R2-2

R2-2 is a release based on the master branch.

Changes since R2-1

New features

• None

Modifications to existing features

• Pull request #50: Added homing max distance, homing offset positive, and homing offset negative

Bug fixes

• Pull request #48 from Keenan Lang: Don't build for vxWorks; vxWorks version 6.9 doesn't support lround.

R2-1

R2-1 is a release based on the master branch.

Changes since R2-0

New features

• Pull request #22 and #23: Added auxiliary I/O support
• Pull request #26: Paul Richards added a "homed" record to show when the homing procedure is complete
• Pull request #28: Added support for closed-loop stages with encoders
• Pull request #29: Improved error messages
• Pull request #40 and #42: Made the ENC and ENC2 bits of the FAULT status available as PVs
• Pull request #39: Tim Speight implemented jogging and added a jogDirection status record
• Pull request #43: Minor jog improvements
• Pull request #44: Allow the encoder offsets to be zeroed
• Pull request #46: Query the firmware version string and include it in asynReport output

Modifications to existing features

• Pull request #21: Moved communication methods to a new SPiiPlusCommDriver class
• Pull request #45: Allow PINI to be specified for global var output records, so they initialize properly in IOCs with autosave.

Bug fixes

• Commit cad837e: Paul Richards found and fixed a significant memory leak
• Pull request #25: Include header files to fix RHEL7 build problems
• Pull request #36: Fixed inconsistencies and typos in max params db and req files
• Commit 2cfc752: Modified starting locations for MEDM/caQtDM screens so they don't appear outside of FHD displays
• Pull request #34: Applied fixes from Mark Rivers for SPiiPlusAuxDriver build problems on Windows (dynamic)

Continuous integration

• Commit fdfe967: Added ci-scripts (v3.3.0)
• Pull request #27: Configured to build with Github Actions

R2-0-1

R2-0-1 is a bugfix release based on the R2-0-bugfix branch.

Changes since R2-0

Bug fixes

• Commit 8e125cc: Applied fix for memory leak, found and fixed in the master branch by Paul Richards in cad837e

R2-0

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.

R1-0

Initial release

Notes

• Only point-to-point moves are supported.