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anderssandstrom
2021-03-24 10:02:03 +01:00
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@@ -17,7 +17,11 @@ More info about how to setup this hardware can be found here:
# Install ecmc plugin module
## Dependencies
This module depends on ecmc and asyn.
This module have dependencies to:
1. ecmc
3. asyn
## Configuration
Ensure that these two files are correct:
@@ -44,6 +48,47 @@ make install
```
Now the module should be ready for use.
## Load plugin into ecmc
Like all ecmc plugins the plugin must be loaded into ecmc with the "loadPlugin.cmd" command.
The loading is needed so that ecmc can link to the callbacks, plc functions and plc constants in the plugin.
The "loadPlugin.cmd" command basically takes three arguments:
1. PLUGIN_ID: This is just an index of the different plugins loaded into ecmc. So the first loaded plugin should have index 0.
2. FILE: Path to the "libecmc_plugin_socketcan.so" file.
3. CONFIG: Plugin configuration string. See below for details
### Configurations string "CONFIG"
The configuration string contains startup configs for the plugin. Currentlly the below configurations can be specified in the CONFIG string:
```
DBG_PRINT=<1/0> : Enables/disables printouts from plugin, default = disabled (=0).
IF=<if name> : Sets can interface (example: can0, vcan0..).
CONNECT=<1/0> : Auto connect to if at startup, default = autoconnect (=1).
```
Also see "Plugin" chapter below for more information about the plugin.
### Example
Example of loading the plugin connectimng to the "can0" interface:
```
## Load plugin:
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=0;")
${SCRIPTEXEC} ${ecmccfg_DIR}loadPlugin.cmd, "PLUGIN_ID=0,FILE=${ECMC_PLUGIN_FILNAME},CONFIG='${ECMC_PLUGIN_CONFIG}', REPORT=1"
epicsEnvUnset(ECMC_PLUGIN_FILNAME)
epicsEnvUnset(ECMC_PLUGIN_CONFIG)
```
### Access to templates
In order to access the templates in the plugin a "require" is needed in the startup script:
```
require ecmc_plugin_socketcan master
```
# CANOpen
This module implements a few of the CANOpen functionalities (but it is far from a full CANOpen Implementation).