Fixed bug: Wrong scale used before

The correct scale from counts to engeering units is Qxx00.

.gitignore

@@ -1,8 +0,0 @@
-O.*
-.cvsignore
-.vscode
-src/.vscode
-utils/analyzeTcpDump/__pycache__
-utils/analyzeTcpDump/demo.pcap.json
-utils/analyzeTcpDump/demovenv
-utils/analyzeTcpDump/venv

Makefile

@@ -34,5 +34,4 @@ TEMPLATES += db/turboPmac.db
 DBDS += sinqMotor/src/sinqMotor.dbd
 DBDS += src/turboPmac.dbd
 
-USR_CFLAGS += -Wall -Wextra -Wunused-result -Werror -fvisibility=hidden # -Wpedantic // Does not work because EPICS macros trigger warnings
-USR_CXXFLAGS += -Wall -Wextra -Wunused-result -Werror -fvisibility=hidden 
+USR_CFLAGS += -Wall -Wextra -Wunused-result -Werror -fvisibility=hidden # -Wpedantic // Does not work because EPICS macros trigger warnings

README.md

@@ -4,26 +4,15 @@
 
 ## Overview
 
-This is a driver for the Turbo PMAC motion controller with the SINQ
-communication protocol. It is based on the sinqMotor shared library
-(https://gitea.psi.ch/lin-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.
+This is a driver for the Turbo PMAC motion controller with the SINQ communication protocol. It is based on the sinqMotor shared library (https://gitea.psi.ch/lin-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.
 
 ## User guide
 
-This driver is a standard sinqMotor-derived which however uses a special low
-level IP Port driver (`pmacAsynIPPortConfigure`) instead of the standard
-`drvAsynIPPortConfigure`. For the general configuration, please see
-https://gitea.psi.ch/lin-epics-modules/sinqMotor/src/branch/main/README.md.
+This driver is a standard sinqMotor-derived which however uses a special low level IP Port driver (`pmacAsynIPPortConfigure`) instead of the standard `drvAsynIPPortConfigure`. For the general configuration, please see https://gitea.psi.ch/lin-epics-modules/sinqMotor/src/branch/main/README.md.
 
-The folder "utils" contains utility scripts for working with pmac motor
-controllers. To read their manual, run the scripts without any arguments.
-- writeRead.py: Allows sending commands to and receiving commands from a pmac
-controller over an ethernet connection.
-- analyzeTcpDump.py: Parse the TCP communication between an IOC and a MCU and
-format it into a dictionary. "demo.py" shows how this data can be easily
-visualized for analysis.
+The folder "utils" contains utility scripts for working with pmac motor controllers. To read their manual, run the scripts without any arguments.
+- writeRead.py: Allows sending commands to and receiving commands from a pmac controller over an ethernet connection.
+- analyzeTcpDump.py: Parse the TCP communication between an IOC and a MCU and format it into a dictionary. "demo.py" shows how this data can be easily visualized for analysis.
 
 ### IOC startup script
 
@@ -33,15 +22,13 @@ turboPmac exports the following IOC shell functions:
 
 The full turboPmacX.cmd file looks like this:
 
-```bash
+```
 # Define the name of the controller and the corresponding port
 epicsEnvSet("DRIVER_PORT","turboPmacX")
 epicsEnvSet("IP_PORT","p$(DRIVER_PORT)")
 
-# Create the TCP/IP socket used to talk with the controller. The socket can be
-# adressed from within the IOC shell via the port name.
-# We do not use the standard asyn port driver here, but a PMAC-specific one
-# which enables the usage of StreamDevices for
+# Create the TCP/IP socket used to talk with the controller. The socket can be adressed from within the IOC shell via the port name.
+# We do not use the standard asyn port driver here, but a PMAC-specific one which enables the usage of StreamDevices for
 # communicating with the controller directly.
 pmacAsynIPPortConfigure("$(IP_PORT)","172.28.101.24:1025")
 
@@ -61,8 +48,7 @@ turboPmacAxis("$(DRIVER_PORT)",5);
 # Set the number of subsequent timeouts 
 setMaxSubsequentTimeouts("$(DRIVER_PORT)", 20);
 
-# Configure the timeout frequency watchdog: A maximum of 10 timeouts are allowed
-# in 300 seconds before an alarm message is sent.
+# Configure the timeout frequency watchdog: A maximum of 10 timeouts are allowed in 300 seconds before an alarm message is sent.
 setThresholdComTimeout("$(DRIVER_PORT)", 300, 10);
 
 # Parametrize the EPICS record database with the substitution file named after the MCU.
@@ -75,22 +61,14 @@ dbLoadRecords("$(turboPmac_DB)/asynRecord.db","P=$(INSTR)$(DRIVER_PORT),PORT=$(I
 
 ### Additional records
 
-`turboPmac` provides a variety of additional records. See `db/turboPmac.db` for
-the complete list and the documentation.
+`turboPmac` provides a variety of additional records. See `db/turboPmac.db` for the complete list and the documentation.
 
 ## Developer guide
 
 ### Versioning
 
-Please see the documentation for the module sinqMotor:
-https://gitea.psi.ch/lin-epics-modules/sinqMotor/src/branch/main/README.md.
+Please see the documentation for the module sinqMotor: https://gitea.psi.ch/lin-epics-modules/sinqMotor/src/branch/main/README.md.
 
 ### How to build it
 
-This driver can be compiled and installed by running `make install` from the
-same directory where the Makefile is located. However, since it uses the git
-submodule sinqMotor, make sure that the correct version of the submodule
-repository is checked out AND the change is commited (`git status` shows no
-non-committed changes). Please see the section "Usage as static dependency" in
-https://gitea.psi.ch/lin-epics-modules/sinqMotor/src/branch/main/README.md for
-more details.
+This driver can be compiled and installed by running `make install` from the same directory where the Makefile is located. However, since it uses the git submodule sinqMotor, make sure that the correct version of the submodule repository is checked out AND the change is commited (`git status` shows no non-committed changes). Please see the section "Usage as static dependency" in https://gitea.psi.ch/lin-epics-modules/sinqMotor/src/branch/main/README.md for more details.

src/turboPmacAxis.cpp

@@ -143,6 +143,7 @@ asynStatus turboPmacAxis::init() {
     // 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
     // wait until the status is not asynParamUndefined anymore.
@@ -176,9 +177,11 @@ asynStatus turboPmacAxis::init() {
     Ixx65.
     */
     snprintf(command, sizeof(command),
-             "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_);
-    status = pC_->writeRead(axisNo_, command, response, 7);
+             "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,
@@ -190,9 +193,9 @@ asynStatus turboPmacAxis::init() {
             pC_->portName, axisNo(), __PRETTY_FUNCTION__, __LINE__);
         pTurboPmacA_->needInit = true;
     }
-    nvals = sscanf(response, "%lf %lf %lf %lf %d %lf %lf", &motorPos,
-                   &motorVmax, &motorVelocity, &motorAccel, &acoDelay,
-                   &counts_to_eu, &deadband_counts);
+    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));
@@ -202,7 +205,7 @@ asynStatus turboPmacAxis::init() {
     // here to mm/s^2.
     motorAccel = motorAccel * 1000;
 
-    if (nvals != 7) {
+    if (nvals != 8) {
         return pC_->couldNotParseResponse(command, response, axisNo_,
                                           __PRETTY_FUNCTION__, __LINE__);
     }
@@ -552,6 +555,11 @@ asynStatus turboPmacAxis::doPoll(bool *moving) {
 
     errorStatus = handleError(error, userMessage, sizeof(userMessage));
 
+    // Update the parameter library
+    if (error != 0) {
+        setAxisParamChecked(this, motorStatusProblem, true);
+    }
+
     if (*moving == false) {
         setAxisParamChecked(this, motorMoveToHome, false);
     }
@@ -620,18 +628,16 @@ asynStatus turboPmacAxis::handleError(int error, char *userMessage,
         if (pC_->getMsgPrintControl().shouldBePrinted(
                 pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__, true,
                 pC_->pasynUser())) {
-            asynPrint(
-                pC_->pasynUser(), ASYN_TRACE_ERROR,
-                "Controller \"%s\", axis %d  => %s, line %d\nLost feedback "
-                "from auxiliary device during movement (P%2.2d01 = %d).%s\n",
-                pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__, axisNo_,
-                error, pC_->getMsgPrintControl().getSuffix());
+            asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
+                      "Controller \"%s\", axis %d  => %s, line %d\nAir cushion "
+                      "feedback stopped during movement (P%2.2d01 = %d).%s\n",
+                      pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
+                      axisNo_, error, pC_->getMsgPrintControl().getSuffix());
         }
-        snprintf(
-            userMessage, sizeUserMessage,
-            "Lost feedback from auxiliary device during movement (P%2.2d01 = "
-            "%d). Please call the support.",
-            axisNo_, error);
+        snprintf(userMessage, sizeUserMessage,
+                 "Air cushion feedback stopped during movement (P%2.2d01 = "
+                 "%d). Please call the support.",
+                 axisNo_, error);
         setAxisParamChecked(this, motorMessageText, userMessage);
         break;
     case 9:
@@ -640,17 +646,16 @@ asynStatus turboPmacAxis::handleError(int error, char *userMessage,
                 pC_->pasynUser())) {
             asynPrint(
                 pC_->pasynUser(), ASYN_TRACE_ERROR,
-                "Controller \"%s\", axis %d  => %s, line %d\nNo feedback from "
-                "auxiliary device before movement (P%2.2d01 = %d).%s\n",
+                "Controller \"%s\", axis %d  => %s, line %d\nNo air cushion "
+                "feedback before movement start (P%2.2d01 = %d).%s\n",
                 pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__, axisNo_,
                 error, pC_->getMsgPrintControl().getSuffix());
         }
 
-        snprintf(
-            userMessage, sizeUserMessage,
-            "No feedback from auxiliary device before movement (P%2.2d01 = "
-            "%d). Please call the support.",
-            axisNo_, error);
+        snprintf(userMessage, sizeUserMessage,
+                 "No air cushion feedback before movement start (P%2.2d01 = "
+                 "%d). Please call the support.",
+                 axisNo_, error);
         setAxisParamChecked(this, motorMessageText, userMessage);
         break;
     case 10:
@@ -790,10 +795,6 @@ asynStatus turboPmacAxis::doMove(double position, int relative,
 
     // =========================================================================
 
-    // Suppress unused variables warning
-    (void)minVelocity;
-    (void)acceleration;
-
     getAxisParamChecked(this, motorEnableRBV, &enabled);
     getAxisParamChecked(this, motorRecResolution, &motorRecResolution);
 
@@ -882,9 +883,6 @@ asynStatus turboPmacAxis::stop(double acceleration) {
 
     // =========================================================================
 
-    // Suppress unused variables warning
-    (void)acceleration;
-
     snprintf(command, sizeof(command), "M%2.2d=8", axisNo_);
     status = pC_->writeRead(axisNo_, command, response, 0);
 
@@ -949,7 +947,7 @@ asynStatus turboPmacAxis::doReset() {
 /*
 Home the axis. On absolute encoder systems, this is a no-op
 */
-asynStatus turboPmacAxis::doHome(double minVelocity, double maxVelocity,
+asynStatus turboPmacAxis::doHome(double min_velocity, double max_velocity,
                                  double acceleration, int forwards) {
 
     // Status of read-write-operations of ASCII commands to the controller
@@ -960,12 +958,6 @@ asynStatus turboPmacAxis::doHome(double minVelocity, double maxVelocity,
 
     // =========================================================================
 
-    // Suppress unused variables warning
-    (void)minVelocity;
-    (void)maxVelocity;
-    (void)acceleration;
-    (void)forwards;
-
     getAxisParamChecked(this, encoderType, &response);
 
     // Only send the home command if the axis has an incremental encoder

src/turboPmacAxis.h

@@ -13,10 +13,6 @@ class HIDDEN turboPmacAxis : public sinqAxis {
      *
      * @param pController         Pointer to the associated controller
      * @param axisNo              Index of the axis
-     * @param initialize          By setting this parameter to false, the
-     * initialization functions of the axes are not executed. This is e.g.
-     * necessary when this constructor is called from a children class
-     * constructor which performs its own initialization.
      */
     turboPmacAxis(turboPmacController *pController, int axisNo,
                   bool initialize = true);
@@ -28,18 +24,6 @@ class HIDDEN turboPmacAxis : public sinqAxis {
      */
     virtual ~turboPmacAxis();
 
-    /**
-     * @brief Readout of some values from the controller at IOC startup
-     *
-     * The following steps are performed:
-     * - Read out the motor status, motor position, velocity and acceleration
-     * from the MCU and store this information in the parameter library.
-     * - Set the enable PV according to the initial status of the axis.
-     *
-     * @return asynStatus
-     */
-    virtual asynStatus init();
-
     /**
      * @brief Implementation of the `stop` function from asynMotorAxis
      *
@@ -86,6 +70,18 @@ class HIDDEN turboPmacAxis : public sinqAxis {
                               double min_velocity, double max_velocity,
                               double acceleration);
 
+    /**
+     * @brief Readout of some values from the controller at IOC startup
+     *
+     * The following steps are performed:
+     * - Read out the motor status, motor position, velocity and acceleration
+     * from the MCU and store this information in the parameter library.
+     * - Set the enable PV according to the initial status of the axis.
+     *
+     * @return asynStatus
+     */
+    virtual asynStatus init();
+
     /**
      * @brief Implementation of the `doReset` function from sinqAxis.
      *

src/turboPmacController.cpp

@@ -61,17 +61,17 @@ turboPmacController::turboPmacController(const char *portName,
           - REREAD_ENCODER_POSITION
           - READ_CONFIG
           */
-          numExtraParams + NUM_turboPmac_DRIVER_PARAMS),
-      pTurboPmacC_(
-          std::make_unique<turboPmacControllerImpl>((turboPmacControllerImpl){
-              .comTimeout = comTimeout,
-              .lastResponse = {0},
-              .pasynInt32SyncIOipPort = nullptr, // Populated in constructor
-              .rereadEncoderPosition = 0,        // Populated in constructor
-              .readConfig = 0,                   // Populated in constructor
-              .flushHardware = 0,                // Populated in constructor
-              .limFromHardware = 0,              // Populated in constructor
-          })) {
+          numExtraParams + NUM_turboPmac_DRIVER_PARAMS)
+
+{
+
+    // The paramLib indices are populated with the calls to createParam
+    pTurboPmacC_ =
+        std::make_unique<turboPmacControllerImpl>((turboPmacControllerImpl){
+            .comTimeout = comTimeout,
+            .lastResponse = {0},
+        });
+
     // Initialization of local variables
     asynStatus status = asynSuccess;
 
@@ -573,8 +573,7 @@ static const iocshArg *const CreateControllerArgs[] = {
     &CreateControllerArg0, &CreateControllerArg1, &CreateControllerArg2,
     &CreateControllerArg3, &CreateControllerArg4, &CreateControllerArg5};
 static const iocshFuncDef configTurboPmacCreateController = {
-    "turboPmacController", 6, CreateControllerArgs,
-    "Create a new instance of a TurboPMAC controller."};
+    "turboPmacController", 6, CreateControllerArgs};
 static void configTurboPmacCreateControllerCallFunc(const iocshArgBuf *args) {
     turboPmacCreateController(args[0].sval, args[1].sval, args[2].ival,
                               args[3].dval, args[4].dval, args[5].dval);