smathis
25286652d5
The expected version can now be set in the Makefile via USR_CXXFLAGS. Additionally, the README.md has received documentation regarding the version check. Lastly, the version check can now be disabled by omitting the flags or setting one of them to a negative value.
98 lines
4.4 KiB
Markdown
98 lines
4.4 KiB
Markdown
# masterMacs
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## <span style="color:red">Please read the documentation of sinqMotor first: https://git.psi.ch/sinq-epics-modules/sinqmotor</span>
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## Overview
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This is a driver for the masterMacs motion controller with the SINQ communication protocol. It is based on the sinqMotor shared library (https://git.psi.ch/sinq-epics-modules/sinqmotor). The header files contain detailed documentation for all public functions. The headers themselves are exported when building the library to allow other drivers to depend on this one.
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Compatible to MasterMACS software 2.0.0.
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## User guide
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This driver is a standard sinqMotor-derived driver and does not need any specific configuration. For the general configuration, please see https://git.psi.ch/sinq-epics-modules/sinqmotor/-/blob/main/README.md.
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The folder "utils" contains utility scripts for working with masterMacs motor controllers:
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- decodeStatus.py: Take the return message of a R10 (read status) command and print it in human-readable form.
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- decodeError.py: Take the return message of a R11 (read error) command and print it in human-readable form.
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- writeRead.py: Send messages to the controller and receive answers.
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## Developer guide
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### Usage in IOC shell
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masterMacs exposes the following IOC shell functions (all in masterMacsController.cpp):
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- `masterMacsController`: Create a new controller object.
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- `masterMacsAxis`: Create a new axis object.
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The full mcu.cmd file looks like this:
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```
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# Define the name of the controller and the corresponding port
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epicsEnvSet("NAME","mcu")
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epicsEnvSet("ASYN_PORT","p$(NAME)")
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# Create the TCP/IP socket used to talk with the controller. The socket can be adressed from within the IOC shell via the port name
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drvAsynIPPortConfigure("$(ASYN_PORT)","172.28.101.24:1025")
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# Create the controller object with the defined name and connect it to the socket via the port name.
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# The other parameters are as follows:
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# 8: Maximum number of axes
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# 0.05: Busy poll period in seconds
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# 1: Idle poll period in seconds
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# 1: Socket communication timeout in seconds
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masterMacsController("$(NAME)", "$(ASYN_PORT)", 8, 0.05, 1, 1);
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# Define some axes for the specified MCU at the given slot (1, 2 and 5). No slot may be used twice!
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masterMacsAxis("$(NAME)",1);
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masterMacsAxis("$(NAME)",2);
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masterMacsAxis("$(NAME)",5);
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# Set the number of subsequent timeouts
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setMaxSubsequentTimeouts("$(NAME)", 20);
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# Configure the timeout frequency watchdog:
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setThresholdComTimeout("$(NAME)", 100, 1);
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# Parametrize the EPICS record database with the substitution file named after the MCU.
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epicsEnvSet("SINQDBPATH","$(masterMacs_DB)/sinqMotor.db")
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dbLoadTemplate("$(TOP)/$(NAME).substitutions", "INSTR=$(INSTR)$(NAME):,CONTROLLER=$(NAME)")
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epicsEnvSet("SINQDBPATH","$(masterMacs_DB)/masterMacs.db")
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dbLoadTemplate("$(TOP)/$(NAME).substitutions", "INSTR=$(INSTR)$(NAME):,CONTROLLER=$(NAME)")
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dbLoadRecords("$(masterMacs_DB)/asynRecord.db","P=$(INSTR)$(NAME),PORT=$(ASYN_PORT)")
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```
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### Versioning
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Please see the documentation for the module sinqMotor: https://git.psi.ch/sinq-epics-modules/sinqmotor/-/blob/main/README.md.
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### Firmware version checking
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This driver expects a certain version of the firmware running on the controller itself.
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This is checked at IOC startup by reading the version directly from the hardware.
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If the firmware version is incompatible to the driver, the IOC will be shut down.
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If the firmware version cannot be read (e.g. because the variable used to do so
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does not exist yet on old firmware versions), the firmware is assumed to be compatible
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to the driver.
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The version check is separated into a check of the major and the minor firmware
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version against expected values. The firmware is seen as compatible if the following conditions hold:
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- Read-out major version == Expected major version
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- Read-out read major version >= Expected minor version
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The expected versions are defined via compiler flags in `Makefile`:
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```
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USR_CXXFLAGS += -DFIRMWARE_MAJOR_VERSION=1 -DFIRMWARE_MINOR_VERSION=0
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```
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Be aware that these flags are only used to compile C++-files (.cpp, .cxx) and not
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C-files (.c). For C-files, the Makefile variable `USR_CFLAGS` must be used.
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In order to disable the checks, the flags can be set to -1 or just be removed
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entirely. If one of the flags is not given, both the major and the minor version
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checks are deactivated.
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### How to build it
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Please see the documentation for the module sinqMotor: https://git.psi.ch/sinq-epics-modules/sinqmotor/-/blob/main/README.md.
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