motion/ecmc_plugin_socketcan
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SDO write tested.

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This commit is contained in:
Anders Sandstrom
2021-03-11 16:59:52 +01:00
parent 1b88210a60
commit e5f696a1eb
5 changed files with 26 additions and 14 deletions
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2
ecmc_plugin_socketcan/ecmc_plugin_socketcanApp/Db/ecmcPluginSocketCAN_SDO.substitutions
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@@ -1,4 +1,4 @@
file "ecmcPluginSocketCAN_SDO.template"
file "ecmcPluginSocketCAN_SDO_input.template"
{
pattern {CH_ID, DEV_ID, NELM, suffix, source, DTYP, FTVL }
{03, 3, 28, SDO01-Array, analogValues1, asynInt16ArrayIn, SHORT}

0
ecmc_plugin_socketcan/ecmc_plugin_socketcanApp/Db/ecmcPluginSocketCAN_SDO.template → ecmc_plugin_socketcan/ecmc_plugin_socketcanApp/Db/ecmcPluginSocketCAN_SDO_input.template
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11
ecmc_plugin_socketcan/ecmc_plugin_socketcanApp/Db/ecmcPluginSocketCAN_SDO_output.template Normal file
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@@ -0,0 +1,11 @@
# Data source: plugin.can.dev3.sdo.analogValues4
record(waveform,"$(P)CAN${CH_ID}-${suffix=}"){
info(asyn:READBACK,"1")
field(DESC, "SDO Data")
field(DTYP, "${DTYP=asynInt8ArrayOut}")
field(INP, "@asyn(${PORT},$(ADDR=0),$(TIMEOUT=1000))T_SMP_MS=$(T_SMP_MS=1000)/TYPE=${DTYP=asynInt8ArrayOut}/plugin.can.dev${DEV_ID}.sdo.${source=value}=")
field(FTVL, "${FTVL=CHAR}")
field(NELM, "${NELM=1024}")
field(SCAN, "Passive")
field(TSE, "0")
}

25
iocsh/pvs.log
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@@ -1,17 +1,18 @@
REQMOD:mcag-trgt-muts--29276:MODULES
REQMOD:mcag-trgt-muts--29276:VERSIONS
REQMOD:mcag-trgt-muts--29276:MOD_VER
REQMOD:mcag-trgt-muts--5858:MODULES
REQMOD:mcag-trgt-muts--5858:VERSIONS
REQMOD:mcag-trgt-muts--5858: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
REQMOD:mcag-trgt-muts--29276:exit
REQMOD:mcag-trgt-muts--29276:BaseVersion
REQMOD:mcag-trgt-muts--29276:require_VER
REQMOD:mcag-trgt-muts--29276:ecmccfg_VER
REQMOD:mcag-trgt-muts--29276:asyn_VER
REQMOD:mcag-trgt-muts--29276:exprtk_VER
REQMOD:mcag-trgt-muts--29276:motor_VER
REQMOD:mcag-trgt-muts--29276:ecmc_VER
REQMOD:mcag-trgt-muts--29276:ecmc_plugin_socketcan_VER
IOC_TEST:CAN03-BasicConfig
REQMOD:mcag-trgt-muts--5858:exit
REQMOD:mcag-trgt-muts--5858:BaseVersion
REQMOD:mcag-trgt-muts--5858:require_VER
REQMOD:mcag-trgt-muts--5858:ecmccfg_VER
REQMOD:mcag-trgt-muts--5858:asyn_VER
REQMOD:mcag-trgt-muts--5858:exprtk_VER
REQMOD:mcag-trgt-muts--5858:motor_VER
REQMOD:mcag-trgt-muts--5858:ecmc_VER
REQMOD:mcag-trgt-muts--5858:ecmc_plugin_socketcan_VER

2
iocsh/test.script
View File

@@ -99,7 +99,7 @@ ecmcCANOpenAddSDO("analogValues4",3,0x583,0x603,2,0x2640,0x0,56,7000) # READ
dbLoadTemplate(ecmcPluginSocketCAN_SDO.substitutions, "P=${ECMC_PREFIX},PORT=${ECMC_ASYN_PORT},ADDR=0,TIMEOUT=1,T_SMP_MS=${ECMC_SAMPLE_RATE_MS},TSE=${ECMC_TSE}")
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=BasicConfig,source=basicConfig,DTYP=asynInt8ArrayOut,FTVL=CHAR,NELM=7")
##############################################################################
############# Go to realtime: