motion/ecmc_plugin_motion
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sandst_a
2023-08-14 15:29:29 +02:00
parent 3e02a6fa18
commit 1c46430023
3 changed files with 58 additions and 11 deletions
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16
GNUmakefile
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@@ -29,16 +29,9 @@ EC_MASTER_LIB = ${EPICS_MODULES}/ECmasterECMC/${ECmasterECMC_VERSION}/R${EPICSVE
USR_LDFLAGS += -Wl,-rpath=${EC_MASTER_LIB}
USR_LDFLAGS += -L ${EC_MASTER_LIB}
# expression parser
#exprtk_DIR = ecmc/exprtkSupport/
#SOURCES += ${exprtk_DIR}exprtkIF.cpp
#SOURCES += ${exprtk_DIR}exprtkImp.cpp
#SOURCES += ${exprtk_DIR}exprtkWrap.cpp
#
#HEADER += ${exprtk_DIR}/exprtkWrap.h
#HEADER += ${exprtk_DIR}/exprtkIF.h
SRC_DIR = ecmc_plugin_motion/src
BASE_DIR = ecmc_plugin_motion
SRC_DIR = $(BASE_DIR)/src
DB_DIR = $(BASE_DIR)/db
SOURCES += $(SRC_DIR)/ecmcPluginMotion.c
SOURCES += $(SRC_DIR)/ecmcMotionPlgWrap.cpp
@@ -47,4 +40,7 @@ SOURCES += $(SRC_DIR)/ecmcMotionPlg.cpp
#SOURCES += $(foreach d,${SRC_DIR}, $(wildcard $d/*.c) $(wildcard $d/*.cpp))
HEADERS += $(foreach d,${SRC_DIR}, $(wildcard $d/*.h))
DBDS += $(foreach d,${SRC_DIR}, $(wildcard $d/*.dbd))
SCRIPTS += $(BASE_DIR)/startup.cmd
SCRIPTS += $(BASE_DIR)/addMotionObj.cmd
TEMPLATES += $(wildcard $(DB_DIR)/*.template)

2
iocsh/test_plugin_motion.script
View File

@@ -36,7 +36,7 @@ ecmcConfigOrDie "Cfg.EcApplyConfig(1)"
epicsEnvSet("DEV", "$(IOC)")
$(SCRIPTEXEC) ($(ecmccfg_DIR)configureAxis.cmd, CONFIG=./cfg/el7031.ax)
########################################################################s######
##############################################################################
## Load plugin: MOTION
#
epicsEnvSet(ECMC_PLUGIN_CONFIG,"PLUGIN_ID=1,AX=1,BUFF_SIZE=200,DBG=0,ENA=1")

51
iocsh/test_plugin_motion_psi.script Normal file
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@@ -0,0 +1,51 @@
##############################################################################
## Example: Configuraftion for running ecmc motion plugin
##############################################################################
## Initiation:
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 "sandst_a_v9.0.1_RC1" "ECMC_VER=v9.0.1_RC1"
##############################################################################
## Configure hardware
epicsEnvSet("ECMC_EC_SLAVE_NUM", "4")
${SCRIPTEXEC} ${ecmccfg_DIR}configureSlave.cmd, "SLAVE_ID=$(ECMC_EC_SLAVE_NUM), HW_DESC=EL7031, CONFIG=-Motor-Trinamic-QMot-QSH4218-41-10-035"
epicsEnvSet("DRV_ID", "${ECMC_EC_SLAVE_NUM}")
#Apply hardware configuration
ecmcConfigOrDie "Cfg.EcApplyConfig(1)"
##############################################################################
## AXIS 1
#
epicsEnvSet("DEV", "$(IOC)")
$(SCRIPTEXEC) ($(ecmccfg_DIR)configureAxis.cmd, CONFIG=./cfg/el7031.ax)
##############################################################################
## Load plugin: MOTION
#
epicsEnvSet(ECMC_PLUGIN_CONFIG,"PLUGIN_ID=1,AX=1,BUFF_SIZE=200,DBG=0,ENA=1")
require ecmc_plugin_motion sandst_a ${ECMC_PLUGIN_CONFIG}
# below needed at ESS but not PSI:
#${SCRIPTEXEC} ${ecmc_plugin_motion_DIR}startup.cmd "${ECMC_PLUGIN_CONFIG}"
##############################################################################
############# 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)
iocInit
dbl > pvs.log