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<== Date ==> <== Thread ==>

Subject: Addition of command primitives to Asyn motor
From: <matthew.pearson@diamond.ac.uk>
To: <sluiter@aps.anl.gov>, <rivers@cars.uchicago.edu>, <jemian@aps.anl.gov>, <sstepanov@anl.gov>, <mooney@aps.anl.gov>, <nick.rees@diamond.ac.uk>, <austen.rose@diamond.ac.uk>
Cc: tech-talk@aps.anl.gov
Date: Wed, 25 Nov 2009 12:36:33 -0000
Hi,

We have a requirement for sending arbitrary strings to motor
controllers, and this isn't currently supported by the Asyn motor
interface. So we're proposing that we add support for command primitives
to Asyn motor, which means we can then use the motor record INIT, PREM
and POST fields.

It means extending the driver support entry table with a new function
called  motorAxisPrimative, that will support character arrays. It
shouldn't break existing driver support, but we should make an effort to
update all the Asyn motor drivers.

It also means adding in asynOctet support to devMotorAsyn and
drvMotorAsyn.

It's a fairly big change, which is why I'm forwarding to tech talk in
case people have comments. But since it's only adding features it
shouldn't break anything (right?).

The new code will allow us to do things like power off motors between
moves, use different PID variables for stationary axes and moving axes,
etc. 

If there are any comments/problems let me know.

Cheers,
Matthew

Dr Matthew Pearson
Senior Software Systems Engineer
Diamond Light Source
Chilton, Didcot
OX11 0DE
UK

Beamline Controls - I16, I19, B18
Tel: +44 (0)1235 778538

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