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Working with an IOC

Working with an IOC. Marty Kraimer APS. Typical Directory Structure for EPICS Applications. All directories and files are referenced relative to some user-defined <top> directory under which all IOC related files exist e.g. <top> = /home/phoebus/STUDNTn/ioc/linac

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Working with an IOC

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  1. Working with an IOC Marty Kraimer APS

  2. Typical Directory Structure for EPICS Applications • All directories and files are referenced relative to some user-defined <top> directory under which all IOC related files exist • e.g. <top> = /home/phoebus/STUDNTn/ioc/linac <top> = /home/phoebus/STUDNTn/ioc/example <top> = /home/phoebus/STUDNTn/ioc/project • /home/phoebus/STUDNTn/ioc/linac is provided for you and already contains appropriate .dbd and .db files for the IOCs. You will create the other top directories during the lab sessions.

  3. Directory Structure of <top> • <top>/ • config/ - configuration and make rules • linacApp/ - ioc related source files • Db/ • Makefile.Host - must edit to add database files • xxLinacSim.db - Example database file • *.db - other database files as required • src • Makefile.Host - Rules to build linacApp.dbd • Makefile.Vx • Rules to build linacLib • Rules to install iocCore and sequencer • *.c - C files for added device support, records, etc • *.st - sequence programs • base.dbd and baseLIBOBJS • select components from epics base • linacInclude.dbd • Specifies additional components to be included in linacApp.dbd

  4. Directory Structure of <top> • <top>/ • iocBoot/ • ioclinac/ • st.cmd - startup script for vxWorks • bin • db • dbd • include • lib • ... Install directories created and maintained by ‘gnumake’. Do not edit files in these directories.

  5. Connecting to the IOC’s Console Port • In an xterm window on the Unix workstation • cu -l cua/a • If vxWorks is running, you now have access to the vxWorks shell • bootChange - edit boot parameters • CTL-X - cause a reboot • help - displays vxWorks debugging commands • ____ - any global function loaded at boot time • If vxWorks is not running, you are interacting with a ROM-based debugger • p - Print boot parameters • c - Change boot parameter • @ - Start boot process • ? - help (shows available commands)

  6. Booting an IOC • vxWorks Boot Parameters '.' = clear field; '-' = go to previous field; ^D = quit boot device : ei processor number : 0 host name : phoebus file name : /usr/local/vxWorks/5.3/mv167bp0/vxWorks inet on ethernet (e) : 164.54.8.xxx:fffffe00 inet on backplane (b) : host inet (h) : 164.54.8.167 gateway inet (g) : user (u) : <USER_ID> ftp password (pw) (blank = use rsh): <PASSWORD> flags (f) : 0x0 target name (tn) : iocuspasn startup script (s) : /home/phoebus/STUDNTn/ioc/linac/ioclinac/st.cmd other (o) : • The only parameter you will need to change is ‘startup script’

  7. vxWorks Startup Script • A vxWorks startup script is used to load EPICS software and databases. The path for the startup script is specified in the boot parameters. • Typical startup script (st.cmd) # Example vxWorks startup file # Following must be added for many board support packages #cd <full path to target bin directory> < cdCommands /* defines appbin, startup */ cd appbin ld < iocCore /* loads ioc system software */ ld < seq /* loads the EPICS sequencer */ ld < linacLib /* loads user specified object code */ cd startup dbLoadDatabase("../../dbd/linacApp.dbd") dbLoadRecords("../../db/xxLinacSim.db","user=studnt1") iocInit /* starts ioc software */ seq &bpmTrajectory, "user=studnt0” /* starts a sequence program */

  8. IOC Test Facilities • Useful vxWorks routines • i - list tasks • d <address> - dump memory • ld < filename.o - load object module • lkup “name” - find address of global variable • spy - show CPU usage per task • Useful EPICS-supplied routines (See Chapter 6 Application Developer’s Guide) • dbl - list records • dbnr - list number of each record type • dbpr “<pvname>“, 5 - print all fields of a record • dbgf “<pvname>“ - get field value • dbpf “<pvname>“,”<value>“ -put field value • dbior - print driver/device report • casr - Channel Access Server Report • dbel “<record” - CA Event list report • dbcar - Database CA Report

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