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Anders Sandstrom
2021-03-23 11:01:49 +01:00
parent 9f2e406899
commit dc9041f4a2
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README.md
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@@ -55,6 +55,9 @@ Issueing "ecmcCANOpenAddMaster -h" in the iocsh you will get the following help
Example to add a master with LSS, sync, heartbeat sample time of 1s:
```
ecmcCANOpenAddMaster("ecmcCANOpenMaster",0,1000,1000,1000)
# Load status records for device
dbLoadRecords(ecmcPluginSocketCAN_Dev.template, "P=${ECMC_PREFIX},PORT=${ECMC_ASYN_PORT},ADDR=0,TIMEOUT=1,CH_ID=00,DEV_ID=0")
```
Note:: You can only have one master in each ioc (one call to "ecmcCANOpenAddMaster").
@@ -73,6 +76,9 @@ Issueing "ecmcCANOpenAddDevice -h" in the iocsh you will get the following help
Example to add a device with node id 3 and a NMT heartbeat timeout of 3s:
```
ecmcCANOpenAddDevice("testDevice",3,3000)
# Load status records for device
dbLoadRecords(ecmcPluginSocketCAN_Dev.template, "P=${ECMC_PREFIX},PORT=${ECMC_ASYN_PORT},ADDR=0,TIMEOUT=1,CH_ID=03,DEV_ID=3")
```
Note:: You can only use the below commands (ecmcCANOpenAddSDO and ecmcCANOpenAddODO) to nodes of an existing device or master.
@@ -98,12 +104,22 @@ A few examples:
```
# Example read SDO from device, will be cyclically read at an intervall of 7000ms:
ecmcCANOpenAddSDO("analogValues",3,0x583,0x603,2,0x2640,0x0,56,7000)
# Load record for SDO data
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=${NELM=1},CH_ID=03,DEV_ID=3,suffix=AI03-Array,source=basicConfig,DTYP=asynInt8ArrayIn,FTVL=CHAR,NELM=7")
# Load record for SDO error
dbLoadRecords(ecmcPluginSocketCAN_SDO_error.template, "P=${ECMC_PREFIX},PORT=${ECMC_ASYN_PORT},ADDR=0,TIMEOUT=1,T_SMP_MS=${ECMC_SAMPLE_RATE_MS},TSE=${ECMC_TSE},CH_ID=03,DEV_ID=3,suffix=SDO01-AnalogValuesErr,source=analogValues")
# Example write SDO to device, will be written on demand (when write data from epics):
ecmcCANOpenAddSDO("basicConfig",3,0x583,0x603,1,0x2690,0x1,7,0)
# Load record for SDO data
dbLoadRecords(ecmcPluginSocketCAN_SDO_output.template, "P=${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=BasicConfig,source=basicConfig,DTYP=asynInt8ArrayOut,FTVL=CHAR,NELM=7")
# Load record for SDO error
dbLoadRecords(ecmcPluginSocketCAN_SDO_error.template, "P=${ECMC_PREFIX},PORT=${ECMC_ASYN_PORT},ADDR=0,TIMEOUT=1,T_SMP_MS=${ECMC_SAMPLE_RATE_MS},TSE=${ECMC_TSE},CH_ID=03,DEV_ID=3,suffix=SDO02-BasicConfigErr,source=basicConfig")
```
## ecmcCANOpenAddPDO
@@ -125,9 +141,142 @@ An example:
```
# Read PDO, if not recived pdo within 10s the PDO object will go into error state:
ecmcCANOpenAddPDO("status",3,0x183,2,8,10000,0)
# Load record for PDO data
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=${NELM=1},CH_ID=03,DEV_ID=3,suffix=PDO01-Array,source=status,NELM=8")
# Load record for PDO error
dbLoadRecords(ecmcPluginSocketCAN_PDO_error.template, "P=${ECMC_PREFIX},PORT=${ECMC_ASYN_PORT},ADDR=0,TIMEOUT=1,T_SMP_MS=${ECMC_SAMPLE_RATE_MS},TSE=${ECMC_TSE},CH_ID=03,DEV_ID=3,suffix=PDO01-StatusErr,source=status")
```
# PVs
## Communication
The status of the CAN communication can be supervised by loading the "ecmcPluginSocketCAN_Com.template":
```
dbLoadRecords(ecmcPluginSocketCAN_Com.template, "P=${ECMC_PREFIX},PORT=${ECMC_ASYN_PORT},ADDR=0,TIMEOUT=1")
# Will load:
IOC_TEST:CAN-Stat-ComErr
IOC_TEST:CAN-Stat-Connected
```
The Connected Pv show if the plugin is connected to socketcan and the hardware.
The ComErr Pv shows error codes for reads and writes to socketcan socket.
## Device (also Master)
### ecmcPluginSocketCAN_Dev.template
The ecmcPluginSocketCAN_Dev.template loads a NMT PV:
```
IOC_TEST:CAN03-Stat-NMT
```
The PV tells wich state the device is in and can have the following values:
* NMT_NOT_VALID : State not valid. Something is wrong.
* NMT_BOOT_UP : Device is booting
* NMT_STOPPED : Device is stopped
* NMT_OP : Device is operational (this is the normal state when running the ioc).
* NMT_PREOP : Device is in pre operational state
## PDO
## ecmcPluginSocketCAN_PDO_input.template
The ecmcPluginSocketCAN_PDO_intput.template in used for input PDOS (data read from a device device to EPICS).
The template only contains one PV that holds the data:
Example:
```
dbLoadRecords(ecmcPluginSocketCAN_PDO_input.template, "P=${ECMC_PREFIX},PORT=${ECMC_ASYN_PORT},ADDR=0,TIMEOUT=1,T_SMP_MS=${ECMC_SAMPLE_RATE_MS},TSE=${ECMC_TSE},CH_ID=03,DEV_ID=3,suffix=PDO01-Status_,source=status,NELM=8")
# Loads this PV:
IOC_TEST:CAN03-PDO01-Status_
```
The data PV is an waveform of type uchar and length NELM.
## ecmcPluginSocketCAN_PDO_output.template
The ecmcPluginSocketCAN_PDO_output.template in used for output PDOS (data written from EPICS to device).
The template only contains one PV that holds the data:
Example:
```
dbLoadRecords(ecmcPluginSocketCAN_PDO_output.template, "P=${ECMC_PREFIX},PORT=${ECMC_ASYN_PORT},ADDR=0,TIMEOUT=1,T_SMP_MS=${ECMC_SAMPLE_RATE_MS},TSE=${ECMC_TSE},CH_ID=00,DEV_ID=0,suffix=PDO01-Reset_, source=reset,NELM=8")
# Loads this PV:
IOC_TEST:CAN03-PDO01-Reset_
```
The data PV is an waveform of type uchar and length NELM.
## ecmcPluginSocketCAN_PDO_error.template
The ecmcPluginSocketCAN_PDO_error.template in used to read the PDO error code.
Example:
```
dbLoadRecords(ecmcPluginSocketCAN_PDO_error.template, "P=${ECMC_PREFIX},PORT=${ECMC_ASYN_PORT},ADDR=0,TIMEOUT=1,T_SMP_MS=${ECMC_SAMPLE_RATE_MS},TSE=${ECMC_TSE},CH_ID=00,DEV_ID=0,suffix=PDO01-ResetErr,source=reset")
# Loads this PV:
IOC_TEST:CAN03-PDO01-ResetErr
```
An error could for example be that the PDO data have not been recived within the correct time frame (readTimeoutMs).
The PDO is in error state if the error code is not 0.
## SDO
## ecmcPluginSocketCAN_SDO_input.template
The ecmcPluginSocketCAN_SDO_intput.template in used for input SDOS (data read from a device device to EPICS).
The template only contains one PV that holds the data:
Example:
```
dbLoadRecords(ecmcPluginSocketCAN_SDO_input.template, "P=${ECMC_PREFIX},PORT=${ECMC_ASYN_PORT},ADDR=0,TIMEOUT=1,T_SMP_MS=${ECMC_SAMPLE_RATE_MS},TSE=${ECMC_TSE},CH_ID=03,DEV_ID=3,suffix=SDO01-AnalogValues_, source=analogValues,DTYP=asynInt16ArrayIn,FTVL=SHORT,NELM=28")
# Loads this PV:
IOC_TEST:CAN03-SDO01-AnalogValues_
```
The data PV is an waveform of type uchar and length NELM.
## ecmcPluginSocketCAN_SDO_output.template
The ecmcPluginSocketCAN_SDO_output.template in used for output SDOS (data written from EPICS to device).
The template only contains one PV that holds the data:
Example:
```
dbLoadRecords(ecmcPluginSocketCAN_SDO_output.template,"P=${ECMC_PREFIX},PORT=${ECMC_ASYN_PORT},ADDR=0,TIMEOUT=1,T_SMP_MS=${ECMC_SAMPLE_RATE_MS},TSE=${ECMC_TSE},CH_ID=03,DEV_ID=3,suffix=SDO02-BasicConfig_, source=basicConfig,DTYP=asynInt8ArrayOut,FTVL=UCHAR,NELM=7")
# Loads this PV:
IOC_TEST:CAN03-SDO02-BasicConfig_
```
The data PV is an waveform of type uchar and length NELM.
## ecmcPluginSocketCAN_SDO_error.template
The ecmcPluginSocketCAN_PSO_error.template in used to read the SDO error code.
Example:
```
dbLoadRecords(ecmcPluginSocketCAN_SDO_error.template, "P=${ECMC_PREFIX},PORT=${ECMC_ASYN_PORT},ADDR=0,TIMEOUT=1,T_SMP_MS=${ECMC_SAMPLE_RATE_MS},TSE=${ECMC_TSE},CH_ID=03,DEV_ID=3,suffix=SDO02-BasicConfigErr,source=basicConfig")
# Loads this PV:
IOC_TEST:CAN03-SDO02-BasicConfigErr
```
An error could for example be that the SDO data have not been recived within the correct time frame or slave is not reposning like it should.
The SDO is in error state if the error code is not 0.
# Plugin
Plugin report printout: