diff --git a/acsApp/src/devMCB4B.c b/acsApp/src/devMCB4B.c deleted file mode 100644 index e600e91..0000000 --- a/acsApp/src/devMCB4B.c +++ /dev/null @@ -1,345 +0,0 @@ -/* File: devMCB4B.c */ - -/* Device Support Routines for motor */ -/* - * Original Author: Mark Rivers - * Date: 02-24-2002 - * - * Modification Log: - * ----------------- - * .00 02-24-2002 mlr initialized from devPM304.c - */ - - -#define VERSION 1.00 - -#include -#include -#include -#include -#include - -#ifdef __cplusplus -extern "C" { -#include -} -#else -#include -#endif -#include /* for sysSymTbl*/ - -#include -#include -#include -#include -#include -#include -#include -#include -#include - -#include "motorRecord.h" -#include "motor.h" -#include "motordevCom.h" -#include "drvMCB4B.h" - -#define STATIC static - -#define NINT(f) (long)((f)>0 ? (f)+0.5 : (f)-0.5) - -#ifdef NODEBUG -#define Debug(L,FMT,V) ; -#else -#define Debug(L,FMT,V...) { if(L <= devMCB4BDebug) \ - { errlogPrintf("%s(%d):",__FILE__,__LINE__); \ - errlogPrintf(FMT,##V); } } -#endif - -/* Debugging levels: - * devMCB4BDebug >= 3 Print new part of command and command string so far - * at the end of MCB4B_build_trans - */ - - -/* ----------------Create the dsets for devMCB4B----------------- */ -STATIC struct driver_table *drvtabptr; -STATIC long MCB4B_init(int); -STATIC long MCB4B_init_record(struct motorRecord *); -STATIC long MCB4B_start_trans(struct motorRecord *); -STATIC long MCB4B_build_trans(motor_cmnd, double *, struct motorRecord *); -STATIC long MCB4B_end_trans(struct motorRecord *); - -struct motor_dset devMCB4B = -{ - {8, NULL, MCB4B_init, MCB4B_init_record, NULL}, - motor_update_values, - MCB4B_start_trans, - MCB4B_build_trans, - MCB4B_end_trans -}; - - - -/* --------------------------- program data --------------------- */ -/* This table is used to define the command types */ - -static int MCB4B_table[] = { - MOTION, /* MOVE_ABS */ - MOTION, /* MOVE_REL */ - MOTION, /* HOME_FOR */ - MOTION, /* HOME_REV */ - IMMEDIATE, /* LOAD_POS */ - IMMEDIATE, /* SET_VEL_BASE */ - IMMEDIATE, /* SET_VELOCITY */ - IMMEDIATE, /* SET_ACCEL */ - IMMEDIATE, /* GO */ - IMMEDIATE, /* SET_ENC_RATIO */ - INFO, /* GET_INFO */ - MOVE_TERM, /* STOP_AXIS */ - VELOCITY, /* JOG */ - IMMEDIATE, /* SET_PGAIN */ - IMMEDIATE, /* SET_IGAIN */ - IMMEDIATE, /* SET_DGAIN */ - IMMEDIATE, /* ENABLE_TORQUE */ - IMMEDIATE, /* DISABL_TORQUE */ - IMMEDIATE, /* PRIMITIVE */ - IMMEDIATE, /* SET_HIGH_LIMIT */ - IMMEDIATE /* SET_LOW_LIMIT */ -}; - - -static struct board_stat **MCB4B_cards; - -volatile int devMCB4BDebug = 0; - -/* --------------------------- program data --------------------- */ - - -/* initialize device support for MCB4B stepper motor */ -STATIC long MCB4B_init(int after) -{ - SYM_TYPE type; - long rtnval; - - - Debug(5, "MCB4B_init: entry\n"); - if (after == 0) - { - rtnval = symFindByNameEPICS(sysSymTbl, "_MCB4B_access", - (void *) &drvtabptr, &type); - if (rtnval != OK) - return(rtnval); - /* - IF before DB initialization. - Initialize MCB4B driver (i.e., call init()). See comment in - drvMCB4B.c init(). - ENDIF - */ - (drvtabptr->init)(); - } - - rtnval = motor_init_com(after, *drvtabptr->cardcnt_ptr, drvtabptr, &MCB4B_cards); - Debug(5, "MCB4B_init: exit\n"); - return(rtnval); -} - - -/* initialize a record instance */ -STATIC long MCB4B_init_record(struct motorRecord *mr) -{ - long rtnval; - - Debug(5, "MCB4B_init_record: entry\n"); - rtnval = motor_init_record_com(mr, *drvtabptr->cardcnt_ptr, - drvtabptr, MCB4B_cards); - return(rtnval); - Debug(5, "MCB4B_init_record: exit\n"); -} - - -/* start building a transaction */ -STATIC long MCB4B_start_trans(struct motorRecord *mr) -{ - return(OK); -} - - -/* end building a transaction */ -STATIC long MCB4B_end_trans(struct motorRecord *mr) -{ - return(OK); -} - -/* add a part to the transaction */ -STATIC long MCB4B_build_trans(motor_cmnd command, double *parms, struct motorRecord *mr) -{ - struct motor_trans *trans = (struct motor_trans *) mr->dpvt; - struct mess_node *motor_call; - struct controller *brdptr; - struct MCB4Bcontroller *cntrl; - char buff[30]; - int axis, card; - long rtnval; - double dval; - long ival; - - rtnval = OK; - buff[0] = '\0'; - dval = parms[0]; - ival = NINT(parms[0]); - - rtnval = motor_start_trans_com(mr, MCB4B_cards); - Debug(5, "MCB4B_build_trans: entry, motor_start_trans_com=%ld\n", rtnval); - - motor_call = &(trans->motor_call); - motor_call->type = MCB4B_table[command]; - card = motor_call->card; - axis = motor_call->signal; - brdptr = (*trans->tabptr->card_array)[card]; - Debug(5, "MCB4B_build_trans: axis=%d, command=%d\n", axis, command); - if (brdptr == NULL) - return(rtnval = ERROR); - - cntrl = (struct MCB4Bcontroller *) brdptr->DevicePrivate; - - - if (trans->state != BUILD_STATE) - return(rtnval = ERROR); - - if (command == PRIMITIVE && mr->init != NULL && strlen(mr->init) != 0) - { - strcpy(motor_call->message, mr->init); - rtnval = motor_end_trans_com(mr, drvtabptr); - rtnval = motor_start_trans_com(mr, MCB4B_cards); - motor_call->type = MCB4B_table[command]; - } - - switch (command) - { - case MOVE_ABS: - case MOVE_REL: - case HOME_FOR: - case HOME_REV: - case JOG: - if (strlen(mr->prem) != 0) - { - strcpy(motor_call->message, mr->prem); - rtnval = motor_start_trans_com(mr, MCB4B_cards); - motor_call->type = MCB4B_table[command]; - } - if (strlen(mr->post) != 0) - motor_call->postmsgptr = (char *) &mr->post; - break; - - default: - break; - } - - switch (command) - { - case MOVE_ABS: - sprintf(motor_call->message, "#%02dG%+ld", axis, ival); - break; - case MOVE_REL: - sprintf(motor_call->message, "#%02dI%+ld", axis, ival); - break; - case HOME_FOR: - sprintf(motor_call->message, "#%02dH+", axis); - break; - case HOME_REV: - sprintf(motor_call->message, "#%02dH-", axis); - break; - case LOAD_POS: - sprintf(motor_call->message, "#%02dP=%+ld", axis, ival); - break; - case SET_VEL_BASE: - trans->state = IDLE_STATE; - break; /* MCB4B does not use base velocity */ - case SET_VELOCITY: - ival = fabs(115200./dval) + 0.5; - if (ival < 2) ival=2; - if (ival > 255) ival = 255; - sprintf(motor_call->message, "#%02dV=%ld", axis, ival); - break; - case SET_ACCEL: - /* dval is acceleration in steps/sec/sec */ - /* MCB is programmed with Ramp Index (R) where: */ - /* dval (steps/sec/sec) = 720,000/(256-R) */ - /* or R=256-(720,000/dval) */ - ival = 256-(720000./dval)+0.5; - if (ival < 1) ival=1; - if (ival > 255) ival=255; - sprintf(motor_call->message, "#%02dR=%ld", axis, ival); - break; - case GO: - /* - * The MCB4B starts moving immediately on move commands, GO command - * does nothing - */ - trans->state = IDLE_STATE; - break; - case SET_ENC_RATIO: - /* - * The MCB4B does not have the concept of encoder ratio, ignore this - * command - */ - trans->state = IDLE_STATE; - break; - case GET_INFO: - /* These commands are not actually done by sending a message, but - rather they will indirectly cause the driver to read the status - of all motors */ - break; - case STOP_AXIS: - sprintf(motor_call->message, "#%02dQ", axis); - break; - case JOG: - /* MCB-4B does not have jog command. Move 1 million steps */ - ival = fabs(115200./dval) + 0.5; - if (ival < 2) ival=2; - if (ival > 65535) ival = 65535; - sprintf(motor_call->message, "#%02dC=%ld", axis, ival); - rtnval = motor_end_trans_com(mr, drvtabptr); - rtnval = motor_start_trans_com(mr, MCB4B_cards); - motor_call->type = MCB4B_table[command]; - if (dval > 0.) { - /* This is a positive move in MCB4B coordinates */ - sprintf(motor_call->message, "#%02dM+1000000", axis); - } else { - /* This is a negative move in MCB4B coordinates */ - sprintf(motor_call->message, "#%02dM-1000000", axis); - } - break; - case SET_PGAIN: - trans->state = IDLE_STATE; - break; - - case SET_IGAIN: - trans->state = IDLE_STATE; - break; - - case SET_DGAIN: - trans->state = IDLE_STATE; - break; - - case ENABLE_TORQUE: - sprintf(motor_call->message, "#%02dW=1", axis); - break; - - case DISABL_TORQUE: - sprintf(motor_call->message, "#%02dW=0", axis); - break; - - case SET_HIGH_LIMIT: - case SET_LOW_LIMIT: - trans->state = IDLE_STATE; - break; - - default: - rtnval = ERROR; - } - - rtnval = motor_end_trans_com(mr, drvtabptr); - Debug(5, "MCB4B_send_msg: motor_end_trans_com status=%ld, exit\n", rtnval); - return (rtnval); -} diff --git a/acsApp/src/drvMCB4B.c b/acsApp/src/drvMCB4B.c deleted file mode 100644 index 18e1be7..0000000 --- a/acsApp/src/drvMCB4B.c +++ /dev/null @@ -1,544 +0,0 @@ -/* File: drvMCB4B.c */ - -/* Device Driver Support routines for motor */ -/* - * Original Author: Mark Rivers - * Date: 2/24/2002 - * - * Modification Log: - * ----------------- - * .01 02-24-2002 mlr initialized from drvPM304.c - * .02 07-03-2002 rls replaced RA_OVERTRAVEL with RA_PLUS_LS and RA_MINUS_LS - */ - - -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include - -#include "motor.h" -#include "drvMCB4B.h" -#include "serialIO.h" - -#define STATIC static - -#define WAIT 1 - -#define SERIAL_TIMEOUT 2000 /* Command timeout in msec */ - -#define BUFF_SIZE 100 /* Maximum length of string to/from MCB4B */ - -struct mess_queue -{ - struct mess_node *head; - struct mess_node *tail; -}; - - -#ifdef NODEBUG -#define Debug(L,FMT,V) ; -#else -#define Debug(L,FMT,V...) { if(L <= drvMCB4BDebug) \ - { errlogPrintf("%s(%d):",__FILE__,__LINE__); \ - errlogPrintf(FMT,##V); } } -#endif - -/* Debugging notes: - * drvMCB4BDebug == 0 No debugging information is printed - * drvMCB4BDebug >= 1 Warning information is printed - * drvMCB4BDebug >= 2 Time-stamped messages are printed for each string - * sent to and received from the controller - * drvMCB4BDebug >= 3 Additional debugging messages - */ - -int MCB4B_num_cards = 0; -volatile int drvMCB4BDebug = 0; - -/* Local data required for every driver; see "motordrvComCode.h" */ -#include "motordrvComCode.h" - - -/*----------------functions-----------------*/ -STATIC int recv_mess(int, char *, int); -STATIC int send_mess(int card, const char *com, char c); -STATIC void start_status(int card); -STATIC int set_status(int card, int signal); -static long report(int level); -static long init(); -STATIC int motor_init(); -STATIC void query_done(int, int, struct mess_node *); - -/*----------------functions-----------------*/ - -struct driver_table MCB4B_access = -{ - motor_init, - motor_send, - motor_free, - motor_card_info, - motor_axis_info, - &mess_queue, - &queue_lock, - &free_list, - &freelist_lock, - &motor_sem, - &motor_state, - &total_cards, - &any_motor_in_motion, - send_mess, - recv_mess, - set_status, - query_done, - start_status, - &initialized -}; - -struct -{ - long number; -#ifdef __cplusplus - long (*report) (int); - long (*init) (void); -#else - DRVSUPFUN report; - DRVSUPFUN init; -#endif -} drvMCB4B = {2, report, init}; - - - - -/********************************************************* - * Print out driver status report - *********************************************************/ -static long report(int level) -{ - int card; - - if (MCB4B_num_cards <=0) - printf(" NO MCB4B controllers found\n"); - else - { - for (card = 0; card < MCB4B_num_cards; card++) - if (motor_state[card]) - printf(" MCB4B controller %d, id: %s \n", - card, - motor_state[card]->ident); - } - return (0); -} - - -static long init() -{ - /* - * We cannot call motor_init() here, because that function can do GPIB I/O, - * and hence requires that the drvGPIB have already been initialized. - * That cannot be guaranteed, so we need to call motor_init from device - * support - */ - /* Check for setup */ - if (MCB4B_num_cards <= 0) - { - Debug(1, "init: *MCB4B driver disabled*\n"); - Debug(1, "MCB4BSetup() is missing from startup script.\n"); - return (ERROR); - } - - return ((long) 0); -} - -STATIC void query_done(int card, int axis, struct mess_node *nodeptr) -{ -} - - -/********************************************************* - * Read the status and position of all motors on a card - * start_status(int card) - * if card == -1 then start all cards - *********************************************************/ -STATIC void start_status(int card) -{ - /* The MCB4B cannot query status or positions of all axes with a - * single command. This needs to be done on an axis-by-axis basis, - * so this function does nothing - */ -} - - -/************************************************************** - * Query position and status for an axis - * set_status() - ************************************************************/ - -STATIC int set_status(int card, int signal) -{ - register struct mess_info *motor_info; - char command[BUFF_SIZE]; - char response[BUFF_SIZE]; - struct mess_node *nodeptr; - int rtn_state; - long motorData; - char buff[BUFF_SIZE]; - BOOLEAN ls_active = OFF; - - motor_info = &(motor_state[card]->motor_info[signal]); - nodeptr = motor_info->motor_motion; - - /* Request the moving status of this motor */ - sprintf(command, "#%02dX", signal); - send_mess(card, command, 0); - recv_mess(card, response, WAIT); - /* The response string is of the form "#01X=1" */ - - if (response[5] == '1') - motor_info->status &= ~RA_DONE; - else { - motor_info->status |= RA_DONE; - } - - /* Request the limit status of this motor */ - sprintf(command, "#%02dE", signal); - send_mess(card, command, 0); - recv_mess(card, response, WAIT); - /* The response string is of the form "#01E=1" */ - motor_info->status &= ~(RA_PLUS_LS | RA_MINUS_LS); - if (response[5] == '1') { - motor_info->status |= RA_PLUS_LS; - motor_info->status |= RA_DIRECTION; - ls_active = ON; - } - if (response[6] == '1') { - motor_info->status |= RA_MINUS_LS; - motor_info->status &= ~RA_DIRECTION; - ls_active = ON; - } - - /* encoder status */ - motor_info->status &= ~EA_SLIP; - motor_info->status &= ~EA_POSITION; - motor_info->status &= ~EA_SLIP_STALL; - motor_info->status &= ~EA_HOME; - - /* Request the position of this motor */ - sprintf(command, "#%02dP", signal); - send_mess(card, command, 0); - recv_mess(card, response, WAIT); - /* The response string is of the form "#01P=+1000" */ - motorData = atoi(&response[5]); - - if (motorData == motor_info->position) - motor_info->no_motion_count++; - else - { - motor_info->position = motorData; - motor_info->encoder_position = motorData; - motor_info->no_motion_count = 0; - } - - /* Parse motor velocity? */ - /* NEEDS WORK */ - - motor_info->velocity = 0.; - - if (!(motor_info->status & RA_DIRECTION)) - motor_info->velocity *= -1; - - rtn_state = (!motor_info->no_motion_count || ls_active == ON || - (motor_info->status & (RA_DONE | RA_PROBLEM))) ? 1 : 0; - - /* Test for post-move string. */ - if ((motor_info->status & RA_DONE || ls_active == ON) && nodeptr != 0 && - nodeptr->postmsgptr != 0) - { - strcpy(buff, nodeptr->postmsgptr); - strcat(buff, "\r"); - send_mess(card, buff, NULL); - /* The MCB4B always sends back a response, read it and discard */ - recv_mess(card, buff, WAIT); - nodeptr->postmsgptr = NULL; - } - - return (rtn_state); -} - - -/*****************************************************/ -/* send a message to the MCB4B board */ -/* send_mess() */ -/*****************************************************/ -STATIC int send_mess(int card, const char *com, char c) -{ - char buff[BUFF_SIZE]; - struct MCB4Bcontroller *cntrl; - - /* Check that card exists */ - if (!motor_state[card]) - { - errlogPrintf("send_mess - invalid card #%d\n", card); - return (-1); - } - - /* If the string is NULL just return */ - if (strlen(com) == 0) return(OK); - cntrl = (struct MCB4Bcontroller *) motor_state[card]->DevicePrivate; - - strcpy(buff, com); - strcat(buff, OUTPUT_TERMINATOR); - Debug(2, "%.2f : send_mess: sending message to card %d, message=%s\n", - tickGet()/60., card, buff); - serialIOSend(cntrl->serialInfo, buff, strlen(buff), SERIAL_TIMEOUT); - - return (OK); -} - - -/*****************************************************/ -/* Read a response string from the MCB4B board */ -/* recv_mess() */ -/*****************************************************/ -STATIC int recv_mess(int card, char *com, int flag) -{ - int timeout; - int len=0; - struct MCB4Bcontroller *cntrl; - - /* Check that card exists */ - if (!motor_state[card]) - { - errlogPrintf("recv_mess - invalid card #%d\n", card); - return (-1); - } - - cntrl = (struct MCB4Bcontroller *) motor_state[card]->DevicePrivate; - - Debug(3, "%.2f : recv_mess entry: card %d, flag=%d\n", - tickGet()/60., card, flag); - if (flag == FLUSH) - timeout = 0; - else - timeout = SERIAL_TIMEOUT; - len = serialIORecv(cntrl->serialInfo, com, MAX_MSG_SIZE, - INPUT_TERMINATOR, timeout); - - /* The response from the MCB4B is terminated with CR. Remove */ - if (len < 1) com[0] = '\0'; - else com[len-1] = '\0'; - if (len > 0) { - Debug(2, "%.2f : recv_mess: card %d, message = \"%s\"\n", - tickGet()/60., card, com); - } - if (len == 0) { - if (flag != FLUSH) { - Debug(1, "%.2f: recv_mess: card %d ERROR: no response\n", - tickGet()/60., card); - } else { - Debug(3, "%.2f: recv_mess: card %d flush returned no characters\n", - tickGet()/60., card); - } - } - return (len); -} - - - -/*****************************************************/ -/* Setup system configuration */ -/* MCB4BSetup() */ -/*****************************************************/ -int MCB4BSetup(int num_cards, /* maximum number of controllers in system */ - int num_channels, /* NOT USED */ - int scan_rate) /* polling rate - 1/60 sec units */ -{ - int itera; - - if (num_cards < 1 || num_cards > MCB4B_NUM_CARDS) - MCB4B_num_cards = MCB4B_NUM_CARDS; - else - MCB4B_num_cards = num_cards; - - /* Set motor polling task rate */ - if (scan_rate >= 1 && scan_rate <= sysClkRateGet()) - motor_scan_rate = sysClkRateGet() / scan_rate; - else - motor_scan_rate = SCAN_RATE; - - /* - * Allocate space for motor_state structure pointers. Note this must be done - * before MCB4BConfig is called, so it cannot be done in motor_init() - * This means that we must allocate space for a card without knowing - * if it really exists, which is not a serious problem since this is just - * an array of pointers. - */ - motor_state = (struct controller **) malloc(MCB4B_num_cards * - sizeof(struct controller *)); - - for (itera = 0; itera < MCB4B_num_cards; itera++) - motor_state[itera] = (struct controller *) NULL; - return (0); -} - - -/*****************************************************/ -/* Configure a controller */ -/* MCB4BConfig() */ -/*****************************************************/ -int MCB4BConfig(int card, /* card being configured */ - int addr1, /* card for RS-232 */ - int addr2) /* server_task for RS-232 */ -{ - struct MCB4Bcontroller *cntrl; - - if (card < 0 || card >= MCB4B_num_cards) - return (ERROR); - - motor_state[card] = (struct controller *) malloc(sizeof(struct controller)); - motor_state[card]->DevicePrivate = malloc(sizeof(struct MCB4Bcontroller)); - cntrl = (struct MCB4Bcontroller *) motor_state[card]->DevicePrivate; - cntrl->serial_card = addr1; - strcpy(cntrl->serial_task, (char *) addr2); - return (0); -} - - - -/*****************************************************/ -/* initialize all software and hardware */ -/* This is called from the initialization routine in */ -/* device support. */ -/* motor_init() */ -/*****************************************************/ -STATIC int motor_init() -{ - struct controller *brdptr; - struct MCB4Bcontroller *cntrl; - int card_index, motor_index, arg3, arg4; - char buff[BUFF_SIZE]; - int total_axis = 0; - int status = 0; - BOOLEAN errind; - - initialized = ON; /* Indicate that driver is initialized. */ - - /* Check for setup */ - if (MCB4B_num_cards <= 0) - { - Debug(1, "motor_init: *MCB4B driver disabled*\n"); - Debug(1, "MCB4BSetup() is missing from startup script.\n"); - return (ERROR); - } - - for (card_index = 0; card_index < MCB4B_num_cards; card_index++) - { - if (!motor_state[card_index]) - continue; - - brdptr = motor_state[card_index]; - total_cards = card_index + 1; - cntrl = (struct MCB4Bcontroller *) brdptr->DevicePrivate; - - /* Initialize communications channel */ - errind = OFF; - - cntrl->serialInfo = serialIOInit(cntrl->serial_card, - cntrl->serial_task); - if (cntrl->serialInfo == NULL) - errind = ON; - - if (errind == OFF) - { - int retry = 0; - - /* Send a message to the board, see if it exists */ - /* flush any junk at input port - should not be any data available */ - do { - recv_mess(card_index, buff, FLUSH); - } while (strlen(buff) != 0); - do - { - send_mess(card_index, "#00X", 0); - status = recv_mess(card_index, buff, WAIT); - retry++; - /* Return value is length of response string */ - } while(status == 0 && retry < 3); - } - - - if (errind == OFF && status > 0) - { - brdptr->localaddr = (char *) NULL; - brdptr->motor_in_motion = 0; - brdptr->cmnd_response = ON; - - /* Assume that this controller has 4 axes. */ - total_axis = 4; - brdptr->total_axis = total_axis; - start_status(card_index); - for (motor_index = 0; motor_index < total_axis; motor_index++) - { - struct mess_info *motor_info = &brdptr->motor_info[motor_index]; - brdptr->motor_info[motor_index].motor_motion = NULL; - /* Don't turn on motor power, too dangerous */ - sprintf(buff,"#%02dW=1", motor_index); - /* send_mess(card_index, buff, 0); */ - /* Stop motor */ - sprintf(buff,"#%02dQ", motor_index); - send_mess(card_index, buff, 0); - recv_mess(card_index, buff, WAIT); /* Throw away response */ - strcpy(brdptr->ident, "MCB-4B"); - motor_info->status = 0; - motor_info->no_motion_count = 0; - motor_info->encoder_position = 0; - motor_info->position = 0; - set_status(card_index, motor_index); /* Read status of each motor */ - } - - } - else - motor_state[card_index] = (struct controller *) NULL; - } - - motor_sem = semBCreate(SEM_Q_PRIORITY, SEM_EMPTY); - any_motor_in_motion = 0; - - FASTLOCKINIT(&queue_lock); - FASTLOCK(&queue_lock); - mess_queue.head = (struct mess_node *) NULL; - mess_queue.tail = (struct mess_node *) NULL; - FASTUNLOCK(&queue_lock); - - FASTLOCKINIT(&freelist_lock); - FASTLOCK(&freelist_lock); - free_list.head = (struct mess_node *) NULL; - free_list.tail = (struct mess_node *) NULL; - FASTUNLOCK(&freelist_lock); - - if (sizeof(int) >= sizeof(char *)) - { - arg3 = (int) (&MCB4B_access); - arg4 = 0; - } - else - { - arg3 = (int) ((long) &MCB4B_access >> 16); - arg4 = (int) ((long) &MCB4B_access & 0xFFFF); - } - Debug(3, "motor_init: spawning motor task\n"); - taskSpawn((char *) "tMCB4B", 64, VX_FP_TASK | VX_STDIO, 5000, motor_task, - motor_scan_rate, arg3, arg4, 0, 0, 0, 0, 0, 0, 0); - return (0); -}