# The is the "ASYN" example for communication to either a Newport MM4000/5 or an
# IMS483 controller.  The examples must be configured by including or omitting
# comment characters (i.e., #'s) from this file.

# "#!" marks lines that can be uncommented.

# The following must be added for many board support packages
#!cd "... IOC st.cmd complete directory path ... "

< cdCommands 
#!< ../nfsCommands

cd topbin

# If the VxWorks kernel was built using the project facility, the following must
# be added before any C++ code is loaded (see SPR #28980).
sysCplusEnable=1

ld < WithAsynVx.munch

cd startup
dbLoadDatabase("$(TOP)/dbd/WithAsynVx.dbd")
WithAsynVx_registerRecordDeviceDriver(pdbbase)

dbLoadTemplate("motor.substitutions")
dbLoadRecords("$(MOTOR)/db/motorUtil.db", "P=IOC:")

# Configure the ASYN server code. This MUST be configured too!
< st_asynserver.cmd.Vx

# Newport MM3000 and MM4000/5/6 driver setup parameters: 
#     (1) maximum number of controllers in system
#     (2) motor task polling rate (min=1Hz,max=60Hz)
#!MM3000Setup(1, 10)
#!MM4000Setup(1, 10)

# Newport MM3000 and MM4000/5/6 driver configuration parameters: 
#     (1) controller# being configured
#     (2) ASYN port name
#     (3) address (GPIB only)
#!MM3000Config(0, "a-Serial[0]")
#!drvMM3000debug=4
#!MM4000Config(0, "a-Serial[0]")
#!drvMM4000debug=4

# The MM4000 driver does not set end of string (EOS).
#  for RS232 serial,
#!asynOctetSetInputEos( "a-Serial[0]",0,"\r")
#!asynOctetSetOutputEos("a-Serial[0]",0,"\r")
#  for GPIB,
#!asynInterposeEosConfig("L0", 10, 1, 1)
#!asynOctetSetInputEos( "L0",10,"\r")
#!asynOctetSetOutputEos("L0",10,"\r")

# Newport PM500 driver setup parameters:
#     (1) maximum number of controllers in system
#     (2) motor task polling rate (min=1Hz,max=60Hz)
#!PM500Setup(1, 10)

# Newport PM500 configuration parameters:
#     (1) controller# being configured
#     (2) ASYN port name
#     (3) address (GPIB only)
#!PM500Config(0, "a-Serial[0]")
#!drvPM500debug=4

# IMS IM483 driver setup parameters:
#     (1) maximum number of controllers in system
#     (2) motor task polling rate (min=1Hz,max=60Hz)
#  SM - single mode     PL - party mode
#!IM483SMSetup(1, 10)
#!IM483PLSetup(1, 10)

# IMS IM483 configuration parameters:
#     (1) controller# (chain#) being configured,
#     (2) ASYN port name
#  SM - single mode     PL - party mode
#!IM483SMConfig(0, "a-Serial[0]")
#!drvIM483SMdebug=4
#!IM483PLConfig(0, "a-Serial[0]")
#!drvIM483PLdebug=4

# MCB-4B driver setup parameters:
#     (1) maximum # of controllers,
#     (2) motor task polling rate (min=1Hz, max=60Hz)
#!MCB4BSetup(1, 10)

# MCB-4B driver configuration parameters:
#     (1) controller
#     (2) ASYN port name
#!MCB4BConfig(0, "a-Serial[0]")
#!asynOctetSetInputEos("a-Serial[0]",0,"\r")
#!asynOctetSetOutputEos("a-Serial[0]",0,"\r")
#!drvMCB4BDebug=4

# Newport ESP300 driver setup parameters: 
#     (1) maximum number of controllers in system
#     (2) motor task polling rate (min=1Hz,max=60Hz)
#!ESP300Setup(1, 10)

# Newport ESP300 driver configuration parameters: 
#     (1) controller# being configured
#     (2) ASYN port name
#     (3) address (GPIB only)
#!ESP300Config(0, "a-Serial[0]")
#!drvESP300debug = 4

# MicroMo MVP2001 driver setup parameters: 
#
# NOTE: The 1st controller on each chain should have it's address = 1.
#       The rest of the controllers on a chain should follow sequentially.
#
#
# int MVP2001Setup(int num_cards, /* number of CHAINS of controllers */
#      int scan_rate)             /* polling rate  (Min=1Hz, max=60Hz) */
#!MVP2001Setup(1, 10)

# int MVP2001Config(int card,     /* CHAIN being configured */
#     (2) ASYN port name
#!MVP2001Config(0, "a-Serial[0]")
#!drvMVP2001debug=4

# PI C-844 driver setup parameters: 
#     (1) maximum number of controllers in system
#     (2) motor task polling rate (min=1Hz,max=60Hz)
#!PIC844Setup(1, 10)

# PI C-844 driver configuration parameters: 
#     (1) controller# being configured
#     (2) ASYN port name
#     (3) address (GPIB only)
#!PIC844Config(0, "a-Serial[0]")
#!drvPIC844debug = 4

# PI C-848 driver setup parameters: 
#     (1) maximum number of controllers in system
#     (2) motor task polling rate (min=1Hz,max=60Hz)
#!PIC848Setup(1, 2)

# PI C-848 driver configuration parameters: 
#     (1) controller# being configured,
#     (2) ASYN port name
#!PIC848Config(0, "a-Serial[0]")
#!drvPIC848debug = 4

# PI E-662 Piezo driver setup parameters:
#     (1) maximum number of controllers in system
#     (2) motor task polling rate (min=1Hz, max=60Hz)
#!PIC662Setup(1, 60)
                                                                                
# PI E-662 Piezo driver configuration parameters:
#     (1) controller being configured
#     (2) asyn port name (string)
#!PIC662Config(0, "serial1")
#!drvPIC662debug = 4

# PI C-862 DC-motor driver setup parameters:
#     (1) maximum number of controllers in system
#     (2) motor task polling rate (min=1Hz, max=60Hz)
#!PIC862Setup(1, 60)
                                                                                
# PI C-862 DC-motor driver configuration parameters:
#     (1) controller being configured
#     (2) asyn port name (string)
#!PIC862Config(0, "serial1")
#!drvPIC862debug = 4
                                                                                
# New Focus Picomotor Network Controller (model 8750/2) (setup parameters:  
#     (1) maximum number of controllers in system 
#     (2) maximum number of drivers per controller (1 - 3)  
#     (3) motor task polling rate (min=1Hz,max=60Hz)  
#!PMNC87xxSetup(1, 2, 10) 
 
# New Focuc Picomotor Network Controller (model 8750/2) configuration parameters:  
#     (1) controller# being configured, 
#     (2) asyn port name (string)
#!PMNC87xxConfig(0, "serial2")
#!drvPMNC87xxdebug=4


# Micos MoCo driver setup parameters:
# Load MicosSetup once.
#     (1) max # of controller groups.  Controller groups are per serial
#         port.
#     (2) max # axes per controller group.  Maximum 16. (addr 0-15)
#     (3) motor task polling rate (min=1Hz, max=60Hz, 10Hz works well)
# Example:
#   MicosSetup(1, 2, 10) 1 group. 2 axes (controllers) in the group.
#                        10Hz poll.
#!MicosSetup(1, 2, 10)

# Micos MoCo driver configuration parameters:
# Load one MicosConfig for each group of Micos drivers.
#     (1) "Controller group" number
#     (2) ASYN port name
#!MicosConfig(0, "a-Serial[0]")
#!drvMicosDebug = 4

# IMS MDrive driver setup parameters: 
#     (1) maximum number of controllers in system
#     (2) motor task polling rate (min=1Hz,max=60Hz)
#!MDriveSetup(1, 10)

# IMS MDrive driver configuration parameters: 
#     (1) controller# being configured
#!MDriveConfig(0, "a-Serial[0]")
#!drvMDrivedebug = 4

# Newport XPSC8 driver setup parameters: 
#     (1) maximum number of controllers in system
#     (2) motor task polling rate (min=1Hz,max=60Hz)
#!XPSC8Setup(2, 60)

# Newport XPSC8 driver configuration parameters: 
#     (1) controller# being configured
#     (2) ASYN port name
#     (3) ASYN port #
#     (4) number of axes
#!XPSC8Config(0, "tcp1", 0, 6)
#!XPSC8Config(1, "tcp2", 0, 8)

# Newport XPSC8 group and positioner name configuration:
#     (1) controller# being configured
#     (2) axis# being configured.
#     (3) groupnumber
#     (4) groupsize
#     (5) # of axes in group
#     (6) group name
#     (7) positioner name
#!XPSC8NameConfig(0,0,0,6,0,"GROUP1","GROUP1.PHI")
#!XPSC8NameConfig(0,1,0,6,1,"GROUP1","GROUP1.KAPPA")
#!XPSC8NameConfig(0,2,0,6,2,"GROUP1","GROUP1.OMEGA")
#!XPSC8NameConfig(0,3,0,6,3,"GROUP1","GROUP1.PSI")
#!XPSC8NameConfig(0,4,0,6,4,"GROUP1","GROUP1.2THETA")
#!XPSC8NameConfig(0,5,0,6,5,"GROUP1","GROUP1.NU")

#!XPSC8NameConfig(1,0,0,1,0,"GROUP1","GROUP1.Y1_BASE")
#!XPSC8NameConfig(1,1,1,1,0,"GROUP2","GROUP2.Y2_BASE")
#!XPSC8NameConfig(1,2,2,1,0,"GROUP3","GROUP3.Y3_BASE")
#!XPSC8NameConfig(1,3,3,1,0,"GROUP4","GROUP4.TRX_BASE")
#!XPSC8NameConfig(1,4,4,1,0,"GROUP5","GROUP5.THETA-Y_BASE")
#!XPSC8NameConfig(1,5,5,1,0,"GROUP6","GROUP6.X_SAMPLE")
#!XPSC8NameConfig(1,6,6,1,0,"GROUP7","GROUP7.Y_SAMPLE")
#!XPSC8NameConfig(1,7,7,1,0,"GROUP8","GROUP8.Z_SAMPLE")

# The XPSC8 driver does not set the ASYN end of string (EOS).
#!asynOctetSetInputEos("tcp1",0,"")
#!asynOctetSetOutputEos("tcp1",0,"")
#!asynOctetSetInputEos("tcp2",0,"")
#!asynOctetSetOutputEos("tcp2",0,"")


# OMS PC68/78 stand-alone serial driver setup parameters: 
#     (1) maximum number of controllers in system
#     (2) motor task polling rate (min=1Hz,max=60Hz)
#!OmsPC68Setup(1, 10)

# OMS PC68/78 stand-alone serial driver configuration parameters: 
#     (1) Card# being configured
#     (2) asyn port name
#!OmsPC68Config(0, "L0")
#!drvOmsPC68debug=4

# Kohzu SC-800 motor controller setup parameters: 
#     (1) maximum number of controllers in system
#     (2) motor task polling rate (min=1Hz,max=60Hz)
#!SC800Setup(1, 5)

# Kohzu SC-800 motor controller configuration parameters: 
#     (1) controller# being configured
#     (2) ASYN port name
#     (3) address (GPIB only)
#!SC800Config(0, "L0", 0)
#!drvSC800debug=4

# Faulhaber MCDC2805 driver setup parameters:
#     (1)Max. controller count
#     (2)Polling rate
#!MCDC2805Setup(1, 10)

# Faulhaber MCDC2805 driver configuration parameters:
#     (1)Card being configured
#     (2)# modules on this serial port
#     (3)asyn port name
#!MCDC2805Config(0, 1, "L0")
#!drvMCDC2805debug=4

# The MCDC2805 driver does not set end of string (EOS).
#!asynOctetSetInputEos("L0",0,"\r")
#!asynOctetSetOutputEos("L0",0,"\r")


# attocube ANC 150 asyn motor driver setup parameter.
#!ANC150AsynSetup(1)  /* number of ANC150 controllers in system.  */

# attocube ANC 150 asyn motor driver configure parameters.
#     (1) Controller number being configured
#     (2) ASYN port name
#     (3) Number of axes this controller supports
#     (4) Time to poll (msec) when an axis is in motion
#     (5) Time to poll (msec) when an axis is idle. 0 for no polling
#!ANC150AsynConfig(0, "a-Serial[1]", 3, 250, 2000)


# Aerotech Ensemble digital servo controller Setup
#     (1) maximum number of controllers in system
#     (2) motor task polling rate (min=1Hz,max=60Hz)
#!EnsembleSetup(1, 10)

# Aerotech Ensemble digital servo controller Configure
#     (1) controller# being configured, 
#     (2) asyn port name (string)
#!EnsembleConfig(0, "a-Serial[0]")


# Newport MM4000/5/6 asyn motor driver setup parameter.
#!MM4000AsynSetup(1)   /* number of MM4000 controllers in system.  */

# Newport MM4000/5/6 asyn motor driver configure parameters.
#     (1) Controller number being configured
#     (2) ASYN port name
#     (3) ASYN address (GPIB only)
#     (4) Number of axes this controller supports
#     (5) Time to poll (msec) when an axis is in motion
#     (6) Time to poll (msec) when an axis is idle. 0 for no polling
#!MM4000AsynConfig(0, "a-Serial[1]", 0, 1, 100, 250)

# Asyn-based Motor Record support
#   (1) Asyn port
#   (2) Driver name
#   (3) Controller index
#   (4) Max. number of axes
#!drvAsynMotorConfigure("ANC150","motorANC150",0,1)

iocInit

# motorUtil (allstop & alldone)
motorUtilInit("IOC:")