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- VX2 spurious interrupt fix; enable TBE_E interrupt.

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- Removed STATIC definition.
This commit is contained in:
Ron Sluiter
2003-10-24 14:40:12 +00:00
parent e955f67a57
commit c6fabe6d27
1 changed files with 84 additions and 41 deletions
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motorApp/OmsSrc/drvOms.cc
+84 -41
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@@ -2,9 +2,9 @@
FILENAME... drvOms.cc
USAGE... Driver level support for OMS models VME8, VME44 and VS4.
Version: $Revision: 1.8 $
Version: $Revision: 1.9 $
Modified By: $Author: sluiter $
Last Modified: $Date: 2003-06-05 16:39:25 $
Last Modified: $Date: 2003-10-24 14:40:12 $
*/
/*
@@ -46,6 +46,8 @@ Last Modified: $Date: 2003-06-05 16:39:25 $
* boards after the "hole" to work.
* .01 06-05-03 rls Convert to R3.14.x.
* .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().
*/
/*========================stepper motor driver ========================
@@ -76,13 +78,13 @@ extern "C" {
}
#include <dbAccess.h>
#include <epicsThread.h>
#include <epicsInterrupt.h>
#include "motor.h"
#include "drvOms.h"
#include "epicsExport.h"
#define PRIVATE_FUNCTIONS 1 /* normal:1, debug:0 */
#define STATIC static
/* Define for return test on devNoResponseProbe() */
#define PROBE_SUCCESS(STATUS) ((STATUS)==S_dev_addressOverlap)
@@ -110,12 +112,12 @@ volatile int omsSpyClkRate = 0;
#include "motordrvComCode.h"
/* --- Local data common to all OMS drivers. --- */
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'};
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'};
/*----------------functions-----------------*/
@@ -130,11 +132,11 @@ static void motorIsr(int card);
static int motor_init();
static void oms_reset();
STATIC int omsGet(int card, char *pcom, int timeout);
STATIC RTN_STATUS omsPut(int card, char *pcom);
STATIC int omsError(int card);
STATIC int motorIsrEnable(int card);
STATIC void motorIsrDisable(int card);
static int omsGet(int card, char *pcom, int timeout);
static RTN_STATUS omsPut(int card, char *pcom);
static int omsError(int card);
static int motorIsrEnable(int card);
static void motorIsrDisable(int card);
struct driver_table oms_access =
{
@@ -169,7 +171,7 @@ struct
epicsExportAddress(drvet, drvOms);
STATIC struct thread_args targs = {SCAN_RATE, &oms_access};
static struct thread_args targs = {SCAN_RATE, &oms_access};
/*----------------functions-----------------*/
@@ -198,7 +200,7 @@ static long init()
}
STATIC void query_done(int card, int axis, struct mess_node *nodeptr)
static void query_done(int card, int axis, struct mess_node *nodeptr)
{
char buffer[40];
@@ -210,7 +212,7 @@ STATIC void query_done(int card, int axis, struct mess_node *nodeptr)
}
STATIC int set_status(int card, int signal)
static int set_status(int card, int signal)
{
struct mess_info *motor_info;
struct mess_node *nodeptr;
@@ -419,7 +421,7 @@ errorexit: errMessage(-1, "Invalid device directive");
/* send a message to the OMS board */
/* send_mess() */
/*****************************************************/
STATIC RTN_STATUS send_mess(int card, char const *com, char inchar)
static RTN_STATUS send_mess(int card, char const *com, char inchar)
{
char outbuf[MAX_MSG_SIZE];
RTN_STATUS return_code;
@@ -516,7 +518,7 @@ STATIC RTN_STATUS send_mess(int card, char const *com, char inchar)
* NORMAL RETURN.
*/
STATIC int recv_mess(int card, char *com, int amount)
static int recv_mess(int card, char *com, int amount)
{
int i, trys;
char junk;
@@ -615,7 +617,7 @@ 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, int timeout)
{
volatile struct controller *pmotorState;
volatile struct vmex_motor *pmotor;
@@ -634,10 +636,10 @@ STATIC int omsGet(int card, char *pchar, int timeout)
}
if (!epicsRingPointerIsEmpty(pmotorState->irqdata->recv_rng))
{
void *rtnptr;
void *rngptr;
rtnptr = epicsRingPointerPop(pmotorState->irqdata->recv_rng);
*pchar = (char) rtnptr;
rngptr = epicsRingPointerPop(pmotorState->irqdata->recv_rng);
*pchar = (char) rngptr;
getCnt = 1;
}
}
@@ -662,34 +664,58 @@ STATIC int omsGet(int card, char *pchar, int timeout)
/* Send Message to OMS */
/* omsPut() */
/*****************************************************/
STATIC RTN_STATUS omsPut(int card, char *pmess)
static RTN_STATUS omsPut(int card, char *pmess)
{
volatile struct controller *pmotorState;
volatile struct vmex_motor *pmotor;
int key;
char *putptr;
int trys;
pmotorState = motor_state[card];
pmotor = (struct vmex_motor *) pmotorState->localaddr;
/* Send next message */
for (putptr = pmess; *putptr != '\0'; putptr++)
if (pmotorState->irqdata->irqEnable)
{
trys = 0;
while (!(pmotor->status & STAT_TRANS_BUF_EMPTY))
putptr = pmess;
/* Put string into isr transmitt buffer */
while (*putptr != NULL)
{
if (trys > max_io_tries)
if (!epicsRingPointerPush(pmotorState->irqdata->send_rng, (void *) *putptr))
{
Debug(1, "omsPut: Time_out occurred in send\n");
return (ERROR);
logMsg((char *) "omsPut: card %d send ring full, lost '%c'\n", card,
*putptr, 0, 0, 0, 0);
return(ERROR);
}
if (pmotor->status & STAT_ERROR)
putptr++;
}
/* Turn-on transmit buffer interrupt */
key = epicsInterruptLock();
pmotor->control |= IRQ_TRANS_BUF;
epicsInterruptUnlock(key);
}
else
{
/* Send next message */
for (putptr = pmess; *putptr != '\0'; putptr++)
{
trys = 0;
while (!(pmotor->status & STAT_TRANS_BUF_EMPTY))
{
Debug(1, "omsPut: error occurred in send\n");
if (trys > max_io_tries)
{
Debug(1, "omsPut: Time_out occurred in send\n");
return(ERROR);
}
if (pmotor->status & STAT_ERROR)
{
Debug(1, "omsPut: error occurred in send\n");
}
trys++;
}
trys++;
pmotor->data = *putptr;
}
pmotor->data = *putptr;
}
return (OK);
}
@@ -699,7 +725,7 @@ STATIC RTN_STATUS omsPut(int card, char *pmess)
/* Clear OMS errors */
/* omsClearErrors() */
/*****************************************************/
STATIC int omsError(int card)
static int omsError(int card)
{
volatile struct controller *pmotorState;
volatile struct vmex_motor *pmotor;
@@ -744,7 +770,7 @@ STATIC int omsError(int card)
/* Interrupt service routine. */
/* motorIsr() */
/*****************************************************/
STATIC void motorIsr(int card)
static void motorIsr(int card)
{
volatile struct controller *pmotorState;
volatile struct vmex_motor *pmotor;
@@ -797,6 +823,20 @@ STATIC void motorIsr(int card)
pmotorState->irqdata->irqErrno |= STAT_ERROR;
}
/* Send message */
if (status & STAT_TRANS_BUF_EMPTY)
{
if (epicsRingPointerIsEmpty(pmotorState->irqdata->send_rng))
control &= ~IRQ_TRANS_BUF; /* Transmit done - disable irq */
else
{
void *rngptr;
rngptr = epicsRingPointerPop(pmotorState->irqdata->send_rng);
pmotor->data = (char) rngptr;
}
}
/* Read Response */
if (status & STAT_INPUT_BUF_FULL)
{
@@ -814,7 +854,7 @@ STATIC void motorIsr(int card)
pmotor->control = control;
}
STATIC int motorIsrEnable(int card)
static int motorIsrEnable(int card)
{
volatile struct controller *pmotorState;
volatile struct vmex_motor *pmotor;
@@ -857,6 +897,8 @@ STATIC int motorIsrEnable(int card)
pmotorState->irqdata->recv_rng = epicsRingPointerCreate(OMS_RESP_Q_SZ);
pmotorState->irqdata->recv_sem = new epicsEvent(epicsEventEmpty);
pmotorState->irqdata->send_rng = epicsRingPointerCreate(MAX_MSG_SIZE * 2);
pmotorState->irqdata->irqEnable = TRUE;
pmotorState->irqdata->irqErrno = 0;
@@ -869,7 +911,7 @@ STATIC int motorIsrEnable(int card)
return (OK);
}
STATIC void motorIsrDisable(int card)
static void motorIsrDisable(int card)
{
volatile struct controller *pmotorState;
volatile struct vmex_motor *pmotor;
@@ -893,6 +935,7 @@ STATIC void motorIsrDisable(int card)
pmotorState->irqdata->irqEnable = FALSE;
pmotorState->irqdata->irqErrno = 0;
epicsRingPointerDelete(pmotorState->irqdata->recv_rng);
epicsRingPointerDelete(pmotorState->irqdata->send_rng);
delete pmotorState->irqdata->recv_sem;
}
@@ -954,7 +997,7 @@ int omsSetup(int num_cards, /* maximum number of cards in rack */
/* initialize all software and hardware */
/* motor_init() */
/*****************************************************/
STATIC int motor_init()
static int motor_init()
{
volatile struct controller *pmotorState;
volatile struct vmex_motor *pmotor;
@@ -1123,7 +1166,7 @@ STATIC int motor_init()
/* Disables interrupts. Called on CTL X reboot. */
STATIC void oms_reset()
static void oms_reset()
{
short card;
struct vmex_motor *pmotor;