This tutorial provides step-by-step instructions on how to create EPICS support for a simple serial, GPIB (IEEE-488) or network attached device. The steps are presented in a way that should make it possible to apply them in cookbook fashion to create support for other devices. For comprehensive description of all the details of the I/O system used here, refer to the asynDriver and StreamDevice documentation.
This document isn't for the absolute newcomer though. You must have EPICS installed on a system somewhere and know how to build and run the example application. In particular you must have the following installed:
Serial, GPIB and network attached devices can now be treated in much the same way. The EPICS StreamDevice and ASYN support modules can use drivers which communicate with serial devices connected to ports on the IOC or to Ethernet/Serial converters or with GPIB devices connected to local I/O cards or to Ethernet/GPIB converters or to network attached devices using VXI-11 or plain TCP ('telnet') communication protocols.
I based this tutorial on the device support I wrote for a Hewlett Packard E3631A power supply. I chose the E3610A as the basis for this tutorial partly because it was what I found lying around but mostly because it uses SCPI-compliant commands which are common to a wide range of devices. Sections 1 through 4 of this tutorial apply to all SCPI (IEEE-488.2) devices.
The easiest way to do this is with the makeSupport.pl script supplied with the EPICS ASYN package.
Here are the commands I ran. To make the command examples a little shorter I used shell variables to hold the paths to my installation of EPICS base and the ASYN support module. You can do this with values appropriate for your site or just type the full path names to the commands.
EPICS_BASE=/usr/local/epics/R3.14.11/base ASYN=/usr/local/epics/R3.14.11/modules/soft/synApps_5_5/support/asyn-4-14
You will have to change these to the values appropriate for your EPICS installation or simply type the appropriate full paths to invoke the scripts. You must also have the EPICS_HOST_ARCH environment variable set to match the machine on which you are building.
To create a new StreamDevice support module:
norume> mkdir HPE3631A norume> cd HPE3631A norume> $ASYN/bin/$EPICS_HOST_ARCH/makeSupport.pl -t streamSCPI HPE3631A
Edit the configure/RELEASE file which makeSupport.pl created and confirm that the entries describing the paths to your EPICS base and ASYN support are correct. For example these might be:
ASYN = /usr/local/epics/R3.14.11/modules/soft/synApps_5_5/support/asyn-4-14 EPICS_BASE = /usr/local/epics/R3.14.11/base
You'll also have to add a line describing the path to your StreamDevice support. For example:
STREAM = /usr/local/epics/R3.14.11/modules/soft/synApps_5_5/support/stream-2-4-1
Edit the configure/CONFIG_SITE file which makeSupport.pl created and specify the IOC architectures on which the application is to run. I wanted the application to run as a soft IOC, so I uncommented the CROSS_COMPILER_TARGET_ARCHS definition and set the definition to be empty:
CROSS_COMPILER_TARGET_ARCHS =
You may have to fix an error in the HPE3631ASup/devHPE3631A.db file produced by the makeSupport.pl command. Verify that the IDNwf record description looks like:
record(waveform, "$(P)$(R)IDNwf")
{
field(DESC, "SCPI identification string")
field(DTYP, "stream")
field(INP, "@devHPE3631A.proto getIDN(199) $(PORT) $(A)")
field(PINI, "YES")
field(FTVL, "CHAR")
field(NELM, "200")
}
Some versions of the template have FTYP rather than FTVL for the waveform data type field.
I install the StreamDevice protocol file into the support module db/ directory. This seems like a reasonable place to put this file since it's tied closely to its associated database file. To have the protocol file installed into the db/ directory edit HPE3631ASup/Makefile and add the line
DB_INSTALLS += $(TOP)/HPE3631ASup/devHPE3631A.proto
to the list of DB_INSTALLS.
Now that a device support module has been produced it is a good idea to create a new EPICS application to confirm that the device support is operating correctly. The easiest way to do this is with the makeBaseApp.pl script supplied with EPICS. The files in the configure/ directory produced in the previous step do not provide all the information needed to build an application but will not be overwritten by the makeBaseApp.pl script. The easiest solution to this problem is to simply remove the configure/ directory and all its contents and then to make the changes to configure/RELEASE and configure/CONFIG_SITE at mentioned above.
Here are the commands I ran.
norume> rm -rf configure
norume> $EPICS_BASE/bin/$EPICS_HOST_ARCH/makeBaseApp.pl -t ioc HPE3631Atest
norume> $EPICS_BASE/bin/$EPICS_HOST_ARCH/makeBaseApp.pl -t ioc -i HPE3631Atest
The following target architectures are available in base:
darwin-x86
RTEMS-mvme2100
RTEMS-mvme3100
RTEMS-uC5282
What architecture do you want to use? darwin-x86
The following applications are available:
HPE3631Atest
What application should the IOC(s) boot?
The default uses the IOC's name, even if not listed above.
Application name?
norume>
I then added the ASYN and STREAM values to configure/RELEASE and made the change to the CROSS_COMPILER_TARGET_ARCHS line in configure/CONFIG_SITE.
You must add the StreamDevice and ASYN support modules to the test application. Edit HPE3631AtestApp/src/Makefile and add the lines:
HPE3631Atest_DBD += stream.dbd HPE3631Atest_DBD += drvAsynSerialPort.dbd and HPE3631Atest_LIBS += stream asyn
To install the support module files and build the test application simply run make:
norume> make
.
.
.
norume>
The IOC startup script produced by the makeBaseApp.pl script must be modified before the test application can be run. Change directories to iocBoot/iocHPE3631Atest and edit the st.cmd file. Here's the file that I use:
1 #!../../bin/darwin-x86/HPE3631Atest
2
3 ###############################################################################
4 # Set up environment
5 < envPaths
6 epicsEnvSet "STREAM_PROTOCOL_PATH" "$(TOP)/db"
7
8 ###############################################################################
9 # Allow PV name prefixes and serial port name to be set from the environment
10 epicsEnvSet "P" "$(P=hpE3631A)"
11 epicsEnvSet "R" "$(R=Test)"
12 epicsEnvSet "TTY" "$(TTY=/dev/tty.PL2303-000013FA)"
13
14 ###############################################################################
15 ## Register all support components
16 cd "${TOP}"
17 dbLoadDatabase "dbd/HPE3631Atest.dbd"
18 HPE3631Atest_registerRecordDeviceDriver pdbbase
19
20 ###############################################################################
21 # Set up ASYN ports
22 # drvAsynSerialPortConfigure port ipInfo priority noAutoconnect noProcessEos
23 drvAsynSerialPortConfigure("L0","$(TTY)",0,0,0)
24 asynSetOption("L0", -1, "baud", "9600")
25 asynSetOption("L0", -1, "bits", "8")
26 asynSetOption("L0", -1, "parity", "none")
27 asynSetOption("L0", -1, "stop", "2")
28 asynSetOption("L0", -1, "clocal", "Y")
29 asynSetOption("L0", -1, "crtscts", "Y")
30 asynOctetSetInputEos("L0", -1, "\n")
31 asynOctetSetOutputEos("L0", -1, "\n")
32 asynSetTraceIOMask("L0",-1,0x2)
33 asynSetTraceMask("L0",-1,0x9)
34
35 ###############################################################################
36 ## Load record instances
37 dbLoadRecords("db/devHPE3631A.db","P=$(P),R=$(R),PORT=L0,A=0")
38
39 ###############################################################################
40 ## Start EPICS
41 cd "${TOP}/iocBoot/${IOC}"
42 iocInit
Lines that you'll likely have to modify are:
| 10,11 | The prefix applied to all PV names. |
| 12 | The name of your serial line (for network attached devices or LAN/Serial adapters this will be something like 192.168.0.23:4001). |
| 23 | The command would be drvAsynIPPortConfigure for LAN/Serial adapters or network attached devices. See the asynDriver documentation for information on connecting to GPIB devices. |
| 24-29 | The serial line settings for your device (for network attached devices or LAN/Serial adapters or GPIB devices these lines can be removed or commented out). |
| 30,31 | GPIB devices may not need line terminators since they can use the EOI line to mark the end of messages. |
| 33 | This trace mask value prints a message showing the characters sent to and received from the device. This can produce a lot of messages on the IOC console. To display error messages only set the trace mask to 1 rather than 9. |
So, if you have a LAN/Serial adapter or network attached device which uses a raw TCP ('telnet' style) connection you would replace lines 23 through 29 with a single line like:
drvAsynIPPortConfigure("L0","192.168.0.23:4001",0,0,0)
You would also change the application Makefile to specify drvAsynIPPort.dbd rather than drvAsynSerialPort.dbd.
I you have a VXI-11 LAN/GPIB adapter or network attached device you would replace lines 23 through 31 with a single line like:
vxi11Configure("L0","192.168.0.24",0,0.0,"gpib0",0,0)
You would also change the application Makefile to specify drfvVxi11.dbd rather than drvAsynSerialPort.dbd.
The application can be started by running the startup script if you make the script executable:
norume> cd iocBoot/iocHPE3631Atest norume> chmod +x st.cmd
Then the application can be run by:
norume> ./st.cmd
#!../../bin/darwin-x86/HPE3631Atest
###############################################################################
# Set up environment
< envPaths
epicsEnvSet("ARCH","darwin-x86")
epicsEnvSet("IOC","iocHPE3631Atest")
epicsEnvSet("TOP","/Users/wenorum/tmp/t/HPE3631A")
epicsEnvSet("ASYN","/usr/local/epics/R3.14.11/modules/soft/synApps_5_5/support/asyn-4-14")
epicsEnvSet("STREAM","/usr/local/epics/R3.14.11/modules/soft/synApps_5_5/support/stream-2-4-1")
epicsEnvSet("EPICS_BASE","/usr/local/epics/R3.14.11/base")
epicsEnvSet "STREAM_PROTOCOL_PATH" "/Users/wenorum/tmp/t/HPE3631A/db"
###############################################################################
# Allow PV name prefixes and serial port name to be set from the environment
epicsEnvSet "P" "hpE3631A"
epicsEnvSet "R" "Test"
epicsEnvSet "TTY" "/dev/tty.PL2303-000013FA"
###############################################################################
## Register all support components
cd "/Users/wenorum/tmp/t/HPE3631A"
dbLoadDatabase "dbd/HPE3631Atest.dbd"
HPE3631Atest_registerRecordDeviceDriver pdbbase
###############################################################################
# Set up ASYN ports
# drvAsynSerialPortConfigure port ipInfo priority noAutoconnect noProcessEos
drvAsynSerialPortConfigure("L0","/dev/tty.PL2303-000013FA",0,0,0)
asynSetOption("L0", -1, "baud", "9600")
asynSetOption("L0", -1, "bits", "8")
asynSetOption("L0", -1, "parity", "none")
asynSetOption("L0", -1, "stop", "2")
asynSetOption("L0", -1, "clocal", "Y")
asynSetOption("L0", -1, "crtscts", "Y")
asynOctetSetInputEos("L0", -1, "\n")
asynOctetSetOutputEos("L0", -1, "\n")
asynSetTraceIOMask("L0",-1,0x2)
asynSetTraceMask("L0",-1,0x9)
###############################################################################
## Load record instances
dbLoadRecords("db/devHPE3631A.db","P=hpE3631A,R=Test,PORT=L0,A=0")
###############################################################################
## Start EPICS
cd "/Users/wenorum/tmp/t/HPE3631A/iocBoot/iocHPE3631Atest"
iocInit
Starting iocInit
############################################################################
## EPICS R3.14.11 $R3-14-11$ $2009/08/28 18:47:36$
## EPICS Base built Aug 24 2010
############################################################################
2010/08/31 13:10:32.986 /dev/tty.PL2303-000013FA write 6
*IDN?\n
iocRun: All initialization complete
2010/08/31 13:10:33.116 /dev/tty.PL2303-000013FA read 1
H
2010/08/31 13:10:33.135 /dev/tty.PL2303-000013FA read 1
E
2010/08/31 13:10:33.153 /dev/tty.PL2303-000013FA read 1
W
2010/08/31 13:10:33.171 /dev/tty.PL2303-000013FA read 1
L
2010/08/31 13:10:33.189 /dev/tty.PL2303-000013FA read 1
E
2010/08/31 13:10:33.208 /dev/tty.PL2303-000013FA read 1
T
2010/08/31 13:10:33.226 /dev/tty.PL2303-000013FA read 1
T
.
.
.
epics>dbpr hpE3631ATestIDN
ASG:
DESC: SCPI identification string
DISA: 0
DISP: 0
DISV: 1
NAME: hpE3631ATestIDN
SEVR: NO_ALARM STAT: NO_ALARM
SVAL:
TPRO: 0
VAL: HEWLETT-PACKARD,E3631A,0,2.1-5.0-1.0
epics>
The SCPI IDN*? commands are run as part of iocInit since their records have PINI=YES. If the stringin record has truncated the identification string you should be able to see the full string as a waveform record. In another window run:
norume> caget -S hpE3631ATestIDNwf hpE3631ATestIDNwf HEWLETT-PACKARD,E3631A,0,2.1-5.0-1.0 norume>
The asynRecord provides a convenient mechanism for controlling the diagnostic messages produced by asyn drivers. You can also use the MEDM asynOctet screen to manually send commands to and view responses from a device. This can be very handy when trying to figure out just how a new device actually works.
To use an asynRecord in your application:
Add the line:
DB_INSTALLS += $(ASYN)/db/asynRecord.db
to the application Makefile.
Create the diagnostic record in the IOC by adding a line like:
dbLoadRecords("db/asynRecord.db","P=$(P)$(R),R=asyn,PORT=L0,ADDR=-1,OMAX=0,IMAX=0")
to the application startup script. The PORT value must match the the value in the corresponding drvAsynIPPortConfigure or drvAsynSerialPortConfigure command. The ADDR value should be that of the instrument whose I/O you wish to monitor.
To run the asynRecord screen, add<asynTop>/opi/medm to your EPICS_DISPLAY_PATH environment variable and start medm with P, R, PORT and ADDR values matching those given in the dbLoadRecords command:
medm -x -macro "P=hpE3631ATest,R=asyn,PORT=L0,ADDR=-1" asynRecord.adl
If you have edm installed then you need to use the asynRecord.edl file instead. Ensure that<asynTop>/opi/medm is in the EDMDATAFILES environment variable. Start edm with the arguments appropriate for your IOC:
edm -x -m "P=hpE3631ATest, R=asyn,PORT=L1_TCP,ADDR=-1" asynRecord.edl
The descriptions in this section apply directly to the HP E3631A only but may provide useful hints for adding commands for your particular device.
First add an entry to HPE3631ASup/devHPE3631A.proto:
setLocRem {
out "SYST:%{LOC|REM}";
}
This uses the StreamDevice ENUM converter to send one of two strings to the device based on the PV value. The corresponding addition to HPE3631ASup/devHPE3631A.db is:
record(bo, "$(P)$(R)SetRemote")
{
field(DESC, "Set into local/remote mode")
field(DTYP, "stream")
field(OUT, "@devHPE3631A.proto setLocRem $(PORT) $(A)")
field(ZNAM, "Local")
field(ONAM, "Remote")
field(PINI, "YES")
field(VAL, "1")
}
The PINI and VAL fields ensure that the device is set into remote control mode during IOC startup.
Once you've made the above changes run make to install the modified files. If you've created the test application you can try out the new command and see if it works.
These are simple since they use StreamDevice protocol entries that already exist. The setD and getD entries set and get the value of a single integer parameter whose command is passed as the argument to the protocol entry:
record(bo, "$(P)$(R)SetOnOff")
{
field(DESC, "Turn output off/on")
field(DTYP, "stream")
field(OUT, "@devHPE3631A.proto setD(OUTP) $(PORT) $(A)")
field(ZNAM, "Off")
field(ONAM, "On")
}
record(bi, "$(P)$(R)GetOnOff")
{
field(DESC, "Is output on?")
field(DTYP, "stream")
field(INP, "@devHPE3631A.proto getD(OUTP) $(PORT) $(A)")
field(ZNAM, "Off")
field(ONAM, "On")
}
Add two entries to HPE3631ASup/devHPE3631A.proto:
setVI {
out "INST \$1;\$2 %g";
}
getVI {
out "INST \$1;\$2?";
in "%g";
ExtraInput = Ignore;
}
These entries set and get the floating point value for the channel passed as the first argument and for the parameter passed as the second argument.
The corresponding additions to HPE3631ASup/devHPE3631A.db are:
record(ao, "$(P)$(R)SetP6Volts")
{
field(DESC, "Set +6V output volage")
field(DTYP, "stream")
field(OUT, "@devHPE3631A.proto setVI(P6V,VOLT) $(PORT) $(A)")
field(EGU, "Volts")
field(LOPR, "0")
field(HOPR, "6.18")
field(EGUL, "0")
field(EGUF, "6.18")
field(DRVL, "0")
field(DRVH, "6.18")
}
record(ao, "$(P)$(R)SetP6Amps")
{
field(DESC, "Set +6V output current")
field(DTYP, "stream")
field(OUT, "@devHPE3631A.proto setVI(P6V,CURR) $(PORT) $(A)")
field(EGU, "Amps")
field(LOPR, "0")
field(HOPR, "5.15")
field(EGUL, "0")
field(EGUF, "5.15")
field(DRVL, "0")
field(DRVH, "5.15")
}
record(ao, "$(P)$(R)SetP25Volts")
{
field(DESC, "Set +25V output volage")
field(DTYP, "stream")
field(OUT, "@devHPE3631A.proto setVI(P25V,VOLT) $(PORT) $(A)")
field(EGU, "Volts")
field(LOPR, "0")
field(HOPR, "25.75")
field(EGUL, "0")
field(EGUF, "25.75")
field(DRVL, "0")
field(DRVH, "25.75")
}
record(ao, "$(P)$(R)SetP25Amps")
{
field(DESC, "Set +25V output current")
field(DTYP, "stream")
field(OUT, "@devHPE3631A.proto setVI(P25V,CURR) $(PORT) $(A)")
field(EGU, "Amps")
field(LOPR, "0")
field(HOPR, "1.03")
field(EGUL, "0")
field(EGUF, "1.03")
field(DRVL, "0")
field(DRVH, "1.03")
}
record(ao, "$(P)$(R)SetN25Volts")
{
field(DESC, "Set -25V output volage")
field(DTYP, "stream")
field(OUT, "@devHPE3631A.proto setVI(N25V,VOLT) $(PORT) $(A)")
field(EGU, "Volts")
field(HOPR, "0")
field(LOPR, "-25.75")
field(EGUF, "0")
field(EGUL, "-25.75")
field(DRVH, "0")
field(DRVL, "-25.75")
}
record(ao, "$(P)$(R)SetN25Amps")
{
field(DESC, "Set -25V output current")
field(DTYP, "stream")
field(OUT, "@devHPE3631A.proto setVI(N25V,CURR) $(PORT) $(A)")
field(EGU, "Amps")
field(LOPR, "0")
field(HOPR, "1.03")
field(EGUL, "0")
field(EGUF, "1.03")
field(DRVL, "0")
field(DRVH, "1.03")
}
record(ao, "$(P)$(R)GetP6Volts")
{
field(DESC, "Get +6V output volage")
field(DTYP, "stream")
field(OUT, "@devHPE3631A.proto getVI(P6V,VOLT) $(PORT) $(A)")
field(EGU, "Volts")
field(LOPR, "0")
field(HOPR, "6.18")
field(EGUL, "0")
field(EGUF, "6.18")
}
record(ao, "$(P)$(R)GetP6Amps")
{
field(DESC, "Get +6V output current")
field(DTYP, "stream")
field(OUT, "@devHPE3631A.proto getVI(P6V,CURR) $(PORT) $(A)")
field(EGU, "Amps")
field(LOPR, "0")
field(HOPR, "5.15")
field(EGUL, "0")
field(EGUF, "5.15")
}
record(ao, "$(P)$(R)GetP25Volts")
{
field(DESC, "Get +25V output volage")
field(DTYP, "stream")
field(OUT, "@devHPE3631A.proto getVI(P25V,VOLT) $(PORT) $(A)")
field(EGU, "Volts")
field(LOPR, "0")
field(HOPR, "25.75")
field(EGUL, "0")
field(EGUF, "25.75")
}
record(ao, "$(P)$(R)GetP25Amps")
{
field(DESC, "Get +25V output current")
field(DTYP, "stream")
field(OUT, "@devHPE3631A.proto getVI(P25V,CURR) $(PORT) $(A)")
field(EGU, "Amps")
field(LOPR, "0")
field(HOPR, "1.03")
field(EGUL, "0")
field(EGUF, "1.03")
}
record(ao, "$(P)$(R)GetN25Volts")
{
field(DESC, "Get -25V output volage")
field(DTYP, "stream")
field(OUT, "@devHPE3631A.proto getVI(N25V,VOLT) $(PORT) $(A)")
field(EGU, "Volts")
field(LOPR, "-25.75")
field(HOPR, "0")
field(EGUL, "-25.75")
field(EGUF, "0")
}
record(ao, "$(P)$(R)GetN25Amps")
{
field(DESC, "Get -25V output current")
field(DTYP, "stream")
field(OUT, "@devHPE3631A.proto getVI(N25V,CURR) $(PORT) $(A)")
field(EGU, "Amps")
field(LOPR, "0")
field(HOPR, "1.03")
field(EGUL, "0")
field(EGUF, "1.03")
}
Depending on your application you might set up FLNK and/or SCAN fields to keep the setpoint readbacks up to date.