Merge branch 'dev'

README.md

@@ -10,12 +10,19 @@ motorDSM is a submodule of [motor](https://github.com/epics-modules/motor).
 When motorDSM is built in the ``motor/modules`` directory, no manual
 configuration is needed.
 
-motorDSM can also be built outside of motor by copying it's
+motorDSM can also be built outside of motor by copying it's ``configure/EXAMPLE_RELEASE.local`` file to ``RELEASE.local`` and defining the paths to ``EPICS_BASE``, ``MOTOR``, and itself.
-``EXAMPLE_RELEASE.local`` file to ``RELEASE.local`` and defining the paths to
-``EPICS_BASE``, ``MOTOR``, and itself.
 
-motorDSM contains an example IOC that is built if ``CONFIG_SITE.local`` sets
+motorDSM contains an example IOC that is built if ``configure/CONFIG_SITE.local`` sets ``BUILD_IOCS = YES``.  The example IOC can be built outside of the driver module.  Copy ``iocs/dsmIOC/configure/EXAMPLE_RELEASE.local`` to ``RELEASE.local`` and uncomment and set the paths for the appropriate lines depending on whether motorDSM was built inside the motor module or independently.
-``BUILD_IOCS = YES``.  The example IOC can be built outside of driver module.
+
+To run the example IOC, in the ``iocs/dsmIOC/iocBoot/iocDsm`` directory, run
+
+    $ ../../bin/linux-x86_64/dsm st.cmd.md90
+
+for one attached MD-90 controller, or
+
+    $ ../../bin/linux-x86_64/dsm st.cmd.md90.multi
+
+for eight attached MD-90 controllers.
 
 ------------------------
 
@@ -116,12 +123,16 @@ motorDSM (this package)
     $ cd $SUPPORT
     $ git clone git@github.com:Binary-Coalescence/motorDSM.git
 
+In ``motorDSM/configure``, copy ``EXAMPLE_RELEASE.local`` to ``RELEASE.local``
+and set paths for ``EPICS_BASE``, ``MOTOR``, and ``MOTOR_DSM``.
+
 In ``motorDSM/configure``, copy ``EXAMPLE_CONFIG_SITE.local``
 to ``CONFIG_SITE.local`` and set:  
 	BUILD_IOCS = YES
 
-In ``motorDSM/configure``, copy ``EXAMPLE_RELEASE.local`` to ``RELEASE.local``
+In ``motorDSM/iocs/dsmIOC/configure``, copy ``EXAMPLE_RELEASE.local`` to
-and set paths for ``EPICS_BASE``, ``MOTOR``, and ``MOTOR_DSM``.
+``RELEASE.local``.  Comment out the "if built inside motor" lines, uncomment the
+"if built outside motor" lines, and set the path for ``MOTOR_DSM``.
 
     $ cd motorDSM
     $ make distclean

dsmApp/iocsh/DSM_MD90.iocsh

@@ -18,8 +18,8 @@
 #- ###################################################
 
 # DSM MD-90 serial connection settings
-iocshLoad("$(IP)/iocsh/setSerialParams.iocsh", "PORT=$(PORT), BAUD=19200, BITS=8, STOP=1, PARITY=none")
+iocshLoad("$(IP)/iocsh/setSerialParams.iocsh", "PORT=$(PORT), BAUD=115200, BITS=8, STOP=1, PARITY=none")
 asynOctetSetInputEos( "$(PORT)", -1, "\r")
 asynOctetSetOutputEos("$(PORT)", -1, "\r")
 
-MD90CreateController("$(INSTANCE)", "$(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=1000)))

dsmApp/src/MD90Driver.cpp

@@ -140,6 +140,37 @@ void MD90Axis::report(FILE *fp, int level)
   asynMotorAxis::report(fp, level);
 }
 
+/** Print out message if the motor controller returns a non-zero error code
+  * \param[in] functionName  The function originating the call
+  * \param[in] reply         Reply message returned from motor controller
+  */
+asynStatus MD90Axis::parseReply(const char *functionName, const char *reply)
+{
+  int replyStatus;
+  char replyString[256];
+  int replyValue;
+  asynStatus comStatus;
+
+  comStatus = asynSuccess;
+
+  if (reply[0] == '\0') {
+    comStatus = asynError;
+	replyStatus = -1;
+  } else if ( strcmp(reply, "Unrecognized command.") == 0 ) {
+    replyStatus = 6;
+  } else {
+    sscanf(reply, "%d: %[^:]: %d", &replyStatus, replyString, &replyValue);
+  }
+
+  if (replyStatus != 0) {
+    asynPrint(pasynUser_, ASYN_TRACE_ERROR,
+      "%s:  %s\n",
+      functionName, reply);
+  }
+
+  return comStatus;
+}
+
 /** Acceleration currently unsupported with MD-90 controller
   * \param[in] acceleration  The accelerations to ramp up to max velocity
   * \param[in] velocity      Motor velocity in steps / sec
@@ -148,7 +179,7 @@ asynStatus MD90Axis::sendAccelAndVelocity(double acceleration, double velocity)
 {
   asynStatus status;
   int freq;
-  // static const char *functionName = "MD90::sendAccelAndVelocity";
+  static const char *functionName = "MD90::sendAccelAndVelocity";
 
   // Send the velocity
   // Velocity provided in steps/sec
@@ -157,6 +188,9 @@ asynStatus MD90Axis::sendAccelAndVelocity(double acceleration, double velocity)
   freq = NINT(fabs(velocity / 500.));
   sprintf(pC_->outString_, "SSF %d", freq);
   status = pC_->writeReadController();
+  if (!status) {
+    status = parseReply(functionName, pC_->inString_);
+  }
 
   return status;
 }
@@ -165,7 +199,7 @@ asynStatus MD90Axis::sendAccelAndVelocity(double acceleration, double velocity)
 asynStatus MD90Axis::move(double position, int relative, double minVelocity, double maxVelocity, double acceleration)
 {
   asynStatus status;
-  // static const char *functionName = "MD90Axis::move";
+  static const char *functionName = "MD90Axis::move";
 
   status = sendAccelAndVelocity(acceleration, maxVelocity);
   
@@ -177,18 +211,24 @@ asynStatus MD90Axis::move(double position, int relative, double minVelocity, dou
     sprintf(pC_->outString_, "CLM %d", NINT(position));
   }
   status = pC_->writeReadController();
+  if (!status) {
+    status = parseReply(functionName, pC_->inString_);
+  }
   return status;
 }
 
 asynStatus MD90Axis::home(double minVelocity, double maxVelocity, double acceleration, int forwards)
 {
   asynStatus status;
-  // static const char *functionName = "MD90Axis::home";
+  static const char *functionName = "MD90Axis::home";
 
   status = sendAccelAndVelocity(acceleration, maxVelocity);
 
   sprintf(pC_->outString_, "HOM");
   status = pC_->writeReadController();
+  if (!status) {
+    status = parseReply(functionName, pC_->inString_);
+  }
   return status;
 }
 
@@ -214,16 +254,22 @@ asynStatus MD90Axis::moveVelocity(double minVelocity, double maxVelocity, double
     sprintf(pC_->outString_, "ESB");
   }
   status = pC_->writeReadController();
+  if (!status) {
+    status = parseReply(functionName, pC_->inString_);
+  }
   return status;
 }
 
 asynStatus MD90Axis::stop(double acceleration )
 {
   asynStatus status;
-  //static const char *functionName = "MD90Axis::stop";
+  static const char *functionName = "MD90Axis::stop";
 
   sprintf(pC_->outString_, "STP");
   status = pC_->writeReadController();
+  if (!status) {
+    status = parseReply(functionName, pC_->inString_);
+  }
   return status;
 }
 
@@ -233,7 +279,7 @@ asynStatus MD90Axis::stop(double acceleration )
 asynStatus MD90Axis::setClosedLoop(bool closedLoop)
 {
   asynStatus status;
-  //static const char *functionName = "MD90Axis::setClosedLoop";
+  static const char *functionName = "MD90Axis::setClosedLoop";
 
   if (closedLoop == 1) {
     sprintf(pC_->outString_, "EPM");
@@ -241,6 +287,9 @@ asynStatus MD90Axis::setClosedLoop(bool closedLoop)
     sprintf(pC_->outString_, "DPM");
   }
   status = pC_->writeReadController();
+  if (!status) {
+    status = parseReply(functionName, pC_->inString_);
+  }
   return status;
 }
 
@@ -251,23 +300,29 @@ asynStatus MD90Axis::setClosedLoop(bool closedLoop)
 asynStatus MD90Axis::setIGain(double iGain)
 {
   asynStatus status;
-  //static const char *functionName = "MD90Axis::setIGain";
+  static const char *functionName = "MD90Axis::setIGain";
 
   iGain = iGain * 1000;
   if (iGain < 1) iGain = 1.0;
   if (iGain > 1000) iGain = 1000.0;
   sprintf(pC_->outString_, "SGN %d", NINT(iGain));
   status = pC_->writeReadController();
+  if (!status) {
+    status = parseReply(functionName, pC_->inString_);
+  }
   return status;
 }
 
 asynStatus MD90Axis::doMoveToHome()
 {
   asynStatus status;
-  //static const char *functionName = "MD90Axis::doMoveToHome";
+  static const char *functionName = "MD90Axis::doMoveToHome";
 
   sprintf(pC_->outString_, "CLM 0");
   status = pC_->writeReadController();
+  if (!status) {
+    status = parseReply(functionName, pC_->inString_);
+  }
   return status;
 }
 
@@ -298,7 +353,7 @@ asynStatus MD90Axis::poll(bool *moving)
   comStatus = pC_->writeReadController();
   if (comStatus) goto skip;
   // The response string is of the form "0: Power supply enabled state: 1"
-  sscanf (pC_->inString_, "%d: %[^:]: %d", &replyStatus, replyString, &replyValue);
+  sscanf(pC_->inString_, "%d: %[^:]: %d", &replyStatus, replyString, &replyValue);
   driveOn = (replyValue == '1') ? 1:0;
   setIntegerParam(pC_->motorStatusPowerOn_, driveOn);
 
@@ -307,7 +362,7 @@ asynStatus MD90Axis::poll(bool *moving)
   comStatus = pC_->writeReadController();
   if (comStatus) goto skip;
   // The response string is of the form "0: Home status: 1"
-  sscanf (pC_->inString_, "%d: %[^:]: %d", &replyStatus, replyString, &replyValue);
+  sscanf(pC_->inString_, "%d: %[^:]: %d", &replyStatus, replyString, &replyValue);
   homed = (replyValue == '1') ? 1:0;
   setIntegerParam(pC_->motorStatusHomed_, homed);
 
@@ -316,7 +371,7 @@ asynStatus MD90Axis::poll(bool *moving)
   comStatus = pC_->writeReadController();
   if (comStatus) goto skip;
   // The response string is of the form "0: Current status value: 0"
-  sscanf (pC_->inString_, "%d: %[^:]: %d", &replyStatus, replyString, &replyValue);
+  sscanf(pC_->inString_, "%d: %[^:]: %d", &replyStatus, replyString, &replyValue);
   done = (replyValue == '2') ? 0:1;
   setIntegerParam(pC_->motorStatusDone_, done);
   *moving = done ? false:true;
@@ -367,7 +422,7 @@ asynStatus MD90Axis::poll(bool *moving)
   comStatus = pC_->writeReadController();
   if (comStatus) goto skip;
   // The response string is of the form "0: Current position in encoder counts: 1000"
-  sscanf (pC_->inString_, "%d: %[^:]: %lf", &replyStatus, replyString, &position);
+  sscanf(pC_->inString_, "%d: %[^:]: %lf", &replyStatus, replyString, &position);
   setDoubleParam(pC_->motorPosition_, position);
   setIntegerParam(pC_->motorStatusAtHome_, (position == 0) ? 1:0); // home limit switch
   setIntegerParam(pC_->motorStatusHome_, (position == 0) ? 1:0); // at home position
@@ -377,7 +432,7 @@ asynStatus MD90Axis::poll(bool *moving)
   comStatus = pC_->writeReadController();
   if (comStatus) goto skip;
   // The response string is of the form "0: Gain: 1000"
-  sscanf (pC_->inString_, "%d: %[^:]: %d", &replyStatus, replyString, &replyValue);
+  sscanf(pC_->inString_, "%d: %[^:]: %d", &replyStatus, replyString, &replyValue);
   setDoubleParam(pC_->motorIGain_, replyValue);
 
   // set some default params

dsmApp/src/MD90Driver.h

@@ -34,6 +34,7 @@ private:
   MD90Controller *pC_;          /**< Pointer to the asynMotorController to which this axis belongs.
                                    *   Abbreviated because it is used very frequently */
   asynStatus sendAccelAndVelocity(double accel, double velocity);
+  asynStatus parseReply(const char *functionName, const char *reply);
   
 friend class MD90Controller;
 };

iocs/dsmIOC/iocBoot/iocDsm/motor.substitutions.md90.multi

@@ -0,0 +1,33 @@
+file "$(MOTOR)/db/basic_asyn_motor.db"
+{
+pattern
+{P,    N,  M,       DTYP,       PORT,  ADDR,  DESC,   EGU, DIR, VELO, VBAS,  VMAX,  ACCL, BDST, BVEL, BACC, MRES,   PREC, DHLM, DLLM, INIT}
+{DSM:, 0, "m$(N)", "asynMotor", MD900, 0,    "MD-90", mm,  Pos, 0.5,  0.025, 0.625, 0,    0,    0.03, 0,    .00001, 2,    20,   -20,  ""}
+{DSM:, 1, "m$(N)", "asynMotor", MD901, 0,    "MD-90", mm,  Pos, 0.5,  0.025, 0.625, 0,    0,    0.03, 0,    .00001, 2,    20,   -20,  ""}
+{DSM:, 2, "m$(N)", "asynMotor", MD902, 0,    "MD-90", mm,  Pos, 0.5,  0.025, 0.625, 0,    0,    0.03, 0,    .00001, 2,    20,   -20,  ""}
+{DSM:, 3, "m$(N)", "asynMotor", MD903, 0,    "MD-90", mm,  Pos, 0.5,  0.025, 0.625, 0,    0,    0.03, 0,    .00001, 2,    20,   -20,  ""}
+{DSM:, 4, "m$(N)", "asynMotor", MD904, 0,    "MD-90", mm,  Pos, 0.5,  0.025, 0.625, 0,    0,    0.03, 0,    .00001, 2,    20,   -20,  ""}
+{DSM:, 5, "m$(N)", "asynMotor", MD905, 0,    "MD-90", mm,  Pos, 0.5,  0.025, 0.625, 0,    0,    0.03, 0,    .00001, 2,    20,   -20,  ""}
+{DSM:, 6, "m$(N)", "asynMotor", MD906, 0,    "MD-90", mm,  Pos, 0.5,  0.025, 0.625, 0,    0,    0.03, 0,    .00001, 2,    20,   -20,  ""}
+{DSM:, 7, "m$(N)", "asynMotor", MD907, 0,    "MD-90", mm,  Pos, 0.5,  0.025, 0.625, 0,    0,    0.03, 0,    .00001, 2,    20,   -20,  ""}
+}
+
+# P		IOC prefix
+# N		Port number
+# M		Record name pattern
+# DTYP	Datatype
+# PORT	Port
+# ADDR	Address
+# DESC	Description
+# EGU	Engineering units
+# DIR	Direction
+# VELO	Velocity (EGU / s) (note: jog velocity set separately by JVEL)
+# VBAS	Minimum velocity (EGU / s)
+# VMAX	Maximum velocity (EGU / s) (note: not getting set here with basic_asyn_motor.db)
+# ACCL	Acceleration (time in seconds until VELO)
+# BDST	Backlash distance
+# MRES	Motor step size (EGU)
+# PREC	Display precision number of decimal places
+# DHLM	Dial high travel limit (EGU)
+# DLLM	Dial low travel limit (EGU)
+# INIT	Initialization string (seems to be unused/broken)

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

@@ -0,0 +1,178 @@
+#errlogInit(5000)
+< envPaths
+
+# Tell EPICS all about the record types, device-support modules, drivers, etc.
+dbLoadDatabase("../../dbd/dsm.dbd")
+dsm_registerRecordDeviceDriver(pdbbase)
+
+# Unfortunately, iocsh doesn't support looping...
+
+# Local serial port
+drvAsynSerialPortConfigure("serial0", "/dev/ttyUSB0", 0, 0, 0)
+drvAsynSerialPortConfigure("serial1", "/dev/ttyUSB1", 0, 0, 0)
+drvAsynSerialPortConfigure("serial2", "/dev/ttyUSB2", 0, 0, 0)
+drvAsynSerialPortConfigure("serial3", "/dev/ttyUSB3", 0, 0, 0)
+drvAsynSerialPortConfigure("serial4", "/dev/ttyUSB4", 0, 0, 0)
+drvAsynSerialPortConfigure("serial5", "/dev/ttyUSB5", 0, 0, 0)
+drvAsynSerialPortConfigure("serial6", "/dev/ttyUSB6", 0, 0, 0)
+drvAsynSerialPortConfigure("serial7", "/dev/ttyUSB7", 0, 0, 0)
+
+asynSetOption("serial0", 0, "baud", "115200")
+asynSetOption("serial1", 0, "baud", "115200")
+asynSetOption("serial2", 0, "baud", "115200")
+asynSetOption("serial3", 0, "baud", "115200")
+asynSetOption("serial4", 0, "baud", "115200")
+asynSetOption("serial5", 0, "baud", "115200")
+asynSetOption("serial6", 0, "baud", "115200")
+asynSetOption("serial7", 0, "baud", "115200")
+
+asynSetOption("serial0", 0, "bits", "8")
+asynSetOption("serial1", 0, "bits", "8")
+asynSetOption("serial2", 0, "bits", "8")
+asynSetOption("serial3", 0, "bits", "8")
+asynSetOption("serial4", 0, "bits", "8")
+asynSetOption("serial5", 0, "bits", "8")
+asynSetOption("serial6", 0, "bits", "8")
+asynSetOption("serial7", 0, "bits", "8")
+
+asynSetOption("serial0", 0, "parity", "none")
+asynSetOption("serial1", 0, "parity", "none")
+asynSetOption("serial2", 0, "parity", "none")
+asynSetOption("serial3", 0, "parity", "none")
+asynSetOption("serial4", 0, "parity", "none")
+asynSetOption("serial5", 0, "parity", "none")
+asynSetOption("serial6", 0, "parity", "none")
+asynSetOption("serial7", 0, "parity", "none")
+
+asynSetOption("serial0", 0, "stop", "1")
+asynSetOption("serial1", 0, "stop", "1")
+asynSetOption("serial2", 0, "stop", "1")
+asynSetOption("serial3", 0, "stop", "1")
+asynSetOption("serial4", 0, "stop", "1")
+asynSetOption("serial5", 0, "stop", "1")
+asynSetOption("serial6", 0, "stop", "1")
+asynSetOption("serial7", 0, "stop", "1")
+
+asynOctetSetInputEos("serial0", 0, "\r")
+asynOctetSetInputEos("serial1", 0, "\r")
+asynOctetSetInputEos("serial2", 0, "\r")
+asynOctetSetInputEos("serial3", 0, "\r")
+asynOctetSetInputEos("serial4", 0, "\r")
+asynOctetSetInputEos("serial5", 0, "\r")
+asynOctetSetInputEos("serial6", 0, "\r")
+asynOctetSetInputEos("serial7", 0, "\r")
+
+asynOctetSetOutputEos("serial0", 0, "\r")
+asynOctetSetOutputEos("serial1", 0, "\r")
+asynOctetSetOutputEos("serial2", 0, "\r")
+asynOctetSetOutputEos("serial3", 0, "\r")
+asynOctetSetOutputEos("serial4", 0, "\r")
+asynOctetSetOutputEos("serial5", 0, "\r")
+asynOctetSetOutputEos("serial6", 0, "\r")
+asynOctetSetOutputEos("serial7", 0, "\r")
+
+asynSetTraceIOMask("serial0", 0, 2)
+asynSetTraceIOMask("serial1", 0, 2)
+asynSetTraceIOMask("serial2", 0, 2)
+asynSetTraceIOMask("serial3", 0, 2)
+asynSetTraceIOMask("serial4", 0, 2)
+asynSetTraceIOMask("serial5", 0, 2)
+asynSetTraceIOMask("serial6", 0, 2)
+asynSetTraceIOMask("serial7", 0, 2)
+
+# Turn on the power supply and set the deadband
+asynOctetConnect("initConnection", "serial0", 0)
+asynOctetWrite("initConnection", "EPS")
+asynOctetWrite("initConnection", "SDB 10")
+asynOctetDisconnect('initConnection')
+# Turn on the power supply and set the deadband
+asynOctetConnect("initConnection", "serial1", 0)
+asynOctetWrite("initConnection", "EPS")
+asynOctetWrite("initConnection", "SDB 10")
+asynOctetDisconnect('initConnection')
+# Turn on the power supply and set the deadband
+asynOctetConnect("initConnection", "serial2", 0)
+asynOctetWrite("initConnection", "EPS")
+asynOctetWrite("initConnection", "SDB 10")
+asynOctetDisconnect('initConnection')
+# Turn on the power supply and set the deadband
+asynOctetConnect("initConnection", "serial3", 0)
+asynOctetWrite("initConnection", "EPS")
+asynOctetWrite("initConnection", "SDB 10")
+asynOctetDisconnect('initConnection')
+# Turn on the power supply and set the deadband
+asynOctetConnect("initConnection", "serial4", 0)
+asynOctetWrite("initConnection", "EPS")
+asynOctetWrite("initConnection", "SDB 10")
+asynOctetDisconnect('initConnection')
+# Turn on the power supply and set the deadband
+asynOctetConnect("initConnection", "serial5", 0)
+asynOctetWrite("initConnection", "EPS")
+asynOctetWrite("initConnection", "SDB 10")
+asynOctetDisconnect('initConnection')
+# Turn on the power supply and set the deadband
+asynOctetConnect("initConnection", "serial6", 0)
+asynOctetWrite("initConnection", "EPS")
+asynOctetWrite("initConnection", "SDB 10")
+asynOctetDisconnect('initConnection')
+# Turn on the power supply and set the deadband
+asynOctetConnect("initConnection", "serial7", 0)
+asynOctetWrite("initConnection", "EPS")
+asynOctetWrite("initConnection", "SDB 10")
+asynOctetDisconnect('initConnection')
+
+MD90CreateController("MD900", "serial0", 1, 100, 5000)
+MD90CreateController("MD901", "serial1", 1, 100, 5000)
+MD90CreateController("MD902", "serial2", 1, 100, 5000)
+MD90CreateController("MD903", "serial3", 1, 100, 5000)
+MD90CreateController("MD904", "serial4", 1, 100, 5000)
+MD90CreateController("MD905", "serial5", 1, 100, 5000)
+MD90CreateController("MD906", "serial6", 1, 100, 5000)
+MD90CreateController("MD907", "serial7", 1, 100, 5000)
+
+### Motors
+dbLoadTemplate "motor.substitutions.md90.multi"
+
+dbLoadRecords("$(ASYN)/db/asynRecord.db", "P=DSM:,R=serial0,PORT=serial0,ADDR=0,OMAX=80,IMAX=80")
+dbLoadRecords("$(ASYN)/db/asynRecord.db", "P=DSM:,R=serial1,PORT=serial1,ADDR=0,OMAX=80,IMAX=80")
+dbLoadRecords("$(ASYN)/db/asynRecord.db", "P=DSM:,R=serial2,PORT=serial2,ADDR=0,OMAX=80,IMAX=80")
+dbLoadRecords("$(ASYN)/db/asynRecord.db", "P=DSM:,R=serial3,PORT=serial3,ADDR=0,OMAX=80,IMAX=80")
+dbLoadRecords("$(ASYN)/db/asynRecord.db", "P=DSM:,R=serial4,PORT=serial4,ADDR=0,OMAX=80,IMAX=80")
+dbLoadRecords("$(ASYN)/db/asynRecord.db", "P=DSM:,R=serial5,PORT=serial5,ADDR=0,OMAX=80,IMAX=80")
+dbLoadRecords("$(ASYN)/db/asynRecord.db", "P=DSM:,R=serial6,PORT=serial6,ADDR=0,OMAX=80,IMAX=80")
+dbLoadRecords("$(ASYN)/db/asynRecord.db", "P=DSM:,R=serial7,PORT=serial7,ADDR=0,OMAX=80,IMAX=80")
+
+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:m1.RTRY", "0")
+dbpf("DSM:m1.TWV", "0.1")
+dbpf("DSM:m1.VMAX", "0.625")
+
+dbpf("DSM:m2.RTRY", "0")
+dbpf("DSM:m2.TWV", "0.1")
+dbpf("DSM:m2.VMAX", "0.625")
+
+dbpf("DSM:m3.RTRY", "0")
+dbpf("DSM:m3.TWV", "0.1")
+dbpf("DSM:m3.VMAX", "0.625")
+
+dbpf("DSM:m4.RTRY", "0")
+dbpf("DSM:m4.TWV", "0.1")
+dbpf("DSM:m4.VMAX", "0.625")
+
+dbpf("DSM:m5.RTRY", "0")
+dbpf("DSM:m5.TWV", "0.1")
+dbpf("DSM:m5.VMAX", "0.625")
+
+dbpf("DSM:m6.RTRY", "0")
+dbpf("DSM:m6.TWV", "0.1")
+dbpf("DSM:m6.VMAX", "0.625")
+
+dbpf("DSM:m7.RTRY", "0")
+dbpf("DSM:m7.TWV", "0.1")
+dbpf("DSM:m7.VMAX", "0.625")