Improved the example IOC

epics-motor · Apr 9, 2019 · eb6d3f5 · eb6d3f5
1 parent 87819e6
commit eb6d3f5
Show file tree

Hide file tree

Showing 6 changed files with 60 additions and 31 deletions.
diff --git a/iocs/newFocusIOC/iocBoot/iocNewFocus/PMNC87xx.cmd b/iocs/newFocusIOC/iocBoot/iocNewFocus/PMNC87xx.cmd
@@ -0,0 +1,16 @@
+
+drvAsynSerialPortConfigure("serial1", "/dev/ttyS0", 0, 0, 0)
+
+dbLoadTemplate("PMNC87xx.substitutions")
+
+# New Focus Picomotor Network Controller (model 8750/2) (setup parameters:  
+#     (1) maximum number of controllers in system 
+#     (2) maximum number of drivers per controller (1 - 3)  
+#     (3) motor task polling rate (min=1Hz,max=60Hz)  
+PMNC87xxSetup(1, 2, 10) 
+
+# New Focuc Picomotor Network Controller (model 8750/2) configuration parameters:  
+#     (1) controller# being configured, 
+#     (2) asyn port name (string)
+PMNC87xxConfig(0, "serial1")
+#!drvPMNC87xxdebug=4
diff --git a/iocs/newFocusIOC/iocBoot/iocNewFocus/PMNC87xx.substitutions b/iocs/newFocusIOC/iocBoot/iocNewFocus/PMNC87xx.substitutions
@@ -0,0 +1,11 @@
+file "$(MOTOR)/db/motor.db"
+{
+pattern
+{P,             N,       M,        DTYP,         C,      S,      DESC,           EGU,            DIR,    VELO,   VBAS,   ACCL,   BDST,   BVEL,   BACC,   MRES,   PREC,   DHLM,   DLLM,   INIT}
+{newFocus:,     1,     "m$(N)",  "PMNC87xx",     0,      0,      "motor $(N)",   degrees,        Pos,    1,      .1,     .2,     0,      1,       .2,    2.5e-4, 5,      100,    -100,   ""}
+{newFocus:,     2,     "m$(N)",  "PMNC87xx",     0,      1,      "motor $(N)",   degrees,        Pos,    1,      .1,     .2,     0,      1,       .2,    2.5e-4, 5,      100,    -100,   ""}
+{newFocus:,     3,     "m$(N)",  "PMNC87xx",     0,      2,      "motor $(N)",   degrees,        Pos,    1,      .1,     .2,     0,      1,       .2,    2.5e-4, 5,      100,    -100,   ""}
+{newFocus:,     4,     "m$(N)",  "PMNC87xx",     0,      3,      "motor $(N)",   degrees,        Pos,    1,      .1,     .2,     0,      1,       .2,    2.5e-4, 5,      100,    -100,   ""}
+{newFocus:,     5,     "m$(N)",  "PMNC87xx",     0,      4,      "motor $(N)",   degrees,        Pos,    1,      .1,     .2,     0,      1,       .2,    2.5e-4, 5,      100,    -100,   ""}
+{newFocus:,     6,     "m$(N)",  "PMNC87xx",     0,      5,      "motor $(N)",   degrees,        Pos,    1,      .1,     .2,     0,      1,       .2,    2.5e-4, 5,      100,    -100,   ""}
+}
diff --git a/iocs/newFocusIOC/iocBoot/iocNewFocus/newfocus8742.asyn.motor.substitutions b/iocs/newFocusIOC/iocBoot/iocNewFocus/newfocus8742.asyn.motor.substitutions
@@ -1,8 +1,8 @@
 file "$(MOTOR)/db/basic_asyn_motor.db"
 {
 pattern
-{P,	N,	M,	DTYP,		PORT,	ADDR,	C,	S,	DESC,	EGU,	DIR,	VELO,	VBAS,	ACCL,	BDST,	BVEL,	BACC,	MRES,	PREC,	DHLM,	DLLM,	INIT}
-{IOC:,	1,	"X",	"asynMotor",	M0, 	1,	0,	0,	"X", counts,	Pos,	100,	25,	1,	0,	0,	50,	1,	0,	0,	0,	""}
-{IOC:,	2,	"Y",	"asynMotor",	M0, 	2,	0,	0,	"Y", counts,	Pos,	100,	25,	1,	0,	0,	50,	1,	0,	0,	0,	""}
+{P,	        N,	 M,	DTYP,		PORT,	ADDR,	C,	S,	DESC,	EGU,	DIR,	VELO,	VBAS,	ACCL,	BDST,	BVEL,	BACC,	MRES,	PREC,	DHLM,	DLLM,	INIT}
+{newFocus:,	1,	"X",	"asynMotor",	M0, 	1,	0,	0,	"X", counts,	Pos,	100,	25,	1,	0,	0,	50,	1,	0,	0,	0,	""}
+{newFocus:,	2,	"Y",	"asynMotor",	M0, 	2,	0,	0,	"Y", counts,	Pos,	100,	25,	1,	0,	0,	50,	1,	0,	0,	0,	""}
 }
 
diff --git a/iocs/newFocusIOC/iocBoot/iocNewFocus/newfocus8742.asyn.st.cmd.linux-x86 b/iocs/newFocusIOC/iocBoot/iocNewFocus/newfocus8742.asyn.st.cmd.linux-x86
@@ -1,7 +1,4 @@
-#!../../bin/linux-x86_64/picoctl
-
-## You may have to change picoctl to something else 
-## everywhere it appears in this file
+#!../../bin/linux-x86_64/newFocus
 
 < envPaths
 
@@ -19,8 +16,8 @@ epicsEnvSet("MC_PREFIX", "$(CT){$(MC)}")
 cd ${TOP}
 
 ## Register all support components
-dbLoadDatabase "dbd/picoctl.dbd"
-picoctl_registerRecordDeviceDriver pdbbase
+dbLoadDatabase "dbd/newFocus.dbd"
+newFocus_registerRecordDeviceDriver pdbbase
 
 # Setup IP port for 8742 
 drvAsynIPPortConfigure("$(Port)", "10.28.2.111:23")
@@ -41,27 +38,27 @@ asynSetTraceIOMask("$(Port)",-1,0x1)
 nf874xCreateController("$(ControllerPort)", "$(Port)", 4, 200, 1000)
 
 ## Load record instances
-dbLoadTemplate("iocBoot/iocNewFocus874x/newfocus8742.asyn.motor.substitutions")
+dbLoadTemplate("iocBoot/iocNewFocus/newfocus8742.asyn.motor.substitutions")
 
 dbLoadRecords("${ASYN}/db/asynRecord.db", "P=$(MC_PREFIX),R=Asyn,PORT=$(Port),ADDR=,OMAX=80,IMAX=80")
 
 ## autosave/restore machinery
-save_restoreSet_Debug(0)
-save_restoreSet_IncompleteSetsOk(1)
-save_restoreSet_DatedBackupFiles(1)
+#!save_restoreSet_Debug(0)
+#!save_restoreSet_IncompleteSetsOk(1)
+#!save_restoreSet_DatedBackupFiles(1)
 
-set_savefile_path("${TOP}/as","/save")
-set_requestfile_path("${TOP}/as","/req")
+#!set_savefile_path("${TOP}/as","/save")
+#!set_requestfile_path("${TOP}/as","/req")
 
-set_pass0_restoreFile("info_positions.sav")
-set_pass0_restoreFile("info_settings.sav")
-set_pass1_restoreFile("info_settings.sav")
+#!set_pass0_restoreFile("info_positions.sav")
+#!set_pass0_restoreFile("info_settings.sav")
+#!set_pass1_restoreFile("info_settings.sav")
 
 iocInit()
 
 ## more autosave/restore machinery
-cd ${TOP}/as/req
-makeAutosaveFiles()
-create_monitor_set("info_positions.req", 5 , "")
-create_monitor_set("info_settings.req", 15 , "")
+#!cd ${TOP}/as/req
+#!makeAutosaveFiles()
+#!create_monitor_set("info_positions.req", 5 , "")
+#!create_monitor_set("info_settings.req", 15 , "")
 
diff --git a/iocs/newFocusIOC/iocBoot/iocNewFocus/st.cmd b/iocs/newFocusIOC/iocBoot/iocNewFocus/st.cmd
@@ -1,8 +1,5 @@
 #!../../bin/linux-x86_64/newFocus
 
-## You may have to change newFocus to something else
-## everywhere it appears in this file
-
 < envPaths
 
 cd "${TOP}"
@@ -11,11 +8,17 @@ cd "${TOP}"
 dbLoadDatabase "dbd/newFocus.dbd"
 newFocus_registerRecordDeviceDriver pdbbase
 
-## Load record instances
-#dbLoadRecords("db/xxx.db","user=kpetersn")
-
 cd "${TOP}/iocBoot/${IOC}"
+
+## motorUtil (allstop & alldone)
+dbLoadRecords("$(MOTOR)/db/motorUtil.db", "P=newFocus:")
+
+##
+< PMNC87xx.cmd
+
 iocInit
 
-## Start any sequence programs
-#seq sncxxx,"user=kpetersn"
+## motorUtil (allstop & alldone)
+motorUtilInit("newFocus:")
+
+# Boot complete
diff --git a/iocs/newFocusIOC/newFocusApp/src/Makefile b/iocs/newFocusIOC/newFocusApp/src/Makefile
@@ -21,12 +21,14 @@ newFocus_DBD += base.dbd
 # Include dbd files from all support applications:
 #ifdef ASYN
 newFocus_DBD += asyn.dbd
+newFocus_DBD += drvAsynSerialPort.dbd
+newFocus_DBD += drvAsynIPPort.dbd
 #endif
 newFocus_DBD += motorSupport.dbd
 newFocus_DBD += devNewFocus.dbd
 
 # Add all the support libraries needed by this IOC
-newFocus_LIBS += newFocus
+newFocus_LIBS += NewFocus
 newFocus_LIBS += motor
 #ifdef ASYN
 newFocus_LIBS += asyn