add support for Phytron MCC-1/MCC-2 integrated stepper motor controllers, add I/O support for all Phytron controllers

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

@@ -175,7 +175,7 @@ jobs:
             name: "Win2019 MSC-19, static"
 
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v3
       with:
         submodules: true
     - name: Automatic core dumper analysis
@@ -203,7 +203,7 @@ jobs:
     - name: Run main module tests
       run: python .ci/cue.py test
     - name: Upload tapfiles Artifact
-      uses: actions/upload-artifact@v2
+      uses: actions/upload-artifact@v3
       with:
         name: tapfiles ${{ matrix.name }}
         path: '**/O.*/*.tap'

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

@@ -73,7 +73,7 @@ jobs:
             name: "3.15 Win VS2019, static"
 
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v3
       with:
         submodules: true
     - name: Automatic core dumper analysis
@@ -101,7 +101,7 @@ jobs:
     - name: Run main module tests
       run: python .ci/cue.py test
     - name: Upload tapfiles Artifact
-      uses: actions/upload-artifact@v2
+      uses: actions/upload-artifact@v3
       with:
         name: tapfiles ${{ matrix.name }}
         path: '**/O.*/*.tap'

.gitignore

@@ -14,6 +14,7 @@
 
 # Local configuration files
 /configure/*.local
+/iocs/*IOC*/configure/*.local
 
 # iocBoot generated files
 /iocBoot/*ioc*/cdCommands
@@ -24,6 +25,7 @@
 /iocs/*IOC*/iocBoot/*ioc*/dllPath.bat
 /iocs/*IOC*/iocBoot/*ioc*/envPaths
 /iocs/*IOC*/iocBoot/*ioc*/relPaths.sh
+/iocs/*IOC*/iocBoot/*ioc*/.iocsh_history
 
 # Build directories
 O.*/
@@ -43,3 +45,10 @@ O.*/
 auto_settings.sav*
 auto_positions.sav*
 phytronMotors.*
+motorPhytron.cflags
+motorPhytron.config
+motorPhytron.creator
+motorPhytron.creator.user
+motorPhytron.cxxflags
+motorPhytron.files
+motorPhytron.includes

README.md

@@ -1,5 +1,5 @@
 # motorPhytron
-EPICS motor drivers for the following [Phytron GmbH](https://www.phytron.eu/) controllers: I1AM01 Stepper Motor Controller
+EPICS motor drivers for the following [Phytron GmbH](https://www.phytron.eu/) controllers: phyMOTION I1AM01, I1AM02, I1EM01, I1EM02 or MCC-1, MCC-2 Stepper Motor Controller
 
 [![Build Status](https://github.com/epics-motor/motorPhytron/actions/workflows/ci-scripts-build.yml/badge.svg)](https://github.com/epics-motor/motorPhytron/actions/workflows/ci-scripts-build.yml)
 <!--[![Build Status](https://travis-ci.org/epics-motor/motorPhytron.png)](https://travis-ci.org/epics-motor/motorPhytron)-->
@@ -9,3 +9,5 @@ motorPhytron is a submodule of [motor](https://github.com/epics-modules/motor).
 motorPhytron 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.
 
 motorPhytron 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.
+
+SPDX-License-Identifier: EPICS

iocs/phytronIOC/iocBoot/iocPhytron/motor.substitutions.phytron

@@ -1,17 +1,27 @@
+# SPDX-License-Identifier: EPICS
 ################################################################################
 # PORT - asynPort created for the Phytron controller
 # ADDR - Address of the axis - right digit represents the index of the axis
 #       of a I1AM01 module, the remaining digit(s) on the lef represent the 
 #       index of the I1AM01 module
 ################################################################################
 
+# phyMOTION
+#file "$(TOP)/db/Phytron_motor.db"
+#{
+#pattern
+#{P,     N, M,       PORT,          ADDR, DESC,         EGU, SREV, UREV, ERES,    UEIP, DIR,  VELO,  VBAS, VMAX,  ACCL,  BDST,  BVEL,  BACC,  PREC,  RDBD,  RTRY, PREC,  OFF, DHLM,  DLLM,   OFF,   MDEL,  INIT}
+#{TEST:, 1, "m$(N)", phyMotionPort, 11,   "motor $(N)", mm,  400,  0.25, 0.00005, No,   Pos,  2.5,   1,    25,   .5,     0,     25,    .2,    5,     0,     0,    5,     0,   1440,  -1440,  -0.49, 0.001, ""}
+#{TEST:, 2, "m$(N)", phyMotionPort, 21,   "motor $(N)", mm,  400,  0.25, 0.00005, No,   Pos,  2.5,   1,    25,   .5,     0,     25,    .2,    5,     0,     0,    5,     0,   1440,  -1440,  -0.49, 0.001, ""}
+#}
+
+# MCC-2
 file "$(TOP)/db/Phytron_motor.db"
 {
 pattern
-{P,         N,      M,     DTYP,         PORT,           ADDR, DESC,          EGU,   DIR,  VELO,  VBAS, VMAX,  ACCL,  BDST,  BVEL,  BACC,  MRES,  ERES,   PREC,  DHLM,  DLLM,   INIT}
-{phytron:,  1,  "m$(N)",  "asynMotor",  phyMotionPort,  11,   "motor $(N)",  Deg,   Pos,  360,   180,  720,   .5,    0,     180,   .2,    1.8,   0.18,   5,     1440,  -1440,  ""}
-{phytron:,  2,  "m$(N)",  "asynMotor",  phyMotionPort,  21,   "motor $(N)",  Deg,   Pos,  360,   180,  720,   .5,    0,     180,   .2,    1.8,   0.18,   5,     1440,  -1440,  ""}
-
+{P,     N, M,       PORT,          ADDR, DESC,         EGU, SREV, UREV, ERES,    UEIP, DIR, VELO, VBAS, VMAX, ACCL, BDST, BVEL, BACC, PREC, RDBD, RTRY, DHLM, DLLM,  OFF,   MDEL,  INIT}
+{TEST:, 1, "m$(N)", phyMotionPort, 11,   "motor $(N)", Deg, 400,  0.25, 0.00005, No,   Pos, 360,  180,  720,  .5,   0,    180,  .2,   5,    0,    0,    1440, -1440, -0.49, 0.001, ""}
+{TEST:, 2, "m$(N)", phyMotionPort, 12,   "motor $(N)", Deg, 400,  0.25, 0.00005, No,   Pos, 360,  180,  720,  .5,   0,    180,  .2,   5,    0,    0,    1440, -1440, -0.49, 0.001, ""}
 }
 
 ################################################################################
@@ -28,12 +38,19 @@ pattern
 #       in the macros that follow INIT. If set to NO, records will not be 
 #       initialized - this option is useful if auto save/restore is used
 ################################################################################
-file "$(TOP)/db/Phytron_I1AM01.db"
+#file "$(TOP)/db/Phytron_I1AM01.db"
+#{
+#pattern
+#{P,     N, M,       PORT,          ADDR, SCAN,       TIMEOUT, INIT, HOMING, MODE, POS_OFFSET, NEG_OFFSET, INIT_TIME, POS_TIME, BOOST, SWITCH_TYP, PWR_STAGE, ENC_TYP, ENC_SFI, ENC_DIR, STOP_CURR, RUN_CURR, BOOST_CURR, CURRENT_DELAY, STEP_RES, PS_MON, BRAKE_OUTPUT, DISABLE_MOTOR, BRAKE_ENGAGE_TIME, BRAKE_RELEASE_TIME }
+#{TEST:, 1, "m$(N)", phyMotionPort, 11,   "1 second", 1,       YES,  0,      1,    0,          0,          20,        20,       0,     0,          1,         1,       0,       1        20,        80,       100,        20,            0,        1,      1.1,          1,             10,                10 }
+#{TEST:, 2, "m$(N)", phyMotionPort, 21,   "1 second", 1,       YES,  0,      1,    0,          0,          20,        20,       0,     0,          1,         1,       0,       1        20,        80,       100,        20,            0,        1,      1.2,          1,             10,                10 }
+#}
+file "$(TOP)/db/Phytron_MCC.db"
 {
 pattern
-{P,        N, M,       PORT,           ADDR, SCAN,        TIMEOUT, INIT, HOMING, MODE, POS_OFFSET, NEG_OFFSET, INIT_TIME, POS_TIME, BOOST, SWITCH_TYP, PWR_STAGE, ENC_TYP, ENC_SFI, ENC_DIR, STOP_CURR, RUN_CURR, BOOST_CURR, CURRENT_DELAY, STEP_RES, PS_MON }
-{phytron,  1, ":m$(N)", phyMotionPort, 11,   "1 second",  3,       YES,  0,      1,    0,          0,          20,        20,       0,     0,          1,         1,       0,       1        20,        400,      500,        20,            0,        1}    
-{phytron,  2, ":m$(N)", phyMotionPort, 21,   "1 second",  3,       YES,  0,      1,    0,          0,          20,        20,       0,     0,          1,         1,       0,       1        20,        400,      500,        20,            0,        1}    
+{P,     N, M,       PORT,          ADDR, SCAN,       TIMEOUT, INIT, HOMING, MODE, POS_OFFSET, NEG_OFFSET, INIT_TIME, POS_TIME, BOOST, SWITCH_TYP, PWR_STAGE, ENC_TYP, ENC_SFI, ENC_DIR, STOP_CURR, RUN_CURR, BOOST_CURR, CURRENT_DELAY, STEP_RES, PS_MON, BRAKE_OUTPUT, DISABLE_MOTOR, BRAKE_ENGAGE_TIME, BRAKE_RELEASE_TIME }
+{TEST:, 1, "m$(N)", phyMotionPort, 11,   "5 second", 1,       YES,  0,      1,    0,          0,          20,        20,       0,     0,          1,         0,       0,       1        20,        80,       100,        20,            "1/16",   1,      1.1,          1,             10,                10 }
+{TEST:, 2, "m$(N)", phyMotionPort, 12,   "5 second", 1,       YES,  0,      1,    0,          0,          20,        20,       0,     0,          1,         0,       0,       1        20,        80,       100,        20,            "1/16",   1,      1.2,          1,             10,                10 }
 }
 
 ################################################################################
@@ -42,9 +59,37 @@ pattern
 # ADDR - Arbitrary value between 0 and 255
 # TIMEOUT - asyn timeout
 ################################################################################
-file "$(TOP)/db/Phytron_MCM01.db"
+#file "$(TOP)/db/Phytron_MCM01.db"
+#{
+#pattern
+#{P,       DTYP,         PORT,             ADDR, TIMEOUT}
+#{phytron, "asynMotor",  phyMotionPort,    0,    10    }
+#}
+
+################################################################################
+# P - Controller specific name
+# PORT - asynPort created for the analog controller
+################################################################################
+file "$(TOP)/db/Phytron_AIO_MCC.db"
 {
-pattern
-{P,       DTYP,         PORT,             ADDR, TIMEOUT}
-{phytron, "asynMotor",  phyMotionPort,    0,    10    }
+pattern{P,PORT}
+{"phyA1", "phyA1"}
+{"phyA2", "phyA2"}
+#{"phyA3", "phyA3"}
+#{"phyA4", "phyA4"}
+}
+file "$(TOP)/db/Phytron_DIO.db"
+{
+pattern{P,PORT}
+{"phyD1", "phyD1"}
+}
+#file "$(TOP)/db/Phytron_DIO_MCC1.db"
+#{
+#pattern{P,PORT}
+#{"phyD1", "phyD1"}
+#}
+file "$(TOP)/db/Phytron_CMD.db"
+{
+pattern{P,PORT}
+{"phy", "phyMotionPort"}
 }

iocs/phytronIOC/iocBoot/iocPhytron/st.cmd

@@ -1,4 +1,5 @@
 #!../../bin/linux-x86_64/phytron
+# SPDX-License-Identifier: EPICS
 
 < envPaths
 

iocs/phytronIOC/iocBoot/iocPhytron/st.cmd.mcc

@@ -0,0 +1,68 @@
+#!../../bin/linux-x86_64/phytron
+# SPDX-License-Identifier: EPICS
+
+< envPaths
+
+## Register all support components
+dbLoadDatabase("../../dbd/phytron.dbd",0,0)
+phytron_registerRecordDeviceDriver(pdbbase)
+
+#drvAsynIPPortConfigure("testPort","localhost:8000",0,0,1)
+#drvAsynIPPortConfigure("testRemote","10.5.1.181:22222",0,0,1)
+#drvAsynSerialPortConfigure("testRemote","/dev/ttyUSB0",0,0,1)
+#asynSetOption("testRemote", -1, "baud", "115200")
+#asynSetOption("testRemote", -1, "bits", "8")
+#asynSetOption("testRemote", -1, "parity", "none")
+#asynSetOption("testRemote", -1, "stop", "1")
+#asynSetOption("testRemote", -1, "clocal", "N")
+#asynSetOption("testRemote", -1, "crtscts", "N")
+drvAsynIPPortConfigure("testRemote","192.168.167.116:22222",0,0,1)
+
+#eraseFile("device-comm.log")
+#asynSetTraceFile("testRemote", 0, "device-comm.log")
+#asynSetTraceMask("testRemote", 0, 0x2F) # error, device, filter, driver, warning, !flow
+#asynSetTraceIOMask("testRemote", 0, 2)
+#asynSetTraceInfoMask("testRemote", 0, 0x0F)
+
+#phytronCreateMCC(phytronPort, asynPort, address, movingPollPeriod, idlePollPeriod, timeout, do-not-reset
+phytronCreateMCC("phyMotionPort", "testRemote", 0, 10, 10, 1000)
+asynSetOption("phyMotionPort", 0, "fakeHomedEnable", "true")
+
+#phytronCreateAxis(phytronPort, module, axis)
+phytronCreateAxis("phyMotionPort", 1, 1)
+phytronCreateAxis("phyMotionPort", 1, 2)
+
+dbLoadTemplate "motor.substitutions.phytron"
+
+# open listening server part
+#drvAsynIPServerPortConfigure(asynPortServer,"localhost:port",maxClients,priority,disableAutoConnect,noProcessEos)
+drvAsynIPServerPortConfigure("testRemote2","127.0.0.2:22222",10,0,0,0)
+#drvAsynIPServerPortConfigure("testRemote2","localhost:22222",10,0,0,0)
+#drvAsynIPServerPortConfigure("testRemote2",":22222",10,0,0,0)
+#drvAsynIPServerPortConfigure("testRemote2","0.0.0.0:22222",10,0,0,0)
+#drvAsynIPServerPortConfigure("testRemote2","192.168.167.254:22222",10,0,0,0)
+
+# create analog and digital I/O for MCC-2
+phytronCreateAnalog("phyA1", "phyMotionPort", 1, 1, "")
+phytronCreateAnalog("phyA2", "phyMotionPort", 1, 2, "")
+phytronCreateDigital("phyD1", "phyMotionPort", 1, 1, "")
+
+## configure AUTOSAVE
+#epicsEnvSet("SAVE_DIR","$(TOP)/iocBoot/$(IOC)")
+#epicsEnvSet("IOCNAME","$(IOC)-autosave")
+#dbLoadRecords("$(AUTOSAVE)/asApp/Db/save_restoreStatus.db", "P=$(IOCNAME):")
+#save_restoreSet_status_prefix("$(IOCNAME):")
+#set_requestfile_path("$(SAVE_DIR)")
+#set_savefile_path("$(SAVE_DIR)")
+## Schedule a maximum of 3 sequenced backups of the .sav file
+## every 10 minutes - .sav0, .sav1, .sav2
+#save_restoreSet_NumSeqFiles(3)
+#save_restoreSet_SeqPeriodInSeconds(600)
+#set_pass0_restoreFile("$(IOCNAME).sav")
+#set_pass1_restoreFile("$(IOCNAME).sav")
+
+iocInit()
+
+## Create request file and start periodic 'save’
+#makeAutosaveFileFromDbInfo("$(SAVE_DIR)/$(IOCNAME).req", "autosaveFields")
+#create_monitor_set("$(IOCNAME).req", 5)

iocs/phytronIOC/iocBoot/iocPhytron/st.cmd.phytron

@@ -1,4 +1,5 @@
 #!../../bin/linux-x86_64/phytron
+# SPDX-License-Identifier: EPICS
 
 < envPaths
 
@@ -8,14 +9,51 @@ phytron_registerRecordDeviceDriver(pdbbase)
 
 #drvAsynIPPortConfigure("testPort","localhost:8000",0,0,1)
 drvAsynIPPortConfigure("testRemote","10.5.1.181:22222",0,0,1)
+#drvAsynSerialPortConfigure("testRemote","/dev/ttyUSB0",0,0,1)
+#asynSetOption("testRemote", -1, "baud", "115200")
+#asynSetOption("testRemote", -1, "bits", "8")
+#asynSetOption("testRemote", -1, "parity", "none")
+#asynSetOption("testRemote", -1, "stop", "1")
+#asynSetOption("testRemote", -1, "clocal", "N")
+#asynSetOption("testRemote", -1, "crtscts", "N")
 
 #phytronCreateController (phytronPort, asynPort, movingPollPeriod, idlePollPeriod, timeout)
-phytronCreateController ("phyMotionPort", "testRemote", 100, 100, 1000)
+phytronCreateController ("phyMotionPort", "testRemote", 10, 10, 1000)
+asynSetOption("phyMotionPort", 0, "pollMethod", "parallel")
+asynSetOption("phyMotionPort", 0, "fakeHomedEnable", "true")
 
 #phytronCreateAxis(phytronPort, module, axis)
 phytronCreateAxis("phyMotionPort", 1, 1)
 phytronCreateAxis("phyMotionPort", 2, 1)
+phytronCreateAxis("phyMotionPort", 3, 1)
+
+# create analog I/O with a AIOM01.1
+phytronCreateAnalog("phyA1", "phyMotionPort", 1, 1, "")
+phytronCreateAnalog("phyA2", "phyMotionPort", 1, 2, "")
+phytronCreateAnalog("phyA3", "phyMotionPort", 1, 3, "")
+phytronCreateAnalog("phyA4", "phyMotionPort", 1, 4, "")
+
+# create digital I/O with a DIOM01.1
+phytronCreateDigital("phyD1", "phyMotionPort", 1, 1, "")
 
 dbLoadTemplate "motor.substitutions.phytron"
 
+## configure AUTOSAVE
+#epicsEnvSet("SAVE_DIR","$(TOP)/iocBoot/$(IOC)")
+#epicsEnvSet("IOCNAME","$(IOC)-autosave")
+#dbLoadRecords("$(AUTOSAVE)/asApp/Db/save_restoreStatus.db", "P=$(IOCNAME):")
+#save_restoreSet_status_prefix("$(IOCNAME):")
+#set_requestfile_path("$(SAVE_DIR)")
+#set_savefile_path("$(SAVE_DIR)")
+## Schedule a maximum of 3 sequenced backups of the .sav file
+## every 10 minutes - .sav0, .sav1, .sav2
+#save_restoreSet_NumSeqFiles(3)
+#save_restoreSet_SeqPeriodInSeconds(600)
+#set_pass0_restoreFile("$(IOCNAME).sav")
+#set_pass1_restoreFile("$(IOCNAME).sav")
+
 iocInit()
+
+## Create request file and start periodic 'save’
+#makeAutosaveFileFromDbInfo("$(SAVE_DIR)/$(IOCNAME).req", "autosaveFields")
+#create_monitor_set("$(IOCNAME).req", 5)

iocs/phytronIOC/phytronApp/Db/Makefile

@@ -1,3 +1,4 @@
+# SPDX-License-Identifier: EPICS
 TOP=../..
 include $(TOP)/configure/CONFIG
 #----------------------------------------
@@ -8,11 +9,23 @@ include $(TOP)/configure/CONFIG
 #DB_OPT = YES
 
 ifdef MOTOR_PHYTRON
+DB_INSTALLS += $(MOTOR_PHYTRON)/db/Phytron_AIO.db
+DB_INSTALLS += $(MOTOR_PHYTRON)/db/Phytron_AIO_MCC.db
+DB_INSTALLS += $(MOTOR_PHYTRON)/db/Phytron_CMD.db
+DB_INSTALLS += $(MOTOR_PHYTRON)/db/Phytron_DIO.db
+DB_INSTALLS += $(MOTOR_PHYTRON)/db/Phytron_DIO_MCC1.db
 DB_INSTALLS += $(MOTOR_PHYTRON)/db/Phytron_I1AM01.db
+DB_INSTALLS += $(MOTOR_PHYTRON)/db/Phytron_MCC.db
 DB_INSTALLS += $(MOTOR_PHYTRON)/db/Phytron_MCM01.db
 DB_INSTALLS += $(MOTOR_PHYTRON)/db/Phytron_motor.db
 else
+DB_INSTALLS += $(MOTOR)/db/Phytron_AIO.db
+DB_INSTALLS += $(MOTOR)/db/Phytron_AIO_MCC.db
+DB_INSTALLS += $(MOTOR)/db/Phytron_CMD.db
+DB_INSTALLS += $(MOTOR)/db/Phytron_DIO.db
+DB_INSTALLS += $(MOTOR)/db/Phytron_DIO_MCC1.db
 DB_INSTALLS += $(MOTOR)/db/Phytron_I1AM01.db
+DB_INSTALLS += $(MOTOR)/db/Phytron_MCC.db
 DB_INSTALLS += $(MOTOR)/db/Phytron_MCM01.db
 DB_INSTALLS += $(MOTOR)/db/Phytron_motor.db
 endif

iocs/phytronIOC/phytronApp/src/Makefile

@@ -1,3 +1,4 @@
+# SPDX-License-Identifier: EPICS
 TOP=../..
 
 include $(TOP)/configure/CONFIG
@@ -22,6 +23,10 @@ phytron_DBD += base.dbd
 #ifdef ASYN
 phytron_DBD += asyn.dbd
 phytron_DBD += drvAsynIPPort.dbd
+phytron_DBD += drvAsynSerialPort.dbd
+#endif
+#ifdef AUTOSAVE
+phytron_DBD += asSupport.dbd
 #endif
 phytron_DBD += motorSupport.dbd
 phytron_DBD += phytronSupport.dbd
@@ -32,6 +37,9 @@ phytron_LIBS += motor
 #ifdef ASYN
 phytron_LIBS += asyn
 #endif
+#ifdef AUTOSAVE
+phytron_LIBS += autosave
+#endif
 #ifdef SNCSEQ
 phytron_LIBS += seq pv
 #endif

iocs/phytronIOC/phytronApp/src/phytronMain.cpp

@@ -1,3 +1,4 @@
+/* SPDX-License-Identifier: EPICS */
 /* phytronMain.cpp */
 /* Author:  Marty Kraimer Date:    17MAR2000 */
 

phytronApp/Db/Makefile

@@ -1,3 +1,4 @@
+# SPDX-License-Identifier: EPICS
 TOP=../..
 include $(TOP)/configure/CONFIG
 #----------------------------------------
@@ -11,7 +12,13 @@ include $(TOP)/configure/CONFIG
 # Create and install (or just install) into <top>/db
 # databases, templates, substitutions like this
 #DB += xxx.db
+DB += Phytron_AIO.db
+DB += Phytron_AIO_MCC.db
+DB += Phytron_CMD.db
+DB += Phytron_DIO.db
+DB += Phytron_DIO_MCC1.db
 DB += Phytron_I1AM01.db
+DB += Phytron_MCC.db
 DB += Phytron_MCM01.db
 DB += Phytron_motor.db