From: R. Frahm
                                                           Date: 2008-03-14


             VLT-SW-VLT2008 - RELEASE NOTES FOR LCU COMMON SOFTWARE
             ======================================================

vxWorks kernels "vltVXWORKS"
----------------------------

VLTSW20070099: Increased PCI memory window for MVME-6100 CPUs to allow
for auto-configuration of the PMC-5565 board (128 MB memory).

Device drivers
--------------

IMPORTANT: The mapping of interrupt vectors has changed.
This was necessary with the introduction of the MVME6100 CPU.
The MVME6100 uses internally the vectors 0x0 - 0x80.
This collided with the mapping of acro, aio, mendrv and tim.
The new mapping was introduced already in the FEB2007 release.

The new mapping will cause problems for non-standard boards using
interrupt vectors between 0x70 - 0x82.

In addition the interrupt vectors for the MVME167 CPU has been moved
from 0x90 - 0x9F to 0x70 - 0x7F.

The new mapping for stadard and known hardware devies are listed at
http://websqa.hq.eso.org/sdd/bin/view/VLTSW/VmeStandardDrivers


(1) canio: 

- VLTSW20060336: Fixed WRITE_PULSE_BIT and RESET_PULSE_BIT commands.
- VLTSW20070041: Fixed setting of multiple digital signals, fixed
treatment of ACTIVE_HIGH and ACTIVE_LOW signals.
- VLTSW20070094: Query the Device ID of the CAN node upon
initialization. Otherwise, wrong configuration of CAN nodes
(i.e. usage of canio for a RMC controller) lead to boot failures.
- VLTSW20070083: Boot failure if more than 64 digital signals are
connected. The Beckhoff buscoupler introduces a default mapping for
the first 64 signals. In order to use more signals, PDO remapping must
be used. The limitation to 64 digital signals was also present in the
canioxInducer application. The new limit are now 256 digital signals.
- VLTSW20070139: LCU does not fail to boot if no CAN devices are connected.

(2) rfm2g: VLTSW20070099 - The ESO standard board for reflective memory
networks (VME-5576) was declared obsolete by GE Fanuc Systems. As a
replacement, the PMC-5565 board from the same manufacturer was selected. 
A new driver, "rfm2g" was added to the VLTSW release to provide a LCC
compliant interface to this board.

This driver is to large extents backwards compatible to the previous
driver "rmn" (which coexists in LCC), but requires slight differences
due to additional or removed features of the hardware.

Please refer to VLT-MAN-ESO-15400-1375, "RMN Driver User Manual", for
a detailed desription of all commands and the usage of the driver.

(3) Motor Library:

- VLTSW20070100: MOTEI - add support for menIO devices (mendrv)
- VLTSW20070101: MCM - Digital signals (like brake status and
interlock) are checked even though the motor is in simulation. The
above does not permit the simulation of the devices when digital
signals are used.

(4) MEN drivers:
- Added support for M32 module
- VLTSW20070162: Added support for M27 module

LCC
---

- VLTSW20050049: Fixed problem with sporadic DEAD devices
- VLTSW20070073: Added handling of NaN in dbBackup/dbRestore
- VLTSW20070166: Hardcoded A16 adresses and outdated interrupt vectors
in AVME948, VMIVME3111 and TIM blocks lead to failures of these TAC
blocks when used on the MVME-6100 CPU board.


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