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R2-0
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@kmpeters kmpeters released this 21 Jan 22:06
· 117 commits to master since this release
R2-0
63320d7

R2-0 is a release based on the master branch.

Changes since R1-0

New features

  • Commit 3b25e12: Axes can be enabled/disabled from EPICS.
  • Pull request #6 Implemented profile moves and data recording.
  • Pull request #7 Implemented homing using predefined homing methods.
  • Pull request #8 Allow any SPiiPlus user units to be used; the axis resolution (STEPF) is queried during initialization.
  • Pull request #9 Allow the max velocity and acceleration to be read and set from EPICS.
  • Pull request #10 Allow reading/writing global variables from EPICS.
  • Pull request #11 Allow programs to be started and stopped in buffers on the controller.
  • Pull request #12 Make Safe Torque Off (STO) status available.
  • Pull request #13 Use binary queries for polling.

Modifications to existing features

  • Commit 42c580b: Pass IOC prefix to dbLoadTemplate in example IOC
  • Commit 664e4e4: Added a tcp/ip example to acsMotionIOC.
  • Commit 7099c0d: Install iocsh files.

Bug fixes

  • Commit e9615c7: Initialized variables to prevent random memory from being freed when SPiiPlusCreate is called.
  • Commit e537b51: Added locks around writeReadController to prevent conficts between the poller thread and the profile move thread.
  • Commit 187f609: Initialized status in the axis poll method to avoid errors when toggling the CNEN field or changing a limit.
  • Commit d442ffa: Initialized status in the getMaxParams.
  • Commit 9e48329: Corrected the name of a dbd file in the example IOC.

Notes

  • Triggering has not been implemented yet.
  • Homing to a dedicated home switch requires writing custom code to run on the controller, since there isn't a predefined homing routine for that.
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