Some nanotec testing at BOA and Oxford temperature controllers

I tested the nanotec a little at BOA. Not finished yet, especially the homing bit.

I also added support for an Oxfolrd Mercury temperature controller. But this is not
working because my simulation for the Mercury is a different version then the one
the EPICS driver is for.

iocBoot/iocsinqEPICS/envPaths

@@ -5,3 +5,4 @@ epicsEnvSet("EPICS_BASE","/usr/local/epics")
 epicsEnvSet("ASYN","/usr/local/epics/support/asyn-4-18")
 epicsEnvSet("MOTOR","/usr/local/epics/support/motor-6-7")
 epicsEnvSet("LAKESHORE336","/usr/local/epics/support/lakeshore336")
+epicsEnvSet("OXINSTCRYOJET","/usr/local/epics/support/OxInstCryojet-2-18-3")

iocBoot/iocsinqEPICS/motor.substitutions.nanoboa

@@ -0,0 +1,6 @@
+file "$(MOTOR)/db/basic_asyn_motor.db"
+{
+pattern
+{P,        N,      M,        DTYP,   PORT, ADDR,  DESC,     EGU,     DIR,   VELO,  VBAS, ACCL, BDST, BVEL, BACC,   MRES,   PREC,   DHLM, DLLM, INIT}
+{KM36:nano:, 1, "m$(N)", "asynMotor",  nano,  1,    "m1",     mm,    Pos,   2.0,   0.1,  .2,    0,    1,   .2,   .001,    3,     180,    -180,    "1"}
+}

iocBoot/iocsinqEPICS/nanotest.cmd

@@ -27,6 +27,16 @@ NanotecCreateController("nano","serial1",3,"1,10,9");
 dbLoadRecords("$(ASYN)/db/asynRecord.db","P=KM36:,R=serial1,PORT=serial1,ADDR=0,OMAX=80,IMAX=80")
 
 
+#------------------------------------------------------------------------------
+# DANGER              DANGER                DANGER
+#
+#If the gearing factor in the substitutions file is wrong, then the nanotec
+# drives badly. Not really a surprise. Thus the following procedure is required:
+#
+# - After editing the gearing ratios in the substitutions file, drive each motor 
+#   carefully for a small amount and check if it is driving the correct amount by
+#   eye.
+#------------------------------------------------------------------------------
 cd ${TOP}/iocBoot/${IOC}
 dbLoadTemplate "motor.substitutions.nanotec"
 

iocBoot/iocsinqEPICS/nanotestboa.cmd

@@ -0,0 +1,46 @@
+#!../../bin/linux-x86-debug/sinqEPICS
+
+
+## You may have to change sinqEPICS to something else
+## everywhere it appears in this file
+
+< envPaths
+
+cd ${TOP}
+
+## Register all support components
+dbLoadDatabase "dbd/sinqEPICS.dbd"
+#dbLoadDatabase "dbd/sinq.dbd"
+sinqEPICS_registerRecordDeviceDriver pdbbase
+
+## Load record instances
+#dbLoadRecords("db/xxx.db","user=koenneckeHost")
+
+
+#---------- load Nanotec motor controller
+#drvAsynIPPortConfigure("serial1", "narziss-ts:3002",0,0,0)
+drvAsynIPPortConfigure("serial1", "boa-ts:3013",0,0,0)
+NanotecCreateController("nano","serial1","1","4");
+
+### Motors
+
+dbLoadRecords("$(ASYN)/db/asynRecord.db","P=KM36:,R=serial1,PORT=serial1,ADDR=0,OMAX=80,IMAX=80")
+
+#------------------------------------------------------------------------------
+# DANGER              DANGER                DANGER
+#
+#If the gearing factor in the substitutions file is wrong, then the nanotec
+# drives badly. Not really a surprise. Thus the following procedure is required:
+#
+# - After editing the gearing ratios in the substitutions file, drive each motor 
+#   carefully for a small amount and check if it is driving the correct amount by
+#   eye.
+#------------------------------------------------------------------------------
+cd ${TOP}/iocBoot/${IOC}
+dbLoadTemplate "motor.substitutions.nanoboa"
+
+
+iocInit
+
+## Start any sequence programs
+#seq sncxxx,"user=koenneckeHost"

iocBoot/iocsinqEPICS/oxford.cmd

@@ -0,0 +1,37 @@
+#!../../bin/linux-x86-debug/sinqEPICS
+
+
+## You may have to change sinqEPICS to something else
+## everywhere it appears in this file
+
+< envPaths
+
+cd ${TOP}
+
+
+epicsEnvSet("STREAM_PROTOCOL_PATH", "$(OXINSTCRYOJET)/protocol/")
+
+## Register all support components
+dbLoadDatabase "dbd/sinqEPICS.dbd"
+#dbLoadDatabase "dbd/sinq.dbd"
+sinqEPICS_registerRecordDeviceDriver pdbbase
+
+
+#---------- 
+drvAsynIPPortConfigure("serial1", "localhost:7020",0,0,0)
+
+dbLoadRecords("$(ASYN)/db/asynRecord.db","P=KM36:,R=serial1,PORT=serial1,ADDR=0,OMAX=80,IMAX=80")
+
+cd ${TOP}/iocBoot/${IOC}
+
+dbLoadRecords("$(OXINSTCRYOJET)/db/MercuryiTC-SCPI.template","P=KM36:,Q=HG,PORT=serial1")
+
+#-------------------------------------------------------------------------------------
+# This might have worked but our Mercury Simulation simulates something different 
+# then this is for.
+#------------------------------------------------------------------------------------
+
+iocInit
+
+## Start any sequence programs
+#seq sncxxx,"user=koenneckeHost"