motion/ecmc_plugin_grbl
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This commit is contained in:
Anders Sandstrom
2022-01-21 11:36:18 +01:00
parent 15fc72e326
commit a889eb0e8c
12 changed files with 4818 additions and 63 deletions
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iocsh/test.script
+43 -10
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@@ -10,14 +10,47 @@ epicsEnvSet("IOC" ,"$(IOC="IOC_TEST")")
epicsEnvSet("ECMCCFG_INIT" ,"") #Only run startup once (auto at PSI, need call at ESS), variable set to "#" in startup.cmd
epicsEnvSet("SCRIPTEXEC" ,"$(SCRIPTEXEC="iocshLoad")")
require ecmccfg 7.0.1
require ecmccfg ruckig
# Epics Motor record driver that will be used:
epicsEnvShow(ECMC_MR_MODULE)
# run module startup.cmd (only needed at ESS PSI auto call at require)
$(ECMCCFG_INIT)$(SCRIPTEXEC) ${ecmccfg_DIR}startup.cmd, "IOC=$(IOC),ECMC_VER=7.0.1,MASTER_ID=-1"
$(ECMCCFG_INIT)$(SCRIPTEXEC) ${ecmccfg_DIR}startup.cmd, "IOC=$(IOC),ECMC_VER=ruckig"
##############################################################################
## Configure hardware:
# No EtherCAT hardware (in this example)..
$(SCRIPTEXEC) $(ecmccfg_DIR)ecmcMCU1021_coupler.cmd
# ADDITIONAL SETUP
# Set all outputs to feed switches
ecmcConfigOrDie "Cfg.WriteEcEntryIDString(${ECMC_EC_SLAVE_NUM_DIG_OUT},binaryOutput01,1)"
ecmcConfigOrDie "Cfg.WriteEcEntryIDString(${ECMC_EC_SLAVE_NUM_DIG_OUT},binaryOutput02,1)"
ecmcConfigOrDie "Cfg.WriteEcEntryIDString(${ECMC_EC_SLAVE_NUM_DIG_OUT},binaryOutput03,1)"
ecmcConfigOrDie "Cfg.WriteEcEntryIDString(${ECMC_EC_SLAVE_NUM_DIG_OUT},binaryOutput04,1)"
ecmcConfigOrDie "Cfg.WriteEcEntryIDString(${ECMC_EC_SLAVE_NUM_DIG_OUT},binaryOutput05,1)"
ecmcConfigOrDie "Cfg.WriteEcEntryIDString(${ECMC_EC_SLAVE_NUM_DIG_OUT},binaryOutput06,1)"
ecmcConfigOrDie "Cfg.WriteEcEntryIDString(${ECMC_EC_SLAVE_NUM_DIG_OUT},binaryOutput07,1)"
ecmcConfigOrDie "Cfg.WriteEcEntryIDString(${ECMC_EC_SLAVE_NUM_DIG_OUT},binaryOutput08,1)"
# END of ADDITIONAL SETUP
##############################################################################
## AXIS 1
#
epicsEnvSet("DEV", "$(IOC)")
$(SCRIPTEXEC) ($(ecmccfg_DIR)configureAxis.cmd, CONFIG=./cfg/linear_1.ax)
# Set external setpoints
$(SCRIPTEXEC) ($(ecmccfg_DIR)applyAxisSynchronization.cmd, CONFIG=./cfg/linear_1.sax)
##############################################################################
## AXIS 2
#
#epicsEnvSet("DEV", "$(IOC)")
$(SCRIPTEXEC) ($(ecmccfg_DIR)configureAxis.cmd, CONFIG=./cfg/linear_2.ax)
# Set external setpoints
$(SCRIPTEXEC) ($(ecmccfg_DIR)applyAxisSynchronization.cmd, CONFIG=./cfg/linear_2.sax)
##############################################################################
## Load plugin:
@@ -25,18 +58,18 @@ epicsEnvSet("PLUGIN_VER" ,"develop")
require ecmc_plugin_grbl $(PLUGIN_VER)
epicsEnvSet(ECMC_PLUGIN_FILNAME,"/home/pi/epics/base-7.0.5/require/${E3_REQUIRE_VERSION}/siteMods/ecmc_plugin_grbl/$(PLUGIN_VER)/lib/${EPICS_HOST_ARCH=linux-x86_64}/libecmc_plugin_grbl.so")
epicsEnvSet(ECMC_PLUGIN_CONFIG,"DBG_PRINT=1;X_AXIS=1;") # Only one option implemented in this plugin
epicsEnvSet(ECMC_PLUGIN_CONFIG,"DBG_PRINT=1;X_AXIS=1;AUTO_ENABLE=1;") # Only one option implemented in this plugin
${SCRIPTEXEC} ${ecmccfg_DIR}loadPlugin.cmd, "PLUGIN_ID=0,FILE=${ECMC_PLUGIN_FILNAME},CONFIG='${ECMC_PLUGIN_CONFIG}', REPORT=1"
epicsEnvUnset(ECMC_PLUGIN_FILNAME)
epicsEnvUnset(ECMC_PLUGIN_CONFIG)
ecmcGrblAddCommand("G1X0Y20F20");
ecmcGrblAddCommand("G2X0Y-20R20");
ecmcGrblAddCommand("G0X10Y10");
ecmcGrblAddCommand("G4P1");
ecmcGrblAddCommand("G1X10Y0F20");
ecmcGrblAddCommand("G1X100Y100F20");
ecmcGrblAddCommand("G1X0Y0F20");
#ecmcGrblAddCommand("G2X0Y-20R20");
#ecmcGrblAddCommand("G0X10Y10");
#ecmcGrblAddCommand("G4P1");
#ecmcGrblAddCommand("G1X10Y0F10");
#ecmcGrblAddCommand("G1X50Y50F10");
#ecmcGrblAddCommand("G1X0Y0F10");
#
#ecmcGrblAddCommand("$");
#