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- Many improvements to the MasterMACS driver

Browse Source 
- Slowing down the pmac driver
- Fixing a bug in the Nanotec driver which caused an IOC crash when the
  motor sends bad data
This commit is contained in:
koennecke
2023-08-28 15:01:48 +02:00
parent 7a81e2c5a0
commit e3ac2962f5
14 changed files with 928 additions and 698 deletions
Download Patch File Download Diff File Expand all files Collapse all files

9
testhuber/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
testhuber/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
testhuber/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
testhuber/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
testhuber/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
testhuber/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")
}

33
testhuber/huber.cmd Executable file
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#!/ioc/tools/iocsh
require motorHuber,brambilla_m
# epicsEnvSet("TOP","/ioc/sinq-ioc/boa-ioc")
epicsEnvSet("TOP","/afs/psi.ch/project/sinqdev/sinqepicsapp/testhuber")
epicsEnvSet("STREAM_PROTOCOL_PATH","./db")
epicsEnvSet("MOTOR",".")
# require autosave, koennecke
# Configure IP Port
drvAsynIPPortConfigure("Huber1", "129.129.195.128:1234",0,0,0)
# Configure Controller
asynOctetSetInputEos( "Huber1", -1, "\r")
asynOctetSetOutputEos("Huber1", -1, "\r")
SMC9300CreateController("SMC1", "Huber1", 5, 50, 2000)
dbLoadTemplate "motor.substitutions.smc9300"
dbLoadRecords("$(TOP)/db/asynRecord.db","P=SQ:BOA:optics:,R=mcu,PORT=Huber1,ADDR=0,OMAX=80,IMAX=80")
#--------------------------------- restore autosave
#set_requestfile_path("$(TOP)", "")
#set_savefile_path("$(TOP)/autosave")
#save_restoreSet_Debug(0)
#set_pass0_restoreFile("$(TOP)/autosave/huber.sav","")
#set_pass1_restoreFile("$(TOP)/autosave/huber.sav","")

19
testhuber/motor.substitutions.smc9300 Normal file
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file "$(MOTOR)/db/basic_asyn_motor.db"
{
pattern
{P, N, M, DTYP, PORT, ADDR,DESC, EGU, DIR, VELO, VBAS, ACCL, BDST, BVEL, BACC, MRES, PREC, DHLM, DLLM, RDBD, INIT}
{SQ:BOA:optics:, 1, "trans1","asynMotor", SMC1, 1, "translation 1",mm, Pos, 200, 10, 20, 0, 1, .2, 0.0001, 4, 150, -150, 0.1, ""}
{SQ:BOA:optics:, 2, "lift1", "asynMotor", SMC1, 2, "lift 1", mm, Pos, 200, 10, 80, 0, 1, .2, 0.0001, 4, 100, 0, 0.1, ""}
{SQ:BOA:optics:, 3, "trans2","asynMotor", SMC1, 3, "translation 2",mm, Pos, 200, 10, 80, 0, 1, .2, 0.0001, 4, 150, -150, 0.1, ""}
{SQ:BOA:optics:, 4, "lift2", "asynMotor", SMC1, 4, "lift 2" ,mm, Pos, 200, 10, 80, 0, 1, .2, 0.0001, 4, 100, 0, 0.1, ""}
}
file "$(TOP)/db/motorMessage.db"
{
pattern
{P,N, M,PORT}
{SQ:BOA:optics:, 1, "trans1", SMC1}
{SQ:BOA:optics:, 2, "lift1", SMC1}
{SQ:BOA:optics:, 3, "trans2", SMC1}
{SQ:BOA:optics:, 4, "lift2", SMC1}
}