spec - Local Sector 7 web page

The driver is contained in the file oms.c in the drivers subdirectory of the spec distribution.See the README file in the that directory for instructions on installing thedriver into the UNIX kernel.There is no driver for the PC58 board. It is only supported in polled mode.For VME, the VME8, VME44 and VME58 models are supported. The VME8 operateseight motors, while the VME44 operates four motors with encoders, althoughsoftware options for encoders are not currently implemented in spec. Multiple OMSVME motor controllers can be used simultaneously and are generally operated inpolled mode. Interrupt-driven mode is currently only supported with the NationalInstruments MXI-VXI controllers.OMS motor controllers can have from two to eight motors. spec numbers the motorsthe OMS manuals designate X , Y , Z , T , U , V , R and S as 0 through 7, in that order.The first example above selects the PC board with the driver node /dev/oms00. Thedriver may be used in either interrupt or polled mode. Interrupt mode means thespec program will be interrupted when motors complete their motions or hit a limit.In polled mode, the wait() function must be called repeatedly to check the status ofthe motor. Interrupt mode generally gives better performance, although in earlierversions of spec, software problems could be overcome by using polled mode. APCinterrupt is always required when the driver is used, even when polled mode isselected.The second example selects the PC board with I/O port polling, with the board’s baseaddress at 0x330 ,and with four motors on the board.The third example selects the PC58 board at I/O port 0x300 . The PC58 also require4,096 bytes of low memory. The example configuration with the address entered as0xE000 in the DEVICE column selects a real memory address of 0xE0000 ,asthevalue in the configuration is multiplied by 16.The fourth example selects the VME8 and VME44 modules, with the board’s A16base address jumpered at 0xFC00 and with the VME interrupt request jumpered forIRQ5 . Any of the VME IRQ vectors may be selected as can be polled mode. If morethan one VME OMS controller is being used, all must be in polled mode or all mustuse interrupts. Different boards may use the same interrupt, though.The last example selects the VME58 model. Note, this model requires 4096 bytes ofA16 address space, so valid addresses have one hexadecimal digit followed by threezeroes.On the motor screen (M) of the configuration editor, all of the OMS controllers use thesymbol OMS or OMS_E in the controller field of the screen. The latter indicates themotor is being used with an encoder.INTERIM WORK-IN-PROGRESS (8/16/01) NOT FOR GENERAL DISTRIBUTION HARDWARE REFERENCE 241