Updated EuromoveDriver to work with Prologix GPIB-Ethernet

Improved threshold handling on EL737
Minor changes

Makefile.RHEL7

@@ -4,10 +4,12 @@ include /ioc/tools/driver.makefile
 MODULE=sinq
 LIBVERSION=koennecke
 BUILDCLASSES=Linux
+EPICS_VERSIONS=3.14.12
 
 # additional module dependencies
 REQUIRED+=SynApps
 REQUIRED+=stream
+REQUIRED+=scaler
 
 # using a test version
 scaler_VERSION=koennecke

iocBoot/iocsinqEPICS/euromovetest.cmd

@@ -9,9 +9,10 @@ cd ${TOP}
 
 
 
-drvAsynIPPortConfigure("serial1", "amor-ts:3002",0,0,0)
+drvAsynIPPortConfigure("serial1", "129.129.195.83:1234",0,0,0)
+#drvAsynIPPortConfigure("serial1", "amor-ts:3002",0,0,0)
 #drvAsynIPPortConfigure("serial1", "localhost:9090",0,0,0)
-EuroMoveCreateController("llb","serial1",1);
+EuroMoveCreateController("llb","serial1", 10, 1);
 
 ### Motors
 

sinqEPICSApp/src/EL734Driver.cpp

@@ -147,7 +147,7 @@ asynStatus EL734Controller::transactController(int axisNo,char command[COMLEN],
   pasynOctetSyncIO->flush(pasynUserController_);
   
   status = pasynOctetSyncIO->writeRead(pasynUserController_, command, strlen(command),
-				       reply,COMLEN, 1.,&out,&in,&reason); 
+				       reply,COMLEN, 2.,&out,&in,&reason); 
   if(status != asynSuccess){
     if(axis!= NULL){
       axis->updateMsgTxtFromDriver("Lost connection to motor controller");
@@ -409,17 +409,19 @@ asynStatus EL734Axis::poll(bool *moving)
   }
   count = sscanf(reply,"%lf", &position);
   if(count != 1) {
-    snprintf(errTxt,sizeof(errTxt),"Bad reply %s when reading position for %d", reply, axisNo_);
+    if(!homing) {
-    setIntegerParam(pC_->motorStatusProblem_, true);
+      snprintf(errTxt,sizeof(errTxt),"Bad reply %s when reading position for %d", reply, axisNo_);
-    errorReported = 1;
+      setIntegerParam(pC_->motorStatusProblem_, true);
-    updateMsgTxtFromDriver(errTxt);
+      errorReported = 1;
-    comStatus = asynError;
+      updateMsgTxtFromDriver(errTxt);
-    goto skip;
+      comStatus = asynError;
+      goto skip;
+    }
+  } else {
+    //errlogPrintf("Axis %d, reply %s, position %lf\n", axisNo_, reply, position);
+    setDoubleParam(pC_->motorPosition_, position*1000);
+    //setDoubleParam(pC_->motorEncoderPosition_, position);
   }
-  //errlogPrintf("Axis %d, reply %s, position %lf\n", axisNo_, reply, position);
-  setDoubleParam(pC_->motorPosition_, position*1000);
-  //setDoubleParam(pC_->motorEncoderPosition_, position);
-  
 
   // Read the moving status of this motor
   sprintf(command,"msr %d",axisNo_);

sinqEPICSApp/src/EuroMoveDriver.cpp

@@ -5,6 +5,9 @@ USAGE...    Motor driver support for the EuroMove motor controller from LLB.
 This is a driver for the EuroMove motor controller from LLB. This device talks to us either via 
 GPIB or USB. The controller is fairly simple. It can control quite a number of motors. 
 
+Reworked in 06/2021 to work with the Prologix GPIV-Ethernte converter
+
+mark.koennecke@psi.ch
 */
 
 
@@ -32,11 +35,14 @@ GPIB or USB. The controller is fairly simple. It can control quite a number of m
   * \param[in] EuroMovePortName     The name of the drvAsynSerialPort that was created previously to connect to the EuroMove controller 
   * \param[in] numAxes           The number of axes that this controller supports 
   */
-EuroMoveController::EuroMoveController(const char *portName, const char *EuroMovePortName, int numAxis)
+EuroMoveController::EuroMoveController(const char *portName, const char *EuroMovePortName, int gpibAddr, int numAxis)
   :  SINQController(portName, EuroMovePortName,numAxis+1) 
 {
   asynStatus status;
   static const char *functionName = "EuroMoveController::EuroMoveController";
+  size_t out, in;
+  int reason;
+  char command[80], reply[80];
 
   /* Connect to EuroMove controller */
   status = pasynOctetSyncIO->connect(EuroMovePortName, 0, &pasynUserController_, NULL);
@@ -45,9 +51,27 @@ EuroMoveController::EuroMoveController(const char *portName, const char *EuroMov
       "%s: cannot connect to EuroMove controller\n",
       functionName);
   }
-  const char *terminator = "\r";
+  const char *terminator = "\r\n";
   pasynOctetSyncIO->setOutputEos(pasynUserController_,terminator,strlen(terminator));
-  pasynOctetSyncIO->setInputEos(pasynUserController_,terminator,strlen(terminator));
+  const char *repTerminator = "\r";
+  pasynOctetSyncIO->setInputEos(pasynUserController_,repTerminator,strlen(repTerminator));
+
+  /* Save gpib address and prepare addr string */
+  this->gpibAddr = gpibAddr;
+  snprintf(addrCommand,strlen(addrCommand), "++addr %d", gpibAddr);
+
+  /* 
+     Configure the Prologix interface to our liking
+     The thing sends no response on configuration commands
+  */
+  strcpy(command,"++mode 1"); /* Make it a controller */
+  status = pasynOctetSyncIO->write(pasynUserController_, command, strlen(command), 2, &out); 
+  strcpy(command,"++auto 1"); /* ask for response automatically */
+  status = pasynOctetSyncIO->write(pasynUserController_, command, strlen(command), 2, &out); 
+  strcpy(command,"++eos 1"); /* CR */
+  status = pasynOctetSyncIO->write(pasynUserController_, command, strlen(command), 2, &out); 
+  
+
 
   for(int i = 0; i < numAxis; i++){ 
     new EuroMoveAxis(this, i+1);
@@ -59,12 +83,13 @@ EuroMoveController::EuroMoveController(const char *portName, const char *EuroMov
 /** Creates a new EuroMoveController object.
   * Configuration command, called directly or from iocsh
   * \param[in] portName          The name of the asyn port that will be created for this driver
-  * \param[in] EuroMovePortName       The name of the drvAsynIPPPort that was created previously to connect to the EuroMove controller 
+  * \param[in] EuroMovePortName  The name of the drvAsynIPPPort that was created previously to connect to the EuroMove controller 
+  * \param[in] gpibAddr          The address of the controller on the GPIB bus
   * \param[in] numAxes           The number of axes that this controller supports 
   */
-extern "C" int EuroMoveCreateController(const char *portName, const char *EuroMovePortName, const int numAxis)
+extern "C" int EuroMoveCreateController(const char *portName, const char *EuroMovePortName, const int gpibAddr, const int numAxis)
 {
-  new EuroMoveController(portName, EuroMovePortName, numAxis);
+  new EuroMoveController(portName, EuroMovePortName, gpibAddr, numAxis);
   return(asynSuccess);
 }
 
@@ -119,7 +144,17 @@ asynStatus EuroMoveController::transactController(int axisNo,char command[COMLEN
 
   pasynOctetSyncIO->flush(pasynUserController_);
   
-
+  /* set address first */
+  status = pasynOctetSyncIO->write(pasynUserController_, this->addrCommand, strlen(this->addrCommand), 2, &out); 
+  if(status != asynSuccess){
+    if(axis!= NULL){
+      axis->updateMsgTxtFromDriver("Lost connection to motor controller");
+      errlogPrintf("Lost connection to motor controller\n");
+    }
+    return status;
+  }
+  
+  /* now the actual command */
   status = pasynOctetSyncIO->writeRead(pasynUserController_, command, strlen(command),
 				       reply,sizeof(reply), 10.,&out,&in,&reason); 
   if(status != asynSuccess){
@@ -606,15 +641,17 @@ static void EuroMoveConfigCallFunc(const iocshArgBuf *args)
 /** Code for iocsh registration */
 static const iocshArg EuroMoveCreateControllerArg0 = {"Port name", iocshArgString};
 static const iocshArg EuroMoveCreateControllerArg1 = {"EuroMove port name", iocshArgString};
-static const iocshArg EuroMoveCreateControllerArg2 = {"Number of axis", iocshArgInt};
+static const iocshArg EuroMoveCreateControllerArg2 = {"GPIB Address", iocshArgInt};
+static const iocshArg EuroMoveCreateControllerArg3 = {"Number of axis", iocshArgInt};
 static const iocshArg * const EuroMoveCreateControllerArgs[] = {&EuroMoveCreateControllerArg0,
                                                              &EuroMoveCreateControllerArg1,
-								&EuroMoveCreateControllerArg2
+								&EuroMoveCreateControllerArg2,
+								&EuroMoveCreateControllerArg3
 };
-static const iocshFuncDef EuroMoveCreateControllerDef = {"EuroMoveCreateController", 3, EuroMoveCreateControllerArgs};
+static const iocshFuncDef EuroMoveCreateControllerDef = {"EuroMoveCreateController", 4, EuroMoveCreateControllerArgs};
 static void EuroMoveCreateControllerCallFunc(const iocshArgBuf *args)
 {
-  EuroMoveCreateController(args[0].sval, args[1].sval, args[2].ival);
+  EuroMoveCreateController(args[0].sval, args[1].sval, args[2].ival, args[3].ival);
 }
 
 static void EuroMoveRegister(void)

sinqEPICSApp/src/EuroMoveDriver.h

@@ -53,7 +53,7 @@ private:
 
 class EuroMoveController : public SINQController {
 public:
-  EuroMoveController(const char *portName, const char *EuroMovePortName, const int nAxis);
+  EuroMoveController(const char *portName, const char *EuroMovePortName, const int gpibAddr, const int nAxis);
 
   void report(FILE *fp, int level);
   EuroMoveAxis* getAxis(asynUser *pasynUser);
@@ -63,6 +63,8 @@ public:
 friend class EuroMoveAxis;
  private:
  asynUser *pasynUserController_;
+ unsigned int gpibAddr;
+ char addrCommand[50];
 
  asynStatus transactController(int axisNo, char command[COMLEN], char reply[COMLEN]);
 

sinqEPICSApp/src/devScalerEL737.c

@@ -27,7 +27,7 @@
  *
  * Mark Koennecke, February 2013
  *
- * Enhanced by adding an addtional external pause and status flag in the databse and code in here 
+ * Enhanced by adding an addtional external pause and status flag in the database and code in here 
  * to handle this. Moreover an external MsgTxt field in the DB can be filled with an error message.
  *
  * Mark Koennecke, July 2017
@@ -414,7 +414,7 @@ static void runEvents(EL737priv *priv)
     This is the better way to set the threshold rather then the old way below which uses 
     presets for that function. This one uses separate fields. 
   */
-  if(priv->dbInit == 1) {
+  if(priv->dbInit == 1 && priv->sendThreshold) {
     dbStatus = dbGetField(&priv->threshold,DBR_LONG,&myThreshold,&options, &nElements,NULL);
     if(dbStatus != 0){
 	  errSymLookup(dbStatus,errName,sizeof(errName));
@@ -425,34 +425,44 @@ static void runEvents(EL737priv *priv)
 	  we have to set the threshold
 	*/
 	dbStatus = dbGetField(&priv->threshCounter,DBR_LONG,&threshCounter, &options, &nElements,NULL);
-	if(dbStatus != 0){
+	if(dbStatus != 0) {
 	  errSymLookup(dbStatus,errName,sizeof(errName));
 	  errlogPrintf("Reading thresholdCounter failed with %s\n", errName);
 	} else {
-	  sprintf(command,"DL %d %d", (int)threshCounter,
+	  if(threshCounter > 0) {
-		  (int)myThreshold);
+            /* The threshCounter is valid */
-	  //errlogPrintf("Sending threshold command %s\n", command);
+	    sprintf(command,"DL %d %d", (int)threshCounter,
-	  status = el737_transactCommand(priv,command,reply);
+		    (int)myThreshold);
-	  sprintf(command,"DR %d", (int)threshCounter);
+	    errlogPrintf("Sending threshold command %s\n", command);
-	  status = el737_transactCommand(priv, command,reply);
+	    status = el737_transactCommand(priv,command,reply);
-	  if(status == asynSuccess){
+	    sprintf(command,"DR %d", (int)threshCounter);
-	    priv->sendThreshold  = 0;
+	    status = el737_transactCommand(priv, command,reply);
-	    priv->thresholdValue = myThreshold;
+	    if(status == asynSuccess){
+	      priv->sendThreshold  = 0;
+	      priv->thresholdValue = myThreshold;
+	    }
+	  } else {
+	    errlogPrintf("Invalid threshold monitor %ld, no threshold sent", threshCounter); 
 	  }
 	}
       }
     }
-  }
+  } 
 
-  if(priv->sendThreshold == 1){
+  if(priv->sendThreshold == 1) {
-    sprintf(command,"DL %d %d", (int)priv->presets[THRESHMON],
+    // fallback when we do not have the DB fields or threshCounter is invalid
-	    (int)priv->presets[THRESHVAL]);
+    if(priv->presets[THRESHMON] <= 0) {
-    //errlogPrintf("Sending threshold command %s\n", command);
+      errlogPrintf("Invalid threshold monitor %ld, no threshold sent", priv->presets[THRESHMON]); 
-    status = el737_transactCommand(priv,command,reply);
+    } else {
-    sprintf(command,"DR %d", (int)priv->presets[THRESHMON]);
+      sprintf(command,"DL %d %d", (int)priv->presets[THRESHMON],
-    status = el737_transactCommand(priv, command,reply);
+	      (int)priv->presets[THRESHVAL]);
-    if(status == asynSuccess){
+      errlogPrintf("Sending threshold from presets, command %s\n", command);
-      priv->sendThreshold  = 0;
+      status = el737_transactCommand(priv,command,reply);
+      sprintf(command,"DR %d", (int)priv->presets[THRESHMON]);
+      status = el737_transactCommand(priv, command,reply);
+      if(status == asynSuccess) {
+	priv->sendThreshold  = 0;
+      }
     }
   }
   
@@ -542,7 +552,6 @@ static void el737Thread(void *param)
     evStatus = epicsEventWaitWithTimeout(priv->wakeUp,timeout);
     //errlogPrintf("EL737 thread woke up with %d\n", evStatus);
 
-
     if(evStatus == epicsEventWaitOK) {
       /*
 	FEAR: we received a command!!!!

sinqEPICSApp/src/pmacAxis.cpp

@@ -594,7 +594,7 @@ asynStatus pmacHRPTAxis::getAxisStatus(bool *moving)
 
 /*================================= SeleneAxis code ======================================================*/
 SeleneAxis::SeleneAxis(SeleneController *pC, int axisNo, double limitTarget)
-  :   pmacAxis(pC, axisNo)
+  :   pmacAxis(pC, axisNo, false)
 {
   static const char *functionName = "pmacAxis::pmacAxis";