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Merge branch 'dev'

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This commit is contained in:
Daniel Sissom
2024-06-25 12:34:09 -05:00
parent 19731d2f37 200b68857d
commit 66ef37cb10
6 changed files with 299 additions and 21 deletions
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25
README.md
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@@ -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
``EXAMPLE_RELEASE.local`` file to ``RELEASE.local`` and defining the paths to
``EPICS_BASE``, ``MOTOR``, and itself.
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.
motorDSM contains an example IOC that is built if ``CONFIG_SITE.local`` sets
``BUILD_IOCS = YES``. The example IOC can be built outside of driver module.
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.
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``
and set paths for ``EPICS_BASE``, ``MOTOR``, and ``MOTOR_DSM``.
In ``motorDSM/iocs/dsmIOC/configure``, copy ``EXAMPLE_RELEASE.local`` to
``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

4
dsmApp/iocsh/DSM_MD90.iocsh
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@@ -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)))

69
dsmApp/src/MD90Driver.cpp
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@@ -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;
}

1
dsmApp/src/MD90Driver.h
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@@ -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;
};

33
iocs/dsmIOC/iocBoot/iocDsm/motor.substitutions.md90.multi Normal file
View File

@@ -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)

178
iocs/dsmIOC/iocBoot/iocDsm/st.cmd.md90.multi Normal file
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@@ -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")