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Set the IOC prefix in an environment variable and pass it to dbLoadTe…
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…mplate so a single line needs to be edited to change the prefix
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@kmpeters
kmpeters committed May 19, 2021
1 parent f6cb5a7 commit 42c580b
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4 changes: 2 additions & 2 deletions iocs/acsMotionIOC/iocBoot/iocAcsMotion/AcsMotion.cmd
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Expand Up @@ -4,7 +4,7 @@
iocshLoad("$(MOTOR_ACSMOTION)/iocsh/ACS_Motion_tcp.iocsh", "INSTANCE=ACS1,IP_ADDR=10.0.0.100,NUM_AXES=8,IDLE_POLL=0.2")

# Load motor records
dbLoadTemplate("AcsMotion.substitutions")
dbLoadTemplate("AcsMotion.substitutions","P=$(PREFIX)")

# Load an asyn record for debugging
dbLoadRecords("$(ASYN)/db/asynRecord.db","P=acsMotion:,R=asyn,PORT=ACS1_ETH,ADDR=0,OMAX=256,IMAX=256")
dbLoadRecords("$(ASYN)/db/asynRecord.db","P=$(PREFIX),R=asyn,PORT=ACS1_ETH,ADDR=0,OMAX=256,IMAX=256")
147 changes: 75 additions & 72 deletions iocs/acsMotionIOC/iocBoot/iocAcsMotion/AcsMotion.substitutions
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@@ -1,130 +1,133 @@
#
# Note: the P macro, which is passed to all of the databases in this file, has the value $(PREFIX) and is set in the envVars file
#
file "$(TOP)/db/asyn_motor.db"
{
pattern
{P, N, M, DTYP, PORT, ADDR, DESC, EGU, DIR, VELO, VBAS, ACCL, BDST, BVEL, BACC, MRES, PREC, DHLM, DLLM, INIT}
{N, M, DTYP, PORT, ADDR, DESC, EGU, DIR, VELO, VBAS, ACCL, BDST, BVEL, BACC, MRES, PREC, DHLM, DLLM, INIT}
# 2.54 mm/rev, 200 steps/rev, 1024 microsteps/step
{acsMotion:, 1, "m$(N)", "asynMotor", ACS1, 0, "motor $(N)", mm, Pos, 1, .1, .2, 0, 1, .2, 1.240234375e-05, 6, 10, -10, ""}
{acsMotion:, 2, "m$(N)", "asynMotor", ACS1, 1, "motor $(N)", mm, Pos, 1, .1, .2, 0, 1, .2, 0.0001, 4, 100, -100, ""}
{acsMotion:, 3, "m$(N)", "asynMotor", ACS1, 2, "motor $(N)", mm, Pos, 1, .1, .2, 0, 1, .2, 0.0001, 4, 100, -100, ""}
{acsMotion:, 4, "m$(N)", "asynMotor", ACS1, 3, "motor $(N)", mm, Pos, 1, .1, .2, 0, 1, .2, 0.0001, 4, 100, -100, ""}
{acsMotion:, 5, "m$(N)", "asynMotor", ACS1, 4, "motor $(N)", mm, Pos, 1, .1, .2, 0, 1, .2, 0.0001, 4, 100, -100, ""}
{acsMotion:, 6, "m$(N)", "asynMotor", ACS1, 5, "motor $(N)", mm, Pos, 1, .1, .2, 0, 1, .2, 0.0001, 4, 100, -100, ""}
{acsMotion:, 7, "m$(N)", "asynMotor", ACS1, 6, "motor $(N)", mm, Pos, 1, .1, .2, 0, 1, .2, 0.0001, 4, 100, -100, ""}
{acsMotion:, 8, "m$(N)", "asynMotor", ACS1, 7, "motor $(N)", mm, Pos, 1, .1, .2, 0, 1, .2, 0.0001, 4, 100, -100, ""}
#!{acsMotion:, 9, "m$(N)", "asynMotor", ACS1, 8, "motor $(N)", mm, Pos, 1, .1, .2, 0, 1, .2, 0.0001, 4, 100, -100, ""}
#!{acsMotion:, 10, "m$(N)", "asynMotor", ACS1, 9, "motor $(N)", mm, Pos, 1, .1, .2, 0, 1, .2, 0.0001, 4, 100, -100, ""}
#!{acsMotion:, 11, "m$(N)", "asynMotor", ACS1, 10, "motor $(N)", mm, Pos, 1, .1, .2, 0, 1, .2, 0.0001, 4, 100, -100, ""}
#!{acsMotion:, 12, "m$(N)", "asynMotor", ACS1, 11, "motor $(N)", mm, Pos, 1, .1, .2, 0, 1, .2, 0.0001, 4, 100, -100, ""}
#!{acsMotion:, 13, "m$(N)", "asynMotor", ACS1, 12, "motor $(N)", mm, Pos, 1, .1, .2, 0, 1, .2, 0.0001, 4, 100, -100, ""}
#!{acsMotion:, 14, "m$(N)", "asynMotor", ACS1, 13, "motor $(N)", mm, Pos, 1, .1, .2, 0, 1, .2, 0.0001, 4, 100, -100, ""}
#!{acsMotion:, 15, "m$(N)", "asynMotor", ACS1, 14, "motor $(N)", mm, Pos, 1, .1, .2, 0, 1, .2, 0.0001, 4, 100, -100, ""}
#!{acsMotion:, 16, "m$(N)", "asynMotor", ACS1, 15, "motor $(N)", mm, Pos, 1, .1, .2, 0, 1, .2, 0.0001, 4, 100, -100, ""}
{1, "m$(N)", "asynMotor", ACS1, 0, "motor $(N)", mm, Pos, 1, .1, .2, 0, 1, .2, 1.240234375e-05, 6, 10, -10, ""}
{2, "m$(N)", "asynMotor", ACS1, 1, "motor $(N)", mm, Pos, 1, .1, .2, 0, 1, .2, 0.0001, 4, 100, -100, ""}
{3, "m$(N)", "asynMotor", ACS1, 2, "motor $(N)", mm, Pos, 1, .1, .2, 0, 1, .2, 0.0001, 4, 100, -100, ""}
{4, "m$(N)", "asynMotor", ACS1, 3, "motor $(N)", mm, Pos, 1, .1, .2, 0, 1, .2, 0.0001, 4, 100, -100, ""}
{5, "m$(N)", "asynMotor", ACS1, 4, "motor $(N)", mm, Pos, 1, .1, .2, 0, 1, .2, 0.0001, 4, 100, -100, ""}
{6, "m$(N)", "asynMotor", ACS1, 5, "motor $(N)", mm, Pos, 1, .1, .2, 0, 1, .2, 0.0001, 4, 100, -100, ""}
{7, "m$(N)", "asynMotor", ACS1, 6, "motor $(N)", mm, Pos, 1, .1, .2, 0, 1, .2, 0.0001, 4, 100, -100, ""}
{8, "m$(N)", "asynMotor", ACS1, 7, "motor $(N)", mm, Pos, 1, .1, .2, 0, 1, .2, 0.0001, 4, 100, -100, ""}
#!{9, "m$(N)", "asynMotor", ACS1, 8, "motor $(N)", mm, Pos, 1, .1, .2, 0, 1, .2, 0.0001, 4, 100, -100, ""}
#!{10, "m$(N)", "asynMotor", ACS1, 9, "motor $(N)", mm, Pos, 1, .1, .2, 0, 1, .2, 0.0001, 4, 100, -100, ""}
#!{11, "m$(N)", "asynMotor", ACS1, 10, "motor $(N)", mm, Pos, 1, .1, .2, 0, 1, .2, 0.0001, 4, 100, -100, ""}
#!{12, "m$(N)", "asynMotor", ACS1, 11, "motor $(N)", mm, Pos, 1, .1, .2, 0, 1, .2, 0.0001, 4, 100, -100, ""}
#!{13, "m$(N)", "asynMotor", ACS1, 12, "motor $(N)", mm, Pos, 1, .1, .2, 0, 1, .2, 0.0001, 4, 100, -100, ""}
#!{14, "m$(N)", "asynMotor", ACS1, 13, "motor $(N)", mm, Pos, 1, .1, .2, 0, 1, .2, 0.0001, 4, 100, -100, ""}
#!{15, "m$(N)", "asynMotor", ACS1, 14, "motor $(N)", mm, Pos, 1, .1, .2, 0, 1, .2, 0.0001, 4, 100, -100, ""}
#!{16, "m$(N)", "asynMotor", ACS1, 15, "motor $(N)", mm, Pos, 1, .1, .2, 0, 1, .2, 0.0001, 4, 100, -100, ""}
}

file "$(TOP)/db/profileMoveController.template"
{
pattern
{P, R, PORT, NAXES, NPOINTS, NPULSES, TIMEOUT}
{acsMotion:, pm1:, ACS1, 8, 2000, 2000, 2.0}
{R, PORT, NAXES, NPOINTS, NPULSES, TIMEOUT}
{pm1:, ACS1, 8, 2000, 2000, 2.0}
}

file "$(TOP)/db/profileMoveAxis.template"
{
pattern
{P, R, M, NPOINTS, NREADBACK, PORT, ADDR, TIMEOUT, PREC}
{acsMotion:, pm1:, 1, 2000, 2000, ACS1, 0, 2.0, 4}
{acsMotion:, pm1:, 2, 2000, 2000, ACS1, 1, 2.0, 4}
{acsMotion:, pm1:, 3, 2000, 2000, ACS1, 2, 2.0, 4}
{acsMotion:, pm1:, 4, 2000, 2000, ACS1, 3, 2.0, 4}
{acsMotion:, pm1:, 5, 2000, 2000, ACS1, 4, 2.0, 4}
{acsMotion:, pm1:, 6, 2000, 2000, ACS1, 5, 2.0, 4}
{acsMotion:, pm1:, 7, 2000, 2000, ACS1, 6, 2.0, 4}
{acsMotion:, pm1:, 8, 2000, 2000, ACS1, 7, 2.0, 4}
{R, M, NPOINTS, NREADBACK, PORT, ADDR, TIMEOUT, PREC}
{pm1:, 1, 2000, 2000, ACS1, 0, 2.0, 4}
{pm1:, 2, 2000, 2000, ACS1, 1, 2.0, 4}
{pm1:, 3, 2000, 2000, ACS1, 2, 2.0, 4}
{pm1:, 4, 2000, 2000, ACS1, 3, 2.0, 4}
{pm1:, 5, 2000, 2000, ACS1, 4, 2.0, 4}
{pm1:, 6, 2000, 2000, ACS1, 5, 2.0, 4}
{pm1:, 7, 2000, 2000, ACS1, 6, 2.0, 4}
{pm1:, 8, 2000, 2000, ACS1, 7, 2.0, 4}
}

file "$(TOP)/db/SPiiPlusAxisExtra.db"
{
pattern
{P, M, PORT, ADDR}
{acsMotion:, m1, ACS1, 0}
{acsMotion:, m2, ACS1, 1}
{acsMotion:, m3, ACS1, 2}
{acsMotion:, m4, ACS1, 3}
{acsMotion:, m5, ACS1, 4}
{acsMotion:, m6, ACS1, 5}
{acsMotion:, m7, ACS1, 6}
{acsMotion:, m8, ACS1, 7}
{M, PORT, ADDR}
{m1, ACS1, 0}
{m2, ACS1, 1}
{m3, ACS1, 2}
{m4, ACS1, 3}
{m5, ACS1, 4}
{m6, ACS1, 5}
{m7, ACS1, 6}
{m8, ACS1, 7}
}

file "$(TOP)/db/SPiiPlusHoming.db"
{
pattern
{P, M, PORT, ADDR, TIMEOUT, VAL}
{acsMotion:, m1, ACS1, 0, 2.0, 0}
{acsMotion:, m2, ACS1, 1, 2.0, 0}
{acsMotion:, m3, ACS1, 2, 2.0, 0}
{acsMotion:, m4, ACS1, 3, 2.0, 0}
{acsMotion:, m5, ACS1, 4, 2.0, 0}
{acsMotion:, m6, ACS1, 5, 2.0, 0}
{acsMotion:, m7, ACS1, 6, 2.0, 0}
{acsMotion:, m8, ACS1, 7, 2.0, 0}
{M, PORT, ADDR, TIMEOUT, VAL}
{m1, ACS1, 0, 2.0, 0}
{m2, ACS1, 1, 2.0, 0}
{m3, ACS1, 2, 2.0, 0}
{m4, ACS1, 3, 2.0, 0}
{m5, ACS1, 4, 2.0, 0}
{m6, ACS1, 5, 2.0, 0}
{m7, ACS1, 6, 2.0, 0}
{m8, ACS1, 7, 2.0, 0}
}

# These records work, but the initial values are all zero. Maybe HOPR/LOPR/DRVH/DRVL need to be set?
file "$(TOP)/db/SPiiPlusMaxParams.db"
{
pattern
{P, M, PORT, ADDR, MAX_VELO, MAX_ACCL, PREC}
{acsMotion:, m1, ACS1, 0, 5.0, 20.0, 4}
{acsMotion:, m2, ACS1, 1, 200.0, 1000.0, 4}
{acsMotion:, m3, ACS1, 2, 200.0, 1000.0, 4}
{acsMotion:, m4, ACS1, 3, 200.0, 1000.0, 4}
{acsMotion:, m5, ACS1, 4, 200.0, 1000.0, 4}
{acsMotion:, m6, ACS1, 5, 200.0, 1000.0, 4}
{acsMotion:, m7, ACS1, 6, 200.0, 1000.0, 4}
{acsMotion:, m8, ACS1, 7, 200.0, 1000.0, 4}
{M, PORT, ADDR, MAX_VELO, MAX_ACCL, PREC}
{m1, ACS1, 0, 5.0, 20.0, 4}
{m2, ACS1, 1, 200.0, 1000.0, 4}
{m3, ACS1, 2, 200.0, 1000.0, 4}
{m4, ACS1, 3, 200.0, 1000.0, 4}
{m5, ACS1, 4, 200.0, 1000.0, 4}
{m6, ACS1, 5, 200.0, 1000.0, 4}
{m7, ACS1, 6, 200.0, 1000.0, 4}
{m8, ACS1, 7, 200.0, 1000.0, 4}
}

file "$(TOP)/db/SPiiPlusMaxParamsRbv.db"
{
pattern
{P, M, PORT, ADDR, PREC}
{acsMotion:, m1, ACS1, 0, 4}
{acsMotion:, m2, ACS1, 1, 4}
{acsMotion:, m3, ACS1, 2, 4}
{acsMotion:, m4, ACS1, 3, 4}
{acsMotion:, m5, ACS1, 4, 4}
{acsMotion:, m6, ACS1, 5, 4}
{acsMotion:, m7, ACS1, 6, 4}
{acsMotion:, m8, ACS1, 7, 4}
{M, PORT, ADDR, PREC}
{m1, ACS1, 0, 4}
{m2, ACS1, 1, 4}
{m3, ACS1, 2, 4}
{m4, ACS1, 3, 4}
{m5, ACS1, 4, 4}
{m6, ACS1, 5, 4}
{m7, ACS1, 6, 4}
{m8, ACS1, 7, 4}
}

### The following databases are useful if programs are running on the ACS controller
#file "$(TOP)/db/SPiiPlusIntVar.db"
#{
#pattern
#{P, R, DESC, PORT, TAG}
#{acsMotion:, c0:1001I, "Int 1", ACS1, 1001}
#{R, DESC, PORT, TAG}
#{c0:1001I, "Int 1", ACS1, 1001}
#}
#
#file "$(TOP)/db/SPiiPlusRealVar.db"
#{
#pattern
#{P, R, DESC, PORT, TAG, PREC}
#{acsMotion:, c0:1002R, "Real 1", ACS1, 1002, 5}
#{R, DESC, PORT, TAG, PREC}
#{c0:1002R, "Real 1", ACS1, 1002, 5}
#}
#
#file "$(TOP)/db/SPiiPlusProgram.db"
#{
#pattern
#{P, R, PORT, BUFF, NAME}
#{acsMotion:, c0:, ACS1, 0, Test}
#{R, PORT, BUFF, NAME}
#{c0:, ACS1, 0, Test}
#}

### This is only used for during development and will be removed in the near future
#file "$(TOP)/db/SPiiPlusTest.db"
#{
#pattern
#{P, R, PORT}
#{acsMotion:, pm1:, ACS1}
#{R, PORT}
#{pm1:, ACS1}
#}
3 changes: 3 additions & 0 deletions iocs/acsMotionIOC/iocBoot/iocAcsMotion/envVars
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@@ -0,0 +1,3 @@
# prefix used for all PVs in this IOC
epicsEnvSet("PREFIX", "acsMotion:")

5 changes: 3 additions & 2 deletions iocs/acsMotionIOC/iocBoot/iocAcsMotion/st.cmd
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@@ -1,6 +1,7 @@
#!../../bin/linux-x86_64/acsMotion

< envPaths
< envVars

cd "${TOP}"

Expand All @@ -11,14 +12,14 @@ acsMotion_registerRecordDeviceDriver pdbbase
cd "${TOP}/iocBoot/${IOC}"

## motorUtil (allstop & alldone)
dbLoadRecords("$(MOTOR)/db/motorUtil.db", "P=acsMotion:")
dbLoadRecords("$(MOTOR)/db/motorUtil.db", "P=$(PREFIX)")

##
< AcsMotion.cmd

iocInit

## motorUtil (allstop & alldone)
motorUtilInit("acsMotion:")
motorUtilInit("$(PREFIX)")

# Boot complete

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