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<== Date ==> <== Thread ==>

Subject: Problem with Motor Record on RTEMS on MVME5500
From: "Jim Eastman" <Jim.Eastman@pro-dex.com>
To: "EPICS Tech Talk" <tech-talk@aps.anl.gov>
Date: Tue, 1 Mar 2011 08:07:27 -0800

Hi all,

 

So continuing to learn my way through all of this, I'm encountering a problem with using the motor record to control a MAXv. The basic setup: an MVME5500 running RTEMS 4.10 (with the bspExt code for the mvme5500), and I've tried both 3.14.11 and 3.14.12 versions of EPICS using version 6-5-2 of the motor record. Building and deploying the NoAsyn example app.

 

Here is my startup output:

 

-----------------------------------------

Welcome to rtems-4.10.0(PowerPC/Generic (classic FPU)/mvme5500) on MVME5500-0163

-----------------------------------------

Now BSP_mem_size = 0x1FE00000

Marvell GT64260B (Discovery I) hostbridge detected at bus0 slot0

BSP unlisted vendor, Bus0 Slot10 DeviceID 0x263388

TUNDRA PCI-VME bridge detected at bus1 slot0

Marvell GT64260B (Discovery I) hostbridge detected at bus8 slot0

BSP unlisted vendor, Bus8 Slot10 DeviceID 0x10088086

Universe II PCI-VME bridge detected at 0x82000000, IRQ 12

Universe Master Ports:

Port  VME-Addr   Size       PCI-Adrs   Mode:

0:    0x20000000 0x0E000000 0x90000000 A32, D64 [MBLT], Dat, Sup

1:    0x00000000 0x00FF0000 0x9F000000 A24, D64 [MBLT], Dat, Sup

2:    0x00000000 0x00010000 0x9FFF0000 A16, D64, Dat, Sup

Universe Slave Ports:

Port  VME-Addr   Size       PCI-Adrs   Mode:

0:    0x90000000 0x1FE00000 0x00000000 A32, Pgm, Dat, Sup, Usr, PWEN, PREN

Overriding main IRQ line PCI info with 76

Registering /dev/console as minor 0 (==/dev/ttyS0)

 

***** Initializing network *****

Startup.

 

Attaching MVME5500 1GHz NIC1

RTEMS-mvme5500 BSP Copyright (c) 2004,2005,2008, Brookhaven National Lab., Shuchen Kate Feng

***** Initializing NFS *****

Mount 10.40.30.108:/tftpboot/epics on /epics

RTEMS-RPCIOD $Release$, Till Straumann, Stanford/SLAC/SSRL 2002, See LICENSE file for licensing info.

RTEMS-NFS $Release$, Till Straumann, Stanford/SLAC/SSRL 2002, See LICENSE file for licensing info.

***** Starting EPICS application *****

#Startup script for loading and configuring an OMS MAXv controller.

< /epics/mvme5500/envPaths

epicsEnvSet("ARCH","RTEMS-mvme5500")

epicsEnvSet("IOC","iocNoAsyn")

dbLoadDatabase("/epics/mvme5500/dbd/motorRecord.dbd")

dbLoadDatabase("/epics/mvme5500/dbd/devOms.dbd")

dbLoadDatabase("/epics/mvme5500/dbd/NoAsyn.dbd")

NoAsyn_registerRecordDeviceDriver(pdbbase)

dbLoadTemplate("/epics/mvme5500/motor.substitutions")

MAXvSetup(1, 16, 0xF000, 190, 5, 10)

MAXvConfig(0, "AX LL PSO; AY LL PSO; AZ LL PSO; AT LL PSO; AU LH PSO; AV LH PSO; AR LH PSO; AS LH PSO;")

iocInit

Starting iocInit

############################################################################

## EPICS R3.14.12 $Date: Wed 2010-11-24 14:50:38 -0600$

## EPICS Base built Feb 25 2011

############################################################################

libbspExt - Warning: it seems that MCP support is not available on your CPU

                     or not implemented by your board. Address probing must

                     be performed in polling mode with interrupts disabled

Warning: bspExtMemProbe kills real-time performance.

         Your BSP does or can not use MCP exceptions - we

         must probe with INTERRUPTS DISABLED !!!

         use only during driver initialization

 

         clear the 'bspExtVerbosity' variable to silence this warning

Warning: bspExtMemProbe kills real-time performance.

         Your BSP does or can not use MCP exceptions - we

         must probe with INTERRUPTS DISABLED !!!

         use only during driver initialization

 

         clear the 'bspExtVerbosity' variable to silence this warning

Warning: bspExtMemProbe kills real-time performance.

         Your BSP does or can not use MCP exceptions - we

         must probe with INTERRUPTS DISABLED !!!

         use only during driver initialization

 

         clear the 'bspExtVerbosity' variable to silence this warning

Illegal field value PV: IOC:m1 motor_init_record_com(): card does not exist!

 

Illegal field value PV: IOC:m2 motor_init_record_com(): card does not exist!

 

Illegal field value PV: IOC:m3 motor_init_record_com(): card does not exist!

 

Illegal field value PV: IOC:m4 motor_init_record_com(): card does not exist!

 

Illegal field value PV: IOC:m5 motor_init_record_com(): card does not exist!

 

Illegal field value PV: IOC:m6 motor_init_record_com(): card does not exist!

 

Illegal field value PV: IOC:m7 motor_init_record_com(): card does not exist!

 

Illegal field value PV: IOC:m8 motor_init_record_com(): card does not exist!

 

iocRun: All initialization complete

 

Here's what my motor.substitutions file looks like:

 

file "/epics/mvme5500/db/basic_motor.db"

{

pattern

{P,     N,  M,        DTYP,        C,  S,  DESC,               EGU,      DIR,  VELO,  VBAS,  ACCL,  BDST,  BVEL,  BACC,  MRES,  PREC,  DHLM,  DLLM,  INIT,     PREM,  POST}

{IOC:,  1,  "m$(N)",  "OMS MAXv",  0,  0,  "motor axis $(N)",  degrees,  Pos,  1,     .1,    .2,    0,     1,     .2,    0.01,  5,     100,   -100,  "AN LL",  "AF",  "AN"}

{IOC:,  2,  "m$(N)",  "OMS MAXv",  0,  1,  "motor axis $(N)",  degrees,  Pos,  1,     .1,    .2,    0,     1,     .2,    0.01,  5,     100,   -100,  "AN LL",  "AF",  "AN"}

{IOC:,  3,  "m$(N)",  "OMS MAXv",  0,  2,  "motor axis $(N)",  degrees,  Pos,  1,     .1,    .2,    0,     1,     .2,    0.01,  5,     100,   -100,  "AN LL",  "AF",  "AN"}

{IOC:,  4,  "m$(N)",  "OMS MAXv",  0,  3,  "motor axis $(N)",  degrees,  Pos,  1,     .1,    .2,    0,     1,     .2,    0.01,  5,     100,   -100,  "AN LL",  "AF",  "AN"}

{IOC:,  5,  "m$(N)",  "OMS MAXv",  0,  4,  "motor axis $(N)",  degrees,  Pos,  1,     .1,    .2,    0,     1,     .2,    0.01,  5,     100,   -100,  "AN LL",  "AF",  "AN"}

{IOC:,  6,  "m$(N)",  "OMS MAXv",  0,  5,  "motor axis $(N)",  degrees,  Pos,  1,     .1,    .2,    0,     1,     .2,    0.01,  5,     100,   -100,  "AN LL",  "AF",  "AN"}

{IOC:,  7,  "m$(N)",  "OMS MAXv",  0,  6,  "motor axis $(N)",  degrees,  Pos,  1,     .1,    .2,    0,     1,     .2,    0.01,  5,     100,   -100,  "AN LL",  "AF",  "AN"}

{IOC:,  8,  "m$(N)",  "OMS MAXv",  0,  7,  "motor axis $(N)",  degrees,  Pos,  1,     .1,    .2,    0,     1,     .2,    0.01,  5,     100,   -100,  "AN LL",  "AF",  "AN"}

}

 

I'm not sure why I'm not able to communicate with the MAXv controller ( maybe it has something to do with the bspExt warnings? ). I hope that covers the relevant details. Any help or advice would be greatly appreciated. Thanks!

 

Regards,

Jim Eastman

 

 

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Replies:
Re: Problem with Motor Record on RTEMS on MVME5500 Kate Feng

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