Merge pull request #25 from guirodrigueslima/dev

Bug fix and new Control Loop functionality.

These improvements include some optimizations, bug fixes and new functions such as AnalogInput, Over Flow, On-Targer and Error. These improvements have been running on the Carnauba beamline at Sirius/CNEPM for over a year and have already prevented collision accidents in the past.

Three new PVs were added (Analog Target Input, On-Target and Over Flow). Furthermore, a bug was observed where only the PID configurations for axis 1 were working, so the PIasynAxis::createCLParams() function was removed from the loop and now createParam() is instantiated only once in PIasynController::PIasynController( ), the values are defined by the ADDR variable of each respective axis.

The PV LAST_ERR was removed from PI_SupportCtrl.db, as this database only works for controllers with a coordinate system. The PV was added to the PI_SupportError,db file and a new PV was also created to clear the last CLEAR_ERR error.

iocs/pigcs2IOC/iocBoot/iocPIGCS2/PI_GCS2.cmd

@@ -14,8 +14,5 @@ PI_GCS2_CreateController("C867", "C867_ETH",2, 0,0, 100, 1000)
 asynSetTraceMask("C867_ETH",0,1)
 asynSetTraceIOMask("C867_ETH",0,0)
 
-#!dbLoadRecords("$(TOP)/db/PI_Support.db","P=pigcs2:,R=m1:,PORT=C867,ADDR=0,TIMEOUT=1") 
-#!dbLoadRecords("$(TOP)/db/PI_Support.db","P=pigcs2:,R=m2:,PORT=C867,ADDR=1,TIMEOUT=1") 
-
 # asyn record for troubleshooting
-dbLoadRecords("$(ASYN)/db/asynRecord.db","P=pigcs2:,R=asyn_1,PORT=C867_ETH,ADDR=0,OMAX=256,IMAX=256")
+#dbLoadRecords("$(ASYN)/db/asynRecord.db","P=pigcs2:,R=asyn_1,PORT=C867_ETH,ADDR=0,OMAX=256,IMAX=256")

iocs/pigcs2IOC/iocBoot/iocPIGCS2/PI_GCS2.substitutions

@@ -7,3 +7,26 @@ pattern
 # U-624.03
 {pigcs2:,  "m2",  "asynMotor",  "C867",    1,  "Motor 2", deg,  Pos,     5,     0,    .2,    0,      1,    .2,  0.0020,  4,     0.0,   0.0,  ""}
 }
+
+#file "$(TOP)/db/PI_Support.db"
+#{
+#pattern
+#{P,          M,     PORT,    ADDR,    TIMEOUT }
+#{pigcs2:,  "m1:",  "C867",     0,         1   }
+#{pigcs2:,  "m2:",  "C867",     1,         1   }
+#}
+
+#file "$(TOP)/db/PI_SupportCL.db"
+#{
+#pattern
+#{P,          M,     PORT,    ADDR,    TIMEOUT }
+#{pigcs2:,  "m1:",  "C867",     0,         1   }
+#{pigcs2:,  "m2:",  "C867",     1,         1   }
+#}
+
+#file "$(TOP)/db/PI_SupportError.db"
+#{
+#pattern
+#{P,           PORT  }
+#{pigcs2:,    "C867" }
+#}

iocs/pigcs2IOC/pigcs2App/Db/Makefile

@@ -9,11 +9,15 @@ include $(TOP)/configure/CONFIG
 
 ifdef MOTOR_PIGCS2
 ### this module was built outside motor
+DB_INSTALLS += $(MOTOR_PIGCS2)/db/PI_SupportError.db
 DB_INSTALLS += $(MOTOR_PIGCS2)/db/PI_SupportCtrl.db
+DB_INSTALLS += $(MOTOR_PIGCS2)/db/PI_SupportCL.db
 DB_INSTALLS += $(MOTOR_PIGCS2)/db/PI_Support.db
 else
 ### this module was built inside motor/modules
+DB_INSTALLS += $(MOTOR)/db/PI_SupportError.db
 DB_INSTALLS += $(MOTOR)/db/PI_SupportCtrl.db
+DB_INSTALLS += $(MOTOR)/db/PI_SupportCL.db
 DB_INSTALLS += $(MOTOR)/db/PI_Support.db
 endif
 

pigcs2App/Db/Makefile

@@ -13,6 +13,7 @@ include $(TOP)/configure/CONFIG
 #DB += xxx.db
 
 DB += PI_SupportCtrl.db
+DB += PI_SupportError.db
 DB += PI_Support.db
 DB += PI_SupportCL.db
 

pigcs2App/Db/PI_Support.db

@@ -1,24 +1,33 @@
-record(ai, "$(P)$(R)POSITION")
+record(ai, "$(P)$(M)POSITION")
 {
-	field(PINI, "1")
 	field(DTYP, "asynFloat64")
 	field(INP, "@asyn($(PORT),$(ADDR),$(TIMEOUT))PI_SUP_POSITION")
 	field(PREC, "5")
 	field(SCAN, "I/O Intr")
 }
 
-record(ao, "$(P)$(R)TARGET")
+record(ao, "$(P)$(M)TARGET")
 {
-   field(PINI, "1")
    field(DTYP, "asynFloat64")
    field(OUT,  "@asyn($(PORT),$(ADDR),$(TIMEOUT))PI_SUP_TARGET")
    field(PREC, "5")
 }
 
-record(bi, "$(P)$(R)SERVO")
+record(bo, "$(P)$(M)SERVO")
+{    
+   field(DESC, "Set status Servo")
+   field(DTYP, "asynInt32")
+   field(ZNAM, "Disable")
+   field(ONAM, "Enable")
+   field(OUT,  "@asyn($(PORT),$(ADDR),$(TIMEOUT))PI_SUP_SERVO")
+
+}
+
+record(bi, "$(P)$(M)RBSERVO")
 {
-   field(PINI, "1")
    field(DTYP, "asynInt32")
+   field(ZNAM, "Disable")
+   field(ONAM, "Enable")
    field(INP,  "@asyn($(PORT),$(ADDR),$(TIMEOUT))PI_SUP_SERVO")
    field(SCAN, "I/O Intr")
 }