add Phytron driver

+ updates of cfg files

Change-Id: Ief24ee681423e18cae0fca29fe41419018d394dd

cfg/phytron.cfg

@@ -0,0 +1,19 @@
+[NODE]
+id = phytron_test.psi.ch
+description = phytron motor test
+
+[INTERFACE]
+uri = tcp://5000
+
+[drv_iodev]
+description = 
+class = secop_psi.phytron.PhytronIO
+uri = ma15-ts.psi.ch:3005
+# uri = serial:///dev/tty.usbserial?baudrate=57600
+# uri = serial:///dev/ttyUSB0?baudrate=9600
+
+[drv]
+description = a phytron motor
+class = secop_psi.phytron.Motor
+iodev = drv_iodev
+encoder_mode = CHECK

cfg/trinamic.cfg

@@ -7,8 +7,8 @@ uri = tcp://5000
 
 [drv_iodev]
 description = 
-class = secop.bytesio.BytesIO
+class = secop.core.BytesIO
-uri = serial:///dev/ttyUSB0?baudrate=57600
+uri = serial:///dev/tty.usbserial?baudrate=57600
 # uri = serial:///dev/ttyUSB0?baudrate=9600
 
 [drv]

cfg/uniax.cfg

@@ -7,7 +7,7 @@ uri = tcp://5000
 
 [drv_iodev]
 description = 
-class = secop.bytesio.BytesIO
+class = secop.core.BytesIO
 uri = serial:///dev/ttyUSB0?baudrate=57600
 # uri = serial:///dev/ttyUSB0?baudrate=9600
 

secop_psi/phytron.py

@@ -0,0 +1,138 @@
+#  -*- coding: utf-8 -*-
+# *****************************************************************************
+#
+# This program is free software; you can redistribute it and/or modify it under
+# the terms of the GNU General Public License as published by the Free Software
+# Foundation; either version 2 of the License, or (at your option) any later
+# version.
+#
+# This program is distributed in the hope that it will be useful, but WITHOUT
+# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+# FOR A PARTICULAR PURPOSE.  See the GNU General Public License for more
+# details.
+#
+# You should have received a copy of the GNU General Public License along with
+# this program; if not, write to the Free Software Foundation, Inc.,
+# 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
+#
+# Module authors:
+#   Markus Zolliker <markus.zolliker@psi.ch>
+#
+# *****************************************************************************
+
+"""driver for pythron motors"""
+
+from secop.core import Done, Command, EnumType, FloatRange, IntRange, \
+    HasIodev, Parameter, Property, Drivable, PersistentMixin, PersistentParam, StringIO, StringType
+from secop.errors import CommunicationFailedError, HardwareError
+
+
+class PhytronIO(StringIO):
+    end_of_line = '\x03'  # ETX
+    identification = [('0IVR', 'MCC Minilog .*')]
+
+    def communicate(self, command):
+        head, _, reply = super().communicate('\x02' + command).partition('\x02')
+        if reply[0] != '\x06':  # ACK
+            raise CommunicationFailedError('missing ACK %r' % reply)
+        return reply[1:]
+
+
+class Motor(PersistentMixin, HasIodev, Drivable):
+    axis = Property('motor axis X or Y', StringType(), default='X')
+    address = Property('address', IntRange(0, 15), default=0)
+    speed_factor = Property('steps / degree', FloatRange(0, None), default=2000)
+
+    encoder_mode = Parameter('how to treat the encoder', EnumType('encoder', NO=0, READ=1, CHECK=2),
+                             default=1, readonly=False)
+    value = Parameter('angle', FloatRange(unit='deg'), poll=True)
+    target = Parameter('target angle', FloatRange(unit='deg'), readonly=False)
+    speed = Parameter('', FloatRange(0, 20, unit='deg/s'), readonly=False, poll=True)
+    encoder_tolerance = Parameter('', FloatRange(unit='deg'), readonly=False, default=0.01)
+    zero = PersistentParam('', FloatRange(unit='deg'), readonly=False, default=0)
+    encoder = Parameter('encoder reading', FloatRange(unit='deg'), poll=True)
+
+    iodevClass = PhytronIO
+
+    def earlyInit(self):
+        self.loadParameters()
+
+    def get(self, cmd):
+        return self._iodev.communicate('\x02%x%s%s' % (self.address, self.axis, cmd))
+
+    def set(self, cmd, value):
+        self._iodev.communicate('\x02%x%s%s%g' % (self.address, self.axis, cmd, value))
+
+    def set_get(self, cmd, value, query):
+        self.set(cmd, value)
+        return self.get(query)
+
+    def read_value(self):
+        pos = float(self.get('P20R')) + self.zero
+        if self.encoder_mode != 'NO':
+            enc = self.read_encoder()
+        else:
+            enc = pos
+        status = self.get('=H')
+        if status == 'N':
+            if (self.encoder_mode == 'CHECK' and
+                    abs(enc - pos) > self.speed * 0.1 + self.encoder_tolerance):
+                self.get('SN')  # stop
+                self.status = self.Status.ERROR, 'encoder does not match pos'
+            else:
+                self.status = self.Status.BUSY, 'driving'
+        else:
+            if (self.encoder_mode == 'CHECK' and
+                    abs(enc - pos) > self.encoder_tolerance):
+                self.status = self.Status.ERROR, 'encoder does not match pos'
+            else:
+                self.status = self.Status.IDLE, ''
+        return pos
+
+    def read_encoder(self):
+        if self.encoder_mode == 'NO':
+            return self.value
+        return float(self.get('P22R')) + self.zero
+
+    def read_speed(self):
+        return float(self.get('P14R')) / self.speed_factor
+
+    def write_speed(self, value):
+        if abs(float(self.get('P03R')) * self.speed_factor - 1) > 0.001:
+            raise HardwareError('speed factor does not match')
+        return float(self.set_get('P14S', int(value * self.speed_factor), 'P14R')) / self.speed_factor
+
+    def write_target(self, value):
+        if self.status[0] == self.Status.ERROR:
+            raise HardwareError('need reset')
+        self.status = self.Status.BUSY, 'changed target'
+        self.set('A', value - self.zero)
+
+    def write_zero(self, value):
+        self.zero = value
+        self.saveParameters()
+        return Done
+
+    def stop(self):
+        self.get('SN')
+
+    @Command
+    def reset(self):
+        self.read_value()
+        if self.status[0] == self.Status.ERROR:
+            enc = self.encoder - self.zero
+            pos = self.value - self.zero
+            if abs(enc - pos) > self.encoder_tolerance:
+                if enc < 0:
+                    while enc < 0:
+                        self.zero -= 360
+                        enc += 360
+                    self.set('P22S', enc)
+                    self.saveParameters()
+                self.set('P20S', enc)  # set pos to encoder
+        self.status = self.Status.IDLE, ''
+
+# TODO:
+#  '=E' electronics status
+#  '=I+' / '=I-': limit switches
+#  use P37 to determine if restarted