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First working version of the MasterMACS EPICS driver

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Also added some test code
This commit is contained in:
koennecke
2023-03-21 14:55:07 +01:00
parent b8896b7a85
commit ccd73babd5
22 changed files with 20883 additions and 0 deletions
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9
testmmac/db/asynRecord.db Normal file
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record(asyn,"$(P)$(R)")
{
field(DTYP,"asynRecordDevice")
field(PORT,"$(PORT)")
field(ADDR,"$(ADDR)")
field(OMAX,"$(OMAX)")
field(IMAX,"$(IMAX)")
}

23
testmmac/db/basic_asyn_motor.db Normal file
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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(DHLM,"$(DHLM)")
field(DLLM,"$(DLLM)")
field(INIT,"$(INIT)")
field(TWV,"1")
field(RDBD,"$(RDBD)")
field(RTRY,"0")
}

21
testmmac/db/basic_motor.db Normal file
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grecord(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,"$(BACC)")
field(OUT,"#C$(C) S$(S) @")
field(MRES,"$(MRES)")
field(PREC,"$(PREC)")
field(EGU,"$(EGU)")
field(DHLM,"$(DHLM)")
field(DLLM,"$(DLLM)")
field(INIT,"$(INIT)")
field(TWV,"1")
}

18
testmmac/db/motorMessage.db Normal file
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# 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, "80")
field(SCAN, "I/O Intr")
}
record(ao,"$(P)m$(N)-Resolution"){
field(DESC,"m$(N) Resolution")
field(DOL,"$(P)m$(N).MRES CP MS")
field(OMSL,"closed_loop")
field(DTYP,"asynFloat64")
field(OUT,"@asyn($(PORT),$(N))MOTOR_RESOLUTION")
field(PREC,"3")
}

14
testmmac/db/pmacV3.db Normal file
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# enable axis
record(longout, "$(P)$(M):Enable") {
field(DTYP, "asynInt32")
field(OUT, "@asyn($(PORT),$(N),1) ENABLE_AXIS")
field(PINI, "YES")
}
# enable axis
record(longin, "$(P)$(M):Enable_RBV") {
field(DTYP, "asynInt32")
field(INP, "@asyn($(PORT),$(N),1) AXIS_ENABLED")
field(PINI, "YES")
field(SCAN, "1 second")
}

47
testmmac/db/sinq_asyn_motor.db Normal file
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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(DHLM,"$(DHLM)")
field(DLLM,"$(DLLM)")
field(INIT,"$(INIT)")
field(TWV,"1")
field(RDBD,"$(RDBD)")
}
# 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, "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, "YES")
}
# enable axis
record(longin, "$(P)$(M):Enable_RBV") {
field(DTYP, "asynInt32")
field(INP, "@asyn($(PORT),$(N),1) AXIS_ENABLED")
field(PINI, "YES")
field(SCAN, "5 second")
}

15
testmmac/mmacs.sub Normal file
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file "$(TOP)/db/basic_asyn_motor.db"
{
pattern
{P, N, M, DTYP, PORT, ADDR, DESC, EGU, DIR, VELO, VBAS, ACCL, BDST, BVEL, BACC, MRES, PREC, DLLM, DHLM, INIT}
{KM36:mota:, 5, "m$(N)", "asynMotor", mota, 5, "m5", degree, Pos, 2.0, 0.1, .2, 0, 1, .2, 1., 3, -20.0, 20.0, ""}
{KM36:mota:, 6, "m$(N)", "asynMotor", mota, 6, "m6", degree, Pos, 2.0, 0.1, .2, 0, 1, .2, 1., 3, -20.0, 20.0, ""}
}
file "$(TOP)/db/motorMessage.db"
{
pattern
{P,N, M,PORT}
{KM36:mota:, 5, "m$(N)",mota}
{KM36:mota:, 6, "m$(N)",mota}
}

8
testmmac/mmacs2.sub Normal file
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file "$(TOP)/db/sinq_asyn_motor.db"
{
pattern
{P, N, M, DTYP, PORT, ADDR, DESC, EGU, DIR, VELO, VBAS, ACCL, BDST, BVEL, BACC, MRES, PREC, DLLM, DHLM, RDBD, INIT}
{KM36:mota:,5,"m$(N)","asynMotor", mota, 5, "m5", degree, Pos, 2.0, 0.1, .2, 0, 1, .2, .001, 3,-400000.000,400000.000,.01, ""}
{KM36:mota:,6,"m$(N)","asynMotor", mota, 6, "m6", degree, Pos, 2.0, 0.1, .2, 0, 1, .2, .001, 3,-200000.000,200000.000,.01, ""}
}

13
testmmac/mota.sub Normal file
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file "$(TOP)/db/basic_asyn_motor.db"
{
pattern
{P, N, M, DTYP, PORT, ADDR, DESC, EGU, DIR, VELO, VBAS, ACCL, BDST, BVEL, BACC, MRES, PREC, DLLM, DHLM, INIT}
{KM36:mota:, 2, "m$(N)", "asynMotor", mota, 2, "sgl", degree, Pos, 2.0, 0.1, .2, 0, 1, .2, 1., 3, -20.0, 20.0, ""}
}
file "$(TOP)/db/motorMessage.db"
{
pattern
{P,N, M,PORT}
{KM36:mota:, 2, "m$(N)",mota}
}

12
testmmac/motaspeed.sub Normal file
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file "$(TOP)/db/sinq_asyn_motor.db"
{
pattern
{P, N, M, DTYP, PORT, ADDR, DESC, EGU, DIR, VELO, VBAS, ACCL, BDST, BVEL, BACC, MRES, PREC, DLLM, DHLM, INIT, RDBD}
{KM36:mota:,2,"m$(N)","asynMotor", mota, 2, "sgl", degree, Pos, 100, 0.1, .2, 0, 1, .2, 1., 3,-180.0,360.0,"", 0.2}}
file "$(TOP)/db/motorMessage.db"
{
pattern
{P,N, M,PORT}
{KM36:mota:, 2, "m$(N)",mota}
}

19
testmmac/testmmacs.cmd Executable file
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#!/usr/local/bin/iocsh
require sinq,koennecke
epicsEnvSet("TOP","/afs/psi.ch/project/sinqdev/sinqepicsapp/testmmac")
#drvAsynMMACSPortConfigure("macs1", "localhost:8080",0,0,0)
#asynInterposeEosConfig("macs1", 0, 0, 0)
#dbLoadRecords("$(TOP)/db/asynRecord.db","P=KM36:,R=macs1,PORT=macs1,ADDR=0,OMAX=80,IMAX=80")
#asynSetTraceMask("macs1", 0, 255)
drvAsynIPPortConfigure("macs1", "localhost:8080",0,0,0)
#asynSetTraceMask("macs1", 0, 255)
MasterMACSCreateController("mota","macs1",7)
MasterMACSCreateAxis("mota",5)
MasterMACSCreateAxis("mota",6)
dbLoadTemplate "mmacs2.sub"