882,7 @@ static int motorIsrEnable(int card)
{
errPrintf(status, __FILE__, __LINE__, "Can't connect to vector %d\n",
omsInterruptVector + card);
pmotorState->irqdata->irqEnable = FALSE; /* Interrupts disable on card */
irqdata->irqEnable = FALSE; /* Interrupts disable on card */
pmotor->control = 0;
return (ERROR);
}
@@ -885,7 +894,7 @@ static int motorIsrEnable(int card)
errPrintf(status, __FILE__, __LINE__,
"Can't enable enterrupt level %d\n",
omsInterruptLevel);
pmotorState->irqdata->irqEnable = FALSE; /* Interrupts disable on card */
irqdata->irqEnable = FALSE; /* Interrupts disable on card */
pmotor->control = 0;
return (ERROR);
}
@@ -893,14 +902,13 @@ static int motorIsrEnable(int card)
/* Setup card for interrupt-on-done */
pmotor->vector = omsInterruptVector + card;
irqdata->recv_rng = new epicsRingPointer<char>(OMS_RESP_Q_SZ);
irqdata->recv_sem = new epicsEvent(epicsEventEmpty);
pmotorState->irqdata->recv_rng = epicsRingPointerCreate(OMS_RESP_Q_SZ);
pmotorState->irqdata->recv_sem = new epicsEvent(epicsEventEmpty);
irqdata->send_rng = new epicsRingPointer<char>(MAX_MSG_SIZE * 2);
pmotorState->irqdata->send_rng = epicsRingPointerCreate(MAX_MSG_SIZE * 2);
pmotorState->irqdata->irqEnable = TRUE;
pmotorState->irqdata->irqErrno = 0;
irqdata->irqEnable = TRUE;
irqdata->irqErrno = 0;
/* Clear board status */
cardStatus = pmotor->status;
@@ -915,11 +923,13 @@ static void motorIsrDisable(int card)
{
volatile struct controller *pmotorState;
volatile struct vmex_motor *pmotor;
struct irqdatastr *irqdata;
long status;
Debug(5, "motorIsrDisable: Entry card#%d\n", card);
pmotorState = motor_state[card];
irqdata = (struct irqdatastr *) pmotorState->DevicePrivate;
pmotor = (struct vmex_motor *) (pmotorState->localaddr);
/* Disable interrupts */
@@ -932,12 +942,11 @@ static void motorIsrDisable(int card)
omsInterruptVector + card);
/* Remove interrupt control functions */
pmotorState->irqdata->irqEnable = FALSE;
pmotorState->irqdata->irqErrno = 0;
epicsRingPointerDelete(pmotorState->irqdata->recv_rng);
epicsRingPointerDelete(pmotorState->irqdata->send_rng);
delete pmotorState->irqdata->recv_sem;
irqdata->irqEnable = FALSE;
irqdata->irqErrno = 0;
delete irqdata->recv_rng;
delete irqdata->send_rng;
delete irqdata->recv_sem;
}
@@ -1050,6 +1059,8 @@ static int motor_init()
if (PROBE_SUCCESS(status))
{
struct irqdatastr *irqdata;
status = devRegisterAddress(__FILE__, OMS_ADDRS_TYPE,
(size_t) probeAddr, OMS_BRD_SIZE,
(volatile void **) &localaddr);
@@ -1073,8 +1084,9 @@ static int motor_init()
pmotorState->cmnd_response = false;
/* Disable Interrupts */
pmotorState->irqdata = (struct irqdatastr *) malloc(sizeof(struct irqdatastr));
pmotorState->irqdata->irqEnable = FALSE;
irqdata = (struct irqdatastr *) malloc(sizeof(struct irqdatastr));
pmotorState->DevicePrivate = irqdata;
irqdata->irqEnable = FALSE;
pmotor->control = 0;
send_mess(card_index, "EF", (char) NULL);