- Updated drivers for delta tau, dornier choppers

- Fixed scan mode issue in hdbutil.tcl
- Added driver for the FOCUS Pfeiffer vacuum thing

tcl/deltatau.tcl

@@ -7,6 +7,8 @@
 #      sendpmacread code -- pmacreadreply
 # -- For setting standard parameters
 #      sendpmacwrite code -- pmacreadreply
+# -- For reading limits
+#      sendpmaclim -- readpmaclim
 # -- For reading the status
 #      pmacsendaxer --- pmacrcvaxerr -- pmacrcvpos -- pmacrcvstat
 #    This means we check for an axis error first, then update the position,
@@ -18,10 +20,7 @@
 #
 # copyright: see file COPYRIGHT
 #
-# TODO: after axiserror: terminate, when OK, again error where from
-# 
-#
-# Mark Koennecke, December 2008
+# Mark Koennecke, December 2008, March 2009
 #---------------------------------------------------------------
 proc translatePMACError {key} {
     set pmacerr(ERR001) "Command not allowed while executing"
@@ -61,6 +60,7 @@ proc translateAxisError {key} {
 	10 {return "MCU lim reached"}
 	11 {return "following error triggered"}
 	12 {return "EMERGENCY STOP ACTIVATED"}
+	13 {return "Driver electronics error"}
 	default { return "Unknown axis error $key"}
     }
 }
@@ -80,7 +80,9 @@ proc evaluateAxisStatus {key} {
         9 -
         10 -
         11 {return run}
-	-4 {error "emergency status activated"}
+        -6 {error "Controller aborted"} 
+        -5 {error "Axis is deactivated"}
+	-4 {error "emergency stop activated, please release"}
 	-3 {error "Axis inhibited"}
 	- 1
 	-2 {error "Incoming command is blocked"}
@@ -112,6 +114,22 @@ proc pmacreadreply {} {
     }
     return idle
 }
+#----------------------------------------------------------------------
+proc sendpmaclim {code} {
+    sct send $code
+    return pmacreadlim
+}
+#-----------------------------------------------------------------------
+proc pmacreadlim {motname} {
+    set status [catch {checkpmacresult} data]
+    if {$status != 0} {
+	sct geterror $data
+    } else {
+	set scale [hval /sics/${motname}/scale_factor]
+	sct update [expr $data * $scale]
+    }
+    return idle
+}
 #------------------------------------------------------------------------
 proc sendpmacwrite {code} {
     set value [sct target]
@@ -228,7 +246,7 @@ proc configurePMACStatus {motname num sct} {
 proc pmacsendhardpos {motname num} {
     hupdate /sics/$motname/status run
     set value [sct target]
-    sct send "Q${num}01=$value M${num}=1"
+    sct send [format "P%2.2d23=0 Q%2.2d01=%12.4f M%2.2d=1" $num $num $value $num]
     return rcvhardpos
 }
 #-------------------------------------------------------------------------
@@ -295,8 +313,16 @@ proc pmacrefrun {motorname sct num} {
 #--------------------------------------------------------------------------
 proc MakeDeltaTau {name sct num} {
     MakeSecMotor $name
-    configurePMACPar $name hardlowerlim "Q${num}09" $sct
-    configurePMACPar $name hardupperlim "Q${num}08" $sct
+    hsetprop /sics/${name}/hardupperlim read "sendpmaclim I${num}13"
+    hsetprop /sics/${name}/hardupperlim pmacreadlim "pmacreadlim $name"
+    $sct poll /sics/${name}/hardupperlim 180
+    hsetprop /sics/${name}/hardlowerlim read "sendpmaclim I${num}14"
+    hsetprop /sics/${name}/hardlowerlim pmacreadlim "pmacreadlim $name"
+    $sct poll /sics/${name}/hardlowerlim 180
+
+#    configurePMACPar $name hardlowerlim "Q${num}09" $sct
+#    configurePMACPar $name hardupperlim "Q${num}08" $sct
+
     configurePMACPar $name hardposition "Q${num}10" $sct
     configurePMAChardwrite $name $num $sct
     hfactory /sics/$name/numinmcu plain internal int
@@ -309,15 +335,16 @@ proc MakeDeltaTau {name sct num} {
     makePMACPar $name offset         "Q${num}07" $sct mugger
     makePMACPar $name axisstatus     "P${num}00" $sct internal
     makePMACPar $name axiserror      "P${num}01" $sct internal
+    makePMACPar $name poshwlimitactive "M${num}21" $sct internal
+    makePMACPar $name neghwlimitactive "M${num}22" $sct internal
+    makePMACPar $name liftaircushion   "M${num}96" $sct internal
     configurePMACStatus $name $num $sct
     $name makescriptfunc halt "pmacHalt $sct $num" user
     $name makescriptfunc refrun "pmacrefrun $name $sct $num" user
-    set parlist [list hardlowerlim hardupperlim hardposition scale_factor maxspeed \
-		 commandspeed maxaccel offset axisstatus axiserror status]
+    set parlist [list scale_factor  hardposition  maxspeed \
+		 commandspeed maxaccel offset axisstatus axiserror status poshwlimitactive \
+		  neghwlimitactive liftaircushion hardlowerlim hardupperlim]
     foreach par $parlist {
 	$sct queue /sics/$name/$par progress read
     } 
 }
-#===============================================================================
-# Old stuff
-#===============================================================================