# 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
#   $(M)         - PV motor name
#   $(NPOINTS)   - Maximum profile points
#   $(NREADBACK) - Maximum number of readback positions
#   $(PORT)      - asyn port for this controller
#   $(ADDR)      - 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)M$(M)UseAxis") {
    field(DESC, "Use axis $(ADDR)?")
    field(PINI, "YES")
    field(DTYP, "asynInt32")
    field(OUT,  "@asyn($(PORT),$(ADDR),$(TIMEOUT))PROFILE_USE_AXIS")
    field(VAL,  "0")
    field(ZNAM, "No")
    field(ONAM, "Yes")
}
#
# Target position array for this axis
#
record(waveform,"$(P)$(R)M$(M)Positions") {
    field(DESC, "Axis $(ADDR) positions")
    field(DTYP, "asynFloat64ArrayOut")
    field(INP,  "@asyn($(PORT),$(ADDR),$(TIMEOUT))PROFILE_POSITIONS")
    field(NELM, "$(NPOINTS)")
    field(FTVL, "DOUBLE")
    field(PREC, "$(PREC)")
}

#
# Readback position array for this axis
#
record(waveform,"$(P)$(R)M$(M)Readbacks") {
    field(DESC, "Axis $(ADDR) readbacks")
    field(DTYP, "asynFloat64ArrayIn")
    field(INP,  "@asyn($(PORT),$(ADDR),$(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)M$(M)FollowingErrors") {
    field(DESC, "Axis $(ADDR) following errors")
    field(DTYP, "asynFloat64ArrayIn")
    field(INP,  "@asyn($(PORT),$(ADDR),$(TIMEOUT))PROFILE_FOLLOWING_ERRORS")
    field(NELM, "$(NREADBACK)")
    field(FTVL, "DOUBLE")
    field(PREC, "$(PREC)")
    field(SCAN, "I/O Intr")
}

# These records make the motor resolution, offset and direction available to the driver
# which is needed for profile moves

# Motor direction for this axis
record(longout,"$(P)$(R)M$(M)Direction") {
    field(DESC, "$(ADDR) direction")
    field(DOL,  "$(MOTOR).DIR CP MS")
    field(OMSL, "closed_loop")
    field(DTYP, "asynInt32")
    field(OUT,  "@asyn($(PORT),$(ADDR),$(TIMEOUT))PROFILE_MOTOR_DIRECTION")
}


# Motor offset for this axis
record(ao,"$(P)$(R)M$(M)Offset") {
    field(DESC, "$(ADDR) offset")
    field(DOL,  "$(MOTOR).OFF CP MS")
    field(OMSL, "closed_loop")
    field(DTYP, "asynFloat64")
    field(OUT,  "@asyn($(PORT),$(ADDR),$(TIMEOUT))PROFILE_MOTOR_OFFSET")
    field(PREC, "$(PREC)")
}


# Motor resolution for this axis
record(ao,"$(P)$(R)M$(M)Resolution") {
    field(DESC, "$(ADDR) resolution")
    field(DOL,  "$(MOTOR).MRES CP MS")
    field(OMSL, "closed_loop")
    field(DTYP, "asynFloat64")
    field(OUT,  "@asyn($(PORT),$(ADDR),$(TIMEOUT))PROFILE_MOTOR_RESOLUTION")
    field(PREC, "$(PREC)")
}