motion/ecmc_plugin_socketcan
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Test on real unit

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This commit is contained in:
Anders Sandstrom
2021-03-16 11:53:37 +01:00
parent 5409f8e7f7
commit 9a21232296
5 changed files with 61 additions and 56 deletions
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2
configure/CONFIG_MODULE
View File

@@ -8,7 +8,7 @@ E3_MODULE_VERSION:=master
# DEPENDENT MODULE VERSION
# For Example,
ECMC_DEP_VERSION:=6.3.2
ECMC_DEP_VERSION:=6.3.0
ASYN_DEP_VERSION:=4.37.0
#DEVLIB2_DEP_VERSION:=2.9.0

2
configure/RELEASE
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@@ -2,7 +2,7 @@
EPICS_BASE:=${HOME}/epics/base-7.0.4
E3_REQUIRE_NAME:=require
E3_REQUIRE_VERSION:=3.4.0
E3_REQUIRE_VERSION:=3.3.0
# The definitions shown below can also be placed in an untracked RELEASE.local
-include $(TOP)/../../RELEASE.local

68
iocsh/plc/can.plc
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@@ -19,9 +19,9 @@ static.time:=ec_get_time();
# can_add_write(2021,0,0,0,0,0,0,0,0,0);
#can_trigg_writes();
if(can_last_writes_error()) {
println('Error during writes : ', can_last_writes_error());
};
#if(can_last_writes_error()) {
# println('Error during writes : ', can_last_writes_error());
#};
#println('Total time for one plcscan [ms]: ', (ec_get_time()-static.time)/1E6);
@@ -59,34 +59,34 @@ var byte3:=0;
#var byte7:= ec_chk_bits(dataLen,24,31);
#can_add_write(1539,8,byte0,byte1,byte2,byte3,byte4,byte5,byte6,byte7);
#can_add_write(1539,8,byte0,byte1,byte2,byte3,0,0,0,0);
can_add_write(1539,8,64,byte1,byte2,byte3,0,0,0,0);
# Acknowledge 1 toggle 0
can_add_write(1539,8,97,byte1,byte2,byte3,0,0,0,0);
# Acknowledge 2 toggle 1
can_add_write(1539,8,113,byte1,byte2,byte3,0,0,0,0);
# Acknowledge 3 toggle 0
can_add_write(1539,8,97,byte1,byte2,byte3,0,0,0,0);
# Acknowledge 4 toggle 1
can_add_write(1539,8,113,byte1,byte2,byte3,0,0,0,0);
# Acknowledge 5 toggle 0
can_add_write(1539,8,97,byte1,byte2,byte3,0,0,0,0);
# Acknowledge 6 toggle 1
can_add_write(1539,8,113,byte1,byte2,byte3,0,0,0,0);
# Acknowledge 7 toggle 0 LAST
can_add_write(1539,8,97,byte1,byte2,byte3,0,0,0,0);
# Acknowledge 6 toggle 1 Test one to much.. just resulted in one more row of unique data?!
# can_add_write(1539,8,113,byte1,byte2,byte3,0,0,0,0);
println('Total time for one plcscan [ms]: ', (ec_get_time()-static.time)/1E6);
return [];
println('NEVER HERE');
##can_add_write(1539,8,byte0,byte1,byte2,byte3,0,0,0,0);
#can_add_write(1539,8,64,byte1,byte2,byte3,0,0,0,0);
#
## Acknowledge 1 toggle 0
#can_add_write(1539,8,97,byte1,byte2,byte3,0,0,0,0);
#
## Acknowledge 2 toggle 1
#can_add_write(1539,8,113,byte1,byte2,byte3,0,0,0,0);
#
## Acknowledge 3 toggle 0
#can_add_write(1539,8,97,byte1,byte2,byte3,0,0,0,0);
#
## Acknowledge 4 toggle 1
#can_add_write(1539,8,113,byte1,byte2,byte3,0,0,0,0);
#
## Acknowledge 5 toggle 0
#can_add_write(1539,8,97,byte1,byte2,byte3,0,0,0,0);
#
## Acknowledge 6 toggle 1
#can_add_write(1539,8,113,byte1,byte2,byte3,0,0,0,0);
#
## Acknowledge 7 toggle 0 LAST
#can_add_write(1539,8,97,byte1,byte2,byte3,0,0,0,0);
#
## Acknowledge 6 toggle 1 Test one to much.. just resulted in one more row of unique data?!
## can_add_write(1539,8,113,byte1,byte2,byte3,0,0,0,0);
#
#println('Total time for one plcscan [ms]: ', (ec_get_time()-static.time)/1E6);
#return [];
#
#println('NEVER HERE');

13
iocsh/pmu905.script
View File

@@ -10,10 +10,10 @@ 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 6.3.2
require ecmccfg 6.3.0
# run module startup.cmd (only needed at ESS PSI auto call at require)
$(ECMCCFG_INIT)$(SCRIPTEXEC) ${ecmccfg_DIR}startup.cmd, "IOC=$(IOC),ECMC_VER=6.3.2,MASTER_ID=-1"
$(ECMCCFG_INIT)$(SCRIPTEXEC) ${ecmccfg_DIR}startup.cmd, "IOC=$(IOC),ECMC_VER=6.3.0,MASTER_ID=-1"
##############################################################################
## Configure hardware:
@@ -23,7 +23,7 @@ $(ECMCCFG_INIT)$(SCRIPTEXEC) ${ecmccfg_DIR}startup.cmd, "IOC=$(IOC),ECMC_VER=6.3
## Load plugin:
require ecmc_plugin_socketcan master # do not require then loaded twice..
epicsEnvSet(ECMC_PLUGIN_FILNAME,"/home/dev/epics/base-7.0.4/require/${E3_REQUIRE_VERSION}/siteMods/ecmc_plugin_socketcan/master/lib/${EPICS_HOST_ARCH=linux-x86_64}/libecmc_plugin_socketcan.so")
epicsEnvSet(ECMC_PLUGIN_FILNAME,"${HOME}/epics/base-7.0.4/require/${E3_REQUIRE_VERSION}/siteMods/ecmc_plugin_socketcan/master/lib/${EPICS_HOST_ARCH=linux-x86_64}/libecmc_plugin_socketcan.so")
epicsEnvSet(ECMC_PLUGIN_CONFIG,"IF=can0;DBG_PRINT=1;") # Only one option implemented in this plugin
${SCRIPTEXEC} ${ecmccfg_DIR}loadPlugin.cmd, "PLUGIN_ID=0,FILE=${ECMC_PLUGIN_FILNAME},CONFIG='${ECMC_PLUGIN_CONFIG}', REPORT=1"
epicsEnvUnset(ECMC_PLUGIN_FILNAME)
@@ -62,7 +62,9 @@ ecmcCANOpenAddDevice("pmu905",3)
# <ODSize> : Size of PDO (max 8 bytes).
# <readTimeoutMs> : Readtimeout in ms.
# <writeCycleMs> : Cycle time for write (if <= 0 then only write on change).
ecmcCANOpenAddPDO("status",3,0x183,2,8,10000,0) # READ
ecmcCANOpenAddPDO("status",3,0x183,2,8,100000,0) # READ
dbLoadRecords(ecmcPluginSocketCAN_PDO_input.template, "P=${ECMC_PREFIX},PORT=${ECMC_ASYN_PORT},ADDR=0,TIMEOUT=1,T_SMP_MS=${ECMC_SAMPLE_RATE_MS},TSE=${ECMC_TSE},NELM=${NELM=1},CH_ID=03,DEV_ID=3,suffix=PDO01-Array,source=status1,NELM=8")
# ecmcCANOpenAddSDO -h
# Use ecmcCANOpenAddSDO(<name>, <node id>,.....)
@@ -77,7 +79,10 @@ ecmcCANOpenAddPDO("status",3,0x183,2,8,10000,0) # READ
# <readTimeoutMs> : Readtimeout in ms.
#
ecmcCANOpenAddSDO("analogValues",3,0x583,0x603,2,0x2640,0x0,56,7000) # READ
dbLoadRecords(ecmcPluginSocketCAN_SDO_input.template, "P=${ECMC_PREFIX},PORT=${ECMC_ASYN_PORT},ADDR=0,TIMEOUT=1,T_SMP_MS=${ECMC_SAMPLE_RATE_MS},TSE=${ECMC_TSE},NELM=${NELM=1},CH_ID=03,DEV_ID=3,suffix=SDO01-Array,source=analogValues,DTYP=asynInt16ArrayIn,FTVL=SHORT,NELM=28")
ecmcCANOpenAddSDO("basicConfig",3,0x583,0x603,1,0x2690,0x1,7,0) # WRITE
dbLoadRecords(ecmcPluginSocketCAN_SDO_output.template, "P=${ECMC_PREFIX},PORT=${ECMC_ASYN_PORT},ADDR=0,TIMEOUT=1,T_SMP_MS=${ECMC_SAMPLE_RATE_MS},TSE=${ECMC_TSE},NELM=${NELM=1},CH_ID=03,DEV_ID=3,suffix=SDO02-BasicConfig,source=basicConfig,DTYP=asynInt8ArrayOut,FTVL=CHAR,NELM=7")
##############################################################################
############# Go to realtime:

32
iocsh/pvs.log
View File

@@ -1,18 +1,18 @@
REQMOD:mcag-trgt-muts--6868:MODULES
REQMOD:mcag-trgt-muts--6868:VERSIONS
REQMOD:mcag-trgt-muts--6868:MOD_VER
REQMOD:raspberrypi-3706:exit
IOC_TEST:PLC-0-scantime
IOC_TEST:PLC-0-error
REQMOD:raspberrypi-3706:BaseVersion
REQMOD:raspberrypi-3706:require_VER
REQMOD:raspberrypi-3706:ecmccfg_VER
REQMOD:raspberrypi-3706:asyn_VER
REQMOD:raspberrypi-3706:exprtk_VER
REQMOD:raspberrypi-3706:motor_VER
REQMOD:raspberrypi-3706:ecmc_VER
REQMOD:raspberrypi-3706:ecmc_plugin_socketcan_VER
IOC_TEST:PLC-0-enable
REQMOD:raspberrypi-3706:MODULES
REQMOD:raspberrypi-3706:VERSIONS
REQMOD:raspberrypi-3706:MOD_VER
IOC_TEST:CAN03-PDO01-Array
IOC_TEST:CAN03-SDO01-Array
IOC_TEST:CAN03-SDO02-Array
IOC_TEST:CAN03-SDO03-Array
IOC_TEST:CAN03-SDO04-Array
IOC_TEST:CAN03-BasicConfig
REQMOD:mcag-trgt-muts--6868:exit
REQMOD:mcag-trgt-muts--6868:BaseVersion
REQMOD:mcag-trgt-muts--6868:require_VER
REQMOD:mcag-trgt-muts--6868:ecmccfg_VER
REQMOD:mcag-trgt-muts--6868:asyn_VER
REQMOD:mcag-trgt-muts--6868:exprtk_VER
REQMOD:mcag-trgt-muts--6868:motor_VER
REQMOD:mcag-trgt-muts--6868:ecmc_VER
REQMOD:mcag-trgt-muts--6868:ecmc_plugin_socketcan_VER
IOC_TEST:CAN03-SDO02-BasicConfig