EPICS motor模块中SoftMotor的使用示例

本实例使用motor 模块中软电机，通过通道访问控制另一个直流电源IOC的输出电压，并且回读输出电压。此处使用的另一个IOC为：基于EPICS stream模块的直流电源的IOC控制程序实例-CSDN博客

root@bl02u2-X1:/usr/local/EPICS/program# mkdir softmotor
root@bl02u2-X1:/usr/local/EPICS/program# cd softmotor/
root@bl02u2-X1:/usr/local/EPICS/program/softmotor# ls
root@bl02u2-X1:/usr/local/EPICS/program/softmotor# source /etc/profile.d/epics.sh
root@bl02u2-X1:/usr/local/EPICS/program/softmotor# ls
root@bl02u2-X1:/usr/local/EPICS/program/softmotor# makeBaseApp.pl -t ioc softmotor
root@bl02u2-X1:/usr/local/EPICS/program/softmotor# makeBaseApp.pl -i -t ioc softmotor
Using target architecture linux-x86_64 (only one available)
The following applications are available:
    softmotor
What application should the IOC(s) boot?
The default uses the IOC's name, even if not listed above.
Application name?
root@bl02u2-X1:/usr/local/EPICS/program/softmotor#
root@bl02u2-X1:/usr/local/EPICS/program/softmotor# ls
configure  iocBoot  Makefile  softmotorApp

2）编辑 configure/RELEASE文件，列出本IOC中使用到的模块所在的路径：

...
SUPPORT=/usr/local/EPICS/synApps/support

# If any motor controller communication mechanism besides
# the VME backplane is required, then ASYN must be defined.
# Recommended ASYN release: R4-35
ASYN=$(SUPPORT)/asyn
MOTOR=$(SUPPORT)/motor

# EPICS_BASE should appear last so earlier modules can override stuff:
EPICS_BASE = /usr/local/EPICS/base

...

3) 进入softmotorApp/src/目录，编辑Makefile 文件，添加这个IOC将使用到的数据库定义文件和库文件：

PROD_IOC = softmotor
# softmotor.dbd will be created and installed
DBD += softmotor.dbd

# softmotor.dbd will be made up from these files:
softmotor_DBD += base.dbd
softmotor_DBD += asyn.dbd
softmotor_DBD += motorSupport.dbd
softmotor_DBD += devSoftMotor.dbd


# Include dbd files from all support applications:
#softmotor_DBD += xxx.dbd

# Add all the support libraries needed by this IOC
softmotor_LIBS += asyn
softmotor_LIBS += motor
softmotor_LIBS += softMotor

# softmotor_registerRecordDeviceDriver.cpp derives from softmotor.dbd
softmotor_SRCS += softmotor_registerRecordDeviceDriver.cpp

# Build the main IOC entry point on workstation OSs.
softmotor_SRCS_DEFAULT += softmotorMain.cpp
softmotor_SRCS_vxWorks += -nil-

# Add support from base/src/vxWorks if needed
#softmotor_OBJS_vxWorks += $(EPICS_BASE_BIN)/vxComLibrary

# Finally link to the EPICS Base libraries
softmotor_LIBS += $(EPICS_BASE_IOC_LIBS)

#===========================

include $(TOP)/configure/RULES

4）进入softmotorApp/Db目录，添加数据库实例文件以及Makefile文件：

# softMotor.db
record(motor, "$(P)$(M)SoftMotor") {
  field(DESC, "Set Voltage")
  field(SCAN, "Passive")
  field(DTYP, "Soft Channel")
  field(VELO, "0.1")
  field(VBAS, "0.1")
  field(OUT, "$(USER)SetVoltage")  # Set Voltage for another IOC of a device
  field(RINP, "$(P)$(M)convertReadbackValue") # Readback Voltage
  field(UEIP, "No")
  field(URIP, "No")
  field(PREC, "2")
  field(EGU, "V")
  field(DHLM, "40")
  field(DLLM, "0")
  field(RTRY, "0")
  field(TWV, "0.01")
  field(NTM, "NO")
  field(MRES, "0.01")
  field(RRES, "0.01")
  field(VELO, "0.01")
  field(VBAS, "0.01")
  field(IGSET, "1")

}

grecord(calcout,"$(P)$(M)convertReadbackValue")
{
    field(DESC,"ReadBack Voltage to feed the SoftMotor Record")
    field(CALC,"A * 100")
    field(INPA,"$(USER)Voltage_RBV  CP MS")
}

将这个db文件添加到相同路径中的Makefile中：

...
DB += softMotor.db
...

5) 回到这个IOC的顶层目录，执行 make 命令，编译这个IOC程序。

6）进入 iocBoot/iocsoftmotor目录，编辑st.cmd 启动脚本：

...
dbLoadRecords("db/softMotor.db","P=SoftMotor:,M=M1:,USER=UDP6721:")
...

7）启动以上IOC：

root@bl02u2-X1:/usr/local/EPICS/program/softmotor/iocBoot/iocsoftmotor# ../../bin/linux-x86_64/softmotor st.cmd
#!../../bin/linux-x86_64/softmotor
< envPaths
...
epics> dbl
SoftMotor:M1:convertReadbackValue
SoftMotor:M1:SoftMotor
epics>

8) 调出以上两个IOC的图形控制界面：每按一次电机界面中TWF按钮，输出电压增加0.01V。

通过以上转换，能够用电机控制方式来控制一个直流电压源输出电压，如在ss can模块中进行电压扫描：

在SPEC软件中，可以配置一路EPICS电机来设置输出电压：

210.SPEC> dscan sm -1 1 20 1
Total 21 points, 21 seconds

Scan  15   Fri Dec 01 02:08:26 2023   file = test  spec  user = blctrl
ascan  sm 1 3  20 1

  # SoftMotor  Seconds  Seconds    Seconds  Monitor Detector Counter
  0    1.0000        1        1          1        0        0        0
  1    1.1000        1        1          1        0        0        0
  2    1.2000        1        1          1        0        0        0
  3    1.3000        1        1          1        0        0        0
  4    1.4000        1        1          1        0        0        0
  5    1.5000        1        1          1        0        0        0
  6    1.6000        1        1          1        0        0        0
  7    1.7000        1        1          1        0        0        0
  8    1.8000        1        1          1        0        0        0
  9    1.9000        1        1          1        0        0        0
 10    2.0000        1        1          1        0        0        0
 11    2.1000        1        1          1        0        0        0
 12    2.2000        1        1          1        0        0        0
 13    2.2900        1        1          1        0        0        0
 14    2.4000        1        1          1        0        0        0
 15    2.5000        1        1          1        0        0        0
 16    2.6000        1        1          1        0        0        0
 17    2.7000        1        1          1        0        0        0
 18    2.8000        1        1          1        0        0        0
 19    2.9000        1        1          1        0        0        0
 20    3.0000        1        1          1        0        0        0

Returning sm to 2