lin-epics-modules/motorBase
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Added VME58 reboot error check to send_mess().

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This commit is contained in:
Ron Sluiter
2012-07-26 19:04:55 +00:00
parent 09a6747dda
commit b645e0ff9b
1 changed files with 13 additions and 8 deletions
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motorApp/OmsSrc/drvOms58.cc
+13 -8
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@@ -114,6 +114,7 @@ HeadURL: $URL$
* does not read 0x4321.
* .41 10-20-11 rls - Added counter in send_mess() to prevent endless loop
* after VME58 reboot.
* .42 07-26-12 rls - Added reboot test to send_mess().
*
*/
@@ -231,7 +232,7 @@ struct drvOms58_drvet
extern "C" {epicsExportAddress(drvet, drvOms58);}
static char rebootmsg[] = "\n***VME58 card #%d Disabled*** Reboot Detected.\n\n";
static char rebootmsg[] = "\n\n*** VME58 card #%d Disabled *** Reboot Detected.\n\n";
static struct thread_args targs = {SCAN_RATE, &oms58_access, 0.000};
@@ -428,7 +429,6 @@ static int set_status(int card, int signal)
errlogPrintf(rebootmsg, card);
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. */
@@ -675,7 +675,14 @@ static RTN_STATUS send_mess(int card, char const *com, char *name)
}
pmotor = (struct vmex_motor *) motor_state[card]->localaddr;
Debug(9, "send_mess: pmotor = %p\n", pmotor);
if (pmotor->rebootind != 0x4321) /* Test if board has rebooted. */
{
errlogPrintf(rebootmsg, card);
/* Disable board. */
motor_state[card] = (struct controller *) NULL;
return(ERROR);
}
return_code = OK;
@@ -731,7 +738,7 @@ static RTN_STATUS send_mess(int card, char const *com, char *name)
if (count >= 1000)
{
errlogPrintf("\n*** VME58 card #%d communication timeout ***\n", card);
errlogPrintf("\n\n*** VME58 card #%d communication timeout ***\n\n", card);
return_code = ERROR;
}
@@ -1166,8 +1173,8 @@ static int motor_init()
pmotorState->motor_in_motion = 0;
pmotorState->cmnd_response = false;
/* Disable all interrupts */
pmotor->control.cntrlReg = 0;
pmotor->control.cntrlReg = 0; /* Disable all interrupts */
pmotor->rebootind = 0x4321; /* Set reboot indicator (before send_mess call). */
send_mess(card_index, "EF", (char) NULL);
send_mess(card_index, ERROR_CLEAR, (char) NULL);
@@ -1242,8 +1249,6 @@ static int motor_init()
errPrintf(0, __FILE__, __LINE__, "Interrupts Disabled!\n");
}
pmotor->rebootind = 0x4321; /* Set reboot indicator. */
start_status(card_index);
for (motor_index = 0; motor_index < total_axis; motor_index++)
{