Bumped the required version of sinqMotor

- Enable, EnableRBV and CanDisable
- EncoderType
- Removed function isEnabled as it is no longer required from sinqMotor
0.5.0

Makefile

@@ -11,7 +11,7 @@ REQUIRED+=asynMotor
 REQUIRED+=sinqMotor
 
 # Specify the version of sinqMotor we want to build against
-sinqMotor_VERSION=0.4.0
+sinqMotor_VERSION=0.6.0
 
 # These headers allow to depend on this library for derived drivers.
 HEADERS += src/pmacv3Axis.h

db/pmacv3.db

@@ -1,18 +1,7 @@
-# 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 encoderType -> ENCODER_TYPE.
-record(waveform, "$(INSTR)$(M):Encoder_Type") {
-    field(DTYP, "asynOctetRead")
-    field(INP, "@asyn($(CONTROLLER),$(AXIS),1) ENCODER_TYPE")
-    field(FTVL, "CHAR")
-    field(NELM, "80")
-    field(SCAN, "I/O Intr")
-}
-
 # Trigger a rereading of the encoder. This action is sometimes necessary for 
 # absolute encoders after enabling them. For incremental encoders, this is a no-op.
 # This record is coupled to the parameter library via rereadEncoderPosition_ -> REREAD_ENCODER_POSITION.
-record(longout, "$(INSTR)$(M):Reread_Encoder") {
+record(longout, "$(INSTR)$(M):RereadEncoder") {
     field(DTYP, "asynInt32")
     field(OUT, "@asyn($(CONTROLLER),$(AXIS),1) REREAD_ENCODER_POSITION")
     field(PINI, "NO")
@@ -23,7 +12,7 @@ record(longout, "$(INSTR)$(M):Reread_Encoder") {
 # once at IOC startup during atFirstPoll. However, it can be triggered manually
 # by setting this record value to 1.
 # This record is coupled to the parameter library via readConfig_ -> READ_CONFIG.
-record(longout, "$(INSTR)$(M):Read_Config") {
+record(longout, "$(INSTR)$(M):ReadConfig") {
     field(DTYP, "asynInt32")
     field(OUT, "@asyn($(CONTROLLER),$(AXIS),1) READ_CONFIG")
     field(PINI, "NO")

src/pmacv3Axis.cpp

@@ -50,6 +50,16 @@ pmacv3Axis::pmacv3Axis(pmacv3Controller *pC, int axisNo)
         exit(-1);
     }
 
+    status = pC_->setIntegerParam(axisNo_, pC_->motorEnableRBV_, 0);
+    if (status != asynSuccess) {
+        asynPrint(
+            pC_->pasynUserSelf, ASYN_TRACE_ERROR,
+            "%s => line %d:\nFATAL ERROR (setting a parameter value failed "
+            "with %s)\n. Terminating IOC",
+            __PRETTY_FUNCTION__, __LINE__, pC_->stringifyAsynStatus(status));
+        exit(-1);
+    }
+
     status = pC_->setDoubleParam(axisNo_, pC_->motorPosition_, 0.0);
     if (status != asynSuccess) {
         asynPrint(
@@ -73,7 +83,17 @@ pmacv3Axis::~pmacv3Axis(void) {
 /**
 Read the configuration at the first poll
  */
-asynStatus pmacv3Axis::atFirstPoll() { return readConfig(); }
+asynStatus pmacv3Axis::atFirstPoll() {
+    asynStatus status = asynSuccess;
+
+    // pmacv3 motors can always be disabled
+    status = pC_->setIntegerParam(axisNo_, pC_->motorCanDisable_, 1);
+    if (status != asynSuccess) {
+        return pC_->paramLibAccessFailed(status, "motorCanDisable_",
+                                         __PRETTY_FUNCTION__, __LINE__);
+    }
+    return readConfig();
+}
 
 /*
 Read the configuration from the motor control unit and the parameter library.
@@ -284,6 +304,14 @@ asynStatus pmacv3Axis::doPoll(bool *moving) {
     // Store the axis status
     axisStatus_ = axStatus;
 
+    // Update the enablement PV
+    pl_status = setIntegerParam(pC_->motorEnableRBV_,
+                                (axStatus != -3 && axStatus != -5));
+    if (pl_status != asynSuccess) {
+        return pC_->paramLibAccessFailed(pl_status, "motorEnableRBV_",
+                                         __PRETTY_FUNCTION__, __LINE__);
+    }
+
     // Intepret the status
     switch (axStatus) {
     case -6:
@@ -608,13 +636,6 @@ asynStatus pmacv3Axis::doPoll(bool *moving) {
         }
     }
 
-    pl_status = setIntegerParam(pC_->motorEnableRBV_,
-                                (axStatus != -3 && axStatus != -5));
-    if (pl_status != asynSuccess) {
-        return pC_->paramLibAccessFailed(pl_status, "motorEnableRBV_",
-                                         __PRETTY_FUNCTION__, __LINE__);
-    }
-
     pl_status = setIntegerParam(pC_->motorStatusMoving_, *moving);
     if (pl_status != asynSuccess) {
         return pC_->paramLibAccessFailed(pl_status, "motorStatusMoving_",
@@ -950,7 +971,11 @@ asynStatus pmacv3Axis::rereadEncoder() {
     }
 
     // Abort if the axis is incremental
-    if (strcmp(encoderType, IncrementalEncoder) == 1) {
+    if (strcmp(encoderType, IncrementalEncoder) == 0) {
+        asynPrint(pC_->pasynUserSelf, ASYN_TRACE_FLOW,
+                  "%s => line %d:\nEncoder of axis %d is not reread because it "
+                  "is incremental.\n",
+                  __PRETTY_FUNCTION__, __LINE__, axisNo_);
         return asynSuccess;
     }
 
@@ -1123,8 +1148,3 @@ asynStatus pmacv3Axis::enable(bool on) {
     }
     return asynError;
 }
-
-asynStatus pmacv3Axis::isEnabled(bool *on) {
-    *on = (axisStatus_ != -3 && axisStatus_ != -5);
-    return asynSuccess;
-}

src/pmacv3Axis.h

@@ -88,15 +88,6 @@ class pmacv3Axis : public sinqAxis {
      */
     asynStatus enable(bool on);
 
-    /**
-     * @brief EThis function sets "on" to true, if the motor is enabled, and to
-     * false otherwise
-     *
-     * @param on
-     * @return asynStatus
-     */
-    asynStatus isEnabled(bool *on);
-
     /**
      * @brief Read the encoder type (incremental or absolute) for this axis from
      * the MCU and store the information in the PV ENCODER_TYPE.

src/pmacv3Controller.cpp

@@ -51,12 +51,10 @@ pmacv3Controller::pmacv3Controller(const char *portName,
           portName, ipPortConfigName, numAxes, movingPollPeriod, idlePollPeriod,
           /*
           The following parameter library entries are added in this driver:
-          - ENCODER_TYPE
           - REREAD_ENCODER_POSITION
           - READ_CONFIG
-          - ACCEL_FROM_DRIVER
           */
-          4)
+          NUM_PMACV3_DRIVER_PARAMS)
 
 {
 
@@ -85,15 +83,6 @@ pmacv3Controller::pmacv3Controller(const char *portName,
     // =========================================================================
     // Create additional parameter library entries
 
-    status = createParam("ENCODER_TYPE", asynParamOctet, &encoderType_);
-    if (status != asynSuccess) {
-        asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
-                  "%s => line %d:\nFATAL ERROR (creating a parameter failed "
-                  "with %s).\nTerminating IOC",
-                  __PRETTY_FUNCTION__, __LINE__, stringifyAsynStatus(status));
-        exit(-1);
-    }
-
     status = createParam("REREAD_ENCODER_POSITION", asynParamInt32,
                          &rereadEncoderPosition_);
     if (status != asynSuccess) {
@@ -426,6 +415,16 @@ asynStatus pmacv3Controller::writeInt32(asynUser *pasynUser, epicsInt32 value) {
     }
 }
 
+asynStatus sinqController::readInt32(asynUser *pasynUser, epicsInt32 *value) {
+    // PMACs can be disabled
+    if (pasynUser->reason == motorCanDisable_) {
+        *value = 1;
+        return asynSuccess;
+    } else {
+        return asynMotorController::readInt32(pasynUser, value);
+    }
+}
+
 asynStatus pmacv3Controller::errMsgCouldNotParseResponse(
     const char *command, const char *response, int axisNo,
     const char *functionName, int lineNumber) {

src/pmacv3Controller.h

@@ -12,9 +12,6 @@
 #include "sinqAxis.h"
 #include "sinqController.h"
 
-#define IncrementalEncoder "Incremental encoder"
-#define AbsoluteEncoder "Absolute encoder"
-
 class pmacv3Controller : public sinqController {
 
   public:
@@ -127,11 +124,13 @@ class pmacv3Controller : public sinqController {
     double comTimeout_;
 
     // Indices of additional PVs
+#define FIRST_PMACV3_PARAM rereadEncoderPosition_
     int rereadEncoderPosition_;
     int readConfig_;
-    int encoderType_;
+#define LAST_PMACV3_PARAM readConfig_
 
     friend class pmacv3Axis;
 };
+#define NUM_PMACV3_DRIVER_PARAMS (&LAST_PMACV3_PARAM - &FIRST_PMACV3_PARAM + 1)
 
 #endif /* pmacv3Controller_H */