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pmacV3 enable/disable axis

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The default behaviour of the pmac controller is to enable the motor at startup. With the controller V3 we want that at IOC startup the axis to be off.
A database entry like

record(longout, "$(P)$(M):Enable") {
    field(DTYP, "asynInt32")
    field(OUT, "@asyn($(PORT),$(N),1) ENABLE_AXIS")
    field(PINI, "YES")
}

can be used to give access to enable/disable the axis.
This commit is contained in:
Michele Brambilla
2022-03-02 15:24:15 +01:00
committed by brambilla_m
parent edc71af235
commit c7fea08718
4 changed files with 40 additions and 2 deletions
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36
Makefile.RHEL7.michele Normal file
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@ -0,0 +1,36 @@
# This build the sinq extensions for the PSI EPICS setup
include /ioc/tools/driver.makefile
MODULE=sinq
LIBVERSION=brambilla_m
BUILDCLASSES=Linux
EPICS_VERSIONS=3.14.12 7.0.4.1
# additional module dependencies
REQUIRED+=SynApps
REQUIRED+=stream
REQUIRED+=scaler
# using a test version
scaler_VERSION=koennecke
TEMPLATES += sinqEPICSApp/Db/dimetix.db
TEMPLATES += sinqEPICSApp/Db/slsvme.db
TEMPLATES += sinqEPICSApp/Db/spsamor.db
DBDS += sinqEPICSApp/src/sinq.dbd
# What we need at SINQ
SOURCES += sinqEPICSApp/src/devScalerEL737.c
SOURCES += sinqEPICSApp/src/SINQController.cpp
SOURCES += sinqEPICSApp/src/SINQAxis.cpp
SOURCES += sinqEPICSApp/src/EL734Driver.cpp
SOURCES += sinqEPICSApp/src/NanotecDriver.cpp
SOURCES += sinqEPICSApp/src/stptok.cpp
SOURCES += sinqEPICSApp/src/PhytronDriver.cpp
SOURCES += sinqEPICSApp/src/EuroMoveDriver.cpp
SOURCES += sinqEPICSApp/src/pmacAsynIPPort.c
SOURCES += sinqEPICSApp/src/pmacAxis.cpp
SOURCES += sinqEPICSApp/src/pmacController.cpp
# MISCS would be the place to keep the stream device template files

2
sinqEPICSApp/src/pmacAxis.cpp
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@ -168,6 +168,8 @@ asynStatus pmacAxis::getAxisInitialStatus(void)
// Enable the axis. After startup, the axis are disabled on the controller...
// Warning: Selene lift axis should not be automatically enabled
printf("/nautoEnable: %d\n\n", autoEnable);
if (autoEnable) {
sprintf(command, "M%2.2d14=1\n", axisNo_);
asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR, "Enable axis %d: %s",axisNo_,command);

2
sinqEPICSApp/src/pmacAxis.h
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@ -143,7 +143,7 @@ class LiftAxis : public pmacAxis
class pmacV3Axis : public pmacAxis {
public:
pmacV3AxisAxis(pmacController *pController, int axisNo) : pmacAxis(pController,axisNo, false) {};
pmacV3Axis(pmacController *pController, int axisNo) : pmacAxis(pController,axisNo, false) {};
protected:

2
sinqEPICSApp/src/pmacController.cpp
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@ -839,7 +839,7 @@ asynStatus pmacV3Controller::writeInt32(asynUser *pasynUser, epicsInt32 value) {
asynPrint(this->pasynUserSelf, ASYN_TRACE_FLOW,
"%s: Enable axis on controller %s, axis %d enable=%d\n",
functionName, portName, pAxis->axisNo_, value);
errlogPrintf("Enable axis %d: %d, command = %s\n", pAxis->axisNo_, value, command);
//errlogPrintf("Enable axis %d: %d, command = %s\n", pAxis->axisNo_, value, command);
}
// Execute the command.