From 10ca839b25ce2935625bacbdb21948cd08350ab1 Mon Sep 17 00:00:00 2001
From: MarkRivers <rivers@cars.uchicago.edu>
Date: Wed, 12 Sep 2012 17:17:24 +0000
Subject: [PATCH] New file from Nia Fong at SLAC

---
 motorApp/ImsSrc/README.ImsMDrivePlusMotor | 120 ++++++++++++++++++++++
 1 file changed, 120 insertions(+)
 create mode 100644 motorApp/ImsSrc/README.ImsMDrivePlusMotor

diff --git a/motorApp/ImsSrc/README.ImsMDrivePlusMotor b/motorApp/ImsSrc/README.ImsMDrivePlusMotor
new file mode 100644
index 00000000..372fe929
--- /dev/null
+++ b/motorApp/ImsSrc/README.ImsMDrivePlusMotor
@@ -0,0 +1,120 @@
+=======================================
+ImsMDrivePlusMotor AsynPortDriver Notes
+
+Author: Nia Fong, SLAC National Laboratory
+
+First Initial: 10/28/2011
+
+This driver is based on "model 3" motor asyn port driver defined by Mark Rivers.
+The driver assumes:
+  1) each controller is configured for a single axis
+  2) the motor is set up for Party Mode (PY=1) and Echo Mode 2 (EM=2)
+=======================================
+
+=======================
+Building an Application
+=======================
+Building the driver into an application requires
+
+1) The 'asyn', 'motor' and 'ImsMDrivePlusMotor' (this driver) packages/modules to be built and
+   installed. The application's RELEASE file must point to these packages so that the build process
+   locates headers and libraries etc.
+
+2) The application's '.dbd' file must contain
+    - motorSupport.dbd
+    - drvAsynIPPort.dbd (or equivalent 'asyn' port driver package)
+    - devImsMotor.dbd  (this include support for all Ims drivers)
+
+   These '.dbd' files are best listed in the application src/Makefile:
+    <app>_DBD += motorSupport.dbd
+    <app>_DBD += devImsMotor.dbd
+    <app>_DBD += drvAsynIPPort.dbd
+
+3) The application must be linked against the 'Ims', 'motor' and 'asyn'
+   libraries, e.g.,
+
+    <app>_LIBS += Ims motor asyn
+
+===============
+Custom Database
+===============
+There is an IMS specific IMS_extra.db database that contains IMS-specific records.
+
+IMS_S: saves user variables and flags to controller's NVM
+
+record(bo,"$(DEV):$(AREA):$(LOC):IMS_S") {
+    field(DESC, "Ims Save to NVM")
+    field(PINI, "NO")
+    field(DTYP, "asynInt32")
+    field(OUT,  "@asyn($(PORT),$(ADDR),$(TIMEOUT))IMS_SAVETONVM")
+    field(VAL,  "0")
+    field(ZNAM, "No")
+    field(ONAM, "Yes")
+}
+
+=============================
+Driver Run-Time Configuration
+=============================
+To configure the motor from the iocsh or a C/C++ application
+
+1) Create and configure an asyn IP port
+
+     drvAsynIPPortConfigure(IOPortName, port, priority, disable auto-connect, no process EOS)      
+       motorPortName: name string assigned to the asyn IP port being created
+       port:          host:port [protocol]
+
+2) Create and configure an ImsMDrivePlus controller
+
+     ImsMDrivePlusCreateController(motorPortName, IOPortName, devName, movingPollPeriod, idlePollPeriod)
+       motorPortName:    name string assigned to the controller
+       IOPortName:       name of asyn IO port that was created by drvAsynIPPortConfigure()
+       devName:          unique device name used to address the motor in MCode
+                         NOTE: the device name is prepended to all MCode commands to communicate in Party Mode.
+                         See README file for more information.
+       movingPollPeriod: time in milliseconds between polls when axis is moving
+       idlePollPeriod:   time in milliseconds between polls when axis is not moving
+
+=========================
+Example iocsh st.cmd file
+=========================
+#!../../bin/linux-x86/ImsMDrivePlus
+
+# Register all support components
+dbLoadDatabase("dbd/ImsMDrivePlus.dbd")
+ImsMDrivePlus_registerRecordDeviceDriver pdbbase
+
+# Motors substitutions, customize this for your motor
+dbLoadTemplate "db/motor.mdriveplus.substitutions"
+
+# Configure asyn communication port, first
+drvAsynIPPortConfigure("M06", "ts-b34-nw08:2101", 0, 0, 0 )
+
+# Configure one controller per motor, each controller just has 1 axis
+ImsMDrivePlusCreateController("IMS1", "M06", "1", 200, 5000)
+
+# Optional: Enable tracing
+asynSetTraceIOMask("IMS1",0,2)
+asynSetTraceMask("IMS1",0,2)
+
+=============================================
+Example application database substitions file
+=============================================
+Db/motor.mdrive.substitutions file:
+
+file "$(MOTOR)/db/basic_asyn_motor.db"
+{
+pattern
+{P,    N, M, DTYP,        PORT, DESC,       ADDR, EGU, DIR, VELO, VBAS,  ACCL, BDST, BVEL,  BACC, DHLM, DLLM,  MRES,     PREC, INIT}
+{IMS:, 1, 1, "asynMotor", IMS1, "MDrive23",    0, mm,  Pos, 3.0,  0.017, 2.0,  0,    0.017, 2.0,  100,  -100,  0.000083, 4,    ""}
+}
+
+file "$(MOTOR)/db/IMS_extra.db"
+{
+pattern
+{DEV, AREA, LOC, PORT, ADDR, TIMEOUT}
+{ims, IOC,  1,   IMS1, 0,    1}
+
+
+
+
+