lin-epics-modules/detectortower
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Changed dependencies to static linking.

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This commit is contained in:
mathis_s
2025-05-12 17:10:04 +02:00
parent d837a8545b
commit 60960dde44
14 changed files with 2316 additions and 1682 deletions
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164
db/detectorTower.db
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@ -1,12 +1,3 @@
# Set to 0 to move the tower into working state and to 1 to move into changer position
record(longout, "$(INSTR)$(M):ChangeState") {
field(DTYP, "asynInt32")
field(OUT, "@asyn($(CONTROLLER),$(AXIS),1) CHANGE_STATE")
field(PINI, "NO")
field(DRVH, "1")
field(DRVL, "0")
}
# Read the position state of the axis:
# 0 = not ready
# 1 = ready (in working position)
@ -20,28 +11,163 @@ record(longin, "$(INSTR)$(M):PositionStateRBV")
field(PINI, "NO")
}
# Set to 0 to move the tower into working state and to 1 to move into changer position.
# The PV "$(INSTR)$(M):ChangeStateRBV" can be used to check if starting the corresponding
# movement was successfull.
record(longout, "$(INSTR)$(M):ChangeState") {
field(DTYP, "asynInt32")
field(OUT, "@asyn($(CONTROLLER),$(AXIS),1) CHANGE_STATE")
field(PINI, "NO")
field(DRVH, "1")
field(DRVL, "0")
}
# When a value is written to the PV "$(INSTR)$(M):ChangeState", the tower needs to be
# idle (PositionState = 0), otherwise the state will not be changed. If the value
# of this PV is equal to "$(INSTR)$(M):ChangeState", starting a state change was
# successfull, otherwise not.
record(longin, "$(INSTR)$(M):ChangeStateRBV")
{
field(DTYP, "asynInt32")
field(INP, "@asyn($(CONTROLLER),$(AXIS)) CHANGE_STATE_RBV")
field(SCAN, "I/O Intr")
field(PINI, "NO")
}
# This PV combines the position state and the movement readback value from the
# motor record:
# - 0, if the tower is in working state or transitioning to change position
# - 1, If the tower is in change position or transitioning to working state
record(calc, "$(INSTR)$(M):ChangingStateRBV")
{
field(INPA, "$(INSTR)$(M).MOVN CP")
field(INPB, "$(INSTR)$(M):PositionStateRBV CP")
field(CALC, "(B == 1 || (B == 2 && A == 1)) ? 0 : 1")
field(INPA, "$(INSTR)$(M):PositionStateRBV CP")
field(INPB, "$(INSTR)$(M).MOVN CP")
field(CALC, "((A == 2 && B == 0) || A == 3) ? 1 : 0")
}
# Convert the double value from the calc record to an integer value
# Convert the double value from the calc record to an integer value.
record(longout, "$(INSTR)$(M):ChangingStateRBV_int") {
field(DOL, "$(INSTR)$(M):ChangingStateRBV CP")
field(OMSL, "closed_loop")
}
# Set an additional offset to the target position of an auxiliary axis
# For all other axis types, writing to this parameter does nothing.
record(ao, "$(INSTR)$(M):TargetOffset") {
# Read out the origin of the corresponding axis by the given value.
# This PV does nothing for "normal" Turbo PMAC axes.
record(ai, "$(INSTR)$(M):Origin") {
field(DTYP, "asynFloat64")
field(OUT, "@asyn($(CONTROLLER),$(AXIS),1) MOTOR_TARGET_OFFSET")
field(PINI, "YES")
field(INP, "@asyn($(CONTROLLER),$(AXIS)) MOTOR_ORIGIN")
field(SCAN, "I/O Intr")
field(PINI, "NO")
field(VAL, "0")
}
}
# Shift the origin of the corresponding axis by the given value. The axis will move to this
# position and the hardware controller will internally set this position as the
# new "0" value. This PV does nothing for "normal" Turbo PMAC axes.
record(ao, "$(INSTR)$(M):AdjustOrigin") {
field(DTYP, "Raw Soft Channel")
field(PINI, "NO")
field(FLNK, "$(INSTR)$(M):ResetAO")
field(VAL, "0")
}
# Reset the PV $(INSTR)$(M):AdjustOrigin to zero after it has been written to and
# forward the value to $(INSTR)$(M):WriteAO which does the actual writing.
record(seq, "$(INSTR)$(M):ResetAO") {
field(DESC, "Write value to hardware then reset to 0")
field(DOL1, "$(INSTR)$(M):AdjustOrigin")
field(LNK1, "$(INSTR)$(M):WriteAO.VAL PP") # Perform write to hardware
field(DOL2, "0.0")
field(LNK2, "$(INSTR)$(M):AdjustOrigin.VAL PP") # Reset to zero
}
# This record forwards the adjustment of the origin to the asyn driver.
record(ao, "$(INSTR)$(M):WriteAO") {
field(DTYP, "asynFloat64")
field(OUT, "@asyn($(CONTROLLER),$(AXIS),1) MOTOR_ADJUST_ORIGIN")
field(PINI, "NO")
field(VAL, "0")
}
# Read out the origin of the lift axis support motor (FTZ at AMOR).
# This PV does nothing for "normal" Turbo PMAC axes or the angle axis.
record(ai, "$(INSTR)$(M):SupportOrigin") {
field(DTYP, "asynFloat64")
field(INP, "@asyn($(CONTROLLER),$(AXIS)) SUPPORT_ORIGIN")
field(SCAN, "I/O Intr")
field(PINI, "NO")
field(VAL, "0")
}
# Shift the origin of the lift support axis by the given value. The axis will
# move to this position and the hardware controller will internally set this
# position as the new "0" value. This PV does nothing for "normal" Turbo PMAC
# axes or the angle axis.
record(ao, "$(INSTR)$(M):AdjustSupportOrigin") {
field(DTYP, "Raw Soft Channel")
field(PINI, "NO")
field(DRVH, "200") # Limit in encoder steps (not mm!)
field(DRVL, "-200") # Limit in encoder steps (not mm!)
field(FLNK, "$(INSTR)$(M):ResetASO")
field(VAL, "0")
}
# Reset the PV $(INSTR)$(M):AdjustOrigin to zero after it has been written to and
# forward the value to $(INSTR)$(M):WriteAO which does the actual writing.
record(seq, "$(INSTR)$(M):ResetASO") {
field(DESC, "Write value to hardware then reset to 0")
field(DOL1, "$(INSTR)$(M):AdjustSupportOrigin")
field(LNK1, "$(INSTR)$(M):WriteASO.VAL PP") # Perform write to hardware
field(DOL2, "0.0")
field(LNK2, "$(INSTR)$(M):AdjustSupportOrigin.VAL PP") # Reset to zero
}
# This record forwards the adjustment of the origin to the asyn driver.
record(ao, "$(INSTR)$(M):WriteASO") {
field(DTYP, "asynFloat64")
field(OUT, "@asyn($(CONTROLLER),$(AXIS),1) SUPPORT_ADJUST_ORIGIN")
field(PINI, "NO")
field(VAL, "0")
}
# This record pair reads the parameter library value for "AdjustOriginHighLimitFromDriver_"
# and pushes it to the high limit field of the "$(INSTR)$(M):AdjustOrigin" PV.
# This can be used to read limits from the hardware and correspondingly update the motor record from the driver.
# The implementation strategy is taken from https://epics.anl.gov/tech-talk/2022/msg00464.php.
# This record is coupled to the parameter library via AdjustOriginHighLimitFromDriver_ -> MOTOR_AOHL_FROM_DRIVER.
record(ai, "$(INSTR)$(M):AOHL_RBV")
{
field(DTYP, "asynFloat64")
field(INP, "@asyn($(CONTROLLER),$(AXIS)) MOTOR_AOHL_FROM_DRIVER")
field(SCAN, "I/O Intr")
field(FLNK, "$(INSTR)$(M):PushAOHL2Field")
field(PINI, "NO")
}
# Abbreviated name because EPICS apparently has a maximum record name length
record(ao, "$(INSTR)$(M):PushAOHL2Field") {
field(DOL, "$(INSTR)$(M):AOHL_RBV NPP")
field(OUT, "$(INSTR)$(M):AdjustOrigin.DRVH")
field(OMSL, "closed_loop")
field(PINI, "NO")
}
# This record pair reads the parameter library value for "motorLowLimitFromDriver_"
# and pushes it to the low limit field of the "$(INSTR)$(M):AdjustOrigin" PV.
# This can be used to read limits from the hardware and correspondingly update the motor record from the driver.
# The implementation strategy is taken from https://epics.anl.gov/tech-talk/2022/msg00464.php.
# This record is coupled to the parameter library via AdjustOriginLowLimitFromDriver_ -> MOTOR_AOLL_FROM_DRIVER.
record(ai, "$(INSTR)$(M):AOLL_RBV")
{
field(DTYP, "asynFloat64")
field(INP, "@asyn($(CONTROLLER),$(AXIS)) MOTOR_AOLL_FROM_DRIVER")
field(SCAN, "I/O Intr")
field(FLNK, "$(INSTR)$(M):PushAOLL2Field")
field(PINI, "NO")
}
# Abbreviated name because EPICS apparently has a maximum record name length
record(ao, "$(INSTR)$(M):PushAOLL2Field") {
field(DOL, "$(INSTR)$(M):AOLL_RBV NPP")
field(OUT, "$(INSTR)$(M):AdjustOrigin.DRVL")
field(OMSL, "closed_loop")
field(PINI, "NO")
}