diff --git a/Readme.md b/Readme.md index ccc17df..315e11f 100644 --- a/Readme.md +++ b/Readme.md @@ -594,30 +594,11 @@ caput SAR-EXPMX3:ASYN.AOUT '&1;#1..5j/;cpx call 15' caput SAR-EXPMX3:ASYN.AOUT '&1;cpx jog1..5=000;call 16' caput SAR-EXPMX3:ASYN.AOUT '&1;#1..5j/;cpx call 15' caput SAR-EXPMX3:ASYN.AOUT '&1;cpx jog1..5=10000;call 16' -caput SAR-EXPMX3:debug0 '&1;#1..5j/;cpx call 15' - -caput SAR-EXPMX3:debug0 '&1;#1..5j/;cpx call 15' -caput SAR-EXPMX3:debug0 '&1;#1..5j/;cpx call 15' -caput SAR-EXPMX3:debug0 '&1;#1..5j/;jog1..5=10000;cpx call 16' - -caput SAR-EXPMX3:debug0 '&1;#1..5j/;cpx call 15' -caput SAR-EXPMX3:debug0 '&1;cpx jog1..5=0;call 16' - -caput SAR-EXPMX3:debug0 '&1;#1..5j/;cpx call 15' -caput SAR-EXPMX3:debug0 '&1;cpx jog1..5=10000;call 16' - - - - caput SAR-EXPMX3:ASYN.AOUT cpx call 16 caput SAR-EXPMX3:ASYN.AOUT cpx call 15 - caput SAR-EXPMX3:ASYN.debug cpx call 16 caput SAR-EXPMX3:ASYN.debug0 cpx call 16 - - - see also: /home/zamofing_t/Documents/prj/SwissFEL/epics_ioc_boot_sf/SARES20-CSSU-ESB1/SARES20-CSSU-ESB1_startup.script @@ -625,8 +606,6 @@ see also: /home/zamofing_t/Documents/prj/SwissFEL/epics_ioc_boot_sf/SARES20-CSSU-ESB1/hpod.template /home/zamofing_t/Documents/prj/SwissFEL/epics_ioc_boot_sf/SARES20-CSSU-ESB1/cfg/hpod.proto - - caQtDM -macro "P=SAR-EXPMX:,R=asyn" asynRecord.ui caQtDM -macro "P=SAR-EXPMX:,R=asyn" asynSerialPortSetup.ui caQtDM -macro "P=SAR-EXPMX:,R=asyn" asynOctet.ui @@ -636,19 +615,17 @@ caQtDM -macro "P=SAR-EXPMX:,R=debug0" asynOctet.ui caput SAR-EXPMX:asyn.AOUT '&1;#1..5j/;cpx call 15' caput SAR-EXPMX:asyn.AOUT '&1;#1..5j/;cpx call 16' -caput SAR-EXPMX:debug0 '&1;#1..5j/;cpx call 15' -caput SAR-EXPMX:debug0 '&1;#1..5j/;cpx call 16' +caput -S SAR-EXPMX:debug '&1;#1..5j/;cpx call 15;jog1..5=0; call 16' +caput -S SAR-EXPMX:debug '&1;#1..5j/;cpx call 15;jog1..5=10000; call 16' -caput SAR-EXPMX:debug '&1;#1..5j/;cpx call15;abslinear X(1000)Y(0)U(0)V(0)W(0);call16' +caput -S SAR-EXPMX:debug '&1;#1..5j/;cpx call15;abslinear X(1000)Y(0)U(0)V(0)W(0);call16' -caget -S SAR-EXPMX:debug0 - -caput SAR-EXPMX:debug0 '&1;#1..5j/;cpx call15;abslinear X(1000)Y(0)U(0)V(0)W(0);call16' -caput SAR-EXPMX:debug0 '&1;#1..5j/;cpx call15;abslinear X(00)Y(0)U(0)V(0)W(0);call16' -caput SAR-EXPMX:debug0 '&1;#1..5j/;cpx call15;abslinear X(1000)Y(0)U(0)V(0)W(0);call16' -caput SAR-EXPMX:debug0 '&1;#1..5j/;cpx call15;abslinear X(00)Y(0)U(0)V(0)W(0);call16' -caput SAR-EXPMX:debug0 '&1;#1..5j/;cpx call15;abslinear X(1000)Y(0)U(0)V(0)W(0);call16' +caput -S SAR-EXPMX:debug '&1;#1..5j/;cpx call15;abslinear X(1000)Y(0)U(0)V(0)W(0);call16' +caput -S SAR-EXPMX:debug '&1;#1..5j/;cpx call15;abslinear X(00)Y(0)U(0)V(0)W(0);call16' +caput -S SAR-EXPMX:debug '&1;#1..5j/;cpx call15;abslinear X(1000)Y(0)U(0)V(0)W(0);call16' +caput -S SAR-EXPMX:debug '&1;#1..5j/;cpx call15;abslinear X(00)Y(0)U(0)V(0)W(0);call16' +caput -S SAR-EXPMX:debug '&1;#1..5j/;cpx call15;abslinear X(1000)Y(0)U(0)V(0)W(0);call16' SAR-EXPMX:MOT_GIR_W.SPMG @@ -739,22 +716,6 @@ open inverse close - - - - - - - - - - - - - - - - &1;cpx abs linear;jog1=0;jog2=0;jog3=0;jog4=0;jog5=0 &1;cpx abs linear;jog1=10000;jog2=20000;jog3=30000;jog4=40000;jog5=50000 @@ -791,3 +752,84 @@ inv_res 60621.7 38843.4 20130.6 -10620.2 4072.1 ``` + + + +Checking Homeoffset init bug +---------------------------- +``` +//the motor has 512*200*100 usteps per revolution (512 uystep/step, 200 steps/rev 1:100 gear) +//the ssi-encoder has 2**18=262144 steps per revolution +//posSf = userUnits/encoder_steps +//servoSf=motor_u_steps/userUnits + +512*200*100/262144 + + +cpx PowerBrick[1].GpioData[0].16.5=$1f;motor[1].idCmd=1000;jog1=-1000;PowerBrick[1].GpioData[0].16.5=$0;motor[1].idCmd=0 +!encoder_ssi(enc=1,numBits=18,posSf=5625./4096.) + +cpx PowerBrick[1].GpioData[0].16.5=$1f;motor[1].idCmd=1000;jog1=361000;PowerBrick[1].GpioData[0].16.5=$0;motor[1].idCmd=0 +!encoder_ssi(enc=1,numBits=18,posSf=5625./4096.) + +cpx PowerBrick[1].GpioData[0].16.5=$1f;motor[1].idCmd=1000;jog1=1000;PowerBrick[1].GpioData[0].16.5=$0;motor[1].idCmd=0 +!encoder_ssi(enc=1,numBits=18,posSf=5625./4096.) + +cpx PowerBrick[1].GpioData[0].16.5=$1f;motor[1].idCmd=1000;jog1=0;PowerBrick[1].GpioData[0].16.5=$0;motor[1].idCmd=0 +!encoder_ssi(enc=1,numBits=18,posSf=5625./4096.) + + + +$$$*** +!common() +!encoder_ssi(enc=1,numBits=18,posSf=5625./4096.) +!motor(mot=1,dirCur=1000,JogSpeed=40,servoSf=256./9.,InPosBand=0,FatalFeLimit=1000,HomeOffset=0.) +#1hmz + +$$$*** +!common() +!encoder_ssi(enc=1,numBits=18,posSf=1.) +!motor(mot=1,dirCur=1000,JogSpeed=40,servoSf= 39.0625,InPosBand=0,FatalFeLimit=1000,HomeOffset=0.) +#1hmz + + + +cpx PowerBrick[1].GpioData[0].16.5=$1f;jog1=-1000;PowerBrick[1].GpioData[0].16.5=$0 +Motor[1].idCmd=0 + +EncTable[1].PrevEnc +Motor[1].HomeOffset +Motor[1].HomePos +Motor[1].ActPos + +EncTable[1].PrevEnc=-2490368 + + +!encoder_ssi(enc=1,numBits=18,posSf=5625./4096.) +!motor(mot=1,dirCur=1000,JogSpeed=40,servoSf=256./9.,InPosBand=0,FatalFeLimit=1000,HomeOffset=0.) +#1hmz + + +!encoder_ssi(enc=1,numBits=18,posSf=5625./4096.) +!motor(mot=1,dirCur=1000,JogSpeed=40,servoSf=256./9.,InPosBand=0,FatalFeLimit=1000,HomeOffset=-20907.) +#1hmz + + + +Motor[1].HomeOffset=-20907 +Motor[1].HomePos=-1100471.57226169435 +Motor[1].ActPos=-1100474.61749599339 + +!encoder_ssi(enc=1,numBits=18,posSf=5625./4096.) -> reate wrong values + + + +Motor[1].HomeOffset=0 +Motor[1].HomePos=-1439342.11669405433 +Motor[1].ActPos=-1100474.61749599339 + +!motor(mot=1,dirCur=1000,JogSpeed=40,servoSf=256./9.,InPosBand=0,FatalFeLimit=1000,HomeOffset=-20907.) + + + +``` diff --git a/SAR-EXPMX3.subs b/SAR-EXPMX3.subs index e142c43..2646ccd 100644 --- a/SAR-EXPMX3.subs +++ b/SAR-EXPMX3.subs @@ -13,11 +13,11 @@ #caget SAROP21-OAPU092:ASYN.TINP #caput SAROP21-OAPU092:ASYN.AOUT '&1;cpx abs;X(-900)Y(10)A(5200)B(5100)' -file stream.template {{P="$(P_M)",Q="MOT_GIR_",PORT=$(PORT_M)}} +file stream.template {{P="$(P_M)",Q="MOT_GIR_",ID="3",PORT=$(PORT_M)}} file PPMACMotor.template { pattern -{ DESC , P , M , PORT , ADDR, DIR, VELO, MRES , PREC, EGU } +{ DESC , P , M , PORT , ADDR, DIR, VELO, MRES , PREC, EGU } { "Girder 1", "$(P_M)", "MOT_GIR_1", "$(PORT_M)", 1 , 0 , 40 , 0.001, 3 , "deg" } { "Girder 2", "$(P_M)", "MOT_GIR_2", "$(PORT_M)", 2 , 0 , 40 , 0.001, 3 , "deg" } { "Girder 3", "$(P_M)", "MOT_GIR_3", "$(PORT_M)", 3 , 0 , 40 , 0.001, 3 , "deg" } @@ -25,7 +25,7 @@ pattern { "Girder 5", "$(P_M)", "MOT_GIR_5", "$(PORT_M)", 5 , 0 , 40 , 0.001, 3 , "deg" } { "Girder X", "$(P_M)", "MOT_GIR_X", "$(PORT_M)", 9 , 0 , 40 , 0.001, 3 , "mm" } { "Girder Y", "$(P_M)", "MOT_GIR_Y", "$(PORT_M)", 10 , 0 , 40 , 0.001, 3 , "mm" } -{ "Girder U", "$(P_M)", "MOT_GIR_U", "$(PORT_M)", 11 , 0 , 40 , 0.001, 3 , "mrad" } -{ "Girder V", "$(P_M)", "MOT_GIR_V", "$(PORT_M)", 12 , 0 , 40 , 0.001, 3 , "mrad" } -{ "Girder W", "$(P_M)", "MOT_GIR_W", "$(PORT_M)", 13 , 0 , 40 , 0.001, 3 , "mrad" } +{ "Girder U", "$(P_M)", "MOT_GIR_U", "$(PORT_M)", 11 , 0 , 40 , 0.001, 3 , "mrad"} +{ "Girder V", "$(P_M)", "MOT_GIR_V", "$(PORT_M)", 12 , 0 , 40 , 0.001, 3 , "mrad"} +{ "Girder W", "$(P_M)", "MOT_GIR_W", "$(PORT_M)", 13 , 0 , 40 , 0.001, 3 , "mrad"} } diff --git a/cfg/MX3_coordTrf.py b/cfg/MX3_coordTrf.py index be5638b..76c58ce 100644 --- a/cfg/MX3_coordTrf.py +++ b/cfg/MX3_coordTrf.py @@ -68,8 +68,8 @@ open forward S4=scl*sin(AA4*$camSf) S5=scl*sin(AA5*$camSf) - send 1"fwd_inp(%f) %f %f %f %f %f\\n",D0,AA1,AA2,AA3,AA4,AA5 - send 1"fwd_inp(%f) %f %f %f %f %f\\n",D0,S1,S2,S3,S4,S5 + //send 1"fwd_inp(%f) %f %f %f %f %f\\n",D0,AA1,AA2,AA3,AA4,AA5 + //send 1"fwd_inp(%f) %f %f %f %f %f\\n",D0,S1,S2,S3,S4,S5 //X=D^-1*S @@ -79,7 +79,7 @@ open forward V=-1.*S1 +1.*S2 +1.5*S3 -.5*S4 -.5*$sqrt2*S5 W=-1.*S1 -1.*S2 +.5*S3 +.5*S4 +.5*$sqrt2*S5 - send 1"fwd_res %f %f %f %f %f\\n",X,Y,U,V,W + //send 1"fwd_res %f %f %f %f %f\\n",X,Y,U,V,W D0=$$000000f8; //U=$$8 V=$$10 W=$$20 X=$$40 Y=$$80 hex(8+int('10',16)+int('20',16)+int('40',16)+int('80',16)) -> '0xf8' close @@ -93,7 +93,7 @@ open inverse //if(D0>0) // send 1"Velocity calculation NOT SUPPORTED\\n" - send 1"inv_inp(%f) %f %f %f %f %f\\n",D0,X,Y,U,V,W + //send 1"inv_inp(%f) %f %f %f %f %f\\n",D0,X,Y,U,V,W r=$height/$width @@ -110,7 +110,7 @@ open inverse AA4=asin(S4*scl)/$camSf AA5=asin(S5*scl)/$camSf - send 1"inv_res %f %f %f %f %f\\n",AA1,AA2,AA3,AA4,AA5 + //send 1"inv_res %f %f %f %f %f\\n",AA1,AA2,AA3,AA4,AA5 close diff --git a/cfg/MX3_setup.cfg b/cfg/MX3_setup.cfg index 6cea136..2cdc0df 100644 --- a/cfg/MX3_setup.cfg +++ b/cfg/MX3_setup.cfg @@ -66,7 +66,7 @@ open subprog SP_LockBrk { if(Coord[1].InPos) { - send 1"inPos\n" + //send 1"inPos\n" break } //if(Motor[1].InPos && Motor[2].InPos&& Motor[3].InPos&& Motor[4].InPos&& Motor[5].InPos) diff --git a/cfg/SAR-EXPMX3.cfg b/cfg/SAR-EXPMX3.cfg index 5fc3e29..8d067e1 100644 --- a/cfg/SAR-EXPMX3.cfg +++ b/cfg/SAR-EXPMX3.cfg @@ -1,6 +1,6 @@ -X3_setup() -!MX3_setup_sim() // comment out !MX3_setup() when this is active +!MX3_setup() +//!MX3_setup_sim() // comment out !MX3_setup() when this is active //!MX3_home() //using 360000 for 1 rev. -> 1.7453292519943296e-05=np.pi/180000 //excentricity= 5mm @@ -29,4 +29,21 @@ Motor[5].IdCmd=0;Motor[5].InPosBand=10 #1..5j/ &1 +//initialization code +open plc 0 + if (Motor[1].ActPos-Motor[1].HomePos>180000) + Motor[1].HomePos=Motor[1].HomePos+360000 + if (Motor[2].ActPos-Motor[2].HomePos>180000) + Motor[2].HomePos=Motor[2].HomePos+360000 + if (Motor[3].ActPos-Motor[3].HomePos>180000) + Motor[3].HomePos=Motor[3].HomePos+360000 + if (Motor[4].ActPos-Motor[4].HomePos>180000) + Motor[4].HomePos=Motor[4].HomePos+360000 + if (Motor[5].ActPos-Motor[5].HomePos>180000) + Motor[5].HomePos=Motor[5].HomePos+360000 + disable plc 0 +close plc 0``` + +enable plc 0 + diff --git a/cfg/stream.cfg b/cfg/stream.cfg index 59b243d..134bdc6 100644 --- a/cfg/stream.cfg +++ b/cfg/stream.cfg @@ -17,7 +17,6 @@ debug { debug0 { out "%s"; } -# end moveXYUVW { out "cpx abs linear;call 15; X(%(\$1X.VAL)f)Y(%(\$1Y.VAL)f)U(%(\$1U.VAL)f)V(%(\$1V.VAL)f)W(%(\$1W.VAL)f);call 16"; diff --git a/qt/ESB_MX_5cam.ui b/qt/ESB_MX_5cam.ui index ff36a1c..e3fecde 100644 --- a/qt/ESB_MX_5cam.ui +++ b/qt/ESB_MX_5cam.ui @@ -7,7 +7,7 @@ 0 0 776 - 916 + 619 @@ -201,3381 +201,1061 @@ P=$(P),M=MOT_GIR_W - + - 40 - 320 - 547 - 211 + 20 + 570 + 411 + 31 - - + + $(P):debug3.VAL + + + caLineEdit::string - - - - 2 - 5 - 544 - 201 - - - - - 12 - 75 - true - - - - Status: - - - true - - - - - 0 - 57 - 110 - 20 - - - - Out of range: - - - Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter - - - - - - 118 - 27 - 16 - 16 - - - - - 0 - 205 - 0 - - - - caGraphics::Solid - - - caGraphics::Filled - - - - 0 - 205 - 0 - - - - caGraphics::IfNotZero - - - A - - - $(NAME):MOVN - - - caGraphics::Circle - - - - - - 0 - 25 - 110 - 20 - - - - - 12 - 75 - true - - - - QFrame::NoFrame - - - MOVING: - - - Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter - - - - - - 118 - 27 - 16 - 16 - - - - - 120 - 120 - 120 - - - - caGraphics::Solid - - - caGraphics::Filled - - - - 120 - 120 - 120 - - - - caGraphics::IfZero - - - A - - - $(NAME):MOVN - - - caGraphics::Circle - - - - - - 0 - 180 - 110 - 16 - - - - - 8 - - - - Retry Count: - - - Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter - - - - - - 0 - 140 - 110 - 16 - - - - - 8 - - - - High Limit Switch: - - - Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter - - - - - - 119 - 180 - 15 - 15 - - - - - 253 - 0 - 0 - - - - caGraphics::Solid - - - caGraphics::Filled - - - - 253 - 0 - 0 - - - - caGraphics::Calc - - - A<B - - - $(NAME):MOTOR_1.RTRY - - - $(NAME):MOTOR_1.RCNT - - - caGraphics::Circle - - - - - - 199 - 160 - 15 - 15 - - - - - 251 - 243 - 74 - - - - caGraphics::Solid - - - caGraphics::Filled - - - - 251 - 243 - 74 - - - - caGraphics::IfNotZero - - - A - - - $(NAME):MOTOR_5.LVIO - - - caGraphics::Circle - - - - - - 139 - 100 - 15 - 15 - - - - - 249 - 218 - 60 - - - - caGraphics::Solid - - - caGraphics::Filled - - - - 249 - 218 - 60 - - - - caGraphics::IfNotZero - - - A - - - $(NAME):EACALC.VALH - - - caGraphics::Circle - - - - - - 139 - 180 - 15 - 15 - - - - - 253 - 0 - 0 - - - - caGraphics::Solid - - - caGraphics::Filled - - - - 253 - 0 - 0 - - - - caGraphics::Calc - - - A<B - - - $(NAME):MOTOR_2.RTRY - - - $(NAME):MOTOR_2.RCNT - 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Rot. X (Pitch) [mrad]: + M5 - Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter + Qt::AlignAbsolute|Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter - + - 390 - 250 - 125 - 20 + 217 + 141 + 10 + 10 - - - Sans Serif - 11 - PreferDefault - - - - Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter - - - $(NAME):ROT_Z - - - true - - + - 200 - 200 - 200 + 120 + 120 + 120 - - 1 + + caGraphics::Solid - - caLineEdit::Channel + + caGraphics::Filled - - caLineEdit::Channel + + + 120 + 120 + 120 + - - 1.000000000000000 + + caGraphics::IfZero - - 0.000000000000000 - - - true - - - caLineEdit::decimal - - - - - - 0 - 24 - 600 - 1 - - - - - - - true - - - - - - 0 - 291 - 600 - 1 - - - - - - - true - - - - - - 400 - 300 - 121 - 51 - - - - - 24 - 75 - true - + + A - $(NAME):MOVE_STOP.PROC + $(P):MOT_GIR_4.MOVN - - STOP - - - 1 - - - caMessageButton::Default - - - true + + caGraphics::Circle + + + + 78 + 177 + 20 + 16 + + + + QFrame::NoFrame + + + M1 + + + Qt::AlignAbsolute|Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter + + + capolyline + m3move + label_7 + m5move + cagraphics_9 + m1move + cagraphics_4 + label_8 + caLabel_10 + cagraphics_5 + cagraphics_2 + cagraphics_3 + m3stop + cagraphics + m5stop + label_11 + caLabel_11 + cagraphics_10 + label_10 + m1stop + label_9 + label_12 + caLabel_12 + cagraphics_7 + label_6 + cagraphics_8 + cagraphics_6 + m4move + caLabel_13 + m4stop + caLabel_9 + m2move + m2stop + + + + + 450 + 330 + 161 + 31 + + + + Reset $(P)3 + + + $(P):debug3 + + + Reset $(P)3 + + + BrickLV.Reset=1;#1..8j/ + - 610 - 350 + 640 + 490 120 31 @@ -3589,33 +1269,99 @@ P=$(P),M=MOT_GIR_W MOVE XYUVW - - - 88 - 52 - 15 - - - - - 187 - 187 - 187 - - 1 - caMessageButton::Alarm + caMessageButton::Static + + + + 450 + 370 + 171 + 151 + + + + + 0 + + + + + + 0 + 0 + + + + $(P):5CAM_X + + + + + + + + 0 + 0 + + + + $(P):5CAM_Y + + + + + + + + 0 + 0 + + + + $(P):5CAM_U + + + + + + + + 0 + 0 + + + + $(P):5CAM_V + + + + + + + + 0 + 0 + + + + $(P):5CAM_W + + + + + - caNumeric - QFrame -
caNumeric
+ caTextEntry + caLineEdit +
caTextEntry
 caMessageButton diff --git a/stream.template b/stream.template index abfa942..fb62a5a 100644 --- a/stream.template +++ b/stream.template @@ -9,32 +9,31 @@ #record(motor, "$(P):$(Q)U") {} #record(motor, "$(P):$(Q)V") {} #record(motor, "$(P):$(Q)W") {} - -record(calc, $(P):5CAM_X) { +record(calc, "$(P):5CAM_X") { field(CALC, "A/B") field(INPA, "$(P):$(Q)X.VAL") field(INPB, "$(P):$(Q)X.MRES") } -record(calc, $(P):5CAM_Y) { +record(calc, "$(P):5CAM_Y") { field(CALC, "A/B") field(INPA, "$(P):$(Q)Y.VAL") field(INPB, "$(P):$(Q)Y.MRES") } -record(calc, $(P):5CAM_U) { +record(calc, "$(P):5CAM_U") { field(CALC, "A/B") field(INPA, "$(P):$(Q)U.VAL") field(INPB, "$(P):$(Q)U.MRES") } -record(calc, $(P):5CAM_V) { +record(calc, "$(P):5CAM_V") { field(CALC, "A/B") field(INPA, "$(P):$(Q)V.VAL") field(INPB, "$(P):$(Q)V.MRES") } -record(calc, $(P):5CAM_W) { +record(calc, "$(P):5CAM_W") { field(CALC, "A/B") field(INPA, "$(P):$(Q)W.VAL") field(INPB, "$(P):$(Q)W.MRES") @@ -44,10 +43,9 @@ record(calc, $(P):5CAM_W) { # field(DESC, "asyn record") # field(PORT, "$(PORT)") # } - -#record (stringout, "$(P):debug") is limited to 40 characters therefore use waveform record -record(waveform, "$(P):debug") { - field(DESC, "debug") +#record (stringout, "$(P):debug$(ID)") is limited to 40 characters therefore use waveform record +record(waveform, "$(P):debug$(ID)") { + field(DESC, "debug$(ID)") field(FTVL, "CHAR") field(NELM, "256") field(DTYP, "stream") @@ -69,20 +67,38 @@ record(bo, "$(P):MOVE_XYUVW") { field(OUT, "@stream.cfg moveXYUVW($(P):5CAM_) $(PORT)") } - #! Further lines contain data used by VisualDCT -#! View(0,0,1.0) -#! Record("$(P):MOT_GIR1",20,23,0,0,"$(P):MOT_GIR1") -#! Field("$(P):MOT_GIR1.VAL",16777215,1,"$(P):MOT_GIR1.VAL") -#! Field("$(P):MOT_GIR1.MRES",16777215,1,"$(P):MOT_GIR1.MRES") -#! Record("$(P):MOT_GIR2",260,23,0,0,"$(P):MOT_GIR2") -#! Record("$(P):MOT_GIR3",500,23,0,0,"$(P):MOT_GIR3") -#! Record("$(P):MOT_GIR4",740,23,0,0,"$(P):MOT_GIR4") -#! Record("$(P):MOT_GIR5",980,23,0,0,"$(P):MOT_GIR5") -#! Record("$(P):debug",1220,14,0,0,"$(P):debug") -#! Record("$(P):MOVE_XYUVW",1460,22,0,0,"$(P):MOVE_XYUVW") -#! Record(M1,300,202,0,1,"M1") -#! Field("M1.INPA",16777215,0,"M1.INPA") -#! Link("M1.INPA","$(P):MOT_GIR1.VAL") -#! Field("M1.INPB",16777215,0,"M1.INPB") -#! Link("M1.INPB","$(P):MOT_GIR1.MRES") +#! View(0,160,1.0) +#! Record("$(P):5CAM_X",300,22,0,0,"$(P):5CAM_X") +#! Field("$(P):5CAM_X.INPA",16777215,0,"$(P):5CAM_X.INPA") +#! Field("$(P):5CAM_X.INPB",16777215,0,"$(P):5CAM_X.INPB") +#! Field("$(P):5CAM_X.VAL",16777215,1,"$(P):5CAM_X.VAL") +#! Record("$(P):5CAM_Y",300,202,0,0,"$(P):5CAM_Y") +#! Field("$(P):5CAM_Y.INPA",16777215,0,"$(P):5CAM_Y.INPA") +#! Field("$(P):5CAM_Y.INPB",16777215,0,"$(P):5CAM_Y.INPB") +#! Field("$(P):5CAM_Y.VAL",16777215,1,"$(P):5CAM_Y.VAL") +#! Record("$(P):5CAM_U",280,382,0,0,"$(P):5CAM_U") +#! Field("$(P):5CAM_U.INPA",16777215,0,"$(P):5CAM_U.INPA") +#! Field("$(P):5CAM_U.INPB",16777215,0,"$(P):5CAM_U.INPB") +#! Field("$(P):5CAM_U.VAL",16777215,1,"$(P):5CAM_U.VAL") +#! Record("$(P):5CAM_V",280,562,0,0,"$(P):5CAM_V") +#! Field("$(P):5CAM_V.INPA",16777215,0,"$(P):5CAM_V.INPA") +#! Field("$(P):5CAM_V.INPB",16777215,0,"$(P):5CAM_V.INPB") +#! Field("$(P):5CAM_V.VAL",16777215,1,"$(P):5CAM_V.VAL") +#! Record("$(P):5CAM_W",280,742,0,0,"$(P):5CAM_W") +#! Field("$(P):5CAM_W.INPA",16777215,0,"$(P):5CAM_W.INPA") +#! Field("$(P):5CAM_W.INPB",16777215,0,"$(P):5CAM_W.INPB") +#! Field("$(P):5CAM_W.VAL",16777215,1,"$(P):5CAM_W.VAL") +#! Record("$(P):debug$(ID)",660,274,0,0,"$(P):debug$(ID)") +#! Record("$(P):MOVE_XYUVW",660,128,0,0,"$(P):MOVE_XYUVW") +#! Record(SEL,660,414,0,1,"SEL") +#! Field("SEL.INPA",16777215,0,"SEL.INPA") +#! Link("SEL.INPA","$(P):5CAM_X.VAL") +#! Field("SEL.INPB",16777215,0,"SEL.INPB") +#! Link("SEL.INPB","$(P):5CAM_Y.VAL") +#! Field("SEL.INPC",16777215,0,"SEL.INPC") +#! Link("SEL.INPC","$(P):5CAM_U.VAL") +#! Field("SEL.INPD",16777215,0,"SEL.INPD") +#! Link("SEL.INPD","$(P):5CAM_V.VAL") +#! Field("SEL.INPE",16777215,0,"SEL.INPE") +#! Link("SEL.INPE","$(P):5CAM_W.VAL")