From bf083f5d43128e124738dbdf572e89f68fef5ae7 Mon Sep 17 00:00:00 2001 From: kpetersn Date: Thu, 11 Apr 2019 13:44:28 -0500 Subject: [PATCH] Removed ACRSrc; Added motorACR submodule --- .gitmodules | 3 + iocBoot/iocWithAsyn/motor.substitutions.acr | 245 - iocBoot/iocWithAsyn/st.cmd.acr | 43 - modules/Makefile | 1 + modules/motorACR | 1 + motorApp/ACRSrc/ACRMotorDriver.cpp | 507 - motorApp/ACRSrc/ACRMotorDriver.h | 87 - motorApp/ACRSrc/ACRMotorSupport.dbd | 1 - motorApp/ACRSrc/Makefile | 27 - motorApp/ACRSrc/README | 5 - motorApp/Db/ACRAux.template | 10 - motorApp/Db/ACRAuxBi.template | 8 - motorApp/Db/ACRAuxBo.template | 7 - motorApp/Db/ACRAuxBoRBV.template | 8 - motorApp/Db/ACRAuxLi.template | 6 - motorApp/Db/ACRAuxRead.template | 7 - motorApp/Db/Makefile | 6 - motorApp/Makefile | 3 - motorApp/op/adl/ACRAux.adl | 3042 ----- motorApp/op/adl/ACRTop.adl | 137 - motorApp/op/opi/ACRAux.opi | 12200 ------------------ motorApp/op/opi/ACRTop.opi | 170 - motorApp/op/ui/autoconvert/ACRAux.ui | 7809 ----------- motorApp/op/ui/autoconvert/ACRTop.ui | 104 - motorExApp/WithAsyn/Makefile | 2 - 25 files changed, 5 insertions(+), 24434 deletions(-) delete mode 100644 iocBoot/iocWithAsyn/motor.substitutions.acr delete mode 100644 iocBoot/iocWithAsyn/st.cmd.acr create mode 160000 modules/motorACR delete mode 100644 motorApp/ACRSrc/ACRMotorDriver.cpp delete mode 100644 motorApp/ACRSrc/ACRMotorDriver.h delete mode 100644 motorApp/ACRSrc/ACRMotorSupport.dbd delete mode 100644 motorApp/ACRSrc/Makefile delete mode 100644 motorApp/ACRSrc/README delete mode 100644 motorApp/Db/ACRAux.template delete mode 100644 motorApp/Db/ACRAuxBi.template delete mode 100644 motorApp/Db/ACRAuxBo.template delete mode 100644 motorApp/Db/ACRAuxBoRBV.template delete mode 100644 motorApp/Db/ACRAuxLi.template delete mode 100644 motorApp/Db/ACRAuxRead.template delete mode 100644 motorApp/op/adl/ACRAux.adl delete mode 100644 motorApp/op/adl/ACRTop.adl delete mode 100644 motorApp/op/opi/ACRAux.opi delete mode 100644 motorApp/op/opi/ACRTop.opi delete mode 100644 motorApp/op/ui/autoconvert/ACRAux.ui delete mode 100644 motorApp/op/ui/autoconvert/ACRTop.ui diff --git a/.gitmodules b/.gitmodules index 8cff7a98..f1ae79b6 100644 --- a/.gitmodules +++ b/.gitmodules @@ -73,3 +73,6 @@ [submodule "modules/motorScriptMotor"] path = modules/motorScriptMotor url = https://github.com/epics-motor/motorScriptMotor.git +[submodule "modules/motorACR"] + path = modules/motorACR + url = https://github.com/epics-motor/motorACR.git diff --git a/iocBoot/iocWithAsyn/motor.substitutions.acr b/iocBoot/iocWithAsyn/motor.substitutions.acr deleted file mode 100644 index cc1c7843..00000000 --- a/iocBoot/iocWithAsyn/motor.substitutions.acr +++ /dev/null @@ -1,245 +0,0 @@ -file "$(TOP)/db/basic_asyn_motor.db" -{ -pattern -{P, N, M, DTYP, PORT, ADDR, DESC, EGU, DIR, VELO, VBAS, ACCL, BDST, BVEL, BACC, MRES, PREC, DHLM, DLLM, INIT} -{IOC:, 1, "m$(N)", "asynMotor", ACR1, 0, "motor $(N)", mm, Pos, .05, .01, .5, 0, 1, .2, 1.25e-7, 5, 200, -2, ""} -{IOC:, 2, "m$(N)", "asynMotor", ACR2, 0, "motor $(N)", mm, Pos, .05, .01, .5, 0, 1, .2, 1.25e-7, 5, 200, -2, ""} -} - -file "$(TOP)/db/ACRAux.template" -{ -pattern -{P, R, PORT, ADDR} -{IOC:, m1:, ACR1, 0} -{IOC:, m2:, ACR2, 0} -} - -file "$(TOP)/db/ACRAuxLi.template" -{ -pattern -{P, R, PORT, SCAN} -{IOC:ACR1:, li, ACR1, "I/O Intr"} -{IOC:ACR2:, li, ACR2, "I/O Intr"} -} - -file "$(TOP)/db/ACRAuxRead.template" -{ -pattern -{P, R, PORT, SCAN} -{IOC:ACR1:, Read, ACR1, "1 second"} -{IOC:ACR2:, Read, ACR2, "1 second"} -} - -file "$(TOP)/db/ACRAuxBi.template" -{ -pattern -{P, R, PORT, MASK, SCAN} -{IOC:ACR1:, bi0, ACR1, 0x00000001, "I/O Intr"} -{IOC:ACR1:, bi1, ACR1, 0x00000002, "I/O Intr"} -{IOC:ACR1:, bi2, ACR1, 0x00000004, "I/O Intr"} -{IOC:ACR1:, bi3, ACR1, 0x00000008, "I/O Intr"} -{IOC:ACR1:, bi4, ACR1, 0x00000010, "I/O Intr"} -{IOC:ACR1:, bi5, ACR1, 0x00000020, "I/O Intr"} -{IOC:ACR1:, bi6, ACR1, 0x00000040, "I/O Intr"} -{IOC:ACR1:, bi7, ACR1, 0x00000080, "I/O Intr"} -{IOC:ACR1:, bi8, ACR1, 0x00000100, "I/O Intr"} -{IOC:ACR1:, bi9, ACR1, 0x00000200, "I/O Intr"} -{IOC:ACR1:, bi10, ACR1, 0x00000400, "I/O Intr"} -{IOC:ACR1:, bi11, ACR1, 0x00000800, "I/O Intr"} -{IOC:ACR1:, bi12, ACR1, 0x00001000, "I/O Intr"} -{IOC:ACR1:, bi13, ACR1, 0x00002000, "I/O Intr"} -{IOC:ACR1:, bi14, ACR1, 0x00004000, "I/O Intr"} -{IOC:ACR1:, bi15, ACR1, 0x00008000, "I/O Intr"} -{IOC:ACR1:, bi16, ACR1, 0x00010000, "I/O Intr"} -{IOC:ACR1:, bi17, ACR1, 0x00020000, "I/O Intr"} -{IOC:ACR1:, bi18, ACR1, 0x00040000, "I/O Intr"} -{IOC:ACR1:, bi19, ACR1, 0x00080000, "I/O Intr"} -{IOC:ACR1:, bi20, ACR1, 0x00100000, "I/O Intr"} -{IOC:ACR1:, bi21, ACR1, 0x00200000, "I/O Intr"} -{IOC:ACR1:, bi22, ACR1, 0x00400000, "I/O Intr"} -{IOC:ACR1:, bi23, ACR1, 0x00800000, "I/O Intr"} -{IOC:ACR1:, bi24, ACR1, 0x01000000, "I/O Intr"} -{IOC:ACR1:, bi25, ACR1, 0x02000000, "I/O Intr"} -{IOC:ACR1:, bi26, ACR1, 0x04000000, "I/O Intr"} -{IOC:ACR1:, bi27, ACR1, 0x08000000, "I/O Intr"} -{IOC:ACR1:, bi28, ACR1, 0x10000000, "I/O Intr"} -{IOC:ACR1:, bi29, ACR1, 0x20000000, "I/O Intr"} -{IOC:ACR1:, bi30, ACR1, 0x40000000, "I/O Intr"} -{IOC:ACR1:, bi31, ACR1, 0x80000000, "I/O Intr"} -# -{IOC:ACR2:, bi0, ACR2, 0x00000001, "I/O Intr"} -{IOC:ACR2:, bi1, ACR2, 0x00000002, "I/O Intr"} -{IOC:ACR2:, bi2, ACR2, 0x00000004, "I/O Intr"} -{IOC:ACR2:, bi3, ACR2, 0x00000008, "I/O Intr"} -{IOC:ACR2:, bi4, ACR2, 0x00000010, "I/O Intr"} -{IOC:ACR2:, bi5, ACR2, 0x00000020, "I/O Intr"} -{IOC:ACR2:, bi6, ACR2, 0x00000040, "I/O Intr"} -{IOC:ACR2:, bi7, ACR2, 0x00000080, "I/O Intr"} -{IOC:ACR2:, bi8, ACR2, 0x00000100, "I/O Intr"} -{IOC:ACR2:, bi9, ACR2, 0x00000200, "I/O Intr"} -{IOC:ACR2:, bi10, ACR2, 0x00000400, "I/O Intr"} -{IOC:ACR2:, bi11, ACR2, 0x00000800, "I/O Intr"} -{IOC:ACR2:, bi12, ACR2, 0x00001000, "I/O Intr"} -{IOC:ACR2:, bi13, ACR2, 0x00002000, "I/O Intr"} -{IOC:ACR2:, bi14, ACR2, 0x00004000, "I/O Intr"} -{IOC:ACR2:, bi15, ACR2, 0x00008000, "I/O Intr"} -{IOC:ACR2:, bi16, ACR2, 0x00010000, "I/O Intr"} -{IOC:ACR2:, bi17, ACR2, 0x00020000, "I/O Intr"} -{IOC:ACR2:, bi18, ACR2, 0x00040000, "I/O Intr"} -{IOC:ACR2:, bi19, ACR2, 0x00080000, "I/O Intr"} -{IOC:ACR2:, bi20, ACR2, 0x00100000, "I/O Intr"} -{IOC:ACR2:, bi21, ACR2, 0x00200000, "I/O Intr"} -{IOC:ACR2:, bi22, ACR2, 0x00400000, "I/O Intr"} -{IOC:ACR2:, bi23, ACR2, 0x00800000, "I/O Intr"} -{IOC:ACR2:, bi24, ACR2, 0x01000000, "I/O Intr"} -{IOC:ACR2:, bi25, ACR2, 0x02000000, "I/O Intr"} -{IOC:ACR2:, bi26, ACR2, 0x04000000, "I/O Intr"} -{IOC:ACR2:, bi27, ACR2, 0x08000000, "I/O Intr"} -{IOC:ACR2:, bi28, ACR2, 0x10000000, "I/O Intr"} -{IOC:ACR2:, bi29, ACR2, 0x20000000, "I/O Intr"} -{IOC:ACR2:, bi30, ACR2, 0x40000000, "I/O Intr"} -{IOC:ACR2:, bi31, ACR2, 0x80000000, "I/O Intr"} -} - -file "$(TOP)/db/ACRAuxBo.template" -{ -pattern -{P, R, PORT, MASK} -{IOC:ACR1:, bo0, ACR1, 0x00000001} -{IOC:ACR1:, bo1, ACR1, 0x00000002} -{IOC:ACR1:, bo2, ACR1, 0x00000004} -{IOC:ACR1:, bo3, ACR1, 0x00000008} -{IOC:ACR1:, bo4, ACR1, 0x00000010} -{IOC:ACR1:, bo5, ACR1, 0x00000020} -{IOC:ACR1:, bo6, ACR1, 0x00000040} -{IOC:ACR1:, bo7, ACR1, 0x00000080} -{IOC:ACR1:, bo8, ACR1, 0x00000100} -{IOC:ACR1:, bo9, ACR1, 0x00000200} -{IOC:ACR1:, bo10, ACR1, 0x00000400} -{IOC:ACR1:, bo11, ACR1, 0x00000800} -{IOC:ACR1:, bo12, ACR1, 0x00001000} -{IOC:ACR1:, bo13, ACR1, 0x00002000} -{IOC:ACR1:, bo14, ACR1, 0x00004000} -{IOC:ACR1:, bo15, ACR1, 0x00008000} -{IOC:ACR1:, bo16, ACR1, 0x00010000} -{IOC:ACR1:, bo17, ACR1, 0x00020000} -{IOC:ACR1:, bo18, ACR1, 0x00040000} -{IOC:ACR1:, bo19, ACR1, 0x00080000} -{IOC:ACR1:, bo20, ACR1, 0x00100000} -{IOC:ACR1:, bo21, ACR1, 0x00200000} -{IOC:ACR1:, bo22, ACR1, 0x00400000} -{IOC:ACR1:, bo23, ACR1, 0x00800000} -{IOC:ACR1:, bo24, ACR1, 0x01000000} -{IOC:ACR1:, bo25, ACR1, 0x02000000} -{IOC:ACR1:, bo26, ACR1, 0x04000000} -{IOC:ACR1:, bo27, ACR1, 0x08000000} -{IOC:ACR1:, bo28, ACR1, 0x10000000} -{IOC:ACR1:, bo29, ACR1, 0x20000000} -{IOC:ACR1:, bo30, ACR1, 0x40000000} -{IOC:ACR1:, bo31, ACR1, 0x80000000} -# -{IOC:ACR2:, bo0, ACR2, 0x00000001} -{IOC:ACR2:, bo1, ACR2, 0x00000002} -{IOC:ACR2:, bo2, ACR2, 0x00000004} -{IOC:ACR2:, bo3, ACR2, 0x00000008} -{IOC:ACR2:, bo4, ACR2, 0x00000010} -{IOC:ACR2:, bo5, ACR2, 0x00000020} -{IOC:ACR2:, bo6, ACR2, 0x00000040} -{IOC:ACR2:, bo7, ACR2, 0x00000080} -{IOC:ACR2:, bo8, ACR2, 0x00000100} -{IOC:ACR2:, bo9, ACR2, 0x00000200} -{IOC:ACR2:, bo10, ACR2, 0x00000400} -{IOC:ACR2:, bo11, ACR2, 0x00000800} -{IOC:ACR2:, bo12, ACR2, 0x00001000} -{IOC:ACR2:, bo13, ACR2, 0x00002000} -{IOC:ACR2:, bo14, ACR2, 0x00004000} -{IOC:ACR2:, bo15, ACR2, 0x00008000} -{IOC:ACR2:, bo16, ACR2, 0x00010000} -{IOC:ACR2:, bo17, ACR2, 0x00020000} -{IOC:ACR2:, bo18, ACR2, 0x00040000} -{IOC:ACR2:, bo19, ACR2, 0x00080000} -{IOC:ACR2:, bo20, ACR2, 0x00100000} -{IOC:ACR2:, bo21, ACR2, 0x00200000} -{IOC:ACR2:, bo22, ACR2, 0x00400000} -{IOC:ACR2:, bo23, ACR2, 0x00800000} -{IOC:ACR2:, bo24, ACR2, 0x01000000} -{IOC:ACR2:, bo25, ACR2, 0x02000000} -{IOC:ACR2:, bo26, ACR2, 0x04000000} -{IOC:ACR2:, bo27, ACR2, 0x08000000} -{IOC:ACR2:, bo28, ACR2, 0x10000000} -{IOC:ACR2:, bo29, ACR2, 0x20000000} -{IOC:ACR2:, bo30, ACR2, 0x40000000} -{IOC:ACR2:, bo31, ACR2, 0x80000000} -} - -file "$(TOP)/db/ACRAuxBoRBV.template" -{ -pattern -{P, R, PORT, MASK, SCAN} -{IOC:ACR1:, boRBV0, ACR1, 0x00000001, "I/O Intr"} -{IOC:ACR1:, boRBV1, ACR1, 0x00000002, "I/O Intr"} -{IOC:ACR1:, boRBV2, ACR1, 0x00000004, "I/O Intr"} -{IOC:ACR1:, boRBV3, ACR1, 0x00000008, "I/O Intr"} -{IOC:ACR1:, boRBV4, ACR1, 0x00000010, "I/O Intr"} -{IOC:ACR1:, boRBV5, ACR1, 0x00000020, "I/O Intr"} -{IOC:ACR1:, boRBV6, ACR1, 0x00000040, "I/O Intr"} -{IOC:ACR1:, boRBV7, ACR1, 0x00000080, "I/O Intr"} -{IOC:ACR1:, boRBV8, ACR1, 0x00000100, "I/O Intr"} -{IOC:ACR1:, boRBV9, ACR1, 0x00000200, "I/O Intr"} -{IOC:ACR1:, boRBV10, ACR1, 0x00000400, "I/O Intr"} -{IOC:ACR1:, boRBV11, ACR1, 0x00000800, "I/O Intr"} -{IOC:ACR1:, boRBV12, ACR1, 0x00001000, "I/O Intr"} -{IOC:ACR1:, boRBV13, ACR1, 0x00002000, "I/O Intr"} -{IOC:ACR1:, boRBV14, ACR1, 0x00004000, "I/O Intr"} -{IOC:ACR1:, boRBV15, ACR1, 0x00008000, "I/O Intr"} -{IOC:ACR1:, boRBV16, ACR1, 0x00010000, "I/O Intr"} -{IOC:ACR1:, boRBV17, ACR1, 0x00020000, "I/O Intr"} -{IOC:ACR1:, boRBV18, ACR1, 0x00040000, "I/O Intr"} -{IOC:ACR1:, boRBV19, ACR1, 0x00080000, "I/O Intr"} -{IOC:ACR1:, boRBV20, ACR1, 0x00100000, "I/O Intr"} -{IOC:ACR1:, boRBV21, ACR1, 0x00200000, "I/O Intr"} -{IOC:ACR1:, boRBV22, ACR1, 0x00400000, "I/O Intr"} -{IOC:ACR1:, boRBV23, ACR1, 0x00800000, "I/O Intr"} -{IOC:ACR1:, boRBV24, ACR1, 0x01000000, "I/O Intr"} -{IOC:ACR1:, boRBV25, ACR1, 0x02000000, "I/O Intr"} -{IOC:ACR1:, boRBV26, ACR1, 0x04000000, "I/O Intr"} -{IOC:ACR1:, boRBV27, ACR1, 0x08000000, "I/O Intr"} -{IOC:ACR1:, boRBV28, ACR1, 0x10000000, "I/O Intr"} -{IOC:ACR1:, boRBV29, ACR1, 0x20000000, "I/O Intr"} -{IOC:ACR1:, boRBV30, ACR1, 0x40000000, "I/O Intr"} -{IOC:ACR1:, boRBV31, ACR1, 0x80000000, "I/O Intr"} -# -{IOC:ACR2:, boRBV0, ACR2, 0x00000001, "I/O Intr"} -{IOC:ACR2:, boRBV1, ACR2, 0x00000002, "I/O Intr"} -{IOC:ACR2:, boRBV2, ACR2, 0x00000004, "I/O Intr"} -{IOC:ACR2:, boRBV3, ACR2, 0x00000008, "I/O Intr"} -{IOC:ACR2:, boRBV4, ACR2, 0x00000010, "I/O Intr"} -{IOC:ACR2:, boRBV5, ACR2, 0x00000020, "I/O Intr"} -{IOC:ACR2:, boRBV6, ACR2, 0x00000040, "I/O Intr"} -{IOC:ACR2:, boRBV7, ACR2, 0x00000080, "I/O Intr"} -{IOC:ACR2:, boRBV8, ACR2, 0x00000100, "I/O Intr"} -{IOC:ACR2:, boRBV9, ACR2, 0x00000200, "I/O Intr"} -{IOC:ACR2:, boRBV10, ACR2, 0x00000400, "I/O Intr"} -{IOC:ACR2:, boRBV11, ACR2, 0x00000800, "I/O Intr"} -{IOC:ACR2:, boRBV12, ACR2, 0x00001000, "I/O Intr"} -{IOC:ACR2:, boRBV13, ACR2, 0x00002000, "I/O Intr"} -{IOC:ACR2:, boRBV14, ACR2, 0x00004000, "I/O Intr"} -{IOC:ACR2:, boRBV15, ACR2, 0x00008000, "I/O Intr"} -{IOC:ACR2:, boRBV16, ACR2, 0x00010000, "I/O Intr"} -{IOC:ACR2:, boRBV17, ACR2, 0x00020000, "I/O Intr"} -{IOC:ACR2:, boRBV18, ACR2, 0x00040000, "I/O Intr"} -{IOC:ACR2:, boRBV19, ACR2, 0x00080000, "I/O Intr"} -{IOC:ACR2:, boRBV20, ACR2, 0x00100000, "I/O Intr"} -{IOC:ACR2:, boRBV21, ACR2, 0x00200000, "I/O Intr"} -{IOC:ACR2:, boRBV22, ACR2, 0x00400000, "I/O Intr"} -{IOC:ACR2:, boRBV23, ACR2, 0x00800000, "I/O Intr"} -{IOC:ACR2:, boRBV24, ACR2, 0x01000000, "I/O Intr"} -{IOC:ACR2:, boRBV25, ACR2, 0x02000000, "I/O Intr"} -{IOC:ACR2:, boRBV26, ACR2, 0x04000000, "I/O Intr"} -{IOC:ACR2:, boRBV27, ACR2, 0x08000000, "I/O Intr"} -{IOC:ACR2:, boRBV28, ACR2, 0x10000000, "I/O Intr"} -{IOC:ACR2:, boRBV29, ACR2, 0x20000000, "I/O Intr"} -{IOC:ACR2:, boRBV30, ACR2, 0x40000000, "I/O Intr"} -{IOC:ACR2:, boRBV31, ACR2, 0x80000000, "I/O Intr"} -} - diff --git a/iocBoot/iocWithAsyn/st.cmd.acr b/iocBoot/iocWithAsyn/st.cmd.acr deleted file mode 100644 index 8a55f8fa..00000000 --- a/iocBoot/iocWithAsyn/st.cmd.acr +++ /dev/null @@ -1,43 +0,0 @@ -#errlogInit(5000) -< envPaths -# Tell EPICS all about the record types, device-support modules, drivers, -# etc. in this build from CARS -dbLoadDatabase("../../dbd/WithAsyn.dbd") -WithAsyn_registerRecordDeviceDriver(pdbbase) - -### Motors -dbLoadTemplate "motor.substitutions.acr" - -drvAsynIPPortConfigure("ARIES1", "gse-aries1:5002", 0, 0, 0) -#asynSetTraceMask("ARIES1", 0, 3) -asynSetTraceIOMask("ARIES1", 0, 2) -asynOctetSetInputEos("ARIES1",0,"\r") -asynOctetSetOutputEos("ARIES1",0,"\r") - -drvAsynIPPortConfigure("ARIES2", "gse-aries2:5002", 0, 0, 0) -#asynSetTraceMask("ARIES2", 0, 3) -asynSetTraceIOMask("ARIES2", 0, 2) -asynOctetSetInputEos("ARIES2",0,"\r") -asynOctetSetOutputEos("ARIES2",0,"\r") - -dbLoadRecords("$(ASYN)/db/asynRecord.db", "P=IOC:, R=asyn1, PORT=ARIES1, ADDR=0, OMAX=256, IMAX=256") -dbLoadRecords("$(ASYN)/db/asynRecord.db", "P=IOC:, R=asyn2, PORT=ARIES1, ADDR=0, OMAX=256, IMAX=256") - -# PORT, ACR_PORT, number of axes, active poll period (ms), idle poll period (ms) -ACRCreateController("ACR1", "ARIES1", 1, 20, 1000) -ACRCreateController("ACR2", "ARIES2", 1, 20, 1000) - -#asynSetTraceMask("ACR1", 0, 255) -asynSetTraceIOMask("ACR1", 0, 2) -#asynSetTraceMask("ACR2", 0, 255) -asynSetTraceIOMask("ACR2", 0, 2) - -iocInit - -# This IOC does not use save/restore, so set values of some PVs -dbpf("IOC:m1.RTRY", "0") -dbpf("IOC:m1.TWV", "0.1") -dbpf("IOC:m2.RTRY", "0") -dbpf("IOC:m2.TWV", "0.1") - - diff --git a/modules/Makefile b/modules/Makefile index cb79e205..c1bc5e5f 100644 --- a/modules/Makefile +++ b/modules/Makefile @@ -5,6 +5,7 @@ include $(TOP)/configure/CONFIG #SUBMODULES += motorVendor SUBMODULES += motorOms SUBMODULES += motorNewport +SUBMODULES += motorACR SUBMODULES += motorAcs SUBMODULES += motorAcsTech80 SUBMODULES += motorAerotech diff --git a/modules/motorACR b/modules/motorACR new file mode 160000 index 00000000..8c3ad012 --- /dev/null +++ b/modules/motorACR @@ -0,0 +1 @@ +Subproject commit 8c3ad0120b5dd538e00687c7aa8c63569a347e94 diff --git a/motorApp/ACRSrc/ACRMotorDriver.cpp b/motorApp/ACRSrc/ACRMotorDriver.cpp deleted file mode 100644 index bf00f23a..00000000 --- a/motorApp/ACRSrc/ACRMotorDriver.cpp +++ /dev/null @@ -1,507 +0,0 @@ -/* -FILENAME... ACRMotorDriver.cpp -USAGE... Motor driver support for the Parker ACR series of controllers, including the Aries. - -Mark Rivers -March 4, 2011 - -*/ - - -#include -#include -#include - -#include -#include - -#include - -#include "asynMotorController.h" -#include "asynMotorAxis.h" - -#include -#include "ACRMotorDriver.h" - -#define CtlY 25 - -static const char *driverName = "ACRMotorDriver"; - -/** Creates a new ACRController object. - * \param[in] portName The name of the asyn port that will be created for this driver - * \param[in] ACRPortName The name of the drvAsynIPPPort that was created previously to connect to the ACR 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 - */ -ACRController::ACRController(const char *portName, const char *ACRPortName, int numAxes, - double movingPollPeriod, double idlePollPeriod) - : asynMotorController(portName, numAxes, NUM_ACR_PARAMS, - asynUInt32DigitalMask, - asynUInt32DigitalMask, - ASYN_CANBLOCK | ASYN_MULTIDEVICE, - 1, // autoconnect - 0, 0) // Default priority and stack size -{ - int axis; - asynStatus status; - static const char *functionName = "ACRController"; - - binaryInReg_ = 4096; - binaryOutReg_ = 4097; - - // Create controller-specific parameters - createParam(ACRJerkString, asynParamFloat64, &ACRJerk_); - createParam(ACRReadBinaryIOString, asynParamInt32, &ACRReadBinaryIO_); - createParam(ACRBinaryInString, asynParamUInt32Digital, &ACRBinaryIn_); - createParam(ACRBinaryOutString, asynParamUInt32Digital, &ACRBinaryOut_); - createParam(ACRBinaryOutRBVString, asynParamUInt32Digital, &ACRBinaryOutRBV_); - - /* Connect to ACR controller */ - status = pasynOctetSyncIO->connect(ACRPortName, 0, &pasynUserController_, NULL); - if (status) { - asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR, - "%s:%s: cannot connect to ACR controller\n", - driverName, functionName); - } - // Turn off command echoing - sprintf(outString_, "ECHO 4"); - writeController(); - // Wait a short while so that any responses to the above commands have time to arrive so we can flush - // them in the next writeReadController() - epicsThreadSleep(0.5); - // Read the binary I/O registers once - readBinaryIO(); - // Set the output=output readback so bi records reflect current state - setUIntDigitalParam(0, ACRBinaryOut_, binaryOutRBV_, 0xFFFFFFFF); - // Create the axis objects - for (axis=0; axis 0 then information is printed about each axis. - * After printing controller-specific information calls asynMotorController::report() - */ -void ACRController::report(FILE *fp, int level) -{ - fprintf(fp, "ACR motor driver %s, numAxes=%d, moving poll period=%f, idle poll period=%f\n", - this->portName, numAxes_, movingPollPeriod_, idlePollPeriod_); - - if (level > 0) { - fprintf(fp, " binary input = 0x%x\n", binaryIn_); - fprintf(fp, " binary output readback = 0x%x\n", binaryOutRBV_); - } - - - // Call the base class method - asynMotorController::report(fp, level); -} - -/** Returns a pointer to an ACRMotorAxis object. - * Returns NULL if the axis number encoded in pasynUser is invalid. - * \param[in] pasynUser asynUser structure that encodes the axis index number. */ -ACRAxis* ACRController::getAxis(asynUser *pasynUser) -{ - return static_cast(asynMotorController::getAxis(pasynUser)); -} - -/** Returns a pointer to an ACRMotorAxis object. - * Returns NULL if the axis number encoded in pasynUser is invalid. - * \param[in] axisNo Axis index number. */ -ACRAxis* ACRController::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 motorSetClosedLoop_ then it turns the drive power on or off. - * If the function is ACRReadBinaryIO_ then it reads the binary I/O registers on the controller. - * For all other functions it calls asynMotorController::writeInt32. - * Calls any registered callbacks for this pasynUser->reason and address. - * \param[in] pasynUser asynUser structure that encodes the reason and address. - * \param[in] value Value to write. */ -asynStatus ACRController::writeInt32(asynUser *pasynUser, epicsInt32 value) -{ - int function = pasynUser->reason; - asynStatus status = asynSuccess; - ACRAxis *pAxis = getAxis(pasynUser); - static const char *functionName = "writeInt32"; - - /* Set the parameter and readback in the parameter library. This may be overwritten when we read back the - * status at the end, but that's OK */ - status = setIntegerParam(pAxis->axisNo_, function, value); - - if (function == ACRReadBinaryIO_) - { - readBinaryIO(); - } - else - { - /* Call base class method */ - status = asynMotorController::writeInt32(pasynUser, value); - } - - /* Do callbacks so higher layers see any changes */ - callParamCallbacks(pAxis->axisNo_); - 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; -} - -/** Called when asyn clients call pasynFloat64->write(). - * Extracts the function and axis number from pasynUser. - * Sets the value in the parameter library. - * If the function is ACRJerk_ 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::writeFloat64. - * \param[in] pasynUser asynUser structure that encodes the reason and address. - * \param[in] value Value to write. */ -asynStatus ACRController::writeFloat64(asynUser *pasynUser, epicsFloat64 value) -{ - int function = pasynUser->reason; - asynStatus status = asynSuccess; - ACRAxis *pAxis = getAxis(pasynUser); - static const char *functionName = "writeFloat64"; - - - /* Set the parameter and readback in the parameter library. */ - status = setDoubleParam(pAxis->axisNo_, function, value); - - if (function == ACRJerk_) - { - sprintf(outString_, "%s JOG JRK %f", pAxis->axisName_, value); - status = writeController(); - - } else { - /* Call base class method */ - status = asynMotorController::writeFloat64(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=%f\n", - driverName, functionName, status, function, value); - else - asynPrint(pasynUser, ASYN_TRACEIO_DRIVER, - "%s:%s: function=%d, value=%f\n", - driverName, functionName, function, value); - return status; -} - -/** Called when asyn clients call pasynUInt32Digital->write(). - * Writes a single bit to one of the ACR binary output registers. - * This function is limited to writing a single bit, because we use the BIT command. - * It writes to least significant bit that is set in the mask. - * \param[in] pasynUser pasynUser structure that encodes the reason and address. - * \param[in] value Value to write. - * \param[in] mask Mask value to use when writinging the value. */ -asynStatus ACRController::writeUInt32Digital(asynUser *pasynUser, epicsUInt32 value, epicsUInt32 mask) -{ - int bit, tmask=0x1; - asynStatus status; - //static const char *functionName = "writeUInt32Digital"; - - for (bit=0; bit<32; bit++) { - if (mask & tmask) break; - tmask = tmask << 1; - } - sprintf(outString_, "BIT %d=%d", 32+bit, value); - status = writeController(); - // Read the I/O back - readBinaryIO(); - - return(status); -} - -/** Reads the binary input and binary output registers on the ACR. - * Sets the values in the parameter library. - * Keeps track of which bits have changed. - * Calls any registered callbacks for this pasynUser->reason and address. */ -asynStatus ACRController::readBinaryIO() -{ - asynStatus status; - - // Read the binary inputs - sprintf(outString_, "?P%d", binaryInReg_); - status = writeReadController(); - if (!status) { - binaryIn_ = atoi(inString_); - setUIntDigitalParam(0, ACRBinaryIn_, binaryIn_, 0xFFFFFFFF); - } - - // Read the binary outputs - sprintf(outString_, "?P%d", binaryOutReg_); - status = writeReadController(); - if (!status) { - binaryOutRBV_ = atoi(inString_); - setUIntDigitalParam(0, ACRBinaryOutRBV_, binaryOutRBV_, 0xFFFFFFFF); - } - callParamCallbacks(0); - return status; -} - -// These are the ACRAxis methods - -/** Creates a new ACRAxis object. - * \param[in] pC Pointer to the ACRController to which this axis belongs. - * \param[in] axisNo Index number of this axis, range 0 to pC->numAxes_-1. - * - * Initializes register numbers, etc. - */ -ACRAxis::ACRAxis(ACRController *pC, int axisNo) - : asynMotorAxis(pC, axisNo), - pC_(pC) -{ - asynStatus status; - - sprintf(axisName_, "AXIS%d", axisNo); - encoderPositionReg_ = 12290 + 256*axisNo; - theoryPositionReg_ = 12294 + 256*axisNo; - limitsReg_ = 4600 + axisNo; - flagsReg_ = 4120 + axisNo; - // Get the number of pulses per unit on this axis - sprintf(pC->outString_, "%s PPU", axisName_); - status = pC->writeReadController(); - if (status) { - setIntegerParam(pC->motorStatusProblem_, 1); - } else { - pulsesPerUnit_ = atof(pC->inString_); - // We assume servo motor with encoder for now - setIntegerParam(pC->motorStatusGainSupport_, 1); - setIntegerParam(pC->motorStatusHasEncoder_, 1); - } - callParamCallbacks(); -} - -/** 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 calls asynMotorController::report() - */ -void ACRAxis::report(FILE *fp, int level) -{ - if (level > 0) { - fprintf(fp, " axis %d\n" - " pulsesPerUnit_ = %f\n" - " encoder position=%f\n" - " theory position=%f\n" - " limits=0x%x\n" - " flags=0x%x\n", - axisNo_, pulsesPerUnit_, - encoderPosition_, theoryPosition_, - currentLimits_, currentFlags_); - } - - // Call the base class method - asynMotorAxis::report(fp, level); -} - - -asynStatus ACRAxis::move(double position, int relative, double minVelocity, double maxVelocity, double acceleration) -{ - asynStatus status; - // static const char *functionName = "moveAxis"; - - sprintf(pC_->outString_, "%s JOG ACC %f", axisName_, acceleration/pulsesPerUnit_); - status = pC_->writeController(); - sprintf(pC_->outString_, "%s JOG VEL %f", axisName_, maxVelocity/pulsesPerUnit_); - status = pC_->writeController(); - // Note, the CtlY being send below clears the kill for all axes, in case they had hit a limit, etc. - if (relative) { - sprintf(pC_->outString_, "%c:%s JOG INC %f", CtlY, axisName_, position/pulsesPerUnit_); - status = pC_->writeController(); - } else { - sprintf(pC_->outString_, "%c:%s JOG ABS %f", CtlY, axisName_, position/pulsesPerUnit_); - status = pC_->writeController(); - } - return status; -} - -asynStatus ACRAxis::home(double minVelocity, double maxVelocity, double acceleration, int forwards) -{ - asynStatus status; - // static const char *functionName = "homeAxis"; - - sprintf(pC_->outString_, "%s JOG ACC %f", axisName_, acceleration/pulsesPerUnit_); - status = pC_->writeController(); - sprintf(pC_->outString_, "%s JOG VEL %f", axisName_, maxVelocity/pulsesPerUnit_); - status = pC_->writeController(); - sprintf(pC_->outString_, "%c:%s JOG HOME %d", CtlY, axisName_, forwards ? 1 : -1); - status = pC_->writeController(); - return status; -} - -asynStatus ACRAxis::moveVelocity(double minVelocity, double maxVelocity, double acceleration) -{ - asynStatus status; - double speed=maxVelocity; - int forwards=1; - // static const char *functionName = "moveVelocityAxis"; - - if (speed < 0) { - speed = -speed; - forwards = 0; - } - sprintf(pC_->outString_, "%s JOG ACC %f", axisName_, acceleration/pulsesPerUnit_); - status = pC_->writeController(); - sprintf(pC_->outString_, "%s JOG VEL %f", axisName_, speed/pulsesPerUnit_); - status = pC_->writeController(); - sprintf(pC_->outString_, "%c:%s JOG %s", CtlY, axisName_, forwards ? "FWD" : "REV"); - status = pC_->writeController(); - return status; -} - -asynStatus ACRAxis::stop(double acceleration ) -{ - asynStatus status; - //static const char *functionName = "stopAxis"; - - sprintf(pC_->outString_, "%s JOG OFF", axisName_); - status = pC_->writeController(); - return status; -} - -asynStatus ACRAxis::setPosition(double position) -{ - asynStatus status; - - sprintf(pC_->outString_, "%s RES %f", axisName_, position/pulsesPerUnit_); - status = pC_->writeController(); - sprintf(pC_->outString_, "%s JOG REN", axisName_); - status = pC_->writeController(); - return status; -} - -asynStatus ACRAxis::setClosedLoop(bool closedLoop) -{ - asynStatus status; - - sprintf(pC_->outString_, "DRIVE %s %s", closedLoop ? "ON":"OFF", axisName_); - status = pC_->writeController(); - return status; -} - -/** Polls the axis. - * This function reads the controller position, encoder position, the limit status, the moving status, - * and the drive power-on status. It does not current detect following error, etc. but this could be - * added. - * 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 (1) or done (0). */ -asynStatus ACRAxis::poll(bool *moving) -{ - int done; - int driveOn; - int limit; - asynStatus comStatus; - - // Read the current encoder position - sprintf(pC_->outString_, "?P%d", encoderPositionReg_); - comStatus = pC_->writeReadController(); - if (comStatus) goto skip; - encoderPosition_ = atof(pC_->inString_); - setDoubleParam(pC_->motorEncoderPosition_,encoderPosition_); - - // Read the current theoretical position - sprintf(pC_->outString_, "?P%d", theoryPositionReg_); - comStatus = pC_->writeReadController(); - if (comStatus) goto skip; - theoryPosition_ = atof(pC_->inString_); - setDoubleParam(pC_->motorPosition_, theoryPosition_); - - // Read the current flags - sprintf(pC_->outString_, "?P%d", flagsReg_); - comStatus = pC_->writeReadController(); - if (comStatus) goto skip; - currentFlags_ = atoi(pC_->inString_); - done = (currentFlags_ & 0x1000000)?0:1; - setIntegerParam(pC_->motorStatusDone_, done); - *moving = done ? false:true; - - // Read the current limit status - sprintf(pC_->outString_, "?P%d", limitsReg_); - comStatus = pC_->writeReadController(); - if (comStatus) goto skip; - currentLimits_ = atoi(pC_->inString_); - limit = (currentLimits_ & 0x1)?1:0; - setIntegerParam(pC_->motorStatusHighLimit_, limit); - limit = (currentLimits_ & 0x2)?1:0; - setIntegerParam(pC_->motorStatusLowLimit_, limit); - limit = (currentLimits_ & 0x4)?1:0; - setIntegerParam(pC_->motorStatusAtHome_, limit); - - // Read the drive power on status - sprintf(pC_->outString_, "DRIVE %s", axisName_); - comStatus = pC_->writeReadController(); - if (comStatus) goto skip; - driveOn = strstr(pC_->inString_, "ON") ? 1:0; - setIntegerParam(pC_->motorStatusPowerOn_, driveOn); - setIntegerParam(pC_->motorStatusProblem_, 0); - - skip: - setIntegerParam(pC_->motorStatusProblem_, comStatus ? 1:0); - callParamCallbacks(); - return comStatus ? asynError : asynSuccess; -} - -/** Code for iocsh registration */ -static const iocshArg ACRCreateControllerArg0 = {"Port name", iocshArgString}; -static const iocshArg ACRCreateControllerArg1 = {"ACR port name", iocshArgString}; -static const iocshArg ACRCreateControllerArg2 = {"Number of axes", iocshArgInt}; -static const iocshArg ACRCreateControllerArg3 = {"Moving poll period (ms)", iocshArgInt}; -static const iocshArg ACRCreateControllerArg4 = {"Idle poll period (ms)", iocshArgInt}; -static const iocshArg * const ACRCreateControllerArgs[] = {&ACRCreateControllerArg0, - &ACRCreateControllerArg1, - &ACRCreateControllerArg2, - &ACRCreateControllerArg3, - &ACRCreateControllerArg4}; -static const iocshFuncDef ACRCreateControllerDef = {"ACRCreateController", 5, ACRCreateControllerArgs}; -static void ACRCreateContollerCallFunc(const iocshArgBuf *args) -{ - ACRCreateController(args[0].sval, args[1].sval, args[2].ival, args[3].ival, args[4].ival); -} - -static void ACRMotorRegister(void) -{ - iocshRegister(&ACRCreateControllerDef, ACRCreateContollerCallFunc); -} - -extern "C" { -epicsExportRegistrar(ACRMotorRegister); -} diff --git a/motorApp/ACRSrc/ACRMotorDriver.h b/motorApp/ACRSrc/ACRMotorDriver.h deleted file mode 100644 index 895ec622..00000000 --- a/motorApp/ACRSrc/ACRMotorDriver.h +++ /dev/null @@ -1,87 +0,0 @@ -/* -FILENAME... ACRMotorDriver.h -USAGE... Motor driver support for the Parker ACR series of controllers, including the Aries. - -Mark Rivers -March 28, 2011 - -*/ - -#include "asynMotorController.h" -#include "asynMotorAxis.h" - -/** drvInfo strings for extra parameters that the ACR controller supports */ -#define ACRJerkString "ACR_JERK" -#define ACRReadBinaryIOString "ACR_READ_BINARY_IO" -#define ACRBinaryInString "ACR_BINARY_IN" -#define ACRBinaryOutString "ACR_BINARY_OUT" -#define ACRBinaryOutRBVString "ACR_BINARY_OUT_RBV" - -class epicsShareClass ACRAxis : public asynMotorAxis -{ -public: - /* These are the methods we override from the base class */ - ACRAxis(class ACRController *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: - ACRController *pC_; /**< Pointer to the asynMotorController to which this axis belongs. - * Abbreviated because it is used very frequently */ - char axisName_[10]; /**< Name of each axis, used in commands to ACR controller */ - double pulsesPerUnit_; /**< Pulses per engineering unit, which is what ACR controller uses */ - int flagsReg_; /**< Address of the flags register */ - int limitsReg_; /**< Address of the limits register */ - int encoderPositionReg_; /**< Address of the encoder position register */ - int theoryPositionReg_; /**< Address of the theoretical position register */ - double encoderPosition_; /**< Cached copy of the encoder position */ - double theoryPosition_; /**< Cached copy of the theoretical position */ - int currentFlags_; /**< Cached copy of the current flags */ - int currentLimits_; /**< Cached copy of the current limits */ - -friend class ACRController; -}; - -class epicsShareClass ACRController : public asynMotorController { -public: - ACRController(const char *portName, const char *ACRPortName, int numAxes, double movingPollPeriod, double idlePollPeriod); - - /* These are the methods that we override from asynPortDriver */ - asynStatus writeUInt32Digital(asynUser *pasynUser, epicsUInt32 value, epicsUInt32 mask); - - /* 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 */ - asynStatus readBinaryIO(); - -protected: - int ACRJerk_; /**< Jerk time parameter index */ -#define FIRST_ACR_PARAM ACRJerk_ - int ACRReadBinaryIO_; /**< Read binary I/O parameter index */ - int ACRBinaryIn_; /**< Binary input parameter index */ - int ACRBinaryOut_; /**< Binary output parameter index */ - int ACRBinaryOutRBV_; /**< Binary output readback parameter index */ -#define LAST_ACR_PARAM ACRBinaryOutRBV_ - -#define NUM_ACR_PARAMS (&LAST_ACR_PARAM - &FIRST_ACR_PARAM + 1) - -private: - int binaryIn_; - int binaryOutRBV_; - int binaryInReg_; - int binaryOutReg_; - -friend class ACRAxis; -}; diff --git a/motorApp/ACRSrc/ACRMotorSupport.dbd b/motorApp/ACRSrc/ACRMotorSupport.dbd deleted file mode 100644 index be05278d..00000000 --- a/motorApp/ACRSrc/ACRMotorSupport.dbd +++ /dev/null @@ -1 +0,0 @@ -registrar(ACRMotorRegister) diff --git a/motorApp/ACRSrc/Makefile b/motorApp/ACRSrc/Makefile deleted file mode 100644 index edcebcfe..00000000 --- a/motorApp/ACRSrc/Makefile +++ /dev/null @@ -1,27 +0,0 @@ -TOP=../.. - -include $(TOP)/configure/CONFIG -#---------------------------------------- -# ADD MACRO DEFINITIONS AFTER THIS LINE -#============================= - -#================================================== -# Build an IOC support library - -LIBRARY_IOC += ACRMotor - -# motorRecord.h will be created from motorRecord.dbd -# install devMotorSoft.dbd into /dbd -DBD += ACRMotorSupport.dbd - -# The following are compiled and added to the Support library -ACRMotor_SRCS += ACRMotorDriver.cpp - -ACRMotor_LIBS += motor -ACRMotor_LIBS += asyn -ACRMotor_LIBS += $(EPICS_BASE_IOC_LIBS) - -include $(TOP)/configure/RULES -#---------------------------------------- -# ADD RULES AFTER THIS LINE - diff --git a/motorApp/ACRSrc/README b/motorApp/ACRSrc/README deleted file mode 100644 index ac3f7d4d..00000000 --- a/motorApp/ACRSrc/README +++ /dev/null @@ -1,5 +0,0 @@ -asyn model 3 driver -------------------- -ACRMotorDriver.cpp -ACRMotorDriver.h -ACRMotorSupport.dbd diff --git a/motorApp/Db/ACRAux.template b/motorApp/Db/ACRAux.template deleted file mode 100644 index 66608fc5..00000000 --- a/motorApp/Db/ACRAux.template +++ /dev/null @@ -1,10 +0,0 @@ -# Database for extra PVs for Parker ACR controllers - -record(ao,"$(P)$(R)Jerk") { - field(DESC,"Jerk parameter") - field(PINI, "1") - field(PREC,"3") - field(VAL,".01") - field(DTYP, "asynFloat64") - field(OUT,"@asyn($(PORT),$(ADDR))ACR_JERK") -} diff --git a/motorApp/Db/ACRAuxBi.template b/motorApp/Db/ACRAuxBi.template deleted file mode 100644 index 99ceabe0..00000000 --- a/motorApp/Db/ACRAuxBi.template +++ /dev/null @@ -1,8 +0,0 @@ -record(bi,"$(P)$(R)") { - field(PINI, "YES") - field(DTYP,"asynUInt32Digital") - field(INP,"@asynMask($(PORT) 0 $(MASK))ACR_BINARY_IN") - field(SCAN, "$(SCAN)") - field(ZNAM, "Low") - field(ONAM, "High") -} diff --git a/motorApp/Db/ACRAuxBo.template b/motorApp/Db/ACRAuxBo.template deleted file mode 100644 index b0b94e28..00000000 --- a/motorApp/Db/ACRAuxBo.template +++ /dev/null @@ -1,7 +0,0 @@ -record(bo,"$(P)$(R)") { - field(DTYP,"asynUInt32Digital") - field(OUT,"@asynMask($(PORT) 0 $(MASK))ACR_BINARY_OUT") - field(VAL, "1") - field(ZNAM, "Low") - field(ONAM, "High") -} diff --git a/motorApp/Db/ACRAuxBoRBV.template b/motorApp/Db/ACRAuxBoRBV.template deleted file mode 100644 index 09cb8e21..00000000 --- a/motorApp/Db/ACRAuxBoRBV.template +++ /dev/null @@ -1,8 +0,0 @@ -record(bi,"$(P)$(R)") { - field(PINI, "YES") - field(DTYP,"asynUInt32Digital") - field(INP,"@asynMask($(PORT) 0 $(MASK))ACR_BINARY_OUT_RBV") - field(SCAN, "$(SCAN)") - field(ZNAM, "Low") - field(ONAM, "High") -} diff --git a/motorApp/Db/ACRAuxLi.template b/motorApp/Db/ACRAuxLi.template deleted file mode 100644 index 6c0894d3..00000000 --- a/motorApp/Db/ACRAuxLi.template +++ /dev/null @@ -1,6 +0,0 @@ -record(longin,"$(P)$(R)") { - field(PINI, "YES") - field(DTYP,"asynUInt32Digital") - field(INP,"@asynMask($(PORT) 0 0xffffffff)ACR_BINARY_IN") - field(SCAN, "$(SCAN)") -} diff --git a/motorApp/Db/ACRAuxRead.template b/motorApp/Db/ACRAuxRead.template deleted file mode 100644 index c3548b3b..00000000 --- a/motorApp/Db/ACRAuxRead.template +++ /dev/null @@ -1,7 +0,0 @@ -record(bo,"$(P)$(R)") { - field(DTYP,"asynInt32") - field(OUT,"@asyn($(PORT) 0)ACR_READ_BINARY_IO") - field(ZNAM, "Done") - field(ONAM, "Read") - field(SCAN, "$(SCAN)") -} diff --git a/motorApp/Db/Makefile b/motorApp/Db/Makefile index 659e842a..340f4ea9 100644 --- a/motorApp/Db/Makefile +++ b/motorApp/Db/Makefile @@ -18,12 +18,6 @@ include $(TOP)/configure/CONFIG DB += motor.db DB += basic_motor.db DB += basic_asyn_motor.db -DB += ACRAux.template -DB += ACRAuxRead.template -DB += ACRAuxLi.template -DB += ACRAuxBi.template -DB += ACRAuxBo.template -DB += ACRAuxBoRBV.template DB += TransPos.db DB += motorUtil.db DB += asyn_motor.db diff --git a/motorApp/Makefile b/motorApp/Makefile index 9f0127e7..f182a8f6 100644 --- a/motorApp/Makefile +++ b/motorApp/Makefile @@ -24,9 +24,6 @@ PIGCS2Src_DEPEND_DIRS = MotorSrc DIRS += PC6KSrc PC6KSrc_DEPEND_DIRS = MotorSrc -DIRS += ACRSrc -ACRSrc_DEPEND_DIRS = MotorSrc - 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caGraphics_111 - caGraphics_112 - caGraphics_113 - caGraphics_114 - caGraphics_115 - caGraphics_116 - caGraphics_117 - caGraphics_118 - caGraphics_119 - caGraphics_120 - caGraphics_121 - caGraphics_122 - caGraphics_123 - caGraphics_124 - caGraphics_125 - caGraphics_126 - caGraphics_127 - caFrame_4 - caLabel_36 - caFrame_3 - caLabel_37 - caLabel_38 - caLabel_39 - caChoice_0 - caChoice_1 - caChoice_2 - caChoice_3 - caChoice_4 - caChoice_5 - caChoice_6 - caChoice_7 - caChoice_8 - caChoice_9 - caChoice_10 - caChoice_11 - caChoice_12 - caChoice_13 - caChoice_14 - caChoice_15 - caChoice_16 - caChoice_17 - caChoice_18 - caChoice_19 - caChoice_20 - caChoice_21 - caChoice_22 - caChoice_23 - caChoice_24 - caChoice_25 - caChoice_26 - caChoice_27 - caChoice_28 - caChoice_29 - caChoice_30 - caChoice_31 - caLineEdit_0 - caTextEntry_0 - caMenu_0 - - - \ No newline at end of file diff --git a/motorApp/op/ui/autoconvert/ACRTop.ui b/motorApp/op/ui/autoconvert/ACRTop.ui deleted file mode 100644 index 9aeaadc8..00000000 --- a/motorApp/op/ui/autoconvert/ACRTop.ui +++ /dev/null @@ -1,104 +0,0 @@ - - -MainWindow - - - - 115 - 148 - 275 - 75 - - - - - -QWidget#centralWidget {background: rgba(187, 187, 187, 255);} -QPushButton::menu-indicator {image: url(none.png); width: 0} - - - - - - - - 91 - 40 - 93 - 23 - - - - - 0 - 0 - 0 - - - - - 115 - 223 - 255 - - - - More - - - Menu - - - Motor #1;Motor #2;Auxillary params;asyn record #1;asyn record #2 - - - motorx_all.adl;motorx_all.adl;ACRAux.adl;asynRecord.adl;asynRecord.adl - - - P=IOC:, M=m1;P=IOC:, M=m2;P=IOC:, R=ACR1:, M1=m1:;P=IOC:, R=asyn1;P=IOC:, R=asyn2 - - - false;false;false;false;false - - - - - QFrame::NoFrame - - - - 0 - 0 - 0 - - - - - 0 - 0 - 0 - - - - Parker ACR Top-level - - - ESimpleLabel::WidthAndHeight - - - - 17 - 5 - 300 - 25 - - - - Qt::AlignAbsolute|Qt::AlignLeft|Qt::AlignVCenter - - - caLabel_0 - caRelatedDisplay_0 - - - \ No newline at end of file diff --git a/motorExApp/WithAsyn/Makefile b/motorExApp/WithAsyn/Makefile index 0cea5549..d2bab558 100644 --- a/motorExApp/WithAsyn/Makefile +++ b/motorExApp/WithAsyn/Makefile @@ -16,7 +16,6 @@ COMMONDBDS += devImsMotor.dbd COMMONDBDS += devPIMotor.dbd COMMONDBDS += devSoftMotor.dbd COMMONDBDS += motorSimSupport.dbd -COMMONDBDS += ACRMotorSupport.dbd COMMONDBDS += asyn.dbd COMMONDBDS += drvAsynSerialPort.dbd COMMONDBDS += drvAsynIPPort.dbd @@ -55,7 +54,6 @@ COMMONLIBS += PI COMMONLIBS += Ims COMMONLIBS += softMotor COMMONLIBS += motorSimSupport -COMMONLIBS += ACRMotor COMMONLIBS += PI_GCS2Support COMMONLIBS += motor