Added phase motors for fermi master and slave choppers.

site_ansto/instrument/pelican/config/chopper/fermimot.tcl

@@ -281,10 +281,16 @@ namespace eval ::chopper {
     return $speeds
   }
 
-  proc get_refSpeedRPM {hpath node addr name} {
+  proc get_setrefSpeedRPM {hpath node addr name {target ""}} {
-    set ref_period_50ns [ hval $hpath/$node/ref_period ]
+    if {$target == ""} {
-    set ref_speed_rpm   [ expr { 60.0 / ($ref_period_50ns * 50e-9) } ]
+      set ref_period_50ns [ hval $hpath/$node/ref_period ]
-    return $ref_speed_rpm
+      set ref_speed_rpm   [ expr { 60.0 / ($ref_period_50ns * 50e-9) } ]
+      return $ref_speed_rpm
+    } else {
+      set ref_period_50ns [expr {60.0 / ($target * 50e-9)} ]
+      hset $hpath/$node/control/set_ref_period $ref_period_50ns
+      return $target
+    }
   }
   ##
   # Return nearest allowed speed to target speed
@@ -312,13 +318,13 @@ namespace eval ::chopper {
     if {$target >= 0} {
       if {$currdir != $CW && $currspeed != 0} {
         clientput "ERROR: Tried to change direction when speed != 0. Set motor to idle first."
-        return -code error
+        return $SCode(HWFault)
       }
       set dir $CW
     } else {
       if {$currdir != $CCW && $currspeed != 0} {
         clientput "ERROR: Tried to change direction when speed != 0. Set motor to idle first."
-        return -code error
+        return $SCode(HWFault)
       }
       set dir $CCW
     }
@@ -340,6 +346,17 @@ namespace eval ::chopper {
     return $SCode(OKOK)
   }
 
+  proc get_setPeriod {hpath node addr name {target ""}} {
+    global SCode
+    if {$target == ""} {
+      set refPeriod [hval $hpath/$node/ref_period]
+      return $refPeriod
+    } else {
+      hset $hpath/$node/control/set_ref_period $target
+      return $target
+    }
+  }
+
   proc get_setMode {hpath node addr name {target ""}} {
     global SCode
     if {$target == ""} {
@@ -390,6 +407,9 @@ namespace eval ::chopper {
   proc imot_SRun {hpath node addr name target} {
     global SCode
     set catch_status [ catch {
+      # imot_status clears the abort flag, but this only happens if imot_status
+      # is being checked because of a "run" or "drive" when a stop is sent.
+      hsetprop $hpath/$node abort 0
       setSpeed $hpath $node $addr $name $target
       hset $hpath/$node/control/start 1
       hsetprop $hpath/$node/control timecheck -1
@@ -400,12 +420,13 @@ namespace eval ::chopper {
     handle_exception $catch_status $message
   }
 
-  proc imot_SStatus {hpath node addr name} {
+  proc imot_Status {hpath node addr name} {
     global SCode
     set catch_status [ catch {
       if [hgetpropval $hpath/$node abort] {
         hsetprop $hpath/$node abort 0
-        error "User requested stop. Aborting operation"
+        clientput "User requested stop. Aborting operation" ""
+        return $SCode(HWFault)
       }
       set readtime [hgetpropval $hpath read_time]
       set lastupdate [hgetpropval $hpath lastupdate]
@@ -441,7 +462,7 @@ namespace eval ::chopper {
     handle_exception $catch_status $message
   }
 
-  proc imot_SHalt {hpath node addr name} {
+  proc imot_Halt {hpath node addr name} {
     global SCode
     # Don't halt the choppers just because someone tried to interrupt a scan.
     if { [GetInt] == "continue" } {
@@ -451,7 +472,7 @@ namespace eval ::chopper {
     return $SCode(OKOK)
   }
 
-  proc imot_SGetError {hpath node addr name} {
+  proc imot_GetError {hpath node addr name} {
     global SCode
     return [hgetpropval $hpath/$node errmsg]
   }
@@ -463,67 +484,46 @@ namespace eval ::chopper {
   }
   # Implementation of phase motor interface
   proc imot_PhGetPos {hpath node addr name} {
-    global SCode
+    set delay [hval $hpath/$node/ref_delay]
-    set phacc [hval $hpath/$node/phase_acc]
+    return $delay
-    return $phacc
   }
 
   proc imot_PhRun {hpath node addr name target} {
     global SCode
     
     hset $hpath/$node/control/set_ref_delay $target
+    hset $hpath/$node/control/start 1
     hsetprop $hpath/$node/control timecheck -1
     set readtime [hgetpropval $hpath read_time]
     hsetprop $hpath lastupdate $readtime
     return $SCode(OKOK)
   }
 
-  proc imot_PhStatus {hpath node addr name} {
-    global SCode
-
-    if [hgetpropval $hpath/$node abort] {
-      hsetprop $hpath/$node abort 0
-      error "User requested stop. Aborting operation"
-    }
-    set readtime [hgetpropval $hpath read_time]
-    set lastupdate [hgetpropval $hpath lastupdate]
-    if {$readtime <= $lastupdate} {
-      return $SCode(HWBusy)
-    }
-    hsetprop $hpath lastupdate $readtime
-    set phase_locked [hval $hpath/$node/system_status/phase_locked]
-    set timecheck [hgetpropval $hpath/$node/control timecheck]
-    set timeout [hgetpropval $hpath/$node settletime]
-    if {$phase_locked} {
-      if {$timecheck == -1} {
-        hsetprop $hpath/$node/control timecheck $readtime
-        return $SCode(HWBusy)
-      } elseif {[expr $readtime - $timecheck] > $timeout} {
-        return $SCode(HWIdle)
-      }
-    } else {
-      if {$timecheck != -1} {
-        hsetprop $hpath/$node/control timecheck $readtime
-      }
-      return $SCode(HWBusy)
-    }
-  }
-
-  proc imot_PhHalt {hpath node addr name} {
-    global SCode
-    hsetprop $hpath/$node abort 1
-    return $SCode(OKOK)
-  }
-
-  proc imot_PhGetError {hpath node addr name} {
-    global SCode
-    return "[info level 0]: TODO error message"
-  }
-
   proc imot_PhFixit {hpath node addr name icode fVal} {
     global SCode
 
-    return $SCode(MOTOK)
+    return $SCode(MOTFAIL)
+  }
+  
+  proc get_phase_acc {ch} {
+    variable chPath
+
+    set phase_acc [hval $chPath/$ch/phase_acc]
+    return $phase_acc
+  }
+
+  proc get_phase_rep {ch} {
+    variable chPath
+
+    set phase_rep [hval $chPath/$ch/phase_rep]
+    return $phase_rep
+  }
+
+  proc get_phase_ok {ch} {
+    variable chPath
+
+    set phase_ok [hval $chPath/$ch/phase_ok]
+    return $phase_ok
   }
 
   ##
@@ -552,7 +552,7 @@ namespace eval ::chopper {
   }
 
   # Speed motor stop
-  proc Sstop {hpath node addr name} {
+  proc stop {hpath node addr name} {
     global SCode
     hset $hpath/$node/control/stop 1
     hsetprop $hpath/$node abort 1
@@ -576,21 +576,22 @@ namespace eval ::chopper {
 
 proc mkFSpeedMot {fmot hdbroot chnode addr lowlim uplim} {
   Motor $fmot tclmot [subst {\
-    getpos   "::chopper::imot_SGetpos   $hdbroot $chnode $addr"\
+    getpos    "::chopper::imot_SGetpos       $hdbroot $chnode $addr"\
-    run      "::chopper::imot_SRun      $hdbroot $chnode $addr"\
+    run       "::chopper::imot_SRun          $hdbroot $chnode $addr"\
-    status   "::chopper::imot_SStatus   $hdbroot $chnode $addr"\
+    status    "::chopper::imot_Status        $hdbroot $chnode $addr"\
-    halt     "::chopper::imot_SHalt     $hdbroot $chnode $addr"\
+    halt      "::chopper::imot_Halt          $hdbroot $chnode $addr"\
-    geterror "::chopper::imot_SGetError $hdbroot $chnode $addr"\
+    geterror  "::chopper::imot_GetError      $hdbroot $chnode $addr"\
-    fixit    "::chopper::imot_SFixit    $hdbroot $chnode $addr"\
+    fixit     "::chopper::imot_SFixit        $hdbroot $chnode $addr"\
-    refspeed "::chopper::get_refSpeedRPM  $hdbroot $chnode $addr"\
+    refspeed  "::chopper::get_setrefSpeedRPM $hdbroot $chnode $addr"\
-    mode     "::chopper::get_setMode     $hdbroot $chnode $addr"\
+    refperiod "::chopper::get_setPeriod      $hdbroot $chnode $addr"\
-    refdelay "::chopper::get_setRefDelay $hdbroot $chnode $addr"\
+    mode      "::chopper::get_setMode        $hdbroot $chnode $addr"\
-    settle   "::chopper::get_setSettleTime $hdbroot $chnode $addr"\
+    refdelay  "::chopper::get_setRefDelay    $hdbroot $chnode $addr"\
-    setspeed "::chopper::setSpeed       $hdbroot $chnode $addr"\
+    settle    "::chopper::get_setSettleTime  $hdbroot $chnode $addr"\
-    permspd  "::chopper::permSpd        $hdbroot $chnode $addr"\
+    setspeed  "::chopper::setSpeed           $hdbroot $chnode $addr"\
-    start    "::chopper::start          $hdbroot $chnode $addr"\
+    permspd   "::chopper::permSpd            $hdbroot $chnode $addr"\
-    stop     "::chopper::Sstop           $hdbroot $chnode $addr"\
+    start     "::chopper::start              $hdbroot $chnode $addr"\
-    idle     "::chopper::idle           $hdbroot $chnode $addr"\
+    stop      "::chopper::stop               $hdbroot $chnode $addr"\
+    idle      "::chopper::idle               $hdbroot $chnode $addr"\
   }]
   hsetprop $hdbroot/$chnode abort 0
   $fmot movecount 5000
@@ -607,18 +608,34 @@ proc mkFSpeedMot {fmot hdbroot chnode addr lowlim uplim} {
 
 proc mkFPhaseMot {fmot hdbroot chnode addr lowlim uplim} {
   Motor $fmot tclmot [subst {\
-    getpos   "::chopper::imot_PhGetPos   $hdbroot $chnode $addr"\
+    getpos    "::chopper::imot_PhGetPos      $hdbroot $chnode $addr"\
-    run      "::chopper::imot_PhRun      $hdbroot $chnode $addr"\
+    run       "::chopper::imot_PhRun         $hdbroot $chnode $addr"\
-    status   "::chopper::imot_PhStatus   $hdbroot $chnode $addr"\
+    status    "::chopper::imot_Status        $hdbroot $chnode $addr"\
-    halt     "::chopper::imot_PhHalt     $hdbroot $chnode $addr"\
+    halt      "::chopper::imot_Halt          $hdbroot $chnode $addr"\
-    geterror "::chopper::imot_PhGetError $hdbroot $chnode $addr"\
+    geterror  "::chopper::imot_GetError      $hdbroot $chnode $addr"\
-    fixit    "::chopper::imot_PhFixit    $hdbroot $chnode $addr"\
+    fixit     "::chopper::imot_PhFixit       $hdbroot $chnode $addr"\
+    refspeed  "::chopper::get_setrefSpeedRPM $hdbroot $chnode $addr"\
+    refperiod "::chopper::get_setPeriod      $hdbroot $chnode $addr"\
+    mode      "::chopper::get_setMode        $hdbroot $chnode $addr"\
+    refdelay  "::chopper::get_setRefDelay    $hdbroot $chnode $addr"\
+    settle    "::chopper::get_setSettleTime  $hdbroot $chnode $addr"\
+    setspeed  "::chopper::setSpeed           $hdbroot $chnode $addr"\
+    phase_acc "::chopper::get_phase_acc      $hdbroot $chnode $addr"\
+    phase_rep "::chopper::get_phase_rep      $hdbroot $chnode $addr"\
+    phase_ok  "::chopper::get_phase_ok       $hdbroot $chnode $addr"\
+    start     "::chopper::start              $hdbroot $chnode $addr"\
+    stop      "::chopper::stop               $hdbroot $chnode $addr"\
+    idle      "::chopper::idle               $hdbroot $chnode $addr"\
   }]
+  hsetprop $hdbroot/$chnode abort 0
+  $fmot movecount 5000
   $fmot hardlowerlim $lowlim
   $fmot hardupperlim $uplim
   $fmot softlowerlim $lowlim
   $fmot softupperlim $uplim
-  sicslist setatt $fmot units degrees
+  $fmot settle 30
+  $fmot precision 1
+  sicslist setatt $fmot units ns
   sicslist setatt $fmot klass fermi_chopper
   sicslist setatt $fmot long_name $fmot
 }
@@ -635,17 +652,22 @@ proc mkFPhaseMot {fmot hdbroot chnode addr lowlim uplim} {
 # @param slave, Slave chopper hdb node name
 # @param saddr, Slave chopper modbus address
 #proc mkFermiMotors {mSpdmot sSpdmot master maddr slave saddr} {
-proc mkFermiMotors { mSpdmot master maddr {sSpdmot "EMPTY"} {sPhmot "EMPTY"} {slave "EMPTY"} {saddr "EMPTY"} } {
+proc mkFermiMotors { master maddr {slave "EMPTY"} {saddr "EMPTY"} } {
-  if {$sSpdmot == "schs"} {
+  set mSpdmot ${master}s
+  set mPhmot ${master}p
+  set sSpdmot ${slave}s
+  set sPhmot ${slave}p
+  if {$slave != "EMPTY"} {
     # Make master and slave choppers
     set hdbPath [mkChoppers " $master $maddr $slave $saddr"]
     mkFSpeedMot $sSpdmot $hdbPath $slave $saddr -24000 24000
-    mkFPhaseMot $sPhmot  $hdbPath $slave $saddr 0 180
+    mkFPhaseMot $sPhmot  $hdbPath $slave $saddr 0 166.6667e6
   } else {
     set hdbPath [mkChoppers " $master $maddr"]
   }
   #  Create Master Chopper Speed motor object
   mkFSpeedMot $mSpdmot $hdbPath $master $maddr -24000 24000
+  mkFPhaseMot $mPhmot $hdbPath $master $maddr 0 166.6667e6
 }
 
-mkFermiMotors mchs mch 2 schs schp sch 3
+mkFermiMotors mch 2 sch 3