Add additional doppler modbus registers

site_ansto/instrument/config/beamline/aerolas_doppler.sct

@@ -7,9 +7,9 @@ driver aerolas_doppler = {
     readable = 1;
     writeable = 1;
     type = int;
-    fetch_function = getInteger;
-    read_function = rdInteger;
-    write_function = wrInteger;
+    fetch_function = getUShort;
+    read_function = rdUShort;
+    write_function = wrUShort;
     var run_cmd = {
       allowed = "0,1";
       read_command = "1";
@@ -22,13 +22,68 @@ driver aerolas_doppler = {
     var amplitude = {
       read_command = "2";
       write_command = "2";
+      lowerlimit = 0; upperlimit = 75;
+      units = "mm";
     }
     var velocity = {
       type = float;
       read_command = "4";
       write_command = "4";
+      lowerlimit = 0; upperlimit = 4700;
+      units = "mm/S";
     }
   }
+  group read_write = {
+    readable = 1;
+    data = false; nxsave = false; mutable = false;
+    type = int;
+    fetch_function = getUShort;
+    read_function = rdUShort;
+    write_function = wrUShort;
+    var move_profile = {
+      allowed = "0,1";
+      read_command = "7";
+      write_command = "7";
+    }
+    fetch_function = getULong;
+    read_function = rdULong;
+    write_function = wrULong;
+    var te_ok_cycles = {
+      read_command = "8";
+      write_command = "8";
+    }
+    var te_ok_time = {
+      read_command = "10";
+      write_command = "10";
+    }
+  }
+  group read_only = {
+    readable = 1;
+    data = false; nxsave = false; mutable = false;
+    type = int;
+    fetch_function = getUShort;
+    read_function = rdUShort;
+    var run_state = { read_command = "1001"; }
+    var arc_state = { read_command = "1017"; }
+    var version_number = { read_command = "1019"; }
+    fetch_function = getULong;
+    read_function = rdULong;
+    var move_error_code = { read_command = "1004"; }
+    var move_abs_counter = { read_command = "1006"; }
+    var move_abs_counter = { read_command = "1006"; }
+    var calc_error_code = { read_command = "1020"; }
+    type = float;
+    fetch_function = getFloat;
+    read_function = rdFloat;
+    var move_amplitude_min = { read_command = "1008"; }
+    var move_amplitude_max = { read_command = "1010"; }
+    var move_velocity_min = { read_command = "1012"; }
+    var move_velocity_max = { read_command = "1014"; }
+    var braking_distance = { read_command = "1022"; }
+    var velocity_ratio = { read_command = "1024"; }
+    var continuous_acceleration = { read_command = "1026"; }
+    var maximum_acceleration = { read_command = "1028"; }
+  }
 
   code fetch_function getFloat = {
     @TCL
@@ -45,19 +100,34 @@ driver aerolas_doppler = {
     @END
   }
 
-  code fetch_function getInteger = {
+  code fetch_function getUShort = {
     @TCL
     set cmd "1:3:${cmd_str}:1:U16"
     @END
   }
-  code read_function rdInteger = {
+  code read_function rdUShort = {
     @TCL
     @END
   }
-  code write_function wrInteger = {
+  code write_function wrUShort = {
     @TCL
     set cmd "1:16:${cmd_str}:1:U16:${par}"
     @END
   }
 
+  code fetch_function getULong = {
+    @TCL
+    set cmd "1:3:${cmd_str}:1:U32"
+    @END
+  }
+  code read_function rdULong = {
+    @TCL
+    @END
+  }
+  code write_function wrULong = {
+    @TCL
+    set cmd "1:16:${cmd_str}:1:U32:${par}"
+    @END
+  }
+
 }