93 lines
4.6 KiB
Plaintext
93 lines
4.6 KiB
Plaintext
##############################################################################
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## Example: Demo of ecmc SocketCAN plugin
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## https://github.com/anderssandstrom/e3-ecmc_plugin_socketcan
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##
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## The plugin exposes:
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##
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## Initiation:
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epicsEnvSet("IOC" ,"$(IOC="IOC_TEST")")
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epicsEnvSet("ECMCCFG_INIT" ,"") #Only run startup once (auto at PSI, need call at ESS), variable set to "#" in startup.cmd
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epicsEnvSet("SCRIPTEXEC" ,"$(SCRIPTEXEC="iocshLoad")")
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require ecmccfg 6.3.0
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# run module startup.cmd (only needed at ESS PSI auto call at require)
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$(ECMCCFG_INIT)$(SCRIPTEXEC) ${ecmccfg_DIR}startup.cmd, "IOC=$(IOC),ECMC_VER=6.3.0,MASTER_ID=-1"
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##############################################################################
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## Configure hardware:
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# No EtherCAT hardware (in this example)..
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##############################################################################
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## Load plugin:
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require ecmc_plugin_socketcan master # do not require then loaded twice..
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epicsEnvSet(ECMC_PLUGIN_FILNAME,"${HOME}/epics/base-7.0.4/require/${E3_REQUIRE_VERSION}/siteMods/ecmc_plugin_socketcan/master/lib/${EPICS_HOST_ARCH=linux-x86_64}/libecmc_plugin_socketcan.so")
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epicsEnvSet(ECMC_PLUGIN_CONFIG,"IF=can0;DBG_PRINT=1;") # Only one option implemented in this plugin
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${SCRIPTEXEC} ${ecmccfg_DIR}loadPlugin.cmd, "PLUGIN_ID=0,FILE=${ECMC_PLUGIN_FILNAME},CONFIG='${ECMC_PLUGIN_CONFIG}', REPORT=1"
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epicsEnvUnset(ECMC_PLUGIN_FILNAME)
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epicsEnvUnset(ECMC_PLUGIN_CONFIG)
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##############################################################################
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## PLC 0
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$(SCRIPTEXEC) $(ecmccfg_DIR)loadPLCFile.cmd, "PLC_ID=0, SAMPLE_RATE_MS=1000,FILE=./plc/can.plc")
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##############################################################################
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############# Configure CAN plugin:
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# Commands:
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# ecmcCANOpenAddMaster -h
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# Use ecmcCANOpenAddMaster(<name>, <node id>,....)
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# <name> : Name of master device.
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# <node id> : CANOpen node id of master.
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# <LSS sample time ms> : Sample time for LSS.
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# <Sync sample time ms> : Sample time for SYNC.
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# <Heartbeat sample time ms> : Sample time for Heartbeat.
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#
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ecmcCANOpenAddMaster("ecmcCANOpenMaster",0,1000,1000,1000)
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# ecmcCANOpenAddDevice -h
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# Use ecmcCANOpenAddDevice(<name>, <node id>)
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# <name> : Name of device.
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# <node id> : CANOpen node id of device.
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#
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ecmcCANOpenAddDevice("pmu905",3)
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# ecmcCANOpenAddPDO -h
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# Use "ecmcCANOpenAddPDO(<name>, <node id>
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# <name> : Name of master device.
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# <node id> : CANOpen node id of device/master.
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# <cob id> : CANOpen cob id of PDO.
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# <dir> : Direction 1=write and 2=read.
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# <ODSize> : Size of PDO (max 8 bytes).
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# <readTimeoutMs> : Readtimeout in ms.
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# <writeCycleMs> : Cycle time for write (if <= 0 then only write on change).
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ecmcCANOpenAddPDO("status",3,0x183,2,8,100000,0) # READ
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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")
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# ecmcCANOpenAddSDO -h
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# Use ecmcCANOpenAddSDO(<name>, <node id>,.....)
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# <name> : Name of master device.
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# <node id> : CANOpen node id of device/master.
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# <cob id tx> : CANOpen cob id of Tx of slave SDO.
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# <cob id rx> : CANOpen cob id of Rx of slave SDO.
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# <dir> : Direction 1=write and 2=read.
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# <ODIndex> : OD index of SDO.
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# <ODSubIndex> : OD sub index of SDO.
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# <ODSize> : OS Size.
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# <readTimeoutMs> : Readtimeout in ms.
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#
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ecmcCANOpenAddSDO("analogValues",3,0x583,0x603,2,0x2640,0x0,56,7000) # READ
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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=${NELM=1},CH_ID=03,DEV_ID=3,suffix=SDO01-Array,source=analogValues,DTYP=asynInt16ArrayIn,FTVL=SHORT,NELM=28")
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ecmcCANOpenAddSDO("basicConfig",3,0x583,0x603,1,0x2690,0x1,7,0) # WRITE
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dbLoadRecords(ecmcPluginSocketCAN_SDO_output.template, "P=${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")
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##############################################################################
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############# Go to realtime:
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ecmcConfigOrDie "Cfg.SetAppMode(1)"
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iocInit
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dbl > pvs.log
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