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st.cmd.template
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st.cmd.template
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#!{{hashbang}}
< envPaths
epicsEnvSet("ADS_IOC_TOP", "$(TOP)" )
epicsEnvSet("IOCNAME", "{{name}}" )
epicsEnvSet("ENGINEER", "{{user}}" )
epicsEnvSet("LOCATION", "{{prefix}}" )
epicsEnvSet("IOCSH_PS1", "$(IOCNAME)> " )
# Run common startup commands for linux soft IOC's
< /reg/d/iocCommon/All/pre_linux.cmd
# Register all support components
dbLoadDatabase("$(ADS_IOC_TOP)/dbd/adsIoc.dbd")
adsIoc_registerRecordDeviceDriver(pdbbase)
epicsEnvSet("ASYN_PORT", "{{asyn_port}}")
epicsEnvSet("IPADDR", "{{plc_ip}}")
epicsEnvSet("AMSID", "{{plc_ams_id}}")
epicsEnvSet("AMS_PORT", "{{plc_ads_port}}")
epicsEnvSet("ADS_MAX_PARAMS", "2000")
epicsEnvSet("ADS_SAMPLE_MS", "50")
epicsEnvSet("ADS_MAX_DELAY_MS", "100")
epicsEnvSet("ADS_TIMEOUT_MS", "1000")
epicsEnvSet("ADS_TIME_SOURCE", "0")
# adsAsynPortDriverConfigure(portName, ipaddr, amsaddr, amsport,
# asynParamTableSize, priority, noAutoConnect, defaultSampleTimeMS,
# maxDelayTimeMS, adsTimeoutMS, defaultTimeSource)
# portName Asyn port name
# ipAddr IP address of PLC
# amsaddr AMS Address of PLC
# amsport Default AMS port in PLC (851 for first PLC)
# paramTableSize Maximum parameter/variable count. (1000)
# priority Asyn priority (0)
# noAutoConnect Enable auto connect (0=enabled)
# defaultSampleTimeMS Default sample of variable (PLC ams router
# checks if variable changed, if changed then add to send buffer) (50ms)
# maxDelayTimeMS Maximum delay before variable that has changed is sent to client
# (Linux). The variable can also be sent sooner if the ams router
# send buffer is filled (100ms)
# adsTimeoutMS Timeout for adslib commands (1000ms)
# defaultTimeSource Default time stamp source of changed variable (PLC=0):
# PLC=0: The PLC time stamp from when the value was
# changed is used and set as timestamp in the EPICS record
# (if record TSE field is set to -2=enable asyn timestamp).
# This is the preferred setting.
# EPICS=1: The time stamp will be made when the updated data
# arrives in the EPICS client.
adsAsynPortDriverConfigure("$(ASYN_PORT)", "$(IPADDR)", "$(AMSID)", "$(AMS_PORT)", "$(ADS_MAX_PARAMS)", 0, 0, "$(ADS_SAMPLE_MS)", "$(ADS_MAX_DELAY_MS)", "$(ADS_TIMEOUT_MS)", "$(ADS_TIME_SOURCE)")
{% if motors %}
cd "$(ADS_IOC_TOP)/db"
epicsEnvSet("MOTOR_PORT", "{{motor_port}}")
epicsEnvSet("PREFIX", "{{prefix}}{{delim}}")
epicsEnvSet("NUMAXES", "{{nc.axis_by_id|max}}")
epicsEnvSet("MOVE_POLL_RATE", "200")
epicsEnvSet("IDLE_POLL_RATE", "1000")
EthercatMCCreateController("$(MOTOR_PORT)", "$(ASYN_PORT)", "$(NUMAXES)", "$(MOVE_POLL_RATE)", "$(IDLE_POLL_RATE)")
#define ASYN_TRACE_ERROR 0x0001
#define ASYN_TRACEIO_DEVICE 0x0002
#define ASYN_TRACEIO_FILTER 0x0004
#define ASYN_TRACEIO_DRIVER 0x0008
#define ASYN_TRACE_FLOW 0x0010
#define ASYN_TRACE_WARNING 0x0020
#define ASYN_TRACE_INFO 0x0040
asynSetTraceMask("$(ASYN_PORT)", -1, 0x41)
#define ASYN_TRACEIO_NODATA 0x0000
#define ASYN_TRACEIO_ASCII 0x0001
#define ASYN_TRACEIO_ESCAPE 0x0002
#define ASYN_TRACEIO_HEX 0x0004
asynSetTraceIOMask("$(ASYN_PORT)", -1, 2)
#define ASYN_TRACEINFO_TIME 0x0001
#define ASYN_TRACEINFO_PORT 0x0002
#define ASYN_TRACEINFO_SOURCE 0x0004
#define ASYN_TRACEINFO_THREAD 0x0008
asynSetTraceInfoMask("$(ASYN_PORT)", -1, 5)
#define AMPLIFIER_ON_FLAG_CREATE_AXIS 1
#define AMPLIFIER_ON_FLAG_WHEN_HOMING 2
#define AMPLIFIER_ON_FLAG_USING_CNEN 4
{% for motor in motors | sort(attribute='nc_axis.axis_number') %}
epicsEnvSet("AXIS_NO", "{{motor.nc_axis.axis_number}}")
epicsEnvSet("MOTOR_PREFIX", "{{motor|epics_prefix}}")
epicsEnvSet("MOTOR_NAME", "{{motor|epics_suffix}}")
epicsEnvSet("DESC", "{{motor.name}} / {{motor.nc_axis.name}}")
epicsEnvSet("EGU", "{{motor.nc_axis.units}}")
epicsEnvSet("PREC", "{{motor|pragma('precision', 3) }}")
epicsEnvSet("AXISCONFIG", "{{motor|pragma('axisconfig', '')}}")
epicsEnvSet("ECAXISFIELDINIT", "{{motor|pragma('additional_fields', '') }}")
epicsEnvSet("AMPLIFIER_FLAGS", "{{motor|pragma('amplifier_flags', '') }}")
EthercatMCCreateAxis("$(MOTOR_PORT)", "$(AXIS_NO)", "$(AMPLIFIER_FLAGS)", "$(AXISCONFIG)")
dbLoadRecords("EthercatMC.template", "PREFIX=$(MOTOR_PREFIX), MOTOR_NAME=$(MOTOR_NAME), R=$(MOTOR_NAME)-, MOTOR_PORT=$(MOTOR_PORT), ASYN_PORT=$(ASYN_PORT), AXIS_NO=$(AXIS_NO), DESC=$(DESC), PREC=$(PREC) $(ECAXISFIELDINIT)")
dbLoadRecords("EthercatMCreadback.template", "PREFIX=$(MOTOR_PREFIX), MOTOR_NAME=$(MOTOR_NAME), R=$(MOTOR_NAME)-, MOTOR_PORT=$(MOTOR_PORT), ASYN_PORT=$(ASYN_PORT), AXIS_NO=$(AXIS_NO), DESC=$(DESC), PREC=$(PREC) ")
dbLoadRecords("EthercatMCdebug.template", "PREFIX=$(MOTOR_PREFIX), MOTOR_NAME=$(MOTOR_NAME), MOTOR_PORT=$(MOTOR_PORT), AXIS_NO=$(AXIS_NO), PREC=3")
{% endfor %}
{% endif %}
{% if additional_db_files %}
cd "$(IOC_TOP)"
{% for db in additional_db_files %}
dbLoadRecords("{{ db.file }}", "PORT={{ asyn_port }},PREFIX={{prefix}}{{delim}},IOCNAME=$(IOCNAME),{{ db.macros }}")
{% endfor %}
{% endif %}
cd "$(IOC_TOP)"
dbLoadRecords("db/iocSoft.db", "IOC={{prefix}}")
dbLoadRecords("db/save_restoreStatus.db", "P={{prefix}}{{delim}}")
# Setup autosave
set_savefile_path( "$(IOC_DATA)/$(IOC)/autosave" )
set_requestfile_path( "$(IOC_TOP)/autosave" )
save_restoreSet_status_prefix( "{{prefix}}{{delim}}" )
save_restoreSet_IncompleteSetsOk( 1 )
save_restoreSet_DatedBackupFiles( 1 )
set_pass0_restoreFile( "$(IOC).sav" )
set_pass1_restoreFile( "$(IOC).sav" )
# Initialize the IOC and start processing records
iocInit()
# Start autosave backups
create_monitor_set( "$(IOC).req", 5, "" )
# All IOCs should dump some common info after initial startup.
< /reg/d/iocCommon/All/post_linux.cmd