Merge branch 'master' of github.com:anderssandstrom/ecmc_plugin_motion

GNUmakefile

@@ -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)
 

ecmc_plugin_motion/addMotionObj.cmd

@@ -33,7 +33,8 @@ epicsEnvSet(ECMC_PLUGIN_FILNAME,"$(ecmc_plugin_motion_DIR)/lib/${EPICS_HOST_ARCH
 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}"
 
-dbLoadRecords(ecmcPluginMotion.template,"P=$(IOC):,INDEX=${ECMC_PLG_MOTION_OBJ_INDEX=0},NELM=${BUFF_SIZE=1000}")
+dbLoadRecords(${ecmc_plugin_motion_TEMPLATES}ecmcPluginMotion.template,"P=$(IOC):,INDEX=${ECMC_PLG_MOTION_OBJ_INDEX=0},NELM=${BUFF_SIZE=1000}")
 
 #- Increase of index (need to keep track in order to load correct db)
 ecmcEpicsEnvSetCalc("ECMC_PLG_MOTION_OBJ_INDEX" ,${ECMC_PLG_MOTION_OBJ_INDEX=0}+1)
+

iocsh/test_plugin_motion.script

@@ -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")

iocsh/test_plugin_motion_psi.script

@@ -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