EPICS和Arduino Uno之间基于串行文本协议的控制开发

Arduino Uno的串口服务程序设置如文本的串口通信协议设计以及在Arduino上的应用-CSDN博客中所示。通过在串口上发送约定的文本协议，它实现的功能如下：

实现功能：

读取三路0.0V~5.0V模拟量输入，读取端口A0~A2
设置三路0.0V~5.0V的模拟量输出，输出管脚3，5，6
读取三路数字量输入，读取管脚2，4，7
设置三路数字量输出，输出管脚8，12，13

协议格式

1）读取三路0.0V~5.0V模拟量输入：

发送：VOLTS:GET?\r\n
接受：VOLTS:GET：2.5：1.5：3.2\r\n

2）设置三路0.0V~5.0V的模拟量输出：

发送：VOLTS:SET：2.1:2.2:3.2\r\n
接受：VOLTS:SET：2.1:2.2:3.2\r\n

3）读取三路数字量输入:

发送：DIGITS:GET?\r\n
接受：DIGITS:GET：1：1：0\r\n

4) 设置三路数字量输出:

发送：DIGITS:SET:1:0:1\r\n
接受：DIGITS:SET:1:0:1\r\n

开发EPICS IOC所需要模块

Base
asyn
stream

1）使用makeBaseApp构建IOC应用程序框架

2）编辑configure/RELEASE添加base，asyn和stream模块所在的路径。

3）编辑arduino/arduinoApp/src下Makefile文件：

# 添加所需数据库定义文件
arduino_DBD += asyn.dbd
arduino_DBD += stream.dbd
arduino_DBD += drvAsynSerialPort.dbd

# 添加所需库文件
arduino_LIBS += asyn
arduino_LIBS += stream

4）在arduino/arduinoApp/Db路径下添加如下文件，

用于字符串收发的解析文件： arduino.proto

# arduino.proto
Terminator = CR LF;

write_dos
{
        out "DIGITS:SET: %(A)d:%(B)d:%(C)d";
}

write_volts
{
        out "VOLTS:SET:%(A).2f:%(B).6f:%(C).2f";
}

read_dis
{
        out "DIGITS:GET?";
        in "DIGITS:GET:%d:%(\$1)d:%(\$2)d";
}

read_volts
{
        out "VOLTS:GET?";
        in "VOLTS:GET:%f:%(\$1)f:%(\$2)f";
}

添加数据库记录文件：

1）bis.db：位输入记录

# bis.db
record (bi, "$(P)$(R)DI0")
{
  field (DTYP, "stream")
  field (ZNAM, "LOW")
  field (ONAM, "HIGH")
  field (INP, "@$(ARDUINO).proto read_dis($(P)$(R)DI1, $(P)$(R)DI2) $(PORT)")
  field (SCAN, ".2 second")
}


record (bi, "$(P)$(R)DI1")
{
  field (ZNAM, "LOW")
  field (ONAM, "HIGH")
}


record (bi, "$(P)$(R)DI2")
{
  field (ZNAM, "LOW")
  field (ONAM, "HIGH")
}

2）bos.db：位输出记录

# bos.db
record(bo, "$(P)$(R)DO0")
{
    field (DESC, "Digital Bit 0")
    field (ZNAM, "LOW")
    field (ONAM, "HIGH")
    field(FLNK, "$(P)$(R)CALCOUTDOS")
}

record(bo, "$(P)$(R)DO1")
{
    field (DESC, "Digital Bit 1")
    field (ZNAM, "LOW")
    field (ONAM, "HIGH")
    field(FLNK, "$(P)$(R)CALCOUTDOS")
}


record(bo, "$(P)$(R)DO2")
{
    field (DESC, "Digital Bit 0")
    field (ZNAM, "LOW")
    field (ONAM, "HIGH")
    field(FLNK, "$(P)$(R)CALCOUTDOS")
}


record (calcout, "$(P)$(R)CALCOUTDOS") {
  field (INPA, "$(P)$(R)DO0")
  field (INPB, "$(P)$(R)DO1")
  field (INPC, "$(P)$(R)DO2")
  field (CALC, "0")
  field (DTYP, "stream")
  field (OUT, "@$(ARDUINO).proto write_dos $(PORT)")
}

3）volts_in.db：模拟量输入记录

# volts_in.db
record (ai, "$(P)$(R)VI0")
{
  field (DTYP, "stream")
  field (INP, "@$(ARDUINO).proto read_volts($(P)$(R)VI1, $(P)$(R)VI2) $(PORT)")
  field (EGU,  "V")
  field (PREC, "2")
  field (SCAN, ".2 second")
}


record (ai, "$(P)$(R)VI1")
{
  field (EGU,  "V")
  field (PREC, "2")
}


record (ai, "$(P)$(R)VI2")
{
  field (EGU,  "V")
  field (PREC, "2")

}

4）volts_out.db：模拟量输出记录

# volts_out.db
record (ao, "$(P)$(R)VO0")
{
    field (DESC, "Set Volt 0")
    field (EGU,  "V")
    field (PREC, "2")
    field (DRVL, "0.00")
    field (DRVH, "5.00")
    field (LOPR, "0.0")
    field (HOPR, "5.00")
    field (FLNK, "$(P)$(R)CALCOUTVOLTS")
}

record (ao, "$(P)$(R)VO1")
{
    field (DESC, "Set Volt 1")
    field (EGU,  "V")
    field (PREC, "2")
    field (DRVL, "0.00")
    field (DRVH, "5.00")
    field (LOPR, "0.0")
    field (HOPR, "5.00")
    field (FLNK, "$(P)$(R)CALCOUTVOLTS")
}


record (ao, "$(P)$(R)VO2")
{
    field (DESC, "Set Volt 2")
    field (EGU,  "V")
    field (PREC, "2")
    field (DRVL, "0.00")
    field (DRVH, "5.00")
    field (LOPR, "0.0")
    field (HOPR, "5.00")
    field (FLNK, "$(P)$(R)CALCOUTVOLTS")
}

record (calcout, "$(P)$(R)CALCOUTVOLTS") {
  field (INPA, "$(P)$(R)VO0")
  field (INPB, "$(P)$(R)VO1")
  field (INPC, "$(P)$(R)VO2")
  field (CALC, "0")
  field (DTYP, "stream")
  field (OUT, "@$(ARDUINO).proto write_volts $(PORT)")
}

将以上文件写入到同一路径下的Makefile中：

...
DB += bos.db
DB += bis.db
DB += volts_out.db
DB += volts_in.db
DB += arduino.proto
...

5) 编辑启动脚本：arduino/iocBoot/iocarduino/st.cmd

...
epicsEnvSet ("STREAM_PROTOCOL_PATH", "$(TOP)/db/")
drvAsynSerialPortConfigure("ARDUINO", "/dev/ttyACM0", 0, 0, 0)
asynSetOption("ARDUINO",0,"baud","9600")
asynSetOption("ARDUINO",0,"parity","none")
asynSetOption("ARDUINO",0,"bits","8")
asynSetOption("ARDUINO",0,"stop","1")

## Load record instances
dbLoadRecords("db/bos.db","P=ARDUINO:,R=CH:,PORT=ARDUINO,ARDUINO=arduino")
dbLoadRecords("db/bis.db","P=ARDUINO:,R=CH:,PORT=ARDUINO,ARDUINO=arduino")
dbLoadRecords("db/volts_out.db","P=ARDUINO:,R=CH:,PORT=ARDUINO,ARDUINO=arduino")
dbLoadRecords("db/volts_in.db","P=ARDUINO:,R=CH:,PORT=ARDUINO,ARDUINO=arduino")
...

6) 回到这个IOC的顶层目录，即arduino，执行make进行编译。

7）进入arduino/iocBoot/iocarduino，启动这个IOC：

../../bin/linux-x86_64/arduino st.cmd

8）查看加载的记录：

epics> dbl
ARDUINO:CH:CALCOUTDOS
ARDUINO:CH:CALCOUTVOLTS
ARDUINO:CH:DO0
ARDUINO:CH:DO1
ARDUINO:CH:DO2
ARDUINO:CH:VO0
ARDUINO:CH:VO1
ARDUINO:CH:VO2
ARDUINO:CH:DI0
ARDUINO:CH:DI1
ARDUINO:CH:DI2
ARDUINO:CH:VI0
ARDUINO:CH:VI1
ARDUINO:CH:VI2

1、3个数字量输出：ARDUINO:CH:DO0 ARDUINO:CH:DO1 ARDUINO:CH:DO2

2、3个数字量输入：ARDUINO:CH:DI0 ARDUINO:CH:DI1 ARDUINO:CH:DI2

3、3个模拟量输出：ARDUINO:CH:VO0 ARDUINO:CH:VO1 ARDUINO:CH:VO2

4、3个模拟量输入：：ARDUINO:CH:VI0 ARDUINO:CH:VI1 ARDUINO:CH:VI2

对应客户端图形界面：