68 lines
3.0 KiB
Markdown
68 lines
3.0 KiB
Markdown
# turboPmac
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## Overview
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This is a driver for the Turbo PMAC 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.
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## User guide
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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.
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The folder "utils" contains utility scripts for working with pmac motor controllers. To read their manual, run the scripts without any arguments.
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- writeRead.py: Allows sending commands to and receiving commands from a pmac controller over an ethernet connection.
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- 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.
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## Developer guide
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### Usage in IOC shell
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turboPmac exports the following IOC shell functions:
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- `turboPmacController`: Create a new controller object.
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- `turboPmacAxis`: Create a new axis object.
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The full mcu.cmd file looks like this:
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```
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# Define the name of the controller and the corresponding port
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epicsEnvSet("NAME","mcu")
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epicsEnvSet("ASYN_PORT","p$(NAME)")
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# Create the TCP/IP socket used to talk with the controller. The socket can be adressed from within the IOC shell via the port name
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drvAsynIPPortConfigure("$(ASYN_PORT)","172.28.101.24:1025")
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# Create the controller object with the defined name and connect it to the socket via the port name.
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# The other parameters are as follows:
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# 8: Maximum number of axes
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# 0.05: Busy poll period in seconds
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# 1: Idle poll period in seconds
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# 1: Socket communication timeout in seconds
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turboPmacController("$(NAME)", "$(ASYN_PORT)", 8, 0.05, 1, 1);
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# Define some axes for the specified MCU at the given slot (1, 2 and 5). No slot may be used twice!
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turboPmacAxis("$(NAME)",1);
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turboPmacAxis("$(NAME)",2);
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turboPmacAxis("$(NAME)",5);
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# Set the number of subsequent timeouts
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setMaxSubsequentTimeouts("$(NAME)", 20);
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# Configure the timeout frequency watchdog:
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setThresholdComTimeout("$(NAME)", 100, 1);
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# Parametrize the EPICS record database with the substitution file named after the MCU.
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epicsEnvSet("SINQDBPATH","$(sinqMotor_DB)/sinqMotor.db")
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dbLoadTemplate("$(TOP)/$(NAME).substitutions", "INSTR=$(INSTR)$(NAME):,CONTROLLER=$(NAME)")
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epicsEnvSet("SINQDBPATH","$(turboPmac_DB)/turboPmac.db")
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dbLoadTemplate("$(TOP)/$(NAME).substitutions", "INSTR=$(INSTR)$(NAME):,CONTROLLER=$(NAME)")
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dbLoadRecords("$(sinqMotor_DB)/asynRecord.db","P=$(INSTR)$(NAME),PORT=$(ASYN_PORT)")
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```
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### Versioning
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Please see the documentation for the module sinqMotor: https://git.psi.ch/sinq-epics-modules/sinqmotor/-/blob/main/README.md.
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### How to build it
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Please see the documentation for the module sinqMotor: https://git.psi.ch/sinq-epics-modules/sinqmotor/-/blob/main/README.md.
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