From 417802a9b4768c4aba9ec944cd896bcc888862a2 Mon Sep 17 00:00:00 2001 From: Daniel Sissom Date: Wed, 22 May 2024 11:38:43 -0500 Subject: [PATCH] Substituted string "mcb4b" with "md90". The following case replacements were applied (in order): mcb4b -> md90 MCB4B -> MD90 mcb-4b -> md-90 MCB-4B -> MD-90 MCB -> MD-90 --- docs/RELEASE.md | 2 +- dsmApp/iocsh/DSM_MD90.iocsh | 6 +- dsmApp/iocsh/Makefile | 2 +- dsmApp/src/MD90Driver.cpp | 134 +++++++++--------- dsmApp/src/MD90Driver.h | 26 ++-- dsmApp/src/Makefile | 4 +- dsmApp/src/devDsmMotor.dbd | 6 +- dsmApp/src/devMD90.cc | 110 +++++++------- dsmApp/src/drvMD90.cc | 110 +++++++------- dsmApp/src/drvMD90.h | 16 +-- dsmApp/src/dsmRegister.cc | 20 +-- dsmApp/src/dsmRegister.h | 4 +- .../iocBoot/iocDsm/motor.substitutions.md90 | 2 +- iocs/dsmIOC/iocBoot/iocDsm/st.cmd.md90 | 4 +- 14 files changed, 223 insertions(+), 223 deletions(-) diff --git a/docs/RELEASE.md b/docs/RELEASE.md index cbca4c8..ef15d12 100644 --- a/docs/RELEASE.md +++ b/docs/RELEASE.md @@ -27,7 +27,7 @@ R1-1 is a release based on the master branch. * None #### Modifications to existing features -* Commit [1bd580a](https://github.com/epics-motor/motorDsm/commit/1bd580a87869fb140939978c0b06856917282da9): ``iocsh`` dir moved into ``dsmApp`` dir; ``DSM_MCB4B.iocsh`` is now installed at build time +* Commit [1bd580a](https://github.com/epics-motor/motorDsm/commit/1bd580a87869fb140939978c0b06856917282da9): ``iocsh`` dir moved into ``dsmApp`` dir; ``DSM_MD90.iocsh`` is now installed at build time #### Bug fixes * Commit [5ab502c](https://github.com/epics-motor/motorDsm/commit/5ab502c53ac81885e2a511ade95f22d0a0db4f43): Include ``$(MOTOR)/modules/RELEASE.$(EPICS_HOST_ARCH).local`` instead of ``$(MOTOR)/configure/RELEASE`` diff --git a/dsmApp/iocsh/DSM_MD90.iocsh b/dsmApp/iocsh/DSM_MD90.iocsh index 54c8f7b..1891ce1 100644 --- a/dsmApp/iocsh/DSM_MD90.iocsh +++ b/dsmApp/iocsh/DSM_MD90.iocsh @@ -1,4 +1,4 @@ -# ### DSM_MCB4B.iocsh ### +# ### DSM_MD90.iocsh ### #- ################################################### #- PORT - Serial port for communications @@ -17,9 +17,9 @@ #- Default: 100 #- ################################################### -# DSM MCB-4B serial connection settings +# DSM MD-90 serial connection settings iocshLoad("$(IP)/iocsh/setSerialParams.iocsh", "PORT=$(PORT), BAUD=19200, BITS=8, STOP=1, PARITY=none") asynOctetSetInputEos( "$(PORT)", -1, "\r") asynOctetSetOutputEos("$(PORT)", -1, "\r") -MCB4BCreateController("$(INSTANCE)", "$(PORT)", $(NUM_AXES=1), $(MOVING_POLL=$(POLL_RATE=100)), $(IDLE_POLL=$(POLL_RATE=100))) +MD90CreateController("$(INSTANCE)", "$(PORT)", $(NUM_AXES=1), $(MOVING_POLL=$(POLL_RATE=100)), $(IDLE_POLL=$(POLL_RATE=100))) diff --git a/dsmApp/iocsh/Makefile b/dsmApp/iocsh/Makefile index 37c6c44..4ad4392 100644 --- a/dsmApp/iocsh/Makefile +++ b/dsmApp/iocsh/Makefile @@ -1,6 +1,6 @@ TOP = ../.. include $(TOP)/configure/CONFIG -IOCSH += DSM_MCB4B.iocsh +IOCSH += DSM_MD90.iocsh include $(TOP)/configure/RULES diff --git a/dsmApp/src/MD90Driver.cpp b/dsmApp/src/MD90Driver.cpp index 8cd1844..54fcaf7 100644 --- a/dsmApp/src/MD90Driver.cpp +++ b/dsmApp/src/MD90Driver.cpp @@ -1,6 +1,6 @@ /* -FILENAME... MCB4BDriver.cpp -USAGE... Motor driver support for the DSM MCB-4B controller. +FILENAME... MD90Driver.cpp +USAGE... Motor driver support for the DSM MD-90 controller. Mark Rivers March 1, 2012 @@ -19,20 +19,20 @@ March 1, 2012 #include #include -#include "MCB4BDriver.h" +#include "MD90Driver.h" #define NINT(f) (int)((f)>0 ? (f)+0.5 : (f)-0.5) -/** Creates a new MCB4BController object. +/** Creates a new MD90Controller object. * \param[in] portName The name of the asyn port that will be created for this driver - * \param[in] MCB4BPortName The name of the drvAsynSerialPort that was created previously to connect to the MCB4B controller + * \param[in] MD90PortName The name of the drvAsynSerialPort that was created previously to connect to the MD90 controller * \param[in] numAxes The number of axes that this controller supports * \param[in] movingPollPeriod The time between polls when any axis is moving * \param[in] idlePollPeriod The time between polls when no axis is moving */ -MCB4BController::MCB4BController(const char *portName, const char *MCB4BPortName, int numAxes, +MD90Controller::MD90Controller(const char *portName, const char *MD90PortName, int numAxes, double movingPollPeriod, double idlePollPeriod) - : asynMotorController(portName, numAxes, NUM_MCB4B_PARAMS, + : asynMotorController(portName, numAxes, NUM_MD90_PARAMS, 0, // No additional interfaces beyond those in base class 0, // No additional callback interfaces beyond those in base class ASYN_CANBLOCK | ASYN_MULTIDEVICE, @@ -41,38 +41,38 @@ MCB4BController::MCB4BController(const char *portName, const char *MCB4BPortName { int axis; asynStatus status; - MCB4BAxis *pAxis; - static const char *functionName = "MCB4BController::MCB4BController"; + MD90Axis *pAxis; + static const char *functionName = "MD90Controller::MD90Controller"; - /* Connect to MCB4B controller */ - status = pasynOctetSyncIO->connect(MCB4BPortName, 0, &pasynUserController_, NULL); + /* Connect to MD90 controller */ + status = pasynOctetSyncIO->connect(MD90PortName, 0, &pasynUserController_, NULL); if (status) { asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR, - "%s: cannot connect to MCB-4B controller\n", + "%s: cannot connect to MD-90 controller\n", functionName); } for (axis=0; axis 0 then information is printed about each axis. * After printing controller-specific information it calls asynMotorController::report() */ -void MCB4BController::report(FILE *fp, int level) +void MD90Controller::report(FILE *fp, int level) { - fprintf(fp, "MCB-4B motor driver %s, numAxes=%d, moving poll period=%f, idle poll period=%f\n", + fprintf(fp, "MD-90 motor driver %s, numAxes=%d, moving poll period=%f, idle poll period=%f\n", this->portName, numAxes_, movingPollPeriod_, idlePollPeriod_); // Call the base class method asynMotorController::report(fp, level); } -/** Returns a pointer to an MCB4BAxis object. +/** Returns a pointer to an MD90Axis object. * Returns NULL if the axis number encoded in pasynUser is invalid. * \param[in] pasynUser asynUser structure that encodes the axis index number. */ -MCB4BAxis* MCB4BController::getAxis(asynUser *pasynUser) +MD90Axis* MD90Controller::getAxis(asynUser *pasynUser) { - return static_cast(asynMotorController::getAxis(pasynUser)); + return static_cast(asynMotorController::getAxis(pasynUser)); } -/** Returns a pointer to an MCB4BAxis object. +/** Returns a pointer to an MD90Axis object. * Returns NULL if the axis number encoded in pasynUser is invalid. * \param[in] axisNo Axis index number. */ -MCB4BAxis* MCB4BController::getAxis(int axisNo) +MD90Axis* MD90Controller::getAxis(int axisNo) { - return static_cast(asynMotorController::getAxis(axisNo)); + return static_cast(asynMotorController::getAxis(axisNo)); } -// These are the MCB4BAxis methods +// These are the MD90Axis methods -/** Creates a new MCB4BAxis object. - * \param[in] pC Pointer to the MCB4BController to which this axis belongs. +/** Creates a new MD90Axis object. + * \param[in] pC Pointer to the MD90Controller to which this axis belongs. * \param[in] axisNo Index number of this axis, range 0 to pC->numAxes_-1. * * Initializes register numbers, etc. */ -MCB4BAxis::MCB4BAxis(MCB4BController *pC, int axisNo) +MD90Axis::MD90Axis(MD90Controller *pC, int axisNo) : asynMotorAxis(pC, axisNo), pC_(pC) { @@ -129,7 +129,7 @@ MCB4BAxis::MCB4BAxis(MCB4BController *pC, int axisNo) * * After printing device-specific information calls asynMotorAxis::report() */ -void MCB4BAxis::report(FILE *fp, int level) +void MD90Axis::report(FILE *fp, int level) { if (level > 0) { fprintf(fp, " axis %d\n", @@ -140,11 +140,11 @@ void MCB4BAxis::report(FILE *fp, int level) asynMotorAxis::report(fp, level); } -asynStatus MCB4BAxis::sendAccelAndVelocity(double acceleration, double velocity) +asynStatus MD90Axis::sendAccelAndVelocity(double acceleration, double velocity) { asynStatus status; int ival; - // static const char *functionName = "MCB4B::sendAccelAndVelocity"; + // static const char *functionName = "MD90::sendAccelAndVelocity"; // Send the velocity ival = NINT(fabs(115200./velocity)); @@ -155,7 +155,7 @@ asynStatus MCB4BAxis::sendAccelAndVelocity(double acceleration, double velocity) // Send the acceleration // acceleration is in steps/sec/sec - // MCB is programmed with Ramp Index (R) where: + // MD-90 is programmed with Ramp Index (R) where: // dval (steps/sec/sec) = 720,000/(256-R) */ // or R=256-(720,000/dval) */ ival = NINT(256-(720000./acceleration)); @@ -167,10 +167,10 @@ asynStatus MCB4BAxis::sendAccelAndVelocity(double acceleration, double velocity) } -asynStatus MCB4BAxis::move(double position, int relative, double minVelocity, double maxVelocity, double acceleration) +asynStatus MD90Axis::move(double position, int relative, double minVelocity, double maxVelocity, double acceleration) { asynStatus status; - // static const char *functionName = "MCB4BAxis::move"; + // static const char *functionName = "MD90Axis::move"; status = sendAccelAndVelocity(acceleration, maxVelocity); @@ -183,10 +183,10 @@ asynStatus MCB4BAxis::move(double position, int relative, double minVelocity, do return status; } -asynStatus MCB4BAxis::home(double minVelocity, double maxVelocity, double acceleration, int forwards) +asynStatus MD90Axis::home(double minVelocity, double maxVelocity, double acceleration, int forwards) { asynStatus status; - // static const char *functionName = "MCB4BAxis::home"; + // static const char *functionName = "MD90Axis::home"; status = sendAccelAndVelocity(acceleration, maxVelocity); @@ -199,10 +199,10 @@ asynStatus MCB4BAxis::home(double minVelocity, double maxVelocity, double accele return status; } -asynStatus MCB4BAxis::moveVelocity(double minVelocity, double maxVelocity, double acceleration) +asynStatus MD90Axis::moveVelocity(double minVelocity, double maxVelocity, double acceleration) { asynStatus status; - static const char *functionName = "MCB4BAxis::moveVelocity"; + static const char *functionName = "MD90Axis::moveVelocity"; asynPrint(pasynUser_, ASYN_TRACE_FLOW, "%s: minVelocity=%f, maxVelocity=%f, acceleration=%f\n", @@ -210,42 +210,42 @@ asynStatus MCB4BAxis::moveVelocity(double minVelocity, double maxVelocity, doubl status = sendAccelAndVelocity(acceleration, maxVelocity); - /* MCB-4B does not have jog command. Move 1 million steps */ + /* MD-90 does not have jog command. Move 1 million steps */ if (maxVelocity > 0.) { - /* This is a positive move in MCB4B coordinates */ + /* This is a positive move in MD90 coordinates */ sprintf(pC_->outString_, "#%02dI+1000000", axisNo_); } else { - /* This is a negative move in MCB4B coordinates */ + /* This is a negative move in MD90 coordinates */ sprintf(pC_->outString_, "#%02dI-1000000", axisNo_); } status = pC_->writeReadController(); return status; } -asynStatus MCB4BAxis::stop(double acceleration ) +asynStatus MD90Axis::stop(double acceleration ) { asynStatus status; - //static const char *functionName = "MCB4BAxis::stop"; + //static const char *functionName = "MD90Axis::stop"; sprintf(pC_->outString_, "#%02dQ", axisNo_); status = pC_->writeReadController(); return status; } -asynStatus MCB4BAxis::setPosition(double position) +asynStatus MD90Axis::setPosition(double position) { asynStatus status; - //static const char *functionName = "MCB4BAxis::setPosition"; + //static const char *functionName = "MD90Axis::setPosition"; sprintf(pC_->outString_, "#%02dP=%+d", axisNo_, NINT(position)); status = pC_->writeReadController(); return status; } -asynStatus MCB4BAxis::setClosedLoop(bool closedLoop) +asynStatus MD90Axis::setClosedLoop(bool closedLoop) { asynStatus status; - //static const char *functionName = "MCB4BAxis::setClosedLoop"; + //static const char *functionName = "MD90Axis::setClosedLoop"; sprintf(pC_->outString_, "#%02dW=%d", axisNo_, closedLoop ? 1:0); status = pC_->writeReadController(); @@ -258,7 +258,7 @@ asynStatus MCB4BAxis::setClosedLoop(bool closedLoop) * It calls setIntegerParam() and setDoubleParam() for each item that it polls, * and then calls callParamCallbacks() at the end. * \param[out] moving A flag that is set indicating that the axis is moving (true) or done (false). */ -asynStatus MCB4BAxis::poll(bool *moving) +asynStatus MD90Axis::poll(bool *moving) { int done; int driveOn; @@ -310,27 +310,27 @@ asynStatus MCB4BAxis::poll(bool *moving) } /** Code for iocsh registration */ -static const iocshArg MCB4BCreateControllerArg0 = {"Port name", iocshArgString}; -static const iocshArg MCB4BCreateControllerArg1 = {"MCB-4B port name", iocshArgString}; -static const iocshArg MCB4BCreateControllerArg2 = {"Number of axes", iocshArgInt}; -static const iocshArg MCB4BCreateControllerArg3 = {"Moving poll period (ms)", iocshArgInt}; -static const iocshArg MCB4BCreateControllerArg4 = {"Idle poll period (ms)", iocshArgInt}; -static const iocshArg * const MCB4BCreateControllerArgs[] = {&MCB4BCreateControllerArg0, - &MCB4BCreateControllerArg1, - &MCB4BCreateControllerArg2, - &MCB4BCreateControllerArg3, - &MCB4BCreateControllerArg4}; -static const iocshFuncDef MCB4BCreateControllerDef = {"MCB4BCreateController", 5, MCB4BCreateControllerArgs}; -static void MCB4BCreateContollerCallFunc(const iocshArgBuf *args) +static const iocshArg MD90CreateControllerArg0 = {"Port name", iocshArgString}; +static const iocshArg MD90CreateControllerArg1 = {"MD-90 port name", iocshArgString}; +static const iocshArg MD90CreateControllerArg2 = {"Number of axes", iocshArgInt}; +static const iocshArg MD90CreateControllerArg3 = {"Moving poll period (ms)", iocshArgInt}; +static const iocshArg MD90CreateControllerArg4 = {"Idle poll period (ms)", iocshArgInt}; +static const iocshArg * const MD90CreateControllerArgs[] = {&MD90CreateControllerArg0, + &MD90CreateControllerArg1, + &MD90CreateControllerArg2, + &MD90CreateControllerArg3, + &MD90CreateControllerArg4}; +static const iocshFuncDef MD90CreateControllerDef = {"MD90CreateController", 5, MD90CreateControllerArgs}; +static void MD90CreateContollerCallFunc(const iocshArgBuf *args) { - MCB4BCreateController(args[0].sval, args[1].sval, args[2].ival, args[3].ival, args[4].ival); + MD90CreateController(args[0].sval, args[1].sval, args[2].ival, args[3].ival, args[4].ival); } -static void MCB4BRegister(void) +static void MD90Register(void) { - iocshRegister(&MCB4BCreateControllerDef, MCB4BCreateContollerCallFunc); + iocshRegister(&MD90CreateControllerDef, MD90CreateContollerCallFunc); } extern "C" { -epicsExportRegistrar(MCB4BRegister); +epicsExportRegistrar(MD90Register); } diff --git a/dsmApp/src/MD90Driver.h b/dsmApp/src/MD90Driver.h index af755d9..f98f3c2 100644 --- a/dsmApp/src/MD90Driver.h +++ b/dsmApp/src/MD90Driver.h @@ -1,6 +1,6 @@ /* -FILENAME... MCB4BDriver.h -USAGE... Motor driver support for the DSM MCB-4B controller. +FILENAME... MD90Driver.h +USAGE... Motor driver support for the DSM MD-90 controller. Mark Rivers March 1, 2012 @@ -10,16 +10,16 @@ March 1, 2012 #include "asynMotorController.h" #include "asynMotorAxis.h" -#define MAX_MCB4B_AXES 4 +#define MAX_MD90_AXES 4 // No controller-specific parameters yet -#define NUM_MCB4B_PARAMS 0 +#define NUM_MD90_PARAMS 0 -class epicsShareClass MCB4BAxis : public asynMotorAxis +class epicsShareClass MD90Axis : public asynMotorAxis { public: /* These are the methods we override from the base class */ - MCB4BAxis(class MCB4BController *pC, int axis); + MD90Axis(class MD90Controller *pC, int axis); void report(FILE *fp, int level); asynStatus move(double position, int relative, double min_velocity, double max_velocity, double acceleration); asynStatus moveVelocity(double min_velocity, double max_velocity, double acceleration); @@ -30,20 +30,20 @@ public: asynStatus setClosedLoop(bool closedLoop); private: - MCB4BController *pC_; /**< Pointer to the asynMotorController to which this axis belongs. + MD90Controller *pC_; /**< Pointer to the asynMotorController to which this axis belongs. * Abbreviated because it is used very frequently */ asynStatus sendAccelAndVelocity(double accel, double velocity); -friend class MCB4BController; +friend class MD90Controller; }; -class epicsShareClass MCB4BController : public asynMotorController { +class epicsShareClass MD90Controller : public asynMotorController { public: - MCB4BController(const char *portName, const char *MCB4BPortName, int numAxes, double movingPollPeriod, double idlePollPeriod); + MD90Controller(const char *portName, const char *MD90PortName, int numAxes, double movingPollPeriod, double idlePollPeriod); void report(FILE *fp, int level); - MCB4BAxis* getAxis(asynUser *pasynUser); - MCB4BAxis* getAxis(int axisNo); + MD90Axis* getAxis(asynUser *pasynUser); + MD90Axis* getAxis(int axisNo); -friend class MCB4BAxis; +friend class MD90Axis; }; diff --git a/dsmApp/src/Makefile b/dsmApp/src/Makefile index 8fb5081..6ebc329 100644 --- a/dsmApp/src/Makefile +++ b/dsmApp/src/Makefile @@ -12,8 +12,8 @@ LIBRARY_IOC = dsm SRCS += dsmRegister.cc # Advanced Control Systems driver support. -SRCS += devMCB4B.c drvMCB4B.c -SRCS += MCB4BDriver.cpp +SRCS += devMD90.c drvMD90.c +SRCS += MD90Driver.cpp dsm_LIBS += motor asyn dsm_LIBS += $(EPICS_BASE_IOC_LIBS) diff --git a/dsmApp/src/devDsmMotor.dbd b/dsmApp/src/devDsmMotor.dbd index 1b3e1df..0af56ca 100644 --- a/dsmApp/src/devDsmMotor.dbd +++ b/dsmApp/src/devDsmMotor.dbd @@ -1,11 +1,11 @@ # Advanced Control Systems driver support. # Model 1 (non-asyn) driver -device(motor,VME_IO,devMCB4B,"DSM MCB-4B") -driver(drvMCB4B) +device(motor,VME_IO,devMD90,"DSM MD-90") +driver(drvMD90) registrar(dsmRegister) # Model 3 driver -registrar(MCB4BRegister) +registrar(MD90Register) diff --git a/dsmApp/src/devMD90.cc b/dsmApp/src/devMD90.cc index 73e43d1..5e2d096 100644 --- a/dsmApp/src/devMD90.cc +++ b/dsmApp/src/devMD90.cc @@ -1,4 +1,4 @@ -/* File: devMCB4B.cc */ +/* File: devMD90.cc */ /* Device Support Routines for motor */ /* @@ -20,21 +20,21 @@ #include "motorRecord.h" #include "motor.h" #include "motordevCom.h" -#include "drvMCB4B.h" +#include "drvMD90.h" #include "epicsExport.h" #define STATIC static -extern struct driver_table MCB4B_access; +extern struct driver_table MD90_access; #define NINT(f) (long)((f)>0 ? (f)+0.5 : (f)-0.5) -volatile int devMCB4BDebug = 0; -extern "C" {epicsExportAddress(int, devMCB4BDebug);} +volatile int devMD90Debug = 0; +extern "C" {epicsExportAddress(int, devMD90Debug);} static inline void Debug(int level, const char *format, ...) { #ifdef DEBUG - if (level < devMCB4BDebug) + if (level < devMD90Debug) { va_list pVar; va_start(pVar, format); @@ -45,35 +45,35 @@ static inline void Debug(int level, const char *format, ...) { } /* Debugging levels: - * devMCB4BDebug >= 3 Print new part of command and command string so far - * at the end of MCB4B_build_trans + * devMD90Debug >= 3 Print new part of command and command string so far + * at the end of MD90_build_trans */ -/* ----------------Create the dsets for devMCB4B----------------- */ +/* ----------------Create the dsets for devMD90----------------- */ STATIC struct driver_table *drvtabptr; -STATIC long MCB4B_init(int); -STATIC long MCB4B_init_record(void *); -STATIC long MCB4B_start_trans(struct motorRecord *); -STATIC RTN_STATUS MCB4B_build_trans(motor_cmnd, double *, struct motorRecord *); -STATIC RTN_STATUS MCB4B_end_trans(struct motorRecord *); +STATIC long MD90_init(int); +STATIC long MD90_init_record(void *); +STATIC long MD90_start_trans(struct motorRecord *); +STATIC RTN_STATUS MD90_build_trans(motor_cmnd, double *, struct motorRecord *); +STATIC RTN_STATUS MD90_end_trans(struct motorRecord *); -struct motor_dset devMCB4B = +struct motor_dset devMD90 = { - {8, NULL, (DEVSUPFUN) MCB4B_init, (DEVSUPFUN) MCB4B_init_record, NULL}, + {8, NULL, (DEVSUPFUN) MD90_init, (DEVSUPFUN) MD90_init_record, NULL}, motor_update_values, - MCB4B_start_trans, - MCB4B_build_trans, - MCB4B_end_trans + MD90_start_trans, + MD90_build_trans, + MD90_end_trans }; -extern "C" {epicsExportAddress(dset,devMCB4B);} +extern "C" {epicsExportAddress(dset,devMD90);} /* --------------------------- program data --------------------- */ /* This table is used to define the command types */ -static msg_types MCB4B_table[] = { +static msg_types MD90_table[] = { MOTION, /* MOVE_ABS */ MOTION, /* MOVE_REL */ MOTION, /* HOME_FOR */ @@ -99,63 +99,63 @@ static msg_types MCB4B_table[] = { }; -static struct board_stat **MCB4B_cards; +static struct board_stat **MD90_cards; /* --------------------------- program data --------------------- */ -/* initialize device support for MCB4B stepper motor */ -STATIC long MCB4B_init(int after) +/* initialize device support for MD90 stepper motor */ +STATIC long MD90_init(int after) { long rtnval; - Debug(5, "MCB4B_init: entry\n"); + Debug(5, "MD90_init: entry\n"); if (!after) { - drvtabptr = &MCB4B_access; + drvtabptr = &MD90_access; (drvtabptr->init)(); } - rtnval = motor_init_com(after, *drvtabptr->cardcnt_ptr, drvtabptr, &MCB4B_cards); - Debug(5, "MCB4B_init: exit\n"); + rtnval = motor_init_com(after, *drvtabptr->cardcnt_ptr, drvtabptr, &MD90_cards); + Debug(5, "MD90_init: exit\n"); return(rtnval); } /* initialize a record instance */ -STATIC long MCB4B_init_record(void *arg) +STATIC long MD90_init_record(void *arg) { struct motorRecord *mr = (struct motorRecord *) arg; long rtnval; - Debug(5, "MCB4B_init_record: entry\n"); + Debug(5, "MD90_init_record: entry\n"); rtnval = motor_init_record_com(mr, *drvtabptr->cardcnt_ptr, - drvtabptr, MCB4B_cards); + drvtabptr, MD90_cards); return(rtnval); - Debug(5, "MCB4B_init_record: exit\n"); + Debug(5, "MD90_init_record: exit\n"); } /* start building a transaction */ -STATIC long MCB4B_start_trans(struct motorRecord *mr) +STATIC long MD90_start_trans(struct motorRecord *mr) { return(OK); } /* end building a transaction */ -STATIC RTN_STATUS MCB4B_end_trans(struct motorRecord *mr) +STATIC RTN_STATUS MD90_end_trans(struct motorRecord *mr) { return(OK); } /* add a part to the transaction */ -STATIC RTN_STATUS MCB4B_build_trans(motor_cmnd command, double *parms, struct motorRecord *mr) +STATIC RTN_STATUS MD90_build_trans(motor_cmnd command, double *parms, struct motorRecord *mr) { struct motor_trans *trans = (struct motor_trans *) mr->dpvt; struct mess_node *motor_call; struct controller *brdptr; - struct MCB4Bcontroller *cntrl; + struct MD90controller *cntrl; char buff[30]; int axis, card; RTN_STATUS rtnval; @@ -170,19 +170,19 @@ STATIC RTN_STATUS MCB4B_build_trans(motor_cmnd command, double *parms, struct mo dval = (parms == NULL) ? 0.0 : *parms; ival = NINT(dval); - rtnval = (RTN_STATUS) motor_start_trans_com(mr, MCB4B_cards); - Debug(5, "MCB4B_build_trans: entry, motor_start_trans_com=%d\n", rtnval); + rtnval = (RTN_STATUS) motor_start_trans_com(mr, MD90_cards); + Debug(5, "MD90_build_trans: entry, motor_start_trans_com=%d\n", rtnval); motor_call = &(trans->motor_call); - motor_call->type = MCB4B_table[command]; + motor_call->type = MD90_table[command]; card = motor_call->card; axis = motor_call->signal; brdptr = (*trans->tabptr->card_array)[card]; - Debug(5, "MCB4B_build_trans: axis=%d, command=%d\n", axis, command); + Debug(5, "MD90_build_trans: axis=%d, command=%d\n", axis, command); if (brdptr == NULL) return(rtnval = ERROR); - cntrl = (struct MCB4Bcontroller *) brdptr->DevicePrivate; + cntrl = (struct MD90controller *) brdptr->DevicePrivate; if (trans->state != BUILD_STATE) @@ -192,8 +192,8 @@ STATIC RTN_STATUS MCB4B_build_trans(motor_cmnd command, double *parms, struct mo { strcpy(motor_call->message, mr->init); rtnval = motor_end_trans_com(mr, drvtabptr); - rtnval = (RTN_STATUS) motor_start_trans_com(mr, MCB4B_cards); - motor_call->type = MCB4B_table[command]; + rtnval = (RTN_STATUS) motor_start_trans_com(mr, MD90_cards); + motor_call->type = MD90_table[command]; } switch (command) @@ -207,8 +207,8 @@ STATIC RTN_STATUS MCB4B_build_trans(motor_cmnd command, double *parms, struct mo { strcpy(motor_call->message, mr->prem); rtnval = motor_end_trans_com(mr, drvtabptr); - rtnval = (RTN_STATUS) motor_start_trans_com(mr, MCB4B_cards); - motor_call->type = MCB4B_table[command]; + rtnval = (RTN_STATUS) motor_start_trans_com(mr, MD90_cards); + motor_call->type = MD90_table[command]; } if (strlen(mr->post) != 0) motor_call->postmsgptr = (char *) &mr->post; @@ -238,7 +238,7 @@ STATIC RTN_STATUS MCB4B_build_trans(motor_cmnd command, double *parms, struct mo case SET_VEL_BASE: send=false; trans->state = IDLE_STATE; - break; /* MCB4B does not use base velocity */ + break; /* MD90 does not use base velocity */ case SET_VELOCITY: ival = (int) (fabs(115200./dval) + 0.5); if (ival < 2) ival=2; @@ -247,7 +247,7 @@ STATIC RTN_STATUS MCB4B_build_trans(motor_cmnd command, double *parms, struct mo break; case SET_ACCEL: /* dval is acceleration in steps/sec/sec */ - /* MCB is programmed with Ramp Index (R) where: */ + /* MD-90 is programmed with Ramp Index (R) where: */ /* dval (steps/sec/sec) = 720,000/(256-R) */ /* or R=256-(720,000/dval) */ ival = (int) (256-(720000./dval)+0.5); @@ -257,7 +257,7 @@ STATIC RTN_STATUS MCB4B_build_trans(motor_cmnd command, double *parms, struct mo break; case GO: /* - * The MCB4B starts moving immediately on move commands, GO command + * The MD90 starts moving immediately on move commands, GO command * does nothing */ send=false; @@ -265,7 +265,7 @@ STATIC RTN_STATUS MCB4B_build_trans(motor_cmnd command, double *parms, struct mo break; case SET_ENC_RATIO: /* - * The MCB4B does not have the concept of encoder ratio, ignore this + * The MD90 does not have the concept of encoder ratio, ignore this * command */ send=false; @@ -280,19 +280,19 @@ STATIC RTN_STATUS MCB4B_build_trans(motor_cmnd command, double *parms, struct mo sprintf(motor_call->message, "#%02dQ", axis); break; case JOG: - /* MCB-4B does not have jog command. Move 1 million steps */ + /* MD-90 does not have jog command. Move 1 million steps */ ival = (int) (fabs(115200./dval) + 0.5); if (ival < 2) ival=2; if (ival > 65535) ival = 65535; sprintf(motor_call->message, "#%02dC=%ld", axis, ival); rtnval = motor_end_trans_com(mr, drvtabptr); - rtnval = (RTN_STATUS) motor_start_trans_com(mr, MCB4B_cards); - motor_call->type = MCB4B_table[command]; + rtnval = (RTN_STATUS) motor_start_trans_com(mr, MD90_cards); + motor_call->type = MD90_table[command]; if (dval > 0.) { - /* This is a positive move in MCB4B coordinates */ + /* This is a positive move in MD90 coordinates */ sprintf(motor_call->message, "#%02dM+1000000", axis); } else { - /* This is a negative move in MCB4B coordinates */ + /* This is a negative move in MD90 coordinates */ sprintf(motor_call->message, "#%02dM-1000000", axis); } break; @@ -325,7 +325,7 @@ STATIC RTN_STATUS MCB4B_build_trans(motor_cmnd command, double *parms, struct mo return(rtnval); else { rtnval = motor_end_trans_com(mr, drvtabptr); - Debug(5, "MCB4B_send_msg: motor_end_trans_com status=%d, exit\n", rtnval); + Debug(5, "MD90_send_msg: motor_end_trans_com status=%d, exit\n", rtnval); return (rtnval); } } diff --git a/dsmApp/src/drvMD90.cc b/dsmApp/src/drvMD90.cc index 9d43f77..7065cf1 100644 --- a/dsmApp/src/drvMD90.cc +++ b/dsmApp/src/drvMD90.cc @@ -1,4 +1,4 @@ -/* File: drvMCB4B.cc */ +/* File: drvMD90.cc */ /* Device Driver Support routines for motor */ /* @@ -25,7 +25,7 @@ #include #include "motor.h" #include "dsmRegister.h" -#include "drvMCB4B.h" +#include "drvMD90.h" #include "asynOctetSyncIO.h" #include "epicsExport.h" @@ -35,14 +35,14 @@ #define TIMEOUT 2.0 /* Command timeout in sec */ -#define BUFF_SIZE 100 /* Maximum length of string to/from MCB4B */ +#define BUFF_SIZE 100 /* Maximum length of string to/from MD90 */ -volatile int drvMCB4BDebug = 0; -extern "C" {epicsExportAddress(int, drvMCB4BDebug);} +volatile int drvMD90Debug = 0; +extern "C" {epicsExportAddress(int, drvMD90Debug);} static inline void Debug(int level, const char *format, ...) { #ifdef DEBUG - if (level < drvMCB4BDebug) + if (level < drvMD90Debug) { va_list pVar; va_start(pVar, format); @@ -53,14 +53,14 @@ static inline void Debug(int level, const char *format, ...) { } /* Debugging notes: - * drvMCB4BDebug == 0 No debugging information is printed - * drvMCB4BDebug >= 1 Warning information is printed - * drvMCB4BDebug >= 2 Time-stamped messages are printed for each string + * drvMD90Debug == 0 No debugging information is printed + * drvMD90Debug >= 1 Warning information is printed + * drvMD90Debug >= 2 Time-stamped messages are printed for each string * sent to and received from the controller - * drvMCB4BDebug >= 3 Additional debugging messages + * drvMD90Debug >= 3 Additional debugging messages */ -int MCB4B_num_cards = 0; +int MD90_num_cards = 0; /* Local data required for every driver; see "motordrvComCode.h" */ #include "motordrvComCode.h" @@ -78,7 +78,7 @@ STATIC void query_done(int, int, struct mess_node *); /*----------------functions-----------------*/ -struct driver_table MCB4B_access = +struct driver_table MD90_access = { motor_init, motor_send, @@ -102,16 +102,16 @@ struct driver_table MCB4B_access = NULL }; -struct drvMCB4B_drvet +struct drvMD90_drvet { long number; long (*report) (int); long (*init) (void); -} drvMCB4B = {2, report, init}; +} drvMD90 = {2, report, init}; -extern "C" {epicsExportAddress(drvet, drvMCB4B);} +extern "C" {epicsExportAddress(drvet, drvMD90);} -STATIC struct thread_args targs = {SCAN_RATE, &MCB4B_access, 0.0}; +STATIC struct thread_args targs = {SCAN_RATE, &MD90_access, 0.0}; /********************************************************* @@ -120,16 +120,16 @@ STATIC struct thread_args targs = {SCAN_RATE, &MCB4B_access, 0.0}; static long report(int level) { int card; - struct MCB4Bcontroller *cntrl; + struct MD90controller *cntrl; - if (MCB4B_num_cards <=0) - printf(" NO MCB4B controllers found\n"); + if (MD90_num_cards <=0) + printf(" NO MD90 controllers found\n"); else { - for (card = 0; card < MCB4B_num_cards; card++) { + for (card = 0; card < MD90_num_cards; card++) { if (motor_state[card]) { - cntrl = (struct MCB4Bcontroller *) motor_state[card]->DevicePrivate; - printf(" MCB4B controller %d, port=%s, id: %s \n", + cntrl = (struct MD90controller *) motor_state[card]->DevicePrivate; + printf(" MD90 controller %d, port=%s, id: %s \n", card, cntrl->port, motor_state[card]->ident); } @@ -148,10 +148,10 @@ static long init() * support */ /* Check for setup */ - if (MCB4B_num_cards <= 0) + if (MD90_num_cards <= 0) { - Debug(1, "init: *MCB4B driver disabled*\n"); - Debug(1, "MCB4BSetup() is missing from startup script.\n"); + Debug(1, "init: *MD90 driver disabled*\n"); + Debug(1, "MD90Setup() is missing from startup script.\n"); return (ERROR); } @@ -170,7 +170,7 @@ STATIC void query_done(int card, int axis, struct mess_node *nodeptr) *********************************************************/ STATIC void start_status(int card) { - /* The MCB4B cannot query status or positions of all axes with a + /* The MD90 cannot query status or positions of all axes with a * single command. This needs to be done on an axis-by-axis basis, * so this function does nothing */ @@ -265,7 +265,7 @@ STATIC int set_status(int card, int signal) if ((status.Bits.RA_DONE || ls_active == true) && nodeptr != 0 && nodeptr->postmsgptr != 0) { send_mess(card, nodeptr->postmsgptr, NULL); - /* The MCB4B always sends back a response, read it and discard */ + /* The MD90 always sends back a response, read it and discard */ recv_mess(card, buff, WAIT); nodeptr->postmsgptr = NULL; } @@ -276,12 +276,12 @@ STATIC int set_status(int card, int signal) /*****************************************************/ -/* send a message to the MCB4B board */ +/* send a message to the MD90 board */ /* send_mess() */ /*****************************************************/ STATIC RTN_STATUS send_mess(int card, const char *com, const char *name) { - struct MCB4Bcontroller *cntrl; + struct MD90controller *cntrl; size_t nwrite; /* Check that card exists */ @@ -293,7 +293,7 @@ STATIC RTN_STATUS send_mess(int card, const char *com, const char *name) /* If the string is NULL just return */ if (strlen(com) == 0) return(OK); - cntrl = (struct MCB4Bcontroller *) motor_state[card]->DevicePrivate; + cntrl = (struct MD90controller *) motor_state[card]->DevicePrivate; Debug(2, "send_mess: sending message to card %d, message=%s\n",\ card, com); @@ -305,7 +305,7 @@ STATIC RTN_STATUS send_mess(int card, const char *com, const char *name) /*****************************************************/ -/* Read a response string from the MCB4B board */ +/* Read a response string from the MD90 board */ /* recv_mess() */ /*****************************************************/ STATIC int recv_mess(int card, char *com, int flag) @@ -313,7 +313,7 @@ STATIC int recv_mess(int card, char *com, int flag) double timeout; size_t nread=0; asynStatus status; - struct MCB4Bcontroller *cntrl; + struct MD90controller *cntrl; int flush; int eomReason; @@ -324,7 +324,7 @@ STATIC int recv_mess(int card, char *com, int flag) return (-1); } - cntrl = (struct MCB4Bcontroller *) motor_state[card]->DevicePrivate; + cntrl = (struct MD90controller *) motor_state[card]->DevicePrivate; Debug(3, "recv_mess entry: card %d, flag=%d\n",\ card, flag); @@ -363,18 +363,18 @@ STATIC int recv_mess(int card, char *com, int flag) /*****************************************************/ /* Setup system configuration */ -/* MCB4BSetup() */ +/* MD90Setup() */ /*****************************************************/ RTN_STATUS -MCB4BSetup(int num_cards, /* maximum number of controllers in system */ +MD90Setup(int num_cards, /* maximum number of controllers in system */ int scan_rate) /* polling rate - 1/60 sec units */ { int itera; - if (num_cards < 1 || num_cards > MCB4B_NUM_CARDS) - MCB4B_num_cards = MCB4B_NUM_CARDS; + if (num_cards < 1 || num_cards > MD90_NUM_CARDS) + MD90_num_cards = MD90_NUM_CARDS; else - MCB4B_num_cards = num_cards; + MD90_num_cards = num_cards; /* Set motor polling task rate */ if (scan_rate >= 1 && scan_rate <= 60) @@ -384,15 +384,15 @@ MCB4BSetup(int num_cards, /* maximum number of controllers in system */ /* * Allocate space for motor_state structure pointers. Note this must be done - * before MCB4BConfig is called, so it cannot be done in motor_init() + * before MD90Config is called, so it cannot be done in motor_init() * This means that we must allocate space for a card without knowing * if it really exists, which is not a serious problem since this is just * an array of pointers. */ - motor_state = (struct controller **) malloc(MCB4B_num_cards * + motor_state = (struct controller **) malloc(MD90_num_cards * sizeof(struct controller *)); - for (itera = 0; itera < MCB4B_num_cards; itera++) + for (itera = 0; itera < MD90_num_cards; itera++) motor_state[itera] = (struct controller *) NULL; return (OK); } @@ -400,20 +400,20 @@ MCB4BSetup(int num_cards, /* maximum number of controllers in system */ /*****************************************************/ /* Configure a controller */ -/* MCB4BConfig() */ +/* MD90Config() */ /*****************************************************/ RTN_STATUS -MCB4BConfig(int card, /* card being configured */ +MD90Config(int card, /* card being configured */ const char *name) /* port name for asyn */ { - struct MCB4Bcontroller *cntrl; + struct MD90controller *cntrl; - if (card < 0 || card >= MCB4B_num_cards) + if (card < 0 || card >= MD90_num_cards) return (ERROR); motor_state[card] = (struct controller *) malloc(sizeof(struct controller)); - motor_state[card]->DevicePrivate = malloc(sizeof(struct MCB4Bcontroller)); - cntrl = (struct MCB4Bcontroller *) motor_state[card]->DevicePrivate; + motor_state[card]->DevicePrivate = malloc(sizeof(struct MD90controller)); + cntrl = (struct MD90controller *) motor_state[card]->DevicePrivate; strcpy(cntrl->port, name); return (OK); } @@ -429,7 +429,7 @@ MCB4BConfig(int card, /* card being configured */ STATIC int motor_init() { struct controller *brdptr; - struct MCB4Bcontroller *cntrl; + struct MD90controller *cntrl; int card_index, motor_index; char buff[BUFF_SIZE]; int total_axis = 0; @@ -439,21 +439,21 @@ STATIC int motor_init() initialized = true; /* Indicate that driver is initialized. */ /* Check for setup */ - if (MCB4B_num_cards <= 0) + if (MD90_num_cards <= 0) { - Debug(1, "motor_init: *MCB4B driver disabled*\n"); - Debug(1, "MCB4BSetup() is missing from startup script.\n"); + Debug(1, "motor_init: *MD90 driver disabled*\n"); + Debug(1, "MD90Setup() is missing from startup script.\n"); return (ERROR); } - for (card_index = 0; card_index < MCB4B_num_cards; card_index++) + for (card_index = 0; card_index < MD90_num_cards; card_index++) { if (!motor_state[card_index]) continue; brdptr = motor_state[card_index]; total_cards = card_index + 1; - cntrl = (struct MCB4Bcontroller *) brdptr->DevicePrivate; + cntrl = (struct MD90controller *) brdptr->DevicePrivate; /* Initialize communications channel */ success_rtn = pasynOctetSyncIO->connect(cntrl->port, 0, &cntrl->pasynUser, NULL); @@ -498,7 +498,7 @@ STATIC int motor_init() sprintf(buff,"#%02dQ", motor_index); send_mess(card_index, buff, 0); recv_mess(card_index, buff, WAIT); /* Throw away response */ - strcpy(brdptr->ident, "MCB-4B"); + strcpy(brdptr->ident, "MD-90"); motor_info->status.All = 0; motor_info->no_motion_count = 0; motor_info->encoder_position = 0; @@ -521,7 +521,7 @@ STATIC int motor_init() Debug(3, "motor_init: spawning motor task\n"); - epicsThreadCreate((char *) "tMCB4B", epicsThreadPriorityMedium, + epicsThreadCreate((char *) "tMD90", epicsThreadPriorityMedium, epicsThreadGetStackSize(epicsThreadStackMedium), (EPICSTHREADFUNC) motor_task, (void *) &targs); diff --git a/dsmApp/src/drvMD90.h b/dsmApp/src/drvMD90.h index 08b3569..e3b89ba 100644 --- a/dsmApp/src/drvMD90.h +++ b/dsmApp/src/drvMD90.h @@ -1,4 +1,4 @@ -/* File: drvMCB4B.h */ +/* File: drvMD90.h */ /* Device Driver Support definitions for motor */ @@ -12,23 +12,23 @@ * .01 02/24/2002 mlr initialized from drvPM304.h */ -#ifndef INCdrvMCB4Bh -#define INCdrvMCB4Bh 1 +#ifndef INCdrvMD90h +#define INCdrvMD90h 1 #include "motordrvCom.h" #include "asynDriver.h" -/* MCB4B default profile. */ +/* MD90 default profile. */ -#define MCB4B_NUM_CARDS 4 -#define MCB4B_NUM_CHANNELS 4 +#define MD90_NUM_CARDS 4 +#define MD90_NUM_CHANNELS 4 #define OUTPUT_TERMINATOR "\r" -struct MCB4Bcontroller +struct MD90controller { asynUser *pasynUser; /* asynUser structure */ char port[80]; /* asyn port name */ }; -#endif /* INCdrvMCB4Bh */ +#endif /* INCdrvMD90h */ diff --git a/dsmApp/src/dsmRegister.cc b/dsmApp/src/dsmRegister.cc index 29cb49c..80cbe6e 100644 --- a/dsmApp/src/dsmRegister.cc +++ b/dsmApp/src/dsmRegister.cc @@ -29,25 +29,25 @@ static const iocshArg setupArg1 = {"Polling rate", iocshArgInt}; static const iocshArg configArg0 = {"Card being configured", iocshArgInt}; static const iocshArg configArg1 = {"asyn port name", iocshArgString}; -static const iocshArg * const MCB4BSetupArgs[2] = {&setupArg0, &setupArg1}; -static const iocshArg * const MCB4BConfigArgs[2] = {&configArg0, &configArg1}; +static const iocshArg * const MD90SetupArgs[2] = {&setupArg0, &setupArg1}; +static const iocshArg * const MD90ConfigArgs[2] = {&configArg0, &configArg1}; -static const iocshFuncDef setupMCB4B = {"MCB4BSetup", 2, MCB4BSetupArgs}; -static const iocshFuncDef configMCB4B = {"MCB4BConfig", 2, MCB4BConfigArgs}; +static const iocshFuncDef setupMD90 = {"MD90Setup", 2, MD90SetupArgs}; +static const iocshFuncDef configMD90 = {"MD90Config", 2, MD90ConfigArgs}; -static void setupMCB4BCallFunc(const iocshArgBuf *args) +static void setupMD90CallFunc(const iocshArgBuf *args) { - MCB4BSetup(args[0].ival, args[1].ival); + MD90Setup(args[0].ival, args[1].ival); } -static void configMCB4BCallFunc(const iocshArgBuf *args) +static void configMD90CallFunc(const iocshArgBuf *args) { - MCB4BConfig(args[0].ival, args[1].sval); + MD90Config(args[0].ival, args[1].sval); } static void dsmRegister(void) { - iocshRegister(&setupMCB4B, setupMCB4BCallFunc); - iocshRegister(&configMCB4B, configMCB4BCallFunc); + iocshRegister(&setupMD90, setupMD90CallFunc); + iocshRegister(&configMD90, configMD90CallFunc); } epicsExportRegistrar(dsmRegister); diff --git a/dsmApp/src/dsmRegister.h b/dsmApp/src/dsmRegister.h index e98de2e..7e83875 100644 --- a/dsmApp/src/dsmRegister.h +++ b/dsmApp/src/dsmRegister.h @@ -37,6 +37,6 @@ USAGE... This file contains function prototypes for DSM IOC shell commands. #include "motordrvCom.h" /* Function prototypes. */ -extern RTN_STATUS MCB4BSetup(int, int); -extern RTN_STATUS MCB4BConfig(int, const char *); +extern RTN_STATUS MD90Setup(int, int); +extern RTN_STATUS MD90Config(int, const char *); diff --git a/iocs/dsmIOC/iocBoot/iocDsm/motor.substitutions.md90 b/iocs/dsmIOC/iocBoot/iocDsm/motor.substitutions.md90 index e5665d1..90a5a28 100644 --- a/iocs/dsmIOC/iocBoot/iocDsm/motor.substitutions.md90 +++ b/iocs/dsmIOC/iocBoot/iocDsm/motor.substitutions.md90 @@ -2,5 +2,5 @@ file "$(MOTOR)/db/basic_asyn_motor.db" { pattern {P, N, M, DTYP, PORT, ADDR, DESC, EGU, DIR, VELO, VBAS, ACCL, BDST, BVEL, BACC, MRES, PREC, DHLM, DLLM, INIT} -{DSM:, 0, "m$(N)", "asynMotor", MCB4B0, 0, "Bottom", mm, Pos, 2.0, 0.1, .2, 0, 1, .2, -.001, 3, 16, 0, ""} +{DSM:, 0, "m$(N)", "asynMotor", MD900, 0, "Bottom", mm, Pos, 2.0, 0.1, .2, 0, 1, .2, -.001, 3, 16, 0, ""} } diff --git a/iocs/dsmIOC/iocBoot/iocDsm/st.cmd.md90 b/iocs/dsmIOC/iocBoot/iocDsm/st.cmd.md90 index d38d58f..68f6a8e 100644 --- a/iocs/dsmIOC/iocBoot/iocDsm/st.cmd.md90 +++ b/iocs/dsmIOC/iocBoot/iocDsm/st.cmd.md90 @@ -24,10 +24,10 @@ asynOctetSetOutputEos("serial0", 0, "\r") asynSetTraceIOMask("serial0", 0, 2) #asynSetTraceMask("serial0", 0, 255) -MCB4BCreateController("MCB4B0", "serial0", 1, 100, 5000) +MD90CreateController("MD900", "serial0", 1, 100, 5000) ### Motors -dbLoadTemplate "motor.substitutions.mcb4b" +dbLoadTemplate "motor.substitutions.md90" dbLoadRecords("$(ASYN)/db/asynRecord.db", "P=DSM:,R=serial0,PORT=serial0,ADDR=0,OMAX=80,IMAX=80")