MPF is available via the open source license described at the end of this document.
The 2.x releases of allenBradley can be used only with the 3.14 releases of EPICS base. Although 3.14 is platform independent the allenBradley support works only on vxWorks/VME.
EPICS provides support for the Allen Bradley VMEbus I/O Scanner. Models 6008-SV, 6008-SV1R, and 6008-SV2R can be used. The differences are:
The driver provides the following features:
The reader should also consult the manuals
EPICS: Allen Bradley - Hardware Reference Manual, Greg Nawrocki,
Allen Bradley manuals:
In <top>/config edit the file RELEASE.
Add the line:
ALLEN_BRADLEY=<allenBradleyTop>
In the src directory where record/device/driver support is built.
<prod>_LIBS += allenBradley
include "allenBradley.dbd"
Now just execute make at the top of the application tree.
This section describes a number of configuration commands. They may be given in any order except:
abConfigNlinks(number)The maximum number of VME scanner modules in a VME crate. Each 6008-SV2R counts as two links. The default is two links. If this command is given it must be the first scanner configuration command.
abConfigAuto(link) where: link link numberIf this command is given the allen bradley scanner will automatically determine the rack configuration. All racks must be turned on in order for this to work.
SUGGESTION: When you have a new configuration use the abConfigAuto command until you are sure the associated abConfigScanListAscii file is defined correctly. Once it is defined correctly do not use the abConfigAuto command because it has extra overhead and also requires that every allenBradley chassis is powered up.
Format:
abConfigScanListAscii(link,"filename",setRackSize)
| link | link number starting with 0 |
| filename | File name containing information described next. |
| setRackSize | 0 for 6008-SV and 1 for 6008-SV1R or 6008-SV2R |
Filename is a file that defines the adapter (rack) configuration for the specified link. It contains a line for each rack. In addition comment lines (any line beginning with the character #) are allowed. The definition for each rack is:
rack,group,size,logicalAddressing
| rack | The rack number. The first rack is rack 0. |
| group | Starting group within the rack. |
| size | Rack size. This must be one of the values 1/4, 1/2, 3/4, Full |
| logicalAddressing | Must be 2,1,1/2 for 2slot, 1 slot, or 1/2 slot logical addressing. This MUST agree with how a physical rack is configured. There is no way for the driver to determine if an error has been made. |
An example definition is:
#Allen Bradley Scan List 0 0 Full 2 1 0 3/4 2 2 0 3/4 2 3 0 3/4 2If you do not know your configuration use the abConfigAuto command and then after iocInit finishes execute the command:
dbior "drvAb",4The link status as reported by the scanner is described in this document. From this you can determine the configuration.
abConfigVme(link,base,vector,level)
| link | As before |
| base | VME base address. Only 24 bit addressing is supported. |
| vector | Interrupt vector number |
| level | Interrupt level |
If this routine is not called then the default base and interrupt vector for the first link are 0xc00000 and 0x60. For links other than 0, the base address is relative to that for link (each scanner uses 0x1000 bytes). The interrupt vectors are also consecutive.
For the 6008-SV1R and 6008-SV2R the base address of 0xc00000 corresponds to SW1 = 00000000 and SW2=11000000. Also SW3=00011000.
The default interrupt level is 5.
abConfigBaud(link,rate)A rate value of (0,1) specifies (57.6,115.2) kbps. The default is 0. All physical adapters must be jumpered to the same baud rate. Note that the 230.4 kbps rate of 6008-SV1R and 6008-SV2R is not supported because the 6008-SV compatibility mode is being used.
Each Allen Bradley chassis can be configured, via hardware switches on the chassis, for 2 slot, 1 slot, or 1/2 slot addressing. EPICS supports all three types of addressing. Greg Nawrocki's Allen Bradley Document describes how to configure the hardware for 2 slot addressing. If you want to use 1 slot or 1/2 slot addressing his document is still valid except for the following qualifications:
Some definitions:
The binary and old analog support uses the AB_IO link type which has the format
That is it uses link, adapter, card, signal. The new record types, such as abDcm, contain fields link, rack, slot. The reason for switch from (adapter, card) to (rack, slot) is that (rack,slot) more closely match the Allen Bradley documentation.#Llink Aadapter Ccard Ssignal @parm
EPICS addresses each I/O module via the slot number. Each 4 modules is addressed as a rack. For example if a chassis has 12 slots and it's physical adapter has been configured to start with rack 3 then the first 4 modules are addressed as rack=3 and slot = 0,1,2,3 the second 4 modules as rack=4 and slot= 0,1,2,3 and the last four modules are addressed as rack=5 and slot = 0,1,2,3.
Until Allen Bradley support was unbundled from base the only block transfer devices supported were 1771IFE, 1771IL, 1771IXE, 1771IR, and 1771OFE. These were supported via device support attached to appropriate record types. This support did not allow complete configuration of the devices. This support is now called Old Analog Support.
The new method of supporting block transfer devices is to provide a record support module for each different device. This type of record is refered to as a device record. Module configuration is done via configuration fields. Device support is also provided to allow appropriate record types to link to the device record.
As each device record (or the old style device support) is initialized the first step is to register the card. The registration call includes the module type (analog input, analog output, binary input, binary output, arbitrary block transfer) and well as a module type name. The first call for a particular link, adapter, card determines the card type. Other calls for the same card are checked for compatibility. The following rules are enforced:
I/O Interrupt processing is supported for Binary Inputs. Every 1/10 of a second the driver checks for changes in the input image table. If a word changes the device support is notified and requests I/O interrupt processing for the corresponding card. Note that all records attached to the card and with SCAN=I/O Intr will be processed, i.e. no attempt is made to look at individual bits.
When the device support finds that it has just registered a new card, it waits for the driver to have a chance to obtain the current values from the card. These are used to initialize the record, i.e. it restores values when the ioc is rebooted.
The binary device support also works for special Allen Bradley digital devices. It has been tested on the Allen Bradley rediPanel and also on the 1791 Series digital I/O (discused below).
The Allen Bradley rediPanel looks like a single logical adapter that contains one 16 bit digital input card and one 16 bit digital output card each addressed as card 0.
At the present time I/O Intr scanning is not supported by these device support modules, i.e. the record should be set to periodic scanning.
Old analog support does not provide the ability to configure individual signals of analog modules. Thus all channels on a card are configured identically. The configurations options for a card are determined by the first record that is attached to the card during ioc initialization.
The basic scan rate is every 1/10 second.
Several configurations are allowed. The choices are provided via a combination of jumper settings on the module and software configuration, The software configurations supported are:
The only configuration allowed is -10 to +10 volts differential;.
The basic scan rate is every .5 seconds
The configuration options provide for millivolt input (+- 100 millivolt), and for type K, J, E, T, R, and S thermocouples. For thermocouple inputs conversion to degC and degF can be chosen.
The IXE module is chosen by specifying DTYP as "AB-1771IXE-Millivolt In". The configuration option is chosen via the field "LINR", i.e. the conversion type. If the conversion type is "NO_CONVERSION" or "LINEAR" then millivolt conversion is selected. If any of the types typeKdegF to typeSdegC is chosen then the IXE module is configured accordingly. If one of the thermocouple types is chosen device support sets the value of LINR to no conversion so that record support does not attempt any conversions.
NOTE: This method should NOT have been used to choose configuration options. Users are strongly encouraged to use the new 1771-IX(E and HR) support describes below.
The module can be configured, via the field DTYP, for Platinum or for Copper.
The field LINR is set to NO_CONVERSION so that record support does not attempt any conversions.
When the device support finds that it has just registered a new card, it waits for the driver to have a chance to obtain the current values from the OFE. These are used to initialize the record, i.e. it restores values when the ioc is rebooted. The software always uses the default software configuration.
Whenever device support is called to write a new value it asks the EPICS driver to write the new value. It is the scan task of the driver that does the actual transfer. the transfer will be requested during the next scan, which happens at 1/10 second intervals.
New block transfer writes to the OFE are requested every 10 seconds even if no new values are requested by record support.
The basic modification was to move the implementation of the initialization algorithm (supplied through the IALG field in a stepper motor record) from the record support code (recSteppermotor.c) to the device or driver support code. This allows the specific device to determine how to move the stepper motor to the positive or negative limit. Both of the stepper motor drivers standardly supplied with EPICS (drvCompuSm.c and drvOms.c) were modified to accommodate this change. Other nonstandard stepper motor support codes will need modification to handle the new SM_FIND_LIMIT (defined in steppermotor.h) command (see the CompuMotor or OMS codes for examples).
In addition, two new algorithms have been added to the list of initialization algorithm choices. These are "Move to Positive Home" and "Move to Negative Home", which are implemented through the new SM_FIND_HOME command. These were added in accommodation of the new device support for the Allen Bradley 1746-HSTP1 stepper motor controller (devSmAB1746HSTP1.c), which allows the use of a home limit switch in addition to the standard end point limit switches. Nonstandard device and driver support for stepper motor controllers which do not have this capability should be modified to ignore or complain when they receive the SM_FIND_HOME command (cf, drvCompuSm.c or drvOms.c).
The new device support code for the Allen Bradley 1746-HSTP1 stepper motor controller requires the EPICS standard issue Allen Bradley driver (drvAb.c).
From the comments at the top of devSmAB1746HSTP1.c [perhaps good for inclusion into the "EPICS: AllenBradley Driver and Device Support" manual?]:
Device support for the 1746-HSTP1 module was written assuming that there are no wiring errors. Consequently, if your apparatus does not agree throughout itself which direction is clockwise (+) and which direction is counterclockwise (-), unexpected things may happen.
The 1746-HSTP1 device support code was written from the perspective of the Allen Bradley 1746-HSTP1 module. Clockwise (+) is therefore defined to be the direction in which the stepper motor axis turns when it is viewed from the shaft end of the motor, as per page 4-18 of the 1746-HSTP1 User's Manual (AB Pub No. 1746-999-121, March 1995).
The 1746-HSTP1 devices have no hardware configuration switches or jumpers to be concerned with. However, "HSTP1 CONFIG OUTPUT WORDs" (Pages 4-4 and A-1 of the User's Manual) must be passed to the device support layer in the parm section of the stepper motor record .OUT field. The string is parsed with the format string "%hi%hi%i" and is allowed to be a maximum of AB_PARAM_SZ (currently #defined to be 26 in include/link.h) characters long. Use only whitespace to separate the values. The three values that must be supplied are:
Hstp1CfgCsr[0] - Configuration word
Hstp1CfgCsr[1] - Active level word
Hstp1StartSpd - Starting speed word (1 - 250000 pulses/sec)
An example param string is:
0x8413 0x0010 500
Page 4-4 of the User's Manual states that valid configurations require the home limit switch input and one or both of the end (CW or CCW) limit switch inputs to be enabled, even if the associated switch is not present.
Due to the way in which the HSTP1 handles limit switch conditions, it is best to avoid them. If a limit switch has been activated, one can either issue a Find Home command to the HSTP1 to make it hunt for the home switch, or issue single step (Jog) commands to bump the jig off the switch. The jogging procedure is very slow since it requires a reading the HSTP1 registers to get the current state of the limit switches, a clearing of the HSTP1 command register to make the appropriate jog bit sensitive to transition and a setting of the appropriate jog bit in the command register. A 25 MHz NI VXIcpu-030 operating with an AB 6008-SV1R scanning module can thus achieve a jog rate of about 3 Hz. If a position request causes the jig to run into one of the switches, the only motion requests that are accepted by this code are those that move the jig in the direction of getting off of the switch, again, presuming no wiring errors.
One of the rules of writing EPICS device support code is that the process routine must complete as fast as possible since any delays in it cause other records to be held up. For this reason all commands to this device support layer issued by the record support process routine are queued onto a message queue. The reason it is done this way rather than processing the commands directly is that there are sometimes delays in getting access to the hard- ware, either the VME scanner, or the controller itself. Because it is easy to set up a situation in which EPICS sends commands to this code faster than they can be processed, one must handle the case where the queue fills up. When the queue is full, we break the rules and wait for up to HSTP1_K_EPICSQDLY seconds for previously entered commands to be taken off the queue in an attempt to throttle EPICS. If the timeout expires, bad status is returned to indicate that the command could not be handled at the time. Typically, the queue is configured to be deep enough that this situation never arises.
In order to reduce the chance of a knobbed .VAL field from overflowing the command queue, the motor is declared to be moving as soon as a motion request is recognized, even though it is not necessarily moving yet. This prevents the record support layer from sending out corrections until the motor arrives at the requested spot. However, there is a problem because if the position request is changed while the motor is still moving, it will be ignored by the record support. To prevent this, supply a non-zero retry count and an appropriate deadband when setting up your database. Additionally, always put knobs and sliders in "release" mode rather than in "motion" mode.
The basic scan rate when there are active stepper motors is 1/3 second. When there are no active stepper motors, this code sleeps. Consequently, any manual motion of the stepper motor axes is not accounted for.
This code can, in principle, handle an arbitrary number of 1746-HSTP1 stepper motor controller modules. However, limitations are provided by memory, semaphore, and message queue resources, and bus and "blue hose" bandwidths. Note that this code spawns only two tasks, both of which are terminated with corresponding resources freed if no stepper motor records are found in the system.
EPICS support consists of a device record ab1791Record and device support for the ai and ao record.
In addition to dbCommon, ab1791Record contains the following fields:
The process routine processes according to field SCAN. It keeps internal state that determines what is done each time it processes, i.e. initialize, write, read. It make block transfer requests to the driver. It follows the asynchronous record processing model, with the completion phase being triggered when a block transfer request completes. It honors I/O interrupt scanning for attached device support.
It provides device support for ai and ao record. Device support links to a particular ab1791Record via the INP or OUT field. The bus type is specified as INST_IO, which specifies only a parm for the link. Parm is set equal to the <record_name>.<field_name> of the input or output channel desired.
The support started as support for the 1771-DCM module but now supports:
In addition control messages can be sent from an IOC to the PLC via the DCM.
The following is expected of the PLC. The PLC must contain one or more AB 1771-DCM modules. Communication via each DCM is modeled as follows:
1) Send message with message(toff) = 0
2) Send message with message(toff) = 1
...
n) Send message with message(toff) = n-1
go to step 1)
If output to the PLC is desired, The PLC system must also read dcm mesages sent from the ioc. The messages have the format:
word 0 - dcm status word
word 1 - Tag number, i.e. message tag.
All other DCM words are data words. For data see output device support given
below. The PLC developer and the EPICS developer must agree on the what the
tag values mean.
The following are the DCM switch settings used in a system at APS.
Bank Switch Setting 0 1 OFF 115.2 baud (scanner must be configured) 0 2 OFF Not Used 0 3 OFF Last Rack 0 4 ON Block Transfer (DONT CHANGE THIS) 0 5 OFF Not Used 0 6 OFF Protected Data (DONT CHANGE THIS) 0 7-8 OFF Rack Size 1 1-6 (Determines adapter(rack) number 1 7-8 ON ON First Module Group Number
This is almost like communication with a 1771-DCM module. The configuration information given in the previous section does not apply. Instead let your local PLC5 expert configure the PLC.
This if multiple tables are used, the first appears to come from SLOT, the second from SLOT+1, etc.
EPICS support consists of a device record abDcmRecord and device support for the ai, bi, li, and mbbi records.
For each physical DCM, the application will create an abDcmRecord instance. Thus the rest of this note explains things from the point of view of a single dcm (or PLC adapter).
Each time the abDcmRecord is processed (by normal scan mechanisms such as periodically), it reads one set of messages. The dcm record has fields T0, T1, ... T9. Each is an array of 64 shorts. Each holds one of the messages of the set. Note that when it starts it does not look for message 0 first. Instead it just takes the messages as they come until n messages are received.
The complete set of fields (not including dbCommon) of abDcm are as follows:
Device support is available for ai, bi, mbbi, li records. In each case the application developer configures the record by specifying the appropriate value for DTYP "abDcm", and then giving a value to INP The value specified is either in the form
dcmrec.Ti[word]
or
dcmrec.Ti[word,bit]
The first form is for ai and li. The second form is for bi and mbbi. The meaning is as follows:
For bi,mbbi, and li a word is 16 bits. For ai two 16 bit words containing an IEEE floating point value are read, and ai records MUST reference even words.
All dcm device support provides I/O Intr scanning. In fact this is the prefered mode of scanning.
The remainder of this message describes output capability.
Device support for the record types is provided:
dcmrec[tag]Where tag is the value agreed upon with the PLC programmer.
The data values are:
int dcmpt(char *name,int first,int last)for example
dcmpt("dcmrec.T0",0,10)
EPICS support consists of a device record ab1771NRecord and device support for the ai and bo records.
The ab1771NRecord can be scanned at up to a 10 Hz rate. Each time it is processed it reads the associated 1771-N module. It provides I/O interrupt support for ai records. When associated ao records are processed, the ab1771NRecord is notified of the change and when the next process occurs, the 1771-N module is updated.
ab1771NRecord has the following fields:
Each channel has the following fields (i =1,...8).
ab1771Npm("record name")
Device support consists of two general purpose device support modules:
device(ai,INST_IO,devInterfaceAI1,"InterfaceAI1") device(ao,INST_IO,devInterfaceAO1,"InterfaceAO1")
The INP (OUT is similar) field of an ai record has the form:
field(INP,"record_name[signal]")where
record_name - The name of the 1771N record instance
signal - signal number. signals are numbered 0,...7.
Thus signal 0 means to channel 1, etc.
This is support for the 1771-IXE and 1771-IXHR modules. Each supports millivolt and Tc inputs. Support consists of a device record ab1771IXRecord and device support for the ai record.
The ab1771IXRecord can be scanned at up to a 5 Hz rate for an IXHR module and 2 Hz for an IXE module. Each time it is processed it reads the associated module. It provides I/O interrupt support for ai records.
The ab1771IXRecord has the following fields.
The ab1771IFEecord can be scanned at up to a 10 Hz rate. Each time it is processed it reads the associated module. It provides I/O interrupt support for ai records.
The ab1771IFERecord has the following fields.
The following routine prints the last input and output messages:
ab1771IFEpm("record name")
Device support is the same as the ai device support for the 17771-N series described previously.
Support consists of device support (module devABSLCDCM.c) for the following:
device(ai,AB_IO,devAiAbSlcDcm,"AB-SLC500DCM")
device(ai,AB_IO,devAiAbSlcDcmSigned,"AB-SLC500DCM-Signed")
device(ao,AB_IO,devAoAbSlcDcm,"AB-SLC500DCM")
device(longin,AB_IO,devLiAbSlcDcm,"AB-SLC500DCM")
device(longout,AB_IO,devLoAbSlcDcm,"AB-SLC500DCM")
Device support is provided for the Allen Bradley SLC 500 DCM. This DCM has a table of 8 16-bit words (slots) where the first word is reserved for status. The next 7 words are used for either reading or writing or both (the read and write areas are kept separate). The device support uses the same INP/OUT definition as other Allen Bradley modules where the card is the word in the table multiplied by 2 (card 0 to 14 for word 0 to 7).
Binary and multibit binary device support is the same as the general 16 bit binary support (AB-16 bit BI and BO). For diagnostic purposes, it is good practice to have a multibit input record defined for the DCM status word (Success = 0x0000, mode error = 0x0300, and invalid data = 0x0500 and 0x0700).
Longin and analog device support is also provided (AB-SLC500DCM). The underlying logic is very similar to the binary device support with extra processing added depending on the specific record type. Linear conversion is available for analog records. Analog output linear conversion assumes only positive values and the raw value (RVAL) will range from 0 and 0x7FFF, corresponding to low and high engineering units (EGUL and EGUF). Two different types of device support is provided for analog inputs (AB-SLC500DCM and AB-SLC500DCM-Signed). Signed analog input device support is meant to be used by records with EGUL set to -EGUF that need linear conversion.
The general adapter and card status device support may be used for monitoring the SLC 500 DCM (AB-Adapter Status and AB-Card Status). One adapter status may be defined for the DCM and one card status mbbi record may be defined for each word in the table.
EPICS provides a driver, drvAb, for the Allen Bradley VME I/O scanner. This driver provides support for software that interfaces to specific types of I/O modules, e.g. device support. In addition it provides support for configuring the scanner itself and also to reset the scanner.
This section first discusses initialization, then the I/O report, and finally the software interface to the driver.
The driver has a normal EPICS driver entry table. When the initialization call is made the first thing the driver does is to see if the scanner is already initialized. If it is the driver does not reinitialize the scanner. This will be true whenever the scanner is running and a non-powerup reboot occurs.
NOTE: Chassis switch #1
If this switch is off then the output image table is set to all zeros whenever the scanner is initialized or a hard reboot is performed. Thus is the switch is off then only a ctl/x reboot preserves the output image table. Note that a ab_reset reinitializes the scanner.
If this switch is on then only a VME power cycle will cause the output image table to be reset. Thus a hard reboot or ab_reset can be issued without causing the output image table to be set to zeros.
Binary output and analog output device support both attempt to initialize their associated records with values obtained from the I/O modules.
The following is an example report issued via the vxWorks command:
dbior "drvAb",3 Driver: drvAb AB-6008SV link: 0 osw 00ec vme: 0xf0c00000OSW is the current operating status word. Consult the AB manual for details. VME is the base VME address for this scanner. AB-6008SV link: 0 osw 00ac vme: 0xf0c00000 6008SV2R Scanner Series A Revision B Copyright (c) 1995,96 Allen-Bradley Company
The above message identifies the current version of the Allen Bradley Scanner. This message only appears after a power up reboot, i.e. it will not appear for a ctl/x reboot.
Mailbox lock timeouts 0
Command timeouts 6
Command Failure 0
Interrupts per second 79
Block Transfers per second 39
Adapter Status Words
1f20 0000 0000 0000 1e20 0000 0000 0000
1e20 0000 0000 0000 1e20 0000 0000 0000
1c00 0000 0000 0000 0000 0000 0000 0000
0000 0000 0000 0000 0000 0000 0000 0000
scan list
00 04 08 0c 10
The above, which is only displayed if the print level is > 2, displays the
information returned by the scanner for the last link status command. See the
Allen Bradley Scanner manual for details. It is essential that you learn how
to interpet this report. For example the first word (1f20) states that the
first rack is:
Adapter 0 ONLINE 2 slot addressing
CARD 0: BIBO 8_Bit Scanning in 0x0 out 0x0
CARD 1: BIBO 8_Bit Scanning in 0x0 out 0x0
Adapter 1 ONLINE
CARD 0: AI Scanning IFEDIFF initialized 1 times
Write
ffff ffff 0700 ffff 0000 0000 4095 0000 4095 0000
4095 0000 4095 0000 4095 0000 4095 0000 4095 0000
4095 0000 4095 0000 4095 0000 4095 0000 4095 0000
4095 0000 4095 0000 4095 0000 4095
Read
0000 0000 0000 0000 064f 064e 04c4 04c4 0d0c 0d0d
0e08 0e08
CARD 1: AO Scanning OFE initialized 1 times
Write
0650 04c5 0d0d 0e08 8000
Read
0bcd 08b3 0698 086b 0040
CARD 2: BI 8_Bit Scanning 0x81
CARD 3: BO 16_Bit Scanning 0x81
CARD 4: BI 16_Bit Scanning 0x8001
CARD 5: BO 16_Bit Scanning 0x8001
CARD 6: BI 8_Bit Scanning 0x0
CARD 7: BO 8_Bit Scanning 0x0
CARD 8: BI 16_Bit Scanning 0x0
CARD 9: BO 16_Bit Scanning 0x0
(Many more lines left out)
For each adapter the following information is displayed:
/* drvAb.h */
/* interface types */
typedef enum {
typeNotAssigned,typeBi,typeBo,typeBiBo,typeAi,typeAo,typeBt
} cardType;
/* status values*/
typedef enum{
abSuccess,abNewCard,abCardConflict,abNoCard,abNotInitialized,
abBtqueued,abBusy,abTimeout,abAdapterDown,abFailure
} abStatus;
extern char **abStatusMessage;
typedef enum{
abBitNotdefined,abBit8,abBit16,abBit32
} abNumBits;
extern char **abNumBitsMessage;
/*entry table for dev to drv routines*/
typedef struct {
abStatus (*registerCard)
(unsigned short link,unsigned short adapter, unsigned short card,
cardType type, const char *card_name,
void (*callback)(void *drvPvt),
void **drvPvt);
void (*getLocation)
(void *drvPvt,
unsigned short *link, unsigned short *adapter,unsigned short *card);
abStatus (*setNbits)(void *drvPvt, abNumBits nbits);
void (*setUserPvt)(void *drvPvt, void *userPvt);
void *(*getUserPvt)(void *drvPvt);
abStatus (*getStatus)(void *drvPvt);
abStatus(*startScan)
(void *drvPvt, unsigned short update_rate,
unsigned short *pwrite_msg, unsigned short write_msg_len,
unsigned short *pread_msg, unsigned short read_msg_len);
abStatus(*updateAo)(void *drvPvt);
abStatus(*updateBo) (void *drvPvt,unsigned long value,unsigned long mask);
abStatus(*readBo) (void *drvPvt,unsigned long *value,unsigned long mask);
abStatus(*readBi) (void *drvPvt,unsigned long *value,unsigned long mask);
abStatus(*btRead)(void *drvPvt,unsigned short *pread_msg,
unsigned short read_msg_len);
abStatus(*btWrite)(void *drvPvt,unsigned short *pwrite_msg,
unsigned short write_msg_len);
abStatus (*adapterStatus)
(unsigned short link,unsigned short adapter);
abStatus (*cardStatus)
(unsigned short link,unsigned short adapter, unsigned short card);
}abDrv;
extern abDrv *pabDrv;
abDrv is a structure containing all the routines (methods) supported by the
driver that can be used to access specific Allen Bradley I/O.modules. pabDrv,
is the address of this structure.
int ab_reset(void); int ab_reset_link(int link); int abConfigNlinks(int nlinks); int abConfigVme(int link, int base, int vector, int level); int abConfigBaud(int link, int baud); int abConfigScanList(int link, int scan_list_len, char *scan_list); #endif /*INCdrvAbh*/The above commands can be issued from the vxWorks shell.
abStatus status;
unsigned short link,adapter,card;
void *drvPvt;
...
status = (*pabDrv->registerCard)(link,adapter,card,
typeBi,"BINARY",userCallback,&drvPvt);
switch(status) {
case abSuccess:
/*Success. This card was previously registered*/
...
case abNewCard:
/*Success. This is the first registration call for this card*/
...
default:
/*All other status values are errors*/
printf(" error: %s\n",abStatusMessage(status);
...
}
RegisterCard performs the following functions:
It calls the callback whenever an adapter changes status or whenever a periodic block transfer completes. Note that no callback is made when the initialization block transfer completes.
After registerCard is called, startScan must be called to start scanning. This call specifies the output and input block transfer messages as well as the update rate. The update rate is in units of.1 seconds, i.e. the basic scan task rate. It should be notified that this is not a guaranteed rate. The scanner retries unsuccessful block transfer requests several times before calling the user supplied callback. Also the "blue hose" may limit the number of block transfers.
NOTE: For a two port scanner both links must be reset simultaneously.
Copyright (c) 2002 University of Chicago. All rights reserved.
EPICS_AB - EPICS allen Bradley support.
EPICS_AB is distributed subject to the following license conditions:
SOFTWARE LICENSE AGREEMENT
Software: EPICS_AB
1. The "Software", below, refers to EPICS_AB (in either source code, or
binary form and accompanying documentation). Each licensee is
addressed as "you" or "Licensee."
2. The copyright holders shown above and their third-party licensors
hereby grant Licensee a royalty-free nonexclusive license, subject to
the limitations stated herein and U.S. Government license rights.
3. You may modify and make a copy or copies of the Software for use
within your organization, if you meet the following conditions:
a. Copies in source code must include the copyright notice and this
Software License Agreement.
b. Copies in binary form must include the copyright notice and this
Software License Agreement in the documentation and/or other
materials provided with the copy.
4. You may modify a copy or copies of the Software or any portion of it,
thus forming a work based on the Software, and distribute copies of
such work outside your organization, if you meet all of the following
conditions:
a. Copies in source code must include the copyright notice and this
Software License Agreement;
b. Copies in binary form must include the copyright notice and this
Software License Agreement in the documentation and/or other
materials provided with the copy;
c. Modified copies and works based on the Software must carry
prominent notices stating that you changed specified portions of
the Software.
5. Portions of the Software resulted from work developed under a U.S.
Government contract and are subject to the following license: the
Government is granted for itself and others acting on its behalf a
paid-up, nonexclusive, irrevocable worldwide license in this computer
software to reproduce, prepare derivative works, and perform publicly
and display publicly.
6. WARRANTY DISCLAIMER. THE SOFTWARE IS SUPPLIED "AS IS" WITHOUT WARRANTY
OF ANY KIND. THE COPYRIGHT HOLDERS, THEIR THIRD PARTY LICENSORS, THE
UNITED STATES, THE UNITED STATES DEPARTMENT OF ENERGY, AND THEIR
EMPLOYEES: (1) DISCLAIM ANY WARRANTIES, EXPRESS OR IMPLIED, INCLUDING
BUT NOT LIMITED TO ANY IMPLIED WARRANTIES OF MERCHANTABILITY, FITNESS
FOR A PARTICULAR PURPOSE, TITLE OR NON-INFRINGEMENT, (2) DO NOT ASSUME
ANY LEGAL LIABILITY OR RESPONSIBILITY FOR THE ACCURACY, COMPLETENESS,
OR USEFULNESS OF THE SOFTWARE, (3) DO NOT REPRESENT THAT USE OF THE
SOFTWARE WOULD NOT INFRINGE PRIVATELY OWNED RIGHTS, (4) DO NOT WARRANT
THAT THE SOFTWARE WILL FUNCTION UNINTERRUPTED, THAT IT IS ERROR-FREE
OR THAT ANY ERRORS WILL BE CORRECTED.
7. LIMITATION OF LIABILITY. IN NO EVENT WILL THE COPYRIGHT HOLDERS, THEIR
THIRD PARTY LICENSORS, THE UNITED STATES, THE UNITED STATES DEPARTMENT
OF ENERGY, OR THEIR EMPLOYEES: BE LIABLE FOR ANY INDIRECT, INCIDENTAL,
CONSEQUENTIAL, SPECIAL OR PUNITIVE DAMAGES OF ANY KIND OR NATURE,
INCLUDING BUT NOT LIMITED TO LOSS OF PROFITS OR LOSS OF DATA, FOR ANY
REASON WHATSOEVER, WHETHER SUCH LIABILITY IS ASSERTED ON THE BASIS OF
CONTRACT, TORT (INCLUDING NEGLIGENCE OR STRICT LIABILITY), OR
OTHERWISE, EVEN IF ANY OF SAID PARTIES HAS BEEN WARNED OF THE
POSSIBILITY OF SUCH LOSS OR DAMAGES.