forked from epics_driver_modules/motorBase
- PUT device directive.
- ver 2.35-8 firmware Limit Switch problem workaround.
This commit is contained in:
Ron Sluiter
+76
-49
@@ -1,10 +1,10 @@
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/*
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FILENAME... drvOms58.c
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FILENAME... drvOms58.cc
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USAGE... Motor record driver level support for OMS model VME58.
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Version: $Revision: 1.5 $
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Version: $Revision: 1.6 $
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Modified By: $Author: sluiter $
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Last Modified: $Date: 2003-06-04 18:36:59 $
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Last Modified: $Date: 2003-06-05 16:41:44 $
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*/
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/*
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@@ -35,7 +35,12 @@ Last Modified: $Date: 2003-06-04 18:36:59 $
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*
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* NOTES
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* -----
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* Verified with firmware: VME58 ver 2.24-8 and 2.24-8S.
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* Verified with firmware:
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* - VME58 ver 2.16-8
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* - VME58 ver 2.24-8
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* - VME58 ver 2.24-8S
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* - VME58 ver 2.24-4E
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* - VME58 ver 2.35-8
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*
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* Modification Log:
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* -----------------
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@@ -66,6 +71,8 @@ Last Modified: $Date: 2003-06-04 18:36:59 $
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* - "total_cards" changed from total detected to total
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* cards that "memory is allocated for". This allows
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* boards after the "hole" to work.
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* .23 06-04-03 rls Convert to R3.14.x.
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* .24 06-04-03 rls extended device directive support to PREM and POST.
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*/
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#include <vxLib.h>
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@@ -79,11 +86,12 @@ Last Modified: $Date: 2003-06-04 18:36:59 $
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extern "C" {
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#include <devLib.h>
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}
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#include <dbAccess.h>
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#include <epicsThread.h>
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#include "motorRecord.h" /* For Driver Power Monitor feature only. */
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#include "motor.h"
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#include "motordevCom.h"
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#include "motordevCom.h" /* For Driver Power Monitor feature only. */
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#include "drvOms58.h"
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#include "epicsExport.h"
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@@ -106,6 +114,7 @@ extern "C" {
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/*----------------debugging-----------------*/
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#ifdef DEBUG
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volatile int drvOms58debug = 0;
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#define Debug(l, f, args...) { if(l<=drvOms58debug) printf(f,## args); }
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#else
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#define Debug(l, f, args...)
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@@ -115,7 +124,6 @@ extern "C" {
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/* Global data. */
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int oms58_num_cards = 0;
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volatile int drvOms58debug = 0;
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/* Local data required for every driver; see "motordrvComCode.h" */
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#include "motordrvComCode.h"
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@@ -128,12 +136,6 @@ STATIC volatile int max_io_tries = MAX_COUNT;
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STATIC volatile int motionTO = 10;
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STATIC char oms58_axis[] = {'X', 'Y', 'Z', 'T', 'U', 'V', 'R', 'S'};
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/* --- Local data specific to the Oms58 driver. --- */
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STATIC volatile int cmndBuffReadyWait = 4;
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STATIC volatile int dataReadyWait = 1;
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STATIC volatile int omsNanoRate = 2000; /* Aux clock rate for nanosleep */
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/*----------------functions-----------------*/
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/* Common local function declarations. */
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@@ -149,8 +151,6 @@ static void oms_reset();
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STATIC void start_status(int card);
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STATIC int motorIsrSetup(int card);
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STATIC void oms_nanoSleep(int time);
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STATIC int oms_nanoWakup(int val);
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struct driver_table oms58_access =
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{
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@@ -227,6 +227,11 @@ STATIC void query_done(int card, int axis, struct mess_node *nodeptr)
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send_mess(card, DONE_QUERY, oms58_axis[axis]);
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recv_mess(card, buffer, 1);
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#if (CPU == PPC604 || CPU == PPC603)
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if (strcmp(motor_state[card]->ident, "VME58 ver 2.35-8") == 0)
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taskDelay(1); /* Work around for intermittent wrong LS status. */
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#endif
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if (nodeptr->status & RA_PROBLEM)
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send_mess(card, AXIS_STOP, oms58_axis[axis]);
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}
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@@ -439,7 +444,7 @@ STATIC int set_status(int card, int signal)
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/* Wait for data area update to complete on card */
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while (cntrlReg.All & pmotor->control.cntrlReg)
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oms_nanoSleep(dataReadyWait);
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taskDelay(0);
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pmotorData = &pmotor->data[signal];
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@@ -502,7 +507,58 @@ STATIC int set_status(int card, int signal)
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if ((motor_info->status & RA_DONE || ls_active == true) && nodeptr != 0 &&
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nodeptr->postmsgptr != 0)
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{
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strcpy(outbuf, nodeptr->postmsgptr);
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char buffer[40];
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/* Test for a "device directive" in the POST string. */
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if (nodeptr->postmsgptr[0] == '@')
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{
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bool errind = false;
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char *end = strchr(&nodeptr->postmsgptr[1], '@');
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if (end == NULL)
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errind = true;
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else
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{
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DBADDR addr;
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char *start, *tail;
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int size = (end - &nodeptr->postmsgptr[0]) + 1;
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/* Copy device directive to buffer. */
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strncpy(buffer, nodeptr->postmsgptr, size);
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buffer[size] = NULL;
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if (strncmp(buffer, "@PUT(", 5) != 0)
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goto errorexit;
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/* Point "start" to PV name argument. */
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tail = NULL;
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start = strtok_r(&buffer[5], ",", &tail);
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if (tail == NULL)
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goto errorexit;
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if (dbNameToAddr(start, &addr)) /* Get address of PV. */
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{
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errPrintf(-1, __FILE__, __LINE__, "Invalid PV name: %s", start);
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goto errorexit;
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}
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/* Point "start" to PV value argument. */
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start = strtok_r(NULL, ")", &tail);
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if (dbPutField(&addr, DBR_STRING, start, 1L))
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{
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errPrintf(-1, __FILE__, __LINE__, "invalid value: %s", start);
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goto errorexit;
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}
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}
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if (errind == true)
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errorexit: errMessage(-1, "Invalid device directive");
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end++;
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strcpy(buffer, end);
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}
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else
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strcpy(buffer, nodeptr->postmsgptr);
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strcpy(outbuf, buffer);
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send_mess(card, outbuf, oms58_axis[signal]);
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nodeptr->postmsgptr = NULL;
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}
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@@ -586,8 +642,7 @@ STATIC RTN_STATUS send_mess(int card, char const *com, char inchar)
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Debug(5, "send_mess: Waiting for ack: index delta=%d\n",
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(((deltaIndex = pmotor->outPutIndex - pmotor->outGetIndex) < 0) ?
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BUFFER_SIZE + deltaIndex : deltaIndex));
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/* after position command - latency = 4ms */
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oms_nanoSleep(cmndBuffReadyWait);
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taskDelay(0);
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};
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return (return_code);
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@@ -839,9 +894,11 @@ STATIC void motorIsr(int card)
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pmotor->control.cntrlReg = (epicsUInt8) 0x90;
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/* Questioniable Fix for undefined problem Ends Here. */
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#ifdef DEBUG
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if (drvOms58debug >= 10)
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logMsg((char *) "entry card #%d,status=0x%X,done=0x%X\n", card,
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statusBuf.All, doneFlags, 0, 0, 0);
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#endif
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/* Motion done handling */
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if (statusBuf.Bits.done)
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@@ -1009,7 +1066,7 @@ STATIC int motor_init()
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/* Test if motor has an encoder. */
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send_mess(card_index, ENCODER_QUERY, oms58_axis[motor_index]);
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while (!pmotor->control.doneReg) /* Wait for command to complete. */
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oms_nanoSleep(1);
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taskDelay(1);
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statusReg.All = pmotor->control.statusReg;
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@@ -1124,35 +1181,5 @@ STATIC void oms_reset()
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}
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}
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STATIC SEM_ID nanoSem;
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STATIC int nanoTime;
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/* Sleep for about 1ms - MVME167 vxWorks dependant */
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STATIC void oms_nanoSleep(int time)
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{
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if (FALSE)
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/* if (time > 0) */
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{
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nanoSem = semBCreate(SEM_Q_PRIORITY, SEM_EMPTY);
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nanoTime = time;
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sysAuxClkDisable();
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sysAuxClkRateSet(omsNanoRate); /* tick = 1ms */
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// sysAuxClkConnect(&oms_nanoWakup, 0);
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sysAuxClkEnable();
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semTake(nanoSem, 1); /* Maximum sleep time = 1 system clock tick */
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sysAuxClkDisable();
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semDelete(nanoSem);
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}
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}
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STATIC int oms_nanoWakup(int val)
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{
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if (--nanoTime <= 0)
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semGive(nanoSem);
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return(0);
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}
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/*---------------------------------------------------------------------*/
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