diff --git a/motorApp/MotorSimSrc/devMotorSim.c b/motorApp/MotorSimSrc/devMotorSim.c
index 15552418..f8889e3c 100644
--- a/motorApp/MotorSimSrc/devMotorSim.c
+++ b/motorApp/MotorSimSrc/devMotorSim.c
@@ -6,6 +6,9 @@
 #include <stdio.h>
 #include <string.h>
 
+/* The following is needed to compile against Base R3.16.1 without a warning */
+#define USE_TYPED_RSET
+
 #include "epicsFindSymbol.h"
 #include "dbAccess.h"
 #include "recGbl.h"
diff --git a/motorApp/MotorSrc/devMotorAsyn.c b/motorApp/MotorSrc/devMotorAsyn.c
index a3b915e8..c09834e9 100644
--- a/motorApp/MotorSrc/devMotorAsyn.c
+++ b/motorApp/MotorSrc/devMotorAsyn.c
@@ -51,15 +51,7 @@
 #include <string.h>
 #include <math.h>
 
-#include <dbAccess.h>
-#include <recGbl.h>
-#include <recSup.h>
-#include <errlog.h>
-#include <devSup.h>
-#include <alarm.h>
-#include <epicsEvent.h>
-#include <cantProceed.h> /* !! for callocMustSucceed() */
-#include <dbEvent.h>
+#include "motor_epics_inc.h"
 
 #include <asynDriver.h>
 #include <asynInt32.h>
diff --git a/motorApp/MotorSrc/motorRecord.cc b/motorApp/MotorSrc/motorRecord.cc
index dd8cacb7..0129b879 100644
--- a/motorApp/MotorSrc/motorRecord.cc
+++ b/motorApp/MotorSrc/motorRecord.cc
@@ -198,16 +198,10 @@ USAGE...        Motor Record Support.
 #include    <string.h>
 #include    <stdarg.h>
 #include    <alarm.h>
-#include    <dbDefs.h>
-#include    <callback.h>
-#include    <dbAccess.h>
-#include    <dbScan.h>
-#include    <recGbl.h>
-#include    <recSup.h>
-#include    <dbEvent.h>
-#include    <devSup.h>
 #include    <math.h>
 
+#include    "motor_epics_inc.h"
+
 #define GEN_SIZE_OFFSET
 #include    "motorRecord.h"
 #undef GEN_SIZE_OFFSET
@@ -249,38 +243,39 @@ static void syncTargetPosition(motorRecord *);
 
 /*** Record Support Entry Table (RSET) functions. ***/
 
-static long init_record(dbCommon *, int);
-static long process(dbCommon *);
+extern "C" {
+static long init_record(struct dbCommon*, int);
+static long process(struct dbCommon*);
 static long special(DBADDR *, int);
-static long get_units(const DBADDR *, char *);
-static long get_precision(const DBADDR *, long *);
-static long get_graphic_double(const DBADDR *, struct dbr_grDouble *);
-static long get_control_double(const DBADDR *, struct dbr_ctrlDouble *);
-static long get_alarm_double(const DBADDR  *, struct dbr_alDouble *);
-
+static long get_units(DBADDR *, char *);
+static long get_precision(const struct dbAddr *, long *);
+static long get_graphic_double(DBADDR *, struct dbr_grDouble *);
+static long get_control_double(DBADDR *, struct dbr_ctrlDouble *);
+static long get_alarm_double(DBADDR  *, struct dbr_alDouble *);
 
 rset motorRSET =
 {
     RSETNUMBER,
     NULL,
     NULL,
-    (RECSUPFUN) init_record,
-    (RECSUPFUN) process,
-    (RECSUPFUN) special,
+    RECSUPFUN_CAST init_record,
+    RECSUPFUN_CAST process,
+    RECSUPFUN_CAST special,
     NULL,
     NULL,
     NULL,
     NULL,
-    (RECSUPFUN) get_units,
-    (RECSUPFUN) get_precision,
+    RECSUPFUN_CAST get_units,
+    RECSUPFUN_CAST get_precision,
     NULL,
     NULL,
     NULL,
-    (RECSUPFUN) get_graphic_double,
-    (RECSUPFUN) get_control_double,
-    (RECSUPFUN) get_alarm_double
+    RECSUPFUN_CAST get_graphic_double,
+    RECSUPFUN_CAST get_control_double,
+    RECSUPFUN_CAST get_alarm_double
 };
-extern "C" {epicsExportAddress(rset, motorRSET);}
+epicsExportAddress(rset, motorRSET);
+}
 
 
 /*******************************************************************************
@@ -3116,7 +3111,7 @@ velcheckA:
 /******************************************************************************
         get_units()
 *******************************************************************************/
-static long get_units(const DBADDR *paddr, char *units)
+static long get_units(DBADDR *paddr, char *units)
 {
     motorRecord *pmr = (motorRecord *) paddr->precord;
     int siz = dbr_units_size - 1;       /* "dbr_units_size" from dbAccess.h */
@@ -3173,7 +3168,7 @@ static long get_units(const DBADDR *paddr, char *units)
 /******************************************************************************
         get_graphic_double()
 *******************************************************************************/
-static long get_graphic_double(const DBADDR *paddr, struct dbr_grDouble * pgd)
+static long get_graphic_double(DBADDR *paddr, struct dbr_grDouble * pgd)
 {
     motorRecord *pmr = (motorRecord *) paddr->precord;
     int fieldIndex = dbGetFieldIndex(paddr);
@@ -3224,7 +3219,7 @@ static long get_graphic_double(const DBADDR *paddr, struct dbr_grDouble * pgd)
         get_control_double()
 *******************************************************************************/
 static long
- get_control_double(const DBADDR *paddr, struct dbr_ctrlDouble * pcd)
+ get_control_double(DBADDR *paddr, struct dbr_ctrlDouble * pcd)
 {
     motorRecord *pmr = (motorRecord *) paddr->precord;
     int fieldIndex = dbGetFieldIndex(paddr);
@@ -3304,7 +3299,7 @@ static long get_precision(const DBADDR *paddr, long *precision)
 /******************************************************************************
         get_alarm_double()
 *******************************************************************************/
-static long get_alarm_double(const DBADDR  *paddr, struct dbr_alDouble * pad)
+static long get_alarm_double(DBADDR  *paddr, struct dbr_alDouble * pad)
 {
     motorRecord *pmr = (motorRecord *) paddr->precord;
     int fieldIndex = dbGetFieldIndex(paddr);
diff --git a/motorApp/MotorSrc/motorUtilAux.cc b/motorApp/MotorSrc/motorUtilAux.cc
index 9b915d9d..fef1690c 100644
--- a/motorApp/MotorSrc/motorUtilAux.cc
+++ b/motorApp/MotorSrc/motorUtilAux.cc
@@ -29,6 +29,8 @@ USAGE...        Motor Record Utility Support.
 */
 
 #include <string.h>
+#include "motor_epics_inc.h"
+
 
 #include <cantProceed.h>
 #include <dbStaticLib.h>
diff --git a/motorApp/MotorSrc/motor_epics_inc.h b/motorApp/MotorSrc/motor_epics_inc.h
new file mode 100644
index 00000000..0d4698c5
--- /dev/null
+++ b/motorApp/MotorSrc/motor_epics_inc.h
@@ -0,0 +1,33 @@
+#ifndef INCmotorepicsinc
+#define INCmotorepicsinc 1
+
+#include "epicsVersion.h"
+
+#ifndef VERSION_INT
+#  define VERSION_INT(V,R,M,P) ( ((V)<<24) | ((R)<<16) | ((M)<<8) | (P))
+#endif
+
+#define VERSION_INT_3_16 VERSION_INT(3,16,0,0)
+#if EPICS_VERSION_INT < VERSION_INT_3_16
+#define RECSUPFUN_CAST (RECSUPFUN)
+#else
+#define RECSUPFUN_CAST
+#define REC_TYPE motorRecord
+#define USE_TYPED_RSET
+#endif
+
+#include <dbDefs.h>
+#include <callback.h>
+#include <dbScan.h>
+#include <dbAccess.h>
+#include <recGbl.h>
+#include <recSup.h>
+#include <errlog.h>
+#include <devSup.h>
+#include <alarm.h>
+#include <epicsEvent.h>
+#include <cantProceed.h> /* !! for callocMustSucceed() */
+#include <dbEvent.h>
+#include    <devSup.h>
+
+#endif
diff --git a/motorApp/MotorSrc/motordevCom.cc b/motorApp/MotorSrc/motordevCom.cc
index c9a467e6..b82bc8fa 100644
--- a/motorApp/MotorSrc/motordevCom.cc
+++ b/motorApp/MotorSrc/motordevCom.cc
@@ -63,12 +63,7 @@ USAGE... This file contains device functions that are common to all motor
 #include <stdlib.h>
 #include <string.h>
 #include <math.h>
-#include <callback.h>
-#include <dbAccess.h>
-#include <recGbl.h>
-#include <recSup.h>
-#include <dbEvent.h>
-#include <devSup.h>
+#include "motor_epics_inc.h"
 
 #include "motorRecord.h"
 #include "motor.h"
diff --git a/motorApp/SoftMotorSrc/devSoft.cc b/motorApp/SoftMotorSrc/devSoft.cc
index 5ef2ddd0..55d29138 100644
--- a/motorApp/SoftMotorSrc/devSoft.cc
+++ b/motorApp/SoftMotorSrc/devSoft.cc
@@ -46,6 +46,8 @@ NOTES...
 - Can't call CA functions until after dbLockInitRecords() has been called and initialized lock sets.   
 */
 
+/* The following is needed to compile against Base R3.16.1 without a warning */
+#define USE_TYPED_RSET
 
 #include        <dbDefs.h>
 #include        <dbFldTypes.h>