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Improved the simulated motor examples #9

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merged 6 commits into from
Apr 14, 2023
Merged

Improved the simulated motor examples #9

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471574c
Ignored the installed iocsh directory
kmpeters Apr 7, 2023
960f66e
Added DLLM & DHLM macros. This is necessary since the limits for the …
kmpeters Apr 7, 2023
60b7d40
Multiple modifications to the example IOC config:
kmpeters Apr 10, 2023
8399fd8
Don't use a hard-coded EPICS_HOST_ARCH by default
kmpeters Apr 10, 2023
32547ab
Added a generic 8-axis iocsh file for applications where all the axes…
kmpeters Apr 10, 2023
ed03e61
Added a comment about using asyn_motor_model2.db with motor versions …
kmpeters Apr 10, 2023
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1 change: 1 addition & 0 deletions .gitignore
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Expand Up @@ -7,6 +7,7 @@ db/
dbd/
html/
include/
/iocsh/
lib/
templates/
cdCommands
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4 changes: 2 additions & 2 deletions iocs/motorSimIOC/iocBoot/iocMotorSim/Makefile
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@@ -1,8 +1,8 @@
TOP = ../..
include $(TOP)/configure/CONFIG
ARCH = linux-x86_64
#ARCH = linux-x86_64
#ARCH = vxWorks-ppc32
#ARCH = $(EPICS_HOST_ARCH)
ARCH = $(EPICS_HOST_ARCH)
TARGETS = cdCommands
TARGETS += envPaths
include $(TOP)/configure/RULES.ioc
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15 changes: 15 additions & 0 deletions iocs/motorSimIOC/iocBoot/iocMotorSim/motorSim.cmd
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dbLoadTemplate("motorSim.substitutions")

motorSimCreateController("motorSim1", 8)
#asynSetTraceIOMask("motorSim1", 0, HEX)
#asynSetTraceMask("motorSim1", 0, ERROR|FLOW|DRIVER)

# motorSimConfigAxis(port, axis, lowLimit, highLimit, home, start)
motorSimConfigAxis("motorSim1", 0, 20000, -20000, 500, 0)
motorSimConfigAxis("motorSim1", 1, 20000, -20000, 1500, 0)
motorSimConfigAxis("motorSim1", 2, 20000, -20000, 2500, 0)
motorSimConfigAxis("motorSim1", 3, 20000, -20000, 3000, 0)
motorSimConfigAxis("motorSim1", 4, 20000, -20000, 500, 0)
motorSimConfigAxis("motorSim1", 5, 20000, -20000, 1500, 0)
motorSimConfigAxis("motorSim1", 6, 20000, -20000, 2500, 0)
motorSimConfigAxis("motorSim1", 7, 20000, -20000, 3000, 0)
2 changes: 2 additions & 0 deletions iocs/motorSimIOC/iocBoot/iocMotorSim/motorSim.iocsh
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# Load 8 simulated motors with default settings
iocshLoad("$(MOTOR_MOTORSIM)/iocsh/motorSim8x.iocsh", "PREFIX=IOC:,INSTANCE=motorSim,SUB=$(MOTOR_MOTORSIM)/iocsh/EXAMPLE_motorSim8x.substitutions")
0 ...C/iocBoot/iocMotorSim/motor.substitutions → ...ocBoot/iocMotorSim/motorSim.substitutions
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23 changes: 6 additions & 17 deletions iocs/motorSimIOC/iocBoot/iocMotorSim/st.cmd
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Expand Up @@ -6,26 +6,15 @@
dbLoadDatabase("$(TOP)/dbd/motorSim.dbd")
motorSim_registerRecordDeviceDriver(pdbbase)

dbLoadTemplate("motor.substitutions")

motorSimCreateController("motorSim1", 8)
#asynSetTraceIOMask("motorSim1", 0, HEX)
#asynSetTraceMask("motorSim1", 0, ERROR|FLOW|DRIVER)

# motorSimConfigAxis(port, axis, lowLimit, highLimit, home, start)
motorSimConfigAxis("motorSim1", 0, 20000, -20000, 500, 0)
motorSimConfigAxis("motorSim1", 1, 20000, -20000, 1500, 0)
motorSimConfigAxis("motorSim1", 2, 20000, -20000, 2500, 0)
motorSimConfigAxis("motorSim1", 3, 20000, -20000, 3000, 0)
motorSimConfigAxis("motorSim1", 4, 20000, -20000, 500, 0)
motorSimConfigAxis("motorSim1", 5, 20000, -20000, 1500, 0)
motorSimConfigAxis("motorSim1", 6, 20000, -20000, 2500, 0)
motorSimConfigAxis("motorSim1", 7, 20000, -20000, 3000, 0)
# Use a local configuration if axes need individual customization
< motorSim.cmd
# Use a default, 8-axis configuration if axes can start with identical settings
#!< motorSim.iocsh

iocInit

## motorUtil (allstop & alldone)
motorUtilInit("motorSim:")
motorUtilInit("IOC:")

# Boot complete

date
16 changes: 10 additions & 6 deletions iocs/motorSimIOC/iocBoot/iocMotorSim/st.cmd.Vx
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Expand Up @@ -19,11 +19,15 @@ cd startup
dbLoadDatabase("$(TOP)/dbd/motorSim.dbd")
WithAsynVx_registerRecordDeviceDriver(pdbbase)

dbLoadTemplate("motor.substitutions")

# Create simulated motors: ( start card , start axis , low limit, high limit, home posn, # cards, # axes to setup)
motorSimCreate( 0, 0, -32000, 32000, 0, 1, 4 )
# Setup the Asyn layer (portname, low-level driver drvet name, card, number of axes on card)
drvAsynMotorConfigure("motorSim1", "motorSim", 0, 4)
# Use a local configuration if axes need individual customization
< motorSim.cmd
# Use a default, 8-axis configuration if axes can start with identical settings
#!< motorSim.iocsh

iocInit

## motorUtil (allstop & alldone)
motorUtilInit("IOC:")

# Boot complete
date
2 changes: 2 additions & 0 deletions motorSimApp/iocsh/EXAMPLE_motorSim.substitutions
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file "$(MOTOR)/db/asyn_motor.db"
# The following line should be used for motor versions greater than 7.2.2 to avoid errors at iocInit
#!file "$(MOTOR)/db/asyn_motor_model2.db"
{
pattern
{N, M, ADDR, DESC, EGU, DIR, VELO, VBAS, ACCL, BDST, BVEL, BACC, MRES, PREC, INIT}
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13 changes: 13 additions & 0 deletions motorSimApp/iocsh/EXAMPLE_motorSim8x.substitutions
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file "$(MOTOR)/db/asyn_motor.db"
{
pattern
{N, M, ADDR, DESC, EGU, DIR, VELO, VBAS, ACCL, BDST, BVEL, BACC, MRES, PREC, INIT}
{1, "m$(N)", 0, "motor $(N)", degrees, Pos, 1, .1, .2, 0, 1, .2, 0.01, 5, ""}
{2, "m$(N)", 1, "motor $(N)", degrees, Pos, 1, .1, .2, 0, 1, .2, 0.01, 5, ""}
{3, "m$(N)", 2, "motor $(N)", degrees, Pos, 1, .1, .2, 0, 1, .2, 0.01, 5, ""}
{4, "m$(N)", 3, "motor $(N)", degrees, Pos, 1, .1, .2, 0, 1, .2, 0.01, 5, ""}
{5, "m$(N)", 4, "motor $(N)", degrees, Pos, 1, .1, .2, 0, 1, .2, 0.01, 5, ""}
{6, "m$(N)", 5, "motor $(N)", degrees, Pos, 1, .1, .2, 0, 1, .2, 0.01, 5, ""}
{7, "m$(N)", 6, "motor $(N)", degrees, Pos, 1, .1, .2, 0, 1, .2, 0.01, 5, ""}
{8, "m$(N)", 7, "motor $(N)", degrees, Pos, 1, .1, .2, 0, 1, .2, 0.01, 5, ""}
}
1 change: 1 addition & 0 deletions motorSimApp/iocsh/Makefile
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Expand Up @@ -2,5 +2,6 @@ TOP = ../..
include $(TOP)/configure/CONFIG

IOCSH += EXAMPLE_motorSim.substitutions
IOCSH += EXAMPLE_motorSim8x.substitutions

include $(TOP)/configure/RULES
12 changes: 9 additions & 3 deletions motorSimApp/iocsh/motorSim.iocsh
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Expand Up @@ -15,12 +15,18 @@
#- NUM_AXES - Optional: Number of axes on this controller
#- Default: 1
#-
#- LOW_LIM - Optional: Low Limit
#- LOW_LIM - Optional: Low Limit (in steps)
#- Default: -32000
#-
#- HIGH_LIM - Optional: High Limit
#- HIGH_LIM - Optional: High Limit (in steps)
#- Default: 32000
#-
#- DLLM - Optional: Motor Record Low Limit (in EGU)
#- Default: -320.0
#-
#- DHLM - Optional: Motor Record High Limit (in EGU)
#- Default: 320.0
#-
#- HOME_POS - Optional: Home position
#- Default: 0
#- ###################################################
Expand All @@ -31,4 +37,4 @@ motorSimCreate($(CONTROLLER=0), 0, $(LOW_LIM=-32000), $(HIGH_LIM=32000), $(HOME_
# Setup the Asyn layer (portname, low-level driver drvet name, card, number of axes on card)
drvAsynMotorConfigure("$(INSTANCE)$(CONTROLLER=0)", "$(INSTANCE)", $(CONTROLLER=0), $(NUM_AXES=1))

dbLoadTemplate("$(SUB=$(MOTOR)/iocsh/EXAMPLE_motorSim.substitutions)", "P=$(PREFIX), DTYP='asynMotor', PORT=$(INSTANCE)$(CONTROLLER=0), DHLM=$(HIGH_LIM=32000), DLLM=$(LOW_LIM=-32000)")
dbLoadTemplate("$(SUB=$(MOTOR)/iocsh/EXAMPLE_motorSim.substitutions)", "P=$(PREFIX), DTYP='asynMotor', PORT=$(INSTANCE)$(CONTROLLER=0),DHLM=$(DHLM=320.0),DLLM=$(DLLM=-320.0)")
43 changes: 43 additions & 0 deletions motorSimApp/iocsh/motorSim8x.iocsh
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# ### motorSim8x.iocsh ###

#- ###################################################
#- PREFIX - IOC Prefix
#- INSTANCE - Instance name, used to create the asyn port name
#-
#- SUB - Optional: Subsitutions file (asyn_motor.db), Macros P, DTYP, PORT,
#- DHLM, DLLM, and INIT will be predefined.
#- Default: $(MOTOR)/iocsh/EXAMPLE_motorSim8x.substitutions
#-
#- LOW_LIM - Optional: Low Limit (in steps)
#- Default: -32000
#-
#- HIGH_LIM - Optional: High Limit (in steps)
#- Default: 32000
#-
#- DLLM - Optional: Motor Record Low Limit (in EGU)
#- Default: -320.0
#-
#- DHLM - Optional: Motor Record High Limit (in EGU)
#- Default: 320.0
#-
#- HOME_POS - Optional: Home position
#- Default: 0
#- ###################################################

# Create simulated motors: (port name, number of axes on card)
motorSimCreateController("$(INSTANCE)", 8)

#asynSetTraceIOMask("$(INSTANCE)", 0, HEX)
#asynSetTraceMask("$(INSTANCE)", 0, ERROR|FLOW|DRIVER)

# motorSimConfigAxis(port, axis, highLimit, lowLimit, home, start)
motorSimConfigAxis("$(INSTANCE)", 0, $(HIGH_LIM=32000), $(LOW_LIM=-32000), $(HOME_POS=0), 0)
motorSimConfigAxis("$(INSTANCE)", 1, $(HIGH_LIM=32000), $(LOW_LIM=-32000), $(HOME_POS=0), 0)
motorSimConfigAxis("$(INSTANCE)", 2, $(HIGH_LIM=32000), $(LOW_LIM=-32000), $(HOME_POS=0), 0)
motorSimConfigAxis("$(INSTANCE)", 3, $(HIGH_LIM=32000), $(LOW_LIM=-32000), $(HOME_POS=0), 0)
motorSimConfigAxis("$(INSTANCE)", 4, $(HIGH_LIM=32000), $(LOW_LIM=-32000), $(HOME_POS=0), 0)
motorSimConfigAxis("$(INSTANCE)", 5, $(HIGH_LIM=32000), $(LOW_LIM=-32000), $(HOME_POS=0), 0)
motorSimConfigAxis("$(INSTANCE)", 6, $(HIGH_LIM=32000), $(LOW_LIM=-32000), $(HOME_POS=0), 0)
motorSimConfigAxis("$(INSTANCE)", 7, $(HIGH_LIM=32000), $(LOW_LIM=-32000), $(HOME_POS=0), 0)

dbLoadTemplate("$(SUB=$(MOTOR)/iocsh/EXAMPLE_motorSim8x.substitutions)", "P=$(PREFIX),DTYP='asynMotor',PORT=$(INSTANCE),DHLM=$(DHLM=320.0),DLLM=$(DLLM=-320.0)")