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Disable MAXv board if WDT CTR is nonzero; don't clear CTR.

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If STAT=STATE, display yellow border around readbacks.
This commit is contained in:
Ron Sluiter
2010-06-09 18:43:20 +00:00
parent b261684e5b
commit 883160c4f8
3 changed files with 118 additions and 100 deletions
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motorApp/OmsSrc/drvMAXv.cc
+112 -98
View File
@@ -80,6 +80,7 @@ HeadURL: $URL$
* - 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.
*
*/
@@ -211,7 +212,7 @@ 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";
static char wdctrmsg[] = "\n***MAXv card #%d Disabled*** Watchdog Timeout CTR %s\n\n";
/*----------------functions-----------------*/
@@ -322,6 +323,22 @@ static int set_status(int card, int signal)
pmotor = (struct MAXv_motor *) motor_state[card]->localaddr;
status.All = motor_info->status.All;
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);
status.Bits.RA_PROBLEM = 1;
motor_info->status.All = status.All;
send_mess(card, STOP_ALL, (char) NULL);
/* Disable board. */
motor_state[card] = (struct controller *) NULL;
return(rtn_state = 1); /* End move. */
}
}
if (motor_info->encoder_present == YES)
{
/* get 4 pieces of info from axis */
@@ -410,17 +427,6 @@ 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);
@@ -639,7 +645,7 @@ static int recv_mess(int card, char *com, int amount)
/* Check that card exists */
if (!motor_state[card])
{
Debug(1, "resv_mess - invalid card #%d\n", card);
Debug(1, "recv_mess - invalid card #%d\n", card);
return(-1);
}
@@ -1056,6 +1062,8 @@ static int motor_init()
#endif
if (PROBE_SUCCESS(status))
{
bool wdtrip;
#ifdef USE_DEVLIB
status = devRegisterAddress(__FILE__, MAXv_ADDRS_TYPE,
(size_t) probeAddr, MAXv_brd_size,
@@ -1105,6 +1113,8 @@ static int motor_init()
pos_ptr = strchr((char *)pmotorState->ident, ':');
sscanf(++pos_ptr, "%f", &MAXvdata.fwver[card_index]);
wdtrip = false;
if (MAXvdata.fwver[card_index] >= 1.33)
{
send_mess(card_index, "#WS", (char) NULL);
@@ -1113,97 +1123,101 @@ static int motor_init()
{
errlogPrintf(wdctrmsg, card_index, axis_pos);
epicsThreadSleep(2.0);
send_mess(card_index, "#WC", (char) NULL);
motor_state[card_index] = (struct controller *) NULL;
wdtrip = true;
}
}
send_mess(card_index, initstring[card_index], (char) NULL);
send_mess(card_index, ALL_POS, (char) NULL);
recv_mess(card_index, axis_pos, 1);
for (total_axis = 0, pos_ptr = epicsStrtok_r(axis_pos, ",", &tok_save);
pos_ptr; pos_ptr = epicsStrtok_r(NULL, ",", &tok_save), total_axis++)
if (wdtrip == false)
{
pmotorState->motor_info[total_axis].motor_motion = NULL;
pmotorState->motor_info[total_axis].status.All = 0;
}
Debug(3, "motor_init: Total axis = %d\n", total_axis);
pmotorState->total_axis = total_axis;
for (total_encoders = total_pidcnt = 0, motor_index = 0; motor_index < total_axis; motor_index++)
{
STATUS1 flag1;
/* Test if motor has an encoder. */
send_mess(card_index, ENCODER_QUERY, MAXv_axis[motor_index]);
while (!pmotor->status1_flag.Bits.done) /* Wait for command to complete. */
epicsThreadSleep(quantum);
if (pmotor->status1_flag.Bits.cmndError)
{
Debug(2, "motor_init: No encoder on axis %d\n", motor_index);
pmotorState->motor_info[motor_index].encoder_present = NO;
flag1.All = pmotor->status1_flag.All; /* Clear command error. */
pmotor->status1_flag.All = flag1.All;
}
else
{
total_encoders++;
pmotorState->motor_info[motor_index].encoder_present = YES;
recv_mess(card_index, encoder_pos, 1);
}
/* Test if motor has PID parameters. */
send_mess(card_index, PID_QUERY, MAXv_axis[motor_index]);
while (!pmotor->status1_flag.Bits.done) /* Wait for command to complete. */
epicsThreadSleep(quantum);
if (pmotor->status1_flag.Bits.cmndError)
{
Debug(2, "motor_init: No PID parameters on axis %d\n", motor_index);
pmotorState->motor_info[motor_index].pid_present = NO;
flag1.All = pmotor->status1_flag.All; /* Clear command error. */
pmotor->status1_flag.All = flag1.All;
}
else
{
total_pidcnt++;
pmotorState->motor_info[motor_index].pid_present = YES;
recv_mess(card_index, encoder_pos, FLUSH); /* Flush response. */
}
}
/* Enable interrupt-when-done if selected */
if (MAXvInterruptVector)
{
if (motorIsrSetup(card_index) == ERROR)
errMessage(-1, "Interrupts Disabled!\n");
}
for (motor_index = 0; motor_index < total_axis; motor_index++)
{
motor_info = (struct mess_info *) &pmotorState->motor_info[motor_index];
motor_info->status.All = 0;
motor_info->no_motion_count = 0;
motor_info->encoder_position = 0;
motor_info->position = 0;
if (motor_info->encoder_present == YES)
motor_info->status.Bits.EA_PRESENT = 1;
if (motor_info->pid_present == YES)
motor_info->status.Bits.GAIN_SUPPORT = 1;
set_status(card_index, motor_index);
send_mess(card_index, DONE_QUERY, MAXv_axis[motor_index]); /* Is this needed??? */
send_mess(card_index, initstring[card_index], (char) NULL);
send_mess(card_index, ALL_POS, (char) NULL);
recv_mess(card_index, axis_pos, 1);
for (total_axis = 0, pos_ptr = epicsStrtok_r(axis_pos, ",", &tok_save);
pos_ptr; pos_ptr = epicsStrtok_r(NULL, ",", &tok_save), total_axis++)
{
pmotorState->motor_info[total_axis].motor_motion = NULL;
pmotorState->motor_info[total_axis].status.All = 0;
}
Debug(3, "motor_init: Total axis = %d\n", total_axis);
pmotorState->total_axis = total_axis;
for (total_encoders = total_pidcnt = 0, motor_index = 0; motor_index < total_axis; motor_index++)
{
STATUS1 flag1;
/* Test if motor has an encoder. */
send_mess(card_index, ENCODER_QUERY, MAXv_axis[motor_index]);
while (!pmotor->status1_flag.Bits.done) /* Wait for command to complete. */
epicsThreadSleep(quantum);
if (pmotor->status1_flag.Bits.cmndError)
{
Debug(2, "motor_init: No encoder on axis %d\n", motor_index);
pmotorState->motor_info[motor_index].encoder_present = NO;
flag1.All = pmotor->status1_flag.All; /* Clear command error. */
pmotor->status1_flag.All = flag1.All;
}
else
{
total_encoders++;
pmotorState->motor_info[motor_index].encoder_present = YES;
recv_mess(card_index, encoder_pos, 1);
}
/* Test if motor has PID parameters. */
send_mess(card_index, PID_QUERY, MAXv_axis[motor_index]);
while (!pmotor->status1_flag.Bits.done) /* Wait for command to complete. */
epicsThreadSleep(quantum);
if (pmotor->status1_flag.Bits.cmndError)
{
Debug(2, "motor_init: No PID parameters on axis %d\n", motor_index);
pmotorState->motor_info[motor_index].pid_present = NO;
flag1.All = pmotor->status1_flag.All; /* Clear command error. */
pmotor->status1_flag.All = flag1.All;
}
else
{
total_pidcnt++;
pmotorState->motor_info[motor_index].pid_present = YES;
recv_mess(card_index, encoder_pos, FLUSH); /* Flush response. */
}
}
/* Enable interrupt-when-done if selected */
if (MAXvInterruptVector)
{
if (motorIsrSetup(card_index) == ERROR)
errMessage(-1, "Interrupts Disabled!\n");
}
for (motor_index = 0; motor_index < total_axis; motor_index++)
{
motor_info = (struct mess_info *) &pmotorState->motor_info[motor_index];
motor_info->status.All = 0;
motor_info->no_motion_count = 0;
motor_info->encoder_position = 0;
motor_info->position = 0;
if (motor_info->encoder_present == YES)
motor_info->status.Bits.EA_PRESENT = 1;
if (motor_info->pid_present == YES)
motor_info->status.Bits.GAIN_SUPPORT = 1;
set_status(card_index, motor_index);
send_mess(card_index, DONE_QUERY, MAXv_axis[motor_index]); /* Is this needed??? */
recv_mess(card_index, axis_pos, 1);
}
Debug(2, "motor_init: Init Address=%p\n", localaddr);
Debug(3, "motor_init: Total encoders = %d\n", total_encoders);
Debug(3, "motor_init: Total with PID = %d\n", total_pidcnt);
}
Debug(2, "motor_init: Init Address=%p\n", localaddr);
Debug(3, "motor_init: Total encoders = %d\n", total_encoders);
Debug(3, "motor_init: Total with PID = %d\n", total_pidcnt);
}
else
{
motorApp/op/adl/motorx.adl
+3 -1
View File
@@ -509,8 +509,10 @@ rectangle {
width=2
}
"dynamic attribute" {
vis="if not zero"
vis="calc"
calc="A!=0||B==7"
chan="$(P)$(M).SET"
chanB="$(P)$(M).STAT"
}
}
"text update" {
motorApp/op/adl/motorx_tiny.adl
+3 -1
View File
@@ -162,8 +162,10 @@ rectangle {
width=2
}
"dynamic attribute" {
vis="if not zero"
vis="calc"
calc="A!=0||B==7"
chan="$(P)$(M).SET"
chanB="$(P)$(M).STAT"
}
}
rectangle {