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Updated readme for more consistent markdown formatting between sections.

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Daniel Sissom
2024-08-06 17:10:42 -05:00
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@@ -9,28 +9,30 @@ motorDSM can also be built outside of motor by copying it's ``configure/EXAMPLE_
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. 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.
# Running an example IOC
-------------------------------------------------
Running an example IOC
-------------------------------------------------
To run the example IOC, build the packages listed below, then: To run the example IOC, build the packages listed below, then:
1. Follow the steps in "Configuring the system for attached controllers" below. 1. Follow the steps in "Configuring the system for attached controllers" below.
2. Set the "EPICS_CA_ADDR_LIST" environment variable to include the IP address of the server. 2. Set the "EPICS_CA_ADDR_LIST" environment variable to include the IP address of the server.
If it's running on the same computer, you can use the loopback IP address. If it's running on the same computer, you can use the loopback IP address.
`export EPICS_CA_ADDR_LIST='127.0.0.1'` `$ export EPICS_CA_ADDR_LIST='127.0.0.1'`
3. In the ``iocs/dsmIOC/iocBoot/iocDsm`` directory, run
```
$ ../../bin/linux-x86_64/dsm st.cmd.md90
```
for one attached MD-90 controller, or 3. In the ``iocs/dsmIOC/iocBoot/iocDsm`` directory, run
``` `$ ../../bin/linux-x86_64/dsm st.cmd.md90`
$ ../../bin/linux-x86_64/dsm st.cmd.md90.multi for one attached MD-90 controller, or
``` `$ ../../bin/linux-x86_64/dsm st.cmd.md90.multi`
for eight attached MD-90 controllers. Edit this file to use more than one unit; simply comment out the ones you don't need. for eight attached MD-90 controllers. Edit this file to use more than one unit; simply comment out the ones you don't need.
4. Test using the `caget` and `caput` arguments as described in the "Example usage" section below. 4. Test using the `caget` and `caput` arguments as described in the "Example usage" section below.
# Configuring the system for attached controllers
-------------------------------------------------
Configuring the system for attached controllers
------------------------------------------------- -------------------------------------------------
The following steps must be used in either st.cmd.md90 (for a single unit) or in st.cmd.md90.multiple (for multiple units). The following steps must be used in either st.cmd.md90 (for a single unit) or in st.cmd.md90.multiple (for multiple units).
@@ -89,15 +91,14 @@ Note that, despite this field being called "Port", they use the names of the MD9
Do __not__ use the direct serial port names (by default, serial0, serial1, etc.). Do __not__ use the direct serial port names (by default, serial0, serial1, etc.).
# Compiling motorDSM -------------------------------------------------
Compiling motorDSM
------------------------ -------------------------------------------------
To set up a full EPICS stack for development and testing, install and configure all of the following dependencies: To set up a full EPICS stack for development and testing, install and configure all of the following dependencies:
------------------------ ------------------------
epics-base ### epics-base
------------------------
Install make, gcc, and perl packages if not already installed, then clone and build epics-base: Install make, gcc, and perl packages if not already installed, then clone and build epics-base:
@@ -110,8 +111,7 @@ Install make, gcc, and perl packages if not already installed, then clone and bu
------------------------ ------------------------
asyn ### asyn
------------------------
$ cd $SUPPORT $ cd $SUPPORT
$ git clone git@github.com:epics-modules/asyn.git $ git clone git@github.com:epics-modules/asyn.git
@@ -132,8 +132,7 @@ if appropriate header files are in ``/usr/include/tirpc/rpc`` instead of ``/usr/
------------------------ ------------------------
seq ### seq
------------------------
$ cd $SUPPORT $ cd $SUPPORT
$ git clone git@github.com:ISISComputingGroup/EPICS-seq.git seq $ git clone git@github.com:ISISComputingGroup/EPICS-seq.git seq
@@ -150,8 +149,7 @@ Edit ``seq/configure/RELEASE`` to add the missing '-' before the ``include`` for
------------------------ ------------------------
motor ### motor
------------------------
$ cd $SUPPORT $ cd $SUPPORT
$ git clone git@github.com:epics-modules/motor.git $ git clone git@github.com:epics-modules/motor.git
@@ -164,8 +162,7 @@ Create ``motor/configure/RELEASE.local`` and set ``SUPPORT``, ``ASYN``, ``SNCSEQ
------------------------ ------------------------
motorDSM (this package) ### motorDSM (this package)
------------------------
$ cd $SUPPORT $ cd $SUPPORT
$ git clone git@github.com:Binary-Coalescence/motorDSM.git $ git clone git@github.com:Binary-Coalescence/motorDSM.git
@@ -181,24 +178,26 @@ In ``motorDSM/iocs/dsmIOC/configure``, copy ``EXAMPLE_RELEASE.local`` to ``RELEA
$ make distclean $ make distclean
$ make $ make
------------------------
# Example usage -------------------------------------------------
Example usage
-------------------------------------------------
After building, run the example IOC described at the top of this section in one terminal window. After building, run the example IOC described at the top of this section in one terminal window.
Open another terminal window and navigate to [EPICS install directory]/epics-base/bin/linux-x86_64/ (or wherever you built EPICS base. Open another terminal window and navigate to [EPICS install directory]/epics-base/bin/linux-x86_64/ (or wherever you built EPICS base.
Use the commands `caput` and `caget` to set and read process variables. Use the commands `caget` and `caput` to read and set process variables, respectively.
For example, to get the current position, use `./caget DSM:m0.REP`. This reads the REP variable, which is the "Raw Encoder Position". Set m0 to m1, m2, etc. for multiple motors. For example, to get the current position, use:
`$ ./caget DSM:m0.REP`
Other examples This reads the REP variable, which is the "Raw Encoder Position". Additionally, change `m0` to `m1`, `m2`, etc. to read the values from other motors when running more than one.
-------------------------
Homing the motor (must be done before you can issue position commands): Homing the motor (must be done before you can issue position commands):
`./caput DSM:m0.HOMF 1 #Begins homing sequence in the forward direction` `$ ./caput DSM:m0.HOMF 1 #Begins homing sequence in the forward direction`
`./caput DSM:m0.HOMR 1 #Begins homing sequence in the reverse direction` or
`$ ./caput DSM:m0.HOMR 1 #Begins homing sequence in the reverse direction`
Moving to a position target: Moving to a position target:
`./caput DSM:m0.VAL 2.345 #Moves to 2.345 mm` `$ ./caput DSM:m0.VAL 2.345 #Moves to 2.345 mm`
Setting a velocity target: Setting a velocity target:
`./caput DSM:m0.VELO 0.5 #Sets velocity target to 0.5 mm/s` `./caput DSM:m0.VELO 0.5 #Sets velocity target to 0.5 mm/s`