Fixed bug: Wrong scale used before

The correct scale from counts to engeering units is Qxx00.

src/turboPmacAxis.cpp

@@ -70,12 +70,13 @@ turboPmacAxis::turboPmacAxis(turboPmacController *pC, int axisNo,
         axes.push_back(this);
     }
 
-    pTurboPmacA_ = std::make_unique<turboPmacAxisImpl>(
-        (turboPmacAxisImpl){.waitForHandshake = false,
-                            .enableDisable = false,
-                            .timeAtHandshake = 0,
-                            .axisStatus = 0,
-                            .needInit = false});
+    pTurboPmacA_ = std::make_unique<turboPmacAxisImpl>((turboPmacAxisImpl){
+        .waitForHandshake = false,
+        .enableDisable = false,
+        .timeAtHandshake = 0,
+        .axisStatus = 0,
+        .needInit = false,
+    });
 
     // Provide initial values for some parameter library entries
     status = pC_->setIntegerParam(axisNo_, pC_->rereadEncoderPosition(), 0);
@@ -132,8 +133,16 @@ asynStatus turboPmacAxis::init() {
     double motorVelocity = 0.0;
     double motorVmax = 0.0;
     double motorAccel = 0.0;
-    int acoDelay = 0.0; // Offset time for the movement watchdog caused by
-                        // the air cushions in milliseconds.
+
+    // Conversion factor between engineering units (EU) and encoder counts
+    double counts_to_eu = 0.0;
+
+    // Deadband in counts. Can be a fraction of a count, hence double.
+    double deadband_counts = 0.0;
+
+    // Offset time for the movement watchdog caused by the air cushions in
+    // milliseconds.
+    int acoDelay = 0.0;
     int axStatus = 0;
 
     // The parameter library takes some time to be initialized. Therefore we
@@ -163,12 +172,16 @@ asynStatus turboPmacAxis::init() {
 
     /*
     Read out the axis status, the current position, current and maximum speed,
-    acceleration and the air cushion delay.
+    acceleration, the air cushion delay, the scaling factor between counts and
+    engineering units ([Qxx00] = engineering units / counts) and the deadband
+    Ixx65.
     */
     snprintf(command, sizeof(command),
-             "P%2.2d00 Q%2.2d10 Q%2.2d03 Q%2.2d04 Q%2.2d06 P%2.2d22", axisNo_,
-             axisNo_, axisNo_, axisNo_, axisNo_, axisNo_);
-    status = pC_->writeRead(axisNo_, command, response, 6);
+             "P%2.2d00 Q%2.2d10 Q%2.2d03 Q%2.2d04 Q%2.2d06 P%2.2d22 Q%2.2d00 "
+             "I%2.2d65",
+             axisNo_, axisNo_, axisNo_, axisNo_, axisNo_, axisNo_, axisNo_,
+             axisNo_);
+    status = pC_->writeRead(axisNo_, command, response, 8);
     if (status != asynSuccess) {
         asynPrint(
             pC_->pasynUser(), ASYN_TRACE_ERROR,
@@ -180,8 +193,9 @@ asynStatus turboPmacAxis::init() {
             pC_->portName, axisNo(), __PRETTY_FUNCTION__, __LINE__);
         pTurboPmacA_->needInit = true;
     }
-    nvals = sscanf(response, "%d %lf %lf %lf %lf %d", &axStatus, &motorPos,
-                   &motorVmax, &motorVelocity, &motorAccel, &acoDelay);
+    nvals = sscanf(response, "%d %lf %lf %lf %lf %d %lf %lf", &axStatus,
+                   &motorPos, &motorVmax, &motorVelocity, &motorAccel,
+                   &acoDelay, &counts_to_eu, &deadband_counts);
 
     // The acoDelay is given in milliseconds -> Convert to seconds, rounded up
     setOffsetMovTimeout(std::ceil(acoDelay / 1000.0));
@@ -191,7 +205,7 @@ asynStatus turboPmacAxis::init() {
     // here to mm/s^2.
     motorAccel = motorAccel * 1000;
 
-    if (nvals != 6) {
+    if (nvals != 8) {
         return pC_->couldNotParseResponse(command, response, axisNo_,
                                           __PRETTY_FUNCTION__, __LINE__);
     }
@@ -215,6 +229,26 @@ asynStatus turboPmacAxis::init() {
         return status;
     }
 
+    /*
+    Check if the new target position is within the range current position +/-
+    deadband. If that is the case, no movement command should be sent. This
+    functionality is implemented within the motor record itself, we just need to
+    populate the field SPDP (see record PushSPDB2Field in db/turboPmac.db)
+
+    First, the deadband is read out (Ixx65, see Turbo PMAC User Manual, p.
+    160). This value then needs to be converted into counts (by dividing it by
+    16). After words, the deadband in counts then need to be converted into
+    engineering units. For this, the scaling factor Qxx10 needs to be applied
+    (see SINQ_2G_MCU_SW_manual_rev7, p. 17):
+    [Qxx10] = engineering units (eu) / counts
+    deadband_eu = Qxx10 * Ixx65 / 16
+
+    The values of Qxx10 and Ixx65 are read out during initialization and are
+    assumed to not change during operation.
+    */
+    setAxisParamChecked(this, motorPositionDeadband,
+                        counts_to_eu * deadband_counts / 16.0);
+
     // Update the parameter library immediately
     status = callParamCallbacks();
     if (status != asynSuccess) {
@@ -752,7 +786,7 @@ asynStatus turboPmacAxis::doMove(double position, int relative,
 
     char command[pC_->MAXBUF_] = {0};
     char response[pC_->MAXBUF_] = {0};
-    double motorCoordinatesPosition = 0.0;
+    double motorTargetPosition = 0.0;
     double motorRecResolution = 0.0;
     double motorVelocity = 0.0;
     int enabled = 0;
@@ -773,13 +807,14 @@ asynStatus turboPmacAxis::doMove(double position, int relative,
     }
 
     // Convert from EPICS to user / motor units
-    motorCoordinatesPosition = position * motorRecResolution;
+    motorTargetPosition = position * motorRecResolution;
     motorVelocity = maxVelocity * motorRecResolution;
 
     asynPrint(pC_->pasynUser(), ASYN_TRACE_FLOW,
               "Controller \"%s\", axis %d  => %s, line %d\nStart of axis to "
               "position %lf.\n",
-              pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__, position);
+              pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
+              motorTargetPosition);
 
     // Check if the speed is allowed to be changed
     getAxisParamChecked(this, motorCanSetSpeed, &motorCanSetSpeed);
@@ -804,11 +839,11 @@ asynStatus turboPmacAxis::doMove(double position, int relative,
     if (relative) {
         snprintf(&command[writeOffset], sizeof(command) - writeOffset,
                  "P%2.2d23=0 Q%2.2d02=%lf M%2.2d=2", axisNo_, axisNo_,
-                 motorCoordinatesPosition, axisNo_);
+                 motorTargetPosition, axisNo_);
     } else {
         snprintf(&command[writeOffset], sizeof(command) - writeOffset,
                  "P%2.2d23=0 Q%2.2d01=%lf M%2.2d=1", axisNo_, axisNo_,
-                 motorCoordinatesPosition, axisNo_);
+                 motorTargetPosition, axisNo_);
     }
 
     // We don't expect an answer
@@ -820,7 +855,7 @@ asynStatus turboPmacAxis::doMove(double position, int relative,
             "Controller \"%s\", axis %d  => %s, line %d\nStarting movement to "
             "target position %lf failed.\n",
             pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
-            motorCoordinatesPosition);
+            motorTargetPosition);
         setAxisParamChecked(this, motorStatusProblem, true);
         return status;
     }

src/turboPmacController.cpp

@@ -47,7 +47,7 @@ struct turboPmacControllerImpl {
     int flushHardware;
     int limFromHardware;
 };
-#define NUM_turboPmac_DRIVER_PARAMS 3
+#define NUM_turboPmac_DRIVER_PARAMS 5
 
 turboPmacController::turboPmacController(const char *portName,
                                          const char *ipPortConfigName,