speedup controller communication, allow brake on digital output #7
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- speed up communication via parallel commands, switchable with asynSetOption <port> <addr> "pollMethod" <mode> (<mode>: serial, axis-parallel, ctrl-parallel, <addr>==0: controller) - add brake support with digital output with new command "phytronBrakeOutput" or additional EPICS-PVs - allow to automatically enable/disable motor output - allow autosave-ing "DVAL" - generate and check messages with CRC The default settings behave like the previous version of the support module, but message CRC is generated and checked. It uses the serial poll method (one command, one reply), no brake, no stage output en-/disabling. It is worth using a parallel poll method if your controller has the firmware v1.1.12 or later: the normal round trip time is 10ms, the old serial method uses four commands, which is about 40ms multiplied with the number of motors. For a 10 motor phyMOTION it takes 400ms for a single poll, a full stacked phyMOTION with 64 motors needs about 2.5s! The parallel method uses mostly one round trip time with a longer command line and reply (up to 1000 bytes for a command line as suggested by Phytron, up to 2000 bytes per reply).
Feature optional restart
re-add motor position for motors without absolute encoder
WIP: added autosave fields
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The default settings behave like the previous version of the support module, but message CRC is generated and checked. It uses the serial poll method (one command, one reply), no brake, no stage output en-/disabling.
It is worth using a parallel poll method if your controller has the firmware v1.1.12 or later: the normal round trip time is 10ms, the old serial method uses four commands, which is about 40ms multiplied with the number of motors. For a 10 motor phyMOTION it takes 400ms for a single poll, the old polling method took even longer with more axes. The parallel method uses mostly one round trip time with a longer command line and reply (up to 1000 bytes for a command line as suggested by Phytron, up to 2000 bytes per reply).
Tested at two beam lines at Helmholtz-Zentrum Berlin (Bessy-II).