Working with an IOC

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 lttopgt directory under which
  all IOC related files exist
• e.g.
• lttopgt /home/phoebus/STUDNTn/ioc/linac
• lttopgt /home/phoebus/STUDNTn/ioc/example
• lttopgt /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 lttopgt

• lttopgt/
• 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 lttopgt

• lttopgt/
• 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 IOCs 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
• _at_ - 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.xxxfffffe00 inet on
backplane (b) host inet (h) 164.54.8.167
gateway inet (g) user (u) ltUSER_IDgt ftp
password (pw) (blank use rsh) ltPASSWORDgt
flags (f) 0x0 target name (tn) iocuspasn
startup script (s) /home/phoebus/STUDNTn/ioc/li
nac/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
ltfull path to target bin directorygt lt cdCommands
/ defines appbin, startup / cd appbin ld lt
iocCore / loads ioc system software / ld lt
seq / loads the EPICS sequencer / ld lt
linacLib / loads user specified object code
/ cd startup dbLoadDatabase("../../dbd/linacApp.
dbd") dbLoadRecords("../../db/xxLinacSim.db","use
rstudnt1") iocInit / starts ioc
software / seq bpmTrajectory, "userstudnt0
/ starts a sequence program /
8
IOC Test Facilities

• Useful vxWorks routines
• i - list tasks
• d ltaddressgt - dump memory
• ld lt 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 Developers Guide)
• dbl - list records
• dbnr - list number of each record type
• dbpr ltpvnamegt, 5 - print all fields of a
  record
• dbgf ltpvnamegt - get field value
• dbpf ltpvnamegt,ltvaluegt -put field value
• dbior - print driver/device report
• casr - Channel Access Server Report
• dbel ltrecord - CA Event list report
• dbcar - Database CA Report