minor changes

python/shapepath.py

@@ -9,13 +9,13 @@
 shape an optimal path with given points
 
 verbose bits:
-  1  basic info
+ 0x01  basic info
-  2  plot sorting steps
+ 0x02 plot sorting steps
-  4  list program
+ 0x04 list program
-  4  upload progress
+ 0x08 upload progress
-  8  plot gather path
+ 0x10 plot gather path
-  16 plot pvt trajectory (before motion)
+ 0x20 plot pvt trajectory (before motion)
-  32 print sync details
+ 0x40 print sync details
 
 Gather motor order
 
@@ -136,8 +136,8 @@ class DebugPlot:
     ax1=fig.add_subplot(2, 1, 1)
     ax2=fig.add_subplot(2, 1, 2)
     #ax.xaxis.set_ticks(t)
-    ax1.stem(t, pv[:,0], '-r')
+    ax1.stem(t, pv[:,0], '-r',use_line_collection=True)
-    ax2.stem(t, pv[:,1], '-g')
+    ax2.stem(t, pv[:,1], '-g',use_line_collection=True)
 
     ax1.plot(tt, ppx, '-r', label='x')
     ax2.plot(tt, ppy, '-g', label='y')
@@ -483,7 +483,7 @@ class ShapePath(MotionBase):
     self.points=pts
 
     verb=self.verbose
-    if verb&2:
+    if verb&0x02:
       self.plot_points(pts)
       plt.show(block=False)
 
@@ -508,7 +508,7 @@ class ShapePath(MotionBase):
     self.points=pts
 
     verb=self.verbose
-    if verb&2:
+    if verb&0x02:
       self.plot_points(pts)
       plt.show(block=False)
 
@@ -614,7 +614,7 @@ class ShapePath(MotionBase):
     #print(idx)
     pts=pts[idx]
 
-    if verb&2:
+    if verb&0x02:
       DebugPlot.plot_points(pts)
       plt.show(block=False)
     self.points=pts
@@ -667,7 +667,8 @@ class ShapePath(MotionBase):
     #gt.set_property(Period=acq_per)
     self.meta.update({'acq_per':acq_per,'address':address})
 
-  def setup_coord_trf(self):
+  def setup_coord_trf(self,fx='X',fy='Y',cz='0'):
+    # FY:1,  FX:2,  ROT_Y:3,  CX:4,  CZ:5,
     if self.comm is None: return
     comm = self.comm
     gpascii = comm.gpascii
@@ -683,6 +684,22 @@ class ShapePath(MotionBase):
 //#8->0
 //#1..8j/
 '''
+    prg=f'''&1a
+&1#3->0
+&1#4->0
+&1#6->0
+&1#7->0
+&0#3->0
+&0#4->0
+&0#6->0
+&0#7->0
+&1
+#1->{fy}
+#2->{fx}
+#5->{cz}
+#1,2,5j/
+'''
+
     gpascii.send_block(prg)
 
   def setup_motion(self,prgId=2,fnPrg=None,mode=0,**kwargs):
@@ -702,6 +719,7 @@ class ShapePath(MotionBase):
                 numPad : number of padding points to reduce aliasing (default=16)
       '''
       prg=['close all buffers','open prog %d'%(prgId)]
+      verb=self.verbose
       comm=self.comm
       if comm is not None:
         gpascii=comm.gpascii
@@ -745,8 +763,7 @@ class ShapePath(MotionBase):
           else:
             n=-numPad
           pv[  1:-1,(2,3)] = v[:n]*scale
-        verb=self.verbose
+        if verb&0x20:
-        if verb&16:
           dp=DebugPlot(self);self.pvt=dp.plot_gen_pvt(pv)
           plt.show(block=False)
 
@@ -781,7 +798,7 @@ class ShapePath(MotionBase):
 
       prg.append('close')
       #prg.append('&1\nb%dr\n'%prgId)
-      if self.verbose & 4:
+      if verb&0x04:
         for ln in prg:
           print(ln)
 
@@ -790,7 +807,7 @@ class ShapePath(MotionBase):
         fh.write('\n'.join(prg))
         fh.close()
       if comm is not None:
-        gpascii.send_block(prg)
+        gpascii.send_block(prg,verb&0x08)
 
       self.prg=prg
 

src/triggerSync/triggerSync.c

@@ -40,7 +40,7 @@ static float timeOfs=0.f; //time ofset
 #define  SIMFLAG1 (pshm->Coord[1].Q[11])
 //#define  SIMFLAG0 (pshm->P[10])
 //#define  SIMFLAG1 (pshm->P[11])
-//Power PMAC Software Reference Manual.pdf page 760
+//Power PMAC Software Reference Manual.pdf Gate3[i].Chan[j].Status -> page 919 UserFlag
 #define  FLAG0 (gate3_1->Chan[0].Status&0x800)
 #define  FLAG1 (gate3_1->Chan[1].Status&0x800)