From c27f816d9b10830c9fd1b063c1f53643ada12892 Mon Sep 17 00:00:00 2001
From: MarkRivers <rivers@cars.uchicago.edu>
Date: Sun, 3 Apr 2011 18:55:54 +0000
Subject: [PATCH] New file for profile moves

---
 motorApp/Db/profileMoveAxis.template          |  67 +++++
 motorApp/Db/profileMoveAxisXPS.template       |  58 +++++
 motorApp/Db/profileMoveController.template    | 232 ++++++++++++++++++
 motorApp/Db/profileMoveControllerXPS.template |  21 ++
 4 files changed, 378 insertions(+)
 create mode 100644 motorApp/Db/profileMoveAxis.template
 create mode 100644 motorApp/Db/profileMoveAxisXPS.template
 create mode 100644 motorApp/Db/profileMoveController.template
 create mode 100644 motorApp/Db/profileMoveControllerXPS.template

diff --git a/motorApp/Db/profileMoveAxis.template b/motorApp/Db/profileMoveAxis.template
new file mode 100644
index 00000000..ebfcc01a
--- /dev/null
+++ b/motorApp/Db/profileMoveAxis.template
@@ -0,0 +1,67 @@
+# Database for profile moves with asynMotor
+# This is the database for the each axis, profileMoveController is the file
+# for the controller.
+#
+#    Mark Rivers
+#    April 3, 2011
+#
+#
+# Macro paramters:
+#   $(P)         - PV name prefix
+#   $(R)         - PV base record name
+#   $(NPOINTS)   - Maximum profile points
+#   $(NREADBACK) - Maximum number of readback positions
+#   $(PORT)      - asyn port for this controller
+#   $(AXIS)      - asyn addr for this axis
+#   $(TIMEOUT)   - asyn timeout for this axis
+#   $(PREC)      - Precision for this axis
+
+#
+# Is this axis involved in the profile move?
+#
+record(bo,"$(P)$(R)($N)Use axis") {
+    field(DESC, "Use axis $(AXIS)?")
+    field(PINI, "YES")
+    field(DTYP, "asynInt32")
+    field(OUT,  "@asyn($(PORT),$(AXIS),$(TIMEOUT))PROFILE_USE_AXIS")
+    field(VAL,  "0")
+    field(ZNAM, "No")
+    field(ONAM, "Yes")
+}
+#
+# Target position array for this axis
+#
+record(waveform,"$(P)$(R)$(AXIS)Positions") {
+    field(DESC, "Axis $(AXIS) positions")
+    field(DTYP, "asynFloat64ArrayOut")
+    field(INP,  "@asyn($(PORT),$(AXIS),$(TIMEOUT))PROFILE_POSITIONS")
+    field(NELM, "$(NPOINTS)")
+    field(FTVL, "DOUBLE")
+    field(PREC, "$(PREC)")
+}
+
+#
+# Readback position array for this axis
+#
+record(waveform,"$(P)$(R)$(AXIS)Readbacks") {
+    field(DESC, "Axis $(AXIS) readbacks")
+    field(DTYP, "asynFloat64ArrayIn")
+    field(INP,  "@asyn($(PORT),$(AXIS),$(TIMEOUT))PROFILE_READBACKS")
+    field(NELM, "$(NREADBACK)")
+    field(FTVL, "DOUBLE")
+    field(PREC, "$(PREC)")
+    field(SCAN, "I/O Intr")
+}
+
+#
+# Following error array for this axis
+#
+record(waveform,"$(P)$(R)$(AXIS)FollowingErrors") {
+    field(DESC, "Axis $(AXIS) following errors")
+    field(DTYP, "asynFloat64ArrayIn")
+    field(INP,  "@asyn($(PORT),$(AXIS),$(TIMEOUT))PROFILE_FOLLOWING_ERRORS")
+    field(NELM, "$(NREADBACK)")
+    field(FTVL, "DOUBLE")
+    field(PREC, "$(PREC)")
+    field(SCAN, "I/O Intr")
+}
diff --git a/motorApp/Db/profileMoveAxisXPS.template b/motorApp/Db/profileMoveAxisXPS.template
new file mode 100644
index 00000000..0def5509
--- /dev/null
+++ b/motorApp/Db/profileMoveAxisXPS.template
@@ -0,0 +1,58 @@
+# Database for profile moves with asynMotor
+# This database defined records specific to each XPS axis
+#
+#    Mark Rivers
+#    April 3, 2011
+#
+#
+# Macro paramters:
+#   $(P)         - PV name prefix
+#   $(R)         - PV base record name
+#   $(PORT)      - asyn port for this controller
+#   $(AXIS)      - asyn addr for this axis
+#   $(TIMEOUT)   - asyn timeout for this axis
+#   $(PREC)      - Precision for this axis
+
+#
+# Readback of minimum position
+#
+record(ai,"$(P)$(R)MinPosition") {
+    field(DESC, "Axis $(AXIS) min position")
+    field(DTYP, "asynFloat64")
+    field(INP,  "@asyn($(PORT),$(AXIS),$(TIMEOUT))XPS_PROFILE_MIN_POSITION")
+    field(PREC, "$(PREC)")
+    field(SCAN, "I/O Intr")
+}
+
+#
+# Readback of maximum position
+#
+record(ai,"$(P)$(R)MaxPosition") {
+    field(DESC, "Axis $(AXIS) max position")
+    field(DTYP, "asynFloat64")
+    field(INP,  "@asyn($(PORT),$(AXIS),$(TIMEOUT))XPS_PROFILE_MAX_POSITION")
+    field(PREC, "$(PREC)")
+    field(SCAN, "I/O Intr")
+}
+
+#
+# Readback of maximum velocity
+#
+record(ai,"$(P)$(R)MaxVelocity") {
+    field(DESC, "Axis $(AXIS) max velocity")
+    field(DTYP, "asynFloat64")
+    field(INP,  "@asyn($(PORT),$(AXIS),$(TIMEOUT))XPS_PROFILE_MAX_VELOCITY")
+    field(PREC, "$(PREC)")
+    field(SCAN, "I/O Intr")
+}
+
+#
+# Readback of maximum acceleration
+#
+record(ai,"$(P)$(R)MaxAcceleration") {
+    field(DESC, "Axis $(AXIS) max acceleration")
+    field(DTYP, "asynFloat64")
+    field(INP,  "@asyn($(PORT),$(AXIS),$(TIMEOUT))XPS_PROFILE_MAX_ACCELERATION")
+    field(PREC, "$(PREC)")
+    field(SCAN, "I/O Intr")
+}
diff --git a/motorApp/Db/profileMoveController.template b/motorApp/Db/profileMoveController.template
new file mode 100644
index 00000000..349548df
--- /dev/null
+++ b/motorApp/Db/profileMoveController.template
@@ -0,0 +1,232 @@
+# Database for profile moves with asynMotor
+# This is the database for the controller itself, profileMoveAxis is the file
+# for each axis.
+#
+#    Mark Rivers
+#    April 3, 2011
+#
+#
+# Macro paramters:
+#   $(P)        - PV name prefix
+#   $(R)        - PV base record name
+#   $(PORT)     - asyn port for this controller
+#   $(NAXES)    - Number of axes to be used.
+#   $(NPOINTS)  - Maximum profile points
+#   $(NPULSES)  - Maximum number of output pulses
+#   $(TIMEOUT)  - asyn timeout
+
+#
+# PVs controlling the number of profile elements and the number of output
+# pulses
+#
+record(longout,"$(P)$(R)NumAxes") {
+    field(DESC, "# of axes being used")
+    field(PINI, "YES")
+    field(DTYP, "asynInt32")
+    field(OUT,  "@asyn($(PORT),0,$(TIMEOUT))PROFILE_NUM_AXES")
+    field(VAL,  "$(NAXES)")
+}
+record(longout,"$(P)$(R)NumPoints") {
+    field(DESC, "# of points in profile")
+    field(PINI, "YES")
+    field(DTYP, "asynInt32")
+    field(OUT,  "@asyn($(PORT),0,$(TIMEOUT))PROFILE_NUM_POINTS")
+    field(VAL,  "$(NPOINTS)")
+}
+record(longout,"$(P)$(R)NumPulses") {
+    field(DESC, "Number of output pulses")
+    field(PINI, "YES")
+    field(DTYP, "asynInt32")
+    field(OUT,  "@asyn($(PORT),0,$(TIMEOUT))PROFILE_NUM_PULSES")
+    field(VAL,  "$(NPULSES)")
+}
+record(longin,"$(P)$(R)NumActualPulses") {
+    field(DESC, "Actual # of output pulses")
+    field(DTYP, "asynInt32")
+    field(INP,  "@asyn($(PORT),0,$(TIMEOUT))PROFILE_ACTUAL_PULSES")
+    field(VAL,  "$(NPULSES)")
+    field(SCAN, "I/O Intr")
+}
+record(longout, "$(P)$(R)StartPulses") {
+    field(DESC, "Point # to start pulses")
+    field(PINI, "YES")
+    field(DTYP, "asynInt32")
+    field(OUT,  "@asyn($(PORT),0,$(TIMEOUT))PROFILE_START_PULSES")
+    field(VAL, "1")
+}
+record(longout,"$(P)$(R)EndPulses") {
+    field(DESC, "Point # to end pulses")
+    field(PINI, "YES")
+    field(DTYP, "asynInt32")
+    field(OUT,  "@asyn($(PORT),0,$(TIMEOUT))PROFILE_END_PULSES")
+    field(VAL,  "$(NPOINTS)")
+}
+
+#
+# PVs controlling the profile speed and acceleration
+#
+record(waveform,"$(P)$(R)Time") {
+    field(DESC, "Time at each point")
+    field(DTYP, "asynFloat64ArrayOut")
+    field(INP,  "@asyn($(PORT),0,$(TIMEOUT))PROFILE_TIME_ARRAY")
+    field(NELM, "$(NPOINTS)")
+    field(FTVL, "DOUBLE")
+    field(PREC, "3")
+}
+record(ao,"$(P)$(R)Acceleration") {
+    field(DESC, "Profile Acceleration")
+    field(PINI, "YES")
+    field(DTYP, "asynFloat64")
+    field(OUT,  "@asyn($(PORT),0,$(TIMEOUT))PROFILE_ACCELERATION")
+    field(VAL,  "0.5")
+    field(PREC, "3")
+}
+#
+# PVs to build the profile
+#
+record(busy,"$(P)$(R)Build") {
+    field(DESC,"Build and check profile")
+    field(DTYP, "asynInt32")
+    field(OUT,  "@asyn($(PORT),0,$(TIMEOUT))PROFILE_BUILD")
+    field(ZNAM, "Done")
+    field(ONAM, "Build")
+}
+record(mbbi,"$(P)$(R)BuildState") {
+    field(DESC,"Profile build state")
+    field(DTYP, "asynInt32")
+    field(INP,  "@asyn($(PORT),0,$(TIMEOUT))PROFILE_BUILD_STATE")
+    field(ZRVL, "0")
+    field(ZRST, "Done")
+    field(ZRSV, "NO_ALARM")
+    field(ONVL, "1")
+    field(ONST, "Busy")
+    field(ONSV, "MINOR")
+    field(SCAN, "I/O Intr")
+}
+record(mbbi,"$(P)$(R)BuildStatus") {
+    field(DESC,"Profile build status")
+    field(DTYP, "asynInt32")
+    field(INP,  "@asyn($(PORT),0,$(TIMEOUT))PROFILE_BUILD_STATUS")
+    field(ZRVL, "0")
+    field(ZRST, "Undefined")
+    field(ZRSV, "INVALID")
+    field(ONVL, "1")
+    field(ONST, "Success")
+    field(ONSV, "NO_ALARM")
+    field(TWVL, "2")
+    field(TWST, "Failure")
+    field(TWSV, "MAJOR")
+    field(SCAN, "I/O Intr")
+}
+record(stringin,"$(P)$(R)BuildMessage") {
+    field(DESC, "Profile build message")
+    field(DTYP, "asynOctetRead")
+    field(INP,  "@asyn($(PORT),0,$(TIMEOUT))PROFILE_BUILD_MESSAGE")
+    field(SCAN, "I/O Intr")
+}
+#
+# PVs to execute and abort the profile
+#
+record(busy,"$(P)$(R)Execute") {
+    field(DESC,"Execute profile motion")
+    field(DTYP, "asynInt32")
+    field(OUT,  "@asyn($(PORT),0,$(TIMEOUT))PROFILE_EXECUTE")
+    field(ZNAM, "Done")
+    field(ONAM, "Execute")
+}
+record(mbbi,"$(P)$(R)ExecuteState") {
+    field(DESC,"Profile execute state")
+    field(DTYP, "asynInt32")
+    field(INP,  "@asyn($(PORT),0,$(TIMEOUT))PROFILE_EXECUTE_STATE")
+    field(ZRVL, "0")
+    field(ZRST, "Done")
+    field(ZRSV, "NO_ALARM")
+    field(ONVL, "1")
+    field(ONST, "Move start")
+    field(ONSV, "MINOR")
+    field(TWVL, "2")
+    field(TWST, "Executing")
+    field(TWSV, "MINOR")
+    field(THVL, "3")
+    field(THST, "Flyback")
+    field(THSV, "MINOR")
+    field(SCAN, "I/O Intr")
+}
+record(mbbi,"$(P)$(R)ExecuteStatus") {
+    field(DESC, "Profile execute status")
+    field(DTYP, "asynInt32")
+    field(INP,  "@asyn($(PORT),0,$(TIMEOUT))PROFILE_EXECUTE_STATUS")
+    field(ZRVL, "0")
+    field(ZRST, "Undefined")
+    field(ZRSV, "INVALID")
+    field(ONVL, "1")
+    field(ONST, "Success")
+    field(ONSV, "NO_ALARM")
+    field(TWVL, "2")
+    field(TWST, "Failure")
+    field(TWSV, "MAJOR")
+    field(THVL, "3")
+    field(THST, "Abort")
+    field(THSV, "MAJOR")
+    field(FRVL, "4")
+    field(FRST, "Timeout")
+    field(FRSV, "MAJOR")
+    field(SCAN, "I/O Intr")
+}
+record(stringin,"$(P)$(R)ExecuteMessage") {
+    field(DESC, "Profile execute message")
+    field(DTYP, "asynOctetRead")
+    field(INP,  "@asyn($(PORT),0,$(TIMEOUT))PROFILE_EXECUTE_MESSAGE")
+    field(SCAN, "I/O Intr")
+}
+record(bo,"$(P)$(R)Abort") {
+    field(DESC, "Abort profile motion")
+    field(OUT,  "@asyn($(PORT),0,$(TIMEOUT))PROFILE_ABORT")
+    field(ZNAM, "Done")
+    field(ONAM, "Abort")
+}
+
+#
+# PVs for readback of actual positions and errors
+#
+record(busy,"$(P)$(R)Readback") {
+    field(DESC, "Read back actual positions")
+    field(DTYP, "asynInt32")
+    field(OUT,  "@asyn($(PORT),0,$(TIMEOUT))PROFILE_READBACK")
+    field(ZNAM, "Done")
+    field(ONAM, "Readback")
+}
+record(mbbi,"$(P)$(R)ReadbackState") {
+    field(DESC, "Readback state")
+    field(DTYP, "asynInt32")
+    field(INP,  "@asyn($(PORT),0,$(TIMEOUT))PROFILE_READBACK_STATE")
+    field(ZRVL, "0")
+    field(ZRST, "Done")
+    field(ZRSV, "NO_ALARM")
+    field(ONVL, "1")
+    field(ONST, "Busy")
+    field(ONSV, "MINOR")
+    field(SCAN, "I/O Intr")
+}
+record(mbbi,"$(P)$(R)ReadbackStatus") {
+    field(DESC, "Readback status")
+    field(DTYP, "asynInt32")
+    field(INP,  "@asyn($(PORT),0,$(TIMEOUT))PROFILE_READBACK_STATUS")
+    field(ZRVL, "0")
+    field(ZRST, "Undefined")
+    field(ZRSV, "INVALID")
+    field(ONVL, "1")
+    field(ONST, "Success")
+    field(ONSV, "NO_ALARM")
+    field(TWVL, "2")
+    field(TWST, "Failure")
+    field(TWSV, "MAJOR")
+    field(SCAN, "I/O Intr")
+}
+record(stringin,"$(P)$(R)ReadbackMessage") {
+    field(DESC, "Profile readback message")
+    field(DTYP, "asynOctetRead")
+    field(INP,  "@asyn($(PORT),0,$(TIMEOUT))PROFILE_READBACK_MESSAGE")
+    field(SCAN, "I/O Intr")
+}
+
diff --git a/motorApp/Db/profileMoveControllerXPS.template b/motorApp/Db/profileMoveControllerXPS.template
new file mode 100644
index 00000000..0a3fd846
--- /dev/null
+++ b/motorApp/Db/profileMoveControllerXPS.template
@@ -0,0 +1,21 @@
+# Database for profile moves with asynMotor
+# This database defined records specific to the XPS controller
+#
+#    Mark Rivers
+#    April 3, 2011
+#
+#
+# Macro paramters:
+#   $(P)        - PV name prefix
+#   $(R)        - PV base record name
+#   $(PORT)     - asyn port for this controller
+#   $(TIMEOUT)  - asyn timeout
+
+# Name of the trajectory file that is built and FTP'd to the XPS
+record(stringout, "$(P)$(R)TrajectoryFile") {
+    field(DESC, "XPS trajectory file")
+    field(PINI, "YES")
+    field(DTYP, "asynOctetWrite")
+    field(OUT,  "@asyn($(PORT),0,$(TIMEOUT))XPS_TRAJECTORY_FILE")
+    field(VAL,  "TrajectoryScan.trj")
+}