diff --git a/configure/CONFIG_MODULE b/configure/CONFIG_MODULE index 8e5a06e..378dac6 100644 --- a/configure/CONFIG_MODULE +++ b/configure/CONFIG_MODULE @@ -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 diff --git a/configure/RELEASE b/configure/RELEASE index fecc7e2..f7dcbee 100644 --- a/configure/RELEASE +++ b/configure/RELEASE @@ -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 diff --git a/iocsh/plc/can.plc b/iocsh/plc/can.plc index 1b1c678..22acd13 100644 --- a/iocsh/plc/can.plc +++ b/iocsh/plc/can.plc @@ -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'); diff --git a/iocsh/pmu905.script b/iocsh/pmu905.script index b632f06..2e6ce26 100644 --- a/iocsh/pmu905.script +++ b/iocsh/pmu905.script @@ -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='${ECMC_PLUGIN_CONFIG}', REPORT=1" epicsEnvUnset(ECMC_PLUGIN_FILNAME) @@ -62,7 +62,9 @@ ecmcCANOpenAddDevice("pmu905",3) # : Size of PDO (max 8 bytes). # : Readtimeout in ms. # : Cycle time for write (if <= 0 then only write on change). -ecmcCANOpenAddPDO("status",3,0x183,2,8,10000,0) # READ +ecmcCANOpenAddPDO("status",3,0x183,2,8,100000,0) # READ +dbLoadRecords(ecmcPluginSocketCAN_PDO_input.template, "P=${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(, ,.....) @@ -77,7 +79,10 @@ ecmcCANOpenAddPDO("status",3,0x183,2,8,10000,0) # READ # : 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: diff --git a/iocsh/pvs.log b/iocsh/pvs.log index 577db8f..57a4b54 100644 --- a/iocsh/pvs.log +++ b/iocsh/pvs.log @@ -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