Use ecmc 11.0

.gitignore

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

GNUmakefile

@@ -8,7 +8,7 @@ BUILDCLASSES = Linux
 ARCH_FILTER = deb10% deb12%
 
 # Run 7.0.6 for now
-EXCLUDE_VERSIONS+=3 7.0.5 7.0.6 7.0.7 7.0.9
+EXCLUDE_VERSIONS+=3 7.0.5 7.0.6 7.0.7
 
 IGNORE_MODULES += asynMotor
 IGNORE_MODULES += motorBase
@@ -17,25 +17,28 @@ USR_CXXFLAGS += -std=c++17
 OPT_CXXFLAGS_YES = -O3
 
 # dependencies
-ECmasterECMC_VERSION = v1.1.0
-ecmc_VERSION = 10.0
+ecmc_VERSION = 11.0
 
 # ethercat
-EC_BASE_PATH = /ioc/NeedfulThings/EtherCAT/4epics/
+#   debian 12
+EC_MASTER_VER = 1.6.3
+EC_BASE_PATH = /ioc/NeedfulThings/EtherCAT/4epics/${EC_MASTER_VER}/
 USR_CXXFLAGS_deb12-x86_64 += -I${EC_BASE_PATH}${T_A}/include/
 USR_CXXFLAGS_deb12-x86_64 += -L${EC_BASE_PATH}${T_A}/lib/
 
-OPT_CXXFLAGS_YES = -O3
-
 LIB_SYS_LIBS += ethercat
 USR_LDFLAGS_deb12-x86_64 += -Wl,-rpath=${EC_BASE_PATH}${T_A}/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 = ${EPICS_MODULES}/ECmasterECMC/${ECmasterECMC_VERSION}/R${EPICSVERSION}/lib/${T_A}
-USR_LDFLAGS_deb10-x86_64 += -Wl,-rpath=${EC_MASTER_LIB}
-USR_LDFLAGS_deb10-x86_64 +=         -L ${EC_MASTER_LIB}
+EC_MASTER_LIB = /ioc/NeedfulThings/EtherCAT/4epics/v1.1.0/R7.0.8/
+USR_LDFLAGS_deb10-x86_64 += -Wl,-rpath=${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

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);
-  setPosBuffer_->addData(tempAxisStat->onChangeData.positionSetpoint);
-  diffPosBuffer_->addData(tempAxisStat->onChangeData.positionError);
-  enableBuffer_->addData(tempAxisStat->onChangeData.statusWd.enable);
-  enabledBuffer_->addData(tempAxisStat->onChangeData.statusWd.enabled);
-  busyBuffer_->addData(tempAxisStat->onChangeData.statusWd.busy);
-  executeBuffer_->addData(tempAxisStat->onChangeData.statusWd.execute);
-  trajSourceBuffer_->addData(tempAxisStat->onChangeData.statusWd.trajsource);
-  encSourceBuffer_->addData(tempAxisStat->onChangeData.statusWd.encsource);
-  atTargetBuffer_->addData(tempAxisStat->onChangeData.statusWd.attarget);
-  errorIdBuffer_->addData(tempAxisStat->onChangeData.error);
+  actPosBuffer_->addData(tempAxisStat->currentPositionActual);
+  setPosBuffer_->addData(tempAxisStat->currentPositionSetpoint);
+  diffPosBuffer_->addData(tempAxisStat->cntrlError);
+  enableBuffer_->addData(tempAxisStat->statusWord_.enable);
+  enabledBuffer_->addData(tempAxisStat->statusWord_.enabled);
+  busyBuffer_->addData(tempAxisStat->statusWord_.busy);
+  executeBuffer_->addData(tempAxisStat->statusWord_.execute);
+  trajSourceBuffer_->addData(tempAxisStat->statusWord_.trajsource);
+  encSourceBuffer_->addData(tempAxisStat->statusWord_.encsource);
+  atTargetBuffer_->addData(tempAxisStat->statusWord_.attarget);
+  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_ ) {

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}