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- Save firmware version in static float array.

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- For firmware ver:1.33 and above, read Watchdog Timeout Counter. If Counter is nonzero, print error message and clear Counter.
This commit is contained in:
Ron Sluiter
2010-06-03 16:20:53 +00:00
parent d28f694a5f
commit 8330da002b
1 changed files with 42 additions and 0 deletions
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motorApp/OmsSrc/drvMAXv.cc
+42
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@@ -41,6 +41,7 @@ HeadURL: $URL$
* - MAXv ver:1.29 (has ECO #1432; fixes initialization problem).
* - MAXv ver:1.31 (fixes DPRAM encoder position data problem when using
* mixed motor types.)
* - MAXv ver:1.33, FPGA:B2:A6 BOOT:1.2 (Watchdog Timeout Counter added)
*
* Modification Log:
* -----------------
@@ -75,6 +76,10 @@ HeadURL: $URL$
* 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.
*
*/
@@ -201,6 +206,14 @@ extern "C" {epicsExportAddress(drvet, drvMAXv);}
static struct thread_args targs = {SCAN_RATE, &MAXv_access, 0.000};
static struct MAXvbrdinfo /* MAXv board info. */
{
float fwver[MAXv_NUM_CARDS]; /* firmware version */
} MAXvdata;
static char wdctrmsg[] = "\n***MAXv card #%d Error*** Watchdog Timeout CTR %s\n\n";
/*----------------functions-----------------*/
static long report(int level)
@@ -397,6 +410,17 @@ static int set_status(int card, int signal)
else
status.Bits.RA_PROBLEM = 0;
if (MAXvdata.fwver[card] >= 1.33)
{
send_mess(card, "#WS", (char) NULL);
recv_mess(card, q_buf, 1);
if (strcmp(q_buf, "=0") != 0)
{
errlogPrintf(wdctrmsg, card, q_buf);
send_mess(card, "#WC", (char) NULL);
}
}
/* get command velocity */
send_mess(card, "RV", MAXv_axis[signal]);
recv_mess(card, q_buf, 1);
@@ -1077,6 +1101,22 @@ static int motor_init()
recv_mess(card_index, (char *) pmotorState->ident, 1);
Debug(3, "Identification = %s\n", pmotorState->ident);
/* Save firmware version to static float array. */
pos_ptr = strchr((char *)pmotorState->ident, ':');
sscanf(++pos_ptr, "%f", &MAXvdata.fwver[card_index]);
if (MAXvdata.fwver[card_index] >= 1.33)
{
send_mess(card_index, "#WS", (char) NULL);
recv_mess(card_index, axis_pos, 1);
if (strcmp(axis_pos, "=0") != 0)
{
errlogPrintf(wdctrmsg, card_index, axis_pos);
epicsThreadSleep(2.0);
send_mess(card_index, "#WC", (char) NULL);
}
}
send_mess(card_index, initstring[card_index], (char) NULL);
send_mess(card_index, ALL_POS, (char) NULL);
@@ -1191,6 +1231,8 @@ static int motor_init()
/* Deallocate memory for initialization strings. */
for (itera = 0, strptr = &initstring[0]; itera < MAXv_num_cards; itera++, strptr++)
free(*strptr);
free(initstring);
initstring = NULL;
return (0);
}