Experimental Physics and
Industrial Control System

Hello epics-community,

 

I have set up an IOC under EPICS-BASE-3.15.7 RTEMS-mvme2100 in order to control 9 OMS vme58 Cards. I’m using the latest motor-module (7-2-1) and the latest asyn-modul (4-40-1) with rtems-4.10.2. This is how my RTEMS/IOC startup on the MVME2100 looks like:

 

Copyright Motorola Inc. 1988 - 2004, All Rights Reserved

 

PPC5 Debugger/Diagnostics Release Version 1.1 - 08/20/2004 RM04

COLD Start

 

Local Memory Found =02000000 (&33554432)

 

MPU Clock Speed =200Mhz

 

BUS Clock Speed =67Mhz

 

WARNING: BUS Clock Speed Does Not Match the Board Configuration

 

Reset Vector Location  : ROM Bank B

Mezzanine Configuration: Single-MPU

Current 60X-Bus Master : MPU0

Idle MPU(s)            : NONE

 

L2Cache:       NONE

System Memory: 32MB, Parity NOT Enabled (Non-Parity-Memory Detected)

 

 

SelfTest/Boots about to Begin... Press <BREAK> at anytime to Abort ALL

 

NetBoot about to Begin... Press <ESC> to Bypass, <SPC> to Continue

 

Network Booting from: DEC21143, Controller 0, Device 0

Device Name: /pci@fec00000/pci1011,19@e,0:0,0

Loading: epics/iocRtems/iocRtems.boot

 

Client IP Address      = 192.168.99.250

Server IP Address      = 192.168.99.1

Gateway IP Address     = 192.168.99.1

Subnet IP Address Mask = 255.255.255.0

Boot File Name         = epics/iocRtems/iocRtems.boot

Argument File Name     = /soft/epics/IOC/iocRtems/iocBoot/iocRtems/st.cmd

 

Network Boot File load in progress... To abort hit <BREAK>

 

Bytes Received =&1089032, Bytes Loaded =&1089032

Bytes/Second   =&544516, Elapsed Time =2 Second(s)

 

Residual-Data Located at: $01F5511C

 

Model: Motorola MVME2101          (e2)

Serial: MOT0BC614E 

Processor/Bus frequencies (Hz): 200005248/66668416

Time Base Divisor: 4000

Memory Size: 2000000

 

PCI: Probing PCI hardware

 

RTEMS 4.x/PPC load:

Uncompressing the kernel...

done

Now booting...

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

Welcome to rtems-4.10.2(PowerPC/Generic (classic FPU)/mvme2100) on MVME 2100

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

pci : Configuring interrupt routing for 'MVME 2100'

pci : Device 0:0x00:0 routed to interrupt_line 16

pci : Device 0:0x0D:0 routed to interrupt_line 23

pci : Device 0:0x0E:0 routed to interrupt_line 17

WARNING: unable to allocate page table, keeping DBAT0

WARNING: unable to setup page tables VME bridge must share PCI space

OpenPIC Version 1.2 (1 CPUs and 24 IRQ sources) at 0xFCE40000

OpenPIC Vendor 0 (Unknown), Device 0 (Unknown), Stepping 1

Overriding NumSources (24) from configuration with 16

OpenPIC timer frequency is 8333488 Hz

Universe II PCI-VME bridge detected at 0xFCDFF000, IRQ 23

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:    0xC0000000 0x02000000 0x00000000 A32, Pgm, Dat, Sup, Usr, PWEN, PREN

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

 

***** RTEMS Version: rtems-4.10.2(PowerPC/Generic (classic FPU)/mvme2100) *****

Startup.

 

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

dec2114x : unit 1 base address FCDFEC00.

dec2114x : driver attached

dec2114x : driver tasks created

dec2114x : 00:01:AF:15:AD:97   name 'dc1', io BFDF80, mem FCDFEC00, int 17

dec2114x: Installing IRQ 17

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

Mount 192.168.99.1:/soft on /soft

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.

Warning: No timezone information, times will be displayed in UTC.

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

## Example RTEMS startup script

## You may have to change iocRtems to something else

## everywhere it appears in this file

#< envPaths

## Register all support components

dbLoadDatabase("/soft/epics/IOC/iocRtems/dbd/iocRtems.dbd")

iocRtems_registerRecordDeviceDriver(pdbbase)

## Load record instances

#dbLoadTemplate("db/iocRtems.substitutions")

dbLoadRecords("/soft/epics/IOC/iocRtems/db/iocRtems.db", "user=bl")

#var drvOms58debug 10

oms58Setup(9, 0x1000,180,5,2)

iocInit

Starting iocInit

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

## EPICS R3.15.7

## EPICS Base built Sep  1 2020

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

Illegal field value PV: OMS58:25000000 motor_init_record_com(): card does not exist!

 

Illegal field value PV: OMS58:25000001 motor_init_record_com(): card does not exist!

 

Illegal field value PV: OMS58:25000002 motor_init_record_com(): card does not exist!

.

.

.

.

.

Illegal field value PV: OMS58:25008006 motor_init_record_com(): card does not exist!

 

Illegal field value PV: OMS58:25008007 motor_init_record_com(): card does not exist!

 

iocRun: All initialization complete

## Start any sequence programs

#seq(sncxxx, "user=bl")

192.168.99.250>

 

 

192.168.99.250> 192.168.99.250>

 

For some background info: all these 9 cards functioned well with an VxWorks IOC (Base-3.14.12.1, motor-module 6-5-2, asyn-modul 4-16) running on a MVME162/167. I copy-pasted the “oms58Setup(9, 0x1000,180,5,2)” since the hardware-setup (location of the cards in the vme-crate, jumpers on the cards) stayed the same. I’m trying to switch from VxWorks to RTEMS due to VxWorks-license lack. I did not try to compile an ioc with the older base and modules yet… Maybe that would help? On the other hand: the newer versions compile fine!

 

Can someone help me with the missing communication? Also the “192.168.99.250> 192.168.99.250> ” prompt at the end looks weird…

 

Best regards

Michael