lin-epics-modules/turboPmac
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Included the possibility to vary the motor speed.

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mathis_s
2024-12-05 11:16:44 +01:00
parent 2e2c24238b
commit 3ee507086a
4 changed files with 35 additions and 50 deletions
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2
Makefile
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@ -11,7 +11,7 @@ REQUIRED+=asynMotor
REQUIRED+=sinqMotor
# Specify the version of sinqMotor we want to build against
sinqMotor_VERSION=mathis_s
sinqMotor_VERSION=0.4.0
# These headers allow to depend on this library for derived drivers.
HEADERS += src/pmacv3Axis.h

59
README.md
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@ -4,50 +4,39 @@
This is a driver for the pmacV3 motion controller with the SINQ communication protocol. It is based on the sinqMotor shared library (https://git.psi.ch/sinq-epics-modules/sinqmotor). The header files contain detailed documentation for all public functions. The headers themselves are exported when building the library to allow other drivers to depend on this one.
## Usage in IOC shell
## User guide
This driver is a standard sinqMotor-derived driver and does not need any specific configuration. For the general configuration, please see https://git.psi.ch/sinq-epics-modules/sinqmotor/-/blob/main/README.md.
## Developer guide
### Usage in IOC shell
pmacv3 exposes the following IOC shell functions (all in pmacv3Controller.cpp):
- `pmacv3Controller`: Create a new controller object.
- `pmacv3Axis`: Create a new axis object.
The function arguments are documented directly within the source code or are available from the help function of the IOC shell.
## Database
The pmacV3 module provides additional PVs in the database template db/pmacv3.db. It can be parametrized with the `dbLoadTemplate` function from the IOC shell:
These functions are parametrized as follows:
```
require sinqMotor, y.y.y # The sinqMotor module is needed for the pmacv3 module. The version y.y.y is defined in the Makefile (line sinqMotor_VERSION=x.x.x)
require pmacv3, x.x.x # This is the three-digit version number of the pmacv3 module
dbLoadTemplate "motor.substitutions"
pmacv3Controller(
"$(NAME)", # Name of the MCU, e.g. mcu1. This parameter should be provided by an environment variable.
"$(ASYN_PORT)", # IP-Port of the MCU. This parameter should be provided by an environment variable.
8, # Maximum number of axes
0.05, # Busy poll period in seconds
1, # Idle poll period in seconds
0.05 # Communication timeout in seconds
);
```
```
pmacv3Axis(
"$(NAME)", # Name of the associated MCU, e.g. mcu1. This parameter should be provided by an environment variable.
1 # Index of the axis.
);
```
The substitutions file can be concatenated with that of sinqMotor:
```
file "$(sinqMotor_DB)/sinqMotor.db"
{
pattern
...
}
file "$(pmacv3_DB)/pmacv3.db"
{
pattern
{ AXIS, M}
{ 1, "lin1"}
{ 2, "rot1"}
}
```
The sinqMotor pattern "..." is documented in https://git.psi.ch/sinq-epics-modules/sinqmotor/-/blob/main/README.md.
The other parameters have the following meaning:
- `AXIS`: Index of the axis, corresponds to the physical connection of the axis to the MCU
- `M`: Name of the motor as shown in EPICS
The axis name should correspond to that of the sinqMotor pattern with the same respective index.
## Versioning
### Versioning
Please see the documentation for the module sinqMotor: https://git.psi.ch/sinq-epics-modules/sinqmotor/-/blob/main/README.md.
## How to build it
### How to build it
Please see the documentation for the module sinqMotor: https://git.psi.ch/sinq-epics-modules/sinqmotor/-/blob/main/README.md.

2
db/pmacv3.db
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@ -1,6 +1,6 @@
# Read out the encoder type in human-readable form. The output numbers can be
# interpreted as ASCII.
# This record is coupled to the parameter library via motorEnable_ -> MOTOR_ENABLE.
# This record is coupled to the parameter library via encoderType -> ENCODER_TYPE.
record(waveform, "$(INSTR)$(M):Encoder_Type") {
field(DTYP, "asynOctetRead")
field(INP, "@asyn($(CONTROLLER),$(AXIS),1) ENCODER_TYPE")

22
src/pmacv3Axis.cpp
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@ -951,18 +951,7 @@ asynStatus pmacv3Axis::rereadEncoder() {
// Abort if the axis is incremental
if (strcmp(encoderType, IncrementalEncoder) == 1) {
asynPrint(pC_->pasynUserSelf, ASYN_TRACE_WARNING,
"%s => line %d:\nTrying to reread absolute encoder of "
"axis %d on controller %s, but it is a relative encoder.\n",
__PRETTY_FUNCTION__, __LINE__, axisNo_, pC_->portName);
pl_status = setStringParam(pC_->motorMessageText_,
"Cannot reread an incremental encoder.");
if (pl_status != asynSuccess) {
return pC_->paramLibAccessFailed(pl_status, "motorMessageText_",
__PRETTY_FUNCTION__, __LINE__);
}
return asynError;
return asynSuccess;
}
// Check if the axis is disabled. If not, inform the user that this
@ -1062,6 +1051,14 @@ asynStatus pmacv3Axis::enable(bool on) {
return asynSuccess;
}
// Reread the encoder, if the axis is going to be enabled
if (on != 0) {
rw_status = rereadEncoder();
if (rw_status != asynSuccess) {
return rw_status;
}
}
// Enable / disable the axis if it is not moving
snprintf(command, sizeof(command), "M%2.2d14=%d", axisNo_, on);
asynPrint(pC_->pasynUserSelf, ASYN_TRACE_FLOW,
@ -1077,7 +1074,6 @@ asynStatus pmacv3Axis::enable(bool on) {
return pC_->paramLibAccessFailed(pl_status, "motorMessageText_",
__PRETTY_FUNCTION__, __LINE__);
}
rw_status = pC_->writeRead(axisNo_, command, response, 0);
if (rw_status != asynSuccess) {
return rw_status;