Add test startup script

iocsh/plc/can.plc

@@ -0,0 +1,92 @@
+###############################################################################################
+# For help on syntax, variables and functions, please read the file: "plcSyntaxHelp.plc"
+#
+#     
+
+static.time:=ec_get_time();
+
+# Test heartbeat signal
+#   can0  0x701   [1]  05
+#can_add_write(1793,1,5,0,0,0,0,0,0,0);
+
+# Test sync signal
+# can0  0x80   [0]
+
+#can_add_write(128,0,0,0,0,0,0,0,0,0);
+
+# Test LSS heartbeat "master" signal. This makes the led on pmu905 to go to "Normal Communication"
+# can0  0x7E5   [0]
+# 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());
+};
+#println('Total time for one plcscan [ms]: ', (ec_get_time()-static.time)/1E6);
+
+
+return [];
+
+var byte0:=0;
+## WRONG BIT ORDER OTHER WAY AROUND!
+## bit 0..2:  ccs 1 for 
+#
+#byte0:= ec_wrt_bits(byte0,1,0,2);
+## bit 3: reserved = 0
+#byte0:= ec_clr_bit(byte0,3);
+## bit 4..5: n = 0
+#byte0:= ec_wrt_bits(byte0,0,4,5);
+## bit 6: e = 0
+#byte0:= ec_clr_bit(byte0,6);
+## bit 7: e = 0
+#byte0:= ec_clr_bit(byte0,7);
+
+# Read dictionary command 0x40 = 64
+byte0 := 65
+
+# byte 1..2: SDO id: 0x2690  = 9792 dec
+var byte1:= ec_chk_bits(9792,0,7);
+var byte2:= ec_chk_bits(9792,8,15);
+
+# byte 3: SDO subindex = 0x0
+var byte3:=0;
+
+# byte 4:7: data length = 56 bytes
+#var dataLen:=56;
+#var byte4:= ec_chk_bits(dataLen,0,7);
+#var byte5:= ec_chk_bits(dataLen,8,15);
+#var byte6:= ec_chk_bits(dataLen,16,23);
+#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');

iocsh/pvs.log

@@ -0,0 +1,14 @@
+IOC_TEST:PLC-0-enable
+REQMOD:mcag-trgt-muts--15408:MODULES
+REQMOD:mcag-trgt-muts--15408:VERSIONS
+REQMOD:mcag-trgt-muts--15408:MOD_VER
+REQMOD:mcag-trgt-muts--15408:exit
+REQMOD:mcag-trgt-muts--15408:BaseVersion
+REQMOD:mcag-trgt-muts--15408:require_VER
+REQMOD:mcag-trgt-muts--15408:ecmccfg_VER
+REQMOD:mcag-trgt-muts--15408:asyn_VER
+REQMOD:mcag-trgt-muts--15408:exprtk_VER
+REQMOD:mcag-trgt-muts--15408:motor_VER
+REQMOD:mcag-trgt-muts--15408:ecmc_VER
+IOC_TEST:PLC-0-scantime
+IOC_TEST:PLC-0-error

iocsh/test.script

@@ -0,0 +1,41 @@
+##############################################################################
+## Example: Demo of ecmc SocketCAN plugin
+## https://github.com/anderssandstrom/e3-ecmc_plugin_socketcan
+##
+## The plugin exposes:
+##
+
+## Initiation:
+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
+
+# 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"
+
+##############################################################################
+## Configure hardware:
+# No EtherCAT hardware (in this example)..
+
+##############################################################################
+## Load plugin:
+#require ecmc_plugin_advanced 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_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='${ECMC_PLUGIN_CONFIG}', REPORT=1"
+epicsEnvUnset(ECMC_PLUGIN_FILNAME)
+epicsEnvUnset(ECMC_PLUGIN_CONFIG)
+
+##############################################################################
+## PLC 0
+$(SCRIPTEXEC) $(ecmccfg_DIR)loadPLCFile.cmd, "PLC_ID=0, SAMPLE_RATE_MS=1000,FILE=./plc/can.plc")
+
+##############################################################################
+############# Go to realtime:
+
+ecmcConfigOrDie "Cfg.SetAppMode(1)"
+iocInit
+dbl > pvs.log