/*
*
* blockFind()
*
* Find unoccupied block in a large block
*
*/
static long blockFind (
epicsAddressType addrType,
const rangeItem *pRange,
/* size needed */
size_t requestSize,
/* n ls bits zero in base addr */
unsigned alignment,
/* base address found */
size_t *pBase)
{
int s = SUCCESS;
size_t bb;
size_t mask;
size_t newBase;
size_t newSize;
/*
* align the block base
*/
mask = devCreateMask (alignment);
newBase = pRange->begin;
if ( mask & newBase ) {
newBase |= mask;
newBase++;
}
if ( requestSize == 0) {
return S_dev_badRequest;
}
/*
* align size of block
*/
newSize = requestSize;
if (mask & newSize) {
newSize |= mask;
newSize++;
}
if (pRange->end - pRange->begin + 1 < newSize) {
return S_dev_badRequest;
}
bb = pRange->begin;
while (bb <= (pRange->end + 1) - newSize) {
s = devNoResponseProbe (addrType, bb, newSize);
if (s==SUCCESS) {
*pBase = bb;
return SUCCESS;
}
bb += newSize;
}
return s;
}
/*
* locationProbe
*
* !! DEPRECATED !!
*/
long locationProbe (epicsAddressType addrType, char *pLocation)
{
return devNoResponseProbe (addrType, (size_t) pLocation, sizeof(long));
}
void omsMAXv::initialize(const char* portName, int numAxes, int cardNo, const char* initString, int prio,
int stackSz, unsigned int vmeAddr, int intrVector, int level, epicsAddressType vmeAddrType, int paramCount)
{
const char* functionName = "initialize";
long status;
void* probeAddr;
Debug(32, "omsMAXv::initialize: start initialize\n" );
controllerType = epicsStrDup("MAXv");
// TODO check if cardNo has already been used
this->cardNo = cardNo;
if(cardNo < 0 || cardNo >= MAXv_NUM_CARDS){
printf("invalid cardNo: %d", cardNo);
return;
}
epicsUInt8 *startAddr;
epicsUInt8 *endAddr;
epicsUInt32 boardAddrSize = 0;
if (vmeAddrType == atVMEA16)
boardAddrSize = 0x1000;
else if (vmeAddrType == atVMEA24)
boardAddrSize = 0x10000;
else if (vmeAddrType == atVMEA32)
boardAddrSize = 0x1000000;
// if vmeAddr == 1 Setup/Config is used and not Config2
if (vmeAddr == 1)
probeAddr = baseAddress + (cardNo * boardAddrSize);
else
probeAddr = (void*) vmeAddr;
startAddr = (epicsUInt8 *) probeAddr;
endAddr = startAddr + boardAddrSize;
Debug(64, "motor_init: devNoResponseProbe() on addr %p\n", probeAddr);
/* Scan memory space to assure card id */
while (startAddr < endAddr) {
status = devNoResponseProbe(vmeAddrType, (size_t) startAddr, 2);
if (status != S_dev_addressOverlap) {
errlogPrintf("%s:%s:%s: Card NOT found in specified address range! \n",
driverName, functionName, portName);
enabled = false;
return;
}
startAddr += (boardAddrSize / 10);
}
status = devRegisterAddress(controllerType, vmeAddrType,
(size_t) probeAddr, boardAddrSize,
(volatile void **) &pmotor);
Debug(64, "motor_init: devRegisterAddress() status = %d\n", (int) status);
if (status) {
errlogPrintf("%s:%s:%s: Can't register address 0x%lx \n",
driverName, functionName, portName, (long unsigned int) probeAddr);
return;
}
Debug(64, "motor_init: pmotor = %p\n", pmotor);
int loopCount=15;
while (loopCount && (pmotor->firmware_status.Bits.initializing == 1)){
Debug(1, "MAXv port %s still initializing; status = 0x%x\n",
portName, (unsigned int) pmotor->firmware_status.All);
epicsThreadSleep(0.2);
--loopCount;
}
Debug(64, "motor_init: check if card is ready\n");
if (pmotor->firmware_status.Bits.running == 0)
errlogPrintf("MAXv port %s is NOT running; status = 0x%x\n",
portName, (unsigned int) pmotor->firmware_status.All);
Debug(64, "motor_init: init card\n");
FIRMWARE_STATUS fwStatus;
fwStatus.All = pmotor->firmware_status.All;
Debug(64, "motor_init: firmware status register: 0x%x\n", fwStatus.All);
pmotor->IACK_vector = intrVector;
pmotor->status1_flag.All = 0xFFFFFFFF;
pmotor->status2_flag = 0xFFFFFFFF;
/* Disable all interrupts */
pmotor->status1_irq_enable.All = 0;
pmotor->status2_irq_enable = 0;
Debug(64, "motor_init: clear all interrupt\n");
//sendOnly("IC");
Debug(64, "motor_init: firmware version\n");
/* get FirmwareVersion */
if(getFirmwareVersion() != asynSuccess) {
errlogPrintf("%s:%s:%s: unable to talk to controller card %d\n",
driverName, functionName, portName, cardNo);
return;
}
if (fwMinor < 30 ){
errlogPrintf("%s:%s:%s: This Controllers Firmware Version %d.%d is not supported, version 1.30 or higher is mandatory\n",
driverName, functionName, portName, fwMajor, fwMinor);
}
Debug(64, "motor_init: send init string\n");
if( Init(initString, 1) != asynSuccess) {
errlogPrintf("%s:%s:%s: unable to send initstring to controller card %d\n",
driverName, functionName, portName, cardNo);
return;
}
useWatchdog = true;
if (watchdogOK()) {
Debug(64, "motor_init: enable interrupts ( vector=%d, level=%d) \n", intrVector, level);
/* Enable interrupt-when-done if selected */
if (intrVector) motorIsrSetup((unsigned int)intrVector, level);
}
else
return;
if (epicsAtExit(&omsMAXv::resetOnExit, this))
errlogPrintf("%s:%s:%s: card %d, unable to register exit function\n",
driverName, functionName, portName, cardNo);
return;
}
