Merge branch 'dev'

dsmApp/src/MD90Driver.cpp

@@ -12,6 +12,8 @@ March 1, 2012
 #include <string.h>
 #include <stdlib.h>
 #include <math.h>
+#include <chrono>
+#include <thread>
 
 #include <iocsh.h>
 #include <epicsThread.h>
@@ -219,13 +221,43 @@ asynStatus MD90Axis::move(double position, int relative, double minVelocity, dou
 
 asynStatus MD90Axis::home(double minVelocity, double maxVelocity, double acceleration, int forwards)
 {
+  int sleepTime;
   asynStatus status;
   static const char *functionName = "MD90Axis::home";
 
   status = sendAccelAndVelocity(acceleration, maxVelocity);
 
-  sprintf(pC_->outString_, "HOM");
+  // The MD-90 will start the home routine in the direction of the last move
-  status = pC_->writeReadController();
+  // Here we first make a small move to set the desired direction before homing
+
+  if (!status) {
+    sprintf(pC_->outString_, "SNS %d", SMALL_NSTEPS);
+    status = pC_->writeReadController();
+  }
+  if (!status) {
+    status = parseReply(functionName, pC_->inString_);
+  }
+
+  if (forwards) {
+    sprintf(pC_->outString_, "ESF");
+  } else {
+    sprintf(pC_->outString_, "ESB");
+  }
+  if (!status) {
+    status = pC_->writeReadController();
+  }
+  if (!status) {
+    status = parseReply(functionName, pC_->inString_);
+  }
+
+  if (!status) {
+    // Wait for the move to complete, then home
+    sleepTime = SLEEP_MARGIN * SMALL_NSTEPS * COUNTS_PER_STEP / maxVelocity;
+    std::this_thread::sleep_for(std::chrono::seconds(sleepTime));
+
+    sprintf(pC_->outString_, "HOM");
+    status = pC_->writeReadController();
+  }
   if (!status) {
     status = parseReply(functionName, pC_->inString_);
   }

dsmApp/src/MD90Driver.h

@@ -12,7 +12,9 @@ USAGE...      Motor driver support for the DSM MD-90 controller.
 // No controller-specific parameters yet
 #define NUM_MD90_PARAMS 0  
 
-#define COUNTS_PER_STEP		1000.0				//Number of encoder counts per motor step (measured by testing)
+#define SLEEP_MARGIN		1.2					// Extra factor to wait after stepping before homing
+#define SMALL_NSTEPS		5					// Number of steps to take to set direction for homing routine
+#define COUNTS_PER_STEP		1000.0				// Number of encoder counts per motor step (measured by testing)
 
 class epicsShareClass MD90Axis : public asynMotorAxis
 {

iocs/dsmIOC/iocBoot/iocDsm/st.cmd.md90.multi

@@ -147,32 +147,40 @@ iocInit
 # This IOC does not use save/restore, so set values of some PVs
 dbpf("DSM:m0.RTRY", "0")
 dbpf("DSM:m0.TWV", "0.1")
-dbpf("DSM:m0.VMAX", "0.625")
+dbpf("DSM:m0.VMAX", "1.0")
+dbpf("DSM:m0.HVEL", "1.0")
 
 dbpf("DSM:m1.RTRY", "0")
 dbpf("DSM:m1.TWV", "0.1")
-dbpf("DSM:m1.VMAX", "0.625")
+dbpf("DSM:m1.VMAX", "1.0")
+dbpf("DSM:m1.HVEL", "1.0")
 
 dbpf("DSM:m2.RTRY", "0")
 dbpf("DSM:m2.TWV", "0.1")
-dbpf("DSM:m2.VMAX", "0.625")
+dbpf("DSM:m2.VMAX", "1.0")
+dbpf("DSM:m2.HVEL", "1.0")
 
 dbpf("DSM:m3.RTRY", "0")
 dbpf("DSM:m3.TWV", "0.1")
-dbpf("DSM:m3.VMAX", "0.625")
+dbpf("DSM:m3.VMAX", "1.0")
+dbpf("DSM:m3.HVEL", "1.0")
 
 dbpf("DSM:m4.RTRY", "0")
 dbpf("DSM:m4.TWV", "0.1")
-dbpf("DSM:m4.VMAX", "0.625")
+dbpf("DSM:m4.VMAX", "1.0")
+dbpf("DSM:m4.HVEL", "1.0")
 
 dbpf("DSM:m5.RTRY", "0")
 dbpf("DSM:m5.TWV", "0.1")
-dbpf("DSM:m5.VMAX", "0.625")
+dbpf("DSM:m5.VMAX", "1.0")
+dbpf("DSM:m5.HVEL", "1.0")
 
 dbpf("DSM:m6.RTRY", "0")
 dbpf("DSM:m6.TWV", "0.1")
-dbpf("DSM:m6.VMAX", "0.625")
+dbpf("DSM:m6.VMAX", "1.0")
+dbpf("DSM:m6.HVEL", "1.0")
 
 dbpf("DSM:m7.RTRY", "0")
 dbpf("DSM:m7.TWV", "0.1")
-dbpf("DSM:m7.VMAX", "0.625")
+dbpf("DSM:m7.VMAX", "1.0")
+dbpf("DSM:m7.HVEL", "1.0")