##############################################################################
## Example config for testing open loop stepper and BISS-C encoder

require ecmccfg,"ENG_MODE=1"

# Load components lib
require ecmccomp

##############################################################################
## Configure hardware

epicsEnvSet("DRV_SLAVE_1",            "10")
${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd, "SLAVE_ID=$(DRV_SLAVE_1), HW_DESC=EL7041-0052"
${SCRIPTEXEC} ${ecmccomp_DIR}applyComponent.cmd "COMP=Motor-Generic-2Phase-Stepper,MACROS='I_MAX_MA=1000,I_STDBY_MA=500,U_NOM_MV=48000,R_COIL_MOHM=1230'"


epicsEnvSet("DRV_SLAVE_2",            "11")
${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd, "SLAVE_ID=$(DRV_SLAVE_2), HW_DESC=EL7041-0052"
${SCRIPTEXEC} ${ecmccomp_DIR}applyComponent.cmd "COMP=Motor-Generic-2Phase-Stepper,MACROS='I_MAX_MA=1000,I_STDBY_MA=500,U_NOM_MV=48000,R_COIL_MOHM=1230'"

epicsEnvSet("BO_SLAVE",            "9")
${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd, "SLAVE_ID=$(BO_SLAVE), HW_DESC=EL2819"


epicsEnvSet("ENC_SLAVE",            "3")
${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd, "SLAVE_ID=$(ENC_SLAVE), HW_DESC=EL5042"
${SCRIPTEXEC} ${ecmccomp_DIR}applyComponent.cmd "COMP=Encoder-Renishaw-32bit-BISS-C,CH_ID=1"
${SCRIPTEXEC} ${ecmccomp_DIR}applyComponent.cmd "COMP=Encoder-Renishaw-32bit-BISS-C,CH_ID=2"

#Apply hardware configuration
ecmcConfigOrDie "Cfg.EcApplyConfig(1)"

#- Feed limits
ecmcConfigOrDie "Cfg.WriteEcEntryIDString(${BO_SLAVE},binaryOutput01,1)"

##############################################################################
## AXIS 1
#
epicsEnvSet("DEV",       "$(IOC)")
epicsEnvSet("DRV_SLAVE", "$(DRV_SLAVE_1)")
epicsEnvSet("AX_ID",     "1")
${SCRIPTEXEC} ${ECMC_CONFIG_ROOT}loadYamlAxis.cmd, "FILE=./cfg/axis_open_loop.yaml"


##############################################################################
## AXIS 2
#
epicsEnvSet("DEV",       "$(IOC)")
epicsEnvSet("DRV_SLAVE", "$(DRV_SLAVE_2)")
epicsEnvSet("AX_ID",     "2")
${SCRIPTEXEC} ${ECMC_CONFIG_ROOT}loadYamlAxis.cmd, "FILE=./cfg/axis_open_loop.yaml"


##############################################################################
############# Configure diagnostics:

ecmcConfigOrDie "Cfg.EcSetDiagnostics(1)"
ecmcConfigOrDie "Cfg.EcEnablePrintouts(0)"
ecmcConfigOrDie "Cfg.EcSetDomainFailedCyclesLimit(100)"
ecmcConfigOrDie "Cfg.SetDiagAxisIndex(1)"
ecmcConfigOrDie "Cfg.SetDiagAxisFreq(2)"
ecmcConfigOrDie "Cfg.SetDiagAxisEnable(0)"

##############################################################################
# go active
$(SCRIPTEXEC) ($(ecmccfg_DIR)setAppMode.cmd)