Motor record driver ("model-3" type) for the PiezoJena d-drive piezo controller.

Though it may work on other versions, the driver was tested on these:

1. EPICS base 3.14.12.3 http://www.aps.anl.gov/epics/
2. asyn 4-26 http://www.aps.anl.gov/epics/modules/soft/asyn/
3. motor record 6-9 http://www.aps.anl.gov/bcda/synApps/motor/

1. EDM http://ics-web.sns.ornl.gov/edm/log/getLatest.php Screens are provided in $TOP/opi for EDM.
2. Autosave http://www.aps.anl.gov/bcda/synApps/autosave/autosave.html

1. Install EPICS

   1. If using a Debian-based system (e.g., Ubuntu), use the packages here http://epics.nsls2.bnl.gov/debian/
   2. If no packages are available for your distribution, build from source

2. Edit configure/RELEASE

   1. Point the directories listed in there to the appropriate places
   2. If using the Debian packages, everything can be pointed to /usr/lib/epics

3. Edit iocBoot/iocddrive/st.cmd

   1. Change the shebang on the top of the script if your architecture is different than linux-x86_64: #!../../bin/linux-x86_64/ddrive (check if the environment variable EPICS_HOST_ARCH is set, or perhaps uname -a, or ask someone if you don't know)
   2. The following line sets the prefix to all of your ddrive PVs (with $(P)$(R)):

      epicsEnvSet("P", "$(P=MLL:)")
      epicsEnvSet("R", "$(R=DDRIVE:)")
      

      Set the second quoted strings appropriately.
   3. The following line sets the IP address of the serial device server communicating with the ddrive:

      epicsEnvSet("DDRIVE_NET_IP", "$(DDRIVE_NET_IP=10.0.0.11)")
      epicsEnvSet("DDRIVE_NET_PORT", "$(DDRIVE_NET_PORT=4016)")
      

      Change the 10.0.0.11 to the IP address, and 4016 to the correct port number.
   4. Alternatively, if you have the device directly connected to a serial port on the machine, uncomment and modify the drvAsynSerialPortConfigure/asynSetOption lines. Comment out drvAsynIPPortConfigure.
   5. If necessary, you can change the rate at which the controller is polled for positions and such:

      #ddriveCreateController(portName, ddrivePortName, numAxes, movingPollPeriod, idlePollPeriod)
      ddriveCreateController("DDRIVE0", "$(ASYN_PORT)", 3, 50, 100)
      

      The moving and idle poll periods are both in milliseconds. The former rate is used when an axis is in motion, the latter otherwise.
   6. If using autosave, uncomment create_monitor_set lines. Add lines in auto_positions.req and auto_settings.req for each motor.

4. Edit ddriveTestApp/Db/motors.sub If multiple d-drives are used, duplicate each section and change the $(PORT) macros, descriptions, and so on. An asyn record per controller is created as well, allowing for direct communication.

5. Go to the top directory and make

6. If all goes well:

   cd iocBoot/iocddrive
   chmod +x st.cmd
   ./st.cmd
   

7. Run EDM:

   export EDMDATAFILES=$TOP/op/edl:$EDMDATAFILES
   (general motor settings configuration)
   edm -x -m "P=MLL:ddrive{Ax:1},M=Mtr" motorx_all &
   
   (d-drive specific settings)
   edm -x -m "P=MLL:ddrive,R={Ax:1}" ddrive_all &