mirror of
https://github.com/Binary-Coalescence/motorDSM.git
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Reordered sections.
This commit is contained in:
162
README.md
162
README.md
@@ -10,87 +10,6 @@ motorDSM can also be built outside of motor by copying it's ``configure/EXAMPLE_
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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.
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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.
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-------------------------------------------------
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Running an example IOC
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-------------------------------------------------
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To run the example IOC, build the packages listed below, then:
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1. Follow the steps in "Configuring the system for attached controllers" below.
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2. Set the "EPICS_CA_ADDR_LIST" environment variable to include the IP address of the server.
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If it's running on the same computer, you can use the loopback IP address.
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`$ export EPICS_CA_ADDR_LIST='127.0.0.1'`
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3. In the ``iocs/dsmIOC/iocBoot/iocDsm`` directory, run
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`$ ../../bin/linux-x86_64/dsm st.cmd.md90`
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for one attached MD-90 controller, or
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`$ ../../bin/linux-x86_64/dsm st.cmd.md90.multi`
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for eight attached MD-90 controllers. Edit this file to use more than one unit; simply comment out the ones you don't need.
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4. Test using the `caget` and `caput` arguments as described in the "Example usage" section below.
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-------------------------------------------------
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Configuring the system for attached controllers
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-------------------------------------------------
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The following steps must be used in either st.cmd.md90 (for a single unit) or in st.cmd.md90.multiple (for multiple units).
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st.cmd.md90.multiple includes 8 motors predefined on /dev/ttyUSB0 through /dev/ttyUSB7. Comment out all motors you don't need.
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**1. Define a new serial port named "serial0" and set the location of the physical port**
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`drvAsynSerialPortConfigure([serial name], [device location], 0, 0, 0)`
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*e.g., `drvAsynSerialPortConfigure("serial0", "/dev/ttyUSB0", 0, 0, 0)`*
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**2. Configure the port**
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- Baud = 115200
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- Bits = 8
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- Parity = none
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- Stop bits = 1
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- Input end of message: "\r"
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- Output end of message: "\r"
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- Trace IO mask: 2
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```
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asynSetOption([serial name], 0, "baud", "115200")
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asynSetOption([serial name], 0, "bits", "8")
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asynSetOption([serial name], 0, "parity", "none")
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asynSetOption([serial name], 0, "stop", "1")
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asynOctetSetInputEos("serial0", 0, "\r")
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asynOctetSetOutputEos("serial0", 0, "\r")
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asynSetTraceIOMask("serial0", 0, 2)
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```
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where `[serial name]` is the name you assigned in step 1, surrounded by double quotes.
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**3. Set initial parameters**
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- Power supply enabled (`EPS` command)
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- Deadband = 10 nm (`SDB 10` command)
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```
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asynOctetConnect("initConnection", [serial name], 0)
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asynOctetWrite("initConnection", "EPS")
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asynOctetWrite("initConnection", "SDB 10")
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asynOctetDisconnect('initConnection')
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```
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**4. Create MD90 Controller object**
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`MD90CreateController([controller name], [serial name], 1, 100, 5000)`
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where `[controller name]` is the name of the motor to assign. Convention is to use "MD90n", starting with n=0.
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**5. Intialize the IOC**
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After the call to `iocInit` (still in the st.cmd.md90[.multiple] file), issue the following commands for each motor. The example below uses `DSM:m0` but it should be run for each line described in motor.substitutions.md90 (or motor.substitutions.md90.multiple).
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````
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dbpf("DSM:m0.RTRY", "0") #sets retries to 0; this is automatic on the MD90
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dbpf("DSM:m0.TWV", "0.1") #Tweak distance
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dbpf("DSM:m0.VMAX", "1.0") #Sets max velocity to 1 mm/s
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dbpf("DSM:m0.HVEL", "1.0") #Sets max velocity to 1 mm/s
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````
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**6. Update the substitutions file**
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Save and close the st.cmd file you've been configuring, then open the motor substitutions file (motor.substitutions.md90[.multiple]).
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Ensure the values in the `pattern` block's `PORT` field match the names used in the std.cmd file.
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Note that, despite this field being called "Port", they use the names of the MD90 Controller object defined above (by default, MD900, MD901, etc.
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Do __not__ use the direct serial port names (by default, serial0, serial1, etc.).
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-------------------------------------------------
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-------------------------------------------------
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Compiling motorDSM
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Compiling motorDSM
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-------------------------------------------------
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-------------------------------------------------
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@@ -179,6 +98,87 @@ In ``motorDSM/iocs/dsmIOC/configure``, copy ``EXAMPLE_RELEASE.local`` to ``RELEA
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$ make
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$ make
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-------------------------------------------------
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Running an example IOC
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-------------------------------------------------
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To run the example IOC, build the packages listed below, then:
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1. Follow the steps in "Configuring the system for attached controllers" below.
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2. Set the "EPICS_CA_ADDR_LIST" environment variable to include the IP address of the server.
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If it's running on the same computer, you can use the loopback IP address.
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`$ export EPICS_CA_ADDR_LIST='127.0.0.1'`
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3. In the ``iocs/dsmIOC/iocBoot/iocDsm`` directory, run
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`$ ../../bin/linux-x86_64/dsm st.cmd.md90`
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for one attached MD-90 controller, or
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`$ ../../bin/linux-x86_64/dsm st.cmd.md90.multi`
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for eight attached MD-90 controllers. Edit this file to use more than one unit; simply comment out the ones you don't need.
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4. Test using the `caget` and `caput` arguments as described in the "Example usage" section below.
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-------------------------------------------------
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Configuring the system for attached controllers
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-------------------------------------------------
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The following steps must be used in either st.cmd.md90 (for a single unit) or in st.cmd.md90.multiple (for multiple units).
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st.cmd.md90.multiple includes 8 motors predefined on /dev/ttyUSB0 through /dev/ttyUSB7. Comment out all motors you don't need.
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**1. Define a new serial port named "serial0" and set the location of the physical port**
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`drvAsynSerialPortConfigure([serial name], [device location], 0, 0, 0)`
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*e.g., `drvAsynSerialPortConfigure("serial0", "/dev/ttyUSB0", 0, 0, 0)`*
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**2. Configure the port**
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- Baud = 115200
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- Bits = 8
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- Parity = none
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- Stop bits = 1
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- Input end of message: "\r"
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- Output end of message: "\r"
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- Trace IO mask: 2
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```
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asynSetOption([serial name], 0, "baud", "115200")
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asynSetOption([serial name], 0, "bits", "8")
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asynSetOption([serial name], 0, "parity", "none")
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asynSetOption([serial name], 0, "stop", "1")
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asynOctetSetInputEos("serial0", 0, "\r")
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asynOctetSetOutputEos("serial0", 0, "\r")
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asynSetTraceIOMask("serial0", 0, 2)
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```
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where `[serial name]` is the name you assigned in step 1, surrounded by double quotes.
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**3. Set initial parameters**
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- Power supply enabled (`EPS` command)
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- Deadband = 10 nm (`SDB 10` command)
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```
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asynOctetConnect("initConnection", [serial name], 0)
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asynOctetWrite("initConnection", "EPS")
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asynOctetWrite("initConnection", "SDB 10")
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asynOctetDisconnect('initConnection')
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```
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**4. Create MD90 Controller object**
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`MD90CreateController([controller name], [serial name], 1, 100, 5000)`
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where `[controller name]` is the name of the motor to assign. Convention is to use "MD90n", starting with n=0.
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**5. Intialize the IOC**
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After the call to `iocInit` (still in the st.cmd.md90[.multiple] file), issue the following commands for each motor. The example below uses `DSM:m0` but it should be run for each line described in motor.substitutions.md90 (or motor.substitutions.md90.multiple).
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````
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dbpf("DSM:m0.RTRY", "0") #sets retries to 0; this is automatic on the MD90
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dbpf("DSM:m0.TWV", "0.1") #Tweak distance
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dbpf("DSM:m0.VMAX", "1.0") #Sets max velocity to 1 mm/s
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dbpf("DSM:m0.HVEL", "1.0") #Sets max velocity to 1 mm/s
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````
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**6. Update the substitutions file**
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Save and close the st.cmd file you've been configuring, then open the motor substitutions file (motor.substitutions.md90[.multiple]).
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Ensure the values in the `pattern` block's `PORT` field match the names used in the std.cmd file.
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Note that, despite this field being called "Port", they use the names of the MD90 Controller object defined above (by default, MD900, MD901, etc.
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Do __not__ use the direct serial port names (by default, serial0, serial1, etc.).
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-------------------------------------------------
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-------------------------------------------------
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Example usage
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Example usage
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-------------------------------------------------
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-------------------------------------------------
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