Add support for EL5131

paulscherrerinstitute · Feb 21, 2024 · 862be5b · 862be5b
1 parent 51b9553
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diff --git a/db/Beckhoff_5XXX/ecmcEL5131-chX.template b/db/Beckhoff_5XXX/ecmcEL5131-chX.template
@@ -0,0 +1,204 @@
+record(mbbiDirect,"${ECMC_P}Enc${CH_ID}-Stat"){
+  field(DESC, "$(HWTYPE): Enc Status Word")
+  field(PINI, "$(PINI=1)")
+  field(DTYP, "asynUInt32Digital")
+  field(INP,  "@asynMask($(PORT),$(ADDR=0),$(MASK=0xFFFFFFFF),$(TIMEOUT=1))T_SMP_MS=$(T_SMP_MS=1000)/TYPE=asynUInt32Digital/ec$(MASTER_ID).s$(SLAVE_POS).encoderStatus${CH_ID}?")
+  field(SCAN, "I/O Intr")
+  field(FLNK, "${ECMC_P}Enc${CH_ID}-CLtchOK")
+  field(SHFT, "0")
+  field(TSE,  "$(TSE=-2)")
+}
+
+record(bi,"${ECMC_P}Enc${CH_ID}-CLtchOK"){
+  field(DESC, "$(HWTYPE): Enc Latch C valid")
+  field(INP,  "${ECMC_P}Enc${CH_ID}-Stat.B0")
+  field(ZNAM, "no latch")
+  field(ONAM, "latched")
+  field(FLNK, "${ECMC_P}Enc${CH_ID}-ExtLtchOK")
+}
+
+record(bi,"${ECMC_P}Enc${CH_ID}-ExtLtchOK"){
+  field(DESC, "$(HWTYPE): Enc Latch extern valid")
+  field(INP,  "${ECMC_P}Enc${CH_ID}-Stat.B1")
+  field(ZNAM, "no latch")
+  field(ONAM, "latched")
+  field(FLNK, "${ECMC_P}Enc${CH_ID}-SetCntDne")
+}
+
+record(bi,"${ECMC_P}Enc${CH_ID}-SetCntDne"){
+  field(DESC, "$(HWTYPE): Set counter done")
+  field(INP,  "${ECMC_P}Enc${CH_ID}-Stat.B2")
+  field(ZNAM, "not done")
+  field(ONAM, "done")
+  field(FLNK, "${ECMC_P}Enc${CH_ID}-OpnCrctAlrm")
+}
+
+record(bi,"${ECMC_P}Enc${CH_ID}-OpnCrctAlrm"){
+  field(DESC, "$(HWTYPE): Enc Opn Ccrt Alrm")
+  field(INP,  "${ECMC_P}Enc${CH_ID}-Stat.B6")
+  field(ZNAM, "No Alarm")
+  field(ONAM, "Open Circuit")
+  field(ZSV,  "NO_ALARM")
+  field(OSV,  "MAJOR")
+  field(FLNK, "${ECMC_P}Enc${CH_ID}-WrnAlrm")
+}
+
+record(bi,"${ECMC_P}Enc${CH_ID}-WrnAlrm"){
+  field(DESC, "$(HWTYPE): Enc Extpltn Stall Alrm")
+  field(INP,  "${ECMC_P}Enc${CH_ID}-Stat.B7")
+  field(ZNAM, "No Alarm")
+  field(ONAM, "Alarm")
+  field(ZSV,  "NO_ALARM")
+  field(OSV,  "MINOR")
+}
+
+# latching
+record(bo,    "${ECMC_P}Enc${CH_ID}-LchAutRstSp"){
+  field(DESC, "reset latch automatically")
+  field(ZNAM, "off")
+  field(ONAM, "on")
+  field(FLNK, "${ECMC_P}Enc${CH_ID}-LtchAutRst")
+}
+
+record(calcout,   "${ECMC_P}Enc${CH_ID}-LtchAutRst") {
+  field(DESC, "reset latch automatically calc")
+  field(CALC, "A&&B?2:1")
+  field(INPA, "${ECMC_P}Enc${CH_ID}-LchAutRstSp")
+  field(INPB, "${ECMC_P}Enc${CH_ID}-ExtLtchOK CP")
+  field(IVOA, "Don't drive outputs")
+  field(OUT,  "${ECMC_P}Enc${CH_ID}-LtchRst.SELN PP")
+}
+
+# to reset, the Enc-Cmd has to be set to 'no latching' and then to 'latching' again
+record(seq, "${ECMC_P}Enc${CH_ID}-LtchRst") {
+  field(DESC, "reset latch")
+  field(SELM, "Specified")
+  field(DOL1, "${ECMC_P}Enc${CH_ID}-LtchCmd")
+  field(LNK1, "${ECMC_P}Enc${CH_ID}-Cmd PP")
+  field(DOL2, "0")
+  field(LNK2, "${ECMC_P}Enc${CH_ID}-Cmd PP")
+}
+
+record(ai,"${ECMC_P}Enc${CH_ID}-PosAct"){
+  field(DESC, "$(HWTYPE): Enc Actl Pos (Raw)")
+  field(PINI, "$(PINI=1)")
+  field(DTYP, "asynInt32")
+  field(INP,  "@asyn($(PORT),$(ADDR),$(TIMEOUT))T_SMP_MS=$(T_SMP_MS=1000)/TYPE=asynInt32/ec$(MASTER_ID).s$(SLAVE_POS).positionActual${CH_ID}?")
+  field(SCAN, "I/O Intr")
+  field(LINR, "$(LINR=SLOPE)")
+  field(ESLO, "$(ESLO=1)")
+  field(EOFF, "$(EOFF=0)")
+  field(EGU,  "$(EGU=Counts)")
+  field(PREC, "$(PREC=7)")
+  field(LOW,  "$(LOW=0)")
+  field(LOLO, "$(LOLO=0)")
+  field(HIGH, "$(HIGH=0)")
+  field(HIHI, "$(HIHI=0)")
+  field(HYST, "$(HYST=0)")
+  field(LLSV, "$(LLSV=NO_ALARM)")
+  field(LSV,  "$(LSV=NO_ALARM)")
+  field(HSV,  "$(HSV=NO_ALARM)")
+  field(HHSV, "$(HHSV=NO_ALARM)")
+  field(TSE,  "$(TSE=-2)")
+}
+
+record(ai,"${ECMC_P}Enc${CH_ID}-LtchPosAct"){
+  field(DESC, "$(HWTYPE): Enc Latch Pos")
+  field(PINI, "$(PINI=1)")
+  field(DTYP, "asynInt32")
+  field(INP,  "@asyn($(PORT),$(ADDR),$(TIMEOUT))T_SMP_MS=$(T_SMP_MS=1000)/TYPE=asynInt32/ec$(MASTER_ID).s$(SLAVE_POS).encoderLatchPostion${CH_ID}?")
+  field(SCAN, "I/O Intr")
+  field(LINR, "$(LINR=SLOPE)")
+  field(ESLO, "$(ESLO=1)")
+  field(EOFF, "$(EOFF=0)")
+  field(EGU,  "$(EGU=Counts)")
+  field(PREC, "$(PREC=7)")
+  field(LOW,  "$(LOW=0)")
+  field(LOLO, "$(LOLO=0)")
+  field(HIGH, "$(HIGH=0)")
+  field(HIHI, "$(HIHI=0)")
+  field(HYST, "$(HYST=0)")
+  field(LLSV, "$(LLSV=NO_ALARM)")
+  field(LSV,  "$(LSV=NO_ALARM)")
+  field(HSV,  "$(HSV=NO_ALARM)")
+  field(HHSV, "$(HHSV=NO_ALARM)")
+  field(TSE,  "$(TSE=-2)")
+}
+
+record(mbbo,  "${ECMC_P}Enc${CH_ID}-LtchCmd"){
+  field(DESC, "latch source selector")
+  field(DTYP, "Raw Soft Channel")
+  field(ZRST, "no latching")
+  field(ZRVL, 0)
+  field(ONST, "latch C")
+  field(ONVL, 1)
+  field(TWST, "latch ext. rising")
+  field(TWVL, 2)
+  field(THST, "Set counter")
+  field(THVL, 3)
+  field(FRST, "latch ext. falling")
+  field(FRVL, 4)
+  field(OUT,  "${ECMC_P}Enc${CH_ID}-Cmd PP")
+}
+
+record(ao,"${ECMC_P}Enc${CH_ID}-Cmd"){
+  field(DESC, "$(HWTYPE): Enc Ctrl Word")
+  field(PINI, "$(PINI=1)")
+  field(DTYP, "asynInt32")
+  field(OUT,  "@asyn($(PORT),$(ADDR),$(TIMEOUT))T_SMP_MS=$(T_SMP_MS=1000)/TYPE=asynInt32/ec$(MASTER_ID).s$(SLAVE_POS).encoderControl${CH_ID}=")
+  field(PREC, "0")
+}
+
+record(ai,"${ECMC_P}Enc${CH_ID}-Cmd-RB"){
+  field(DESC, "$(HWTYPE): Enc Ctrl Word RB")
+  field(PINI, "$(PINI=1)")
+  field(DTYP, "asynInt32")
+  field(INP,  "@asyn($(PORT),$(ADDR),$(TIMEOUT))T_SMP_MS=$(T_SMP_MS=1000)/TYPE=asynInt32/ec$(MASTER_ID).s$(SLAVE_POS).encoderControl${CH_ID}?")
+  field(PREC, "0")
+  field(SCAN, "I/O Intr")
+  field(TSE,  "$(TSE=-2)")
+}
+
+record(ao,"${ECMC_P}Enc${CH_ID}-PosCmd"){
+  field(DESC, "$(HWTYPE): Enc Counter Value Setpoint")
+  field(PINI, "$(PINI=1)")
+  field(DTYP, "asynInt32")
+  field(OUT,  "@asyn($(PORT),$(ADDR),$(TIMEOUT))T_SMP_MS=$(T_SMP_MS=1000)/TYPE=asynInt32/ec$(MASTER_ID).s$(SLAVE_POS).encoderValue${CH_ID}=")
+  field(LINR, "$(LINR=SLOPE)")
+  field(ESLO, "$(ESLO=1)")
+  field(EOFF, "$(EOFF=0)")
+  field(EGU,  "$(EGU=)")
+  field(PREC, "$(PREC=7)")
+  field(LOW,  "$(LOW=0)")
+  field(LOLO, "$(LOLO=0)")
+  field(HIGH, "$(HIGH=0)")
+  field(HIHI, "$(HIHI=0)")
+  field(HYST, "$(HYST=0)")
+  field(LLSV, "$(LLSV=NO_ALARM)")
+  field(LSV,  "$(LSV=NO_ALARM)")
+  field(HSV,  "$(HSV=NO_ALARM)")
+  field(HHSV, "$(HHSV=NO_ALARM)")
+}
+
+record(ai,"${ECMC_P}Enc${CH_ID}-PosCmd-RB"){
+  field(DESC, "$(HWTYPE): Enc Ctrl Word RB")
+  field(PINI, "$(PINI=1)")
+  field(DTYP, "asynInt32")
+  field(INP,  "@asyn($(PORT),$(ADDR),$(TIMEOUT))T_SMP_MS=$(T_SMP_MS=1000)/TYPE=asynInt32/ec$(MASTER_ID).s$(SLAVE_POS).encoderValue${CH_ID}?")
+  field(SCAN, "I/O Intr")
+  field(LINR, "$(LINR=SLOPE)")
+  field(ESLO, "$(ESLO=1)")
+  field(EOFF, "$(EOFF=0)")
+  field(EGU,  "$(EGU=Counts)")
+  field(PREC, "$(PREC=7)")
+  field(LOW,  "$(LOW=0)")
+  field(LOLO, "$(LOLO=0)")
+  field(HIGH, "$(HIGH=0)")
+  field(HIHI, "$(HIHI=0)")
+  field(HYST, "$(HYST=0)")
+  field(LLSV, "$(LLSV=NO_ALARM)")
+  field(LSV,  "$(LSV=NO_ALARM)")
+  field(HSV,  "$(HSV=NO_ALARM)")
+  field(HHSV, "$(HHSV=NO_ALARM)")
+  field(TSE,  "$(TSE=-2)")
+}
diff --git a/db/Beckhoff_5XXX/ecmcEL5131.substitutions b/db/Beckhoff_5XXX/ecmcEL5131.substitutions
@@ -0,0 +1,6 @@
+file "ecmcEL5131-chX.template"
+{
+    pattern {CH_ID}
+            {01   }
+
+}
diff --git a/db/Beckhoff_5XXX/ecmcEL5131_DC.substitutions b/db/Beckhoff_5XXX/ecmcEL5131_DC.substitutions
@@ -0,0 +1,15 @@
+file "ecmcEL5131-chX.template"
+{
+    pattern {CH_ID}
+            {01   }
+
+}
+
+# timestamp
+file "ecmc_timestamp_64-chX.template"{
+  pattern {CH_ID, KEY,      suffix,        sourceName          }
+          {"",    "Enc01",  "-Time",       "timestamp01"       }
+          {"",    "Enc01",  "-TimeIdx",    "timestampIndex01"  }
+          {"",    "Enc01",  "-TimeLtch01", "timestampLatch01"  }
+          {"",    "Enc01",  "-TimeLtch02", "timestampLatch02"  }
+}
diff --git a/hardware/Beckhoff_5XXX/EL/ecmcEL5131.cmd b/hardware/Beckhoff_5XXX/EL/ecmcEL5131.cmd
@@ -0,0 +1,37 @@
+#-d /**
+#-d   \brief hardware script for EL5131
+#-d   \details EL5131 Incremental encoder interface (differential RS422,TTL, 2*24V outputs)
+#-d   \author Anders Sandstroem
+#-d   \file
+#-d */
+
+epicsEnvSet("ECMC_EC_HWTYPE"             "EL5131")
+epicsEnvSet("ECMC_EC_VENDOR_ID"          "0x2")
+epicsEnvSet("ECMC_EC_PRODUCT_ID"         "0x140b3052")
+
+#- verify slave, including reset
+ecmcFileExist(${ecmccfg_DIR}slaveVerify.cmd,1)
+${SCRIPTEXEC} ${ecmccfg_DIR}slaveVerify.cmd "RESET=true"
+
+ecmcConfigOrDie "Cfg.EcAddEntryDT(${ECMC_EC_SLAVE_NUM},${ECMC_EC_VENDOR_ID},${ECMC_EC_PRODUCT_ID},1,2,0x1600,0x7000,0x01,U16,encoderControl01)"
+ecmcConfigOrDie "Cfg.EcAddEntryDT(${ECMC_EC_SLAVE_NUM},${ECMC_EC_VENDOR_ID},${ECMC_EC_PRODUCT_ID},1,2,0x1600,0x7000,0x11,U32,encoderValue01)"
+
+ecmcConfigOrDie "Cfg.EcAddEntryDT(${ECMC_EC_SLAVE_NUM},${ECMC_EC_VENDOR_ID},${ECMC_EC_PRODUCT_ID},2,3,0x1a00,0x6000,0x01,U32,encoderStatus01)"
+ecmcConfigOrDie "Cfg.EcAddEntryDT(${ECMC_EC_SLAVE_NUM},${ECMC_EC_VENDOR_ID},${ECMC_EC_PRODUCT_ID},2,3,0x1a00,0x6000,0x11,U32,positionActual01)"
+ecmcConfigOrDie "Cfg.EcAddEntryDT(${ECMC_EC_SLAVE_NUM},${ECMC_EC_VENDOR_ID},${ECMC_EC_PRODUCT_ID},2,3,0x1a00,0x6000,0x12,U32,encoderLatchPostion01)"
+ecmcConfigOrDie "Cfg.EcAddEntryDT(${ECMC_EC_SLAVE_NUM},${ECMC_EC_VENDOR_ID},${ECMC_EC_PRODUCT_ID},2,3,0x1a00,0x6000,0x22,U32,encoderLatchPostion02)"
+
+ecmcConfigOrDie "Cfg.EcAddEntryDT(${ECMC_EC_SLAVE_NUM},${ECMC_EC_VENDOR_ID},${ECMC_EC_PRODUCT_ID},2,3,0x1a02,0x6003,0x01,U16,outputStatus01)"
+
+#- configure dc clock aswell!!!
+#- ecmcConfigOrDie "Cfg.EcAddEntryDT(${ECMC_EC_SLAVE_NUM},${ECMC_EC_VENDOR_ID},${ECMC_EC_PRODUCT_ID},2,3,0x1a08,0x6000,0x16,U64,timestamp01)"
+#- ecmcConfigOrDie "Cfg.EcAddEntryDT(${ECMC_EC_SLAVE_NUM},${ECMC_EC_VENDOR_ID},${ECMC_EC_PRODUCT_ID},2,3,0x1a08,0x6000,0x1F,U64,timestampIndex01)"
+#- ecmcConfigOrDie "Cfg.EcAddEntryDT(${ECMC_EC_SLAVE_NUM},${ECMC_EC_VENDOR_ID},${ECMC_EC_PRODUCT_ID},2,3,0x1a08,0x6000,0x20,U64,timestampLatch01)"
+#- ecmcConfigOrDie "Cfg.EcAddEntryDT(${ECMC_EC_SLAVE_NUM},${ECMC_EC_VENDOR_ID},${ECMC_EC_PRODUCT_ID},2,3,0x1a08,0x6000,0x21,U64,timestampLatch02)"
+
+ecmcConfigOrDie "Cfg.EcAddEntryDT(${ECMC_EC_SLAVE_NUM},${ECMC_EC_VENDOR_ID},${ECMC_EC_PRODUCT_ID},2,3,0x1a0D,0x6013,0x01,U16,outputStatus02)"
+
+#- Notes
+#- The PDOs mapping for the outputs are very large (68 byte per channel) and not supported in this basic cfg
+#- For some reason the timestamps cannot be configured
+#- 0 assign activate word: x700
diff --git a/hardware/Beckhoff_5XXX/EL/ecmcEL5131_DC.cmd b/hardware/Beckhoff_5XXX/EL/ecmcEL5131_DC.cmd
@@ -0,0 +1,43 @@
+#-d /**
+#-d   \brief hardware script for EL5131 with timestamps exposed over ethercat
+#-d   \details EL5131 Incremental encoder interface (differential RS422,TTL, 2*24V outputs)
+#-d   \author Anders Sandstroem
+#-d   \file
+#-d */
+
+epicsEnvSet("ECMC_EC_HWTYPE"             "EL5131_DC")
+epicsEnvSet("ECMC_EC_VENDOR_ID"          "0x2")
+epicsEnvSet("ECMC_EC_PRODUCT_ID"         "0x140b3052")
+
+#- verify slave, including reset
+ecmcFileExist(${ecmccfg_DIR}slaveVerify.cmd,1)
+${SCRIPTEXEC} ${ecmccfg_DIR}slaveVerify.cmd "RESET=true"
+
+ecmcConfigOrDie "Cfg.EcAddEntryDT(${ECMC_EC_SLAVE_NUM},${ECMC_EC_VENDOR_ID},${ECMC_EC_PRODUCT_ID},1,2,0x1600,0x7000,0x01,U16,encoderControl01)"
+ecmcConfigOrDie "Cfg.EcAddEntryDT(${ECMC_EC_SLAVE_NUM},${ECMC_EC_VENDOR_ID},${ECMC_EC_PRODUCT_ID},1,2,0x1600,0x7000,0x11,U32,encoderValue01)"
+
+ecmcConfigOrDie "Cfg.EcAddEntryDT(${ECMC_EC_SLAVE_NUM},${ECMC_EC_VENDOR_ID},${ECMC_EC_PRODUCT_ID},2,3,0x1a00,0x6000,0x01,U32,encoderStatus01)"
+ecmcConfigOrDie "Cfg.EcAddEntryDT(${ECMC_EC_SLAVE_NUM},${ECMC_EC_VENDOR_ID},${ECMC_EC_PRODUCT_ID},2,3,0x1a00,0x6000,0x11,U32,positionActual01)"
+ecmcConfigOrDie "Cfg.EcAddEntryDT(${ECMC_EC_SLAVE_NUM},${ECMC_EC_VENDOR_ID},${ECMC_EC_PRODUCT_ID},2,3,0x1a00,0x6000,0x12,U32,encoderLatchPostion01)"
+ecmcConfigOrDie "Cfg.EcAddEntryDT(${ECMC_EC_SLAVE_NUM},${ECMC_EC_VENDOR_ID},${ECMC_EC_PRODUCT_ID},2,3,0x1a00,0x6000,0x22,U32,encoderLatchPostion02)"
+
+ecmcConfigOrDie "Cfg.EcAddEntryDT(${ECMC_EC_SLAVE_NUM},${ECMC_EC_VENDOR_ID},${ECMC_EC_PRODUCT_ID},2,3,0x1a02,0x6003,0x01,U16,outputStatus01)"
+
+#- configure dc clock aswell!!!
+ecmcConfigOrDie "Cfg.EcAddEntryDT(${ECMC_EC_SLAVE_NUM},${ECMC_EC_VENDOR_ID},${ECMC_EC_PRODUCT_ID},2,3,0x1a08,0x6000,0x16,U64,timestamp01)"
+ecmcConfigOrDie "Cfg.EcAddEntryDT(${ECMC_EC_SLAVE_NUM},${ECMC_EC_VENDOR_ID},${ECMC_EC_PRODUCT_ID},2,3,0x1a08,0x6000,0x1F,U64,timestampIndex01)"
+ecmcConfigOrDie "Cfg.EcAddEntryDT(${ECMC_EC_SLAVE_NUM},${ECMC_EC_VENDOR_ID},${ECMC_EC_PRODUCT_ID},2,3,0x1a08,0x6000,0x20,U64,timestampLatch01)"
+ecmcConfigOrDie "Cfg.EcAddEntryDT(${ECMC_EC_SLAVE_NUM},${ECMC_EC_VENDOR_ID},${ECMC_EC_PRODUCT_ID},2,3,0x1a08,0x6000,0x21,U64,timestampLatch02)"
+
+ecmcConfigOrDie "Cfg.EcAddEntryDT(${ECMC_EC_SLAVE_NUM},${ECMC_EC_VENDOR_ID},${ECMC_EC_PRODUCT_ID},2,3,0x1a0D,0x6013,0x01,U16,outputStatus02)"
+
+#-  Configure DC clock
+ecmcEpicsEnvSetCalc("ECMC_TEMP_PERIOD_NANO_SECS",1000/${ECMC_EC_SAMPLE_RATE=1000}*1E6)
+ecmcConfigOrDie "Cfg.EcSlaveConfigDC(${ECMC_EC_SLAVE_NUM},0x700,${ECMC_TEMP_PERIOD_NANO_SECS},0,0,0)"
+epicsEnvUnset(ECMC_TEMP_PERIOD_NANO_SECS)
+
+
+#- Notes
+#- The PDOs mapping for the outputs are very large (68 byte per channel) and not supported in this basic cfg
+#- For some reason the timestamps cannot be configured
+#- 0 assign activate word: x700