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Added new feature msgPrintControl from sinqMotor 0.8.0.

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Correspondingly, the minimum version requirement for sinqMotor has been bumped to 0.8.0.
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mathis_s
2025-03-04 12:41:20 +01:00
parent cb91a8aa36
commit 4ad842c097
8 changed files with 299 additions and 408 deletions
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@ -18,22 +18,42 @@ The folder "utils" contains utility scripts for working with masterMacs motor co
masterMacs exposes the following IOC shell functions (all in masterMacsController.cpp):
- `masterMacsController`: Create a new controller object.
- `masterMacsAxis`: Create a new axis object.
These functions are parametrized as follows:
The full mcu.cmd file looks like this:
```
masterMacsController(
"$(NAME)", # Name of the MCU, e.g. mcu1. This parameter should be provided by an environment variable.
"$(ASYN_PORT)", # IP-Port of the MCU. This parameter should be provided by an environment variable.
8, # Maximum number of axes
0.05, # Busy poll period in seconds
1, # Idle poll period in seconds
0.05 # Communication timeout in seconds
);
```
```
masterMacsAxis(
"$(NAME)", # Name of the associated MCU, e.g. mcu1. This parameter should be provided by an environment variable.
1, # Index of the axis.
);
# Define the name of the controller and the corresponding port
epicsEnvSet("NAME","mcu")
epicsEnvSet("ASYN_PORT","p$(NAME)")
# Create the TCP/IP socket used to talk with the controller. The socket can be adressed from within the IOC shell via the port name
drvAsynIPPortConfigure("$(ASYN_PORT)","172.28.101.24:1025")
# Create the controller object with the defined name and connect it to the socket via the port name.
# The other parameters are as follows:
# 8: Maximum number of axes
# 0.05: Busy poll period in seconds
# 1: Idle poll period in seconds
# 1: Socket communication timeout in seconds
masterMacsController("$(NAME)", "$(ASYN_PORT)", 8, 0.05, 1, 1);
# Define some axes for the specified MCU at the given slot (1, 2 and 5). No slot may be used twice!
masterMacsAxis("$(NAME)",1);
masterMacsAxis("$(NAME)",2);
masterMacsAxis("$(NAME)",5);
# Set the number of subsequent timeouts
setMaxSubsequentTimeouts("$(NAME)", 20);
# Configure the timeout frequency watchdog:
setThresholdComTimeout("$(NAME)", 100, 1);
# Parametrize the EPICS record database with the substitution file named after the MCU.
epicsEnvSet("SINQDBPATH","$(sinqMotor_DB)/sinqMotor.db")
dbLoadTemplate("$(TOP)/$(NAME).substitutions", "INSTR=$(INSTR)$(NAME):,CONTROLLER=$(NAME)")
epicsEnvSet("SINQDBPATH","$(masterMacs_DB)/masterMacs.db")
dbLoadTemplate("$(TOP)/$(NAME).substitutions", "INSTR=$(INSTR)$(NAME):,CONTROLLER=$(NAME)")
dbLoadRecords("$(sinqMotor_DB)/asynRecord.db","P=$(INSTR)$(NAME),PORT=$(ASYN_PORT)")
```
### Versioning