/*----------------------------------------------------------------------------*\
\*----------------------------------------------------------------------------*/
static pwr_tStatus IoCardWrite (
io_tCtx ctx,
io_sAgent *ap,
io_sRack *rp,
io_sCard *cp
)
{
io_sLocal *local;
io_sRackLocal *r_local = (io_sRackLocal *)(rp->Local);
pwr_tUInt16 data = 0;
pwr_sClass_Ssab_BaseDoCard *op;
pwr_tUInt16 invmask;
pwr_tUInt16 testmask;
pwr_tUInt16 testvalue;
int i;
qbus_io_write wb;
int sts;
pwr_tTime now;
int bfb_error = 0;
pwr_sClass_Ssab_RemoteRack *rrp;
local = (io_sLocal *) cp->Local;
op = (pwr_sClass_Ssab_BaseDoCard *) cp->op;
#if defined(OS_ELN)
vaxc$establish(machfailwrite);
#endif
for ( i = 0; i < 2; i++)
{
if ( i == 1 && op->MaxNoOfChannels <= 16)
break;
if ( ctx->Node->EmergBreakTrue && ctx->Node->EmergBreakSelect == FIXOUT)
{
if ( i == 0)
data = op->FixedOutValue1;
else
data = op->FixedOutValue2;
}
else
io_DoPackWord( cp, &data, i);
if ( i == 0)
{
testmask = op->TestMask1;
invmask = op->InvMask1;
}
else
{
testmask = op->TestMask2;
invmask = op->InvMask2;
if ( op->MaxNoOfChannels == 16)
break;
}
/* Invert */
data = data ^ invmask;
/* Filter Po signals */
if ( local->Filter[i].Found)
io_PoFilter( local->Filter[i].sop, &data, local->Filter[i].Data);
/* Testvalues */
if ( testmask)
{
if ( i == 0)
testvalue = op->TestValue1;
else
testvalue = op->TestValue2;
data = (data & ~ testmask) | (testmask & testvalue);
}
if (r_local->Qbus_fp != 0 && r_local->s == 0) {
/* Write to local Q-bus */
wb.Data = data;
wb.Address = local->Address[i];
sts = write( local->Qbus_fp, &wb, sizeof(wb));
}
else {
/* Ethernet I/O, Request a write to current address */
sts = 0;
if ( !local->FirstScan)
bfbeth_get_write_status(r_local, (pwr_tUInt16) local->Address[i], &sts);
bfbeth_set_write_req(r_local, (pwr_tUInt16) local->Address[i], data);
if (sts == -1) {
/* Error handling for ethernet Qbus-I/O */
rrp = (pwr_sClass_Ssab_RemoteRack *) rp->op;
if (bfb_error == 0) {
op->ErrorCount++;
bfb_error = 1;
if ( op->ErrorCount == op->ErrorSoftLimit)
errh_Error( "IO Error soft limit reached on card '%s'", cp->Name);
if ( op->ErrorCount == op->ErrorHardLimit)
errh_Error( "IO Error hard limit reached on card '%s', stall action %d", cp->Name, rrp->StallAction);
if ( op->ErrorCount >= op->ErrorHardLimit && rrp->StallAction == pwr_eSsabStallAction_ResetInputs ) {
sts = 1;
}
if ( op->ErrorCount >= op->ErrorHardLimit && rrp->StallAction == pwr_eSsabStallAction_EmergencyBreak ) {
ctx->Node->EmergBreakTrue = 1;
return IO__ERRDEVICE;
}
}
if (sts == -1) continue;
}
else if ( sts == 1) {
op->ErrorCount = 0;
}
}
/* Error handling for local Qbus-I/O */
if ( sts == -1)
{
/* Increase error count and check error limits */
time_GetTime( &now);
if (op->ErrorCount > op->ErrorSoftLimit) {
/* Ignore if some time has expired */
if (now.tv_sec - local->ErrTime.tv_sec < 600)
op->ErrorCount++;
}
else
op->ErrorCount++;
local->ErrTime = now;
if ( op->ErrorCount == op->ErrorSoftLimit)
errh_Error( "IO Error soft limit reached on card '%s'", cp->Name);
if ( op->ErrorCount >= op->ErrorHardLimit)
{
errh_Error( "IO Error hard limit reached on card '%s', IO stopped", cp->Name);
ctx->Node->EmergBreakTrue = 1;
return IO__ERRDEVICE;
}
continue;
}
}
if ( local->FirstScan)
local->FirstScan = 0;
return 1;
}
/*----------------------------------------------------------------------------*\
\*----------------------------------------------------------------------------*/
static pwr_tStatus IoCardWrite (
io_tCtx ctx,
io_sAgent *ap,
io_sRack *rp,
io_sCard *cp
)
{
io_sLocal *local;
io_sRackLocal *r_local = (io_sRackLocal *)(rp->Local);
pwr_sClass_Ssab_BaseACard *op;
int i;
io_sChannel *chanp;
pwr_sClass_ChanAo *cop;
pwr_sClass_Ao *sop;
pwr_tFloat32 value;
int fixout;
pwr_tUInt16 data;
pwr_tFloat32 rawvalue;
qbus_io_write wb;
int sts;
int bfb_error = 0;
pwr_sClass_Ssab_RemoteRack *rrp;
int remote;
local = (io_sLocal *) cp->Local;
op = (pwr_sClass_Ssab_BaseACard *) cp->op;
fixout = ctx->Node->EmergBreakTrue && ctx->Node->EmergBreakSelect == FIXOUT;
remote = !r_local->Qbus_fp && r_local->s;
chanp = &cp->chanlist[0];
for ( i = 0; i < cp->ChanListSize; i++)
{
if ( !chanp->cop || !chanp->sop)
{
chanp++;
continue;
}
cop = (pwr_sClass_ChanAo *) chanp->cop;
sop = (pwr_sClass_Ao *) chanp->sop;
/* Error handling for remote rack */
if ( remote) {
sts = 0;
if ( local->CheckWrite[i]) {
local->CheckWrite[i] = 0;
bfbeth_get_write_status(r_local, (pwr_tUInt16) (local->Address + 2*i), &sts);
if (sts == -1) {
/* Error handling for ethernet Qbus-I/O */
rrp = (pwr_sClass_Ssab_RemoteRack *) rp->op;
if (bfb_error == 0) {
op->ErrorCount++;
bfb_error = 1;
if ( op->ErrorCount == op->ErrorSoftLimit) {
errh_Error( "IO Error soft limit reached on card '%s'", cp->Name);
ctx->IOHandler->CardErrorSoftLimit = 1;
ctx->IOHandler->ErrorSoftLimitObject = cdh_ObjidToAref( cp->Objid);
}
if ( op->ErrorCount == op->ErrorHardLimit) {
errh_Error( "IO Error hard limit reached on card '%s', stall action %d", cp->Name, rrp->StallAction);
ctx->IOHandler->CardErrorHardLimit = 1;
ctx->IOHandler->ErrorHardLimitObject = cdh_ObjidToAref( cp->Objid);
}
if ( op->ErrorCount >= op->ErrorHardLimit &&
rrp->StallAction == pwr_eSsabStallAction_ResetInputs ) {
sts = 1;
}
if ( op->ErrorCount >= op->ErrorHardLimit &&
rrp->StallAction == pwr_eSsabStallAction_EmergencyBreak ) {
ctx->Node->EmergBreakTrue = 1;
return IO__ERRDEVICE;
}
}
}
}
}
/* Convert and write */
if ( *(pwr_tFloat32 *)chanp->vbp != local->OldValue[i] ||
local->WriteFirst > 0 ||
cop->CalculateNewCoef ||
fixout ||
cop->TestOn || local->OldTestOn[i] != cop->TestOn)
{
if ( fixout)
value = cop->FixedOutValue;
else if ( cop->TestOn)
value = cop->TestValue;
else
value = *(pwr_tFloat32 *) chanp->vbp;
if ( cop->CalculateNewCoef)
AoRangeToCoef( chanp);
/* Convert to rawvalue */
if ( value > cop->ActValRangeHigh)
value = cop->ActValRangeHigh;
else if ( value < cop->ActValRangeLow)
value = cop->ActValRangeLow;
rawvalue = cop->OutPolyCoef1 * value + cop->OutPolyCoef0;
if ( rawvalue > 0)
sop->RawValue = rawvalue + 0.5;
else
sop->RawValue = rawvalue - 0.5;
data = sop->RawValue;
if ( !remote) {
wb.Data = data;
wb.Address = local->Address + 2*i;
sts = write( local->Qbus_fp, &wb, sizeof(wb));
}
else {
/* Ethernet I/O, Request a write to current address */
bfbeth_set_write_req(r_local, (pwr_tUInt16) (local->Address + 2*i), data);
local->CheckWrite[i] = 1;
if ( sts == 1) {
op->ErrorCount = 0;
local->OldValue[i] = value;
local->OldTestOn[i] = cop->TestOn;
}
chanp++;
continue;
}
/* Error handling for local rack */
if ( sts == -1)
{
/* Exceptionhandler was called */
#if 0
if ( io_fatal_error)
{
/* Activate emergency break */
errh_Error( "Fatal write error, card '%s', IO is stopped", cp->Name);
ctx->Node->EmergBreakTrue = 1;
return IO__ERRDEVICE;
}
#endif
/* Increase error count and check error limits */
op->ErrorCount++;
if ( op->ErrorCount == op->ErrorSoftLimit) {
errh_Error( "IO Error soft limit reached on card '%s'", cp->Name);
ctx->IOHandler->CardErrorSoftLimit = 1;
ctx->IOHandler->ErrorSoftLimitObject = cdh_ObjidToAref( cp->Objid);
}
if ( op->ErrorCount >= op->ErrorHardLimit)
{
errh_Error( "IO Error hard limit reached on card '%s', IO stopped", cp->Name);
ctx->Node->EmergBreakTrue = 1;
ctx->IOHandler->CardErrorHardLimit = 1;
ctx->IOHandler->ErrorHardLimitObject = cdh_ObjidToAref( cp->Objid);
return IO__ERRDEVICE;
}
chanp++;
continue;
}
else
local->OldValue[i] = value;
}
local->OldTestOn[i] = cop->TestOn;
chanp++;
}
if ( local->WriteFirst)
local->WriteFirst--;
if ( local->FirstScan)
local->FirstScan = 0;
/* Fix for qbus errors */
local->ErrScanCnt++;
if ( local->ErrScanCnt >= local->ErrReset) {
local->ErrScanCnt = 0;
if ( op->ErrorCount > op->ErrorSoftLimit)
op->ErrorCount--;
}
return 1;
}
