Added speed algorithm description

Missed a ' mark

.ci-local/base3-14.set

@@ -1,3 +0,0 @@
-BASE=3.14
-
-include modules

.ci-local/base3-15.set

@@ -1,3 +0,0 @@
-BASE=3.15
-
-include modules

.ci-local/base7-0.set

@@ -1,3 +0,0 @@
-BASE=7.0
-
-include modules

.ci-local/github-actions/post-prepare.py

@@ -1,70 +0,0 @@
-#!/usr/bin/env python
-
-import os
-import shutil
-import re
-
-# Setup ANSI Colors (copied from cue.py)
-ANSI_RED = "\033[31;1m"
-ANSI_GREEN = "\033[32;1m"
-ANSI_YELLOW = "\033[33;1m"
-ANSI_BLUE = "\033[34;1m"
-ANSI_MAGENTA = "\033[35;1m"
-ANSI_CYAN = "\033[36;1m"
-ANSI_RESET = "\033[0m"
-ANSI_CLEAR = "\033[0K"
-
-def cat(filename):
-    '''
-    Print the contents of a file
-    '''
-    with open(filename, 'r') as fh:
-        for line in fh:
-            print(line.strip())
-
-def sanity_check(filename):
-    '''
-    Include the contents of a file in the github-actions log
-    '''
-    print("{}Contents of {}{}".format(ANSI_BLUE, filename, ANSI_RESET))
-    cat(filename)
-    print("{}End of {}{}".format(ANSI_BLUE, filename, ANSI_RESET))
-
-if 'HOME' in os.environ:
-    # Linux & OS X
-    cache_dir = os.path.join(os.environ['HOME'], ".cache")
-else:
-    # Windows
-    cache_dir = os.path.join(os.environ['HOMEDRIVE'], os.environ['HOMEPATH'], ".cache")
-
-module_dir = os.getenv('GITHUB_WORKSPACE')
-
-# Copy the github-actions RELEASE.local to the configure dir
-filename = "configure/RELEASE.local"
-shutil.copy("{}/RELEASE.local".format(cache_dir), filename)
-
-# Get the variable from the example release file
-example = "configure/EXAMPLE_RELEASE.local"
-fh = open(example, "r")
-lines = fh.readlines()
-fh.close()
-pObj = re.compile('(MOTOR_[^=]+)')
-module_var = None
-for line in lines:
-    mObj = pObj.match(line)
-    if mObj != None:
-      module_var = mObj.group()
-      break
-
-# Add the path to the driver module to the RELEASE.local file, since it is needed by the example IOC
-fh = open(filename, "a")
-fh.write("{}={}\n".format(module_var, module_dir))
-fh.close()
-sanity_check(filename)
-
-# Enable the building of example IOCs
-filename = "configure/CONFIG_SITE.local"
-fh = open(filename, 'w')
-fh.write("BUILD_IOCS = YES")
-fh.close()
-sanity_check(filename)

.ci-local/github-actions/sanity-check.py

@@ -1,9 +0,0 @@
-#!/usr/bin/env python
-
-import os
-import pprint
-
-pprint.pprint(dict(os.environ), width = 1)
-
-#!print("{}", breakmehere)
-

.ci-local/modules.set

@@ -1,9 +0,0 @@
-MODULES="sncseq ipac asyn autosave busy motor"
-
-SNCSEQ=R2-2-9
-IPAC=master
-ASYN=R4-42
-AUTOSAVE=R5-10-2
-BUSY=R1-7-3
-MOTOR=master
-MOTOR_RECURSIVE=NO

.ci-local/travis/post-prepare.py

@@ -1,43 +0,0 @@
-#!/usr/bin/env python
-
-import os
-import shutil
-
-# ugly hack: copy cue.py so that it can be imported
-shutil.copy('.ci/cue.py', '.ci-local/travis')
-from cue import *
-
-def cat(filename):
-    '''
-    Print the contents of a file
-    '''
-    with open(filename, 'r') as fh:
-        for line in fh:
-            print(line.strip())
-
-def sanity_check(filename):
-    '''
-    Include the contents of a file in the travis log
-    '''
-    print("{}Contents of {}{}".format(ANSI_BLUE, filename, ANSI_RESET))
-    cat(filename)
-    print("{}End of {}{}".format(ANSI_BLUE, filename, ANSI_RESET))
-
-# Add the path to the driver module to the RELEASE.local file, since it is needed by the example IOC
-update_release_local('MOTOR_ACS', os.getenv('TRAVIS_BUILD_DIR'))
-
-# Copy the travis RELEASE.local to the configure dir
-filename = "configure/RELEASE.local"
-shutil.copy("{}/RELEASE.local".format(cachedir), filename)
-sanity_check(filename)
-
-# Enable the building of example IOCs
-filename = "configure/CONFIG_SITE.local"
-fh = open(filename, 'w')
-fh.write("BUILD_IOCS = YES")
-fh.close()
-sanity_check(filename)
-
-# Remove cue.py
-os.remove('.ci-local/travis/cue.py')
-os.remove('.ci-local/travis/cue.pyc')

.github/workflows/ci-scripts-build-full.yml

@@ -1,211 +0,0 @@
-# .github/workflows/ci-scripts-build.yml for use with EPICS Base ci-scripts
-# (see: https://github.com/epics-base/ci-scripts)
-
-# This is YAML - indentation levels are crucial
-
-# Set the 'name:' properties to values that work for you (MYMODULE)
-
-name: "GHA full build"
-
-# Only run manually
-on:
-  workflow_dispatch
-
-env:
-  SETUP_PATH: .ci-local:.ci
-  # For the sequencer on Linux/Windows/MacOS
-  APT: re2c
-  CHOCO: re2c
-  BREW: re2c
-
-jobs:
-  build-base:
-    name: ${{ matrix.name }}
-    runs-on: ${{ matrix.os }}
-    # Set environment variables from matrix parameters
-    env:
-      CMP: ${{ matrix.cmp }}
-      BCFG: ${{ matrix.configuration }}
-      BASE: ${{ matrix.base }}
-      WINE: ${{ matrix.wine }}
-      RTEMS: ${{ matrix.rtems }}
-      RTEMS_TARGET: ${{ matrix.rtems_target }}
-      EXTRA: ${{ matrix.extra }}
-      TEST: ${{ matrix.test }}
-      SET: ${{ matrix.set }}
-    strategy:
-      fail-fast: false
-      matrix:
-        # Job names also name artifacts, character limitations apply
-        include:
-          - os: ubuntu-20.04
-            cmp: gcc
-            configuration: default
-            wine: "64"
-            base: "7.0"
-            set: modules
-            name: "Ub-20 gcc-9 + MinGW"
-
-          - os: ubuntu-20.04
-            cmp: gcc
-            configuration: static
-            wine: "64"
-            base: "7.0"
-            set: modules
-            name: "Ub-20 gcc-9 + MinGW, static"
-
-          - os: ubuntu-20.04
-            cmp: gcc
-            configuration: static
-            extra: "CMD_CXXFLAGS=-std=c++11"
-            base: "7.0"
-            set: modules
-            name: "Ub-20 gcc-9 C++11, static"
-
-          - os: ubuntu-20.04
-            cmp: clang
-            configuration: default
-            extra: "CMD_CXXFLAGS=-std=c++11"
-            base: "7.0"
-            set: modules
-            name: "Ub-20 clang-10 C++11"
-
-          ### fails building autosave
-          #!- os: ubuntu-20.04
-          #!  cmp: gcc
-          #!  configuration: default
-          #!  rtems: "4.10"
-          #!  base: "7.0"
-          #!  set: modules
-          #!  name: "Ub-20 gcc-9 + RT-4.10"
-
-          - os: ubuntu-20.04
-            cmp: gcc
-            configuration: default
-            rtems: "4.9"
-            base: "7.0"
-            set: modules
-            name: "Ub-20 gcc-9 + RT-4.9"
-
-          ### fails building asyn
-          #!- os: ubuntu-20.04
-          #!  cmp: gcc
-          #!  configuration: default
-          #!  rtems: "5"
-          #!  rtems_target: RTEMS-pc686-qemu
-          #!  base: "7.0"
-          #!  set: modules
-          #!  name: "Ub-20 gcc-9 + RT-5.1 pc686"
-
-          ### fails building autosave
-          #!- os: ubuntu-20.04
-          #!  cmp: gcc
-          #!  configuration: default
-          #!  rtems: "5"
-          #!  rtems_target: RTEMS-beatnik
-          #!  test: NO
-          #!  base: "7.0"
-          #!  set: modules
-          #!  name: "Ub-20 gcc-9 + RT-5.1 beatnik"
-
-          - os: ubuntu-18.04
-            cmp: gcc
-            configuration: default
-            base: "7.0"
-            set: modules
-            name: "Ub-18 gcc-7"
-
-          ### g++-8 not found
-          #!- os: ubuntu-18.04
-          #!  cmp: gcc-8
-          #!  utoolchain: true
-          #!  configuration: default
-          #!  base: "7.0"
-          #!  set: modules
-          #!  name: "Ub-18 gcc-8"
-
-          #!- os: ubuntu-20.04
-          #!  cmp: gcc-8
-          #!  utoolchain: true
-          #!  configuration: default
-          #!  base: "7.0"
-          #!  set: modules
-          #!  name: "Ub-20 gcc-8"
-
-          - os: ubuntu-20.04
-            cmp: clang
-            configuration: default
-            base: "7.0"
-            set: modules
-            name: "Ub-20 clang-10"
-
-          - os: macos-latest
-            cmp: clang
-            configuration: default
-            base: "7.0"
-            set: modules
-            name: "MacOS clang-12"
-
-          - os: windows-2019
-            cmp: gcc
-            configuration: default
-            base: "7.0"
-            set: modules
-            name: "Win2019 MinGW"
-
-          - os: windows-2019
-            cmp: gcc
-            configuration: static
-            base: "7.0"
-            set: modules
-            name: "Win2019 MinGW, static"
-
-          - os: windows-2019
-            cmp: vs2019
-            configuration: default
-            base: "7.0"
-            set: modules
-            name: "Win2019 MSC-19"
-
-          - os: windows-2019
-            cmp: vs2019
-            configuration: static
-            base: "7.0"
-            set: modules
-            name: "Win2019 MSC-19, static"
-
-    steps:
-    - uses: actions/checkout@v2
-      with:
-        submodules: true
-    - name: Automatic core dumper analysis
-      uses: mdavidsaver/ci-core-dumper@master
-    - name: "apt-get install"
-      run: |
-        sudo apt-get update
-        sudo apt-get -y install qemu-system-x86 g++-mingw-w64-x86-64 gdb
-      if: runner.os == 'Linux'
-    - name: "apt-get install ${{ matrix.cmp }}"
-      run: |
-        sudo apt-get -y install software-properties-common
-        sudo add-apt-repository -y ppa:ubuntu-toolchain-r/test
-        sudo apt-get update
-        sudo apt-get -y install ${{ matrix.cmp }}
-      if: matrix.utoolchain
-    - name: Sanity Check
-      run: python .ci-local/github-actions/sanity-check.py
-    - name: Prepare and compile dependencies
-      run: python .ci/cue.py prepare
-    - name: Patch main module
-      run: python .ci-local/github-actions/post-prepare.py
-    - name: Build main module
-      run: python .ci/cue.py build
-    - name: Run main module tests
-      run: python .ci/cue.py test
-    - name: Upload tapfiles Artifact
-      uses: actions/upload-artifact@v2
-      with:
-        name: tapfiles ${{ matrix.name }}
-        path: '**/O.*/*.tap'
-    - name: Collect and show test results
-      run: python .ci/cue.py test-results

.github/workflows/ci-scripts-build.yml

@@ -1,109 +0,0 @@
-# .github/workflows/ci-scripts-build.yml for use with EPICS Base ci-scripts
-# (see: https://github.com/epics-base/ci-scripts)
-
-# This is YAML - indentation levels are crucial
-
-# Set the 'name:' properties to values that work for you (MYMODULE)
-
-name: "GHA build"
-
-# Trigger on pushes to the master branch and PRs
-on:
-  push:
-    paths-ignore:
-      - 'documentation/*'
-      - '**/*.html'
-      - '**/*.md'
-      - '.github/workflows/ci-scripts-build-full.yml'
-    branches:
-      - master
-  pull_request:
-    paths-ignore:
-      - 'documentation/*'
-      - '**/*.html'
-      - '**/*.md'
-      - '.github/workflows/ci-scripts-build-full.yml'
-
-env:
-  SETUP_PATH: .ci-local:.ci
-  # For the sequencer on Linux/Windows/MacOS
-  APT: re2c
-  CHOCO: re2c
-  BREW: re2c
-
-jobs:
-  build-base:
-    name: ${{ matrix.name }}
-    runs-on: ${{ matrix.os }}
-    # Set environment variables from matrix parameters
-    env:
-      CMP: ${{ matrix.cmp }}
-      BCFG: ${{ matrix.configuration }}
-      BASE: ${{ matrix.base }}
-      WINE: ${{ matrix.wine }}
-      RTEMS: ${{ matrix.rtems }}
-      RTEMS_TARGET: ${{ matrix.rtems_target }}
-      EXTRA: ${{ matrix.extra }}
-      TEST: ${{ matrix.test }}
-      SET: ${{ matrix.set }}
-    strategy:
-      fail-fast: false
-      matrix:
-        # Job names also name artifacts, character limitations apply
-        include:
-          - os: ubuntu-20.04
-            cmp: gcc
-            configuration: default
-            base: "7.0"
-            set: modules
-            name: "7.0 Ub-20 gcc-9"
-        
-          - os: macos-latest
-            cmp: clang
-            configuration: default
-            base: "3.15"
-            set: modules
-            name: "3.15 MacOS clang-12"
-
-          - os: windows-2019
-            cmp: vs2019
-            configuration: static
-            base: "3.15"
-            set: modules
-            name: "3.15 Win VS2019, static"
-
-    steps:
-    - uses: actions/checkout@v2
-      with:
-        submodules: true
-    - name: Automatic core dumper analysis
-      uses: mdavidsaver/ci-core-dumper@master
-    - name: "apt-get install"
-      run: |
-        sudo apt-get update
-        sudo apt-get -y install qemu-system-x86 g++-mingw-w64-x86-64 gdb
-      if: runner.os == 'Linux'
-    - name: "apt-get install ${{ matrix.cmp }}"
-      run: |
-        sudo apt-get -y install software-properties-common
-        sudo add-apt-repository -y ppa:ubuntu-toolchain-r/test
-        sudo apt-get update
-        sudo apt-get -y install ${{ matrix.cmp }}
-      if: matrix.utoolchain
-    - name: Sanity Check
-      run: python .ci-local/github-actions/sanity-check.py
-    - name: Prepare and compile dependencies
-      run: python .ci/cue.py prepare
-    - name: Patch main module
-      run: python .ci-local/github-actions/post-prepare.py
-    - name: Build main module
-      run: python .ci/cue.py build
-    - name: Run main module tests
-      run: python .ci/cue.py test
-    - name: Upload tapfiles Artifact
-      uses: actions/upload-artifact@v2
-      with:
-        name: tapfiles ${{ matrix.name }}
-        path: '**/O.*/*.tap'
-    - name: Collect and show test results
-      run: python .ci/cue.py test-results

.gitignore

@@ -1,6 +1,7 @@
 *~
 O.*
 *.swp
+*.bak
 *BAK.adl
 bin/
 db/
@@ -16,3 +17,4 @@ auto_settings.sav*
 auto_positions.sav*
 .ccfxprepdir/
 *.local
+*_history

.gitmodules

@@ -1,3 +0,0 @@
-[submodule ".ci"]
-	path = .ci
-	url = https://github.com/epics-base/ci-scripts

.travis.yml

@@ -1,143 +0,0 @@
-# .travis.xml for use with EPICS Base ci-scripts
-# (see: https://github.com/epics-base/ci-scripts)
-
-language: cpp
-compiler: gcc
-dist: xenial
-
-cache:
-  directories:
-  - $HOME/.cache
-
-env:
-  global:
-    - SETUP_PATH=.ci-local:.ci
-    # for the sequencer on Windows
-    - CHOCO=re2c
-
-addons:
-  apt:
-    packages:
-    # for all EPICS builds
-    - libreadline6-dev
-    - libncurses5-dev
-    - perl
-    # for clang compiler
-    - clang
-    # for mingw builds (32bit and 64bit)
-    - g++-mingw-w64-i686
-    - g++-mingw-w64-x86-64
-    # for RTEMS cross builds
-    - qemu-system-x86
-  homebrew:
-    packages:
-    # for the sequencer
-    - re2c
-    update: true
-
-install:
-  - python .ci/cue.py prepare
-  # ugly hacks go here:
-  - python .ci-local/travis/post-prepare.py
-
-script:
-  - python .ci/cue.py build
-  - python .ci/cue.py test
-  - python .ci/cue.py test-results
-
-# If you need to do more during install and build,
-# add a local directory to your module and do e.g.
-#  - ./.ci-local/travis/install-extras.sh
-
-# Define build jobs
-
-# Well-known variables to use
-# SET      source setup file
-# EXTRA    content will be added to make command line
-# STATIC   set to YES for static build (default: NO)
-# TEST     set to NO to skip running the tests (default: YES)
-# VV       set to make build scripts verbose (default: unset)
-
-# Usually from setup files, but may be specified or overridden
-#  on a job line
-# MODULES  list of dependency modules
-# BASE     branch or release tag name of the EPICS Base to use
-# <MODULE> branch or release tag for a specific module
-# ...      see README for setup file syntax description
-
-jobs:
-  include:
-
-# Older Base releases
-
-  - env: SET=base3-14
-
-  - env: SET=base3-14 BCFG=static
-
-  - env: SET=base3-15
-
-  - env: SET=base3-15 BCFG=static
-
-# Default gcc, static build
-
-  - env: SET=base7-0
-
-  - env: SET=base7-0 BCFG=static
-
-# Default clang build
-
-  - env: SET=base7-0
-    compiler: clang
-
-  - env: SET=base7-0 EXTRA="CMD_CXXFLAGS=-std=c++11"
-    compiler: clang
-
-# Trusty: compiler versions very close to RHEL 7
-
-  - env: SET=base7-0
-    dist: trusty
-
-  - env: SET=base7-0 BCFG=debug
-    dist: trusty
-
-# Other gcc versions (added as an extra package)
-
-  - env: SET=base7-0
-    compiler: gcc-6
-    addons: { apt: { packages: ["g++-6"], sources: ["ubuntu-toolchain-r-test"] } }
-
-  - env: SET=base7-0
-    compiler: gcc-7
-    addons: { apt: { packages: ["g++-7"], sources: ["ubuntu-toolchain-r-test"] } }
-
-# Cross-compilations to Windows using MinGW and WINE
-    
-  - env: SET=base7-0 WINE=32 TEST=NO BCFG=static
-
-  - env: SET=base7-0 WINE=64 TEST=NO
-
-# Windows builds
-
-  - env: SET=base7-0 
-    os: windows
-    compiler: vs2017
-
-  - env: SET=base7-0 BCFG=static
-    os: windows
-    compiler: vs2017
-
-  - env: SET=base7-0 BCFG=debug
-    os: windows
-    compiler: vs2017
-
-# MacOS build
-
-  - env: SET=base7-0
-    os: osx
-    compiler: clang
-
-# Cross-compilation to RTEMS
-
-  - env: SET=base7-0 RTEMS=4.9
-
-  - env: SET=base7-0 RTEMS=4.10

README.md

@@ -1,11 +1,229 @@
-# motorAcs
-EPICS motor drivers for the following [Advanced Control Systems Corporation](http://www.acsmotion.com) controllers: MCB-4B
+motorDSM
+==========
 
-[![Build Status](https://github.com/epics-motor/motorAcs/actions/workflows/ci-scripts-build.yml/badge.svg)](https://github.com/epics-motor/motorAcs/actions/workflows/ci-scripts-build.yml)
-<!--[![Build Status](https://travis-ci.org/epics-motor/motorAcs.png)](https://travis-ci.org/epics-motor/motorAcs)-->
+EPICS motor drivers for the following [Dynamic Structures and Materials](https://www.dynamic-structures.com/) motor controllers: MD-90
 
-motorAcs is a submodule of [motor](https://github.com/epics-modules/motor).  When motorAcs is built in the ``motor/modules`` directory, no manual configuration is needed.
+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.
 
-motorAcs can also be built outside of motor by copying it's ``EXAMPLE_RELEASE.local`` file to ``RELEASE.local`` and defining the paths to ``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 ``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
+
+To run the example IOC, build the packages listed below, then:  
+
+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.
+If it's running on the same computer, you can use the loopback IP address.  
+`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
+```
+$ ../../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.  
+
+4. Test using the `caget` and `caput` arguments as described in the "Example usage" section below.
+
+# 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).
+st.cmd.md90.multiple includes 8 motors predefined on /dev/ttyUSB0 through /dev/ttyUSB7. Comment out all motors you don't need.  
+
+**1. Define a new serial port named "serial0" and set the location of the physical port**  
+`drvAsynSerialPortConfigure([serial name], [device location], 0, 0, 0)`  
+*e.g., `drvAsynSerialPortConfigure("serial0", "/dev/ttyUSB0", 0, 0, 0)`*  
+
+**2. Configure the port**  
+- Baud = 115200
+- Bits = 8
+- Parity = none
+- Stop bits = 1
+- Input end of message: "\r"
+- Output end of message: "\r"
+- Trace IO mask: 2
+```
+asynSetOption([serial name], 0, "baud", "115200")
+asynSetOption([serial name], 0, "bits", "8")
+asynSetOption([serial name], 0, "parity", "none")
+asynSetOption([serial name], 0, "stop", "1")
+asynOctetSetInputEos("serial0", 0, "\r")
+asynOctetSetOutputEos("serial0", 0, "\r")
+asynSetTraceIOMask("serial0", 0, 2)
+```
+where `[serial name]` is the name you assigned in step 1, surrounded by double quotes.
+
+**3. Set initial parameters**  
+- Power supply enabled (`EPS` command)
+- Deadband = 10 nm (`SDB 10` command)  
+```
+asynOctetConnect("initConnection", [serial name], 0)
+asynOctetWrite("initConnection", "EPS")
+asynOctetWrite("initConnection", "SDB 10")
+asynOctetDisconnect('initConnection')
+```
+
+**4. Create MD90 Controller object**  
+`MD90CreateController([controller name], [serial name], 1, 100, 5000)`  
+where `[controller name]` is the name of the motor to assign. Convention is to use "MD90n", starting with n=0.
+
+**5. Intialize the IOC**  
+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).
+````
+dbpf("DSM:m0.RTRY", "0")	#sets retries to 0; this is automatic on the MD90
+dbpf("DSM:m0.TWV", "0.1")	#Tweak distance
+dbpf("DSM:m0.VMAX", "1.0")	#Sets max velocity to 1 mm/s
+dbpf("DSM:m0.HVEL", "1.0")	#Sets max velocity to 1 mm/s
+````
+
+**6. Update the substitutions file**  
+Save and close the st.cmd file you've been configuring, then open the motor substitutions file (motor.substitutions.md90[.multiple]).
+Ensure the values in the `pattern` block's `PORT` field match the names used in the std.cmd file.
+Note that, despite this field being called "Port", they use the names of the MD90 Controller object defined above (by default, MD900, MD901, etc.
+Do __not__ use the direct serial port names (by default, serial0, serial1, etc.).  
+
+
+# Compiling motorDSM
+
+------------------------
+
+To set up a full EPICS stack for development and testing, install and configure all of the following dependencies:
+
+------------------------
+epics-base
+------------------------
+
+Install make, gcc, and perl packages if not already installed, then clone and build epics-base:
+
+    $ export SUPPORT=/path/to/install/directory
+    $ cd $SUPPORT
+    $ git clone git@github.com:epics-base/epics-base.git
+    $ cd epics-base
+    $ make distclean
+    $ make
+
+
+------------------------
+asyn
+------------------------
+
+    $ cd $SUPPORT
+    $ git clone git@github.com:epics-modules/asyn.git
+
+You may need to install (on Arch Linux) ``rpcsvc-proto`` package to get ``rpcgen`` binary needed to make asyn.
+
+In ``asyn/configure``, create the file ``RELEASE.local`` with contents:  
+SUPPORT=/path/to/install/directory  
+EPICS_BASE=/path/to/epics-base
+
+In ``asyn/configure``, create ``CONFIG_SITE.local`` file with the line:  
+	TIRPC=YES  
+if appropriate header files are in ``/usr/include/tirpc/rpc`` instead of ``/usr/include/rpc``.
+
+    $ cd $SUPPORT/asyn
+    $ make clean
+    $ make
+
+
+------------------------
+seq
+------------------------
+
+    $ cd $SUPPORT
+    $ git clone git@github.com:ISISComputingGroup/EPICS-seq.git seq
+
+Install the ``re2c`` package (Arch) if needed.
+
+Create ``seq/configure/RELEASE.local`` and set path for ``EPICS_BASE``.  (Note this package seems to forget to git-ignore the .local file.)
+
+Edit ``seq/configure/RELEASE`` to add the missing '-' before the ``include`` for ``ISIS_CONFIG`` on the next to last line.  This seems to be a typo.
+
+    $ cd $SUPPORT/seq
+    $ make clean
+    $ make
+
+
+------------------------
+motor
+------------------------
+
+    $ cd $SUPPORT
+    $ git clone git@github.com:epics-modules/motor.git
+
+Create ``motor/configure/RELEASE.local`` and set ``SUPPORT``, ``ASYN``, ``SNCSEQ``, and ``EPICS_BASE`` to the appropriate paths.
+
+    $ cd $SUPPORT/motor
+    $ make distclean
+    $ make
+
+
+------------------------
+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 uncomment to set:  
+	BUILD_IOCS = YES
+
+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 $SUPPORT/motorDSM
+    $ make distclean
+    $ make
+
+------------------------
+# Example usage
+
+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.  
+Use the commands `caput` and `caget` to set and read process variables.  
+
+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.
+
+Other examples
+-------------------------
+
+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.HOMR 1			#Begins homing sequence in the reverse direction`  
+
+Moving to a position target:  
+`./caput DSM:m0.VAL 2.345		#Moves to 2.345 mm`
+
+Setting a velocity target:  
+`./caput DSM:m0.VELO 0.5		#Sets velocity target to 0.5 mm/s`  
+(Note that velocity targets are appropriate only. They adjust the step rate of the motor and are not guaranteed to be exact.)
+
+A note aboue velocity targets
+-----------------------------
+The I-20 motor driven by the MD-90 is a closed loop "step and repeat" motor that takes full steps towards its position target until it is
+close, then will perform linear extensions to close the loop on the target position. This is handled internally on the MD-90, not by
+EPICS.
+
+The Velocity target parameter sets the step frequency
+at which the motor operates on its way to the target position. The speed is not closed loop, and will depend on external loads, environmental
+conditions, etc. A speed target of 1 mm/s will generate a roughly 1 mm/s motion, but it is not guaranteed.
+
+Additionally, due to the way EPICS operates, setting VELO will not immediately send a command to the MD90. Instead, EPICS remembers the last value you set, and will set this new
+velocity target when it sends the next move command. **However, the motor must not be in servo mode to accept a new velocity target.**
+
+The motor enters servo mode when you send a new position target, and stays in servo mode until you issue a Stop command 
+(by setting the `DSM:m0.STOP` parameter to 1).
+
+If you do not disable servo prior to issuing a Move command at the new velocity, then VELO will become out of sync with the actual motor
+velocity, and EPICS will return error 3 "Cannot execute while moving" in its console each time you issue a Move command.
+This is because each Move command internally sends a "Set step frequenc" command, which will error if you do not Stop the motor first.
+Reading the VELO parameter at this point will return the wrong value- it returns the value you requested, not the actual speed setting
+on the motor.
+To fix this, you must Stop the motor, then send a new Move command. At 
 
-motorAcs 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.

acsApp/src/MCB4BDriver.cpp

@@ -1,336 +0,0 @@
-/*
-FILENAME... MCB4BDriver.cpp
-USAGE...    Motor driver support for the ACS MCB-4B controller.
-
-Mark Rivers
-March 1, 2012
-
-*/
-
-
-#include <stdio.h>
-#include <string.h>
-#include <stdlib.h>
-#include <math.h>
-
-#include <iocsh.h>
-#include <epicsThread.h>
-
-#include <asynOctetSyncIO.h>
-
-#include <epicsExport.h>
-#include "MCB4BDriver.h"
-
-#define NINT(f) (int)((f)>0 ? (f)+0.5 : (f)-0.5)
-
-/** Creates a new MCB4BController object.
-  * \param[in] portName          The name of the asyn port that will be created for this driver
-  * \param[in] MCB4BPortName     The name of the drvAsynSerialPort that was created previously to connect to the MCB4B controller 
-  * \param[in] numAxes           The number of axes that this controller supports 
-  * \param[in] movingPollPeriod  The time between polls when any axis is moving 
-  * \param[in] idlePollPeriod    The time between polls when no axis is moving 
-  */
-MCB4BController::MCB4BController(const char *portName, const char *MCB4BPortName, int numAxes, 
-                                 double movingPollPeriod, double idlePollPeriod)
-  :  asynMotorController(portName, numAxes, NUM_MCB4B_PARAMS, 
-                         0, // No additional interfaces beyond those in base class
-                         0, // No additional callback interfaces beyond those in base class
-                         ASYN_CANBLOCK | ASYN_MULTIDEVICE, 
-                         1, // autoconnect
-                         0, 0)  // Default priority and stack size
-{
-  int axis;
-  asynStatus status;
-  MCB4BAxis *pAxis;
-  static const char *functionName = "MCB4BController::MCB4BController";
-
-  /* Connect to MCB4B controller */
-  status = pasynOctetSyncIO->connect(MCB4BPortName, 0, &pasynUserController_, NULL);
-  if (status) {
-    asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR, 
-      "%s: cannot connect to MCB-4B controller\n",
-      functionName);
-  }
-  for (axis=0; axis<numAxes; axis++) {
-    pAxis = new MCB4BAxis(this, axis);
-  }
-
-  startPoller(movingPollPeriod, idlePollPeriod, 2);
-}
-
-
-/** Creates a new MCB4BController object.
-  * Configuration command, called directly or from iocsh
-  * \param[in] portName          The name of the asyn port that will be created for this driver
-  * \param[in] MCB4BPortName       The name of the drvAsynIPPPort that was created previously to connect to the MCB4B controller 
-  * \param[in] numAxes           The number of axes that this controller supports 
-  * \param[in] movingPollPeriod  The time in ms between polls when any axis is moving
-  * \param[in] idlePollPeriod    The time in ms between polls when no axis is moving 
-  */
-extern "C" int MCB4BCreateController(const char *portName, const char *MCB4BPortName, int numAxes, 
-                                   int movingPollPeriod, int idlePollPeriod)
-{
-  MCB4BController *pMCB4BController
-    = new MCB4BController(portName, MCB4BPortName, numAxes, movingPollPeriod/1000., idlePollPeriod/1000.);
-  pMCB4BController = NULL;
-  return(asynSuccess);
-}
-
-/** Reports on status of the driver
-  * \param[in] fp The file pointer on which report information will be written
-  * \param[in] level The level of report detail desired
-  *
-  * If details > 0 then information is printed about each axis.
-  * After printing controller-specific information it calls asynMotorController::report()
-  */
-void MCB4BController::report(FILE *fp, int level)
-{
-  fprintf(fp, "MCB-4B motor driver %s, numAxes=%d, moving poll period=%f, idle poll period=%f\n", 
-    this->portName, numAxes_, movingPollPeriod_, idlePollPeriod_);
-
-  // Call the base class method
-  asynMotorController::report(fp, level);
-}
-
-/** Returns a pointer to an MCB4BAxis object.
-  * Returns NULL if the axis number encoded in pasynUser is invalid.
-  * \param[in] pasynUser asynUser structure that encodes the axis index number. */
-MCB4BAxis* MCB4BController::getAxis(asynUser *pasynUser)
-{
-  return static_cast<MCB4BAxis*>(asynMotorController::getAxis(pasynUser));
-}
-
-/** Returns a pointer to an MCB4BAxis object.
-  * Returns NULL if the axis number encoded in pasynUser is invalid.
-  * \param[in] axisNo Axis index number. */
-MCB4BAxis* MCB4BController::getAxis(int axisNo)
-{
-  return static_cast<MCB4BAxis*>(asynMotorController::getAxis(axisNo));
-}
-
-
-// These are the MCB4BAxis methods
-
-/** Creates a new MCB4BAxis object.
-  * \param[in] pC Pointer to the MCB4BController to which this axis belongs. 
-  * \param[in] axisNo Index number of this axis, range 0 to pC->numAxes_-1.
-  * 
-  * Initializes register numbers, etc.
-  */
-MCB4BAxis::MCB4BAxis(MCB4BController *pC, int axisNo)
-  : asynMotorAxis(pC, axisNo),
-    pC_(pC)
-{  
-}
-
-/** Reports on status of the axis
-  * \param[in] fp The file pointer on which report information will be written
-  * \param[in] level The level of report detail desired
-  *
-  * After printing device-specific information calls asynMotorAxis::report()
-  */
-void MCB4BAxis::report(FILE *fp, int level)
-{
-  if (level > 0) {
-    fprintf(fp, "  axis %d\n",
-            axisNo_);
-  }
-
-  // Call the base class method
-  asynMotorAxis::report(fp, level);
-}
-
-asynStatus MCB4BAxis::sendAccelAndVelocity(double acceleration, double velocity) 
-{
-  asynStatus status;
-  int ival;
-  // static const char *functionName = "MCB4B::sendAccelAndVelocity";
-
-  // Send the velocity
-  ival = NINT(fabs(115200./velocity));
-  if (ival < 2) ival=2;
-  if (ival > 255) ival = 255;
-  sprintf(pC_->outString_, "#%02dV=%d", axisNo_, ival);
-  status = pC_->writeReadController();
-
-  // Send the acceleration
-  // acceleration is in steps/sec/sec
-  // MCB is programmed with Ramp Index (R) where:
-  //   dval (steps/sec/sec) = 720,000/(256-R) */
-  //   or R=256-(720,000/dval) */
-  ival = NINT(256-(720000./acceleration));
-  if (ival < 1) ival=1;
-  if (ival > 255) ival=255;
-  sprintf(pC_->outString_, "#%02dR=%d", axisNo_, ival);
-  status = pC_->writeReadController();
-  return status;
-}
-
-
-asynStatus MCB4BAxis::move(double position, int relative, double minVelocity, double maxVelocity, double acceleration)
-{
-  asynStatus status;
-  // static const char *functionName = "MCB4BAxis::move";
-
-  status = sendAccelAndVelocity(acceleration, maxVelocity);
-  
-  if (relative) {
-    sprintf(pC_->outString_, "#%02dI%+d", axisNo_, NINT(position));
-  } else {
-    sprintf(pC_->outString_, "#%02dG%+d", axisNo_, NINT(position));
-  }
-  status = pC_->writeReadController();
-  return status;
-}
-
-asynStatus MCB4BAxis::home(double minVelocity, double maxVelocity, double acceleration, int forwards)
-{
-  asynStatus status;
-  // static const char *functionName = "MCB4BAxis::home";
-
-  status = sendAccelAndVelocity(acceleration, maxVelocity);
-
-  if (forwards) {
-    sprintf(pC_->outString_, "#%02dH+", axisNo_);
-  } else {
-    sprintf(pC_->outString_, "#%02dH-", axisNo_);
-  }
-  status = pC_->writeReadController();
-  return status;
-}
-
-asynStatus MCB4BAxis::moveVelocity(double minVelocity, double maxVelocity, double acceleration)
-{
-  asynStatus status;
-  static const char *functionName = "MCB4BAxis::moveVelocity";
-
-  asynPrint(pasynUser_, ASYN_TRACE_FLOW,
-    "%s: minVelocity=%f, maxVelocity=%f, acceleration=%f\n",
-    functionName, minVelocity, maxVelocity, acceleration);
-    
-  status = sendAccelAndVelocity(acceleration, maxVelocity);
-
-  /* MCB-4B does not have jog command. Move 1 million steps */
-  if (maxVelocity > 0.) {
-    /* This is a positive move in MCB4B coordinates */
-    sprintf(pC_->outString_, "#%02dI+1000000", axisNo_);
-  } else {
-      /* This is a negative move in MCB4B coordinates */
-      sprintf(pC_->outString_, "#%02dI-1000000", axisNo_);
-  }
-  status = pC_->writeReadController();
-  return status;
-}
-
-asynStatus MCB4BAxis::stop(double acceleration )
-{
-  asynStatus status;
-  //static const char *functionName = "MCB4BAxis::stop";
-
-  sprintf(pC_->outString_, "#%02dQ", axisNo_);
-  status = pC_->writeReadController();
-  return status;
-}
-
-asynStatus MCB4BAxis::setPosition(double position)
-{
-  asynStatus status;
-  //static const char *functionName = "MCB4BAxis::setPosition";
-
-  sprintf(pC_->outString_, "#%02dP=%+d", axisNo_, NINT(position));
-  status = pC_->writeReadController();
-  return status;
-}
-
-asynStatus MCB4BAxis::setClosedLoop(bool closedLoop)
-{
-  asynStatus status;
-  //static const char *functionName = "MCB4BAxis::setClosedLoop";
-
-  sprintf(pC_->outString_, "#%02dW=%d", axisNo_, closedLoop ? 1:0);
-  status = pC_->writeReadController();
-  return status;
-}
-
-/** Polls the axis.
-  * This function reads the motor position, the limit status, the home status, the moving status, 
-  * and the drive power-on status. 
-  * It calls setIntegerParam() and setDoubleParam() for each item that it polls,
-  * and then calls callParamCallbacks() at the end.
-  * \param[out] moving A flag that is set indicating that the axis is moving (true) or done (false). */
-asynStatus MCB4BAxis::poll(bool *moving)
-{ 
-  int done;
-  int driveOn;
-  int limit;
-  double position;
-  asynStatus comStatus;
-
-  // Read the current motor position
-  sprintf(pC_->outString_, "#%02dP", axisNo_);
-  comStatus = pC_->writeReadController();
-  if (comStatus) goto skip;
-  // The response string is of the form "#01P=+1000"
-  position = atof(&pC_->inString_[5]);
-  setDoubleParam(pC_->motorPosition_, position);
-
-  // Read the moving status of this motor
-  sprintf(pC_->outString_, "#%02dX", axisNo_);
-  comStatus = pC_->writeReadController();
-  if (comStatus) goto skip;
-  // The response string is of the form "#01X=1"
-  done = (pC_->inString_[5] == '0') ? 1:0;
-  setIntegerParam(pC_->motorStatusDone_, done);
-  *moving = done ? false:true;
-
-  // Read the limit status
-  sprintf(pC_->outString_, "#%02dE", axisNo_);
-  comStatus = pC_->writeReadController();
-  if (comStatus) goto skip;
-  // The response string is of the form "#01E=1"
-  limit = (pC_->inString_[5] == '1') ? 1:0;
-  setIntegerParam(pC_->motorStatusHighLimit_, limit);
-  limit = (pC_->inString_[6] == '1') ? 1:0;
-  setIntegerParam(pC_->motorStatusLowLimit_, limit);
-  limit = (pC_->inString_[7] == '1') ? 1:0;
-  setIntegerParam(pC_->motorStatusAtHome_, limit);
-
-  // Read the drive power on status
-  sprintf(pC_->outString_, "#%02dW", axisNo_);
-  comStatus = pC_->writeReadController();
-  if (comStatus) goto skip;
-  driveOn = (pC_->inString_[5] == '1') ? 1:0;
-  setIntegerParam(pC_->motorStatusPowerOn_, driveOn);
-  setIntegerParam(pC_->motorStatusProblem_, 0);
-
-  skip:
-  setIntegerParam(pC_->motorStatusProblem_, comStatus ? 1:0);
-  callParamCallbacks();
-  return comStatus ? asynError : asynSuccess;
-}
-
-/** Code for iocsh registration */
-static const iocshArg MCB4BCreateControllerArg0 = {"Port name", iocshArgString};
-static const iocshArg MCB4BCreateControllerArg1 = {"MCB-4B port name", iocshArgString};
-static const iocshArg MCB4BCreateControllerArg2 = {"Number of axes", iocshArgInt};
-static const iocshArg MCB4BCreateControllerArg3 = {"Moving poll period (ms)", iocshArgInt};
-static const iocshArg MCB4BCreateControllerArg4 = {"Idle poll period (ms)", iocshArgInt};
-static const iocshArg * const MCB4BCreateControllerArgs[] = {&MCB4BCreateControllerArg0,
-                                                             &MCB4BCreateControllerArg1,
-                                                             &MCB4BCreateControllerArg2,
-                                                             &MCB4BCreateControllerArg3,
-                                                             &MCB4BCreateControllerArg4};
-static const iocshFuncDef MCB4BCreateControllerDef = {"MCB4BCreateController", 5, MCB4BCreateControllerArgs};
-static void MCB4BCreateContollerCallFunc(const iocshArgBuf *args)
-{
-  MCB4BCreateController(args[0].sval, args[1].sval, args[2].ival, args[3].ival, args[4].ival);
-}
-
-static void MCB4BRegister(void)
-{
-  iocshRegister(&MCB4BCreateControllerDef, MCB4BCreateContollerCallFunc);
-}
-
-extern "C" {
-epicsExportRegistrar(MCB4BRegister);
-}

acsApp/src/MCB4BDriver.h

@@ -1,49 +0,0 @@
-/*
-FILENAME...   MCB4BDriver.h
-USAGE...      Motor driver support for the ACS MCB-4B controller.
-
-Mark Rivers
-March 1, 2012
-
-*/
-
-#include "asynMotorController.h"
-#include "asynMotorAxis.h"
-
-#define MAX_MCB4B_AXES 4
-
-// No controller-specific parameters yet
-#define NUM_MCB4B_PARAMS 0  
-
-class epicsShareClass MCB4BAxis : public asynMotorAxis
-{
-public:
-  /* These are the methods we override from the base class */
-  MCB4BAxis(class MCB4BController *pC, int axis);
-  void report(FILE *fp, int level);
-  asynStatus move(double position, int relative, double min_velocity, double max_velocity, double acceleration);
-  asynStatus moveVelocity(double min_velocity, double max_velocity, double acceleration);
-  asynStatus home(double min_velocity, double max_velocity, double acceleration, int forwards);
-  asynStatus stop(double acceleration);
-  asynStatus poll(bool *moving);
-  asynStatus setPosition(double position);
-  asynStatus setClosedLoop(bool closedLoop);
-
-private:
-  MCB4BController *pC_;          /**< Pointer to the asynMotorController to which this axis belongs.
-                                   *   Abbreviated because it is used very frequently */
-  asynStatus sendAccelAndVelocity(double accel, double velocity);
-  
-friend class MCB4BController;
-};
-
-class epicsShareClass MCB4BController : public asynMotorController {
-public:
-  MCB4BController(const char *portName, const char *MCB4BPortName, int numAxes, double movingPollPeriod, double idlePollPeriod);
-
-  void report(FILE *fp, int level);
-  MCB4BAxis* getAxis(asynUser *pasynUser);
-  MCB4BAxis* getAxis(int axisNo);
-
-friend class MCB4BAxis;
-};

acsApp/src/devAcsMotor.dbd

@@ -1,11 +0,0 @@
-# Advanced Control Systems driver support.
-
-# Model 1 (non-asyn) driver
-device(motor,VME_IO,devMCB4B,"ACS MCB-4B")
-driver(drvMCB4B)
-registrar(AcsRegister)
-
-# Model 3 driver
-registrar(MCB4BRegister)
-
-

configure/EXAMPLE_RELEASE.local

@@ -1,4 +1,5 @@
+EPICS_BASE=
 MOTOR=
 -include $(MOTOR)/modules/RELEASE.$(EPICS_HOST_ARCH).local
-# path to motorAcs is needed to build the IOC inside motorAcs, but outside motor
-MOTOR_ACS=
+# path to motorDsm is needed to build the IOC inside motorDsm, but outside motor
+MOTOR_DSM=

configure/RELEASE

@@ -2,6 +2,6 @@
 
 # Use motor/module's generated release file when buidling inside motor
 -include $(TOP)/../RELEASE.$(EPICS_HOST_ARCH).local
-# Use motorAcs's RELEASE.local when building outside motor
+# Use motorDsm's RELEASE.local when building outside motor
 -include $(TOP)/configure/RELEASE.local
 

docs/RELEASE.md

@@ -1,3 +1,22 @@
+# motorDSM Releases
+
+## __v0.9.0-alpha__
+
+### Changes since motorAcs R1-1-1
+
+#### New features
+* Global rename Acs -> DSM and MCB-4B -> MD-90
+* Updated motor controller and axis methods to work with the DSM MD-90 controller
+* Updated example IOC startup scripts for the MD-90
+
+#### Modifications to existing features
+* Removed Acs controller interface
+
+#### Bug fixes
+* None
+
+
+
 # motorAcs Releases
 
 ## __R1-1-1 (2023-04-11)__

dsmApp/iocsh/DSM_MD90.iocsh

@@ -1,4 +1,4 @@
-# ### ACS_MCB4B.iocsh ###
+# ### DSM_MD90.iocsh ###
 
 #- ###################################################
 #- PORT             - Serial port for communications
@@ -17,9 +17,9 @@
 #-                    Default: 100
 #- ###################################################
 
-# ACS MCB-4B serial connection settings
-iocshLoad("$(IP)/iocsh/setSerialParams.iocsh", "PORT=$(PORT), BAUD=19200, BITS=8, STOP=1, PARITY=none")
+# DSM MD-90 serial connection settings
+iocshLoad("$(IP)/iocsh/setSerialParams.iocsh", "PORT=$(PORT), BAUD=115200, BITS=8, STOP=1, PARITY=none")
 asynOctetSetInputEos( "$(PORT)", -1, "\r")
 asynOctetSetOutputEos("$(PORT)", -1, "\r")
 
-MCB4BCreateController("$(INSTANCE)", "$(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/iocsh/Makefile

@@ -1,6 +1,6 @@
 TOP = ../..
 include $(TOP)/configure/CONFIG
 
-IOCSH += ACS_MCB4B.iocsh
+IOCSH += DSM_MD90.iocsh
 
 include $(TOP)/configure/RULES

dsmApp/src/MD90Driver.cpp

@@ -0,0 +1,502 @@
+/*
+FILENAME... MD90Driver.cpp
+USAGE...    Motor driver support for the DSM MD-90 controller.
+
+Mark Rivers
+March 1, 2012
+
+*/
+
+
+#include <stdio.h>
+#include <string.h>
+#include <stdlib.h>
+#include <math.h>
+
+#include <iocsh.h>
+#include <epicsThread.h>
+
+#include <asynOctetSyncIO.h>
+
+#include <epicsExport.h>
+#include "MD90Driver.h"
+
+#define NINT(f) (int)((f)>0 ? (f)+0.5 : (f)-0.5)
+
+/** Creates a new MD90Controller object.
+  * \param[in] portName          The name of the asyn port that will be created for this driver
+  * \param[in] MD90PortName     The name of the drvAsynSerialPort that was created previously to connect to the MD90 controller 
+  * \param[in] numAxes           The number of axes that this controller supports 
+  * \param[in] movingPollPeriod  The time between polls when any axis is moving 
+  * \param[in] idlePollPeriod    The time between polls when no axis is moving 
+  */
+MD90Controller::MD90Controller(const char *portName, const char *MD90PortName, int numAxes, 
+                                 double movingPollPeriod, double idlePollPeriod)
+  :  asynMotorController(portName, numAxes, NUM_MD90_PARAMS, 
+                         0, // No additional interfaces beyond those in base class
+                         0, // No additional callback interfaces beyond those in base class
+                         ASYN_CANBLOCK | ASYN_MULTIDEVICE, 
+                         1, // autoconnect
+                         0, 0)  // Default priority and stack size
+{
+  int axis;
+  asynStatus status;
+  MD90Axis *pAxis;
+  static const char *functionName = "MD90Controller::MD90Controller";
+
+  /* Connect to MD90 controller */
+  status = pasynOctetSyncIO->connect(MD90PortName, 0, &pasynUserController_, NULL);
+  if (status) {
+    asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR, 
+      "%s: cannot connect to MD-90 controller\n",
+      functionName);
+  }
+  for (axis=0; axis<numAxes; axis++) {
+    pAxis = new MD90Axis(this, axis);
+  }
+
+  startPoller(movingPollPeriod, idlePollPeriod, 2);
+}
+
+
+/** Creates a new MD90Controller object.
+  * Configuration command, called directly or from iocsh
+  * \param[in] portName          The name of the asyn port that will be created for this driver
+  * \param[in] MD90PortName       The name of the drvAsynIPPPort that was created previously to connect to the MD90 controller 
+  * \param[in] numAxes           The number of axes that this controller supports 
+  * \param[in] movingPollPeriod  The time in ms between polls when any axis is moving
+  * \param[in] idlePollPeriod    The time in ms between polls when no axis is moving 
+  */
+extern "C" int MD90CreateController(const char *portName, const char *MD90PortName, int numAxes, 
+                                   int movingPollPeriod, int idlePollPeriod)
+{
+  MD90Controller *pMD90Controller
+    = new MD90Controller(portName, MD90PortName, numAxes, movingPollPeriod/1000., idlePollPeriod/1000.);
+  pMD90Controller = NULL;
+  return(asynSuccess);
+}
+
+/** Reports on status of the driver
+  * \param[in] fp The file pointer on which report information will be written
+  * \param[in] level The level of report detail desired
+  *
+  * If details > 0 then information is printed about each axis.
+  * After printing controller-specific information it calls asynMotorController::report()
+  */
+void MD90Controller::report(FILE *fp, int level)
+{
+  fprintf(fp, "MD-90 motor driver %s, numAxes=%d, moving poll period=%f, idle poll period=%f\n", 
+    this->portName, numAxes_, movingPollPeriod_, idlePollPeriod_);
+
+  // Call the base class method
+  asynMotorController::report(fp, level);
+}
+
+/** Returns a pointer to an MD90Axis object.
+  * Returns NULL if the axis number encoded in pasynUser is invalid.
+  * \param[in] pasynUser asynUser structure that encodes the axis index number. */
+MD90Axis* MD90Controller::getAxis(asynUser *pasynUser)
+{
+  return static_cast<MD90Axis*>(asynMotorController::getAxis(pasynUser));
+}
+
+/** Returns a pointer to an MD90Axis object.
+  * Returns NULL if the axis number encoded in pasynUser is invalid.
+  * \param[in] axisNo Axis index number. */
+MD90Axis* MD90Controller::getAxis(int axisNo)
+{
+  return static_cast<MD90Axis*>(asynMotorController::getAxis(axisNo));
+}
+
+
+// These are the MD90Axis methods
+
+/** Creates a new MD90Axis object.
+  * \param[in] pC Pointer to the MD90Controller to which this axis belongs. 
+  * \param[in] axisNo Index number of this axis, range 0 to pC->numAxes_-1.
+  * 
+  * Initializes register numbers, etc.
+  */
+MD90Axis::MD90Axis(MD90Controller *pC, int axisNo)
+  : asynMotorAxis(pC, axisNo),
+    pC_(pC)
+{  
+}
+
+/** Reports on status of the axis
+  * \param[in] fp The file pointer on which report information will be written
+  * \param[in] level The level of report detail desired
+  *
+  * After printing device-specific information calls asynMotorAxis::report()
+  */
+void MD90Axis::report(FILE *fp, int level)
+{
+  if (level > 0) {
+    fprintf(fp, "  axis %d\n",
+            axisNo_);
+  }
+
+  // Call the base class method
+  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
+  */
+asynStatus MD90Axis::sendAccelAndVelocity(double acceleration, double velocity) 
+{
+  asynStatus status;
+  int freq;
+  static const char *functionName = "MD90::sendAccelAndVelocity";
+
+  // Send the velocity
+  // Velocity provided in steps/sec
+  // Our unit step size of the encoder is 10 nm, but the motor moves in steps approx. 5 micrometers.
+  // Motor controller accepts step frequency in Hz.
+  freq = NINT(fabs(velocity / COUNTS_PER_STEP));
+  sprintf(pC_->outString_, "SSF %d", freq);
+  status = pC_->writeReadController();
+  if (!status) {
+    status = parseReply(functionName, pC_->inString_);
+  }
+
+  return status;
+}
+
+
+asynStatus MD90Axis::move(double position, int relative, double minVelocity, double maxVelocity, double acceleration)
+{
+  asynStatus status;
+  static const char *functionName = "MD90Axis::move";
+
+  status = sendAccelAndVelocity(acceleration, maxVelocity);
+  
+  // Position specified in encoder steps (10 nm), but motor move commands are in nanometers
+  position = position * 10;
+  if (relative) {
+    sprintf(pC_->outString_, "CRM %d", NINT(position));
+  } else {
+    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";
+
+  status = sendAccelAndVelocity(acceleration, maxVelocity);
+
+  sprintf(pC_->outString_, "HOM");
+  status = pC_->writeReadController();
+  if (!status) {
+    status = parseReply(functionName, pC_->inString_);
+  }
+  return status;
+}
+
+asynStatus MD90Axis::moveVelocity(double minVelocity, double maxVelocity, double acceleration)
+{
+  asynStatus status;
+  static const char *functionName = "MD90Axis::moveVelocity";
+
+  asynPrint(pasynUser_, ASYN_TRACE_FLOW,
+    "%s: minVelocity=%f, maxVelocity=%f, acceleration=%f\n",
+    functionName, minVelocity, maxVelocity, acceleration);
+    
+  status = sendAccelAndVelocity(acceleration, maxVelocity);
+
+  /* MD-90 does not have jog command. Move max 6000 steps */
+  sprintf(pC_->outString_, "SNS 6000");
+  status = pC_->writeReadController();
+  if (maxVelocity > 0.) {
+    /* This is a positive move in MD90 coordinates */
+    sprintf(pC_->outString_, "ESF");
+  } else {
+    /* This is a negative move in MD90 coordinates */
+    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";
+
+  sprintf(pC_->outString_, "STP");
+  status = pC_->writeReadController();
+  if (!status) {
+    status = parseReply(functionName, pC_->inString_);
+  }
+  return status;
+}
+
+/** The ACS driver used this to turn on/off the motor winding current, so
+  * we'll use this for enabling/disabling the persistent move state.
+  */
+asynStatus MD90Axis::setClosedLoop(bool closedLoop)
+{
+  asynStatus status;
+  static const char *functionName = "MD90Axis::setClosedLoop";
+
+  if (closedLoop == 1) {
+    sprintf(pC_->outString_, "EPM");
+  } else {
+    sprintf(pC_->outString_, "DPM");
+  }
+  status = pC_->writeReadController();
+  if (!status) {
+    status = parseReply(functionName, pC_->inString_);
+  }
+  return status;
+}
+
+/** Set the I Gain of the motor control loop.  The motor is an I- controller
+  * and has no P or D terms.
+  * \param[in] iGain The current I gain in the control loop
+  */
+asynStatus MD90Axis::setIGain(double iGain)
+{
+  asynStatus status;
+  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";
+
+  sprintf(pC_->outString_, "CLM 0");
+  status = pC_->writeReadController();
+  if (!status) {
+    status = parseReply(functionName, pC_->inString_);
+  }
+  return status;
+}
+
+/** Polls the axis.
+  * This function reads the motor position, the limit status, the home status, the moving status, 
+  * and the drive power-on status. 
+  * It calls setIntegerParam() and setDoubleParam() for each item that it polls,
+  * and then calls callParamCallbacks() at the end.
+  * \param[out] moving A flag that is set indicating that the axis is moving (true) or done (false).
+  */
+asynStatus MD90Axis::poll(bool *moving)
+{ 
+  int replyStatus;
+  char replyString[256];
+  int replyValue;
+  int done;
+  int driveOn;
+  int homed;
+  double position;
+  double velocity;
+  asynStatus comStatus;
+  static const char *functionName = "MD90Axis::poll";
+
+  // TODO:  Will need to add some more error handling for the motor return codes.
+
+  setIntegerParam(pC_->motorStatusProblem_, 0);
+
+  // Read the drive power on status
+  sprintf(pC_->outString_, "GPS");
+  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);
+  driveOn = (replyValue == '1') ? 1:0;
+  setIntegerParam(pC_->motorStatusPowerOn_, driveOn);
+
+  // Read the home status
+  sprintf(pC_->outString_, "GHS");
+  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);
+  homed = (replyValue == '1') ? 1:0;
+  setIntegerParam(pC_->motorStatusHomed_, homed);
+
+  // Read the moving status of this motor
+  sprintf(pC_->outString_, "STA");
+  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);
+  done = (replyValue == '2') ? 0:1;
+  setIntegerParam(pC_->motorStatusDone_, done);
+  *moving = done ? false:true;
+  switch(replyValue) {
+    case 0:  // Idle
+        asynPrint(pasynUser_, ASYN_TRACE_FLOW, "%s:  Idle\n", functionName);
+        break;
+    case 1:  // Open loop move complete
+        asynPrint(pasynUser_, ASYN_TRACE_FLOW, "%s:  Open loop move complete\n", functionName);
+        break;
+    case 2:  // Move in progress
+        asynPrint(pasynUser_, ASYN_TRACE_FLOW, "%s:  Move in progress\n", functionName);
+        break;
+    case 3:  // Move stopped
+        asynPrint(pasynUser_, ASYN_TRACE_FLOW, "%s:  Move stopped\n", functionName);
+        break;
+    case 4:  // Homing error
+        setIntegerParam(pC_->motorStatusProblem_, 1);
+        asynPrint(pasynUser_, ASYN_TRACE_ERROR, "%s:  Homing error\n", functionName);
+        break;
+    case 5:  // Stance error
+        setIntegerParam(pC_->motorStatusProblem_, 1);
+        asynPrint(pasynUser_, ASYN_TRACE_ERROR, "%s:  Stance error (Error resetting pose during closed loop move)\n", functionName);
+        break;
+    case 6:  // Stance complete
+        asynPrint(pasynUser_, ASYN_TRACE_FLOW, "%s:  Stance complete (Finished resetting pose, starting extension move)\n", functionName);
+        break;
+    case 7:  // Open loop move error
+        setIntegerParam(pC_->motorStatusProblem_, 1);
+        asynPrint(pasynUser_, ASYN_TRACE_ERROR, "%s:  Open loop move error\n", functionName);
+        break;
+    case 8:  // Closed loop move error
+        setIntegerParam(pC_->motorStatusProblem_, 1);
+        asynPrint(pasynUser_, ASYN_TRACE_ERROR, "%s:  Closed loop move error\n", functionName);
+        break;
+    case 9:  // Closed loop move complete
+        asynPrint(pasynUser_, ASYN_TRACE_FLOW, "%s:  Closed loop move complete\n", functionName);
+        break;
+    case 10: // End of travel error
+        setIntegerParam(pC_->motorStatusProblem_, 1);
+        asynPrint(pasynUser_, ASYN_TRACE_ERROR, "%s:  End of travel error\n", functionName);
+		if (position > 0) {
+            setIntegerParam(pC_->motorStatusHighLimit_, 1);
+		} else {
+            setIntegerParam(pC_->motorStatusLowLimit_, 1);
+		}
+        break;
+    case 11: // Ramp move error
+        setIntegerParam(pC_->motorStatusProblem_, 1);
+        asynPrint(pasynUser_, ASYN_TRACE_ERROR, "%s:  Ramp move error\n", functionName);
+        break;
+    default:
+        break;
+  }
+
+  // Read the current motor position in encoder steps (10 nm)
+  sprintf(pC_->outString_, "GEC");
+  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);
+  setDoubleParam(pC_->motorPosition_, position);
+  setDoubleParam(pC_->motorEncoderPosition_, position);
+  setIntegerParam(pC_->motorStatusAtHome_, (position == 0) ? 1:0); // home limit switch
+  setIntegerParam(pC_->motorStatusHome_, (position == 0) ? 1:0); // at home position
+
+  // Read the current motor step frequency to calculate approx. set velocity in (encoder step lengths / s)
+  sprintf(pC_->outString_, "GSF");
+  comStatus = pC_->writeReadController();
+  if (comStatus) goto skip;
+  // The response string is of the form "0: Current step frequency: 100"
+  sscanf(pC_->inString_, "%d: %[^:]: %d", &replyStatus, replyString, &replyValue);
+  velocity = replyValue * COUNTS_PER_STEP;
+  setDoubleParam(pC_->motorVelocity_, velocity);
+
+  // Read the current motor integral gain (range 1-1000)
+  sprintf(pC_->outString_, "GGN");
+  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);
+  setDoubleParam(pC_->motorIGain_, replyValue);
+
+  // Read the current motor persistent move state (using EPICS motorClosedLoop to report this)
+  sprintf(pC_->outString_, "GPM");
+  comStatus = pC_->writeReadController();
+  if (comStatus) goto skip;
+  // The response string is of the form "0: Current persistent move state: 1"
+  sscanf(pC_->inString_, "%d: %[^:]: %d", &replyStatus, replyString, &replyValue);
+  setIntegerParam(pC_->motorClosedLoop_, (replyValue == 0) ? 0:1);
+
+  // set some default params
+  setIntegerParam(pC_->motorStatusHasEncoder_, 1);
+  setIntegerParam(pC_->motorStatusGainSupport_, 1);
+
+  skip:
+  setIntegerParam(pC_->motorStatusProblem_, comStatus ? 1:0);
+  callParamCallbacks();
+  return comStatus ? asynError : asynSuccess;
+}
+
+/** Code for iocsh registration */
+static const iocshArg MD90CreateControllerArg0 = {"Port name", iocshArgString};
+static const iocshArg MD90CreateControllerArg1 = {"MD-90 port name", iocshArgString};
+static const iocshArg MD90CreateControllerArg2 = {"Number of axes", iocshArgInt};
+static const iocshArg MD90CreateControllerArg3 = {"Moving poll period (ms)", iocshArgInt};
+static const iocshArg MD90CreateControllerArg4 = {"Idle poll period (ms)", iocshArgInt};
+static const iocshArg * const MD90CreateControllerArgs[] = {&MD90CreateControllerArg0,
+                                                             &MD90CreateControllerArg1,
+                                                             &MD90CreateControllerArg2,
+                                                             &MD90CreateControllerArg3,
+                                                             &MD90CreateControllerArg4};
+static const iocshFuncDef MD90CreateControllerDef = {"MD90CreateController", 5, MD90CreateControllerArgs};
+static void MD90CreateContollerCallFunc(const iocshArgBuf *args)
+{
+  MD90CreateController(args[0].sval, args[1].sval, args[2].ival, args[3].ival, args[4].ival);
+}
+
+static void MD90Register(void)
+{
+  iocshRegister(&MD90CreateControllerDef, MD90CreateContollerCallFunc);
+}
+
+extern "C" {
+epicsExportRegistrar(MD90Register);
+}

dsmApp/src/MD90Driver.h

@@ -0,0 +1,50 @@
+/*
+FILENAME...   MD90Driver.h
+USAGE...      Motor driver support for the DSM MD-90 controller.
+
+*/
+
+#include "asynMotorController.h"
+#include "asynMotorAxis.h"
+
+#define MAX_MD90_AXES 1
+
+// 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)
+
+class epicsShareClass MD90Axis : public asynMotorAxis
+{
+public:
+  /* These are the methods we override from the base class */
+  MD90Axis(class MD90Controller *pC, int axis);
+  void report(FILE *fp, int level);
+  asynStatus move(double position, int relative, double min_velocity, double max_velocity, double acceleration);
+  asynStatus moveVelocity(double min_velocity, double max_velocity, double acceleration);
+  asynStatus home(double min_velocity, double max_velocity, double acceleration, int forwards);
+  asynStatus stop(double acceleration);
+  asynStatus poll(bool *moving);
+  asynStatus setClosedLoop(bool closedLoop);
+  asynStatus setIGain(double iGain);
+  asynStatus doMoveToHome();
+
+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;
+};
+
+class epicsShareClass MD90Controller : public asynMotorController {
+public:
+  MD90Controller(const char *portName, const char *MD90PortName, int numAxes, double movingPollPeriod, double idlePollPeriod);
+
+  void report(FILE *fp, int level);
+  MD90Axis* getAxis(asynUser *pasynUser);
+  MD90Axis* getAxis(int axisNo);
+
+friend class MD90Axis;
+};

dsmApp/src/Makefile

@@ -5,18 +5,18 @@ include $(TOP)/configure/CONFIG
 # The following are used for debugging messages.
 USR_CXXFLAGS += -DDEBUG
 
-DBD += devAcsMotor.dbd
+DBD += devDsmMotor.dbd
 
-LIBRARY_IOC = Acs
+LIBRARY_IOC = dsm
 
-SRCS += AcsRegister.cc
+SRCS += dsmRegister.cc
 
 # Advanced Control Systems driver support.
-SRCS += devMCB4B.c drvMCB4B.c
-SRCS += MCB4BDriver.cpp
+SRCS += devMD90.c drvMD90.c
+SRCS += MD90Driver.cpp
 
-Acs_LIBS += motor asyn
-Acs_LIBS += $(EPICS_BASE_IOC_LIBS)
+dsm_LIBS += motor asyn
+dsm_LIBS += $(EPICS_BASE_IOC_LIBS)
 
 include $(TOP)/configure/RULES
 

dsmApp/src/devDsmMotor.dbd

@@ -0,0 +1,11 @@
+# Advanced Control Systems driver support.
+
+# Model 1 (non-asyn) driver
+device(motor,VME_IO,devMD90,"DSM MD-90")
+driver(drvMD90)
+registrar(dsmRegister)
+
+# Model 3 driver
+registrar(MD90Register)
+
+

dsmApp/src/devMD90.cc

@@ -1,4 +1,4 @@
-/* File: devMCB4B.cc                    */
+/* File: devMD90.cc                    */
 
 /* Device Support Routines for motor */
 /*
@@ -20,21 +20,21 @@
 #include 	"motorRecord.h"
 #include 	"motor.h"
 #include 	"motordevCom.h"
-#include        "drvMCB4B.h"
+#include        "drvMD90.h"
 #include 	"epicsExport.h"
 
 #define STATIC static
 
-extern struct driver_table MCB4B_access;
+extern struct driver_table MD90_access;
 
 #define NINT(f) (long)((f)>0 ? (f)+0.5 : (f)-0.5)
 
-volatile int devMCB4BDebug = 0;
-extern "C" {epicsExportAddress(int, devMCB4BDebug);}
+volatile int devMD90Debug = 0;
+extern "C" {epicsExportAddress(int, devMD90Debug);}
 
 static inline void Debug(int level, const char *format, ...) {
   #ifdef DEBUG
-    if (level < devMCB4BDebug)
+    if (level < devMD90Debug)
     {
       va_list pVar;
       va_start(pVar, format);
@@ -45,35 +45,35 @@ static inline void Debug(int level, const char *format, ...) {
 }
 
 /* Debugging levels: 
- *      devMCB4BDebug >= 3  Print new part of command and command string so far
- *                          at the end of MCB4B_build_trans
+ *      devMD90Debug >= 3  Print new part of command and command string so far
+ *                          at the end of MD90_build_trans
  */
 
 
-/* ----------------Create the dsets for devMCB4B----------------- */
+/* ----------------Create the dsets for devMD90----------------- */
 STATIC struct driver_table *drvtabptr;
-STATIC long MCB4B_init(int);
-STATIC long MCB4B_init_record(void *);
-STATIC long MCB4B_start_trans(struct motorRecord *);
-STATIC RTN_STATUS MCB4B_build_trans(motor_cmnd, double *, struct motorRecord *);
-STATIC RTN_STATUS MCB4B_end_trans(struct motorRecord *);
+STATIC long MD90_init(int);
+STATIC long MD90_init_record(void *);
+STATIC long MD90_start_trans(struct motorRecord *);
+STATIC RTN_STATUS MD90_build_trans(motor_cmnd, double *, struct motorRecord *);
+STATIC RTN_STATUS MD90_end_trans(struct motorRecord *);
 
-struct motor_dset devMCB4B =
+struct motor_dset devMD90 =
 {
-    {8, NULL, (DEVSUPFUN) MCB4B_init, (DEVSUPFUN) MCB4B_init_record, NULL},
+    {8, NULL, (DEVSUPFUN) MD90_init, (DEVSUPFUN) MD90_init_record, NULL},
     motor_update_values,
-    MCB4B_start_trans,
-    MCB4B_build_trans,
-    MCB4B_end_trans
+    MD90_start_trans,
+    MD90_build_trans,
+    MD90_end_trans
 };
 
-extern "C" {epicsExportAddress(dset,devMCB4B);}
+extern "C" {epicsExportAddress(dset,devMD90);}
 
 
 /* --------------------------- program data --------------------- */
 /* This table is used to define the command types */
 
-static msg_types MCB4B_table[] = {
+static msg_types MD90_table[] = {
     MOTION,     /* MOVE_ABS */
     MOTION,     /* MOVE_REL */
     MOTION,     /* HOME_FOR */
@@ -99,63 +99,63 @@ static msg_types MCB4B_table[] = {
 };
 
 
-static struct board_stat **MCB4B_cards;
+static struct board_stat **MD90_cards;
 
 /* --------------------------- program data --------------------- */
 
 
-/* initialize device support for MCB4B stepper motor */
-STATIC long MCB4B_init(int after)
+/* initialize device support for MD90 stepper motor */
+STATIC long MD90_init(int after)
 {
     long rtnval;
 
-    Debug(5, "MCB4B_init: entry\n");
+    Debug(5, "MD90_init: entry\n");
     if (!after)
     {
-	drvtabptr = &MCB4B_access;
+	drvtabptr = &MD90_access;
         (drvtabptr->init)();
     }
 
-    rtnval = motor_init_com(after, *drvtabptr->cardcnt_ptr, drvtabptr, &MCB4B_cards);
-    Debug(5, "MCB4B_init: exit\n");
+    rtnval = motor_init_com(after, *drvtabptr->cardcnt_ptr, drvtabptr, &MD90_cards);
+    Debug(5, "MD90_init: exit\n");
     return(rtnval);
 }
 
 
 /* initialize a record instance */
-STATIC long MCB4B_init_record(void *arg)
+STATIC long MD90_init_record(void *arg)
 {
     struct motorRecord *mr = (struct motorRecord *) arg;
     long rtnval;
 
-    Debug(5, "MCB4B_init_record: entry\n");
+    Debug(5, "MD90_init_record: entry\n");
     rtnval = motor_init_record_com(mr, *drvtabptr->cardcnt_ptr, 
-                                   drvtabptr, MCB4B_cards);
+                                   drvtabptr, MD90_cards);
     return(rtnval);
-    Debug(5, "MCB4B_init_record: exit\n");
+    Debug(5, "MD90_init_record: exit\n");
 }
 
 
 /* start building a transaction */
-STATIC long MCB4B_start_trans(struct motorRecord *mr)
+STATIC long MD90_start_trans(struct motorRecord *mr)
 {
     return(OK);
 }
 
 
 /* end building a transaction */
-STATIC RTN_STATUS MCB4B_end_trans(struct motorRecord *mr)
+STATIC RTN_STATUS MD90_end_trans(struct motorRecord *mr)
 {
     return(OK);
 }
 
 /* add a part to the transaction */
-STATIC RTN_STATUS MCB4B_build_trans(motor_cmnd command, double *parms, struct motorRecord *mr)
+STATIC RTN_STATUS MD90_build_trans(motor_cmnd command, double *parms, struct motorRecord *mr)
 {
     struct motor_trans *trans = (struct motor_trans *) mr->dpvt;
     struct mess_node *motor_call;
     struct controller *brdptr;
-    struct MCB4Bcontroller *cntrl;
+    struct MD90controller *cntrl;
     char buff[30];
     int axis, card;
     RTN_STATUS rtnval;
@@ -170,19 +170,19 @@ STATIC RTN_STATUS MCB4B_build_trans(motor_cmnd command, double *parms, struct mo
     dval = (parms == NULL) ? 0.0 : *parms;
     ival = NINT(dval);
 
-    rtnval = (RTN_STATUS) motor_start_trans_com(mr, MCB4B_cards);
-    Debug(5, "MCB4B_build_trans: entry, motor_start_trans_com=%d\n", rtnval);
+    rtnval = (RTN_STATUS) motor_start_trans_com(mr, MD90_cards);
+    Debug(5, "MD90_build_trans: entry, motor_start_trans_com=%d\n", rtnval);
 
     motor_call = &(trans->motor_call);
-    motor_call->type = MCB4B_table[command];
+    motor_call->type = MD90_table[command];
     card = motor_call->card;
     axis = motor_call->signal;
     brdptr = (*trans->tabptr->card_array)[card];
-    Debug(5, "MCB4B_build_trans: axis=%d, command=%d\n", axis, command);
+    Debug(5, "MD90_build_trans: axis=%d, command=%d\n", axis, command);
     if (brdptr == NULL)
         return(rtnval = ERROR);
 
-    cntrl = (struct MCB4Bcontroller *) brdptr->DevicePrivate;
+    cntrl = (struct MD90controller *) brdptr->DevicePrivate;
 
 
     if (trans->state != BUILD_STATE)
@@ -192,8 +192,8 @@ STATIC RTN_STATUS MCB4B_build_trans(motor_cmnd command, double *parms, struct mo
     {
         strcpy(motor_call->message, mr->init);
         rtnval = motor_end_trans_com(mr, drvtabptr);
-        rtnval = (RTN_STATUS) motor_start_trans_com(mr, MCB4B_cards);
-        motor_call->type = MCB4B_table[command];
+        rtnval = (RTN_STATUS) motor_start_trans_com(mr, MD90_cards);
+        motor_call->type = MD90_table[command];
     }
 
     switch (command)
@@ -207,8 +207,8 @@ STATIC RTN_STATUS MCB4B_build_trans(motor_cmnd command, double *parms, struct mo
             {
                 strcpy(motor_call->message, mr->prem);
                 rtnval = motor_end_trans_com(mr, drvtabptr);
-                rtnval = (RTN_STATUS) motor_start_trans_com(mr, MCB4B_cards);
-                motor_call->type = MCB4B_table[command];
+                rtnval = (RTN_STATUS) motor_start_trans_com(mr, MD90_cards);
+                motor_call->type = MD90_table[command];
             }
             if (strlen(mr->post) != 0)
                 motor_call->postmsgptr = (char *) &mr->post;
@@ -238,7 +238,7 @@ STATIC RTN_STATUS MCB4B_build_trans(motor_cmnd command, double *parms, struct mo
     case SET_VEL_BASE:
         send=false;
         trans->state = IDLE_STATE;
-        break;          /* MCB4B does not use base velocity */
+        break;          /* MD90 does not use base velocity */
     case SET_VELOCITY:
         ival = (int) (fabs(115200./dval) + 0.5);
         if (ival < 2) ival=2;
@@ -247,7 +247,7 @@ STATIC RTN_STATUS MCB4B_build_trans(motor_cmnd command, double *parms, struct mo
         break;
     case SET_ACCEL:
         /* dval is acceleration in steps/sec/sec */
-        /* MCB is programmed with Ramp Index (R) where: */
+        /* MD-90 is programmed with Ramp Index (R) where: */
         /* dval (steps/sec/sec) = 720,000/(256-R) */
         /* or R=256-(720,000/dval) */
         ival = (int) (256-(720000./dval)+0.5);
@@ -257,7 +257,7 @@ STATIC RTN_STATUS MCB4B_build_trans(motor_cmnd command, double *parms, struct mo
         break;
     case GO:
         /*
-         * The MCB4B starts moving immediately on move commands, GO command
+         * The MD90 starts moving immediately on move commands, GO command
          * does nothing
          */
         send=false;
@@ -265,7 +265,7 @@ STATIC RTN_STATUS MCB4B_build_trans(motor_cmnd command, double *parms, struct mo
         break;
     case SET_ENC_RATIO:
         /*
-         * The MCB4B does not have the concept of encoder ratio, ignore this
+         * The MD90 does not have the concept of encoder ratio, ignore this
          * command
          */
         send=false;
@@ -280,19 +280,19 @@ STATIC RTN_STATUS MCB4B_build_trans(motor_cmnd command, double *parms, struct mo
         sprintf(motor_call->message, "#%02dQ", axis);
         break;
     case JOG:
-        /* MCB-4B does not have jog command. Move 1 million steps */
+        /* MD-90 does not have jog command. Move 1 million steps */
         ival = (int) (fabs(115200./dval) + 0.5);
         if (ival < 2) ival=2;
         if (ival > 65535) ival = 65535;
         sprintf(motor_call->message, "#%02dC=%ld", axis, ival);
         rtnval = motor_end_trans_com(mr, drvtabptr);
-        rtnval = (RTN_STATUS) motor_start_trans_com(mr, MCB4B_cards);
-        motor_call->type = MCB4B_table[command];
+        rtnval = (RTN_STATUS) motor_start_trans_com(mr, MD90_cards);
+        motor_call->type = MD90_table[command];
         if (dval > 0.) {
-            /* This is a positive move in MCB4B coordinates */
+            /* This is a positive move in MD90 coordinates */
             sprintf(motor_call->message, "#%02dM+1000000", axis);
         } else {
-            /* This is a negative move in MCB4B coordinates */
+            /* This is a negative move in MD90 coordinates */
             sprintf(motor_call->message, "#%02dM-1000000", axis);
         }
         break;
@@ -325,7 +325,7 @@ STATIC RTN_STATUS MCB4B_build_trans(motor_cmnd command, double *parms, struct mo
        return(rtnval);
     else { 
         rtnval = motor_end_trans_com(mr, drvtabptr);
-        Debug(5, "MCB4B_send_msg: motor_end_trans_com status=%d, exit\n", rtnval); 
+        Debug(5, "MD90_send_msg: motor_end_trans_com status=%d, exit\n", rtnval); 
         return (rtnval);
     }
 }

dsmApp/src/drvMD90.cc

@@ -1,4 +1,4 @@
-/* File: drvMCB4B.cc                    */
+/* File: drvMD90.cc                    */
 
 /* Device Driver Support routines for motor */
 /*
@@ -24,8 +24,8 @@
 #include <stdlib.h>
 #include <errlog.h>
 #include "motor.h"
-#include "AcsRegister.h"
-#include "drvMCB4B.h"
+#include "dsmRegister.h"
+#include "drvMD90.h"
 #include "asynOctetSyncIO.h"
 #include "epicsExport.h"
 
@@ -35,14 +35,14 @@
 
 #define TIMEOUT 2.0 /* Command timeout in sec */
 
-#define BUFF_SIZE 100       /* Maximum length of string to/from MCB4B */
+#define BUFF_SIZE 100       /* Maximum length of string to/from MD90 */
 
-volatile int drvMCB4BDebug = 0;
-extern "C" {epicsExportAddress(int, drvMCB4BDebug);}
+volatile int drvMD90Debug = 0;
+extern "C" {epicsExportAddress(int, drvMD90Debug);}
 
 static inline void Debug(int level, const char *format, ...) {
   #ifdef DEBUG
-    if (level < drvMCB4BDebug)
+    if (level < drvMD90Debug)
     {
       va_list pVar;
       va_start(pVar, format);
@@ -53,14 +53,14 @@ static inline void Debug(int level, const char *format, ...) {
 }
 
 /* Debugging notes:
- *   drvMCB4BDebug == 0  No debugging information is printed
- *   drvMCB4BDebug >= 1  Warning information is printed
- *   drvMCB4BDebug >= 2  Time-stamped messages are printed for each string
+ *   drvMD90Debug == 0  No debugging information is printed
+ *   drvMD90Debug >= 1  Warning information is printed
+ *   drvMD90Debug >= 2  Time-stamped messages are printed for each string
  *                       sent to and received from the controller
- *   drvMCB4BDebug >= 3  Additional debugging messages
+ *   drvMD90Debug >= 3  Additional debugging messages
  */
 
-int MCB4B_num_cards = 0;
+int MD90_num_cards = 0;
 
 /* Local data required for every driver; see "motordrvComCode.h" */
 #include        "motordrvComCode.h"
@@ -78,7 +78,7 @@ STATIC void query_done(int, int, struct mess_node *);
 
 /*----------------functions-----------------*/
 
-struct driver_table MCB4B_access =
+struct driver_table MD90_access =
 {
     motor_init,
     motor_send,
@@ -102,16 +102,16 @@ struct driver_table MCB4B_access =
     NULL
 };
 
-struct drvMCB4B_drvet
+struct drvMD90_drvet
 {
     long number;
     long (*report) (int);
     long (*init) (void);
-} drvMCB4B = {2, report, init};
+} drvMD90 = {2, report, init};
 
-extern "C" {epicsExportAddress(drvet, drvMCB4B);}
+extern "C" {epicsExportAddress(drvet, drvMD90);}
 
-STATIC struct thread_args targs = {SCAN_RATE, &MCB4B_access, 0.0};
+STATIC struct thread_args targs = {SCAN_RATE, &MD90_access, 0.0};
 
 
 /*********************************************************
@@ -120,16 +120,16 @@ STATIC struct thread_args targs = {SCAN_RATE, &MCB4B_access, 0.0};
 static long report(int level)
 {
   int card;
-  struct MCB4Bcontroller *cntrl;
+  struct MD90controller *cntrl;
 
-  if (MCB4B_num_cards <=0)
-    printf("    NO MCB4B controllers found\n");
+  if (MD90_num_cards <=0)
+    printf("    NO MD90 controllers found\n");
   else
     {
-      for (card = 0; card < MCB4B_num_cards; card++) {
+      for (card = 0; card < MD90_num_cards; card++) {
           if (motor_state[card]) {
-             cntrl = (struct MCB4Bcontroller *) motor_state[card]->DevicePrivate;
-             printf("    MCB4B controller %d, port=%s, id: %s \n",
+             cntrl = (struct MD90controller *) motor_state[card]->DevicePrivate;
+             printf("    MD90 controller %d, port=%s, id: %s \n",
                    card, cntrl->port,
                    motor_state[card]->ident);
           }
@@ -148,10 +148,10 @@ static long init()
     * support
     */
     /* Check for setup */
-    if (MCB4B_num_cards <= 0)
+    if (MD90_num_cards <= 0)
     {
-        Debug(1, "init: *MCB4B driver disabled*\n");
-        Debug(1, "MCB4BSetup() is missing from startup script.\n");
+        Debug(1, "init: *MD90 driver disabled*\n");
+        Debug(1, "MD90Setup() is missing from startup script.\n");
         return (ERROR);
     }
 
@@ -170,7 +170,7 @@ STATIC void query_done(int card, int axis, struct mess_node *nodeptr)
  *********************************************************/
 STATIC void start_status(int card)
 {
-    /* The MCB4B cannot query status or positions of all axes with a
+    /* The MD90 cannot query status or positions of all axes with a
      * single command.  This needs to be done on an axis-by-axis basis,
      * so this function does nothing
      */
@@ -265,7 +265,7 @@ STATIC int set_status(int card, int signal)
     if ((status.Bits.RA_DONE || ls_active == true) && nodeptr != 0 && nodeptr->postmsgptr != 0)
     {
         send_mess(card, nodeptr->postmsgptr, NULL);
-        /* The MCB4B always sends back a response, read it and discard */
+        /* The MD90 always sends back a response, read it and discard */
         recv_mess(card, buff, WAIT);
         nodeptr->postmsgptr = NULL;
     }
@@ -276,12 +276,12 @@ STATIC int set_status(int card, int signal)
 
 
 /*****************************************************/
-/* send a message to the MCB4B board                 */
+/* send a message to the MD90 board                 */
 /* send_mess()                                       */
 /*****************************************************/
 STATIC RTN_STATUS send_mess(int card, const char *com, const char *name)
 {
-    struct MCB4Bcontroller *cntrl;
+    struct MD90controller *cntrl;
     size_t nwrite;
 
     /* Check that card exists */
@@ -293,7 +293,7 @@ STATIC RTN_STATUS send_mess(int card, const char *com, const char *name)
 
     /* If the string is NULL just return */
     if (strlen(com) == 0) return(OK);
-    cntrl = (struct MCB4Bcontroller *) motor_state[card]->DevicePrivate;
+    cntrl = (struct MD90controller *) motor_state[card]->DevicePrivate;
 
     Debug(2, "send_mess: sending message to card %d, message=%s\n",\
                      card, com);
@@ -305,7 +305,7 @@ STATIC RTN_STATUS send_mess(int card, const char *com, const char *name)
 
 
 /*****************************************************/
-/* Read a response string from the MCB4B board */
+/* Read a response string from the MD90 board */
 /* recv_mess()                                       */
 /*****************************************************/
 STATIC int recv_mess(int card, char *com, int flag)
@@ -313,7 +313,7 @@ STATIC int recv_mess(int card, char *com, int flag)
     double timeout;
     size_t nread=0;
     asynStatus status;
-    struct MCB4Bcontroller *cntrl;
+    struct MD90controller *cntrl;
     int flush;
     int eomReason;
 
@@ -324,7 +324,7 @@ STATIC int recv_mess(int card, char *com, int flag)
         return (-1);
     }
 
-    cntrl = (struct MCB4Bcontroller *) motor_state[card]->DevicePrivate;
+    cntrl = (struct MD90controller *) motor_state[card]->DevicePrivate;
 
     Debug(3, "recv_mess entry: card %d, flag=%d\n",\
             card, flag);
@@ -363,18 +363,18 @@ STATIC int recv_mess(int card, char *com, int flag)
 
 /*****************************************************/
 /* Setup system configuration                        */
-/* MCB4BSetup()                                     */
+/* MD90Setup()                                     */
 /*****************************************************/
 RTN_STATUS
-MCB4BSetup(int num_cards,       /* maximum number of controllers in system */
+MD90Setup(int num_cards,       /* maximum number of controllers in system */
            int scan_rate)       /* polling rate - 1/60 sec units */
 {
     int itera;
 
-    if (num_cards < 1 || num_cards > MCB4B_NUM_CARDS)
-        MCB4B_num_cards = MCB4B_NUM_CARDS;
+    if (num_cards < 1 || num_cards > MD90_NUM_CARDS)
+        MD90_num_cards = MD90_NUM_CARDS;
     else
-        MCB4B_num_cards = num_cards;
+        MD90_num_cards = num_cards;
 
     /* Set motor polling task rate */
     if (scan_rate >= 1 && scan_rate <= 60)
@@ -384,15 +384,15 @@ MCB4BSetup(int num_cards,       /* maximum number of controllers in system */
 
    /*
     * Allocate space for motor_state structure pointers.  Note this must be done
-    * before MCB4BConfig is called, so it cannot be done in motor_init()
+    * before MD90Config is called, so it cannot be done in motor_init()
     * This means that we must allocate space for a card without knowing
     * if it really exists, which is not a serious problem since this is just
     * an array of pointers.
     */
-    motor_state = (struct controller **) malloc(MCB4B_num_cards *
+    motor_state = (struct controller **) malloc(MD90_num_cards *
                                                 sizeof(struct controller *));
 
-    for (itera = 0; itera < MCB4B_num_cards; itera++)
+    for (itera = 0; itera < MD90_num_cards; itera++)
         motor_state[itera] = (struct controller *) NULL;
     return (OK);
 }
@@ -400,20 +400,20 @@ MCB4BSetup(int num_cards,       /* maximum number of controllers in system */
 
 /*****************************************************/
 /* Configure a controller                            */
-/* MCB4BConfig()                                    */
+/* MD90Config()                                    */
 /*****************************************************/
 RTN_STATUS
-MCB4BConfig(int card,           /* card being configured */
+MD90Config(int card,           /* card being configured */
             const char *name)   /* port name for asyn */
 {
-    struct MCB4Bcontroller *cntrl;
+    struct MD90controller *cntrl;
 
-    if (card < 0 || card >= MCB4B_num_cards)
+    if (card < 0 || card >= MD90_num_cards)
         return (ERROR);
 
     motor_state[card] = (struct controller *) malloc(sizeof(struct controller));
-    motor_state[card]->DevicePrivate = malloc(sizeof(struct MCB4Bcontroller));
-    cntrl = (struct MCB4Bcontroller *) motor_state[card]->DevicePrivate;
+    motor_state[card]->DevicePrivate = malloc(sizeof(struct MD90controller));
+    cntrl = (struct MD90controller *) motor_state[card]->DevicePrivate;
     strcpy(cntrl->port, name);
     return (OK);
 }
@@ -429,7 +429,7 @@ MCB4BConfig(int card,           /* card being configured */
 STATIC int motor_init()
 {
     struct controller *brdptr;
-    struct MCB4Bcontroller *cntrl;
+    struct MD90controller *cntrl;
     int card_index, motor_index;
     char buff[BUFF_SIZE];
     int total_axis = 0;
@@ -439,21 +439,21 @@ STATIC int motor_init()
     initialized = true;   /* Indicate that driver is initialized. */
 
     /* Check for setup */
-    if (MCB4B_num_cards <= 0)
+    if (MD90_num_cards <= 0)
     {
-        Debug(1, "motor_init: *MCB4B driver disabled*\n");
-        Debug(1, "MCB4BSetup() is missing from startup script.\n");
+        Debug(1, "motor_init: *MD90 driver disabled*\n");
+        Debug(1, "MD90Setup() is missing from startup script.\n");
         return (ERROR);
     }
 
-    for (card_index = 0; card_index < MCB4B_num_cards; card_index++)
+    for (card_index = 0; card_index < MD90_num_cards; card_index++)
     {
         if (!motor_state[card_index])
             continue;
 
         brdptr = motor_state[card_index];
         total_cards = card_index + 1;
-        cntrl = (struct MCB4Bcontroller *) brdptr->DevicePrivate;
+        cntrl = (struct MD90controller *) brdptr->DevicePrivate;
 
         /* Initialize communications channel */
         success_rtn = pasynOctetSyncIO->connect(cntrl->port, 0, &cntrl->pasynUser, NULL);
@@ -498,7 +498,7 @@ STATIC int motor_init()
                 sprintf(buff,"#%02dQ", motor_index);
                 send_mess(card_index, buff, 0);
                 recv_mess(card_index, buff, WAIT);    /* Throw away response */
-                strcpy(brdptr->ident, "MCB-4B");
+                strcpy(brdptr->ident, "MD-90");
                 motor_info->status.All = 0;
                 motor_info->no_motion_count = 0;
                 motor_info->encoder_position = 0;
@@ -521,7 +521,7 @@ STATIC int motor_init()
 
     Debug(3, "motor_init: spawning motor task\n");
 
-    epicsThreadCreate((char *) "tMCB4B", epicsThreadPriorityMedium,
+    epicsThreadCreate((char *) "tMD90", epicsThreadPriorityMedium,
                       epicsThreadGetStackSize(epicsThreadStackMedium),
                       (EPICSTHREADFUNC) motor_task, (void *) &targs);
 

dsmApp/src/drvMD90.h

@@ -1,4 +1,4 @@
-/* File: drvMCB4B.h             */
+/* File: drvMD90.h             */
 
 
 /* Device Driver Support definitions for motor */
@@ -12,23 +12,23 @@
  * .01  02/24/2002  mlr  initialized from drvPM304.h
  */
 
-#ifndef	INCdrvMCB4Bh
-#define	INCdrvMCB4Bh 1
+#ifndef	INCdrvMD90h
+#define	INCdrvMD90h 1
 
 #include "motordrvCom.h"
 #include "asynDriver.h"
 
-/* MCB4B default profile. */
+/* MD90 default profile. */
 
-#define MCB4B_NUM_CARDS           4
-#define MCB4B_NUM_CHANNELS        4
+#define MD90_NUM_CARDS           4
+#define MD90_NUM_CHANNELS        4
 
 #define OUTPUT_TERMINATOR "\r"
 
-struct MCB4Bcontroller
+struct MD90controller
 {
     asynUser *pasynUser;   /* asynUser structure */
     char port[80];   /* asyn port name */
 };
 
-#endif	/* INCdrvMCB4Bh */
+#endif	/* INCdrvMD90h */

dsmApp/src/dsmRegister.cc

@@ -1,6 +1,6 @@
 /*
-FILENAME...	AcsRegister.cc
-USAGE...	Register ACS motor device driver shell commands.
+FILENAME...	dsmRegister.cc
+USAGE...	Register DSM motor device driver shell commands.
 
 */
 
@@ -16,40 +16,40 @@ of this distribution.
 **********************************************************************/
 
 #include <iocsh.h>
-#include "AcsRegister.h"
+#include "dsmRegister.h"
 #include "epicsExport.h"
 
 extern "C"
 {
 
-// ACS Setup arguments
+// DSM Setup arguments
 static const iocshArg setupArg0 = {"Max. controller count", iocshArgInt};
 static const iocshArg setupArg1 = {"Polling rate", iocshArgInt};
-// ACS Config arguments
+// DSM Config arguments
 static const iocshArg configArg0 = {"Card being configured", iocshArgInt};
 static const iocshArg configArg1 = {"asyn port name", iocshArgString};
 
-static const iocshArg * const MCB4BSetupArgs[2]  = {&setupArg0, &setupArg1};
-static const iocshArg * const MCB4BConfigArgs[2] = {&configArg0, &configArg1};
+static const iocshArg * const MD90SetupArgs[2]  = {&setupArg0, &setupArg1};
+static const iocshArg * const MD90ConfigArgs[2] = {&configArg0, &configArg1};
 
-static const iocshFuncDef setupMCB4B  = {"MCB4BSetup",  2, MCB4BSetupArgs};
-static const iocshFuncDef configMCB4B = {"MCB4BConfig", 2, MCB4BConfigArgs};
+static const iocshFuncDef setupMD90  = {"MD90Setup",  2, MD90SetupArgs};
+static const iocshFuncDef configMD90 = {"MD90Config", 2, MD90ConfigArgs};
 
-static void setupMCB4BCallFunc(const iocshArgBuf *args)
+static void setupMD90CallFunc(const iocshArgBuf *args)
 {
-    MCB4BSetup(args[0].ival, args[1].ival);
+    MD90Setup(args[0].ival, args[1].ival);
 }
-static void configMCB4BCallFunc(const iocshArgBuf *args)
+static void configMD90CallFunc(const iocshArgBuf *args)
 {
-    MCB4BConfig(args[0].ival, args[1].sval);
+    MD90Config(args[0].ival, args[1].sval);
 }
 
-static void AcsRegister(void)
+static void dsmRegister(void)
 {
-    iocshRegister(&setupMCB4B, setupMCB4BCallFunc);
-    iocshRegister(&configMCB4B, configMCB4BCallFunc);
+    iocshRegister(&setupMD90, setupMD90CallFunc);
+    iocshRegister(&configMD90, configMD90CallFunc);
 }
 
-epicsExportRegistrar(AcsRegister);
+epicsExportRegistrar(dsmRegister);
 
 } // extern "C"

dsmApp/src/dsmRegister.h

@@ -1,6 +1,6 @@
 /*
-FILENAME...	AcsRegister.h
-USAGE... This file contains function prototypes for ACS IOC shell commands.
+FILENAME...	dsmRegister.h
+USAGE... This file contains function prototypes for DSM IOC shell commands.
 
 */
 
@@ -37,6 +37,6 @@ USAGE... This file contains function prototypes for ACS IOC shell commands.
 #include "motordrvCom.h"
 
 /* Function prototypes. */
-extern RTN_STATUS MCB4BSetup(int, int);
-extern RTN_STATUS MCB4BConfig(int, const char *);
+extern RTN_STATUS MD90Setup(int, int);
+extern RTN_STATUS MD90Config(int, const char *);
 

iocs/Makefile

@@ -1,7 +1,7 @@
 TOP = ..
 include $(TOP)/configure/CONFIG
 
-DIRS += acsIOC
+DIRS += dsmIOC
 
 include $(TOP)/configure/RULES_TOP
 

iocs/acsIOC/configure/EXAMPLE_RELEASE.local

@@ -1,6 +0,0 @@
-# Use the following lines if motorAcs was built inside motor
-MOTOR=
--include $(MOTOR)/configure/RELEASE
-# Use the following lines if motorAcs was built outside motor
-#!MOTOR_ACS=
-#!-include $(MOTOR_ACS)/configure/RELEASE.local

iocs/acsIOC/iocBoot/iocAcs/motor.substitutions.mcb4b

@@ -1,9 +0,0 @@
-file "$(MOTOR)/db/basic_asyn_motor.db"
-{
-pattern
-{P,    N,   M,         DTYP,     PORT, ADDR,  DESC,     EGU,   DIR,   VELO,  VBAS, ACCL, BDST, BVEL, BACC,    MRES, PREC,   DHLM, DLLM, INIT}
-{IOC:, 1, "m$(N)", "asynMotor",  MCB4B1,  0, "Bottom",   mm,   Pos,    2.0,   0.1,  .2,    0,    1,   .2,    -.001,    3,   16,    0,    ""}
-{IOC:, 2, "m$(N)", "asynMotor",  MCB4B1,  1, "Top",      mm,   Pos,    2.0,   0.1,  .2,    0,    1,   .2,    -.001,    3,   16,    0,    ""}
-{IOC:, 3, "m$(N)", "asynMotor",  MCB4B1,  2, "Inboard",  mm,   Pos,    2.0,   0.1,  .2,    0,    1,   .2,    -.001,    3,   16,    0,    ""}
-{IOC:, 4, "m$(N)", "asynMotor",  MCB4B1,  3, "Outboard", mm,   Pos,    2.0,   0.1,  .2,    0,    1,   .2,    -.001,    3,   16,    0,    ""}
-}

iocs/acsIOC/iocBoot/iocAcs/st.cmd.mcb4b

@@ -1,34 +0,0 @@
-#errlogInit(5000)
-< envPaths
-
-# Tell EPICS all about the record types, device-support modules, drivers, etc.
-dbLoadDatabase("../../dbd/acs.dbd")
-acs_registerRecordDeviceDriver(pdbbase)
-
-# Port 2 on a Moxa
-drvAsynIPPortConfigure("serial1", "192.168.1.16:4002",0,0,0)
-# Local serial port
-#!drvAsynSerialPortConfigure("serial1", "/dev/ttyS0", 0, 0, 0)
-asynOctetSetInputEos("serial1",0,"\r")
-asynOctetSetOutputEos("serial1",0,"\r")
-asynSetTraceIOMask("serial1", 0, 2)
-#asynSetTraceMask("serial1", 0, 255)
-
-MCB4BCreateController("MCB4B1", "serial1", 4, 100, 5000)
-
-### Motors
-dbLoadTemplate "motor.substitutions.mcb4b"
-
-dbLoadRecords("$(ASYN)/db/asynRecord.db","P=IOC:,R=serial1,PORT=serial1,ADDR=0,OMAX=80,IMAX=80")
-
-iocInit
-
-# This IOC does not use save/restore, so set values of some PVs
-dbpf("IOC:m1.RTRY", "0")
-dbpf("IOC:m1.TWV", "0.1")
-dbpf("IOC:m2.RTRY", "0")
-dbpf("IOC:m2.TWV", "0.1")
-dbpf("IOC:m3.RTRY", "0")
-dbpf("IOC:m3.TWV", "0.1")
-dbpf("IOC:m4.RTRY", "0")
-dbpf("IOC:m4.TWV", "0.1")

iocs/dsmIOC/configure/CONFIG_SITE

@@ -37,8 +37,8 @@ CHECK_RELEASE = YES
 
 # Include motor's CONFIG_SITE.local when building inside motor
 -include $(TOP)/../../../../configure/CONFIG_SITE.local
-# Include motorAcs's CONFIG_SITE.local when building inside motorAcs
+# Include motorDsm's CONFIG_SITE.local when building inside motorDsm
 -include $(TOP)/../../configure/CONFIG_SITE.local
-# Use acsIOC's CONFIG_SITE.local
+# Use dsmIOC's CONFIG_SITE.local
 -include $(TOP)/configure/CONFIG_SITE.local
 

iocs/dsmIOC/configure/EXAMPLE_RELEASE.local

@@ -0,0 +1,6 @@
+# Use the following lines if motorDsm was built inside motor
+MOTOR=
+-include $(MOTOR)/configure/RELEASE
+# Use the following lines if motorDsm was built outside motor
+#!MOTOR_DSM=
+#!-include $(MOTOR_DSM)/configure/RELEASE.local

iocs/dsmIOC/configure/RELEASE

@@ -2,7 +2,7 @@
 
 # Use motor/module's generated release file when buidling inside motor
 -include $(TOP)/../../../RELEASE.$(EPICS_HOST_ARCH).local
-# Use motorAcs's release file when building inside motorAcs, but outside motor
+# Use motorDsm's release file when building inside motorDsm, but outside motor
 -include $(TOP)/../../configure/RELEASE.local
-# Use acsIOC's RELEASE.local when building outside motorAcs
+# Use dsmIOC's RELEASE.local when building outside motorDsm
 -include $(TOP)/configure/RELEASE.local

iocs/dsmIOC/dsmApp/src/Makefile

@@ -11,44 +11,44 @@ include $(TOP)/configure/CONFIG
 #=============================
 # Build the IOC application
 
-PROD_IOC = acs
-# acs.dbd will be created and installed
-DBD += acs.dbd
+PROD_IOC = dsm
+# dsm.dbd will be created and installed
+DBD += dsm.dbd
 
-# acs.dbd will be made up from these files:
-acs_DBD += base.dbd
+# dsm.dbd will be made up from these files:
+dsm_DBD += base.dbd
 
 # Include dbd files from all support applications:
 #ifdef ASYN
-acs_DBD += asyn.dbd
-acs_DBD += drvAsynSerialPort.dbd
-acs_DBD += drvAsynIPPort.dbd
+dsm_DBD += asyn.dbd
+dsm_DBD += drvAsynSerialPort.dbd
+dsm_DBD += drvAsynIPPort.dbd
 #endif
-acs_DBD += motorSupport.dbd
-acs_DBD += devAcsMotor.dbd
+dsm_DBD += motorSupport.dbd
+dsm_DBD += devDsmMotor.dbd
 
 # Add all the support libraries needed by this IOC
-acs_LIBS += Acs
-acs_LIBS += motor
+dsm_LIBS += dsm
+dsm_LIBS += motor
 #ifdef ASYN
-acs_LIBS += asyn
+dsm_LIBS += asyn
 #endif
 #ifdef SNCSEQ
-acs_LIBS += seq pv
+dsm_LIBS += seq pv
 #endif
 
-# acs_registerRecordDeviceDriver.cpp derives from acs.dbd
-acs_SRCS += acs_registerRecordDeviceDriver.cpp
+# dsm_registerRecordDeviceDriver.cpp derives from dsm.dbd
+dsm_SRCS += dsm_registerRecordDeviceDriver.cpp
 
 # Build the main IOC entry point on workstation OSs.
-acs_SRCS_DEFAULT += acsMain.cpp
-acs_SRCS_vxWorks += -nil-
+dsm_SRCS_DEFAULT += dsmMain.cpp
+dsm_SRCS_vxWorks += -nil-
 
 # Add support from base/src/vxWorks if needed
-#acs_OBJS_vxWorks += $(EPICS_BASE_BIN)/vxComLibrary
+#dsm_OBJS_vxWorks += $(EPICS_BASE_BIN)/vxComLibrary
 
 # Finally link to the EPICS Base libraries
-acs_LIBS += $(EPICS_BASE_IOC_LIBS)
+dsm_LIBS += $(EPICS_BASE_IOC_LIBS)
 
 #===========================
 

iocs/dsmIOC/dsmApp/src/dsmMain.cpp

@@ -1,4 +1,4 @@
-/* acsMain.cpp */
+/* dsmMain.cpp */
 /* Author:  Marty Kraimer Date:    17MAR2000 */
 
 #include <stddef.h>

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

@@ -0,0 +1,26 @@
+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,  ""}
+}
+
+# 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/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

@@ -1,24 +1,24 @@
-#!../../bin/linux-x86_64/acs
+#!../../bin/linux-x86_64/dsm
 
 < envPaths
 
 cd "${TOP}"
 
 ## Register all support components
-dbLoadDatabase "dbd/acs.dbd"
-acs_registerRecordDeviceDriver pdbbase
+dbLoadDatabase "dbd/dsm.dbd"
+dsm_registerRecordDeviceDriver pdbbase
 
 cd "${TOP}/iocBoot/${IOC}"
 
 
 ## motorUtil (allstop & alldone)
-dbLoadRecords("$(MOTOR)/db/motorUtil.db", "P=acs:")
+dbLoadRecords("$(MOTOR)/db/motorUtil.db", "P=dsm:")
 
 ##
 
 iocInit
 
 ## motorUtil (allstop & alldone)
-motorUtilInit("acs:")
+motorUtilInit("dsm:")
 
 # Boot complete

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

@@ -0,0 +1,38 @@
+#errlogInit(5000)
+< envPaths
+
+# Tell EPICS all about the record types, device-support modules, drivers, etc.
+dbLoadDatabase("../../dbd/dsm.dbd")
+dsm_registerRecordDeviceDriver(pdbbase)
+
+# Network device
+#!drvAsynIPPortConfigure("serial0", "192.168.1.16:4002",0,0,0)
+# Local serial port
+drvAsynSerialPortConfigure("serial0", "/dev/ttyUSB0", 0, 0, 0)
+asynSetOption("serial0", 0, "baud", "115200")
+asynSetOption("serial0", 0, "bits", "8")
+asynSetOption("serial0", 0, "parity", "none")
+asynSetOption("serial0", 0, "stop", "1")
+
+asynOctetSetInputEos("serial0", 0, "\r")
+asynOctetSetOutputEos("serial0", 0, "\r")
+asynSetTraceIOMask("serial0", 0, 2)
+
+# Turn on the power supply and set the deadband
+asynOctetConnect("initConnection", "serial0", 0)
+asynOctetWrite("initConnection", "EPS")
+asynOctetWrite("initConnection", "SDB 10")
+asynOctetDisconnect('initConnection')
+
+MD90CreateController("MD900", "serial0", 1, 100, 5000)
+
+### Motors
+dbLoadTemplate "motor.substitutions.md90"
+dbLoadRecords("$(ASYN)/db/asynRecord.db", "P=DSM:,R=serial0,PORT=serial0,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")

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")