diff --git a/.gitignore b/.gitignore
index a0755961..fae3cabb 100644
--- a/.gitignore
+++ b/.gitignore
@@ -14,4 +14,4 @@ envPaths
dllPath.bat
auto_settings.sav*
auto_positions.sav*
-
+.ccfxprepdir/
diff --git a/README.md b/README.md
index 7e3d9d82..10ca1150 100644
--- a/README.md
+++ b/README.md
@@ -5,5 +5,10 @@ For more information, see:
* [main page](http://htmlpreview.github.io/?https://github.com/epics-modules/motor/blob/master/documentation/motor.html)
* [motor wiki](https://github.com/epics-modules/motor/wiki)
* http://www.aps.anl.gov/bcda/synApps
+* [HTML documentation](https://github.com/epics-modules/motor/blob/master/documentation/README.md)
+
+[Report an issue with Motor](https://github.com/epics-modules/motor/issues/new?title=%20ISSUE%20NAME%20HERE&body=**Describe%20the%20issue**%0A%0A**Steps%20to%20reproduce**%0A1.%20Step%20one%0A2.%20Step%20two%0A3.%20Step%20three%0A%0A**Expected%20behaivour**%0A%0A**Actual%20behaviour**%0A%0A**Build%20Environment**%0AArchitecture:%0AEpics%20Base%20Version:%0ADependent%20Module%20Versions:&labels=bug)
+[Request a feature](https://github.com/epics-modules/motor/issues/new?title=%20FEATURE%20SHORT%20DESCRIPTION&body=**Feature%20Long%20Description**%0A%0A**Why%20should%20this%20be%20added?**%0A&labels=enhancement)
+
converted from APS SVN repository: Fri Oct 16 12:31:41 CDT 2015
diff --git a/configure/RELEASE b/configure/RELEASE
index d59ae099..003d8fd6 100644
--- a/configure/RELEASE
+++ b/configure/RELEASE
@@ -37,9 +37,6 @@ EPICS_BASE=
# Recommended IPAC release: R2-12
IPAC=$(SUPPORT)/ipac/R2-12
-# Script module needed to build ScriptMotorController
-#!SCRIPT=$(SUPPORT)/script
-
# The following is only needed for the motor examples in iocBoot.
#!MOTOR=$(TOP)
diff --git a/documentation/README.md b/documentation/README.md
new file mode 100644
index 00000000..9a4b7e91
--- /dev/null
+++ b/documentation/README.md
@@ -0,0 +1,8 @@
+# HTML documentation
+
+* [motor.html](http://htmlpreview.github.com/?https://github.com/epics-modules/motor/blob/master/documentation/motor.html)
+* [motorDeviceDriver.html](http://htmlpreview.github.com/?https://github.com/epics-modules/motor/blob/master/documentation/motorDeviceDriver.html)
+* [motorRecord.html](http://htmlpreview.github.com/?https://github.com/epics-modules/motor/blob/master/documentation/motorRecord.html)
+* [motor_files.html](http://htmlpreview.github.com/?https://github.com/epics-modules/motor/blob/master/documentation/motor_files.html)
+* [motor_release.html](http://htmlpreview.github.com/?https://github.com/epics-modules/motor/blob/master/documentation/motor_release.html)
+* [trajectoryScan.html](http://htmlpreview.github.com/?https://github.com/epics-modules/motor/blob/master/documentation/trajectoryScan.html)
diff --git a/documentation/motorRecord.html b/documentation/motorRecord.html
index 3cfad59f..95301a19 100644
--- a/documentation/motorRecord.html
+++ b/documentation/motorRecord.html
@@ -39,7 +39,7 @@
record, and related EPICS software required to build and use it. Version
R6-9 of the motor record is compatible with EPICS base R3.14.12.2 and above.
-The motor record is intended to support motors of all kinds, but currently
+The motor record is intended to support positioning motors of all kinds, but currently
supports only the following variety of motor controllers (in addition to Soft
Channel support):
diff --git a/iocBoot/iocWithAsyn/motor.substitutions.ANG1 b/iocBoot/iocWithAsyn/motor.substitutions.ANG1
new file mode 100644
index 00000000..069accf7
--- /dev/null
+++ b/iocBoot/iocWithAsyn/motor.substitutions.ANG1
@@ -0,0 +1,17 @@
+file "$(MOTOR)/motorApp/Db/basic_asyn_motor.db"
+{
+pattern
+{P, N, M, DTYP, PORT, ADDR, DESC, EGU, DIR, VELO, VBAS, ACCL, BDST, BVEL, BACC, MRES, PREC, DHLM, DLLM, INIT, RTRY}
+
+{IOC:, 1, "m$(N)", "asynMotor", "ANG1_1_1", 0, "AMCI ANG1 1", steps, Pos, 100, 0, .2, 0, 50, .2, 1, 5, 1e9, -1e9, ""}
+{IOC:, 2, "m$(N)", "asynMotor", "ANG1_1_2", 0, "AMCI ANG1 2", steps, Pos, 100, 0, .2, 0, 50, .2, 1, 5, 1e9, -1e9, ""}
+}
+
+file "$(MOTOR)/motorApp/Db/ANG1Aux.template"
+{
+pattern
+{P, R, PORT, ADDR}
+{IOC:, m1:, ANG1_1_1, 0}
+{IOC:, m2:, ANG1_1_2, 0}
+}
+
diff --git a/iocBoot/iocWithAsyn/motor.substitutions.CONEX-PP b/iocBoot/iocWithAsyn/motor.substitutions.CONEX-PP
new file mode 100644
index 00000000..78df4c27
--- /dev/null
+++ b/iocBoot/iocWithAsyn/motor.substitutions.CONEX-PP
@@ -0,0 +1,9 @@
+file "$(TOP)/db/basic_asyn_motor.db"
+{
+pattern
+{P, N, M, DTYP, PORT, ADDR, DESC, EGU, DIR, VELO, VBAS, ACCL, BDST, BVEL, BACC, MRES, PREC, DHLM, DLLM, INIT}
+# Newport NSA12 stage, 6.35 microns/full step, 128 micro-steps/s
+{IOC:, 1, "m$(N)", "asynMotor", CONEX1, 0, "X", mm, Pos, 1., 0.1, .25, 0, 1, .2, 4.9609375e-5, 4, 28, -1, ""}
+{IOC:, 2, "m$(N)", "asynMotor", CONEX2, 0, "Y", mm, Pos, 1., 0.1, .25, 0, 1, .2, 4.9609375e-5, 4, 28, -1, ""}
+{IOC:, 3, "m$(N)", "asynMotor", CONEX3, 0, "Z", mm, Pos, 1., 0.1, .25, 0, 1, .2, 4.9609375e-5, 4, 28, -1, ""}
+}
diff --git a/iocBoot/iocWithAsyn/motor.substitutions.script b/iocBoot/iocWithAsyn/motor.substitutions.script
deleted file mode 100644
index c2f63ea9..00000000
--- a/iocBoot/iocWithAsyn/motor.substitutions.script
+++ /dev/null
@@ -1,15 +0,0 @@
-file "$(TOP)/db/asyn_motor.db"
-{
- pattern
- {P, M, DTYP, PORT, ADDR, DESC, EGU, DIR, VMAX, VELO, VBAS, ACCL, BDST, BVEL, BACC, MRES, PREC, DHLM, DLLM, INIT}
- {IOC:, m1, "asynMotor", VMC_MOTOR, 0, "VMCMotor", mm, Pos, 15., 3., .05, .5, 0, 1.0, 2, .025, 5, 0, 0, ""}
- {IOC:, m2, "asynMotor", SOFT_MOTOR, 0, "SoftMotor", mm, Pos, 15., 3., .05, .5, 0, 1.0, 2, .025, 5, 0, 0, ""}
-}
-
-file "$(TOP)/db/ScriptMotorReload.db"
-{
- pattern
- {P, PORT}
- {IOC:, SOFT_MOTOR}
- {IOC:, VMC_MOTOR}
-}
diff --git a/iocBoot/iocWithAsyn/scripts/softMotor.lua b/iocBoot/iocWithAsyn/scripts/softMotor.lua
deleted file mode 100644
index 0f6e8fd0..00000000
--- a/iocBoot/iocWithAsyn/scripts/softMotor.lua
+++ /dev/null
@@ -1,67 +0,0 @@
-IdlePollPeriod = 1.00
-MovingPollPeriod = 0.25
-
-lastPos = 0
-targetPos = 0
-
-function move(position, relative, minVel, maxVel, accel)
- local MRES = asyn.getDoubleParam( DRIVER, AXIS, "MOTOR_REC_RESOLUTION")
-
- if (relative) then
- local prev = asyn.getDoubleParam( DRIVER, AXIS, "MOTOR_POSITION")
- targetPos = prev + (position * MRES)
- else
- targetPos = (position * MRES)
- end
-
- epics.put(DRIVE_PV, targetPos)
-
- if (position > 0) then
- asyn.setIntegerParam( DRIVER, AXIS, "MOTOR_STATUS_DIRECTION", 1)
- else
- asyn.setIntegerParam( DRIVER, AXIS, "MOTOR_STATUS_DIRECTION", 0)
- end
-
- asyn.callParamCallbacks(DRIVER, AXIS)
-end
-
-
-function poll()
- local MRES = asyn.getDoubleParam( DRIVER, AXIS, "MOTOR_REC_RESOLUTION")
-
- if (MRES == 0.0) then
- return true
- end
-
- local curr = epics.get(READBACK_PV)
-
- asyn.setDoubleParam( DRIVER, AXIS, "MOTOR_POSITION", curr / MRES)
-
- local done = 0
- local moving = 1
-
- if (curr == targetPos) then
- done = 1
- moving = 0
- elseif (math.abs(curr - targetPos) <= MRES and lastPos == curr) then
- done = 1
- moving = 0
- end
-
- lastPos = curr
-
- asyn.setIntegerParam( DRIVER, AXIS, "MOTOR_STATUS_DONE", done)
- asyn.setIntegerParam( DRIVER, AXIS, "MOTOR_STATUS_MOVING", moving)
-
- asyn.callParamCallbacks(DRIVER, AXIS)
-
- return (done ~= 1)
-end
-
-
-function stop(acceleration)
- local curr = asyn.getDoubleParam( DRIVER, AXIS, "MOTOR_POSITION")
-
- epics.put(DRIVE_PV, curr)
- targetPos = curr
-end
diff --git a/iocBoot/iocWithAsyn/scripts/vmc.lua b/iocBoot/iocWithAsyn/scripts/vmc.lua
deleted file mode 100644
index 46ff05fe..00000000
--- a/iocBoot/iocWithAsyn/scripts/vmc.lua
+++ /dev/null
@@ -1,66 +0,0 @@
-IdlePollPeriod = 1.0
-MovingPollPeriod = 0.25
-ForcedFastPolls = 2
-
-InTerminator = "\r\n"
-OutTerminator = "\r\n"
-
-function sendAccelAndVelocity(minVel, maxVel, accel)
- asyn.writeread( string.format( "%d BAS %f", AXIS + 1, minVel) , PORT);
- asyn.writeread( string.format( "%d VEL %f", AXIS + 1, maxVel) , PORT);
- asyn.writeread( string.format( "%d ACC %f", AXIS + 1, accel ) , PORT);
-end
-
-
-function move(position, relative, minVel, maxVel, accel)
- sendAccelAndVelocity( minVel, maxVel, accel)
-
- if (relative) then
- asyn.writeread( string.format( "%d MR %d", AXIS + 1, math.floor(position) ) , PORT)
- else
- asyn.writeread( string.format( "%d MV %d", AXIS + 1, math.floor(position) ) , PORT)
- end
-end
-
-
-function moveVelocity(minVel, maxVel, accel)
- sendAccelAndVelocity( minVel, maxVel, accel)
-
- asyn.writeread( string.format( "%d JOG %f", AXIS + 1, maxVel) , PORT);
-end
-
-
-function poll()
- asyn.write( string.format( "%d POS?", AXIS + 1) , PORT)
-
- asyn.setDoubleParam( DRIVER, AXIS, "MOTOR_POSITION", tonumber( asyn.read(PORT) ) )
-
- asyn.write( string.format( "%d ST?", AXIS + 1) , PORT)
-
- local status = tonumber( asyn.read(PORT) )
-
- local direction = (status & 1)
- local done = (status & 2) >> 1
- local limit_high = (status & 8) >> 3
- local limit_low = (status & 16) >> 4
-
- asyn.setIntegerParam( DRIVER, AXIS, "MOTOR_STATUS_DIRECTION", direction)
- asyn.setIntegerParam( DRIVER, AXIS, "MOTOR_STATUS_DONE", done)
- asyn.setIntegerParam( DRIVER, AXIS, "MOTOR_STATUS_MOVING", done ~ 1)
- asyn.setIntegerParam( DRIVER, AXIS, "MOTOR_STATUS_HIGH_LIMIT", limit_high)
- asyn.setIntegerParam( DRIVER, AXIS, "MOTOR_STATUS_LOW_LIMIT", limit_low)
-
- asyn.callParamCallbacks(DRIVER, AXIS)
-
- return (done ~= 1)
-end
-
-
-function stop(acceleration)
- asyn.writeread( string.format( "%d AB", AXIS + 1) , PORT);
-end
-
-
-function setPosition(position)
- asyn.writeread( string.format( "%d POS %d", AXIS + 1, math.floor(position) ) , PORT);
-end
diff --git a/iocBoot/iocWithAsyn/st.cmd.ANG1 b/iocBoot/iocWithAsyn/st.cmd.ANG1
new file mode 100644
index 00000000..8e9a5dcb
--- /dev/null
+++ b/iocBoot/iocWithAsyn/st.cmd.ANG1
@@ -0,0 +1,74 @@
+# ANG1 motors Command file Example
+#
+### Note: Modbus support (the EPICS modbus module) is required to be included in the
+### EPICS application where the ANG1 support will be loaded. This file is an
+### example of how to load the ANG1 support, in an ioc that is built with the
+### EPICS modbus module.
+
+
+# Use the following commands for TCP/IP
+#drvAsynIPPortConfigure(const char *portName,
+# const char *hostInfo,
+# unsigned int priority,
+# int noAutoConnect,
+# int noProcessEos);
+# One per controller. One controller can support up to six drivers.
+drvAsynIPPortConfigure("ang1_1","164.54.53.107:502",0,0,1)
+#drvAsynIPPortConfigure("ang1_2","164.54.53.23:502",0,0,1)
+#drvAsynIPPortConfigure("ang1_3","164.54.xxx.xxx:502",0,0,1)
+
+#modbusInterposeConfig(const char *portName,
+# modbusLinkType linkType,
+# int timeoutMsec,
+# int writeDelayMsec)
+# One per controller. One controller can support up to six drivers.
+modbusInterposeConfig("ang1_1",0,2000,0)
+#modbusInterposeConfig("ang1_2",0,2000,0)
+
+# Word access at Modbus address 0
+# Access 1 words as inputs.
+# Function code=3
+# default data type unsigned integer.
+# drvModbusAsynConfigure("portName", "tcpPortName", slaveAddress, modbusFunction, modbusStartAddress, modbusLength, dataType, pollMsec, "plcType")
+# One per axis. Note: "ANG1" is the AMCI model. "ANG1_1" is the controller. "ANG1_1_1" is the axis.
+drvModbusAsynConfigure("ANG1_1_1_In_Word", "ang1_1", 0, 4, 0, 10, 0, 100, "ANG1_stepper")
+drvModbusAsynConfigure("ANG1_1_2_In_Word", "ang1_1", 0, 4, 10, 10, 0, 100, "ANG1_stepper")
+#drvModbusAsynConfigure("ANG1_1_3_In_Word", "ang1_1", 0, 3, 20, 10, 0, 100, "ANG1_stepper")
+#drvModbusAsynConfigure("ANG1_1_4_In_Word", "ang1_1", 0, 3, 30, 10, 0, 100, "ANG1_stepper")
+#drvModbusAsynConfigure("ANG1_1_5_In_Word", "ang1_1", 0, 3, 40, 10, 0, 100, "ANG1_stepper")
+#drvModbusAsynConfigure("ANG1_1_6_In_Word", "ang1_1", 0, 3, 50, 10, 0, 100, "ANG1_stepper")
+
+# Access 1 words as outputs.
+# Either function code=6 (single register) or 16 (multiple registers) can be used, but 16
+# is better because it is "atomic" when writing values longer than 16-bits.
+# Default data type unsigned integer.
+# drvModbusAsynConfigure("portName", "tcpPortName", slaveAddress, modbusFunction, modbusStartAddress, modbusLength, dataType, pollMsec, "plcType")
+# Not sure why the outputs can't be configured for Modbus data type 4?
+drvModbusAsynConfigure("ANG1_1_1_Out_Word", "ang1_1", 0, 6, 1024, 10, 0, 1, "ANG1_stepper")
+drvModbusAsynConfigure("ANG1_1_2_Out_Word", "ang1_1", 0, 6, 1034, 10, 0, 1, "ANG1_stepper")
+#drvModbusAsynConfigure("ANG1_1_3_Out_Word", "ang1_1", 0, 6, 1044, 10, 0, 1, "ANG1_stepper")
+#drvModbusAsynConfigure("ANG1_1_4_Out_Word", "ang1_1", 0, 6, 1054, 10, 0, 1, "ANG1_stepper")
+#drvModbusAsynConfigure("ANG1_1_5_Out_Word", "ang1_1", 0, 6, 1064, 10, 0, 1, "ANG1_stepper")
+#drvModbusAsynConfigure("ANG1_1_6_Out_Word", "ang1_1", 0, 6, 1074, 10, 0, 1, "ANG1_stepper")
+
+# Second ANG1 controller...
+#drvModbusAsynConfigure("ANG1_2_1_Out_Word_0", "ang1_2", 0, 6, 1024, 1, 0, 1, "ANG1_stepper")
+
+dbLoadTemplate("ANG1_motors.substitutions")
+
+# AMCI ANG1 stepper controller/driver support
+# portName The name of the asyn port that will be created for this driver
+# ANG1InPortName The name of the In drvAsynIPPPort that was created previously to connect to the ANG1 controller
+# ANG1OutPortName The name of the Out drvAsynIPPPort that was created previously to connect to the ANG1 controller
+# numAxes The number of axes that this controller supports
+# movingPollPeriod The time in ms between polls when any axis is moving
+# idlePollPeriod The time in ms between polls when no axis is moving
+#
+# One per axis. Note: "ANG1" is the AMCI model. "ANG1_1" is the controller. "ANG1_1_1" is the axis.
+# Also, ANG1_1_1 is the port name needed for motor.substitutions.
+ANG1CreateController(ANG1_1_1, ANG1_1_1_In_Word, ANG1_1_1_Out_Word, 1, 100, 0)
+ANG1CreateController(ANG1_1_2, ANG1_1_2_In_Word, ANG1_1_2_Out_Word, 1, 100, 0)
+#ANG1CreateController(ANG1_1, ANG1_1_3_In_Word, ANG1_1_3_Out_Word, 1, 100, 0)
+#ANG1CreateController(ANG1_1, ANG1_1_4_In_Word, ANG1_1_4_Out_Word, 1, 100, 0)
+#ANG1CreateController(ANG1_1, ANG1_1_5_In_Word, ANG1_1_5_Out_Word, 1, 100, 0)
+#ANG1CreateController(ANG1_1, ANG1_1_6_In_Word, ANG1_1_6_Out_Word, 1, 100, 0)
diff --git a/iocBoot/iocWithAsyn/st.cmd.CONEX-PP b/iocBoot/iocWithAsyn/st.cmd.CONEX-PP
new file mode 100644
index 00000000..4447b287
--- /dev/null
+++ b/iocBoot/iocWithAsyn/st.cmd.CONEX-PP
@@ -0,0 +1,45 @@
+#errlogInit(5000)
+< envPaths
+# Tell EPICS all about the record types, device-support modules, drivers,
+# etc.
+dbLoadDatabase("../../dbd/WithAsyn.dbd")
+WithAsyn_registerRecordDeviceDriver(pdbbase)
+
+### Motors
+dbLoadTemplate "motor.substitutions.CONEX-PP"
+
+# For Windows
+drvAsynSerialPortConfigure("serial1", "COM8", 0, 0, 0)
+# For Linux
+#drvAsynSerialPortConfigure("serial1", "/dev/ttyUSB0", 0, 0, 0)
+asynOctetSetInputEos("serial1",0,"\r\n")
+asynOctetSetOutputEos("serial1",0,"\r\n")
+asynSetOption("serial1",0,"baud","115200")
+asynSetOption("serial1",0,"bits","8")
+asynSetOption("serial1",0,"stop","1")
+asynSetOption("serial1",0,"parity","none")
+asynSetOption("serial1",0,"clocal","Y")
+asynSetOption("serial1",0,"crtscts","N")
+
+asynSetTraceIOMask("serial1", 0, 2)
+#asynSetTraceMask("serial1", 0, 9)
+
+# Load asyn record
+dbLoadRecords("$(ASYN)/db/asynRecord.db", "P=IOC:,R=serial1,PORT=serial1, ADDR=0,OMAX=256,IMAX=256")
+
+# AG_CONEXCreateController(asyn port, serial port, controllerID,
+# active poll period (ms), idle poll period (ms))
+AG_CONEXCreateController("CONEX1", "serial1", 1, 50, 500)
+asynSetTraceIOMask("CONEX1", 0, 2)
+#asynSetTraceMask("CONEX1", 0, 255)
+AG_CONEXCreateController("CONEX2", "serial1", 2, 50, 500)
+asynSetTraceIOMask("CONEX2", 0, 2)
+#asynSetTraceMask("CONEX2", 0, 255)
+AG_CONEXCreateController("CONEX3", "serial1", 3, 50, 500)
+asynSetTraceIOMask("CONEX3", 0, 2)
+#asynSetTraceMask("CONEX3", 0, 255)
+
+iocInit
+
+dbpf IOC:m1.RTRY 0
+dbpf IOC:m1.NTM 0
diff --git a/iocBoot/iocWithAsyn/st.cmd.script b/iocBoot/iocWithAsyn/st.cmd.script
deleted file mode 100644
index a113cde0..00000000
--- a/iocBoot/iocWithAsyn/st.cmd.script
+++ /dev/null
@@ -1,18 +0,0 @@
-< envPaths
-
-dbLoadDatabase("$(TOP)/dbd/WithAsyn.dbd")
-WithAsyn_registerRecordDeviceDriver(pdbbase)
-
-epicsEnvSet("LUA_SCRIPT_PATH", "./scripts")
-
-# Connect to virtual motor controller server
-drvAsynIPPortConfigure("VMC","127.0.0.1:31337", 0, 0, 0)
-
-#ScriptControllerConfig( "PORT_NAME", num_axes, "lua_script", "PARAMS=")
-ScriptControllerConfig("VMC_MOTOR", 1, "vmc.lua", "PORT=VMC")
-
-ScriptControllerConfig("SOFT_MOTOR", 1, "softMotor.lua", "DRIVE_PV='IOC:m1.VAL', READBACK_PV='IOC:m1.RBV'")
-
-dbLoadTemplate("motor.substitutions.script")
-
-iocInit
diff --git a/motorApp/AMCISrc/AMCIRegister.cc b/motorApp/AMCISrc/AMCIRegister.cc
new file mode 100644
index 00000000..ce0afdf5
--- /dev/null
+++ b/motorApp/AMCISrc/AMCIRegister.cc
@@ -0,0 +1,52 @@
+/*
+FILENAME... AMCIRegister.cc
+USAGE... Register AMCI motor device driver shell commands.
+
+Version: $Revision: 1.4 $
+Modified By: $Author: sluiter $
+Last Modified: $Date: 2004-07-16 19:06:58 $
+*/
+
+/*****************************************************************
+ COPYRIGHT NOTIFICATION
+*****************************************************************
+
+(C) COPYRIGHT 1993 UNIVERSITY OF CHICAGO
+
+This software was developed under a United States Government license
+described on the COPYRIGHT_UniversityOfChicago file included as part
+of this distribution.
+**********************************************************************/
+
+#include
+#include "AMCIRegister.h"
+#include "epicsExport.h"
+
+extern "C"
+{
+
+// AMCI ANG1 Setup arguments
+static const iocshArg setupArg0 = {"asyn port name", iocshArgString};
+static const iocshArg setupArg1 = {"Input port name", iocshArgString};
+static const iocshArg setupArg2 = {"Output port name", iocshArgString};
+static const iocshArg setupArg3 = {"Number of axes", iocshArgInt};
+static const iocshArg setupArg4 = {"Polling rate moving", iocshArgInt};
+static const iocshArg setupArg5 = {"Polling rate idle", iocshArgInt};
+
+static const iocshArg * const ANG1SetupArgs[6] = {&setupArg0, &setupArg1, &setupArg2, &setupArg3, &setupArg4, &setupArg5};
+
+static const iocshFuncDef setupANG1 = {"ANG1Setup", 6, ANG1SetupArgs};
+
+static void setupANG1CallFunc(const iocshArgBuf *args)
+{
+ ANG1Setup(args[0].sval, args[1].sval, args[2].sval, args[3].ival, args[4].ival, args[5].ival);
+}
+
+static void AMCIRegister(void)
+{
+ iocshRegister(&setupANG1, setupANG1CallFunc);
+}
+
+epicsExportRegistrar(AMCIRegister);
+
+} // extern "C"
diff --git a/motorApp/AMCISrc/AMCIRegister.h b/motorApp/AMCISrc/AMCIRegister.h
new file mode 100644
index 00000000..98511177
--- /dev/null
+++ b/motorApp/AMCISrc/AMCIRegister.h
@@ -0,0 +1,44 @@
+/*
+FILENAME... AMCIRegister.h
+USAGE... This file contains function prototypes for AMCI IOC shell commands.
+
+Version: $Revision: 1.3 $
+Modified By: $Author: sluiter $
+Last Modified: $Date: 2004-07-16 19:06:58 $
+*/
+
+/*
+ * Original Author: Ron Sluiter
+ * Date: 05/19/03
+ *
+ * Experimental Physics and Industrial Control System (EPICS)
+ *
+ * Copyright 1991, the Regents of the University of California,
+ * and the University of Chicago Board of Governors.
+ *
+ * This software was produced under U.S. Government contracts:
+ * (W-7405-ENG-36) at the Los Alamos National Laboratory,
+ * and (W-31-109-ENG-38) at Argonne National Laboratory.
+ *
+ * Initial development by:
+ * The Controls and Automation Group (AT-8)
+ * Ground Test Accelerator
+ * Accelerator Technology Division
+ * Los Alamos National Laboratory
+ *
+ * Co-developed with
+ * The Controls and Computing Group
+ * Accelerator Systems Division
+ * Advanced Photon Source
+ * Argonne National Laboratory
+ *
+ * Modification Log:
+ * -----------------
+ */
+
+#include "motor.h"
+#include "motordrvCom.h"
+
+/* Function prototypes. */
+extern RTN_STATUS ANG1Setup(const char *, const char *, const char *, int, int, int);
+
diff --git a/motorApp/AMCISrc/ANG1Driver.cpp b/motorApp/AMCISrc/ANG1Driver.cpp
new file mode 100644
index 00000000..9b16ed9c
--- /dev/null
+++ b/motorApp/AMCISrc/ANG1Driver.cpp
@@ -0,0 +1,640 @@
+/*
+FILENAME... ANG1Driver.cpp
+USAGE... Motor record driver support for the AMCI ANG1 stepper motor controller over Modbus/TCP.
+
+Kurt Goetze
+
+Based on the ACS MCB-4B Model 3 device driver written by Mark Rivers
+
+*/
+
+
+#include
+#include
+#include
+#include
+#include
+
+#include
+#include
+#include
+
+#include
+
+#include "ANG1Driver.h"
+#include
+
+#define NINT(f) (int)((f)>0 ? (f)+0.5 : (f)-0.5)
+
+static const char *driverName = "ANG1MotorDriver";
+
+/*** Input Registers ***/
+#define STATUS_1 0
+#define STATUS_2 1
+#define POS_RD_UPR 2
+#define POS_RD_LWR 3
+#define EN_POS_UPR 4
+#define EN_POS_LWR 5
+#define EN_CAP_UPR 6
+#define EN_CAP_LWR 7
+#define MOT_CUR 8 // programmed motor current (x10)
+#define JERK_RD 9
+
+/*** Output Registers ***/
+#define CMD_MSW 0 // module 0 starts at register address 1024. This is set in drvModbusAsynConfigure.
+#define CMD_LSW 1
+#define POS_WR_UPR 2
+#define POS_WR_LWR 3
+#define SPD_UPR 4
+#define SPD_LWR 5
+#define ACCEL 6
+#define DECEL 7
+// Not used must equal zero #define RESERVED 8
+#define JERK 9
+
+/** Constructor, Creates a new ANG1Controller object.
+ * \param[in] portName The name of the asyn port that will be created for this driver
+ * \param[in] ANG1InPortName The name of the drvAsynSerialPort that was created previously to connect to the ANG1 controller
+ * \param[in] ANG1OutPortName The name of the drvAsynSerialPort that was created previously to connect to the ANG1 controller
+ * \param[in] numAxes The number of axes that this controller supports
+ * \param[in] movingPollPeriod The time between polls when any axis is moving
+ * \param[in] idlePollPeriod The time between polls when no axis is moving
+ */
+ANG1Controller::ANG1Controller(const char *portName, const char *ANG1InPortName, const char *ANG1OutPortName, int numAxes,
+ double movingPollPeriod, double idlePollPeriod)
+ : asynMotorController(portName, numAxes, NUM_ANG1_PARAMS,
+ 0, // No additional interfaces beyond those in base class
+ 0, // No additional callback interfaces beyond those in base class
+ ASYN_CANBLOCK | ASYN_MULTIDEVICE,
+ 1, // autoconnect
+ 0, 0) // Default priority and stack size
+{
+ int axis, i;
+ asynStatus status;
+ ANG1Axis *pAxis;
+ static const char *functionName = "ANG1Controller::ANG1Controller";
+
+ inputDriver_ = epicsStrDup(ANG1InPortName); // Set this before calls to create Axis objects
+
+ // Create controller-specific parameters
+ createParam(ANG1JerkString, asynParamInt32, &ANG1Jerk_);
+
+ /* Connect to ANG1 controller */
+ for (i=0; iconnect(ANG1InPortName, i, &pasynUserInReg_[i], NULL);
+ }
+ for (i=0; iconnect(ANG1OutPortName, i, &pasynUserOutReg_[i], NULL);
+ }
+ if (status) {
+ asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
+ "%s: cannot connect to ANG1 controller\n",
+ functionName);
+ }
+ for (axis=0; axis 0 then information is printed about each axis.
+ * After printing controller-specific information it calls asynMotorController::report()
+ */
+void ANG1Controller::report(FILE *fp, int level)
+{
+ fprintf(fp, "ANG1 motor driver %s, numAxes=%d, moving poll period=%f, idle poll period=%f\n",
+ this->portName, numAxes_, movingPollPeriod_, idlePollPeriod_);
+
+ // Call the base class method
+ asynMotorController::report(fp, level);
+}
+
+/** Returns a pointer to an ANG1Axis object.
+ * Returns NULL if the axis number encoded in pasynUser is invalid.
+ * \param[in] pasynUser asynUser structure that encodes the axis index number. */
+ANG1Axis* ANG1Controller::getAxis(asynUser *pasynUser)
+{
+// ? return static_cast(asynMotorController::getAxis(pANG1Axis methodsasynUser));
+ return static_cast(asynMotorController::getAxis(pasynUser));
+}
+
+/** Returns a pointer to an ANG1Axis object.
+ * Returns NULL if the axis number encoded in pasynUser is invalid.
+ * \param[in] No Axis index number. */
+ANG1Axis* ANG1Controller::getAxis(int axisNo)
+{
+ return static_cast(asynMotorController::getAxis(axisNo));
+}
+
+/** Called when asyn clients call pasynInt32->write().
+ * Extracts the function and axis number from pasynUser.
+ * Sets the value in the parameter library (?)
+ * If the function is ANG1Jerk_ it sets the jerk value in the controller.
+ * Calls any registered callbacks for this pasynUser->reason and address.
+ * For all other functions it calls asynMotorController::writeInt32.
+ * \param[in] pasynUser asynUser structure that encodes the reason and address.
+ * \param[in] value Value to write. */
+asynStatus ANG1Controller::writeInt32(asynUser *pasynUser, epicsInt32 value)
+{
+ int function = pasynUser->reason;
+ asynStatus status = asynSuccess;
+ ANG1Axis *pAxis = getAxis(pasynUser);
+ static const char *functionName = "writeInt32";
+
+ /* Set the parameter and readback in the parameter library. */
+ status = setIntegerParam(pAxis->axisNo_, function, value);
+
+ if (function == ANG1Jerk_)
+ {
+ // Jerk in units steps/sec/sec/sec (0 - 5000)
+ printf("Jerk = %d\n", value);
+ status = writeReg16(JERK, value, DEFAULT_CONTROLLER_TIMEOUT);
+
+// sprintf(outString_, "%s JOG JRK %f", pAxis->axisName_, value);
+// status = writeController();
+
+ } else {
+ /* Call base class method */
+ status = asynMotorController::writeInt32(pasynUser, value);
+ }
+
+ /* Do callbacks so higher layers see any changes */
+ pAxis->callParamCallbacks();
+ if (status)
+ asynPrint(pasynUser, ASYN_TRACE_ERROR,
+ "%s:%s: error, status=%d function=%d, value=%d\n",
+ driverName, functionName, status, function, value);
+ else
+ asynPrint(pasynUser, ASYN_TRACEIO_DRIVER,
+ "%s:%s: function=%d, value=%d\n",
+ driverName, functionName, function, value);
+ return status;
+}
+
+asynStatus ANG1Controller::writeReg16(int reg, int output, double timeout)
+{
+ asynStatus status;
+
+ //printf("writeReg16: writing %d to register %d\n", output, reg);
+ asynPrint(this->pasynUserSelf, ASYN_TRACEIO_DRIVER,"writeReg16: writing %d to register %d\n", output, reg);
+ status = pasynInt32SyncIO->write(pasynUserOutReg_[reg], output, timeout);
+ epicsThreadSleep(0.01);
+
+ return status ;
+}
+
+asynStatus ANG1Controller::writeReg32(int reg, int output, double timeout)
+{
+//.. break 32-bit integer into 2 pieces
+//.. write the pieces into ANG1 registers
+
+ asynStatus status;
+ float fnum;
+ int lower,upper;
+
+ fnum = (output / 1000.0);
+ upper = (int)fnum;
+ fnum = fnum - upper;
+ fnum = NINT(fnum * 1000);
+ lower = (int)fnum;
+
+//could write the words this way
+// status = pasynInt32SyncIO->write(pasynUserOutReg_[reg], upper, timeout);
+// status = pasynInt32SyncIO->write(pasynUserOutReg_[reg+1], lower, timeout);
+
+//or this way
+// writeReg16(piece1 ie MSW ...
+ status = writeReg16(reg, upper, DEFAULT_CONTROLLER_TIMEOUT);
+
+// writeReg16(piece2 ie LSW ...
+ reg++;
+ status = writeReg16(reg, lower, DEFAULT_CONTROLLER_TIMEOUT);
+
+ return status ;
+}
+
+asynStatus ANG1Controller::readReg16(int reg, epicsInt32 *input, double timeout)
+{
+ asynStatus status;
+
+ //printf("reg = %d\n", reg);
+ asynPrint(this->pasynUserSelf, ASYN_TRACEIO_DRIVER,"readReg16 reg = %d\n", reg);
+ status = pasynInt32SyncIO->read(pasynUserInReg_[reg], input, timeout);
+
+ return status ;
+}
+
+asynStatus ANG1Controller::readReg32(int reg, epicsInt32 *combo, double timeout)
+{
+//.. read 2 16-bit words from ANG1 registers
+//.. assemble 2 16-bit pieces into 1 32-bit integer
+
+ asynStatus status;
+// float fnum;
+ epicsInt32 lowerWord32, upperWord32; // only have pasynInt32SyncIO, not pasynInt16SyncIO ,
+ epicsInt16 lowerWord16, upperWord16; // so we need to get 32-bits and cast to 16-bit integer
+
+ //printf("calling readReg16\n");
+ status = readReg16(reg, &upperWord32, timeout); //get Upper Word
+ upperWord16 = (epicsInt16)upperWord32;
+ //printf("upperWord16: %d\n", upperWord16);
+ asynPrint(this->pasynUserSelf, ASYN_TRACEIO_DRIVER,"readReg32 upperWord16: %d\n", upperWord16);
+
+ // if status != 1 :
+ reg++;
+ status = readReg16(reg, &lowerWord32, timeout); //get Lower Word
+ lowerWord16 = (epicsInt16)lowerWord32;
+ //printf("lowerWord16: %d\n", lowerWord16);
+ asynPrint(this->pasynUserSelf, ASYN_TRACEIO_DRIVER,"readReg32 lowerWord16: %d\n", lowerWord16);
+
+ *combo = NINT((upperWord16 * 1000) + lowerWord16);
+
+ return status ;
+}
+
+
+// ANG1Axis methods Here
+// These are the ANG1Axis methods
+
+/** Creates a new ANG1Axis object.
+ * \param[in] pC Pointer to the ANG1Controller to which this axis belongs.
+ * \param[in] axisNo Index number of this axis, range 0 to pC->numAxes_-1.
+ *
+ * Initializes register numbers, etc.
+ */
+ANG1Axis::ANG1Axis(ANG1Controller *pC, int axisNo)
+ : asynMotorAxis(pC, axisNo),
+ pC_(pC)
+{
+ int status;
+
+ //status = pasynInt32SyncIO->connect(myModbusInputDriver, 0, &pasynUserForceRead_, "MODBUS_READ");
+ status = pasynInt32SyncIO->connect(pC_->inputDriver_, 0, &pasynUserForceRead_, "MODBUS_READ");
+ if (status) {
+ //printf("%s:%s: Error, unable to connect pasynUserForceRead_ to Modbus input driver %s\n", pC_->inputDriver_, pC_->functionName, myModbusInputDriver);
+ printf("%s: Error, unable to connect pasynUserForceRead_ to Modbus input driver\n", pC_->inputDriver_);
+ }
+ printf("ANG1Axis::ANG1Axis : pasynUserForceRead_->reason=%d\n", pasynUserForceRead_->reason);
+
+ // set position to 0
+ setPosition(0);
+}
+
+/** Reports on status of the axis
+ * \param[in] fp The file pointer on which report information will be written
+ * \param[in] level The level of report detail desired
+ *
+ * After printing device-specific information calls asynMotorAxis::report()
+ */
+void ANG1Axis::report(FILE *fp, int level)
+{
+ if (level > 0) {
+ fprintf(fp, " axis %d\n",
+ axisNo_);
+ }
+
+ // Call the base class method
+ asynMotorAxis::report(fp, level);
+}
+
+// SET VEL & ACCEL
+asynStatus ANG1Axis::sendAccelAndVelocity(double acceleration, double velocity)
+{
+ asynStatus status;
+ // static const char *functionName = "ANG1::sendAccelAndVelocity";
+
+ // Send the velocity in egus
+ //sprintf(pC_->outString_, "%1dVA%f", axisNo_ + 1, (velocity*stepSize_));
+ //status = pC_->writeController();
+ status = pC_->writeReg32(SPD_UPR, NINT(velocity), DEFAULT_CONTROLLER_TIMEOUT);
+
+ // Send the acceleration in egus/sec/sec
+ //printf(" velocity: %f\n", velocity);
+ //printf(" acceleration: %f\n", acceleration);
+ // ANG1 acceleration range 1 to 5000 steps/ms/sec
+ // Therefore need to limit range received by motor record from 1000 to 5e6 steps/sec/sec
+ if (acceleration < 1000) {
+ // print message noting that accel has been capped low
+ acceleration = 1000;
+ }
+ if (acceleration > 5000000) {
+ // print message noting that accel has been capped high
+ acceleration = 5000000;
+ }
+ // ANG1 acceleration units are steps/millisecond/second, so we divide by 1000 here
+ status = pC_->writeReg16(ACCEL, NINT(acceleration/1000.0), DEFAULT_CONTROLLER_TIMEOUT);
+ status = pC_->writeReg16(DECEL, NINT(acceleration/1000.0), DEFAULT_CONTROLLER_TIMEOUT);
+ return status;
+}
+
+// MOVE
+asynStatus ANG1Axis::move(double position, int relative, double minVelocity, double maxVelocity, double acceleration)
+{
+ asynStatus status;
+ int velo, distance, move_bit;
+
+ printf(" ** ANG1Axis::move called, relative = %d\n", relative);
+
+ status = sendAccelAndVelocity(acceleration, maxVelocity);
+
+ //velo = maxVelocity * SOME_SCALE_FACTOR
+ velo = NINT(maxVelocity);
+ if (relative) {
+ printf(" ** relative move called\n");
+ //status = pC_->writeReg32(SPD_UPR, velo, DEFAULT_CONTROLLER_TIMEOUT);
+ //distance = position * SOM_OTHER_SCALE_FACTOR;
+ distance = NINT(position);
+ status = pC_->writeReg32(POS_WR_UPR, distance, DEFAULT_CONTROLLER_TIMEOUT);
+ move_bit = 0x0;
+ status = pC_->writeReg16(CMD_MSW, move_bit, DEFAULT_CONTROLLER_TIMEOUT);
+ move_bit = 0x2;
+ status = pC_->writeReg16(CMD_MSW, move_bit, DEFAULT_CONTROLLER_TIMEOUT);
+ } else {
+ // absolute
+ printf(" ** absolute move called\n");
+ //status = pC_->writeReg32(SPD_UPR, velo, DEFAULT_CONTROLLER_TIMEOUT);
+ //distance = position * SOM_OTHER_SCALE_FACTOR;
+ distance = NINT(position);
+ printf(" ** distance = %d\n", distance);
+ status = pC_->writeReg32(POS_WR_UPR, distance, DEFAULT_CONTROLLER_TIMEOUT);
+ move_bit = 0x0;
+ status = pC_->writeReg16(CMD_MSW, move_bit, DEFAULT_CONTROLLER_TIMEOUT);
+ move_bit = 0x1;
+ status = pC_->writeReg16(CMD_MSW, move_bit, DEFAULT_CONTROLLER_TIMEOUT);
+ }
+ // Delay the first status read, give the controller some time to return moving status
+ epicsThreadSleep(0.05);
+ return status;
+}
+
+// HOME (needs work)
+asynStatus ANG1Axis::home(double minVelocity, double maxVelocity, double acceleration, int forwards)
+{
+ asynStatus status;
+ int home_bit;
+ // static const char *functionName = "ANG1Axis::home";
+
+ //status = sendAccelAndVelocity(acceleration, maxVelocity);
+
+ if (forwards) {
+ printf(" ** HOMING FORWARDS **\n");
+ home_bit = 0x20;
+ status = pC_->writeReg16(CMD_MSW, home_bit, DEFAULT_CONTROLLER_TIMEOUT);
+ } else {
+ home_bit = 0x40;
+ status = pC_->writeReg16(CMD_MSW, home_bit, DEFAULT_CONTROLLER_TIMEOUT);
+ }
+ return status;
+}
+
+// JOG
+asynStatus ANG1Axis::moveVelocity(double minVelocity, double maxVelocity, double acceleration)
+{
+ asynStatus status;
+ int velo, distance, move_bit;
+ static const char *functionName = "ANG1Axis::moveVelocity";
+
+ asynPrint(pasynUser_, ASYN_TRACE_FLOW,
+ "%s: minVelocity=%f, maxVelocity=%f, acceleration=%f\n",
+ functionName, minVelocity, maxVelocity, acceleration);
+
+ velo = NINT(fabs(maxVelocity));
+
+ status = sendAccelAndVelocity(acceleration, velo);
+
+ /* ANG1 does not have jog command. Move 1 million steps */
+ if (maxVelocity > 0.) {
+ /* This is a positive move in ANG1 coordinates */
+ //printf(" ** relative move (JOG pos) called\n");
+ distance = 1000000;
+ status = pC_->writeReg32(POS_WR_UPR, distance, DEFAULT_CONTROLLER_TIMEOUT);
+ move_bit = 0x0;
+ status = pC_->writeReg16(CMD_MSW, move_bit, DEFAULT_CONTROLLER_TIMEOUT);
+ move_bit = 0x2;
+ status = pC_->writeReg16(CMD_MSW, move_bit, DEFAULT_CONTROLLER_TIMEOUT);
+ } else {
+ /* This is a negative move in ANG1 coordinates */
+ //printf(" ** relative move (JOG neg) called\n");
+ distance = -1000000;
+ status = pC_->writeReg32(POS_WR_UPR, distance, DEFAULT_CONTROLLER_TIMEOUT);
+ move_bit = 0x0;
+ status = pC_->writeReg16(CMD_MSW, move_bit, DEFAULT_CONTROLLER_TIMEOUT);
+ move_bit = 0x2;
+ status = pC_->writeReg16(CMD_MSW, move_bit, DEFAULT_CONTROLLER_TIMEOUT);
+ }
+ // Delay the first status read, give the controller some time to return moving status
+ epicsThreadSleep(0.05);
+ return status;
+}
+
+
+// STOP
+asynStatus ANG1Axis::stop(double acceleration)
+{
+ asynStatus status;
+ int stop_bit;
+ //static const char *functionName = "ANG1Axis::stop";
+
+ printf("\n STOP \n\n");
+
+ stop_bit = 0x0;
+ status = pC_->writeReg16(CMD_MSW, stop_bit, DEFAULT_CONTROLLER_TIMEOUT);
+
+// stop_bit = 0x10; Immediate stop
+ stop_bit = 0x4; // Hold move
+ status = pC_->writeReg16(CMD_MSW, stop_bit, DEFAULT_CONTROLLER_TIMEOUT);
+
+ return status;
+}
+
+// SET
+asynStatus ANG1Axis::setPosition(double position)
+{
+ asynStatus status;
+ int set_position, set_bit;
+ //static const char *functionName = "ANG1Axis::setPosition";
+
+ //status = writeReg32(SPD_UPR, velo, DEFAULT_CONTROLLER_TIMEOUT);
+ //distance = position * SOM_OTHER_SCALE_FACTOR;
+ set_position = NINT(position);
+
+ status = pC_->writeReg32(POS_WR_UPR, set_position, DEFAULT_CONTROLLER_TIMEOUT);
+
+ set_bit = 0x200;
+ status = pC_->writeReg16(CMD_MSW, set_bit, DEFAULT_CONTROLLER_TIMEOUT);
+
+ set_bit = 0x0;
+ status = pC_->writeReg16(CMD_MSW, set_bit, DEFAULT_CONTROLLER_TIMEOUT);
+
+ return status;
+}
+
+// ENABLE TORQUE
+asynStatus ANG1Axis::setClosedLoop(bool closedLoop)
+{
+ asynStatus status;
+ int enable = 0x8000;
+ int disable = 0x0000;
+ int cmd;
+
+ printf(" ** setClosedLoop called \n");
+ if (closedLoop) {
+ printf("setting enable %X\n", enable);
+ // Let's reset errors first
+ cmd = 0x0;
+ status = pC_->writeReg16(CMD_MSW, cmd, DEFAULT_CONTROLLER_TIMEOUT);
+
+ cmd = 0x400;
+ status = pC_->writeReg16(CMD_MSW, cmd, DEFAULT_CONTROLLER_TIMEOUT);
+
+ cmd = 0x0;
+ status = pC_->writeReg16(CMD_MSW, cmd, DEFAULT_CONTROLLER_TIMEOUT);
+ status = pC_->writeReg16(CMD_LSW, enable, DEFAULT_CONTROLLER_TIMEOUT);
+ setIntegerParam(pC_->motorStatusPowerOn_, 1);
+
+ } else {
+ printf("setting disable %X\n", disable);
+ status = pC_->writeReg16(CMD_LSW, disable, DEFAULT_CONTROLLER_TIMEOUT);
+ setIntegerParam(pC_->motorStatusPowerOn_, 0);
+ }
+
+ return status;
+}
+
+// POLL
+/** Polls the axis.
+ * This function reads motor position, limit status, home status, and moving status
+ * It calls setIntegerParam() and setDoubleParam() for each item that it polls,
+ * and then calls callParamCallbacks() at the end.
+ * \param[out] moving A flag that is set indicating that the axis is moving (true) or done (false). */
+asynStatus ANG1Axis::poll(bool *moving)
+{
+ int done;
+ int limit;
+ int enabled;
+ double position;
+ asynStatus status;
+ epicsInt32 read_val; // don't use a pointer here. The _address_ of read_val should be passed to the read function.
+
+ // Force a read operation
+ //printf(" . . . . . Calling pasynInt32SyncIO->write\n");
+ //printf("Calling pasynInt32SyncIO->write(pasynUserForceRead_, 1, TIMEOUT), pasynUserForceRead_->reason=%d\n", pasynUserForceRead_->reason);
+ status = pasynInt32SyncIO->write(pasynUserForceRead_, 1, DEFAULT_CONTROLLER_TIMEOUT);
+ //printf(" . . . . . status = %d\n", status);
+ // if status goto end
+
+ // Read the current motor position
+ //
+ //readReg32(int reg, epicsInt32 *combo, double timeout)
+ status = pC_->readReg32(POS_RD_UPR, &read_val, DEFAULT_CONTROLLER_TIMEOUT);
+ printf("ANG1Axis::poll: Motor position raw: %d\n", read_val);
+ position = (double) read_val;
+ setDoubleParam(pC_->motorPosition_, position);
+ printf("ANG1Axis::poll: Motor position: %f\n", position);
+
+ // Read the moving status of this motor
+ //
+ status = pC_->readReg16(STATUS_1, &read_val, DEFAULT_CONTROLLER_TIMEOUT);
+ //printf("status 1 is 0x%X\n", read_val);
+
+ // Done logic
+ done = ((read_val & 0x8) >> 3); // status word 1 bit 3 set to 1 when the motor is not in motion.
+ setIntegerParam(pC_->motorStatusDone_, done);
+ *moving = done ? false:true;
+ printf("done is %d\n", done);
+
+ // Read the limit status
+ //
+ status = pC_->readReg16(STATUS_2, &read_val, DEFAULT_CONTROLLER_TIMEOUT);
+ printf("status 2 is 0x%X\n", read_val);
+
+ limit = (read_val & 0x1); // a cw limit has been reached
+ setIntegerParam(pC_->motorStatusHighLimit_, limit);
+ //printf("+limit %d\n", limit);
+ if (limit) { // reset error and set position so we can move off of the limit
+ // Reset error
+ setClosedLoop(1);
+ // Reset position
+ //printf(" Reset Position\n");
+ setPosition(position);
+ }
+
+ limit = (read_val & 0x2); // a ccw limit has been reached
+ setIntegerParam(pC_->motorStatusLowLimit_, limit);
+ //printf("-limit %d\n", limit);
+ if (limit) { // reset error and set position so we can move off of the limit
+ // Reset error
+ setClosedLoop(1);
+ // Reset position
+ setPosition(position);
+ }
+
+ // test for home
+
+ // Should be in init routine? Allows CNEN to be used.
+ setIntegerParam(pC_->motorStatusGainSupport_, 1);
+
+ // Check for the torque status and set accordingly.
+ enabled = (read_val & 0x8000);
+ if (enabled)
+ setIntegerParam(pC_->motorStatusPowerOn_, 1);
+ else
+ setIntegerParam(pC_->motorStatusPowerOn_, 0);
+
+ // Notify asynMotorController polling routine that we're ready
+ callParamCallbacks();
+
+ return status;
+}
+
+/** Code for iocsh registration */
+static const iocshArg ANG1CreateControllerArg0 = {"Port name", iocshArgString};
+static const iocshArg ANG1CreateControllerArg1 = {"ANG1 In port name", iocshArgString};
+static const iocshArg ANG1CreateControllerArg2 = {"ANG1 Out port name", iocshArgString};
+static const iocshArg ANG1CreateControllerArg3 = {"Number of axes", iocshArgInt};
+static const iocshArg ANG1CreateControllerArg4 = {"Moving poll period (ms)", iocshArgInt};
+static const iocshArg ANG1CreateControllerArg5 = {"Idle poll period (ms)", iocshArgInt};
+static const iocshArg * const ANG1CreateControllerArgs[] = {&ANG1CreateControllerArg0,
+ &ANG1CreateControllerArg1,
+ &ANG1CreateControllerArg2,
+ &ANG1CreateControllerArg3,
+ &ANG1CreateControllerArg4,
+ &ANG1CreateControllerArg5,};
+static const iocshFuncDef ANG1CreateControllerDef = {"ANG1CreateController", 6, ANG1CreateControllerArgs};
+static void ANG1CreateContollerCallFunc(const iocshArgBuf *args)
+{
+ ANG1CreateController(args[0].sval, args[1].sval, args[2].sval, args[3].ival, args[4].ival, args[5].ival);
+}
+
+static void ANG1Register(void)
+{
+ iocshRegister(&ANG1CreateControllerDef, ANG1CreateContollerCallFunc);
+}
+
+extern "C" {
+epicsExportRegistrar(ANG1Register);
+}
diff --git a/motorApp/AMCISrc/ANG1Driver.h b/motorApp/AMCISrc/ANG1Driver.h
new file mode 100644
index 00000000..09160f37
--- /dev/null
+++ b/motorApp/AMCISrc/ANG1Driver.h
@@ -0,0 +1,88 @@
+/*
+FILENAME... ANG1Driver.h
+USAGE... Motor driver support for the AMCI ANG1 controller.
+
+Based on MCB-4B driver written by
+Mark Rivers
+March 1, 2012
+
+K. Goetze 2014-03-24
+
+*/
+
+#include "asynMotorController.h"
+#include "asynMotorAxis.h"
+
+#define MAX_ANG1_AXES 1
+
+#define MAX_INPUT_REGS 10
+#define MAX_OUTPUT_REGS 10
+
+// No. of controller-specific parameters
+#define NUM_ANG1_PARAMS 1
+
+/** drvInfo strings for extra parameters that the ACR controller supports */
+#define ANG1JerkString "ANG1_JERK"
+//#define ACRReadBinaryIOString "ACR_READ_BINARY_IO"
+//#define ACRBinaryInString "ACR_BINARY_IN"
+//#define ACRBinaryOutString "ACR_BINARY_OUT"
+//#define ACRBinaryOutRBVString "ACR_BINARY_OUT_RBV"
+
+class ANG1Axis : public asynMotorAxis
+{
+public:
+ /* These are the methods we override from the base class */
+ ANG1Axis(class ANG1Controller *pC, int axis);
+ void report(FILE *fp, int level);
+ asynStatus move(double position, int relative, double min_velocity, double max_velocity, double acceleration);
+ asynStatus moveVelocity(double min_velocity, double max_velocity, double acceleration);
+ asynStatus home(double min_velocity, double max_velocity, double acceleration, int forwards);
+ asynStatus stop(double acceleration);
+ asynStatus poll(bool *moving);
+ asynStatus setPosition(double position);
+ asynStatus setClosedLoop(bool closedLoop);
+
+private:
+ ANG1Controller *pC_; /**< Pointer to the asynMotorController to which this axis belongs.
+ * Abbreviated because it is used very frequently */
+ asynStatus sendAccelAndVelocity(double accel, double velocity);
+ asynUser *pasynUserForceRead_;
+
+friend class ANG1Controller;
+};
+
+class ANG1Controller : public asynMotorController {
+public:
+ ANG1Controller(const char *portName, const char *ANG1InPortName, const char *ANG1OutPortName, int numAxes, double movingPollPeriod, double idlePollPeriod);
+
+ void report(FILE *fp, int level);
+ ANG1Axis* getAxis(asynUser *pasynUser);
+ ANG1Axis* getAxis(int axisNo);
+ asynUser *pasynUserInReg_[MAX_INPUT_REGS];
+ asynUser *pasynUserOutReg_[MAX_OUTPUT_REGS];
+// asynUser *pasynUserForceRead_;
+
+
+ /* These are the methods that we override from asynMotorDriver */
+ asynStatus writeInt32(asynUser *pasynUser, epicsInt32 value);
+ //asynStatus writeFloat64(asynUser *pasynUser, epicsFloat64 value);
+ //void report(FILE *fp, int level);
+ //ACRAxis* getAxis(asynUser *pasynUser);
+ //ACRAxis* getAxis(int axisNo);
+
+
+ /* These are the methods that are new to this class */
+
+protected:
+ int ANG1Jerk_; /**< Jerk time parameter index */
+
+
+private:
+ asynStatus writeReg16(int, int, double);
+ asynStatus writeReg32(int, int, double);
+ asynStatus readReg16(int, epicsInt32*, double);
+ asynStatus readReg32(int, epicsInt32*, double);
+ char *inputDriver_;
+
+friend class ANG1Axis;
+};
diff --git a/motorApp/AMCISrc/ANG1Support.dbd b/motorApp/AMCISrc/ANG1Support.dbd
new file mode 100644
index 00000000..ab5549c5
--- /dev/null
+++ b/motorApp/AMCISrc/ANG1Support.dbd
@@ -0,0 +1,2 @@
+#registrar(ANG1MotorRegister)
+registrar(ANG1Register)
diff --git a/motorApp/ScriptMotorSrc/Makefile b/motorApp/AMCISrc/Makefile
similarity index 66%
rename from motorApp/ScriptMotorSrc/Makefile
rename to motorApp/AMCISrc/Makefile
index e27e5fd6..b1156cec 100644
--- a/motorApp/ScriptMotorSrc/Makefile
+++ b/motorApp/AMCISrc/Makefile
@@ -1,4 +1,3 @@
-# Makefile
TOP=../..
include $(TOP)/configure/CONFIG
@@ -8,21 +7,21 @@ include $(TOP)/configure/CONFIG
#==================================================
# Build an IOC support library
-LIBRARY_IOC = ScriptMotor
+
+LIBRARY_IOC += AMCI
+
+SRCS += AMCIRegister.cc
# motorRecord.h will be created from motorRecord.dbd
# install devMotorSoft.dbd into /dbd
-DBD += ScriptMotorDriver.dbd
-
-INC += ScriptMotorDriver.h
+DBD += ANG1Support.dbd
# The following are compiled and added to the Support library
-ScriptMotor_SRCS += ScriptMotorDriver.cpp
+AMCI_SRCS += ANG1Driver.cpp
-ScriptMotor_LIBS += motor
-ScriptMotor_LIBS += asyn
-ScriptMotor_LIBS += script
-ScriptMotor_LIBS += $(EPICS_BASE_IOC_LIBS)
+AMCI_LIBS += motor
+AMCI_LIBS += asyn
+AMCI_LIBS += $(EPICS_BASE_IOC_LIBS)
include $(TOP)/configure/RULES
#----------------------------------------
diff --git a/motorApp/AMCISrc/README b/motorApp/AMCISrc/README
new file mode 100644
index 00000000..57dc4991
--- /dev/null
+++ b/motorApp/AMCISrc/README
@@ -0,0 +1,49 @@
+AMCI ANG1
+=========
+
+Asyn model 3 driver support for the AMCI ANG1 stepper motor
+controller/driver.
+
+Modbus/TCP communication, using Mark Rivers' modbus module
+
+Currently some basic parameters, such as IP address, motor current,
+etc., will need to be set up on the controller using AMCI's PC/Win software.
+Limits and Home also need to be configured with this software: *
+ + Limit -> ANG1 Input 1
+ - Limit -> ANG1 Input 2
+ Home -> ANG1 Input 3
+
+ANG1 configuration software is available from AMCI's website:
+
+www.amci.com/product-software.asp
+
+Eventually I would like to implement the "Configuration Mode" options
+down in the driver, making the AMCI PC software necessary only for
+initial comms (IP) setup.
+
+The ANG1 controller/driver is available with or without an ethernet
+port. A group of controller/drivers can contain up to 6 modules, one of
+which needs to have the ethernet option. A single-channel
+implementation would need the module with ethernet. This software is
+intended to support configurations of multiple groups of 1 to 6 modules.
+Again, each group will need 1 ethernet enabled module (ANG1-E).
+
+
+
+asyn model 3 driver files:
+--------------------------
+ANG1Driver.cpp
+ANG1Driver.h
+ANG1Support.dbd
+
+
+* Note: 1.) At some point I would like to add the capability to set these
+ parameters at boot-time, using the ANG1 "configuration mode".
+
+ 2.) VBAS can only be set in configuration mode (which is not
+ currently supported) or by using the PC configuration software.
+ To use VBAS, set the desired value for the axis using the AMCI
+ PC configuration interface, then set the VBAS field in the
+ motor record accordingly. That way this value will be used by
+ the record to correctly calculate acceleration.
+
diff --git a/motorApp/Db/Makefile b/motorApp/Db/Makefile
index 2c539228..d36a1dca 100644
--- a/motorApp/Db/Makefile
+++ b/motorApp/Db/Makefile
@@ -46,7 +46,6 @@ DB += profileMoveAxisXPS.template
DB += PI_Support.db PI_SupportCtrl.db
DB += Phytron_motor.db Phytron_I1AM01.db Phytron_MCM01.db
DB += asyn_auto_power.db
-DB += ScriptMotorReload.db
#----------------------------------------------------
# Declare template files which do not show up in DB
diff --git a/motorApp/Db/ScriptMotorReload.db b/motorApp/Db/ScriptMotorReload.db
deleted file mode 100644
index 63904454..00000000
--- a/motorApp/Db/ScriptMotorReload.db
+++ /dev/null
@@ -1,9 +0,0 @@
-record(bo, "$(P)$(PORT):ScriptReload")
-{
- field(DESC, "$(PORT) Script Reload")
- field(DTYP, "asynInt32")
- field(OUT, "@asyn($(PORT), 0, 0)RELOAD_SCRIPT")
-
- field(ZNAM, "Loaded")
- field(ONAM, "Reload")
-}
diff --git a/motorApp/Makefile b/motorApp/Makefile
index a2d877d7..35d18e15 100644
--- a/motorApp/Makefile
+++ b/motorApp/Makefile
@@ -105,11 +105,8 @@ MicronixSrc_DEPEND_DIRS = MotorSrc
DIRS += PhytronSrc
PhytronSrc_DEPEND_DIRS = MotorSrc
-# The Script motor support requires the lua scripting module
-ifdef SCRIPT
-DIRS += ScriptMotorSrc
-ScriptMotorSrc_DEPEND_DIRS = MotorSrc
-endif
+DIRS += AMCISrc
+AMCISrc_DEPEND_DIRS = MotorSrc
endif
diff --git a/motorApp/MotorSrc/README b/motorApp/MotorSrc/README
index 99781856..034c35a0 100644
--- a/motorApp/MotorSrc/README
+++ b/motorApp/MotorSrc/README
@@ -1,31 +1,32 @@
-Here's my best guess at what all this stuff is. TMM
-
Model 3 (asyn, C++) driver base classes
---------------------------------
+---------------------------------------
asynMotorAxis.cpp
asynMotorAxis.h
asynMotorController.cpp
asynMotorController.h
Model 2 and Model 3 device support
---------------------------------
+----------------------------------
devMotorAsyn.c
+motor_interface.h
Model 2 (asyn, C)
---------------
+-----------------
drvMotorAsyn.c
-motor_interface.h
paramLib.c
paramLib.h
+Definitions used in record, device support, and utilities
+---------------------------------------------------------
+motor.h
+
motor record
------------
-motor.h
motorRecord.cc
motorRecord.dbd
Model 1 (non-asyn) device/driver support
-------------------------------
+----------------------------------------
motordevCom.cc
motordevCom.h
motordrvCom.cc
diff --git a/motorApp/MotorSrc/motorRecord.cc b/motorApp/MotorSrc/motorRecord.cc
index e1f29575..919831c1 100644
--- a/motorApp/MotorSrc/motorRecord.cc
+++ b/motorApp/MotorSrc/motorRecord.cc
@@ -183,6 +183,9 @@ USAGE... Motor Record Support.
* .72 03-13-15 rls - Changed RDBL to set RRBV rather than DRBV.
* .73 02-15-16 rls - JOGF/R soft limit error check was using the wrong coordinate sytem limits.
* Changed error checks from dial to user limits.
+ * .74 09-28-16 rls - Reverted .71 FLNK change. Except for the condition that DMOV == FALSE, FLNK
+ * processing was standard. If processing is needed on a DMOV false to true
+ * transition, a new motor record field should be added.
*/
#define VERSION 6.10
@@ -1163,10 +1166,10 @@ Exit:
Update record timestamp, call recGblGetTimeStamp().
Process alarms, call alarm_sub().
Monitor changes to record fields, call monitor().
- IF Done Moving field (DMOV) is TRUE, AND, Last Done Moving (LDMV) was False.
+
+ IF Done Moving field (DMOV) is TRUE
Process the forward-scan-link record, call recGblFwdLink().
ENDIF
- Update Last Done Moving (LDMV).
Set Processing Active indicator field (PACT) false.
Exit.
@@ -1375,7 +1378,7 @@ enter_do_work:
if (pmr->lvio != old_lvio)
{
MARK(M_LVIO);
- if (pmr->lvio && !pmr->set)
+ if (pmr->lvio && (!pmr->set && !pmr->igset))
{
pmr->stop = 1;
MARK(M_STOP);
@@ -1406,9 +1409,8 @@ process_exit:
alarm_sub(pmr); /* If we've violated alarm limits, yell. */
monitor(pmr); /* If values have changed, broadcast them. */
- if (pmr->dmov != 0 && pmr->ldmv == 0) /* Test for False to True transition. */
+ if (pmr->dmov != 0)
recGblFwdLink(pmr); /* Process the forward-scan-link record. */
- pmr->ldmv = pmr->dmov;
pmr->pact = 0;
Debug(4, "process:---------------------- end; motor \"%s\"\n", pmr->name);
@@ -1866,7 +1868,7 @@ static RTN_STATUS do_work(motorRecord * pmr, CALLBACK_VALUE proc_ind)
WRITE_MSG(SET_ENC_RATIO, ep_mp);
SEND_MSG();
}
- if (pmr->set)
+ if (pmr->set && !pmr->igset)
{
pmr->pp = TRUE;
INIT_MSG();
@@ -2080,7 +2082,7 @@ static RTN_STATUS do_work(motorRecord * pmr, CALLBACK_VALUE proc_ind)
if (pmr->val != pmr->lval)
{
MARK(M_VAL);
- if (set && !pmr->foff)
+ if ((set && !pmr->igset) && !pmr->foff)
{
/*
* Act directly on .val. and return. User wants to redefine .val
@@ -2130,7 +2132,7 @@ static RTN_STATUS do_work(motorRecord * pmr, CALLBACK_VALUE proc_ind)
pmr->rdif = NINT(pmr->diff / pmr->mres);
MARK(M_RDIF);
- if (set)
+ if (set && !pmr->igset)
{
if ((pmr->mip & MIP_LOAD_P) == 0) /* Test for LOAD_POS completion. */
load_pos(pmr);
@@ -2450,7 +2452,6 @@ static long special(DBADDR *paddr, int after)
if (pmr->dmov == TRUE)
{
pmr->dmov = FALSE;
- pmr->ldmv = pmr->dmov;
db_post_events(pmr, &pmr->dmov, DBE_VAL_LOG);
}
return(OK);
diff --git a/motorApp/MotorSrc/motorRecord.dbd b/motorApp/MotorSrc/motorRecord.dbd
index 3417521e..aa455cba 100644
--- a/motorApp/MotorSrc/motorRecord.dbd
+++ b/motorApp/MotorSrc/motorRecord.dbd
@@ -586,11 +586,6 @@ recordtype(motor) {
special(SPC_NOMOD)
initial("1")
}
- field(LDMV,DBF_SHORT) {
- prompt("Last Done moving value")
- special(SPC_NOMOD)
- initial("1")
- }
field(MOVN,DBF_SHORT) {
prompt("Motor is moving")
special(SPC_NOMOD)
@@ -793,4 +788,8 @@ recordtype(motor) {
pp(TRUE)
interest(1)
}
+ field(IGSET,DBF_SHORT) {
+ prompt("Ignore SET field")
+ interest(2)
+ }
}
diff --git a/motorApp/NewportSrc/AG_CONEX.cpp b/motorApp/NewportSrc/AG_CONEX.cpp
index d6baebc2..04af446f 100644
--- a/motorApp/NewportSrc/AG_CONEX.cpp
+++ b/motorApp/NewportSrc/AG_CONEX.cpp
@@ -1,6 +1,6 @@
/*
FILENAME... AG_CONEX.cpp
-USAGE... Motor driver support for the Newport CONEX-AGP and CONEX-CC series controllers.
+USAGE... Motor driver support for the Newport CONEX-AGP, CONEX-CC and CONEX-PP series controllers.
Mark Rivers
April 11, 2013
@@ -29,6 +29,9 @@ April 11, 2013
#define CONEX_TIMEOUT 2.0
#define LINUX_WRITE_DELAY 0.1
+// We force minus end-of-run home type for Conex-PP for now
+#define HOME_TYPE_MINUS_EOR 4
+
/** Creates a new AG_CONEXController object.
* \param[in] portName The name of the asyn port that will be created for this driver
* \param[in] serialPortName The name of the drvAsynSerialPort that was created previously to connect to the CONEX controller
@@ -186,6 +189,9 @@ AG_CONEXAxis::AG_CONEXAxis(AG_CONEXController *pC)
KIMax_ = 1.e6;
KDMax_ = 1.e6;
}
+ else if (strstr(pC->controllerVersion_, "Conex PP")) {
+ conexModel_ = ModelConexPP;
+ }
else {
asynPrint(pC->pasynUserSelf, ASYN_TRACE_ERROR,
"%s: unknown model, firmware string=%s\n",
@@ -196,12 +202,16 @@ AG_CONEXAxis::AG_CONEXAxis(AG_CONEXController *pC)
// Read the stage ID
sprintf(pC_->outString_, "%dID?", pC->controllerID_);
pC_->writeReadController();
- strcpy(stageID_, &pC_->inString_[4]);
+ strcpy(stageID_, &pC_->inString_[3]);
- // Read the encoder increment
- sprintf(pC_->outString_, "%dSU?", pC->controllerID_);
- pC_->writeReadController();
- encoderIncrement_ = atof(&pC_->inString_[3]);
+ // Read the encoder increment (CC and AGP only)
+ if ((conexModel_ == ModelConexAGP) || (conexModel_ == ModelConexCC)) {
+ sprintf(pC_->outString_, "%dSU?", pC->controllerID_);
+ pC_->writeReadController();
+ encoderIncrement_ = atof(&pC_->inString_[3]);
+ } else {
+ encoderIncrement_ = 1.;
+ }
// Read the interpolation factor (AGP only)
if (conexModel_ == ModelConexAGP) {
@@ -212,8 +222,21 @@ AG_CONEXAxis::AG_CONEXAxis(AG_CONEXController *pC)
interpolationFactor_ = 1.;
}
+ if (conexModel_ == ModelConexPP) {
+ sprintf(pC_->outString_, "%dFRM?", pC->controllerID_);
+ pC_->writeReadController();
+ microStepsPerFullStep_ = atoi(&pC_->inString_[4]);
+ sprintf(pC_->outString_, "%dFRS?", pC->controllerID_);
+ pC_->writeReadController();
+ fullStepSize_ = atof(&pC_->inString_[4]);
+ }
+
// Compute the minimum step size
- stepSize_ = encoderIncrement_ / interpolationFactor_;
+ if ((conexModel_ == ModelConexAGP) || (conexModel_ == ModelConexCC)) {
+ stepSize_ = encoderIncrement_ / interpolationFactor_;
+ } else {
+ stepSize_ = fullStepSize_ / microStepsPerFullStep_ / 1000.;
+ }
// Read the low and high software limits
sprintf(pC_->outString_, "%dSL?", pC->controllerID_);
@@ -223,8 +246,10 @@ AG_CONEXAxis::AG_CONEXAxis(AG_CONEXController *pC)
pC_->writeReadController();
highLimit_ = atof(&pC_->inString_[3]);
- // Tell the motor record that we have an gain supprt
- setIntegerParam(pC_->motorStatusGainSupport_, 1);
+ // Tell the motor record that we have an gain support (CC and AGP only)
+ if ((conexModel_ == ModelConexAGP) || (conexModel_ == ModelConexCC)) {
+ setIntegerParam(pC_->motorStatusGainSupport_, 1);
+ }
}
/** Reports on status of the axis
@@ -236,32 +261,36 @@ AG_CONEXAxis::AG_CONEXAxis(AG_CONEXController *pC)
void AG_CONEXAxis::report(FILE *fp, int level)
{
if (level > 0) {
- // Read KOP, KI, LF
- sprintf(pC_->outString_, "%dKP?", pC_->controllerID_);
- pC_->writeReadController();
- KP_ = atof(&pC_->inString_[3]);
- sprintf(pC_->outString_, "%dKI?", pC_->controllerID_);
- pC_->writeReadController();
- KI_ = atof(&pC_->inString_[3]);
- if (conexModel_ == ModelConexAGP) {
- sprintf(pC_->outString_, "%dLF?", pC_->controllerID_);
+ // Read KOP, KI, LF (CC and AGP only)
+ if ((conexModel_ == ModelConexAGP) || (conexModel_ == ModelConexCC)) {
+ sprintf(pC_->outString_, "%dKP?", pC_->controllerID_);
pC_->writeReadController();
- LF_ = atof(&pC_->inString_[3]);
- } else if (conexModel_ == ModelConexCC) {
- sprintf(pC_->outString_, "%dKD?", pC_->controllerID_);
+ KP_ = atof(&pC_->inString_[3]);
+ sprintf(pC_->outString_, "%dKI?", pC_->controllerID_);
pC_->writeReadController();
- KD_ = atof(&pC_->inString_[3]);
- LF_ = KD_; // For printout below
+ KI_ = atof(&pC_->inString_[3]);
+ if (conexModel_ == ModelConexAGP) {
+ sprintf(pC_->outString_, "%dLF?", pC_->controllerID_);
+ pC_->writeReadController();
+ LF_ = atof(&pC_->inString_[3]);
+ } else if (conexModel_ == ModelConexCC) {
+ sprintf(pC_->outString_, "%dKD?", pC_->controllerID_);
+ pC_->writeReadController();
+ KD_ = atof(&pC_->inString_[3]);
+ LF_ = KD_; // For printout below
+ }
}
fprintf(fp, " stageID=%s\n"
" currentPosition=%f, encoderIncrement=%f\n"
" interpolationFactor=%f, stepSize=%f, lowLimit=%f, highLimit=%f\n"
- " KP=%f, KI=%f, KD/LF=%f\n",
+ " KP=%f, KI=%f, KD/LF=%f\n"
+ " fullStepSize=%f, microStepsPerFullStep=%d\n",
stageID_,
currentPosition_, encoderIncrement_,
interpolationFactor_, stepSize_, lowLimit_, highLimit_,
- KP_, KI_, LF_);
+ KP_, KI_, LF_,
+ fullStepSize_, microStepsPerFullStep_);
}
// Call the base class method
@@ -273,8 +302,8 @@ asynStatus AG_CONEXAxis::move(double position, int relative, double minVelocity,
asynStatus status;
// static const char *functionName = "AG_CONEXAxis::move";
- // The CONEX-CC supports velocity and acceleration, the CONEX-AGP does not
- if (conexModel_ == ModelConexCC) {
+ // The CONEX-CC and CONEX-PP support velocity and acceleration, the CONEX-AGP does not
+ if ((conexModel_ == ModelConexCC) || (conexModel_ == ModelConexPP)) {
sprintf(pC_->outString_, "%dAC%f", pC_->controllerID_, acceleration*stepSize_);
status = pC_->writeCONEX();
sprintf(pC_->outString_, "%dVA%f", pC_->controllerID_, maxVelocity*stepSize_);
@@ -304,6 +333,14 @@ asynStatus AG_CONEXAxis::home(double minVelocity, double maxVelocity, double acc
// and writing to non-volatile memory with the OH command.
// This is time-consuming and can only be done a limited number of times so we don't do it here.
+ // The CONEX-PP supports home velocity and home type. We force negative limit switch home type.
+ if (conexModel_ == ModelConexPP) {
+ sprintf(pC_->outString_, "%dOH%f", pC_->controllerID_, maxVelocity);
+ status = pC_->writeCONEX();
+ sprintf(pC_->outString_, "%dHT%d", pC_->controllerID_, HOME_TYPE_MINUS_EOR);
+ status = pC_->writeCONEX();
+ }
+
sprintf(pC_->outString_, "%dOR", pC_->controllerID_);
status = pC_->writeCONEX();
return status;
@@ -367,52 +404,58 @@ asynStatus AG_CONEXAxis::getClosedLoop(bool *closedLoop)
asynStatus AG_CONEXAxis::setPGain(double pGain)
{
- asynStatus status;
+ asynStatus status = asynSuccess;
bool closedLoop;
//static const char *functionName = "AG_CONEXAxis::setPGain";
- getClosedLoop(&closedLoop);
- setClosedLoop(false);
- // The pGain value from the motor record is between 0 and 1.
- sprintf(pC_->outString_, "%dKP%f", pC_->controllerID_, pGain*KPMax_);
- status = pC_->writeCONEX();
- if (closedLoop) setClosedLoop(true);
+ if ((conexModel_ == ModelConexAGP) || (conexModel_ == ModelConexCC)) {
+ getClosedLoop(&closedLoop);
+ setClosedLoop(false);
+ // The pGain value from the motor record is between 0 and 1.
+ sprintf(pC_->outString_, "%dKP%f", pC_->controllerID_, pGain*KPMax_);
+ status = pC_->writeCONEX();
+ if (closedLoop) setClosedLoop(true);
+ }
return status;
}
asynStatus AG_CONEXAxis::setIGain(double iGain)
{
- asynStatus status;
+ asynStatus status = asynSuccess;
bool closedLoop;
//static const char *functionName = "AG_CONEXAxis::setIGain";
- getClosedLoop(&closedLoop);
- setClosedLoop(false);
- // The iGain value from the motor record is between 0 and 1.
- sprintf(pC_->outString_, "%dKI%f", pC_->controllerID_, iGain*KIMax_);
- status = pC_->writeCONEX();
- if (closedLoop) setClosedLoop(true);
+ if ((conexModel_ == ModelConexAGP) || (conexModel_ == ModelConexCC)) {
+ getClosedLoop(&closedLoop);
+ setClosedLoop(false);
+ // The iGain value from the motor record is between 0 and 1.
+ sprintf(pC_->outString_, "%dKI%f", pC_->controllerID_, iGain*KIMax_);
+ status = pC_->writeCONEX();
+ if (closedLoop) setClosedLoop(true);
+ }
return status;
}
asynStatus AG_CONEXAxis::setDGain(double dGain)
{
- asynStatus status;
+ asynStatus status = asynSuccess;
bool closedLoop;
//static const char *functionName = "AG_CONEXAxis::setPGain";
- getClosedLoop(&closedLoop);
- setClosedLoop(false);
- if (conexModel_ == ModelConexCC) {
- // The dGain value from the motor record is between 0 and 1.
- sprintf(pC_->outString_, "%dKI%f", pC_->controllerID_, dGain*KDMax_);
- } else if (conexModel_ == ModelConexAGP) {
- // We are using the DGain for the Low pass filter frequency.
- // DGain value is between 0 and 1
- sprintf(pC_->outString_, "%dLF%f", pC_->controllerID_, dGain*LFMax_);
+ if ((conexModel_ == ModelConexAGP) || (conexModel_ == ModelConexCC)) {
+ getClosedLoop(&closedLoop);
+ setClosedLoop(false);
+ if (conexModel_ == ModelConexCC) {
+ // The dGain value from the motor record is between 0 and 1.
+ sprintf(pC_->outString_, "%dKI%f", pC_->controllerID_, dGain*KDMax_);
+ } else if (conexModel_ == ModelConexAGP) {
+ // We are using the DGain for the Low pass filter frequency.
+ // DGain value is between 0 and 1
+ sprintf(pC_->outString_, "%dLF%f", pC_->controllerID_, dGain*LFMax_);
+ }
+ status = pC_->writeCONEX();
+ if (closedLoop) setClosedLoop(true);
}
- status = pC_->writeCONEX();
- if (closedLoop) setClosedLoop(true);
return status;
}
@@ -455,10 +498,10 @@ asynStatus AG_CONEXAxis::poll(bool *moving)
setIntegerParam(pC_->motorStatusDone_, done);
*moving = done ? false:true;
- // The meaning of the error bits is different for the CC and AGP
- if (conexModel_ == ModelConexCC) {
- if (status & 0x100) lowLimit = 1;
- if (status & 0x200) highLimit = 1;
+ // The meaning of the error bits is different for the CC, AGP, and PP
+ if ((conexModel_ == ModelConexCC) || (conexModel_ == ModelConexPP)) {
+ if (status & 0x100) lowLimit = 1;
+ if (status & 0x200) highLimit = 1;
}
setIntegerParam(pC_->motorStatusLowLimit_, lowLimit);
diff --git a/motorApp/NewportSrc/AG_CONEX.h b/motorApp/NewportSrc/AG_CONEX.h
index 5191c45a..f5ffbdf8 100644
--- a/motorApp/NewportSrc/AG_CONEX.h
+++ b/motorApp/NewportSrc/AG_CONEX.h
@@ -12,7 +12,8 @@ April 11, 2013
typedef enum {
ModelConexAGP,
- ModelConexCC
+ ModelConexCC,
+ ModelConexPP
} ConexModel_t;
// No controller-specific parameters yet
@@ -43,6 +44,8 @@ private:
double encoderIncrement_;
double interpolationFactor_;
double stepSize_;
+ double fullStepSize_;
+ int microStepsPerFullStep_;
double highLimit_;
double lowLimit_;
double KP_;
diff --git a/motorApp/OmsSrc/devOms.dbd b/motorApp/OmsSrc/devOms.dbd
index d0b4f55e..569232b4 100644
--- a/motorApp/OmsSrc/devOms.dbd
+++ b/motorApp/OmsSrc/devOms.dbd
@@ -5,6 +5,7 @@ driver(drvOms)
# Oregon Micro Systems VME58 driver support.
device(motor,VME_IO,devOms58,"OMS VME58")
driver(drvOms58)
+registrar(oms58Registrar)
# Oregon Micro Systems MAXv driver support.
device(motor,VME_IO,devMAXv,"OMS MAXv")
diff --git a/motorApp/OmsSrc/drvMAXv.cc b/motorApp/OmsSrc/drvMAXv.cc
index 2bf305e5..c895d3b5 100644
--- a/motorApp/OmsSrc/drvMAXv.cc
+++ b/motorApp/OmsSrc/drvMAXv.cc
@@ -93,7 +93,8 @@ USAGE... Motor record driver level support for OMS model MAXv.
* command into two commands.
* - Fix for intermittent wrong command displayed from Command Error message. motorIsr() saves the
* message in a separate static buffer.
- * 26 11-05-13 rls - Valid IRQ levels are 2 thru 6.
+ * 26 02-08-16 rls - Valid IRQ levels are 2 thru 6.
+ * 27 04-04-17 rls - Added error check for new failure mode where board reboots after 1st command with response.
*
*/
@@ -167,7 +168,7 @@ static epicsAddressType MAXv_ADDRS_TYPE;
static volatile unsigned MAXvInterruptVector = 0;
static volatile epicsUInt8 omsInterruptLevel = OMS_INT_LEVEL;
static volatile int motionTO = 10;
-static char *MAXv_axis[] = {"X", "Y", "Z", "T", "U", "V", "R", "S"};
+static const char *MAXv_axis[] = {"X", "Y", "Z", "T", "U", "V", "R", "S"};
static double quantum;
static char **initstring = 0;
static epicsUInt32 MAXv_brd_size; /* card address boundary */
@@ -254,7 +255,7 @@ struct driver_table MAXv_access =
query_done,
NULL,
&initialized,
- MAXv_axis
+ (char **) MAXv_axis
};
struct drvMAXv_drvet
@@ -308,10 +309,10 @@ static void query_done(int card, int axis, struct mess_node *nodeptr)
{
char buffer[MAX_IDENT_LEN];
- send_recv_mess(card, DONE_QUERY, MAXv_axis[axis], buffer, 1);
+ send_recv_mess(card, DONE_QUERY, (char *) MAXv_axis[axis], buffer, 1);
if (nodeptr->status.Bits.RA_PROBLEM)
- send_mess(card, AXIS_STOP, MAXv_axis[axis]);
+ send_mess(card, AXIS_STOP, (char *) MAXv_axis[axis]);
}
@@ -372,7 +373,6 @@ static int set_status(int card, int signal)
char q_buf[MAX_IDENT_LEN], outbuf[50];
int index;
bool ls_active = false;
- bool got_encoder;
msta_field status;
int absoluteAxis = (configurationFlags[card] & (1 << signal));
@@ -406,16 +406,14 @@ static int set_status(int card, int signal)
if (motor_info->encoder_present == YES)
{
/* get 4 pieces of info from axis */
- send_recv_mess(card, "QA", MAXv_axis[signal], &q_buf[0], 1);
+ send_recv_mess(card, "QA", (char *) MAXv_axis[signal], &q_buf[0], 1);
q_buf[4] = ',';
- send_recv_mess(card, "EA", MAXv_axis[signal], &q_buf[5], 1);
- got_encoder = true;
+ send_recv_mess(card, "EA", (char *) MAXv_axis[signal], &q_buf[5], 1);
}
else
{
/* get 2 pieces of info from axis */
- send_recv_mess(card, AXIS_INFO, MAXv_axis[signal], q_buf, 1);
- got_encoder = false;
+ send_recv_mess(card, AXIS_INFO, (char *) MAXv_axis[signal], q_buf, 1);
}
for (index = 0, p = epicsStrtok_r(q_buf, ",", &tok_save); p;
@@ -477,7 +475,7 @@ static int set_status(int card, int signal)
if (motor_info->no_motion_count > motionTO)
{
status.Bits.RA_PROBLEM = 1;
- send_mess(card, AXIS_STOP, MAXv_axis[signal]);
+ send_mess(card, AXIS_STOP, (char *) MAXv_axis[signal]);
motor_info->no_motion_count = 0;
errlogSevPrintf(errlogMinor, "Motor motion timeout ERROR on card: %d, signal: %d\n",
card, signal);
@@ -491,7 +489,7 @@ static int set_status(int card, int signal)
status.Bits.RA_PROBLEM = 0;
/* get command velocity */
- send_recv_mess(card, "RV", MAXv_axis[signal], q_buf, 1);
+ send_recv_mess(card, "RV", (char *) MAXv_axis[signal], q_buf, 1);
motor_info->velocity = atoi(q_buf);
/* Get encoder position */
@@ -584,7 +582,7 @@ errorexit: errMessage(-1, "Invalid device directive");
strcpy(buffer, nodeptr->postmsgptr);
strcpy(outbuf, buffer);
- send_mess(card, outbuf, MAXv_axis[signal]);
+ send_mess(card, outbuf, (char *) MAXv_axis[signal]);
nodeptr->postmsgptr = NULL;
}
@@ -1193,6 +1191,7 @@ static int motor_init()
epicsInt8 *startAddr;
epicsInt8 *endAddr;
bool wdtrip;
+ int rtn_code;
Debug(2, "motor_init: card %d\n", card_index);
@@ -1265,7 +1264,13 @@ static int motor_init()
send_mess(card_index, ERROR_CLEAR, (char) NULL);
send_mess(card_index, STOP_ALL, (char) NULL);
- send_recv_mess(card_index, GET_IDENT, (char) NULL, (char *) pmotorState->ident, 1);
+ rtn_code = send_recv_mess(card_index, GET_IDENT, (char) NULL, (char *) pmotorState->ident, 1);
+ if (rtn_code != 0)
+ {
+ errlogPrintf("\n***MAXv card #%d Disabled*** not responding to commands!\n\n", card_index);
+ motor_state[card_index] = (struct controller *) NULL;
+ goto loopend;
+ }
Debug(3, "Identification = %s\n", pmotorState->ident);
/* Save firmware version. */
@@ -1308,7 +1313,7 @@ static int motor_init()
STATUS1 flag1;
/* Test if motor has an encoder. */
- send_mess(card_index, ENCODER_QUERY, MAXv_axis[motor_index]);
+ send_mess(card_index, ENCODER_QUERY, (char *) MAXv_axis[motor_index]);
while (!pmotor->status1_flag.Bits.done) /* Wait for command to complete. */
epicsThreadSleep(quantum);
@@ -1327,7 +1332,7 @@ static int motor_init()
}
/* Test if motor has PID parameters. */
- send_mess(card_index, PID_QUERY, MAXv_axis[motor_index]);
+ send_mess(card_index, PID_QUERY, (char *) MAXv_axis[motor_index]);
while (!pmotor->status1_flag.Bits.done) /* Wait for command to complete. */
epicsThreadSleep(quantum);
if (pmotor->status1_flag.Bits.cmndError)
@@ -1354,9 +1359,9 @@ static int motor_init()
if (pvtdata->fwver >= 1.30)
{
- send_recv_mess(card_index, "LM?", MAXv_axis[motor_index], axis_pos, 1);
+ send_recv_mess(card_index, "LM?", (char *) MAXv_axis[motor_index], axis_pos, 1);
if (strcmp(axis_pos, "=f") == 0) /* If limit mode is set to "Off". */
- send_mess(card_index, "LMH", MAXv_axis[motor_index]); /* Set limit mode to "Hard". */
+ send_mess(card_index, "LMH", (char *) MAXv_axis[motor_index]); /* Set limit mode to "Hard". */
}
}
@@ -1383,7 +1388,7 @@ static int motor_init()
set_status(card_index, motor_index);
/* Is this needed??? */
- send_recv_mess(card_index, DONE_QUERY, MAXv_axis[motor_index], axis_pos, 1);
+ send_recv_mess(card_index, DONE_QUERY, (char *) MAXv_axis[motor_index], axis_pos, 1);
}
Debug(2, "motor_init: Init Address=%p\n", localaddr);
diff --git a/motorApp/OmsSrc/drvOms58.cc b/motorApp/OmsSrc/drvOms58.cc
index 6e4459c7..38511374 100644
--- a/motorApp/OmsSrc/drvOms58.cc
+++ b/motorApp/OmsSrc/drvOms58.cc
@@ -111,6 +111,13 @@ USAGE... Motor record driver level support for OMS model VME58.
* .41 10-20-11 rls - Added counter in send_mess() to prevent endless loop
* after VME58 reboot.
* .42 07-26-12 rls - Added reboot test to send_mess().
+ * .43 02-21-16 rls - Added code to send_mess() that test for a VME58 reboot
+ * after a motion related (ST, MA, MR) command. Found new
+ * VME58 failure mode where board reboots after the 1st
+ * motion related command. Since delay between motion
+ * command and reboot test must be long enough to avoid a
+ * VMEbus error, delay is excessive for normal operation.
+ * Hence, the oms58_reboot_test external variable.
*
*/
@@ -134,6 +141,7 @@ USAGE... Motor record driver level support for OMS model VME58.
#include "drvOms58.h"
#include "epicsExport.h"
+#include "iocsh.h"
#define PRIVATE_FUNCTIONS 1 /* normal:1, debug:0 */
@@ -167,6 +175,7 @@ static inline void Debug(int level, const char *format, ...) {
/* Global data. */
int oms58_num_cards = 0;
+int oms58_reboot_test = 0;
/* Local data required for every driver; see "motordrvComCode.h" */
#include "motordrvComCode.h"
@@ -720,7 +729,20 @@ static RTN_STATUS send_mess(int card, char const *com, char *name)
Debug(4, "send_mess: sent card %d message:", card);
Debug(4, "%s\n", outbuf);
- pmotor->outPutIndex = putIndex; /* Message Sent */
+ pmotor->outPutIndex = putIndex; /* Send message. */
+
+ if (oms58_reboot_test != 0) /* Test if board has rebooted after sending message. */
+ {
+ epicsThreadSleep(0.300);
+ if (pmotor->rebootind != 0x4321)
+ {
+ errlogPrintf(rebootmsg, card);
+ /* Disable board. */
+ motor_state[card] = (struct controller *)NULL;
+ epicsThreadSleep(1.0);
+ return (ERROR);
+ }
+ }
for (count = 0; (putIndex != pmotor->outGetIndex) && (count < 1000); count++)
{
@@ -1336,4 +1358,28 @@ static void oms_reset(void *arg)
}
+/* Epics iocsh bindings */
+
+static const iocshArg oms58Arg0 = {"num_card", iocshArgInt};
+static const iocshArg oms58Arg1 = {"addrs", iocshArgInt};
+static const iocshArg oms58Arg2 = {"vector", iocshArgInt};
+static const iocshArg oms58Arg3 = {"int_level", iocshArgInt};
+static const iocshArg oms58Arg4 = {"scan_rate", iocshArgInt};
+
+static const iocshArg* const oms58Args[5] = {&oms58Arg0, &oms58Arg1, &oms58Arg2, &oms58Arg3, &oms58Arg4};
+
+static const iocshFuncDef oms58FuncDef = {"oms58Setup", 5, oms58Args};
+
+static void oms58CallFunc(const iocshArgBuf* args)
+{
+ oms58Setup(args[0].ival, (void*) args[1].ival, (unsigned) args[2].ival, args[3].ival, args[4].ival);
+}
+
+void oms58Registrar(void)
+{
+ iocshRegister(&oms58FuncDef, &oms58CallFunc);
+}
+
+epicsExportRegistrar(oms58Registrar);
+
/*---------------------------------------------------------------------*/
diff --git a/motorApp/PIGCS2Src/PIGCSController.cpp b/motorApp/PIGCS2Src/PIGCSController.cpp
index c153844e..1184c0ab 100644
--- a/motorApp/PIGCS2Src/PIGCSController.cpp
+++ b/motorApp/PIGCS2Src/PIGCSController.cpp
@@ -46,6 +46,8 @@ PIGCSController* PIGCSController::CreateGCSController(PIInterface* pInterface, c
|| strstr(szIDN, "C-867") != NULL
|| strstr(szIDN, "C-884") != NULL
|| strstr(szIDN, "E-861") != NULL
+ || strstr(szIDN, "E-871") != NULL
+ || strstr(szIDN, "E-873") != NULL
)
{
return new PIGCSMotorController(pInterface, szIDN);
@@ -111,6 +113,10 @@ bool PIGCSController::IsGCS2(PIInterface* pInterface)
asynStatus PIGCSController::setVelocityCts( PIasynAxis* pAxis, double velocity )
{
+ if (!m_KnowsVELcommand)
+ {
+ return asynSuccess;
+ }
char cmd[100];
velocity = fabs(velocity) * pAxis->m_CPUdenominator / pAxis->m_CPUnumerator;
sprintf(cmd,"VEL %s %f", pAxis->m_szAxisName, velocity);
@@ -247,17 +253,21 @@ int PIGCSController::getGCSError()
if (0 != errorCode)
{
m_LastError = errorCode;
- asynPrint(m_pInterface->m_pCurrentLogSink, ASYN_TRACE_ERROR|ASYN_TRACE_FLOW,
- "PIGCSController::getGCSError() GCS error code = %d\n",
- errorCode);
- char szErrorMsg[1024];
- if (TranslatePIError(errorCode, szErrorMsg, 1024))
- {
- asynPrint(m_pInterface->m_pCurrentLogSink, ASYN_TRACE_ERROR|ASYN_TRACE_FLOW,
- "PIGCSController::getGCSError() GCS error, %s\n",
- szErrorMsg);
+ if (m_pInterface->m_pCurrentLogSink)
+ {
+ asynPrint(m_pInterface->m_pCurrentLogSink, ASYN_TRACE_ERROR|ASYN_TRACE_FLOW,
+ "PIGCSController::getGCSError() GCS error code = %d\n",
+ errorCode);
+
+ char szErrorMsg[1024];
+ if (TranslatePIError(errorCode, szErrorMsg, 1024))
+ {
+ asynPrint(m_pInterface->m_pCurrentLogSink, ASYN_TRACE_ERROR|ASYN_TRACE_FLOW,
+ "PIGCSController::getGCSError() GCS error, %s\n",
+ szErrorMsg);
- }
+ }
+ }
}
return errorCode;
}
@@ -308,6 +318,10 @@ asynStatus PIGCSController::getAxisPosition(PIasynAxis* pAxis, double& position)
*/
asynStatus PIGCSController::getAxisVelocity(PIasynAxis* pAxis)
{
+ if (!m_KnowsVELcommand)
+ {
+ return asynSuccess;
+ }
char cmd[100];
char buf[255];
sprintf(cmd, "VEL? %s", pAxis->m_szAxisName);
@@ -443,7 +457,7 @@ asynStatus PIGCSController::getAxisPositionCts(PIasynAxis* pAxis)
pAxis->m_position = pos;
if (pAxis->m_CPUdenominator==0 || pAxis->m_CPUnumerator==0)
{
- pAxis->m_positionCts = pos;
+ pAxis->m_positionCts = int(pos);
return status;
}
@@ -577,7 +591,7 @@ asynStatus PIGCSController::initAxis(PIasynAxis* pAxis)
asynPrint(m_pInterface->m_pCurrentLogSink, ASYN_TRACE_FLOW,
"PIGCSController::initAxis() stage configuration: %s\n", buf);
}
- pAxis->m_movingStateMask = pow(2.0, pAxis->getAxisNo());
+ pAxis->m_movingStateMask = int (pow(2.0, pAxis->getAxisNo()) );
return setServo(pAxis, 1);
}
@@ -585,6 +599,15 @@ asynStatus PIGCSController::initAxis(PIasynAxis* pAxis)
asynStatus PIGCSController::init(void)
{
asynStatus status;
+ char buffer [1024];
+ status = m_pInterface->sendAndReceive("VEL?", buffer, 1023);
+ m_KnowsVELcommand = ( asynSuccess == status);
+ if (!m_KnowsVELcommand)
+ {
+ (void) getGCSError ();
+ }
+
+
status = findConnectedAxes();
return status;
}
diff --git a/motorApp/PIGCS2Src/PIGCSController.h b/motorApp/PIGCS2Src/PIGCSController.h
index 722eedc9..29db5fb8 100644
--- a/motorApp/PIGCS2Src/PIGCSController.h
+++ b/motorApp/PIGCS2Src/PIGCSController.h
@@ -109,6 +109,8 @@ protected:
size_t m_nrFoundAxes;
char m_allAxesIDs[255];
int m_LastError;
+
+ bool m_KnowsVELcommand;
};
#endif /* PIGCSCONTROLLER_H_ */
diff --git a/motorApp/PIGCS2Src/PIGCSMotorController.cpp b/motorApp/PIGCS2Src/PIGCSMotorController.cpp
index e62d0bbd..78e320f1 100644
--- a/motorApp/PIGCS2Src/PIGCSMotorController.cpp
+++ b/motorApp/PIGCS2Src/PIGCSMotorController.cpp
@@ -24,87 +24,87 @@ Created: 15.12.2010
asynStatus PIGCSMotorController::initAxis(PIasynAxis* pAxis)
{
- asynStatus status = hasLimitSwitches(pAxis);
- if (asynSuccess != status)
- {
- return status;
- }
- status = hasReferenceSensor(pAxis);
- if (asynSuccess != status)
- {
- return status;
- }
- return PIGCSController::initAxis(pAxis);
+ asynStatus status = hasLimitSwitches(pAxis);
+ if (asynSuccess != status)
+ {
+ return status;
+ }
+ status = hasReferenceSensor(pAxis);
+ if (asynSuccess != status)
+ {
+ return status;
+ }
+ return PIGCSController::initAxis(pAxis);
}
asynStatus PIGCSMotorController::setAccelerationCts( PIasynAxis* pAxis, double accelerationCts)
{
- double acceleration = fabs(accelerationCts) * pAxis->m_CPUdenominator / pAxis->m_CPUnumerator;
- if (acceleration == pAxis->m_acceleration)
- return asynSuccess;
- if (pAxis->m_maxAcceleration < 0)
- {
- getMaxAcceleration(pAxis);
- }
- if (acceleration > pAxis->m_maxAcceleration)
- acceleration = pAxis->m_maxAcceleration;
+ double acceleration = fabs(accelerationCts) * pAxis->m_CPUdenominator / pAxis->m_CPUnumerator;
+ if (acceleration == pAxis->m_acceleration)
+ return asynSuccess;
+ if (pAxis->m_maxAcceleration < 0)
+ {
+ getMaxAcceleration(pAxis);
+ }
+ if (acceleration > pAxis->m_maxAcceleration)
+ acceleration = pAxis->m_maxAcceleration;
- return setAcceleration(pAxis, acceleration);
+ return setAcceleration(pAxis, acceleration);
}
asynStatus PIGCSMotorController::referenceVelCts( PIasynAxis* pAxis, double velocity, int forwards)
{
- asynStatus status = setServo(pAxis, 1);
+ asynStatus status = setServo(pAxis, 1);
if (asynSuccess != status)
- return status;
+ return status;
- char cmd[100];
- if (velocity != 0)
- {
- velocity = fabs(velocity) * pAxis->m_CPUdenominator / pAxis->m_CPUnumerator;
- sprintf(cmd,"SPA %s 0x50 %f", pAxis->m_szAxisName, velocity);
- m_pInterface->sendOnly(cmd);
- }
+ char cmd[100];
+ if (velocity != 0)
+ {
+ velocity = fabs(velocity) * pAxis->m_CPUdenominator / pAxis->m_CPUnumerator;
+ sprintf(cmd,"SPA %s 0x50 %f", pAxis->m_szAxisName, velocity);
+ m_pInterface->sendOnly(cmd);
+ }
- if (pAxis->m_bHasReference)
- {
- // call FRF - find reference
- sprintf(cmd,"FRF %s", pAxis->m_szAxisName);
- }
- else if (pAxis->m_bHasLimitSwitches)
- {
- if (forwards)
- {
- // call FPL - find positive limit switch
- sprintf(cmd,"FPL %s", pAxis->m_szAxisName);
- }
- else
- {
- // call FNL - find negative limit switch
- sprintf(cmd,"FNL %s", pAxis->m_szAxisName);
- }
- }
- else
- {
- asynPrint(m_pInterface->m_pCurrentLogSink, ASYN_TRACE_ERROR,
- "PIGCSMotorController::referenceVelCts() failed - axis has no reference/limit switch\n");
- epicsSnprintf(pAxis->m_pasynUser->errorMessage,pAxis->m_pasynUser->errorMessageSize,
- "PIGCSMotorController::referenceVelCts() failed - axis has no reference/limit switch\n");
- return asynError;
- }
- status = m_pInterface->sendOnly(cmd);
- if (asynSuccess != status)
- return status;
- int errorCode = getGCSError();
- if (errorCode == 0)
- {
- return asynSuccess;
- }
+ if (pAxis->m_bHasReference)
+ {
+ // call FRF - find reference
+ sprintf(cmd,"FRF %s", pAxis->m_szAxisName);
+ }
+ else if (pAxis->m_bHasLimitSwitches)
+ {
+ if (forwards)
+ {
+ // call FPL - find positive limit switch
+ sprintf(cmd,"FPL %s", pAxis->m_szAxisName);
+ }
+ else
+ {
+ // call FNL - find negative limit switch
+ sprintf(cmd,"FNL %s", pAxis->m_szAxisName);
+ }
+ }
+ else
+ {
+ asynPrint(m_pInterface->m_pCurrentLogSink, ASYN_TRACE_ERROR,
+ "PIGCSMotorController::referenceVelCts() failed - axis has no reference/limit switch\n");
+ epicsSnprintf(pAxis->m_pasynUser->errorMessage,pAxis->m_pasynUser->errorMessageSize,
+ "PIGCSMotorController::referenceVelCts() failed - axis has no reference/limit switch\n");
+ return asynError;
+ }
+ status = m_pInterface->sendOnly(cmd);
+ if (asynSuccess != status)
+ return status;
+ int errorCode = getGCSError();
+ if (errorCode == 0)
+ {
+ return asynSuccess;
+ }
asynPrint(m_pInterface->m_pCurrentLogSink, ASYN_TRACE_ERROR,
- "PIGCSMotorController::referenceVelCts() failed\n");
- epicsSnprintf(pAxis->m_pasynUser->errorMessage,pAxis->m_pasynUser->errorMessageSize,
- "PIGCSMotorController::referenceVelCts() failed - GCS Error %d\n",errorCode);
- return asynError;
+ "PIGCSMotorController::referenceVelCts() failed\n");
+ epicsSnprintf(pAxis->m_pasynUser->errorMessage,pAxis->m_pasynUser->errorMessageSize,
+ "PIGCSMotorController::referenceVelCts() failed - GCS Error %d\n",errorCode);
+ return asynError;
}
@@ -113,18 +113,18 @@ asynStatus PIGCSMotorController::referenceVelCts( PIasynAxis* pAxis, double velo
*/
asynStatus PIGCSMotorController::getResolution(PIasynAxis* pAxis, double& resolution )
{
- // CPU is "Counts Per Unit"
- // this is stored as two integers in the controller
+ // CPU is "Counts Per Unit"
+ // this is stored as two integers in the controller
double num, denom;
asynStatus status = getGCSParameter(pAxis, PI_PARA_MOT_CPU_Z, num);
if (status != asynSuccess)
{
- return status;
+ return status;
}
status = getGCSParameter(pAxis, PI_PARA_MOT_CPU_N, denom);
if (status != asynSuccess)
{
- return status;
+ return status;
}
pAxis->m_CPUnumerator = num;
pAxis->m_CPUdenominator = denom;
@@ -135,11 +135,11 @@ asynStatus PIGCSMotorController::getResolution(PIasynAxis* pAxis, double& resolu
asynStatus PIGCSMotorController::getStatus(PIasynAxis* pAxis, int& homing, int& moving, int& negLimit, int& posLimit, int& servoControl)
{
- char buf[255];
+ char buf[255];
asynStatus status = m_pInterface->sendAndReceive(char(4), buf, 99);
if (status != asynSuccess)
{
- return status;
+ return status;
}
// TODO this is for a single axis C-863/867 controller!!!!
// TODO a) change it to multi-axis code.
@@ -163,35 +163,43 @@ asynStatus PIGCSMotorController::getStatus(PIasynAxis* pAxis, int& homing, int&
asynStatus PIGCSMotorController::getMaxAcceleration(PIasynAxis* pAxis)
{
- double maxAcc, maxDec;
- asynStatus status = getGCSParameter(pAxis, PI_PARA_MOT_MAX_ACCEL, maxAcc);
- if (asynSuccess != status)
- return status;
- status = getGCSParameter(pAxis, PI_PARA_MOT_MAX_DECEL, maxDec);
- if (asynSuccess != status)
- return status;
+ if (!m_KnowsVELcommand)
+ {
+ return asynSuccess;
+ }
+ double maxAcc, maxDec;
+ asynStatus status = getGCSParameter(pAxis, PI_PARA_MOT_MAX_ACCEL, maxAcc);
+ if (asynSuccess != status)
+ return status;
+ status = getGCSParameter(pAxis, PI_PARA_MOT_MAX_DECEL, maxDec);
+ if (asynSuccess != status)
+ return status;
- if (maxAcc < maxDec)
- {
- pAxis->m_maxAcceleration = maxAcc;
- }
- else
- {
- pAxis->m_maxAcceleration = maxDec;
- }
- return status;
+ if (maxAcc < maxDec)
+ {
+ pAxis->m_maxAcceleration = maxAcc;
+ }
+ else
+ {
+ pAxis->m_maxAcceleration = maxDec;
+ }
+ return status;
}
asynStatus PIGCSMotorController::setAcceleration( PIasynAxis* pAxis, double acceleration)
{
- asynStatus status = setGCSParameter(pAxis, PI_PARA_MOT_CURR_ACCEL, acceleration);
- if (asynSuccess != status)
- return status;
- status = setGCSParameter(pAxis, PI_PARA_MOT_CURR_DECEL, acceleration);
- if (asynSuccess != status)
- return status;
- pAxis->m_acceleration = acceleration;
- return status;
+ if (!m_KnowsVELcommand)
+ {
+ return asynSuccess;
+ }
+ asynStatus status = setGCSParameter(pAxis, PI_PARA_MOT_CURR_ACCEL, acceleration);
+ if (asynSuccess != status)
+ return status;
+ status = setGCSParameter(pAxis, PI_PARA_MOT_CURR_DECEL, acceleration);
+ if (asynSuccess != status)
+ return status;
+ pAxis->m_acceleration = acceleration;
+ return status;
}
diff --git a/motorApp/ScriptMotorSrc/ScriptMotorDriver.cpp b/motorApp/ScriptMotorSrc/ScriptMotorDriver.cpp
deleted file mode 100644
index 93b8e3d9..00000000
--- a/motorApp/ScriptMotorSrc/ScriptMotorDriver.cpp
+++ /dev/null
@@ -1,859 +0,0 @@
-#include
-#include
-#include
-#include
-#include
-
-#include
-#include
-
-#include
-
-#include "asynMotorController.h"
-#include "asynMotorAxis.h"
-
-#include
-#include "ScriptMotorDriver.h"
-
-#define NINT(f) (int)((f)>0 ? (f)+0.5 : (f)-0.5)
-
-
-/************************************************
- * These are the ScriptMotorController methods *
- ************************************************/
-
-
-/** Creates a new ScriptMotorController object.
- * \param[in] asyn_port The name of the asyn port that will be created for this driver
- * \param[in] serial_port The name of the drvAsynSerialPort that was created previously to connect to the VirtualMotor controller
- * \param[in] max_axes The number of axes that this controller supports
- * \param[in] script_file
- * \param[in] params
- */
-ScriptMotorController::ScriptMotorController(const char* asyn_port,
- int max_axes,
- const char* script_file,
- const char* params)
- : asynMotorController(asyn_port,
- max_axes,
- 1, // No. ScriptMotorController asyn parameters
- 0, // No. additional interfaces beyond those in base class
- 0, // No. additional callback interfaces beyond those in base class
- ASYN_CANBLOCK | ASYN_MULTIDEVICE,
- 1, // autoconnect
- 0, // Default priority
- 0) // Default stack size
-{
- this->script = std::string(script_file);
-
- if (params) { this->init_params = std::string(params); }
- else { this->init_params = std::string(""); }
-
- this->createParam("RELOAD_SCRIPT", asynParamInt32, &this->ScriptMotorReload);
-
- for (int axis = 0; axis < max_axes; axis += 1)
- {
- new ScriptMotorAxis(this, axis, script_file, params);
- }
-
- this->startPoller(this->movingPollPeriod_, this->idlePollPeriod_, this->forcedFastPolls_);
-}
-
-void ScriptMotorController::reload()
-{
- this->lock();
- for (int index = 0; index < this->numAxes_; index += 1)
- {
- ScriptMotorAxis* axis = this->getAxis(index);
- axis->reload(this->script.c_str(), this->init_params.c_str());
- }
- this->unlock();
-
- printf("Controller %s reloaded %s.\n", this->portName, this->script.c_str());
-}
-
-/** Creates a new ScriptMotorController object.
- * Configuration command, called directly or from iocsh
- * \param[in] asyn_port The name of the asyn port that will be created for this driver
- * \param[in] max_axes The number of axes that this controller supports
- * \param[in] script_file
- * \param[in] params
- */
-extern "C" int ScriptControllerConfig(const char* asyn_port,
- int max_axes,
- const char* script_file,
- const char* params)
-{
- new ScriptMotorController(asyn_port, max_axes, script_file, params);
- return(asynSuccess);
-}
-
-
-/** Reports on status of the driver
- * \param[in] fp The file pointer on which report information will be written
- * \param[in] level The level of report detail desired
- *
- * If details > 0 then information is printed about each axis.
- * After printing controller-specific information it calls asynMotorController::report()
- */
-void ScriptMotorController::report(FILE *fp, int level)
-{
- fprintf(fp, "Script Motor Controller driver %s\n", this->portName);
- fprintf(fp, " numAxes=%d\n", numAxes_);
- fprintf(fp, " moving poll period=%f\n", movingPollPeriod_);
- fprintf(fp, " idle poll period=%f\n", idlePollPeriod_);
-
- // Call the base class method
- asynMotorController::report(fp, level);
-}
-
-asynStatus ScriptMotorController::writeInt32(asynUser *pasynUser, epicsInt32 value)
-{
- int function = pasynUser->reason;
-
- if (function == this->ScriptMotorReload)
- {
- if (value == 1) { this->reload(); }
- return asynSuccess;
- }
- else
- {
- return asynMotorController::writeInt32(pasynUser, value);
- }
-}
-
-asynStatus ScriptMotorController::setIntegerParam(int list, int function, int value)
-{
- if (function >= this->motorStatusDirection_ && function <= this->motorStatusHomed_)
- {
- ScriptMotorAxis* axis = (ScriptMotorAxis*) this->getAxis(list);
- epicsUInt32 status = axis->setStatusParam(function, value);
- asynMotorController::setIntegerParam(list, this->motorStatus_, status);
- }
-
- return asynMotorController::setIntegerParam(list, function, value);
-}
-
-asynStatus ScriptMotorController::setDoubleParam(int list, int function, double value)
-{
- if (function == this->motorPosition_ || function == this->motorEncoderPosition_)
- {
- ScriptMotorAxis* axis = (ScriptMotorAxis*) this->getAxis(list);
- axis->setPositionParam(function, value);
- }
-
- return asynMotorController::setDoubleParam(list, function, value);
-}
-
-void ScriptMotorController::configAxis(int axisNo, const char* params)
-{
- ScriptMotorAxis* axis = this->getAxis(axisNo);
-
- if (params) { axis->params = std::string(params); }
- else { axis->params = std::string(""); }
-
- axis->config(params);
-}
-
-/** Returns a pointer to an ScriptMotorAxis object.
- * Returns NULL if the axis number encoded in pasynUser is invalid.
- * \param[in] pasynUser asynUser structure that encodes the axis index number. */
-ScriptMotorAxis* ScriptMotorController::getAxis(asynUser *pasynUser)
-{
- return static_cast(asynMotorController::getAxis(pasynUser));
-}
-
-
-/** Returns a pointer to an ScriptMotorAxis object.
- * Returns NULL if the axis number encoded in pasynUser is invalid.
- * \param[in] axisNo Axis index number. */
-ScriptMotorAxis* ScriptMotorController::getAxis(int axisNo)
-{
- return static_cast(asynMotorController::getAxis(axisNo));
-}
-
-
-/******************************************
- * These are the ScriptMotorAxis methods *
- ******************************************/
-
-
-/** Creates a new ScriptMotorAxis object.
- * \param[in] pC Pointer to the ScriptMotorController to which this axis belongs.
- * \param[in] axisNo Index number of this axis, range 0 to pC->numAxes_-1.
- *
- * Initializes register numbers, etc.
- */
-ScriptMotorAxis::ScriptMotorAxis(ScriptMotorController *pC, int axisNo, const char* script_file, const char* params)
- : asynMotorAxis(pC, axisNo),
- pC_(pC)
-{
- this->initState(script_file);
- this->config(params);
-
- int isnum;
-
- lua_getglobal(this->state, "MovingPollPeriod");
- double MovingPollPeriod = lua_tonumberx(this->state, -1, &isnum);
- if (isnum) { pC->movingPollPeriod_ = MovingPollPeriod; }
- lua_remove(this->state, -1);
-
- lua_getglobal(this->state, "IdlePollPeriod");
- double IdlePollPeriod = lua_tonumberx(this->state, -1, &isnum);
- if (isnum) { pC->idlePollPeriod_ = IdlePollPeriod; }
- lua_remove(this->state, -1);
-
- lua_getglobal(this->state, "ForcedFastPolls");
- double ForcedFastPolls = lua_tonumberx(this->state, -1, &isnum);
- if (isnum) { pC->forcedFastPolls_ = ForcedFastPolls; }
- lua_remove(this->state, -1);
-
- // Zero the encoder position (this only appears to be a problem on windows)
- setDoubleParam(pC_->motorEncoderPosition_, 0.0);
-
- // Make the changed parameters take effect
- callParamCallbacks();
-}
-
-void ScriptMotorAxis::initState(const char* script_file)
-{
- this->state = luaL_newstate();
- int status = luaLoadScript(this->state, script_file);
-
- if (status) { printf("Error compiling script file: %s\n", script_file); }
-
- lua_pushstring(this->state, (const char*) this->pC_->portName);
- lua_setglobal(this->state, "DRIVER");
-
- lua_pushnumber(this->state, axisNo_);
- lua_setglobal(this->state, "AXIS");
-}
-
-void ScriptMotorAxis::reload(const char* script_file, const char* controller_params)
-{
- this->initState(script_file);
- this->config(controller_params);
- this->config(this->params.c_str());
-}
-
-epicsUInt32 ScriptMotorAxis::setStatusParam(int index, int value)
-{
- if (index >= pC_->motorStatusDirection_ && index <= pC_->motorStatusHomed_)
- {
- epicsUInt32 status = status_.status;
- int mask = 1 << (index - pC_->motorStatusDirection_);
-
- if (value) { status |= mask; }
- else { status &= ~mask; }
-
- if (status != status_.status)
- {
- status_.status = status;
- statusChanged_ = 1;
- }
-
- return status;
- }
-
- return 0;
-}
-
-void ScriptMotorAxis::setPositionParam(int index, double value)
-{
- if (index == pC_->motorPosition_)
- {
- if (value != status_.position)
- {
- statusChanged_ = 1;
- status_.position = value;
- }
- }
- else if (index == pC_->motorEncoderPosition_)
- {
- if (value != status_.encoderPosition)
- {
- statusChanged_ = 1;
- status_.encoderPosition = value;
- }
- }
-}
-
-
-/*
- *
- */
-extern "C" int ScriptAxisConfig(const char* ScriptMotorName, int axisNo, const char* params)
-{
- static const char *functionName = "VirtualMotorCreateAxis";
-
- ScriptMotorController *pC = (ScriptMotorController*) findAsynPortDriver(ScriptMotorName);
- if (!pC)
- {
- printf("Error port %s not found\n", ScriptMotorName);
- return asynError;
- }
-
- pC->lock();
- pC->configAxis(axisNo, params);
- pC->unlock();
-
- return asynSuccess;
-}
-
-
-/** Reports on status of the axis
- * \param[in] fp The file pointer on which report information will be written
- * \param[in] level The level of report detail desired
- *
- * After printing device-specific information calls asynMotorAxis::report()
- */
-void ScriptMotorAxis::report(FILE *fp, int level)
-{
- if (level > 0) {
- fprintf(fp, " Axis #%d\n", axisNo_);
- fprintf(fp, " axisIndex_=%d\n", axisIndex_);
- }
-
- // Call the base class method
- asynMotorAxis::report(fp, level);
-}
-
-
-/*
- * move() is called by asynMotor device support when an absolute or a relative move is requested.
- * It can be called multiple times if BDST > 0 or RTRY > 0.
- *
- * Arguments in terms of motor record fields:
- * position (steps) = RVAL = DVAL / MRES
- * baseVelocity (steps/s) = VBAS / abs(MRES)
- * velocity (step/s) = VELO / abs(MRES)
- * acceleration (step/s/s) = (velocity - baseVelocity) / ACCL
- */
-asynStatus ScriptMotorAxis::move(double position, int relative, double minVelocity, double maxVelocity, double acceleration)
-{
- asynStatus status;
- // static const char *functionName = "ScriptMotorAxis::move";
-
- int result = lua_getglobal(this->state, "move");
- if (result != LUA_TFUNCTION)
- {
- // No function in script
- }
- else
- {
- lua_pushnumber(this->state, position);
- lua_pushboolean(this->state, relative);
- lua_pushnumber(this->state, minVelocity);
- lua_pushnumber(this->state, maxVelocity);
- lua_pushnumber(this->state, acceleration);
-
- if (lua_pcall(this->state, 5, 1, 0))
- {
- this->logError();
- return asynError;
- }
-
- int rettype = lua_type(this->state, -1);
-
- // Do something with returned value
-
- lua_pop(this->state, 1);
- }
-
- return asynSuccess;
-}
-
-
-/*
- * home() is called by asynMotor device support when a home is requested.
- * Note: forwards is set by device support, NOT by the motor record.
- *
- * Arguments in terms of motor record fields:
- * minVelocity (steps/s) = VBAS / abs(MRES)
- * maxVelocity (step/s) = HVEL / abs(MRES)
- * acceleration (step/s/s) = (maxVelocity - minVelocity) / ACCL
- * forwards = 1 if HOMF was pressed, 0 if HOMR was pressed
- */
-
-asynStatus ScriptMotorAxis::home(double minVelocity, double maxVelocity, double acceleration, int forwards)
-{
- int result = lua_getglobal(this->state, "home");
- if (result != LUA_TFUNCTION)
- {
- // No function in script
- }
- else
- {
- lua_pushnumber(this->state, minVelocity);
- lua_pushnumber(this->state, maxVelocity);
- lua_pushnumber(this->state, acceleration);
- lua_pushboolean(this->state, forwards);
-
- if (lua_pcall(this->state, 4, 1, 0))
- {
- this->logError();
- return asynError;
- }
-
- int rettype = lua_type(this->state, -1);
-
- // Do something with returned value
-
- lua_pop(this->state, 1);
- }
-
- return asynSuccess;
-}
-
-
-
-/*
- * moveVelocity() is called by asynMotor device support when a jog is requested.
- * If a controller doesn't have a jog command (or jog commands), this a jog can be simulated here.
- *
- * Arguments in terms of motor record fields:
- * minVelocity (steps/s) = VBAS / abs(MRES)
- * maxVelocity (step/s) = (jog_direction == forward) ? JVEL * DIR / MRES : -1 * JVEL * DIR / MRES
- * acceleration (step/s/s) = JAR / abs(EGU)
- */
-asynStatus ScriptMotorAxis::moveVelocity(double minVelocity, double maxVelocity, double acceleration)
-{
- int result = lua_getglobal(this->state, "moveVelocity");
- if (result != LUA_TFUNCTION)
- {
- // No function in script
- }
- else
- {
- lua_pushnumber(this->state, minVelocity);
- lua_pushnumber(this->state, maxVelocity);
- lua_pushnumber(this->state, acceleration);
-
- if (lua_pcall(this->state, 3, 1, 0))
- {
- this->logError();
- return asynError;
- }
-
- int rettype = lua_type(this->state, -1);
-
- // Do something with returned value
-
- lua_pop(this->state, 1);
- }
-
- return asynSuccess;
-}
-
-
-/*
- * stop() is called by asynMotor device support whenever a user presses the stop button.
- * It is also called when the jog button is released.
- *
- * Arguments in terms of motor record fields:
- * acceleration = ???
- */
-asynStatus ScriptMotorAxis::stop(double acceleration)
-{
- int result = lua_getglobal(this->state, "stop");
- if (result != LUA_TFUNCTION)
- {
- // No function in script
- }
- else
- {
- lua_pushnumber(this->state, acceleration);
-
- if (lua_pcall(this->state, 1, 1, 0))
- {
- this->logError();
- return asynError;
- }
-
- int rettype = lua_type(this->state, -1);
-
- // Do something with returned value
-
- lua_pop(this->state, 1);
- }
-
- return asynSuccess;
-}
-
-
-/*
- * setPosition() is called by asynMotor device support when a position is redefined.
- * It is also required for autosave to restore a position to the controller at iocInit.
- *
- * Arguments in terms of motor record fields:
- * position (steps) = DVAL / MRES = RVAL
- */
-asynStatus ScriptMotorAxis::setPosition(double position)
-{
- int result = lua_getglobal(this->state, "setPosition");
- if (result != LUA_TFUNCTION)
- {
- // No function in script
- }
- else
- {
- lua_pushnumber(this->state, position);
-
- if (lua_pcall(this->state, 1, 1, 0))
- {
- this->logError();
- return asynError;
- }
-
- int rettype = lua_type(this->state, -1);
-
- // Do something with returned value
-
- lua_pop(this->state, 1);
- }
-
- return asynSuccess;
-}
-
-asynStatus ScriptMotorAxis::setEncoderPosition(double position)
-{
- int result = lua_getglobal(this->state, "setEncoderPosition");
- if (result != LUA_TFUNCTION)
- {
- // No function in script
- }
- else
- {
- lua_pushnumber(this->state, position);
-
- if (lua_pcall(this->state, 1, 1, 0))
- {
- this->logError();
- return asynError;
- }
-
- int rettype = lua_type(this->state, -1);
-
- // Do something with returned value
-
- lua_pop(this->state, 1);
- }
-
- return asynSuccess;
-}
-
-asynStatus ScriptMotorAxis::setHighLimit(double highLimit)
-{
- int result = lua_getglobal(this->state, "setHighLimit");
- if (result != LUA_TFUNCTION)
- {
- // No function in script
- }
- else
- {
- lua_pushnumber(this->state, highLimit);
-
- if (lua_pcall(this->state, 1, 1, 0))
- {
- this->logError();
- return asynError;
- }
-
- int rettype = lua_type(this->state, -1);
-
- // Do something with returned value
-
- lua_pop(this->state, 1);
- }
-
- return asynSuccess;
-}
-
-asynStatus ScriptMotorAxis::setLowLimit(double lowLimit)
-{
- int result = lua_getglobal(this->state, "setLowLimit");
- if (result != LUA_TFUNCTION)
- {
- // No function in script
- }
- else
- {
- lua_pushnumber(this->state, lowLimit);
-
- if (lua_pcall(this->state, 1, 1, 0))
- {
- this->logError();
- return asynError;
- }
-
- int rettype = lua_type(this->state, -1);
-
- // Do something with returned value
-
- lua_pop(this->state, 1);
- }
-
- return asynSuccess;
-}
-
-
-asynStatus ScriptMotorAxis::setPGain(double PGain)
-{
- int result = lua_getglobal(this->state, "setPGain");
- if (result != LUA_TFUNCTION)
- {
- // No function in script
- }
- else
- {
- lua_pushnumber(this->state, PGain);
-
- if (lua_pcall(this->state, 1, 1, 0))
- {
- this->logError();
- return asynError;
- }
-
- int rettype = lua_type(this->state, -1);
-
- // Do something with returned value
-
- lua_pop(this->state, 1);
- }
-
- return asynSuccess;
-}
-
-asynStatus ScriptMotorAxis::setIGain(double IGain)
-{
- int result = lua_getglobal(this->state, "setIGain");
- if (result != LUA_TFUNCTION)
- {
- // No function in script
- }
- else
- {
- lua_pushnumber(this->state, IGain);
-
- if (lua_pcall(this->state, 1, 1, 0))
- {
- this->logError();
- return asynError;
- }
-
- int rettype = lua_type(this->state, -1);
-
- // Do something with returned value
-
- lua_pop(this->state, 1);
- }
-
- return asynSuccess;
-}
-
-asynStatus ScriptMotorAxis::setDGain(double DGain)
-{
- int result = lua_getglobal(this->state, "setDGain");
- if (result != LUA_TFUNCTION)
- {
- // No function in script
- }
- else
- {
- lua_pushnumber(this->state, DGain);
-
- if (lua_pcall(this->state, 1, 1, 0))
- {
- this->logError();
- return asynError;
- }
-
- int rettype = lua_type(this->state, -1);
-
- // Do something with returned value
-
- lua_pop(this->state, 1);
- }
-
- return asynSuccess;
-}
-
-/*
- * setClosedLoop() is called by asynMotor device support when a user enables or disables torque,
- * usually from the motorx_all.adl, but only for drivers that set the following params to 1:
- * pC->motorStatusGainSupport_
- * pC->motorStatusHasEncoder_
- * What is actually implemented here varies greatly based on the specfics of the controller.
- *
- * Arguments in terms of motor record fields:
- * closedLoop = CNEN
- */
-
-asynStatus ScriptMotorAxis::setClosedLoop(bool closedLoop)
-{
- int result = lua_getglobal(this->state, "setClosedLoop");
- if (result != LUA_TFUNCTION)
- {
- // No function in script
- }
- else
- {
- lua_pushboolean(this->state, (int) closedLoop);
-
- if (lua_pcall(this->state, 1, 1, 0))
- {
- this->logError();
- return asynError;
- }
-
- int rettype = lua_type(this->state, -1);
-
- // Do something with returned value
-
- lua_pop(this->state, 1);
- }
-
- return asynSuccess;
-}
-
-asynStatus ScriptMotorAxis::setEncoderRatio(double EncoderRatio)
-{
- int result = lua_getglobal(this->state, "setEncoderRatio");
- if (result != LUA_TFUNCTION)
- {
- // No function in script
- }
- else
- {
- lua_pushnumber(this->state, EncoderRatio);
-
- if (lua_pcall(this->state, 1, 1, 0))
- {
- this->logError();
- return asynError;
- }
-
- int rettype = lua_type(this->state, -1);
-
- // Do something with returned value
-
- lua_pop(this->state, 1);
- }
-
- return asynSuccess;
-}
-
-
-
-/** Polls the axis.
- * This function reads the motor position, the limit status, the home status, the moving status,
- * and the drive power-on status.
- * It calls setIntegerParam() and setDoubleParam() for each item that it polls,
- * and then calls callParamCallbacks() at the end.
- * \param[out] moving A flag that is set indicating that the axis is moving (true) or done (false). */
-asynStatus ScriptMotorAxis::poll(bool *moving)
-{
- int result = lua_getglobal(this->state, "poll");
- if (result != LUA_TFUNCTION)
- {
- // No function in script
- }
- else
- {
- if (lua_pcall(this->state, 0, 1, 0))
- {
- this->logError();
- return asynError;
- }
-
- int rettype = lua_type(this->state, -1);
-
- if (rettype == LUA_TBOOLEAN)
- {
- if (lua_toboolean(this->state, -1)) { *moving = true; }
- else { *moving = false; }
- }
-
- lua_pop(this->state, 1);
- }
-
- this->callParamCallbacks();
- return asynSuccess;
-}
-
-void ScriptMotorAxis::config(const char* params)
-{
- luaLoadMacros(this->state, params);
-}
-
-void ScriptMotorAxis::logError()
-{
- std::string err(lua_tostring(this->state, -1));
- lua_pop(this->state, 1);
-
- printf("%s\n", err.c_str());
-}
-
-void ScriptMotorReload(const char* port)
-{
- ScriptMotorController* controller = (ScriptMotorController*) findAsynPortDriver(port);
-
- if (controller != NULL) { controller->reload(); }
-}
-
-
-/** Code for iocsh registration */
-static const iocshArg ScriptMotorReloadArg0 = {"Motor Port name", iocshArgString};
-
-static const iocshArg* const ScriptMotorReloadArgs[] = {&ScriptMotorReloadArg0};
-
-static const iocshFuncDef ScriptMotorReloadDef = {"ScriptMotorReload", 1, ScriptMotorReloadArgs};
-
-static void ScriptMotorReloadCallFunc(const iocshArgBuf *args)
-{
- ScriptMotorReload(args[0].sval);
-}
-
-
-static const iocshArg ScriptMotorCreateControllerArg0 = {"Motor Port name", iocshArgString};
-static const iocshArg ScriptMotorCreateControllerArg1 = {"Number of axes", iocshArgInt};
-static const iocshArg ScriptMotorCreateControllerArg2 = {"Control Script", iocshArgString};
-static const iocshArg ScriptMotorCreateControllerArg3 = {"Parameters", iocshArgString};
-static const iocshArg * const ScriptMotorCreateControllerArgs[] = {&ScriptMotorCreateControllerArg0,
- &ScriptMotorCreateControllerArg1,
- &ScriptMotorCreateControllerArg2,
- &ScriptMotorCreateControllerArg3};
-static const iocshFuncDef ScriptMotorCreateControllerDef = {"ScriptControllerConfig", 4, ScriptMotorCreateControllerArgs};
-static void ScriptMotorCreateContollerCallFunc(const iocshArgBuf *args)
-{
- ScriptControllerConfig(args[0].sval, args[1].ival, args[2].sval, args[3].sval);
-}
-
-
-static const iocshArg ScriptMotorCreateAxisArg0 = {"Controller port name", iocshArgString};
-static const iocshArg ScriptMotorCreateAxisArg1 = {"Axis number", iocshArgInt};
-static const iocshArg ScriptMotorCreateAxisArg2 = {"Parameters", iocshArgString};
-
-static const iocshArg * const ScriptMotorCreateAxisArgs[] = {&ScriptMotorCreateAxisArg0,
- &ScriptMotorCreateAxisArg1,
- &ScriptMotorCreateAxisArg2};
-
-static const iocshFuncDef ScriptMotorCreateAxisDef = {"ScriptAxisConfig", 3, ScriptMotorCreateAxisArgs};
-static void ScriptMotorCreateAxisCallFunc(const iocshArgBuf *args)
-{
- ScriptAxisConfig(args[0].sval, args[1].ival, args[2].sval);
-}
-
-
-
-static void ScriptMotorRegister(void)
-{
- iocshRegister(&ScriptMotorReloadDef, ScriptMotorReloadCallFunc);
- iocshRegister(&ScriptMotorCreateControllerDef, ScriptMotorCreateContollerCallFunc);
- iocshRegister(&ScriptMotorCreateAxisDef, ScriptMotorCreateAxisCallFunc);
-}
-
-
-extern "C" {
-epicsExportRegistrar(ScriptMotorRegister);
-}
diff --git a/motorApp/ScriptMotorSrc/ScriptMotorDriver.dbd b/motorApp/ScriptMotorSrc/ScriptMotorDriver.dbd
deleted file mode 100644
index 8f5bbc23..00000000
--- a/motorApp/ScriptMotorSrc/ScriptMotorDriver.dbd
+++ /dev/null
@@ -1 +0,0 @@
-registrar(ScriptMotorRegister)
diff --git a/motorApp/ScriptMotorSrc/ScriptMotorDriver.h b/motorApp/ScriptMotorSrc/ScriptMotorDriver.h
deleted file mode 100644
index efa010cd..00000000
--- a/motorApp/ScriptMotorSrc/ScriptMotorDriver.h
+++ /dev/null
@@ -1,76 +0,0 @@
-#include "asynMotorController.h"
-#include "asynMotorAxis.h"
-
-#include
-#include "epicsScript.h"
-
-class epicsShareClass ScriptMotorAxis : public asynMotorAxis
-{
-public:
- /* These are the methods we override from the base class */
- ScriptMotorAxis(class ScriptMotorController *pC, int axisNo, const char* script_file, const char* params);
-
- void reload(const char* script, const char* params);
-
- void report(FILE *fp, int level);
-
- asynStatus move(double position, int relative, double min_velocity, double max_velocity, double acceleration);
- asynStatus moveVelocity(double min_velocity, double max_velocity, double acceleration);
- asynStatus home(double min_velocity, double max_velocity, double acceleration, int forwards);
- asynStatus stop(double acceleration);
- asynStatus poll(bool *moving);
- asynStatus setPosition(double position);
- asynStatus setEncoderPosition(double position);
- asynStatus setHighLimit(double highLimit);
- asynStatus setLowLimit(double lowLimit);
- asynStatus setPGain(double pGain);
- asynStatus setIGain(double iGain);
- asynStatus setDGain(double dGain);
- asynStatus setClosedLoop(bool closedLoop);
- asynStatus setEncoderRatio(double ratio);
-
- virtual epicsUInt32 setStatusParam(int index, int value);
- virtual void setPositionParam(int index, double value);
-
-private:
- ScriptMotorController *pC_; /**< Pointer to the asynMotorController to which this axis belongs.
- * Abbreviated because it is used very frequently */
- int axisIndex_;
-
- std::string params;
-
- lua_State* state;
-
- void initState(const char* script_file);
- void config(const char* params);
- void logError();
-
-friend class ScriptMotorController;
-};
-
-class epicsShareClass ScriptMotorController : public asynMotorController {
-public:
- ScriptMotorController(const char *asyn_port, int max_axes, const char* script_file, const char* params);
-
- virtual asynStatus setIntegerParam(int list, int function, int value);
- virtual asynStatus setDoubleParam(int list, int function, double value);
-
- virtual asynStatus writeInt32(asynUser *pasynUser, epicsInt32 value);
-
- void report(FILE *fp, int level);
- ScriptMotorAxis* getAxis(asynUser *pasynUser);
- ScriptMotorAxis* getAxis(int axisNo);
-
- void configAxis(int axisNo, const char* params);
-
- void reload();
-
-protected:
- int ScriptMotorReload;
-
-private:
- std::string script;
- std::string init_params;
-
-friend class ScriptMotorAxis;
-};
diff --git a/motorApp/op/adl/ScriptMotorReload.adl b/motorApp/op/adl/ScriptMotorReload.adl
deleted file mode 100644
index 6f76c4a8..00000000
--- a/motorApp/op/adl/ScriptMotorReload.adl
+++ /dev/null
@@ -1,140 +0,0 @@
-
-file {
- name="/home/oxygen40/KLANG/Documents/Projects/Repository/git/motor/motorApp/op/adl/ScriptMotorReload.adl"
- version=030107
-}
-display {
- object {
- x=663
- y=227
- width=220
- height=75
- }
- clr=14
- bclr=4
- cmap=""
- gridSpacing=5
- gridOn=0
- snapToGrid=0
-}
-"color map" {
- ncolors=65
- colors {
- ffffff,
- ececec,
- dadada,
- c8c8c8,
- bbbbbb,
- aeaeae,
- 9e9e9e,
- 919191,
- 858585,
- 787878,
- 696969,
- 5a5a5a,
- 464646,
- 2d2d2d,
- 000000,
- 00d800,
- 1ebb00,
- 339900,
- 2d7f00,
- 216c00,
- fd0000,
- de1309,
- be190b,
- a01207,
- 820400,
- 5893ff,
- 597ee1,
- 4b6ec7,
- 3a5eab,
- 27548d,
- fbf34a,
- f9da3c,
- eeb62b,
- e19015,
- cd6100,
- ffb0ff,
- d67fe2,
- ae4ebc,
- 8b1a96,
- 610a75,
- a4aaff,
- 8793e2,
- 6a73c1,
- 4d52a4,
- 343386,
- c7bb6d,
- b79d5c,
- a47e3c,
- 7d5627,
- 58340f,
- 99ffff,
- 73dfff,
- 4ea5f9,
- 2a63e4,
- 0a00b8,
- ebf1b5,
- d4db9d,
- bbc187,
- a6a462,
- 8b8239,
- 73ff6b,
- 52da3b,
- 3cb420,
- 289315,
- 1a7309,
- }
-}
-rectangle {
- object {
- x=0
- y=0
- width=250
- height=25
- }
- "basic attribute" {
- clr=29
- }
-}
-"message button" {
- object {
- x=10
- y=35
- width=200
- height=30
- }
- control {
- chan="$(P)$(PORT):ScriptReload"
- clr=14
- bclr=62
- }
- label="Reload $(PORT)"
- press_msg="1"
-}
-rectangle {
- object {
- x=-7
- y=-7
- width=257
- height=32
- }
- "basic attribute" {
- clr=14
- fill="outline"
- width=3
- }
-}
-text {
- object {
- x=5
- y=3
- width=200
- height=20
- }
- "basic attribute" {
- clr=0
- }
- textix="Script Motor Reload"
-}
diff --git a/motorExApp/WithAsyn/Makefile b/motorExApp/WithAsyn/Makefile
index f678e039..7be8e650 100644
--- a/motorExApp/WithAsyn/Makefile
+++ b/motorExApp/WithAsyn/Makefile
@@ -39,9 +39,6 @@ ifdef BUSY
endif
COMMONDBDS += PI_GCS2Support.dbd
COMMONDBDS += phytron.dbd
-ifdef SCRIPT
-COMMONDBDS += ScriptMotorDriver.dbd
-endif
DBD += WithAsyn.dbd
WithAsyn_DBD += $(COMMONDBDS)
@@ -86,10 +83,6 @@ COMMONLIBS += ACRMotor
COMMONLIBS += PI_GCS2Support
COMMONLIBS += phytronAxisMotor
COMMONLIBS += motor
-ifdef SCRIPT
-COMMONLIBS += ScriptMotor
-COMMONLIBS += script
-endif
# Needed for Newport SNL programs
WithAsyn_LIBS += $(COMMONLIBS)