motion/ecmc_plugin_motion
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This commit is contained in:
Anders Sandstrom
2023-08-03 10:36:29 +02:00
parent 2c66f05238
commit 3873904c22
2 changed files with 34 additions and 36 deletions
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26
ecmc_plugin_motion/Db/ecmcPluginMotion.template
View File

@@ -1,19 +1,3 @@
# Parameter 0 type=asynFloat64Array, name=plugin.motion_0.actpos_arr, value is undefined DONE
# Parameter 1 type=asynFloat64Array, name=plugin.motion_0.setpos_arr, value is undefined DONE
# Parameter 2 type=asynFloat64Array, name=plugin.motion_0.diffpos_arr, value is undefined DONE
# Parameter 3 type=asynFloat64Array, name=plugin.motion_0.x_arr, value is undefined DONE
# Parameter 4 type=asynInt32, name=plugin.motion_0.enable, value=1, status=0 DONE
# Parameter 5 type=asynInt32, name=plugin.motion_0.cmd, value=0, status=0
# Parameter 6 type=asynInt32, name=plugin.motion_0.status, value=0, status=0
# Parameter 7 type=asynInt32, name=plugin.motion_0.trigg, value=0, status=0
# Parameter 8 type=asynInt32, name=plugin.motion_0.buff_size, value=25, status=0
# Parameter 9 type=asynFloat64, name=plugin.motion_0.samplerate, value=1000, status=0
# Parameter 10 type=asynInt32, name=plugin.motion_0.elem_count, value=0, status=0
# Parameter 11 type=asynInt32, name=plugin.motion_0.axis_id, value=1, status=0
# Parameter 12 type=asynInt32, name=plugin.motion_0.mode, value=0, status=0
# Act pos
record(waveform,"$(P)Plg-Mtn${INDEX}-PosAct-Arr"){
info(asyn:FIFO, "1000")
@@ -216,8 +200,7 @@ record(ai,"$(P)Plg-Mtn${INDEX}-BuffSze"){
info(asyn:READBACK,"1")
field(DESC, "Buffer Size")
field(DTYP,"asynInt32")
field(OUT, "@asyn(PLUGIN.MOTION_${INDEX},$(ADDR=0),$(TIMEOUT=1000))plugin.motion_${INDEX}.buff_size")
field(DOL, "0")
field(INP, "@asyn(PLUGIN.MOTION_${INDEX},$(ADDR=0),$(TIMEOUT=1000))plugin.motion_${INDEX}.buff_size")
field(VAL, "1")
}
@@ -225,8 +208,7 @@ record(ai,"$(P)Plg-Mtn${INDEX}-ElmCnt"){
info(asyn:READBACK,"1")
field(DESC, "Elements in buffer count")
field(DTYP,"asynInt32")
field(OUT, "@asyn(PLUGIN.MOTION_${INDEX},$(ADDR=0),$(TIMEOUT=1000))plugin.motion_${INDEX}.elem_count")
field(DOL, "0")
field(INP, "@asyn(PLUGIN.MOTION_${INDEX},$(ADDR=0),$(TIMEOUT=1000))plugin.motion_${INDEX}.elem_count")
field(VAL, "1")
}
@@ -267,6 +249,6 @@ record(longin,"$(P)Plg-Mtn${INDEX}-Stat"){
field(PINI, "1")
field(TSE, "0")
field(DTYP, "asynInt32")
field(OUT, "@asyn(PLUGIN.MOTION_${INDEX},$(ADDR=0),$(TIMEOUT=1000))plugin.motion_${INDEX}.status")
field(SCAN, "Passive")
field(INP, "@asyn(PLUGIN.MOTION_${INDEX},$(ADDR=0),$(TIMEOUT=1000))plugin.motion_${INDEX}.status")
field(SCAN, "I/O Intr")
}

44
iocsh/pvs.log
View File

@@ -28,6 +28,8 @@ IOC_TEST:Axis1-VelAct
IOC_TEST:Axis1-PosSet
IOC_TEST:Axis1-PosErr
IOC_TEST:Axis1-PLC-Err
IOC_TEST:Plg-Mtn0-BuffSze
IOC_TEST:Plg-Mtn0-ElmCnt
IOC_TEST:MCU-AppMode
IOC_TEST:MCU-ErrId
IOC_TEST:MCU-ThdLatMin
@@ -170,16 +172,24 @@ IOC_TEST:m0-Dom-WC-Zero
IOC_TEST:m0-Dom-WC-Incomplete
IOC_TEST:m0-Dom-WC-Complete
IOC_TEST:m0-Stat-OK
REQMOD:raspberrypi-19888:exit
REQMOD:raspberrypi-19888:MODULES
REQMOD:raspberrypi-19888:VERSIONS
REQMOD:raspberrypi-19888:MOD_VER
REQMOD:raspberrypi-2740:exit
REQMOD:raspberrypi-2740:MODULES
REQMOD:raspberrypi-2740:VERSIONS
REQMOD:raspberrypi-2740:MOD_VER
IOC_TEST:Axis1-Arr-Stat
IOC_TEST:Axis1-PLC-Expr-RB
IOC_TEST:Plg-Mtn0-PosAct-Arr
IOC_TEST:Plg-Mtn0-PosSet-Arr
IOC_TEST:Plg-Mtn0-PosErr-Arr
IOC_TEST:Plg-Mtn0-Time-Arr
IOC_TEST:Plg-Mtn0-Ena-Arr
IOC_TEST:Plg-Mtn0-EnaAct-Arr
IOC_TEST:Plg-Mtn0-Bsy-Arr
IOC_TEST:Plg-Mtn0-Exe-Arr
IOC_TEST:Plg-Mtn0-TrjSrc-Arr
IOC_TEST:Plg-Mtn0-EncSrc-Arr
IOC_TEST:Plg-Mtn0-AtTrg-Arr
IOC_TEST:Plg-Mtn0-ErrId-Arr
IOC_TEST:MCU-ErrMsg
IOC_TEST:MCU-Updated
IOC_TEST:m0s001-Enc01-LtchCmd
@@ -200,6 +210,8 @@ IOC_TEST:Axis1-DIR_
IOC_TEST:Axis1-ErrRst
IOC_TEST:Axis1-HomProc
IOC_TEST:Axis1-MtnCmdData
IOC_TEST:Plg-Mtn0-Mde-RB
IOC_TEST:Plg-Mtn0-Cmd-RB
IOC_TEST:m0s001-Stat
IOC_TEST:m0s002-Stat
IOC_TEST:Axis1-MR-ErrId
@@ -210,6 +222,7 @@ IOC_TEST:Axis1-CfgDLLM-En-RB
IOC_TEST:Axis1-Stat
IOC_TEST:Axis1-ErrId
IOC_TEST:Axis1-WrnId
IOC_TEST:Plg-Mtn0-Stat
IOC_TEST:m0-Stat
IOC_TEST:m0-SlvCntr
IOC_TEST:m0-MemmapCntr
@@ -232,18 +245,18 @@ IOC_TEST:m0-SlvRsp
IOC_TEST:m0-Dom-WC
IOC_TEST:m0s001-Enc01-LtchRst
IOC_TEST:Axis1-Cmd_
REQMOD:raspberrypi-19888:BaseVersion
REQMOD:raspberrypi-19888:require_VER
REQMOD:raspberrypi-19888:ecmccfg_VER
REQMOD:raspberrypi-19888:asyn_VER
REQMOD:raspberrypi-19888:exprtk_VER
REQMOD:raspberrypi-19888:motor_VER
REQMOD:raspberrypi-19888:ruckig_VER
REQMOD:raspberrypi-19888:ecmc_VER
REQMOD:raspberrypi-2740:BaseVersion
REQMOD:raspberrypi-2740:require_VER
REQMOD:raspberrypi-2740:ecmccfg_VER
REQMOD:raspberrypi-2740:asyn_VER
REQMOD:raspberrypi-2740:exprtk_VER
REQMOD:raspberrypi-2740:motor_VER
REQMOD:raspberrypi-2740:ruckig_VER
REQMOD:raspberrypi-2740:ecmc_VER
IOC_TEST:m0s001-HWType
IOC_TEST:m0s002-HWType
IOC_TEST:Axis1-MsgTxt
REQMOD:raspberrypi-19888:ecmc_plugin_motion_VER
REQMOD:raspberrypi-2740:ecmc_plugin_motion_VER
IOC_TEST:m0s001-Drv01-Stat
IOC_TEST:m0s001-Enc01-Stat
IOC_TEST:m0s001-Stat_
@@ -294,6 +307,8 @@ IOC_TEST:MCU-Cfg-AX1-NxtObjId
IOC_TEST:MCU-Cfg-AX-FrstObjId
IOC_TEST:MCU-Cfg-PLG{Index}-NxtObjId
IOC_TEST:MCU-Cfg-PLG-FrstObjId
IOC_TEST:Plg-Mtn0-AxCmd-RB
IOC_TEST:Plg-Mtn0-SmpHz-RB
IOC_TEST:MCU-Cfg-Eng-Mode
IOC_TEST:m0s001-Enc01-LchAutRstSp
IOC_TEST:m0s002-BO01
@@ -322,7 +337,8 @@ IOC_TEST:Axis1-PLC-EnaCmd
IOC_TEST:Axis1-CmdFrmPLCCmd
IOC_TEST:Axis1-SftLimBwdEna
IOC_TEST:Axis1-SftLimFwdEna
IOC_TEST:Plg-FFT0-EnaCmd-RB
IOC_TEST:Plg-Mtn0-EnaCmd-RB
IOC_TEST:Plg-Mtn0-TrgCmd-RB
IOC_TEST:MCU-ErrRst
IOC_TEST:Axis1-MCU1-asyn
IOC_TEST:MCU-Cmd