migrate from EPICS 3.14.12 to 7.0.7

2023-07-12 10:32:11 +02:00
parent 7d2cfaf209
commit 472a6fb7fc
8 changed files with 224 additions and 115 deletions
--- a/14
+++ b/14
@@ -1,10 +1,20 @@
 include /ioc/tools/driver.makefile
 MODULE = $(notdir $(shell pwd))
 BUILDCLASSES = Linux
-ARCH_FILTER = eldk42% SL6-x86_64
-EXCLUDE_VERSIONS = 7
+ARCH_FILTER = eldk42%
+EXCLUDE_VERSIONS = 3.14 7.0.6
+#EPICS_VERSIONS = 7.0.7
+
 #SCRIPTS+=$(wildcard add_EXPMX*.cmd cfg/*.cfg cfg/*.py cfg/*.pbi python/*.py)
 SCRIPTS+=$(wildcard add_EXPMX*.cmd cfg/*.cfg cfg/*.py cfg/*.pbi)
 #SOURCES+=src/DHVSaSub.cpp
 #DBDS+=src/DHVSaSub.dbd
 USR_CXXFLAGS+= -fno-operator-names
+
+.PHONY:  install_ioc generate
+
+install_ioc: generate
+	cd gen/ioc;make install
+
+generate:
+	/opt/gfa/python-3.5/latest/bin/python generate.py -m 0xf
--- a/add_EXPMX1.cmd
+++ b/add_EXPMX1.cmd
@@ -1,10 +1,4 @@
-### Required Parameters ###
-#PORT='PPMAC1'
-#P='SARFE10-OAPU090'
-#powerPmacCreateController(<port_name>, <moving_poll_pseriod [ms]>, <idle_poll_period [ms]>)
-#powerPmacCreateController("$(PORT)", 100, 100) <<< done in commom module
 ###########################
-require gpasciiCommander
 ! $(gpasciiCommander_DIR)/gpasciiCommander --path $(ESB_MX_DIR) $(ESB_MX_DIR)/$(P)1.cfg

 powerPmacCreateAxis($(PORT), 1)
--- a/add_EXPMX2.cmd
+++ b/add_EXPMX2.cmd
@@ -1,10 +1,4 @@
-### Required Parameters ###
-#PORT='PPMAC1'
-#P='SARFE10-OAPU090'
-#powerPmacCreateController(<port_name>, <moving_poll_pseriod [ms]>, <idle_poll_period [ms]>)
-#powerPmacCreateController("$(PORT)", 100, 100) <<< done in commom module
 ###########################
-require gpasciiCommander
 ! $(gpasciiCommander_DIR)/gpasciiCommander --path $(ESB_MX_DIR) $(ESB_MX_DIR)/$(P)2.cfg

 powerPmacCreateAxis($(PORT), 1)
@@ -23,6 +17,5 @@ powerPmacCreateVirtualAxis("$(PORT)", 10, 1, "Y",1,2,3,4)
 powerPmacCreateVirtualAxis("$(PORT)", 11, 1, "A",1,2,3,4)
 powerPmacCreateVirtualAxis("$(PORT)", 12, 1, "B",1,2,3,4)

-
 # Load databse
 dbLoadTemplate("$(ESB_MX_TEMPLATES)/$(P)2.subs", "PORT_M=$(PORT),P_M=$(P)")
--- a/add_EXPMX3.cmd
+++ b/add_EXPMX3.cmd
@@ -1,11 +1,4 @@
-### Required Parameters ###
-#PORT='PPMAC1'
-#P='SARFE10-OAPU090'
-#powerPmacCreateController(<port_name>, <moving_poll_pseriod [ms]>, <idle_poll_period [ms]>)
-#powerPmacCreateController("$(PORT)", 100, 100) <<< done in commom module
 ###########################
-require stream
-require gpasciiCommander
 ! $(gpasciiCommander_DIR)/gpasciiCommander --path $(ESB_MX_DIR) $(ESB_MX_DIR)/$(P)3.cfg

 powerPmacCreateAxis($(PORT), 1)
@@ -25,26 +18,23 @@ powerPmacCreateVirtualAxis("$(PORT)", 11, 1, "U",1,2,3,4)
 powerPmacCreateVirtualAxis("$(PORT)", 12, 1, "V",1,2,3,4)
 powerPmacCreateVirtualAxis("$(PORT)", 13, 1, "W",1,2,3,4)

-
-powerPmacSetCustomMotion $(PORT) 1 1
-powerPmacSetCustomMotion $(PORT) 2 1
-powerPmacSetCustomMotion $(PORT) 3 1
-powerPmacSetCustomMotion $(PORT) 4 1
-powerPmacSetCustomMotion $(PORT) 5 1
-powerPmacSetCustomMotion $(PORT) 9 1
-powerPmacSetCustomMotion $(PORT) 10 1
-powerPmacSetCustomMotion $(PORT) 11 1
-powerPmacSetCustomMotion $(PORT) 12 1
-powerPmacSetCustomMotion $(PORT) 13 1
-
 # Load databse
 dbLoadTemplate("$(ESB_MX_TEMPLATES)/$(P)3.subs", "PORT_M=$(PORT),P_M=$(P)")

-epicsEnvSet STREAM_PROTOCOL_PATH, $(STREAM_PROTOCOL_PATH):$(ESB_MX_DIR)
-
-#asynSetTraceMask("$(PORT)", -1, 0x6)
-#asynSetTraceIOMask("$(PORT)", -1, 0x2)
-var streamError 1
-#var streamDebug 1
+require PB_EXTRA
+#- Brakes - need to load motor status PVs as well
+dbLoadRecords("$(PB_EXTRA_TEMPLATES)motorStatus.db" "SYS=${P}, PORT=${PORT}, M=MOT_GIR_1, M_NO=1")
+dbLoadRecords("$(PB_EXTRA_TEMPLATES)motorStatus.db" "SYS=${P}, PORT=${PORT}, M=MOT_GIR_2, M_NO=2")
+dbLoadRecords("$(PB_EXTRA_TEMPLATES)motorStatus.db" "SYS=${P}, PORT=${PORT}, M=MOT_GIR_3, M_NO=3")
+dbLoadRecords("$(PB_EXTRA_TEMPLATES)motorStatus.db" "SYS=${P}, PORT=${PORT}, M=MOT_GIR_4, M_NO=4")
+dbLoadRecords("$(PB_EXTRA_TEMPLATES)motorStatus.db" "SYS=${P}, PORT=${PORT}, M=MOT_GIR_5, M_NO=5")
+dbLoadRecords("${PB_EXTRA_TEMPLATES}motorBrake.db", "SYS=${P}, PORT=${PORT}, M=MOT_GIR_1, M_NO=1")
+dbLoadRecords("${PB_EXTRA_TEMPLATES}motorBrake.db", "SYS=${P}, PORT=${PORT}, M=MOT_GIR_2, M_NO=2")
+dbLoadRecords("${PB_EXTRA_TEMPLATES}motorBrake.db", "SYS=${P}, PORT=${PORT}, M=MOT_GIR_3, M_NO=3")
+dbLoadRecords("${PB_EXTRA_TEMPLATES}motorBrake.db", "SYS=${P}, PORT=${PORT}, M=MOT_GIR_4, M_NO=4")
+dbLoadRecords("${PB_EXTRA_TEMPLATES}motorBrake.db", "SYS=${P}, PORT=${PORT}, M=MOT_GIR_5, M_NO=5")
+
+
+


--- a/cfg/MX1_home.cfg
+++ b/cfg/MX1_home.cfg
@@ -21,6 +21,8 @@ open plc PLC_Homing
  Motor[1].FatalFeLimit=2000
  L12=Motor[1].JogSpeed
  Motor[1].JogSpeed=1
+  L13=Motor[1].pEncLoss
+  Motor[1].pEncLoss=0

  L20=Motor[2].MaxDac
  Motor[2].MaxDac=500
@@ -28,6 +30,8 @@ open plc PLC_Homing
  Motor[2].FatalFeLimit=2000
  L22=Motor[2].JogSpeed
  Motor[2].JogSpeed=1
+  L23=Motor[2].pEncLoss
+  Motor[2].pEncLoss=0


  Motor[1].PhaseFindingStep=1
@@ -119,9 +123,12 @@ N1: //ENDPLC
  Motor[1].MaxDac=L10
  Motor[1].FatalFeLimit=L11
  Motor[1].JogSpeed=L12
+  Motor[1].pEncLoss=L13
+
  Motor[2].MaxDac=L20
  Motor[2].FatalFeLimit=L21
  Motor[2].JogSpeed=L22
+  Motor[2].pEncLoss=L23
  send 1"homeing done\n"

  disable plc PLC_Homing
--- a/cfg/MX3_setup.cfg
+++ b/cfg/MX3_setup.cfg
@@ -8,24 +8,26 @@
 //#5: homeoffset: -47956.2759182

 !encoder_ssi(enc=1,numBits=18,posSf=-5625./4096)
-//!motor(mot=1,dirCur=1000,JogSpeed=40,servoSf=256./9.,Pos2Sf=0,InPosBand=0,FatalFeLimit=1000,HomeOffset=0.)
-!motor(mot=1,dirCur=1000,JogSpeed=40,servoSf=256./9.,InPosBand=0,FatalFeLimit=1000,HomeOffset=65477.)
+!motor(mot=1,dirCur=1000,JogSpeed=40,servoSf=256./9.,InPosBand=10,FatalFeLimit=1000,HomeOffset=65477.,FaultMode=0)

 !encoder_ssi(enc=2,numBits=18,posSf=-5625./4096)
-//!motor(mot=2,dirCur=1000,JogSpeed=40,servoSf=256./9.,Pos2Sf=0,InPosBand=0,FatalFeLimit=1000,HomeOffset=0.)
-!motor(mot=2,dirCur=1000,JogSpeed=40,servoSf=256./9.,InPosBand=0,FatalFeLimit=1000,HomeOffset=-154370.)
+!motor(mot=2,dirCur=1000,JogSpeed=40,servoSf=256./9.,InPosBand=10,FatalFeLimit=1000,HomeOffset=-154370.,FaultMode=0)

 !encoder_ssi(enc=3,numBits=18,posSf=-5625./4096)
-//!motor(mot=3,dirCur=1000,JogSpeed=40,servoSf=256./9.,Pos2Sf=0,InPosBand=0,FatalFeLimit=1000,HomeOffset=0.)
-!motor(mot=3,dirCur=1000,JogSpeed=40,servoSf=256./9.,InPosBand=0,FatalFeLimit=1000,HomeOffset=-5248.)
+!motor(mot=3,dirCur=1000,JogSpeed=40,servoSf=256./9.,InPosBand=10,FatalFeLimit=1000,HomeOffset=-5248.,FaultMode=0)

 !encoder_ssi(enc=4,numBits=18,posSf=-5625./4096)
-//!motor(mot=4,dirCur=1000,JogSpeed=40,servoSf=256./9.,Pos2Sf=0,InPosBand=0,FatalFeLimit=1000,HomeOffset=0.)
-!motor(mot=4,dirCur=1000,JogSpeed=40,servoSf=256./9.,InPosBand=0,FatalFeLimit=1000,HomeOffset=-46620.)
+!motor(mot=4,dirCur=1000,JogSpeed=40,servoSf=256./9.,InPosBand=10,FatalFeLimit=1000,HomeOffset=-46620.,FaultMode=0)

 !encoder_ssi(enc=5,numBits=18,posSf=-5625./4096)
-//!motor(mot=5,dirCur=1000,JogSpeed=40,servoSf=256./9.,Pos2Sf=0,InPosBand=0,FatalFeLimit=1000,HomeOffset=0.)
-!motor(mot=5,dirCur=1000,JogSpeed=40,servoSf=256./9.,InPosBand=0,FatalFeLimit=1000,HomeOffset=93168.)
+!motor(mot=5,dirCur=1000,JogSpeed=40,servoSf=256./9.,InPosBand=10,FatalFeLimit=1000,HomeOffset=93168.,FaultMode=0)
+
+Motor[1].Servo.BreakPosErr=0
+Motor[2].Servo.BreakPosErr=0
+Motor[3].Servo.BreakPosErr=0
+Motor[4].Servo.BreakPosErr=0
+Motor[5].Servo.BreakPosErr=0
+

 // PKP266D14BA2 1.4A 1.8deb/step
 //!encoder_sim(enc=6)
@@ -38,64 +40,37 @@
 !encoder_sim(enc=6,posSf=2000./102400)
 !motor(mot=6,dirCur=1400,servoSf=102400./2000,invDir=False,JogSpeed=2,InPosBand=1,FatalFeLimit=1000,HomeOffset=0.)

-define(SP_RelBrk='15',SP_LockBrk='16')

-// ---------- Custom Motion Programs ----------
+// break configuration
+// at the beginning brakes were handeled with 'custom motion', but this has been removed,
+// as it was possible to cofigure simple brake handling with the motor on a better approach
+// s.a. following implementation
+// ~/Documents/prj/SwissFEL/epics_ioc_modules/PBPG/cfg/motEnc-PBPG050.cfg
+//!holding_current template not needed. The brake stuff below turns off the amplifiers
+// brake
+// PowerBrick[0].GpioData[0].16 is GPIO-OUT[1]

-!cm_prem_post(ax=1,prem=15,post=16) //generates subprog 10,11,12,13
-!cm_prem_post(ax=2,prem=15,post=16) //generates subprog 20,21,22,23
-!cm_prem_post(ax=3,prem=15,post=16) //generates subprog 30,31,32,33
-!cm_prem_post(ax=4,prem=15,post=16) //generates subprog 40,41,42,43
-!cm_prem_post(ax=5,prem=15,post=16) //generates subprog 40,41,42,43
+Motor[1].pBrakeOut     = PowerBrick[0].GpioData[0].a // put proper reference to gpio here !!!
+Motor[1].BrakeOutBit   = 16
+Motor[1].BrakeOffDelay = 100 // delay in ms before the brake is released after motion was triggered
+Motor[1].BrakeOnDelay  = 100 // delay in ms before the amplifier is disabled after motion has stopped

-!cm_prem_post(ax='X',axid=9,prem=15,post=16) //generates subprog 90,91,92,93
-!cm_prem_post(ax='Y',axid=10,prem=15,post=16) //generates subprog 100,101,102,103
-!cm_prem_post(ax='U',axid=11,prem=15,post=16) //generates subprog 110,111,112,113
-!cm_prem_post(ax='V',axid=12,prem=15,post=16) //generates subprog 120,121,122,123
-!cm_prem_post(ax='W',axid=13,prem=15,post=16) //generates subprog 120,121,122,123
+Motor[2].pBrakeOut     = PowerBrick[0].GpioData[0].a // put proper reference to gpio here !!!
+Motor[2].BrakeOutBit   = 17
+Motor[2].BrakeOffDelay = 100 // delay in ms before the brake is released after motion was triggered
+Motor[2].BrakeOnDelay  = 100 // delay in ms before the amplifier is disabled after motion has stopped

-// ---------- PREM POST Programs ----------
-
-//prem
-open subprog SP_RelBrk
-  define(EndTime='L1'); // Local variable
-  Motor[1].IdCmd=1000;Motor[1].InPosBand=2
-  Motor[2].IdCmd=1000;Motor[2].InPosBand=2
-  Motor[3].IdCmd=1000;Motor[3].InPosBand=2
-  Motor[4].IdCmd=1000;Motor[4].InPosBand=2
-  Motor[5].IdCmd=1000;Motor[5].InPosBand=2
-  PowerBrick[0].GpioData[0].16.5=$1f
-  //send 1"wait\n"
-  //EndTime = Sys.Time + .1; // time + 10 sec.
-  //while (EndTime > Sys.Time){}
-  //send 1"wait done\n"
-close
-
-//post
-open subprog SP_LockBrk
-  define(EndTime='L1'); // Local variable
-  //wait until all motors are in pos
-  EndTime = Sys.Time + 10; // time + 10 sec.
-  //send 1"wait."
-  while (EndTime > Sys.Time)
-  {
-    if(Coord[1].InPos)
-    {
-      //send 1"inPos\n"
-      break
-    }
-    //if(Motor[1].InPos && Motor[2].InPos&& Motor[3].InPos&& Motor[4].InPos&& Motor[5].InPos)
-    //  break
-    //send 1"."
-  }
-  //send 1"done\n"
-
-  Motor[1].IdCmd=0;Motor[1].InPosBand=50
-  Motor[2].IdCmd=0;Motor[2].InPosBand=50
-  Motor[3].IdCmd=0;Motor[3].InPosBand=50
-  Motor[4].IdCmd=0;Motor[4].InPosBand=50
-  Motor[5].IdCmd=0;Motor[5].InPosBand=50
-  PowerBrick[0].GpioData[0].16.5=$0
-close
+Motor[3].pBrakeOut     = PowerBrick[0].GpioData[0].a // put proper reference to gpio here !!!
+Motor[3].BrakeOutBit   = 18
+Motor[3].BrakeOffDelay = 100 // delay in ms before the brake is released after motion was triggered
+Motor[3].BrakeOnDelay  = 100 // delay in ms before the amplifier is disabled after motion has stopped

+Motor[4].pBrakeOut     = PowerBrick[0].GpioData[0].a // put proper reference to gpio here !!!
+Motor[4].BrakeOutBit   = 19
+Motor[4].BrakeOffDelay = 100 // delay in ms before the brake is released after motion was triggered
+Motor[4].BrakeOnDelay  = 100 // delay in ms before the amplifier is disabled after motion has stopped

+Motor[5].pBrakeOut     = PowerBrick[0].GpioData[0].a // put proper reference to gpio here !!!
+Motor[5].BrakeOutBit   = 20
+Motor[5].BrakeOffDelay = 100 // delay in ms before the brake is released after motion was triggered
+Motor[5].BrakeOnDelay  = 100 // delay in ms before the amplifier is disabled after motion has stopped
--- a/cfg/SAR-EXPMX3.cfg
+++ b/cfg/SAR-EXPMX3.cfg
@@ -26,15 +26,6 @@ Coord[1].AltFeedRate=1000
 Coord[1].Tm=-10000  //1000um/FeedTime -> 1mm/sec
 Coord[1].FeedTime=1000 //default value 1000um

- //motor current off (as cpxcall 16)
-Motor[1].IdCmd=0;Motor[1].InPosBand=10
-Motor[2].IdCmd=0;Motor[2].InPosBand=10
-Motor[3].IdCmd=0;Motor[3].InPosBand=10
-Motor[4].IdCmd=0;Motor[4].InPosBand=10
-Motor[5].IdCmd=0;Motor[5].InPosBand=10
-
-//#1..5hmz
-//#1..5j/
 &1

 //initialization code
@@ -60,8 +51,9 @@ close // plc 1

 enable plc 1

+#1..5dkill

-//motor 1..5 use custom code to kill motor and use brake
+//motor 1..5 use break setup to kill motor
 !holding_current(m6=[0,700])


--- a/generate.py
+++ b/generate.py
@@ -0,0 +1,148 @@
+#!/usr/bin/env python
+#*-----------------------------------------------------------------------*
+#|                                                                       |
+#|  Copyright (c) 2019 by Paul Scherrer Institute (http://www.psi.ch)    |
+#|                                                                       |
+#|              Author Thierry Zamofing (thierry.zamofing@psi.ch)        |
+#*-----------------------------------------------------------------------*
+'''
+generate .subs and _startup.script files
+  mode bits:
+  0x001: genIOC()
+  0x008: genLauncher()
+
+Long Doc'''
+from __future__ import print_function
+
+import logging, sys, os, json
+import string
+
+host2param={
+#HOST                runScript
+'SAR-CPPM-EXPMX1': ('require ESB_MX\nrunScript $(ESB_MX_DIR)/add_EXPMX1.cmd "P=SAR-EXPMX,PORT=PPMAC1"',),
+'SAR-CPPM-EXPMX2': ('require ESB_MX\nrunScript $(ESB_MX_DIR)/add_EXPMX2.cmd "P=SAR-EXPMX,PORT=PPMAC1"',),
+'SAR-CPPM-EXPMX3': ('require ESB_MX\nrunScript $(ESB_MX_DIR)/add_EXPMX3.cmd "P=SAR-EXPMX,PORT=PPMAC1"',),
+}
+
+
+
+
+tplYaml='''\
+cpu_architecture: {os}
+os: {os}
+os_id: {os}
+epics_version: 7.0.7
+ioc_host: {host}
+ioc_port: {port}
+'''
+
+##################################################################
+# DO NOT EDIT: Generated with epics_ioc_modules/OATT/generate.py
+# This is the IOC on "{host}" port {port}:
+##################################################################
+tplScriptPowerBrickIOC='''\
+#####################################
+# PPMAC responsible: Thierry Zamofing
+#####################################
+{req}
+
+############################################
+#------! Common PPMAC configuration !------#
+############################################
+# Load common configuration
+require PB_COMMON
+
+# Define controller
+#powerPmacCreateController(<port_name>, <moving_poll_pseriod [ms]>, <idle_poll_period [ms]>)
+powerPmacCreateController("PPMAC1", 200, 1000)
+
+############################################
+#--------! Devices configuration ---------!#
+############################################
+{devConf}
+'''
+
+tplEVR='''\
+####### initialise EVR ##############################
+# https://git.psi.ch/epics_driver_modules/mrfioc2
+require mrfioc2
+runScript $(mrfioc2_DIR)/mrfioc2_evr-PCIe.cmd, "DEVICE=EVR0,EVR_SUBS=$(ESB_MX_DIR)/db/evr_PCIe-300DC.subs,EVR_DOMAIN=0x2,EVR_BUS=0x21,SYS=SAR-EXPMX"
+
+####### initialise EVR data buffer ##################
+# https://git.psi.ch/epics_driver_modules/mrfioc2_regDev
+require mrfioc2_regDev
+runScript $(mrfioc2_regDev_DIR)/mrfioc2_regDev_pulseID_RX.cmd, "DEVICE=EVR0,SYS=SAR-EXPMX"
+'''
+
+
+class CPPM:
+
+  def __init__(self):
+    pass
+
+  def genIOC(self):
+    print('### genIOC ###')
+    tpl=tplScriptPowerBrickIOC
+
+    os.makedirs('gen/ioc/',exist_ok=True)
+    #os.makedirs('gen/db/',exist_ok=True)
+
+    fh=open('gen/ioc/Makefile','w')
+    fh.write('include /ioc/tools/ioc.makefile\n')
+    fh.close()
+
+    port=50001
+    osys='eldk42-ppc4xxFP'
+
+    for host,v in host2param.items():
+      devConf,=v
+      req=''
+
+      fn='gen/ioc/{host}_startup.script'.format(host=host)
+      print('generate '+fn+'...')
+      fh=open(fn,'w')
+      fh.write(tpl.format(host=host,port=port,req=req,devConf=devConf))
+      if host=='SAR-CPPM-EXPMX1':
+        fh.write(tplEVR)
+      fh.close()
+      fn='gen/ioc/{host}_parameters.yaml'.format(host=host)
+      print('generate '+fn+'...')
+      fh=open(fn,'w')
+      fh.write(tplYaml.format(os=osys,host=host,port=port))
+      fh.close()
+    print('done.')
+
+  def genLauncher(self):
+    print('### genLauncher ###')
+
+#    os.makedirs('gen/',exist_ok=True)
+#    fn='gen/launcher_part.json'
+#    print('generate '+fn+'...')
+#    fh=open(fn,'w')
+#    for dev,ioc in dev2ioc.items():
+#      fh.write('''\
+#{{ "type": "caqtdm" , "text": "{dev} translation", "panel": "galil_dmc_ctrl.ui",  "macros": "DMC={dev}_DMC1:,M1=TX" }},
+#'''.format(dev=dev))
+#    fh.close()
+
+if __name__=='__main__':
+  def parse_args():
+    import argparse
+    (h, t)=os.path.split(sys.argv[0]);cmd='\n  '+(t if len(h)>20 else sys.argv[0])+' '
+    #print(sys.argv,h,t)
+    exampleCmd=('', '-m0xf -v0' )
+    epilog=__doc__+'\nExamples:'+''.join(map(lambda s:cmd+s, exampleCmd))+'\n'
+
+    parser = argparse.ArgumentParser(epilog=epilog,formatter_class=argparse.RawDescriptionHelpFormatter)
+    parser.add_argument('-m', '--mode', type=lambda x: int(x,0), help='mode bits', default=0xff)
+    args = parser.parse_args()
+    #print(args)
+
+    obj=CPPM()
+    if args.mode&0x1:
+      obj.genIOC()
+    if args.mode&0x2:
+      obj.genLauncher()
+
+  parse_args()
+