Update makefile and add some pictures

GNUmakefile

@@ -1,12 +1,14 @@
 include /ioc/tools/driver.makefile
 
 MODULE = ecmc_plugin_motion
+# "Transfer" module name to plugin
+USR_CFLAGS +=-DECMC_PLUGIN_MODULE_NAME=${MODULE}
 
 BUILDCLASSES = Linux
 ARCH_FILTER = deb10%
 
 # Run 7.0.6 for now
-EXCLUDE_VERSIONS+=3 7.0.5 7.0.6
+EXCLUDE_VERSIONS+=3 7.0.5 7.0.6 7.0.7
 
 IGNORE_MODULES += asynMotor
 IGNORE_MODULES += motorBase
@@ -16,7 +18,7 @@ OPT_CXXFLAGS_YES = -O3
 
 # dependencies
 ECmasterECMC_VERSION = v1.1.0
-ecmc_VERSION = 9.6
+ecmc_VERSION = 10.0
 
 ################################################################################
 # THIS RELATES TO THE EtherCAT MASTER LIBRARY

src/ecmcPluginMotion.c

@@ -8,11 +8,16 @@
 *  Created on: july 10, 2023
 *      Author: anderssandstrom
 *
+* Instructions:
+*   - IMPORTANT: Add "USR_CFLAGS +=-DECMC_PLUGIN_MODULE_NAME=${MODULE}" to GNUMakefile
+*   - All functions and ecmcPluginData struct must be declared static
+*
 \*************************************************************************/
 
 // Needed to get headers in ecmc right...
 #define ECMC_IS_PLUGIN
-#define ECMC_EXAMPLE_PLUGIN_VERSION 2
+#define ECMC_PLUGIN_VERSION 2
+
 
 #ifdef __cplusplus
 extern "C" {
@@ -30,15 +35,13 @@ static int    lastEcmcError   = 0;
 static char*  lastConfStr         = NULL;
 
 /** Optional. 
- *  Will be called once after successfull load into ecmc.
+ *  Will be called once after successful load into ecmc.
  *  Return value other than 0 will be considered error.
  *  configStr can be used for configuration parameters.
  **/
-int motionConstruct(char *configStr)
+static int construct(char *configStr)
 {
   //This module is allowed to load several times so no need to check if loaded
-
-  // create FFT object and register data callback
   lastConfStr = strdup(configStr);
   return createMotionObj(configStr);
 }
@@ -46,31 +49,27 @@ int motionConstruct(char *configStr)
 /** Optional function.
  *  Will be called once at unload.
  **/
-void motionDestruct(void)
+static void motionDestruct(void)
 {
-  //deleteAllMotionObjs();
-  //if(lastConfStr){
-  //  free(lastConfStr);
-  //}
 }
 
 /** Optional function.
- *  Will be called each realtime cycle if definded
+ *  Will be called each realtime cycle if defined
- *  ecmcError: Error code of ecmc. Makes it posible for 
+ *  ecmcError: Error code of ecmc. Makes it possible for 
  *  this plugin to react on ecmc errors
  *  Return value other than 0 will be considered to be an error code in ecmc.
  **/
-int motionRealtime(int ecmcError)
+static int motionRealtime(int ecmcError)
 { 
   executeMotionObjs();
   lastEcmcError = ecmcError;
   return 0;
 }
 
-/** Link to data source here since all sources should be availabe at this stage
+/** Link to data source here since all sources should be available at this stage
  *  (for example ecmc PLC variables are defined only at enter of realtime)
  **/
-int motionEnterRT(){
+static int motionEnterRT(){
   return linkDataTomotionObjs();
 }
 
@@ -78,41 +77,17 @@ int motionEnterRT(){
  *  Will be called once just before leaving realtime mode
  *  Return value other than 0 will be considered error.
  **/
-int motionExitRT(void){
+static int motionExitRT(void){
   return 0;
 }
 
-//// Plc function for clear of buffers
-//double fft_clear(double index) {
-//  return (double)clearFFT((int)index);
-//}
-//
-//// Plc function for enable
-//double fft_enable(double index, double enable) {
-//  return (double)enableFFT((int)index, (int)enable);
-//}
-//
-//// Plc function for trigg new measurement (will clear buffers)
-//double fft_trigg(double index) {
-//  return (double)triggFFT((int)index);
-//}
-//
-//// Plc function for enable
-//double fft_mode(double index, double mode) {
-//  return (double)modeFFT((int)index, (FFT_MODE)((int)mode));
-//}
-//
-//// Plc function for enable
-//double fft_stat(double index) {
-//  return (double)statFFT((int)index);
-//}
-
 // Register data for plugin so ecmc know what to use
-struct ecmcPluginData pluginDataDef = {
+static struct ecmcPluginData pluginDataDef = {
+
   // Allways use ECMC_PLUG_VERSION_MAGIC
   .ifVersion = ECMC_PLUG_VERSION_MAGIC, 
   // Name 
-  .name = "ecmcPlugin_Motion",
+  .name = "ecmc_plugin_motion",
   // Description
   .desc = "Motion plugin for commissioning of ecmc motion axes.",
   // Option description
@@ -123,171 +98,20 @@ struct ecmcPluginData pluginDataDef = {
                 "    "ECMC_PLUGIN_MODE_OPTION_CMD"<TRIGG/CONT>   : Sampling rate in Hz" 
                 , 
   // Plugin version
-  .version = ECMC_EXAMPLE_PLUGIN_VERSION,
+  .version = ECMC_PLUGIN_VERSION,
-  // Optional construct func, called once at load. NULL if not definded.
+  // Optional construct func, called once at load. NULL if not defined.
-  .constructFnc = motionConstruct,
+  .constructFnc = construct,
-  // Optional destruct func, called once at unload. NULL if not definded.
+  // Optional destruct func, called once at unload. NULL if not defined.
   .destructFnc = motionDestruct,
-  // Optional func that will be called each rt cycle. NULL if not definded.
+  // Optional func that will be called each rt cycle. NULL if not defined.
   .realtimeFnc = motionRealtime,
   // Optional func that will be called once just before enter realtime mode
   .realtimeEnterFnc = motionEnterRT,
   // Optional func that will be called once just before exit realtime mode
   .realtimeExitFnc = motionExitRT,
   // PLC funcs
-//  .funcs[0] =
-//      { /*----fft_clear----*/
-//        // Function name (this is the name you use in ecmc plc-code)
-//        .funcName = "fft_clear",
-//        // Function description
-//        .funcDesc = "double fft_clear(index) : Clear/reset fft[index].",
-//        /**
-//        * 7 different prototypes allowed (only doubles since reg in plc).
-//        * Only funcArg${argCount} func shall be assigned the rest set to NULL.
-//        **/
-//        .funcArg0 = NULL,
-//        .funcArg1 = fft_clear,
-//        .funcArg2 = NULL,
-//        .funcArg3 = NULL,
-//        .funcArg4 = NULL,
-//        .funcArg5 = NULL,
-//        .funcArg6 = NULL,
-//        .funcArg7 = NULL,
-//        .funcArg8 = NULL,
-//        .funcArg9 = NULL,
-//        .funcArg10 = NULL,
-//        .funcGenericObj = NULL,
-//      },
-//  .funcs[1] =
-//      { /*----fft_enable----*/
-//        // Function name (this is the name you use in ecmc plc-code)
-//        .funcName = "fft_enable",
-//        // Function description
-//        .funcDesc = "double fft_enable(index, enable) : Set enable for fft[index].",
-//        /**
-//        * 7 different prototypes allowed (only doubles since reg in plc).
-//        * Only funcArg${argCount} func shall be assigned the rest set to NULL.
-//        **/
-//        .funcArg0 = NULL,
-//        .funcArg1 = NULL,
-//        .funcArg2 = fft_enable,
-//        .funcArg3 = NULL,
-//        .funcArg4 = NULL,
-//        .funcArg5 = NULL,
-//        .funcArg6 = NULL,
-//        .funcArg7 = NULL,
-//        .funcArg8 = NULL,
-//        .funcArg9 = NULL,
-//        .funcArg10 = NULL,
-//        .funcGenericObj = NULL,
-//      },
-//    .funcs[2] =
-//      { /*----fft_trigg----*/
-//        // Function name (this is the name you use in ecmc plc-code)
-//        .funcName = "fft_trigg",
-//        // Function description
-//        .funcDesc = "double fft_trigg(index) : Trigg new measurement for fft[index]. Will clear buffers.",
-//        /**
-//        * 7 different prototypes allowed (only doubles since reg in plc).
-//        * Only funcArg${argCount} func shall be assigned the rest set to NULL.
-//        **/
-//        .funcArg0 = NULL,
-//        .funcArg1 = fft_trigg,
-//        .funcArg2 = NULL,
-//        .funcArg3 = NULL,
-//        .funcArg4 = NULL,
-//        .funcArg5 = NULL,
-//        .funcArg6 = NULL,
-//        .funcArg7 = NULL,
-//        .funcArg8 = NULL,
-//        .funcArg9 = NULL,
-//        .funcArg10 = NULL,
-//        .funcGenericObj = NULL,
-//      },
-//    .funcs[3] =
-//      { /*----fft_mode----*/
-//        // Function name (this is the name you use in ecmc plc-code)
-//        .funcName = "fft_mode",
-//        // Function description
-//        .funcDesc = "double fft_mode(index, mode) : Set mode Cont(1)/Trigg(2) for fft[index].",
-//        /**
-//        * 7 different prototypes allowed (only doubles since reg in plc).
-//        * Only funcArg${argCount} func shall be assigned the rest set to NULL.
-//        **/
-//        .funcArg0 = NULL,
-//        .funcArg1 = NULL,
-//        .funcArg2 = fft_mode,
-//        .funcArg3 = NULL,
-//        .funcArg4 = NULL,
-//        .funcArg5 = NULL,
-//        .funcArg6 = NULL,
-//        .funcArg7 = NULL,
-//        .funcArg8 = NULL,
-//        .funcArg9 = NULL,
-//        .funcArg10 = NULL,
-//        .funcGenericObj = NULL,
-//      },
-//    .funcs[4] =
-//      { /*----fft_stat----*/
-//        // Function name (this is the name you use in ecmc plc-code)
-//        .funcName = "fft_stat",
-//        // Function description
-//        .funcDesc = "double fft_stat(index) : Get status of fft (NO_STAT, IDLE, ACQ, CALC) for fft[index].",
-//        /**
-//        * 7 different prototypes allowed (only doubles since reg in plc).
-//        * Only funcArg${argCount} func shall be assigned the rest set to NULL.
-//        **/
-//        .funcArg0 = NULL,
-//        .funcArg1 = fft_stat,
-//        .funcArg2 = NULL,
-//        .funcArg3 = NULL,
-//        .funcArg4 = NULL,
-//        .funcArg5 = NULL,
-//        .funcArg6 = NULL,
-//        .funcArg7 = NULL,
-//        .funcArg8 = NULL,
-//        .funcArg9 = NULL,
-//        .funcArg10 = NULL,
-//        .funcGenericObj = NULL,
-//      },
   .funcs[0] = {0},  // last element set all to zero..
   // PLC consts
-  /* CONTINIOUS MODE = 1 */
-//  .consts[0] = {
-//        .constName = "fft_CONT",
-//        .constDesc = "FFT Mode: Continious",
-//        .constValue = CONT
-//      },
-//  /* TRIGGERED MODE = 2 */
-//  .consts[1] = {
-//        .constName = "fft_TRIGG",
-//        .constDesc = "FFT Mode :Triggered",
-//        .constValue = TRIGG
-//      },
-//  /* TRIGGERED MODE = 2 */
-//  .consts[2] = {
-//        .constName = "fft_NO_STAT",
-//        .constDesc = "FFT Status: Invalid state",
-//        .constValue = NO_STAT,
-//      },
-//  /* TRIGGERED MODE = 2 */
-//  .consts[3] = {
-//        .constName = "fft_IDLE",
-//        .constDesc = "FFT Status: Idle state (waiting for trigger)",
-//        .constValue = IDLE
-//      },
-//  /* TRIGGERED MODE = 2 */
-//  .consts[4] = {
-//        .constName = "fft_ACQ",
-//        .constDesc = "FFT Status: Acquiring data",
-//        .constValue = ACQ
-//      },
-//  /* TRIGGERED MODE = 2 */
-//  .consts[5] = {
-//        .constName = "fft_CALC",
-//        .constDesc = "FFT Status: Calculating result",
-//        .constValue = CALC
-//      },
   .consts[0] = {0}, // last element set all to zero..
 };