lin-epics-modules/motorBase
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- LOAD_POS bug fix; restored "update_delay" for version 2.35 firmware.

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- switched to logMsg in ISR for VxWorks target.
This commit is contained in:
Ron Sluiter
2008-02-14 19:31:47 +00:00
parent d28b6e05e4
commit 6a2629ad9a
1 changed files with 33 additions and 5 deletions
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motorApp/OmsSrc/drvOms58.cc
+33 -5
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@@ -2,9 +2,9 @@
FILENAME... drvOms58.cc
USAGE... Motor record driver level support for OMS model VME58.
Version: $Revision: 1.21 $
Modified By: $Author: rivers $
Last Modified: $Date: 2008-01-11 21:53:05 $
Version: $Revision: 1.22 $
Modified By: $Author: sluiter $
Last Modified: $Date: 2008-02-14 19:31:47 $
*/
/*
@@ -96,6 +96,12 @@ Last Modified: $Date: 2008-01-11 21:53:05 $
* - remove "Work around for intermittent wrong LS status" for
* version 2.35 firmware.
* - modify start_status() to wait for update before exiting.
* .33 02-06-08 rls - restored a modified version of the "work around for
* intermittent wrong LS status" for version 2.35 firmware.
* For details see README item #2 under R6-4 Modification
* Log.
* .34 02-07-08 rls - switched to logMsg for VxWorks build in ISR, rather than
* errlogPrintf(). No info with errlogPrintf() from ISR.
*/
#include <string.h>
@@ -108,7 +114,9 @@ Last Modified: $Date: 2008-01-11 21:53:05 $
#include <dbAccess.h>
#include <epicsThread.h>
#include <epicsExit.h>
#ifdef vxWorks
#include <logLib.h>
#endif
#include "motorRecord.h" /* For Driver Power Monitor feature only. */
#include "motor.h"
#include "motordevCom.h" /* For Driver Power Monitor feature only. */
@@ -675,7 +683,7 @@ static RTN_STATUS send_mess(int card, char const *com, char *name)
pmotor->outPutIndex = putIndex; /* Message Sent */
while (pmotor->outPutIndex != pmotor->outGetIndex)
while (putIndex != pmotor->outGetIndex)
{
#ifdef DEBUG
epicsInt16 deltaIndex, delta;
@@ -947,7 +955,16 @@ static void motorIsr(int card)
motor_sem.signal();
if (statusBuf.Bits.cmndError)
#ifdef vxWorks
{
static int cardnum = card;
logMsg((char *) "command error detected by motorIsr() on card %d\n",
card, 0, 0, 0, 0, 0);
}
#else
errlogPrintf("command error detected by motorISR() on card %d\n", card);
#endif
}
static int motorIsrSetup(int card)
@@ -1202,6 +1219,17 @@ static int motor_init()
Debug(3, "Motors initialized\n");
#if (CPU == PPC604 || CPU == PPC603)
/* Work around for intermittent wrong LS status and stale LP data. */
for (card_index = 0; card_index < oms58_num_cards; card_index++)
{
if (strncmp(motor_state[card_index]->ident, "VME58 ver 2.35", 14) == 0)
targs.update_delay = quantum * 2.0;
}
#endif
epicsThreadCreate((char *) "Oms58_motor", epicsThreadPriorityMedium,
epicsThreadGetStackSize(epicsThreadStackMedium),
(EPICSTHREADFUNC) motor_task, (void *) &targs);