After reimplementing the pmacV3 driver using the sinqMotor parent class,

quite some changes have accumulated. Besides various code changes, especially the documentation has been improved.
2024-11-20 11:29:20 +01:00
parent 89bbbedaee
commit 5502c39219
9 changed files with 603 additions and 108 deletions
--- a/db/asynRecord.db
+++ b/db/asynRecord.db
@ -0,0 +1,9 @@
+record(asyn,"$(P)$(R)")
+{
+    field(DTYP,"asynRecordDevice")
+    field(PORT,"$(PORT)")
+    field(ADDR,"$(ADDR)")
+    field(OMAX,"$(OMAX)")
+    field(IMAX,"$(IMAX)")
+}
+
--- a/db/sinqMotor.db
+++ b/db/sinqMotor.db
@ -0,0 +1,126 @@
+record(motor,"$(P)$(M)")
+{
+    field(DESC,"$(DESC)")
+    field(DTYP,"$(DTYP)")
+    field(DIR,"$(DIR)")
+    field(VELO,"$(VELO)")
+    field(VBAS,"$(VBAS)")
+    field(ACCL,"$(ACCL)")
+    field(BDST,"$(BDST)")
+    field(BVEL,"$(BVEL)")
+    field(BACC,"$(BACC)")
+    field(OUT,"@asyn($(PORT),$(ADDR))")
+    field(MRES,"$(MRES)")
+    field(PREC,"$(PREC)")
+    field(EGU,"$(EGU)")
+    field(INIT,"$(INIT)")
+    field(PINI, "NO")
+    field(TWV,"1")
+    field(RDBD,"$(RDBD)")
+    field(RTRY, "0")
+}
+
+# The message text
+record(waveform, "$(P)$(M)-MsgTxt") {
+    field(DTYP, "asynOctetRead")
+    field(INP, "@asyn($(PORT),$(N),1) MOTOR_MESSAGE_TEXT")
+    field(FTVL, "CHAR")
+    field(NELM, "$(MsgTxtSize=200)") # Should be the same as MAXBUF in the driver code
+    field(SCAN, "I/O Intr")
+}
+
+# Encoder type
+record(waveform, "$(P)$(M):Encoder_Type") {
+    field(DTYP, "asynOctetRead")
+    field(INP, "@asyn($(PORT),$(N),1) ENCODER_TYPE")
+    field(FTVL, "CHAR")
+    field(NELM, "80")
+    field(SCAN, "I/O Intr")
+}
+
+# enable axis
+record(longout, "$(P)$(M):Enable") {
+    field(DTYP, "asynInt32")
+    field(OUT, "@asyn($(PORT),$(N),1) ENABLE_AXIS")
+    field(PINI, "NO")
+}
+
+# enable axis
+record(longin, "$(P)$(M):Enable_RBV") {
+    field(DTYP, "asynInt32")
+    field(INP, "@asyn($(PORT),$(N),1) AXIS_ENABLED")
+    field(PINI, "YES")
+}
+
+# reread encoder
+record(longout, "$(P)$(M):Reread_Encoder") {
+    field(DTYP, "asynInt32")
+    field(OUT, "@asyn($(PORT),$(N),1) REREAD_ENCODER_POSITION")
+    field(PINI, "NO")
+}
+
+# reread encoder
+record(longin, "$(P)$(M):Reread_Encoder_RBV") {
+    field(DTYP, "asynInt32")
+    field(INP, "@asyn($(PORT),$(N),1) REREAD_ENCODER_POSITION_RBV")
+    field(PINI, "YES")
+}
+
+# reread encoder
+record(longout, "$(P)$(M):Read_Config") {
+    field(DTYP, "asynInt32")
+    field(OUT, "@asyn($(PORT),$(N),1) READ_CONFIG")
+    field(PINI, "NO")
+}
+
+# Provides the motor resolution MRES via an additional PV as explained here:
+# https://epics.anl.gov/tech-talk/2020/msg00378.php
+record(ao,"$(P)$(M):Resolution") {
+    field(DESC, "$(M) resolution")
+    field(DOL,  "$(P)$(M).MRES CP MS")
+    field(OMSL, "closed_loop")
+    field(DTYP, "asynFloat64")
+    field(OUT,  "@asyn($(PORT),$(ADDR)) MOTOR_REC_RESOLUTION")
+    field(PREC, "$(PREC)")
+}
+
+# ===================================================================
+# The following records read the high / low limits from the parameter
+# library and copy those values into the corresponding fields of the main motor record.
+# This strategy is described here: https://epics.anl.gov/tech-talk/2022/msg00464.php
+
+# Helper record for the high limit which is filled in by the driver
+record(ai, "$(P)$(M):MOTOR_HIGH_LIMIT-RBV")
+{
+    field(DTYP, "asynFloat64")
+    field(PREC, "$(PREC)")
+    field(INP,  "@asyn($(PORT),$(ADDR)) MOTOR_HIGH_LIMIT_FROM_DRIVER")
+    field(SCAN, "I/O Intr")
+    field(FLNK, "$(P)$(M):PUSH_DHLM_TO_FIELD")
+}
+
+# Push the value into the field of the main motor record
+record(ao, "$(P)$(M):PUSH_DHLM_TO_FIELD") {
+    field(PREC, "$(PREC)")
+    field(DOL,  "$(P)$(M):MOTOR_HIGH_LIMIT-RBV CP")
+    field(OUT,  "$(P)$(M).DHLM")
+    field(OMSL, "closed_loop") # This configuration keeps the input value $(P)$(M):HLM_ADD_OFFSET and the output field $(P)$(M).DHLM in sync
+}
+
+# Helper record for the low limit which is filled in by the driver
+record(ai, "$(P)$(M):MOTOR_LOW_LIMIT-RBV")
+{
+    field(DTYP, "asynFloat64")
+    field(PREC, "$(PREC)")
+    field(INP,  "@asyn($(PORT),$(ADDR)) MOTOR_LOW_LIMIT_FROM_DRIVER")
+    field(SCAN, "I/O Intr")
+    field(FLNK, "$(P)$(M):PUSH_DLLM_TO_FIELD")
+}
+
+# Push the value into the field of the main motor record
+record(ao, "$(P)$(M):PUSH_DLLM_TO_FIELD") {
+    field(PREC, "$(PREC)")
+    field(DOL,  "$(P)$(M):MOTOR_LOW_LIMIT-RBV CP")
+    field(OUT,  "$(P)$(M).DLLM")
+    field(OMSL, "closed_loop") # This configuration keeps the input value $(P)$(M):LLM_ADD_OFFSET and the output field $(P)$(M).DLLM in sync
+}