Experimental Physics and
Industrial Control System

"Ernest L. Williams Jr." <[email protected]> · Wed, 10 Mar 2010 21:31:13 -0800

Eric Norum wrote:

On Mar 10, 2010, at 9:02 PM, Ernest L. Williams Jr. wrote:

Ron Sluiter wrote:

Eric Norum wrote:

"I have also conditionally added your fix for sprintf() not callable from the RTEMS interrupt context ..."
I wasn't aware that sprintf() was legal to call from an interrupt context on vxWorks. Or did I misunderstand the change?

I think sprintf is reentrant in vxWorks and doesn't block.

But that still doesn't mean that it's safe to call from an interrupt handler. It may use instructions or resources that are not saved on entry nor restored on return from an interrupt handler. The vxWorks documentation to which I have access does not include sprintf on the list of functions callable from an interrupt handler.

Yes, in vxWorks we should then stick with logMsg.

There is also "kprintf" and "kputs" but it will affect performance (so
use only when debugging).
Cheers,
Ernest

Cheers,
Ernest

Hello Eric,
No. You did not misunderstand the changes.  I was not aware that sprintf() is
an illegal call from a VxWorks ISR.  Now that I look more closely at the
restrictions you pointed out; there is very little allowed from a VxWorks
ISR; e.g., no ANSI string library calls, strcpy(), strlen(), etc.
I guess if I really want an error message sent from an ISR I will have to a
assemble it using stone tools and animal skins.
Thanks for catching this error.
Hello Jens,
I have redone the MAXv ISR error messages using a version of your code.
The latest (unreleased) version is available here;

https://subversion.xor.aps.anl.gov/synApps/motor/trunk/motorApp/OmsSrc/drvMAXv.cc 
Ron

On Mar 8, 2010, at 1:18 PM, Ron Sluiter wrote:

Hello Jens,
The common code for the old device support record
initialization; "motor_init_record_com()" was not always
passing positive encoder ratio values.  This has been a
bug for a long, long time that is now fixed.
I have also conditionally added your fix for sprintf()
not callable from the RTEMS interrupt context to the
MAXv ISR.
Both of these changes will be available, soon, in the
next release.
Thanks for pointing out these problems,
Ron

[email protected] <mailto:[email protected]> wrote:

Hello Ron,

but the motor record has not issued negative

encoder ratio commands for a long time.

here is an extract of the boot messages with drvMAXvdebug=10, while autosave writes -5.55123456e-06 to the ERES-field.
--
send_mess: sent card 0 message:'
AX  ER-180140,52359 UU-3.440496
--
This command (ER-180140,52359) does not work for
current firmware versions.

Are you using a really old

version of the motor record?

No, this is the motorR6-4-4
EpicsRelease 3.14.11
Jens
_______________________________
Jens Eden
Physikalisch-Technische Bundesanstalt
Albert-Einstein-Straße 15
12489 Berlin
Tel +49 30 6392-5086
Fax +49 30 6392-5082

Von:
Ron Sluiter <[email protected] <mailto:[email protected]>>
An:
[email protected] <mailto:[email protected]>
Kopie:
[email protected] <mailto:[email protected]>
Datum:
05.03.2010 21:12
Betreff:
Re: 2 MAXv problems

Hello Jens
There has been a recent (R6-4 and above) fix to prevent intermittent MAXv command
errors from occurring when User Units are turned off, but the motor record has not
issued negative encoder ratio commands for a long time.  Are you using a really old
version of the motor record?
Ron

[email protected] <mailto:[email protected]> wrote:

Hi all,
I found, that in recent firmware versions (1.31) of the MAXv cards the command to set

negative encoder resolutions (e.g. "AX ER-2,3") as used by the MAXv

driver

does not work any more.

Instead a command error is returned and the encoder resolution will

remain

unchanged.
I couldn't find this "new feature" documented anywhere.

--
Eric Norum
[email protected] <mailto:[email protected]>

Experimental Physics and Industrial Control System

Experimental Physics and
Industrial Control System