motion/ecmc_plugin_motion
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Adapt to ecmc v11

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sandst_a
2025-09-10 13:44:56 +02:00
parent 8d4ea1e87c
commit 377a28c95f
5 changed files with 18 additions and 34 deletions
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44
src/ecmcMotionPlg.cpp
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@@ -839,22 +839,22 @@ void ecmcMotionPlg::executeMotionObject() {
// protect axis_ if axis object id is changed over asyn
epicsMutexLock(axisMutex_);
ecmcAxisStatusType *tempAxisStat = axis_->getDebugInfoDataPointer();
ecmcAxisDataStatus *tempAxisStat = axis_->getAxisStatusStruct();
// Fill the buffers
actPosBuffer_->addData(tempAxisStat->onChangeData.positionActual);
setPosBuffer_->addData(tempAxisStat->onChangeData.positionSetpoint);
diffPosBuffer_->addData(tempAxisStat->onChangeData.positionError);
enableBuffer_->addData(tempAxisStat->onChangeData.statusWd.enable);
enabledBuffer_->addData(tempAxisStat->onChangeData.statusWd.enabled);
busyBuffer_->addData(tempAxisStat->onChangeData.statusWd.busy);
executeBuffer_->addData(tempAxisStat->onChangeData.statusWd.execute);
trajSourceBuffer_->addData(tempAxisStat->onChangeData.statusWd.trajsource);
encSourceBuffer_->addData(tempAxisStat->onChangeData.statusWd.encsource);
atTargetBuffer_->addData(tempAxisStat->onChangeData.statusWd.attarget);
errorIdBuffer_->addData(tempAxisStat->onChangeData.error);
actPosBuffer_->addData(tempAxisStat->currentPositionActual);
setPosBuffer_->addData(tempAxisStat->currentPositionSetpoint);
diffPosBuffer_->addData(tempAxisStat->cntrlError);
enableBuffer_->addData(tempAxisStat->statusWord_.enable);
enabledBuffer_->addData(tempAxisStat->statusWord_.enabled);
busyBuffer_->addData(tempAxisStat->statusWord_.busy);
executeBuffer_->addData(tempAxisStat->statusWord_.execute);
trajSourceBuffer_->addData(tempAxisStat->statusWord_.trajsource);
encSourceBuffer_->addData(tempAxisStat->statusWord_.encsource);
atTargetBuffer_->addData(tempAxisStat->statusWord_.attarget);
errorIdBuffer_->addData(tempAxisStat->errorCode);
epicsInt32 *temp=(epicsInt32*)&(tempAxisStat->onChangeData.statusWd); // A bit nasty
epicsInt32 *temp=(epicsInt32*)&(tempAxisStat->statusWord_); // A bit nasty
statusWdBuffer_->addData(*temp);
xTime_+=xdt_;
@@ -870,24 +870,6 @@ void ecmcMotionPlg::executeMotionObject() {
epicsMutexUnlock(axisMutex_);
}
//void ecmcMotionPlg::setModeFFT(FFT_MODE mode) {
// cfgMode_ = mode;
// setIntegerParam(asynFFTModeId_,(epicsInt32)mode);
//}
//
//FFT_STATUS ecmcMotionPlg::getStatusFFT() {
// return status_;
//}
//void ecmcMotionPlg::updateStatus(FFT_STATUS status) {
// status_ = status;
// setIntegerParam(asynFFTStatId_,(epicsInt32) status);
//
// setIntegerParam(asynElementsInBuffer_, (epicsInt32)elementsInBuffer_);
//
// callParamCallbacks();
//}
asynStatus ecmcMotionPlg::writeInt32(asynUser *pasynUser, epicsInt32 value) {
int function = pasynUser->reason;
if( function == asynEnableId_ ) {