motion/ecmc_plugin_motion
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This commit is contained in:
Anders Sandstrom
2023-08-03 10:49:04 +02:00
parent 3873904c22
commit d974286b27
3 changed files with 20 additions and 51 deletions
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4
ecmc_plugin_motion/src/ecmcMotionPlg.cpp
View File

@@ -1001,7 +1001,7 @@ void ecmcMotionPlg::doWriteWorker() {
}
}
// triggered by work thread
// triggered by low prio work thread only
void ecmcMotionPlg::writeBuffers() {
//Write all buffers
@@ -1020,7 +1020,7 @@ void ecmcMotionPlg::writeBuffers() {
xPosBuffer_->writeBuffer();
}
// triggered by work thread
// triggered by ecmc RT thread
void ecmcMotionPlg::switchBuffers() {
// switch in new empty buffer while data is stored in the other.

48
iocsh/pvs.log
View File

@@ -28,8 +28,6 @@ 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
@@ -172,24 +170,12 @@ 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-2740:exit
REQMOD:raspberrypi-2740:MODULES
REQMOD:raspberrypi-2740:VERSIONS
REQMOD:raspberrypi-2740:MOD_VER
REQMOD:raspberrypi-3352:exit
REQMOD:raspberrypi-3352:MODULES
REQMOD:raspberrypi-3352:VERSIONS
REQMOD:raspberrypi-3352: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
@@ -210,8 +196,6 @@ 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
@@ -222,7 +206,6 @@ 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
@@ -245,18 +228,17 @@ IOC_TEST:m0-SlvRsp
IOC_TEST:m0-Dom-WC
IOC_TEST:m0s001-Enc01-LtchRst
IOC_TEST:Axis1-Cmd_
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
REQMOD:raspberrypi-3352:BaseVersion
REQMOD:raspberrypi-3352:require_VER
REQMOD:raspberrypi-3352:ecmccfg_VER
REQMOD:raspberrypi-3352:asyn_VER
REQMOD:raspberrypi-3352:exprtk_VER
REQMOD:raspberrypi-3352:motor_VER
REQMOD:raspberrypi-3352:ruckig_VER
REQMOD:raspberrypi-3352:ecmc_VER
IOC_TEST:m0s001-HWType
IOC_TEST:m0s002-HWType
IOC_TEST:Axis1-MsgTxt
REQMOD:raspberrypi-2740:ecmc_plugin_motion_VER
IOC_TEST:m0s001-Drv01-Stat
IOC_TEST:m0s001-Enc01-Stat
IOC_TEST:m0s001-Stat_
@@ -305,10 +287,6 @@ IOC_TEST:Axis1-TgtVelCmd
IOC_TEST:Axis1-Id
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
@@ -337,8 +315,6 @@ IOC_TEST:Axis1-PLC-EnaCmd
IOC_TEST:Axis1-CmdFrmPLCCmd
IOC_TEST:Axis1-SftLimBwdEna
IOC_TEST:Axis1-SftLimFwdEna
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

19
iocsh/test_plugin_motion.script
View File

@@ -4,13 +4,12 @@
## 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 "9.0.1_RC1"
require ecmccfg "9.0.1_RC1"
# 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"
$(ECMCCFG_INIT="")$(SCRIPTEXEC) ${ecmccfg_DIR}startup.cmd, "IOC=$(IOC),ECMC_VER=v9.0.1_RC1"
##############################################################################
@@ -39,17 +38,11 @@ $(SCRIPTEXEC) ($(ecmccfg_DIR)configureAxis.cmd, CONFIG=./cfg/el7031.ax)
########################################################################s######
## Load plugin: MOTION
epicsEnvSet(ECMC_PLUGIN_CONFIG,"PLUGIN_ID=1,AX=1,BUFF_SIZE=25,DBG=0,ENA=1")
require ecmc_plugin_motion master ${ECMC_PLUGIN_CONFIG}
${SCRIPTEXEC} ${ecmc_plugin_motion_DIR}startup.cmd "${ECMC_PLUGIN_CONFIG}"
#epicsEnvSet(ECMC_PLUGIN_FILNAME,"/home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmc_plugin_motion/master/lib/${EPICS_HOST_ARCH=linux-x86_64}/libecmc_plugin_motion.so")
#
#${SCRIPTEXEC} ${ecmccfg_DIR}loadPlugin.cmd, "PLUGIN_ID=0,FILE=${ECMC_PLUGIN_FILNAME},CONFIG='${ECMC_PLUGIN_CONFIG}', REPORT=1"
## Note: INDEX is the index of FFT object in FFT plugin and not PLUGIN_ID. In this case the same
##dbLoadRecords(ecmcPluginFFT.template,"P=$(IOC):,INDEX=0, NELM=${FFT_NELM}, AMP_DESC='Sine amplitude',AMP_EGU='',RAW_DESC='Sine',AMP_EGU='', TITLE='FFT of sinus in 5Hz'")
epicsEnvSet(ECMC_PLUGIN_CONFIG,"PLUGIN_ID=1,AX=1,BUFF_SIZE=25,DBG=0,ENA=1")
require ecmc_plugin_motion master ${ECMC_PLUGIN_CONFIG}
# below needed at ESS but not PSI:
${SCRIPTEXEC} ${ecmc_plugin_motion_DIR}startup.cmd "${ECMC_PLUGIN_CONFIG}"
##############################################################################
############# Configure diagnostics: