Use ecmc 11.0

.gitignore

@@ -20,3 +20,5 @@ tools/bin
 tools/lib
 tools/lib64
 tools/pyvenv.cfg
+tools/.*
+

GNUmakefile

@@ -5,7 +5,7 @@ MODULE = ecmc_plugin_motion
 USR_CFLAGS +=-DECMC_PLUGIN_MODULE_NAME=${MODULE}
 
 BUILDCLASSES = Linux
-ARCH_FILTER = deb10%
+ARCH_FILTER = deb10% deb12%
 
 # Run 7.0.6 for now
 EXCLUDE_VERSIONS+=3 7.0.5 7.0.6 7.0.7
@@ -17,19 +17,28 @@ USR_CXXFLAGS += -std=c++17
 OPT_CXXFLAGS_YES = -O3
 
 # dependencies
-ECmasterECMC_VERSION = v1.1.0
+ecmc_VERSION = 11.0
-ecmc_VERSION = 10.0
 
-################################################################################
+# ethercat
-# THIS RELATES TO THE EtherCAT MASTER LIBRARY
+#   debian 12
-# IT IS OF PARAMOUNT IMPORTANCE TO LOAD THE PROPER KERNEL MODULE
+EC_MASTER_VER = 1.6.3
-# ################################################################################
+EC_BASE_PATH = /ioc/NeedfulThings/EtherCAT/4epics/${EC_MASTER_VER}/
-USR_LDFLAGS += -lethercat
+USR_CXXFLAGS_deb12-x86_64 += -I${EC_BASE_PATH}${T_A}/include/
+USR_CXXFLAGS_deb12-x86_64 += -L${EC_BASE_PATH}${T_A}/lib/
 
-EC_MASTER_LIB = ${EPICS_MODULES}/ECmasterECMC/${ECmasterECMC_VERSION}/R${EPICSVERSION}/lib/${T_A}
+LIB_SYS_LIBS += ethercat
-USR_LDFLAGS += -Wl,-rpath=${EC_MASTER_LIB}
+USR_LDFLAGS_deb12-x86_64 += -Wl,-rpath=${EC_BASE_PATH}${T_A}/lib/
-USR_LDFLAGS +=         -L ${EC_MASTER_LIB}
+USR_LDFLAGS_deb12-x86_64 +=         -L ${EC_BASE_PATH}${T_A}/lib/
 
+#   debian 10
+#   note: EC_MASTER LIB does not depend on epics version hence use the 7.0.8 build..
+USR_LDFLAGS_deb10-x86_64 += -lethercat
+EC_MASTER_LIB = /ioc/NeedfulThings/EtherCAT/4epics/v1.1.0/R7.0.8/
+USR_LDFLAGS_deb10-x86_64 += -Wl,-rpath=${EC_MASTER_LIB}lib/${T_A}
+USR_LDFLAGS_deb10-x86_64 +=  -L ${EC_MASTER_LIB}lib/${T_A}
+USR_CXXFLAGS_deb10-x86_64 += -I${EC_MASTER_LIB}/include/
+
+OPT_CXXFLAGS_YES = -O3
 BASE_DIR = .
 SRC_DIR = $(BASE_DIR)/src
 DB_DIR =  $(BASE_DIR)/Db

scripts/addMotionObj.cmd

@@ -31,7 +31,7 @@ epicsEnvSet(ECMC_PLG_MOTION_OBJ_INDEX,${ECMC_PLG_MOTION_OBJ_INDEX=0})
 # Might need differet paths for PSI and ESS.. must check
 epicsEnvSet(ECMC_PLUGIN_FILNAME,"$(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=${REPORT=1}"
+${SCRIPTEXEC} ${ecmccfg_DIR}loadPlugin.cmd, "PLUGIN_ID=${PLUGIN_ID=0},FILE=${ECMC_PLUGIN_FILNAME},CONFIG='${ECMC_PLUGIN_CONFIG}', REPORT=${REPORT=1}"
 
 dbLoadRecords(${ecmc_plugin_motion_TEMPLATES}ecmcPluginMotion.template,"P=$(IOC):,INDEX=${ECMC_PLG_MOTION_OBJ_INDEX=0},NELM=${BUFF_SIZE=1000}")
 

src/ecmcMotionPlg.cpp

@@ -839,22 +839,22 @@ void ecmcMotionPlg::executeMotionObject() {
 
   // protect axis_ if axis object id is changed over asyn
   epicsMutexLock(axisMutex_);
-  ecmcAxisStatusType *tempAxisStat = axis_->getDebugInfoDataPointer();
+  ecmcAxisDataStatus *tempAxisStat = axis_->getAxisStatusStruct();
   
   // Fill the buffers
-  actPosBuffer_->addData(tempAxisStat->onChangeData.positionActual);
+  actPosBuffer_->addData(tempAxisStat->currentPositionActual);
-  setPosBuffer_->addData(tempAxisStat->onChangeData.positionSetpoint);
+  setPosBuffer_->addData(tempAxisStat->currentPositionSetpoint);
-  diffPosBuffer_->addData(tempAxisStat->onChangeData.positionError);
+  diffPosBuffer_->addData(tempAxisStat->cntrlError);
-  enableBuffer_->addData(tempAxisStat->onChangeData.statusWd.enable);
+  enableBuffer_->addData(tempAxisStat->statusWord_.enable);
-  enabledBuffer_->addData(tempAxisStat->onChangeData.statusWd.enabled);
+  enabledBuffer_->addData(tempAxisStat->statusWord_.enabled);
-  busyBuffer_->addData(tempAxisStat->onChangeData.statusWd.busy);
+  busyBuffer_->addData(tempAxisStat->statusWord_.busy);
-  executeBuffer_->addData(tempAxisStat->onChangeData.statusWd.execute);
+  executeBuffer_->addData(tempAxisStat->statusWord_.execute);
-  trajSourceBuffer_->addData(tempAxisStat->onChangeData.statusWd.trajsource);
+  trajSourceBuffer_->addData(tempAxisStat->statusWord_.trajsource);
-  encSourceBuffer_->addData(tempAxisStat->onChangeData.statusWd.encsource);
+  encSourceBuffer_->addData(tempAxisStat->statusWord_.encsource);
-  atTargetBuffer_->addData(tempAxisStat->onChangeData.statusWd.attarget);
+  atTargetBuffer_->addData(tempAxisStat->statusWord_.attarget);
-  errorIdBuffer_->addData(tempAxisStat->onChangeData.error);
+  errorIdBuffer_->addData(tempAxisStat->errorCode);
 
-  epicsInt32 *temp=(epicsInt32*)&(tempAxisStat->onChangeData.statusWd);  // A bit nasty
+  epicsInt32 *temp=(epicsInt32*)&(tempAxisStat->statusWord_);  // A bit nasty
   statusWdBuffer_->addData(*temp);
 
   xTime_+=xdt_;
@@ -870,24 +870,6 @@ void ecmcMotionPlg::executeMotionObject() {
   epicsMutexUnlock(axisMutex_);
 }
 
-//void ecmcMotionPlg::setModeFFT(FFT_MODE mode) {
-//  cfgMode_ = mode;
-//  setIntegerParam(asynFFTModeId_,(epicsInt32)mode);
-//}
-//
-//FFT_STATUS ecmcMotionPlg::getStatusFFT() {
-//  return status_;
-//}
-
-//void ecmcMotionPlg::updateStatus(FFT_STATUS status) {
-//  status_ = status;
-//  setIntegerParam(asynFFTStatId_,(epicsInt32) status);
-//  
-//  setIntegerParam(asynElementsInBuffer_, (epicsInt32)elementsInBuffer_);
-//
-//  callParamCallbacks();
-//}
-
 asynStatus ecmcMotionPlg::writeInt32(asynUser *pasynUser, epicsInt32 value) {
   int function = pasynUser->reason;
   if( function == asynEnableId_ ) {

startup.cmd

@@ -10,10 +10,8 @@
 #-###############################################################################
 #-
 #- Arguments
-#- [mandatory]
-#- PLUGIN_ID         = Plugin instansiation index, must be unique for each call
-#-
 #- [optional]
+#- PLUGIN_ID         = Plugin instansiation index, must be unique for each call defaults to 0
 #- AX                = Axis id, default 1
 #- BUFF_SIZE         = Buffer size, default 1000
 #- DBG               = Debug mode, default 1
@@ -27,6 +25,6 @@
 # Only allow call startup.cmd once. if more objects are needed then use addMotionObj.cmd directlly.
 
 #- add One motion plugin object, only run startup once
-${ECMC_PLG_MOTION_INIT=""}${SCRIPTEXEC} $(ecmc_plugin_motion_DIR)addMotionObj.cmd "PLUGIN_ID=${PLUGIN_ID},AX=${AX=1},BUFF_SIZE=${BUFF_SIZE=1000},DBG=${DBG=1},ENA=${ENA=1},REPORT=${REPORT=1}"
+${ECMC_PLG_MOTION_INIT=""}${SCRIPTEXEC} $(ecmc_plugin_motion_DIR)addMotionObj.cmd "PLUGIN_ID=${PLUGIN_ID=0},AX=${AX=1},BUFF_SIZE=${BUFF_SIZE=1000},DBG=${DBG=1},ENA=${ENA=1},REPORT=${REPORT=1}"
- 
+
 epicsEnvSet("ECMC_PLG_MOTION_INIT" ,"#")

tools/ecmcMotionMainPyQtGraph.py

@@ -579,7 +579,7 @@ class ecmcMtnMainGui(QtWidgets.QDialog):
            axId = axIdPV.get()
            
            if axId > 0:              
-              self.cmbBxSelectAxis.addItem(str(int(ax)))
+              self.cmbBxSelectAxis.addItem(str(int(axId)))
 
     def changeAxisIndex(self,xxx):
         if self.cmbBxSelectAxis.currentData() is not None:

tools/startGui.sh

@@ -19,4 +19,4 @@ fi
 echo "Prefix=${P=c6025a-04}"
 echo "plugin id=${ID=0}"
 
-python ecmcMotionMainPyQtGraph.py ${P=c6025a-04} ${ID=0}
+python3 ecmcMotionMainPyQtGraph.py ${P=c6025a-04} ${ID=0}