Included the possibility to vary the motor speed.

Makefile

@@ -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

README.md

@@ -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.
+These functions are parametrized as follows:
-
-## 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:
-
 ```
-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)
+pmacv3Controller(
-require pmacv3, x.x.x # This is the three-digit version number of the pmacv3 module
+    "$(NAME)", # Name of the MCU, e.g. mcu1. This parameter should be provided by an environment variable.
-dbLoadTemplate "motor.substitutions"
+    "$(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:
+### Versioning
-```
-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
 
 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.

db/pmacv3.db

@@ -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")

src/pmacv3Axis.cpp

@@ -951,18 +951,7 @@ asynStatus pmacv3Axis::rereadEncoder() {
 
     // Abort if the axis is incremental
     if (strcmp(encoderType, IncrementalEncoder) == 1) {
-        asynPrint(pC_->pasynUserSelf, ASYN_TRACE_WARNING,
+        return asynSuccess;
-                  "%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;
     }
 
     // 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;