Restructure

Db/ecmcPluginMotion.template

@@ -10,6 +10,7 @@ record(waveform,"$(P)Plg-Mtn${INDEX}-PosAct-Arr"){
   field(SCAN, "I/O Intr")
   field(TSE,  "0")
   field(EGU,  "${RAW_EGU= }")
+  field(PREC, "${PREC=3 }")
 }
 
 # Set pos
@@ -24,6 +25,7 @@ record(waveform,"$(P)Plg-Mtn${INDEX}-PosSet-Arr"){
   field(SCAN, "I/O Intr")
   field(TSE,  "0")
   field(EGU,  "${RAW_EGU= }")
+  field(PREC, "${PREC=3 }")
 }
 
 # Position Error
@@ -38,6 +40,7 @@ record(waveform,"$(P)Plg-Mtn${INDEX}-PosErr-Arr"){
   field(SCAN, "I/O Intr")
   field(TSE,  "0")
   field(EGU,  "${RAW_EGU= }")
+  field(PREC, "${PREC=3 }")
 }
 
 # X axis time (reltive within buffer)
@@ -51,6 +54,7 @@ record(waveform,"$(P)Plg-Mtn${INDEX}-Time-Arr"){
   field(NELM, "$(NELM)")
   field(SCAN, "I/O Intr")
   field(TSE,  "0")
+  field(PREC, "${PREC=3 }")
 }
 
 # Axis Enable

GNUmakefile

@@ -6,7 +6,7 @@ BUILDCLASSES = Linux
 ARCH_FILTER = deb10%
 
 # Run 7.0.6 for now
-EXCLUDE_VERSIONS+=3 7.0.5 7.0.7
+EXCLUDE_VERSIONS+=3 7.0.5 7.0.6
 
 IGNORE_MODULES += asynMotor
 IGNORE_MODULES += motorBase
@@ -16,8 +16,8 @@ OPT_CXXFLAGS_YES = -O3
 
 # dependencies
 ECmasterECMC_VERSION = v1.1.0
-motorECMC_VERSION = 7.0.7-ESS
-ecmc_VERSION = v9.0.1_RC1
+motorECMC_VERSION = 7.0.9-ESS
+ecmc_VERSION = sandst_a
 
 ################################################################################
 # THIS RELATES TO THE EtherCAT MASTER LIBRARY
@@ -29,9 +29,10 @@ EC_MASTER_LIB = ${EPICS_MODULES}/ECmasterECMC/${ECmasterECMC_VERSION}/R${EPICSVE
 USR_LDFLAGS += -Wl,-rpath=${EC_MASTER_LIB}
 USR_LDFLAGS +=         -L ${EC_MASTER_LIB}
 
-BASE_DIR = ecmc_plugin_motion
+BASE_DIR = .
 SRC_DIR = $(BASE_DIR)/src
 DB_DIR =  $(BASE_DIR)/Db
+SCRIPTS_DIR = $(BASE_DIR)/scripts
 
 SOURCES += $(SRC_DIR)/ecmcPluginMotion.c
 SOURCES += $(SRC_DIR)/ecmcMotionPlgWrap.cpp
@@ -41,6 +42,5 @@ SOURCES += $(SRC_DIR)/ecmcMotionPlg.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
+SCRIPTS += $(SCRIPTS_DIR)/addMotionObj.cmd
 TEMPLATES += $(wildcard $(DB_DIR)/*.template)
-

iocsh/test_plugin_motion.script

@@ -2,15 +2,10 @@
 ## Example: Configuraftion for running ecmc motion plugin
 ##############################################################################
 
-## Initiation:
-epicsEnvSet("IOC" ,"$(IOC="IOC_TEST")")
-epicsEnvSet("SCRIPTEXEC" ,"$(SCRIPTEXEC="iocshLoad")")
-
-require ecmccfg "9.0.1_RC1"
+require ecmccfg "9.4.0" "ECMC_VER=9.4.0,EC_RATE=500"
 
 # run module startup.cmd (only needed at ESS  PSI auto call at require)
-$(ECMCCFG_INIT="")$(SCRIPTEXEC) ${ecmccfg_DIR}startup.cmd, "IOC=$(IOC),ECMC_VER=v9.0.1_RC1, EC_RATE=500"
-
+$(ECMCCFG_INIT="")$(SCRIPTEXEC) ${ecmccfg_DIR}startup.cmd, "IOC=$(IOC),ECMC_VER=9.4.0, EC_RATE=500"
 
 ##############################################################################
 ## Configure hardware

iocsh/test_plugin_motion_psi.script

@@ -2,15 +2,9 @@
 ## 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"
-
+require ecmccfg "9.4.0" "ECMC_VER=9.4.0"
 ##############################################################################
-## Configure hardware
+## Configue
 
 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"
@@ -33,8 +27,6 @@ $(SCRIPTEXEC) ($(ecmccfg_DIR)configureAxis.cmd, CONFIG=./cfg/el7031.ax)
 #
 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:

scripts/addMotionObj.cmd

@@ -28,7 +28,7 @@
 #- First loaded object will therefore have index
 epicsEnvSet(ECMC_PLG_MOTION_OBJ_INDEX,${ECMC_PLG_MOTION_OBJ_INDEX=0})
 
-# Might need differet paths for PSI and ESS.. must check
+#- Might need differet paths for PSI and ESS.. must check
 epicsEnvSet(ECMC_PLUGIN_FILNAME,"$(ecmc_plugin_motion_DIR)/lib/${EPICS_HOST_ARCH=linux-x86_64}/libecmc_plugin_motion.so")
 epicsEnvSet(ECMC_PLUGIN_CONFIG,"AXIS=${AX};BUFFER_SIZE=${BUFF_SIZE};DBG_PRINT=${DBG=1};ENABLE=${ENA=1};")
 ${SCRIPTEXEC} ${ecmccfg_DIR}loadPlugin.cmd, "PLUGIN_ID=${PLUGIN_ID},FILE=${ECMC_PLUGIN_FILNAME},CONFIG='${ECMC_PLUGIN_CONFIG}', REPORT=${REPORT=1}"

src/ecmcPluginMotion.c

@@ -27,7 +27,7 @@ extern "C" {
 #include "ecmcMotionPlgWrap.h"
 
 static int    lastEcmcError   = 0;
-static char*  lastConfStr         = NULL;
+static char*  lastConfStr     = NULL;
 
 /** Optional. 
  *  Will be called once after successfull load into ecmc.
@@ -38,7 +38,7 @@ int motionConstruct(char *configStr)
 {
   //This module is allowed to load several times so no need to check if loaded
 
-  // create FFT object and register data callback
+  // create object and register data callback
   lastConfStr = strdup(configStr);
   return createMotionObj(configStr);
 }
@@ -48,10 +48,10 @@ int motionConstruct(char *configStr)
  **/
 void motionDestruct(void)
 {
-  deleteAllMotionObjs();
-  if(lastConfStr){
-    free(lastConfStr);
-  }
+  //deleteAllMotionObjs();
+  //if(lastConfStr){
+  //  free(lastConfStr);
+  //}
 }
 
 /** Optional function.