Update to 4 1 15

.gitattributes

@@ -1,6 +1,12 @@
-# Set the default behavior, in case people don't have core.autocrlf set.
+#Which files need CRLF handling
+# Default is auto
 * text=auto
 
+# But we can help Git, because we now about some file extensions
+*.bat  text eol=crlf
+*.jpeg  -text
+*.pdf   -text
+
 # Explicitly declare text files you want to always be normalized and converted
 # to native line endings on checkout.
 *.c text
@@ -9,7 +15,6 @@
 *.hpp text
 *.java text
 *.sh text eol=lf
-*.bat text eol=crlf
 *.cmd text
 *.db text
 *.dbd text
@@ -27,4 +32,3 @@
 *.jpg binary
 *.class binary
 *.vi binary
-*.pdf binary

GalilSup/Db/GALIL_controller_kinematics.req

@@ -0,0 +1,21 @@
+# Kinematics
+
+# Forward transforms (Readbacks)
+file "galil_forward_transform.req" P=$(P), M=MTR$(CCP)09
+file "galil_forward_transform.req" P=$(P), M=MTR$(CCP)10
+file "galil_forward_transform.req" P=$(P), M=MTR$(CCP)11
+file "galil_forward_transform.req" P=$(P), M=MTR$(CCP)12
+file "galil_forward_transform.req" P=$(P), M=MTR$(CCP)13
+file "galil_forward_transform.req" P=$(P), M=MTR$(CCP)14
+file "galil_forward_transform.req" P=$(P), M=MTR$(CCP)15
+file "galil_forward_transform.req" P=$(P), M=MTR$(CCP)16
+
+# Reverse transforms (Setpoints)
+file "galil_reverse_transforms.req" P=$(P), M=MTR$(CCP)09
+file "galil_reverse_transforms.req" P=$(P), M=MTR$(CCP)10
+file "galil_reverse_transforms.req" P=$(P), M=MTR$(CCP)11
+file "galil_reverse_transforms.req" P=$(P), M=MTR$(CCP)12
+file "galil_reverse_transforms.req" P=$(P), M=MTR$(CCP)13
+file "galil_reverse_transforms.req" P=$(P), M=MTR$(CCP)14
+file "galil_reverse_transforms.req" P=$(P), M=MTR$(CCP)15
+file "galil_reverse_transforms.req" P=$(P), M=MTR$(CCP)16

GalilSup/Db/galil_8_motor_extras.req

@@ -0,0 +1,8 @@
+file "galil_motor_extras.req",  P=$(P), M=$(M1)
+file "galil_motor_extras.req",  P=$(P), M=$(M2)
+file "galil_motor_extras.req",  P=$(P), M=$(M3)
+file "galil_motor_extras.req",  P=$(P), M=$(M4)
+file "galil_motor_extras.req",  P=$(P), M=$(M5)
+file "galil_motor_extras.req",  P=$(P), M=$(M6)
+file "galil_motor_extras.req",  P=$(P), M=$(M7)
+file "galil_motor_extras.req",  P=$(P), M=$(M8)

GalilSup/Db/galil_Home_Dummy_Move.dmc

@@ -13,18 +13,24 @@ IF (home${AXIS}=1)
 	IF ((hjog${AXIS}=1) & (_BG${AXIS}=1) & (home${AXIS}=1))
 		ST${AXIS};ENDIF
 	IF ((hjog${AXIS}=1) & (_BG${AXIS}=0) & (home${AXIS}=1))
-		PR${AXIS}=(_SP${AXIS} * 2);SH${AXIS};WT100;BG${AXIS};hjog${AXIS}=2
+		PR${AXIS}=(_SP${AXIS} * 2);SH${AXIS};hjog${AXIS}=2
 	ENDIF
-	IF ((hjog${AXIS}=2) & (_BG${AXIS}=0) & (home${AXIS}=1) & (_SC${AXIS}=1))
-        hjog${AXIS}=3
+	IF ((hjog${AXIS}=2) & (_BG${AXIS}=0) & (_MO${AXIS}=0) & (home${AXIS}=1))
+        BG${AXIS};hjog${AXIS}=3
+    ENDIF
+	IF ((hjog${AXIS}=3) & (_BG${AXIS}=0) & (home${AXIS}=1) & (_SC${AXIS}=1))
+        hjog${AXIS}=4
 	ENDIF
-	IF ((hjog${AXIS}>=3) & (hjog${AXIS}<10) & (_BG${AXIS}=0) & (home${AXIS}=1))
+	IF ((hjog${AXIS}>=4) & (hjog${AXIS}<11) & (_BG${AXIS}=0) & (home${AXIS}=1))
 		hjog${AXIS}=hjog${AXIS}+1;WT10
 	ENDIF
-	IF ((hjog${AXIS}=10) & (_BG${AXIS}=0) & (home${AXIS}=1))
-		PR${AXIS}=(_SP${AXIS} * -2);SH${AXIS};WT100;BG${AXIS};hjog${AXIS}=11
+	IF ((hjog${AXIS}=11) & (_BG${AXIS}=0) & (home${AXIS}=1))
+		PR${AXIS}=(_SP${AXIS} * -2);SH${AXIS};hjog${AXIS}=12
 	ENDIF
-	IF ((hjog${AXIS}=11) & (_BG${AXIS}=0) & (home${AXIS}=1) & (_SC${AXIS}=1))
+	IF ((hjog${AXIS}=12) & (_BG${AXIS}=0) & (_MO${AXIS}=0) & (home${AXIS}=1))
+        BG${AXIS};hjog${AXIS}=13
+    ENDIF
+	IF ((hjog${AXIS}=13) & (_BG${AXIS}=0) & (home${AXIS}=1) & (_SC${AXIS}=1))
 		hjog${AXIS}=0;home${AXIS}=0;homed${AXIS}=1
 		MG "home${AXIS}", home${AXIS};MG "homed${AXIS}", homed${AXIS}
 	ENDIF

GalilSup/Db/galil_dmc_ctrl.template

@@ -264,6 +264,17 @@ record(bi,"$(P)START_STATUS")
    	field(INP,  "@asyn($(PORT),0)CONTROLLER_START")
 }
 
+record(bo,"$(P)CLEARAMPFAULTS_CMD")
+{
+	field(DESC, "Clear amp faults")
+	field(DTYP, "asynInt32")
+	field(ZNAM, "CLEAR")
+	field(ZSV,  "NO_ALARM")
+	field(ONAM, "CLEAR")
+	field(OSV,  "NO_ALARM")
+	field(OUT,  "@asyn($(PORT),0)CONTROLLER_CLEARAMPFAULTS")
+}
+
 #Defered moves support
 record(bi,"$(P)DEFER_STATUS")
 {
@@ -591,15 +602,21 @@ record(ao,"$(P)PWRDET:SP") {
     field(DTYP, "asynFloat64")
     field(OUT, "@asyn($(PORT),0)USER_VAR pwrdet")
 	field(SCAN, "Passive")
+    # set a default non-zero as zero in galil is a problem
+    # and is never a test value
+    field(VAL, "2")
     info(autosaveFields_pass0, "VAL")
+    info(archive, "VAL")
 }
 
 record(ai,"$(P)PWRDET") {
     field(DESC, "Get Power off detect value")
     field(DTYP, "asynFloat64")
     field(INP,  "@asyn($(PORT),0)USER_VAR pwrdet")
 	field(SCAN, "10 second")
+    field(SDIS, "$(P)PWRDET:SP.PACT")
 	field(FLNK, "$(P)PWRDET:ALERT.PROC")
+    info(archive, "VAL")
 }
 
 ## 0 = ok, 1 = problem
@@ -610,7 +627,7 @@ record(calcout,"$(P)PWRDET:ALERT") {
 	field(INPB, "$(P)PWRDET:SP")
 	field(CALC, "A!=B")
 	field(OOPT, "When Zero")
-	field(OUT, "$(P)PWRDET:TIMER.PROC")
+	field(OUT, "$(P)PWRDET:TIMER.PROC PP")
     info(archive, "VAL")
 }
 
@@ -622,12 +639,16 @@ record(bo,"$(P)PWRDET:RESET:SP") {
 }
 
 ## how often we should set a new test value
-## A % 360 means 3600 seconds as we are on 10 second scan link
+## A = 360 means 3600 seconds as we are on 10 second scan link
+## Changing value is only a check in case it got saved into galil
+## firmware so changing this once per ioc run is fine 
+## make sure we don't set a new value too soon
+## after ioc startup in case of a quick restart causing a race condition 
 record(calcout, "$(P)PWRDET:TIMER") {
 	field(DESC, "Set new PWRDET test value")
-	field(CALC, "A % 360; A := A + 1")
+	field(CALC, "A = 360; A := A + 1")
 	field(INPA, "0")
-	field(OOPT, "When Zero")
+	field(OOPT, "When Non-zero")
 	field(DOPT, "Use OCAL")
 	field(OCAL, "CEIL(RNDM*100)+1")
 	field(OUT, "$(P)PWRDET:SP PP")

GalilSup/Db/galil_motor_extras.req

@@ -1,6 +1,7 @@
 $(P)$(M)_STEPSMOOTH_SP
 $(P)$(M)_ESTALLTIME_SP
 $(P)$(M)_MTRTYPE_CMD
+$(P)$(M)_BRTYPE_CMD
 $(P)$(M)_EGUAFTLIMIT_SP
 $(P)$(M)_ERRLIMIT_SP
 $(P)$(M)_OFFONERR_CMD
@@ -27,6 +28,7 @@ $(P)$(M)_WLP_CMD
 $(P)$(M)_AUTOONOFF_CMD
 $(P)$(M)_ONDELAY_SP
 $(P)$(M)_OFFDELAY_SP
+$(P)$(M)_ULAH_CMD
 $(P)$(M)_USWITCH_CMD
 $(P)$(M)_UINDEX_CMD
 $(P)$(M)_JAH_CMD

GalilSup/Db/galil_motor_extras.template

@@ -24,7 +24,6 @@
 # Mark Clift
 # email: padmoz@tpg.com.au
 
-
 record(bi,"$(P)$(M)_SCONN_STATUS")
 {
 	field(DESC, "SSI connection status")
@@ -227,6 +226,33 @@ record(bi,"$(P)$(M)_MCONN_STATUS")
 	field(INP,  "@asyn($(PORT),$(ADDR))MOTOR_MCONN")
 }
 
+record(bi,"$(P)$(M)_ULAH_STATUS")
+{
+	field(DESC, "use limits as home")
+	field(PINI, "YES")
+	field(DTYP, "asynInt32")
+	field(SCAN, "$(SCAN)")
+	field(ZNAM, "No")
+	field(ZSV,  "NO_ALARM")
+	field(ONAM, "Yes")
+	field(OSV,  "NO_ALARM")
+	field(INP,  "@asyn($(PORT),$(ADDR))MOTOR_USELIMITASHOME")
+}
+
+record(bo,"$(P)$(M)_ULAH_CMD")
+{
+	field(DESC,"use limits as home")
+	field(DTYP,"asynInt32")
+	field(VAL, "1")
+	field(PINI,"YES")
+	field(ZNAM,"No")
+	field(ZSV, "NO_ALARM")
+	field(ONAM,"Yes")
+	field(OSV, "NO_ALARM")
+	field(OUT, "@asyn($(PORT),$(ADDR))MOTOR_USELIMITASHOME")
+	field(FLNK,"$(P)$(M)_ULAH_STATUS")
+}
+
 record(bi,"$(P)$(M)_UINDEX_STATUS")
 {
 	field(DESC, "use index")
@@ -271,7 +297,7 @@ record(bo,"$(P)$(M)_USWITCH_CMD")
 {
 	field(DESC,"use switch")
 	field(DTYP,"asynInt32")
-	field(VAL, "1")
+	field(VAL, "0")
 	field(PINI,"YES")
 	field(ZNAM,"No")
 	field(ZSV, "NO_ALARM")
@@ -935,6 +961,15 @@ record(mbbi,"$(P)$(M)_MICROSTEP_STATUS")
 	field(INP,  "@asyn($(PORT),$(ADDR))MOTOR_MICROSTEP")
 }
 
+record(longin,"$(P)$(M)_AMPMODEL_STATUS")
+{
+	field(DESC, "Amp model")
+	field(PINI, "YES")
+	field(DTYP, "asynInt32")
+	field(VAL,  "0")
+	field(INP,  "@asyn($(PORT),$(ADDR))MOTOR_AMP_MODEL")
+}
+
 record(mbbo,"$(P)$(M)_AMPGAIN_CMD")
 {
 	field(DESC, "Amp gain")
@@ -1242,6 +1277,38 @@ record(mbbi,"$(P)$(M)_MTRTYPE_STATUS")
 	field(INP,  "@asyn($(PORT),$(ADDR))MOTOR_TYPE")
 }
 
+record(mbbo,"$(P)$(M)_BRTYPE_CMD")
+{
+	field(DESC, "brush type")
+	field(DTYP, "asynInt32")
+	field(ZRST, "External Drive")
+	field(ONST, "Brushless")
+	field(TWST, "Brush")
+	field(ZRVL, "-1")
+	field(ONVL, "0")
+	field(TWVL, "1")
+	field(VAL,  "2")
+	field(PINI, "YES")
+	field(OUT,  "@asyn($(PORT),$(ADDR))BRUSH_TYPE")
+	field(FLNK, "$(P)$(M)_BRTYPE_STATUS")
+}
+
+record(mbbi,"$(P)$(M)_BRTYPE_STATUS")
+{
+	field(DESC, "brush type")
+	field(PINI, "YES")
+	field(SCAN, "$(SCAN)")
+	field(DTYP, "asynInt32")
+	field(ZRST, "External Drive")
+	field(ONST, "Brushless")
+	field(TWST, "Brush")
+	field(ZRVL, "-1")
+	field(ONVL, "0")
+	field(TWVL, "1")
+	field(INP,  "@asyn($(PORT),$(ADDR))BRUSH_TYPE")
+}
+
+
 record(mbbo,"$(P)$(M)_MENCTYPE_CMD")
 {
 	field(DESC, "main enc type")
@@ -1597,15 +1664,41 @@ record(calcout,"$(P)$(M)_EDEL_MON_")
 
 ####
 
+# Internal Galil amplifier hall error status
+record(bi,"$(P)$(M)_HALLERROR_STATUS")
+{
+	field(DESC, "Hall error status")
+	field(DTYP, "asynInt32")
+	field(SCAN, "I/O Intr")
+	field(ZNAM, "OK")
+	field(ZSV,  "NO_ALARM")
+	field(ONAM, "HallError")
+	field(OSV,  "MAJOR")
+	field(INP,  "@asyn($(PORT),$(ADDR))MOTOR_HALLERROR_STATUS")
+}
+
+# Internal Galil amplifier at torque limit status
+record(bi,"$(P)$(M)_ATTORQUELIMIT_STATUS")
+{
+	field(DESC, "At torque limit status")
+	field(DTYP, "asynInt32")
+	field(SCAN, "I/O Intr")
+	field(ZNAM, "OK")
+	field(ZSV,  "NO_ALARM")
+	field(ONAM, "TorqueLimit")
+	field(OSV,  "MAJOR")
+	field(INP,  "@asyn($(PORT),$(ADDR))MOTOR_ATTORQUELIMIT_STATUS")
+}
+
 record(bi,"$(P)$(M)_ON_STATUS")
 {
 	field(DESC, "Mtr on status")
 	field(DTYP, "asynInt32")
 	field(SCAN, "I/O Intr")
 	field(ZNAM, "Off")
-   	field(ZSV,  "MINOR")
+   	field(ZSV,  "NO_ALARM")
   	field(ONAM, "On")
-  	field(OSV,  "NO_ALARM")
+  	field(OSV,  "MINOR")
    	field(INP,  "@asyn($(PORT),$(ADDR))MOTOR_STATUS_POWERED")
 }