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Many changes to get buildProfile working

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This commit is contained in:
MarkRivers
2011-04-05 22:48:45 +00:00
parent 397cd6801a
commit 8ffe0fdbaf
1 changed files with 147 additions and 158 deletions
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motorApp/NewportSrc/XPSController.cpp
+147 -158
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@@ -117,10 +117,7 @@ const static CorrectorTypes_t CorrectorTypes = {
#define TRAJECTORY_DIRECTORY "/Admin/public/Trajectories"
#define MAX_FILENAME_LEN 256
#define MAX_MESSAGE_LEN 256
#define TRAJECTORY_FILE "TrajectoryScan.trj"
#define DEFAULT_FTP_USERNAME "Administrator"
#define DEFAULT_FTP_PASSWORD "Administrator"
#define DEFAULT_PROFILE_GROUPNAME "Group1"
#define MAX_GROUPNAME_LEN 64
/* The maximum size of the item names in gathering, e.g. "GROUP2.POSITIONER1.CurrentPosition" */
#define MAX_GATHERING_AXIS_STRING 60
@@ -131,26 +128,21 @@ const static CorrectorTypes_t CorrectorTypes = {
// Maximum number of bytes that GatheringDataMultipleLinesGet() can return
#define GATHERING_MAX_READ_LEN 65536
/** Deadband to use for the velocity comparison with zero. */
#define XPS_VELOCITY_DEADBAND 0.0000001
#define XPSC8_END_OF_RUN_MINUS 0x80000100
#define XPSC8_END_OF_RUN_PLUS 0x80000200
#define TCP_TIMEOUT 2.0
#define MAX(a,b) ((a)>(b)? (a): (b))
#define MIN(a,b) ((a)<(b)? (a): (b))
XPSController::XPSController(const char *portName, const char *IPAddress, int IPPort,
int numAxes, double movingPollPeriod, double idlePollPeriod)
int numAxes, double movingPollPeriod, double idlePollPeriod,
int enableSetPosition, double setPositionSettlingTime)
: asynMotorController(portName, numAxes, NUM_XPS_PARAMS,
asynInt32Mask | asynFloat64Mask | asynUInt32DigitalMask,
asynInt32Mask | asynFloat64Mask | asynUInt32DigitalMask,
ASYN_CANBLOCK | ASYN_MULTIDEVICE,
1, // autoconnect
0, 0), // Default priority and stack size
enableSetPosition_(0), setPositionSettlingTime_(0.5)
enableSetPosition_(enableSetPosition), setPositionSettlingTime_(setPositionSettlingTime),
ftpUsername_(NULL), ftpPassword_(NULL)
{
static const char *functionName = "XPSController";
@@ -165,6 +157,7 @@ XPSController::XPSController(const char *portName, const char *IPAddress, int IP
createParam(XPSProfileMaxAccelerationString, asynParamFloat64, &XPSProfileMaxAcceleration_);
createParam(XPSProfileMinPositionString, asynParamFloat64, &XPSProfileMinPosition_);
createParam(XPSProfileMaxPositionString, asynParamFloat64, &XPSProfileMaxPosition_);
createParam(XPSProfileGroupNameString, asynParamOctet, &XPSProfileGroupName_);
createParam(XPSTrajectoryFileString, asynParamOctet, &XPSTrajectoryFile_);
createParam(XPSStatusString, asynParamInt32, &XPSStatus_);
@@ -183,11 +176,6 @@ XPSController::XPSController(const char *portName, const char *IPAddress, int IP
driverName, functionName);
}
// Set a default username and password for ftp
ftpUsername_ = epicsStrDup(DEFAULT_FTP_USERNAME);
ftpPassword_ = epicsStrDup(DEFAULT_FTP_PASSWORD);
profileGroupName_ = epicsStrDup(DEFAULT_PROFILE_GROUPNAME);
FirmwareVersionGet(pollSocket_, firmwareVersion_);
/* Create the poller thread for this controller
@@ -500,6 +488,8 @@ asynStatus XPSController::writeInt32(asynUser *pasynUser, epicsInt32 value)
return (asynStatus)status;
}
/** Returns a pointer to an XPSAxis object.
* Returns NULL if the axis number encoded in pasynUser is invalid.
* \param[in] pasynUser asynUser structure that encodes the axis index number. */
@@ -511,6 +501,8 @@ XPSAxis* XPSController::getAxis(asynUser *pasynUser)
return getAxis(axisNo);
}
/** Returns a pointer to an XPSAxis object.
* Returns NULL if the axis number is invalid.
* \param[in] axisNo Axis index number. */
@@ -520,39 +512,58 @@ XPSAxis* XPSController::getAxis(int axisNo)
return pAxes_[axisNo];
}
/* Function to initialize profile */
asynStatus XPSController::initializeProfile(size_t maxPoints, const char* ftpUsername, const char* ftpPassword)
{
ftpUsername_ = epicsStrDup(ftpUsername);
ftpPassword_ = epicsStrDup(ftpPassword);
asynMotorController::initializeProfile(maxPoints);
return asynSuccess;
}
/* Function to build, install and verify trajectory */
asynStatus XPSController::buildProfile()
{
FILE *trajFile;
int i, j;
int status;
bool buildOK=false;
bool verifyOK=true;
int nPoints;
int nElements;
double trajVel;
double D0, D1, T0, T1;
int ftpSocket;
char fileName[MAX_FILENAME_LEN];
char groupName[MAX_GROUPNAME_LEN];
char buildMessage[MAX_MESSAGE_LEN];
int buildStatus;
double distance;
double maxVelocity[XPS_MAX_AXES];
double maxAcceleration[XPS_MAX_AXES];
double maxVelocityActual;
double maxAccelerationActual;
double minPositionActual, maxPositionActual;
double maxVelocity;
double maxAcceleration;
double maxVelocityActual=0.0;
double maxAccelerationActual=0.0;
double minPositionActual=0.0, maxPositionActual=0.0;
double minProfile, maxProfile;
double lowLimit, highLimit;
double minJerkTime[XPS_MAX_AXES], maxJerkTime[XPS_MAX_AXES];
double minJerkTime, maxJerkTime;
double preTimeMax, postTimeMax;
double preVelocity[XPS_MAX_AXES], postVelocity[XPS_MAX_AXES];
double preDistance[XPS_MAX_AXES], postDistance[XPS_MAX_AXES];
double time;
int moveAxis[XPS_MAX_AXES];
int useAxis[XPS_MAX_AXES];
static const char *functionName = "buildProfile";
asynPrint(this->pasynUserSelf, ASYN_TRACE_FLOW,
"%s:%s: entry\n",
driverName, functionName);
// Call the base class method which will build the time array if needed
asynMotorController::buildProfile();
setIntegerParam(profileBuildState_, PROFILE_BUILD_BUSY);
setIntegerParam(profileBuildStatus_, PROFILE_STATUS_UNDEFINED);
@@ -572,18 +583,21 @@ asynStatus XPSController::buildProfile()
preTimeMax = 0.;
postTimeMax = 0.;
getIntegerParam(profileNumPoints_, &nPoints);
getStringParam(XPSTrajectoryFile_, (int)sizeof(fileName), fileName);
getStringParam(XPSProfileGroupName_, (int)sizeof(groupName), groupName);
/* Zero values since axes may not be used */
for (j=0; j<numAxes_; j++) {
preVelocity[j] = 0.;
postVelocity[j] = 0.;
getIntegerParam(j, profileUseAxis_, &moveAxis[j]);
getIntegerParam(j, profileUseAxis_, &useAxis[j]);
}
for (j=0; j<numAxes_; j++) {
if (!moveAxis[j]) continue;
if (!useAxis[j]) continue;
status = PositionerSGammaParametersGet(pollSocket_, pAxes_[j]->positionerName_,
&maxVelocity[j], &maxAcceleration[j],
&minJerkTime[j], &maxJerkTime[j]);
&maxVelocity, &maxAcceleration,
&minJerkTime, &maxJerkTime);
if (status) {
sprintf(buildMessage, "Error calling positionerSGammaParametersSet, status=%d\n", status);
goto done;
@@ -592,19 +606,19 @@ asynStatus XPSController::buildProfile()
/* The calculation using maxAcceleration read from controller below
* is "correct" but subject to roundoff errors when sending ASCII commands
* to XPS. Reduce acceleration 10% to account for this. */
maxAcceleration[j] *= 0.9;
maxAcceleration *= 0.9;
/* Note: the preDistance and postDistance numbers computed here are
* in user coordinates, not XPS coordinates, because they are used for
* EPICS moves at the start and end of the scan */
distance = pAxes_[j]->profilePositions_[1] - pAxes_[j]->profilePositions_[0];
preVelocity[j] = distance/profileTimes_[0];
time = fabs(preVelocity[j]) / maxAcceleration[j];
time = fabs(preVelocity[j]) / maxAcceleration;
preTimeMax = MAX(preTimeMax, time);
distance = pAxes_[j]->profilePositions_[nPoints-1] -
pAxes_[j]->profilePositions_[nPoints-2];
postVelocity[j] = distance/profileTimes_[nPoints-1];
time = fabs(postVelocity[j]) / maxAcceleration[j];
time = fabs(postVelocity[j]) / maxAcceleration;
postTimeMax = MAX(postTimeMax, time);
}
@@ -616,7 +630,7 @@ asynStatus XPSController::buildProfile()
}
/* Create the profile file */
trajFile = fopen (TRAJECTORY_FILE, "w");
trajFile = fopen(fileName, "w");
/* Create the initial acceleration element */
fprintf(trajFile,"%f", preTimeMax);
@@ -644,7 +658,7 @@ asynStatus XPSController::buildProfile()
/* Average either side of the point */
trajVel = ((D0 + D1) / (T0 + T1));
if (!moveAxis[j]) {
if (!useAxis[j]) {
D0 = 0.0; /* Axis turned off*/
trajVel = 0.0;
}
@@ -674,7 +688,7 @@ asynStatus XPSController::buildProfile()
sprintf(buildMessage, "Error calling ftpChangeDir, status=%d\n", status);
goto done;
}
status = ftpStoreFile(ftpSocket, TRAJECTORY_FILE);
status = ftpStoreFile(ftpSocket, fileName);
if (status) {
sprintf(buildMessage, "Error calling ftpStoreFile, status=%d\n", status);
goto done;
@@ -684,13 +698,14 @@ asynStatus XPSController::buildProfile()
sprintf(buildMessage, "Error calling ftpDisconnect, status=%d\n", status);
goto done;
}
buildOK = true;
/* Verify trajectory */
asynPrint(this->pasynUserSelf, ASYN_TRACE_FLOW,
"%s:%s: calling MultipleAxesPVTVerification(%d, %s, %s)\n",
driverName, functionName, pollSocket_, profileGroupName_, TRAJECTORY_FILE);
status = MultipleAxesPVTVerification(pollSocket_, profileGroupName_, TRAJECTORY_FILE);
driverName, functionName, pollSocket_, groupName, fileName);
status = MultipleAxesPVTVerification(pollSocket_, groupName, fileName);
if (status) verifyOK = false;
switch (-status) {
case 0:
strcpy(buildMessage, " ");
@@ -720,10 +735,14 @@ asynStatus XPSController::buildProfile()
pAxes_[j]->positionerName_, fileName,
&minPositionActual, &maxPositionActual,
&maxVelocityActual, &maxAccelerationActual);
pAxes_[j]->setDoubleParam(XPSProfileMinPosition_, minPositionActual);
pAxes_[j]->setDoubleParam(XPSProfileMaxPosition_, maxPositionActual);
pAxes_[j]->setDoubleParam(XPSProfileMaxVelocity_, maxVelocityActual);
pAxes_[j]->setDoubleParam(XPSProfileMaxAcceleration_, maxAccelerationActual);
if (status) {
sprintf(buildMessage, "MultipleAxesPVTVerificationResultGet error for axis %s, status=%d\n",
pAxes_[j]->positionerName_, status);
goto done;
verifyOK = false;
}
/* Check that the trajectory won't exceed the software limits
* The XPS does not check this because the trajectory is defined in relative moves and it does
@@ -734,19 +753,21 @@ asynStatus XPSController::buildProfile()
&highLimit);
minProfile = pAxes_[j]->profilePositions_[0] + minPositionActual;
if (minProfile < lowLimit) {
status = 1;
sprintf(buildMessage, "Low soft limit violation for axis %s, position=%f, limit=%f\n",
pAxes_[j]->positionerName_, minProfile, lowLimit);
goto done;
verifyOK = false;
}
maxProfile = pAxes_[j]->profilePositions_[0] + maxPositionActual;
if (maxProfile > lowLimit) {
if (maxProfile > highLimit) {
status = 1;
sprintf(buildMessage, "High soft limit violation for axis %s, position=%f, limit=%f\n",
pAxes_[j]->positionerName_, maxProfile, highLimit);
goto done;
verifyOK = false;
}
}
done:
buildStatus = status ? PROFILE_STATUS_FAILURE : PROFILE_STATUS_SUCCESS;
buildStatus = (buildOK && verifyOK) ? PROFILE_STATUS_SUCCESS : PROFILE_STATUS_FAILURE;
setIntegerParam(profileBuildStatus_, buildStatus);
setStringParam(profileBuildMessage_, buildMessage);
if (status) {
@@ -781,7 +802,7 @@ asynStatus XPSController::readbackProfile()
int i, j;
int nitems;
int numRead=0, numInBuffer, numChars;
int moveAxis[XPS_MAX_AXES];
int useAxis[XPS_MAX_AXES];
static const char *functionName = "buildProfile";
asynPrint(this->pasynUserSelf, ASYN_TRACE_FLOW,
@@ -799,7 +820,7 @@ asynStatus XPSController::readbackProfile()
for (j=0; j<numAxes_; j++) {
memset(pAxes_[j]->profileReadbacks_, 0, maxProfilePoints_*sizeof(double));
memset(pAxes_[j]->profileFollowingErrors_, 0, maxProfilePoints_*sizeof(double));
getIntegerParam(j, profileUseAxis_, &moveAxis[j]);
getIntegerParam(j, profileUseAxis_, &useAxis[j]);
}
/* Read the number of lines of gathering */
status = GatheringCurrentNumberGet(pollSocket_, &currentSamples, &maxSamples);
@@ -835,7 +856,7 @@ asynStatus XPSController::readbackProfile()
tptr = strstr(bptr, "\n");
if (tptr) *tptr = 0;
for (j=0; j<numAxes_; j++) {
if (!moveAxis[j]) continue;
if (!useAxis[j]) continue;
nitems = sscanf(bptr, "%lf;%lf%n",
&setpointPosition, &actualPosition, &numChars);
bptr += numChars+1;
@@ -898,74 +919,28 @@ asynStatus XPSController::setPositionSettlingTime(double settlingTime)
extern "C" {
/**
* Function to enable/disable the write down of position to the
* XPS controller. Call this function at IOC shell.
* @param setPos 0=disable, 1=enable
*/
asynStatus XPSEnableSetPosition(const char *XPSName, int enableSetPosition)
{
XPSController *pC;
pC = (XPSController*) findAsynPortDriver(XPSName);
static const char *functionName = "XPSEnableSetPosition";
if (!pC) {
printf("%s:%s: Error port %s not found\n",
driverName, functionName, XPSName);
return asynError;
}
pC->lock();
pC->enableSetPosition(enableSetPosition);
pC->unlock();
return asynSuccess;
}
/**
* Function to set the settling time used when setting the XPS position.
* The sleep is performed after the axes are initialised, to take account of any
* post initialisation wobble.
* @param settlingTime The time in milliseconds to sleep.
*/
asynStatus XPSSetPositionSettlingTime(const char *XPSName, int settlingTime)
{
XPSController *pC;
pC = (XPSController*) findAsynPortDriver(XPSName);
static const char *functionName = "XPSSetPositionSettlingTime";
if (!pC) {
printf("%s:%s: Error port %s not found\n",
driverName, functionName, XPSName);
return asynError;
}
pC->lock();
pC->setPositionSettlingTime((double)settlingTime / 1000.0);
pC->unlock();
return asynSuccess;
}
asynStatus XPSCreate(const char *portName, const char *IPAddress, int IPPort,
int numAxes, int movingPollPeriod, int idlePollPeriod)
asynStatus XPSConfig(const char *portName, const char *IPAddress, int IPPort,
int numAxes, int movingPollPeriod, int idlePollPeriod,
int enableSetPosition, int setPositionSettlingTime)
{
XPSController *pXPSController
= new XPSController(portName, IPAddress, IPPort, numAxes, movingPollPeriod/1000., idlePollPeriod/1000.);
= new XPSController(portName, IPAddress, IPPort, numAxes,
movingPollPeriod/1000., idlePollPeriod/1000.,
enableSetPosition, setPositionSettlingTime/1000.);
pXPSController = NULL;
return asynSuccess;
}
asynStatus XPSCreateAxis(const char *XPSName, /* specify which controller by port name */
asynStatus XPSConfigAxis(const char *XPSName, /* specify which controller by port name */
int axis, /* axis number 0-7 */
const char *positionerName, /* groupName.positionerName e.g. Diffractometer.Phi */
int stepsPerUnit) /* steps per user unit */
{
XPSController *pC;
XPSAxis *pAxis;
static const char *functionName = "XPSCreateAxis";
static const char *functionName = "XPSConfigAxis";
pC = (XPSController*) findAsynPortDriver(XPSName);
if (!pC) {
@@ -981,81 +956,95 @@ asynStatus XPSCreateAxis(const char *XPSName, /* specify which controlle
}
asynStatus XPSConfigProfile(const char *XPSName, /* specify which controller by port name */
int maxPoints, /* maximum number of profile points */
const char *ftpUsername, /* FTP account name */
const char *ftpPassword) /* FTP password */
{
XPSController *pC;
static const char *functionName = "XPSConfigProfile";
pC = (XPSController*) findAsynPortDriver(XPSName);
if (!pC) {
printf("%s:%s: Error port %s not found\n",
driverName, functionName, XPSName);
return asynError;
}
pC->lock();
pC->initializeProfile(maxPoints, ftpUsername, ftpPassword);
pC->unlock();
return asynSuccess;
}
/* Code for iocsh registration */
/* XPSCreate */
static const iocshArg XPSCreateArg0 = {"Controller port name", iocshArgString};
static const iocshArg XPSCreateArg1 = {"IP address", iocshArgString};
static const iocshArg XPSCreateArg2 = {"IP port", iocshArgInt};
static const iocshArg XPSCreateArg3 = {"Number of axes", iocshArgInt};
static const iocshArg XPSCreateArg4 = {"Moving poll rate (ms)", iocshArgInt};
static const iocshArg XPSCreateArg5 = {"Idle poll rate (ms)", iocshArgInt};
static const iocshArg * const XPSCreateArgs[] = {&XPSCreateArg0,
&XPSCreateArg1,
&XPSCreateArg2,
&XPSCreateArg2,
&XPSCreateArg4,
&XPSCreateArg5};
static const iocshFuncDef createXPS = {"XPSCreate", 6, XPSCreateArgs};
static void createXPSCallFunc(const iocshArgBuf *args)
/* XPSConfig */
static const iocshArg XPSConfigArg0 = {"Controller port name", iocshArgString};
static const iocshArg XPSConfigArg1 = {"IP address", iocshArgString};
static const iocshArg XPSConfigArg2 = {"IP port", iocshArgInt};
static const iocshArg XPSConfigArg3 = {"Number of axes", iocshArgInt};
static const iocshArg XPSConfigArg4 = {"Moving poll rate (ms)", iocshArgInt};
static const iocshArg XPSConfigArg5 = {"Idle poll rate (ms)", iocshArgInt};
static const iocshArg XPSConfigArg6 = {"Enable set position", iocshArgInt};
static const iocshArg XPSConfigArg7 = {"Set position settling time (ms)", iocshArgInt};
static const iocshArg * const XPSConfigArgs[] = {&XPSConfigArg0,
&XPSConfigArg1,
&XPSConfigArg2,
&XPSConfigArg2,
&XPSConfigArg4,
&XPSConfigArg5,
&XPSConfigArg6,
&XPSConfigArg7};
static const iocshFuncDef configXPS = {"XPSConfig", 8, XPSConfigArgs};
static void configXPSCallFunc(const iocshArgBuf *args)
{
XPSCreate(args[0].sval, args[1].sval, args[2].ival,
args[3].ival, args[4].ival, args[5].ival);
XPSConfig(args[0].sval, args[1].sval, args[2].ival,
args[3].ival, args[4].ival, args[5].ival,
args[6].ival, args[7].ival);
}
/* XPSCreateAxis */
static const iocshArg XPSCreateAxisArg0 = {"Controller port name", iocshArgString};
static const iocshArg XPSCreateAxisArg1 = {"Axis number", iocshArgInt};
static const iocshArg XPSCreateAxisArg2 = {"Axis name", iocshArgString};
static const iocshArg XPSCreateAxisArg3 = {"Steps per unit", iocshArgInt};
static const iocshArg * const XPSCreateAxisArgs[] = {&XPSCreateAxisArg0,
&XPSCreateAxisArg1,
&XPSCreateAxisArg2,
&XPSCreateAxisArg3};
static const iocshFuncDef createXPSAxis = {"XPSCreateAxis", 4, XPSCreateAxisArgs};
/* XPSConfigAxis */
static const iocshArg XPSConfigAxisArg0 = {"Controller port name", iocshArgString};
static const iocshArg XPSConfigAxisArg1 = {"Axis number", iocshArgInt};
static const iocshArg XPSConfigAxisArg2 = {"Axis name", iocshArgString};
static const iocshArg XPSConfigAxisArg3 = {"Steps per unit", iocshArgInt};
static const iocshArg * const XPSConfigAxisArgs[] = {&XPSConfigAxisArg0,
&XPSConfigAxisArg1,
&XPSConfigAxisArg2,
&XPSConfigAxisArg3};
static const iocshFuncDef configXPSAxis = {"XPSConfigAxis", 4, XPSConfigAxisArgs};
static void createXPSAxisCallFunc(const iocshArgBuf *args)
static void configXPSAxisCallFunc(const iocshArgBuf *args)
{
XPSCreateAxis(args[0].sval, args[1].ival, args[2].sval, args[3].ival);
XPSConfigAxis(args[0].sval, args[1].ival, args[2].sval, args[3].ival);
}
/* XPSEnableSetPosition */
static const iocshArg XPSEnableSetPositionArg0 = {"Controller port name", iocshArgString};
static const iocshArg XPSEnableSetPositionArg1 = {"Set Position Flag", iocshArgInt};
static const iocshArg * const XPSEnableSetPositionArgs[] = {&XPSEnableSetPositionArg0,
&XPSEnableSetPositionArg1};
static const iocshFuncDef enableSetPosition = {"XPSEnableSetPosition", 2, XPSEnableSetPositionArgs};
static void enableSetPositionCallFunc(const iocshArgBuf *args)
/* XPSConfigProfile */
static const iocshArg XPSConfigProfileArg0 = {"Controller port name", iocshArgString};
static const iocshArg XPSConfigProfileArg1 = {"Max points", iocshArgInt};
static const iocshArg XPSConfigProfileArg2 = {"FTP username", iocshArgString};
static const iocshArg XPSConfigProfileArg3 = {"FTP password", iocshArgString};
static const iocshArg * const XPSConfigProfileArgs[] = {&XPSConfigProfileArg0,
&XPSConfigProfileArg1,
&XPSConfigProfileArg2,
&XPSConfigProfileArg3};
static const iocshFuncDef configXPSProfile = {"XPSConfigProfile", 4, XPSConfigProfileArgs};
static void configXPSProfileCallFunc(const iocshArgBuf *args)
{
XPSEnableSetPosition(args[0].sval, args[1].ival);
XPSConfigProfile(args[0].sval, args[1].ival, args[2].sval, args[3].sval);
}
/* XPSSetPositionSettlingTime */
static const iocshArg XPSSetPositionSettlingTimeArg0 = {"Controller port name", iocshArgString};
static const iocshArg XPSSetPositionSettlingTimeArg1 = {"Set Position Settling Time", iocshArgInt};
static const iocshArg * const XPSSetPositionSettlingTimeArgs[] = {&XPSSetPositionSettlingTimeArg0,
&XPSSetPositionSettlingTimeArg1};
static const iocshFuncDef setPositionSettlingTime = {"XPSSetPositionSettlingTime", 2, XPSSetPositionSettlingTimeArgs};
static void setPositionSettlingTimeCallFunc(const iocshArgBuf *args)
{
XPSSetPositionSettlingTime(args[0].sval, args[1].ival);
}
static void XPSRegister3(void)
{
iocshRegister(&createXPS, createXPSCallFunc);
iocshRegister(&createXPSAxis, createXPSAxisCallFunc);
iocshRegister(&enableSetPosition, enableSetPositionCallFunc);
iocshRegister(&setPositionSettlingTime, setPositionSettlingTimeCallFunc);
iocshRegister(&configXPS, configXPSCallFunc);
iocshRegister(&configXPSAxis, configXPSAxisCallFunc);
iocshRegister(&configXPSProfile, configXPSProfileCallFunc);
}
epicsExportRegistrar(XPSRegister3);