Merge pull request #118 from paulscherrerinstitute/v7_RC1

V7.0.0

Author: Niko Kivel

.gitignore

@@ -22,3 +22,11 @@ db/ecmcDS.db
 db/empty.db
 db/testAIs.db
 
+*LAB_MotionSystems*
+*Copley*
+*Elmo*
+qt
+doc
+tools
+
+.venv

Changelog.adoc

@@ -0,0 +1,3 @@
+# ecmccfg changelog
+
+v7.0.0

GNUmakefile

@@ -3,10 +3,10 @@ include $(EPICS_MODULES)/makeUtils/latest/utils.mk
 
 MODULE=ecmccfg
 
-LIBVERSION = dev
+LIBVERSION = v7_RC1
 
 BUILDCLASSES = Linux
-EXCLUDE_VERSIONS=3 7.0.3
+EXCLUDE_VERSIONS = 3 7.0.3 7.0.4.1
 ARCH_FILTER=RHEL%
 
 SCRIPTS+=startup.cmd
@@ -26,6 +26,8 @@ DIRS += ${HW_DIR}Beckhoff_9XXX
 SCRIPTS += $(foreach d,${DIRS}, $(wildcard $d/*/*.cmd))
 
 SCRIPTS+=$(wildcard ./scripts/*)
+SCRIPTS+=$(wildcard ./scripts/jinja2/*)
+SCRIPTS+=$(wildcard ./naming/*)
 SCRIPTS+=$(wildcard ./general/*)
 SCRIPTS+=$(wildcard ./hardware/*/*.cmd)
 SCRIPTS+=$(wildcard ./motion/*)
@@ -42,3 +44,4 @@ TEMPLATES+=$(wildcard ./db/*/*.subs)
 
 SOURCES += $(wildcard ./src/*.cpp)
 DBDS    += $(wildcard ./dbd/*.dbd)
+

ReadMe.md

@@ -8,12 +8,12 @@ This program is free software; you can redistribute it and/or modify
    it under the terms of the GNU General Public License as published by
    the Free Software Foundation; either version 3 of the License, or
    (at your option) any later version.
-   
+
 This program is distributed in the hope that it will be useful,
    but WITHOUT ANY WARRANTY; without even the implied warranty of
    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
    GNU General Public License for more details.
-   
+
 You should have received a copy of the GNU General Public License
    along with this program; if not, write to the Free Software Foundation,
    Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301  USA
@@ -23,9 +23,10 @@ by default this module is only build for RHEL7 and Epics >=R7.0.4
 ```bash
 make [LIBVERSION] [clean] install
 ```
-check the module loads for version `dev`, Epics R7.0.4.1 and ECMC version `poslag`, note `MASTER_ID=1` which runs ECMC in master-less mode.
+check the module loads for version `dev`, Epics `R7+` and ECMC version `dev`, note `MASTER_ID=-1` which runs ECMC in master-less mode.
+Make proper adjustements to match your needs in terms of versions.
 ```bash
-iocsh -7.0.4.1 -r "ecmccfg,dev 'ECMC_VER=posLag,MASTER_ID=-1'"
+iocsh -7 -r "ecmccfg,dev 'ECMC_VER=dev,MASTER_ID=-1'"
 ```
 
 ## Purpose
@@ -54,70 +55,89 @@ The configuration framework contains the necessary files to configure an EPICS I
 ## Example IOC
 
 1.  `require` the configuration module with optional version
-    ```bash
-    require ecmccfg <VERSION>
-    ```
+  ```bash
+  require ecmccfg <VERSION>
+  ```
 
 2.  add a coupler and slave
-    ```bash
-      # slave 0 {ecmcEK1100}
-      ${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd,       "HW_DESC=EK1100"
-      # SLAVE_ID is automatically incremented
-      # slave 1 {ecmcEL1018}
-      ${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd,       "HW_DESC=EL1018"
-      # skip slaves 2..6
-      # slave 7 {ecmcEL2008}, with optional SLAVE_ID
-      ${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd,       "HW_DESC=E2008, SLAVE_ID=7"
-    ```
+  ```bash
+  # slave 0 {ecmcEK1100}
+  ${SCRIPTEXEC} ${ECMC_CONFIG_ROOT}addSlave.cmd,       "HW_DESC=EK1100"
+  # SLAVE_ID is automatically incremented
+  # slave 1 {ecmcEL1018}
+  ${SCRIPTEXEC} ${ECMC_CONFIG_ROOT}addSlave.cmd,       "HW_DESC=EL1018"
+  # skip slaves 2..6
+  # slave 7 {ecmcEL2008}, with optional SLAVE_ID
+  ${SCRIPTEXEC} ${ECMC_CONFIG_ROOT}addSlave.cmd,       "HW_DESC=E2008, SLAVE_ID=7"
+  #-- ATTENTION, this only work for certain slaves, as the EPICS templates have to be migrated before
+  # slave 9 {ecmcEL2008}, with optional SLAVE_ID and P_SCRIPT
+  ${SCRIPTEXEC} ${ECMC_CONFIG_ROOT}addSlave.cmd,       "HW_DESC=E2008, SLAVE_ID=7, P_SCRIPT=mXsXXX"
+  ```
 3.  add more slaves and apply configuration to the slaves
-    ```bash
-      # slave 8 {ecmcEL7037}, configure slave with optional SLAVE_ID
-      ${SCRIPTEXEC} ${ecmccfg_DIR}configureSlave.cmd, "HW_DESC=EL7037, CONFIG=-Motor-Nanotec-ST4118L1804-B, SLAVE_ID=8"
-      # slave 9 {ecmcEL7037}, addSlave, with immediate call off applySlaveConfig
-      # slave with global configuration
-      ${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd,       "HW_DESC=EL7037"
-      ${SCRIPTEXEC} ${ecmccfg_DIR}applySlaveConfig,   "CONFIG=-Motor-Nanotec-ST4118L1804-B"
-      # slave with local configuration, in this case provided by the module `ECMC_AGIR`
-      epicsEnvSet("CFG_ROOT", "${ECMC_AGIR_DIR}/")
-      ${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd, "HW_DESC=EP7211-0034_ALL"
-      ${SCRIPTEXEC} ${ecmccfg_DIR}applySlaveConfig.cmd, "LOCAL_CONFIG=${CFG_ROOT}AM8211_AGIR.cfg"
-
-    ```
+  ```bash
+  # slave 8 {ecmcEL7037}, configure slave with optional SLAVE_ID
+  ${SCRIPTEXEC} ${ECMC_CONFIG_ROOT}configureSlave.cmd, "HW_DESC=EL7037, CONFIG=-Motor-Nanotec-ST4118L1804-B, SLAVE_ID=8"
+  # slave 9 {ecmcEL7037}, addSlave, with immediate call off applySlaveConfig
+  # slave with global configuration
+  ${SCRIPTEXEC} ${ECMC_CONFIG_ROOT}addSlave.cmd,       "HW_DESC=EL7037"
+  ${SCRIPTEXEC} ${ECMC_CONFIG_ROOT}applySlaveConfig,   "CONFIG=-Motor-Nanotec-ST4118L1804-B"
+  # slave with local configuration, in this case provided by the module `ECMC_AGIR`
+  epicsEnvSet("CFG_ROOT", "${ECMC_AGIR_DIR}/")
+  ${SCRIPTEXEC} ${ECMC_CONFIG_ROOT}addSlave.cmd,       "HW_DESC=EP7211-0034_ALL"
+  ${SCRIPTEXEC} ${ECMC_CONFIG_ROOT}applySlaveConfig.cmd, "LOCAL_CONFIG=${CFG_ROOT}AM8211_AGIR.cfg"
+  ```
 
 4.  apply the configuration
-    ```bash
-       ${SCRIPTEXEC} ${ecmccfg_DIR}applyConfig.cmd
-    ```
+  ```bash
+  ${SCRIPTEXEC} ${ECMC_CONFIG_ROOT}applyConfig.cmd
+  ```
 
 5. additional configuration
-    ```bash
-       ecmcConfigOrDie "Cfg.WriteEcEntryIDString(${ECMC_EC_SLAVE_NUM_DIG_OUT},BO_1,1)"
-    ```
+
+  manually set `binaryOutput01` to `1`
+
+  ```bash
+  ecmcConfigOrDie "Cfg.WriteEcEntryIDString(${ECMC_EC_SLAVE_NUM_DIG_OUT},binaryOutput01,1)"
+  ```
 
 6. adding a physical motor axis
-   ```bash
-      epicsEnvSet("DEV",      "STEST-MYDEVICE")
-      ${SCRIPTEXEC} ${ecmccfg_DIR}configureAxis.cmd,            "CONFIG=./cfg/axis_1"
-   ```
+
+  * classic config
+  ```bash
+  epicsEnvSet("DEV",      "STEST-MYDEVICE")
+  ${SCRIPTEXEC} ${ECMC_CONFIG_ROOT}configureAxis.cmd,  "CONFIG=./cfg/axis_1"
+  ```
+   * yaml config
+  ```bash
+  ${SCRIPTEXEC} ${ECMC_CONFIG_ROOT}addAxisYaml.cmd, "FILE=./AM8111_CSV_minimum.yaml, ECMC_TMPDIR=/tmp/"
+  ```
 
 7. adding a virtual motor axis
-   ```bash
-      ${SCRIPTEXEC} ${ecmccfg_DIR}configureVirtualAxis.cmd,     "CONFIG=./cfg/axis_11_virt"
-   ```
+  ```bash
+  ${SCRIPTEXEC} ${ecmccfg_DIR}configureVirtualAxis.cmd,     "CONFIG=./cfg/axis_11_virt"
+  ```
 
 8. adding synchronization
-   ```bash
-      ${SCRIPTEXEC} ${ecmccfg_DIR}applyAxisSynchronization.cmd, "CONFIG=./cfg/axis_1_sync"
-      ${SCRIPTEXEC} ${ecmccfg_DIR}applyAxisSynchronization.cmd, "CONFIG=./cfg/axis_11_sync"
-   ```   
+  ```bash
+  ${SCRIPTEXEC} ${ecmccfg_DIR}applyAxisSynchronization.cmd, "CONFIG=./cfg/axis_1_sync"
+  ${SCRIPTEXEC} ${ecmccfg_DIR}applyAxisSynchronization.cmd, "CONFIG=./cfg/axis_11_sync"
+  ```   
 
 9. loading a PLC from file
-   ```bash
-      ${SCRIPTEXEC} ${ecmccfg_DIR}loadPLCFile.cmd, "PLC_ID=0, FILE=./plc/homeSlit.plc, SAMPLE_RATE_MS=100"
-   ```   
+  * classic PLC-file
+  ```bash
+  ${SCRIPTEXEC} ${ecmccfg_DIR}loadPLCFile.cmd, "PLC_ID=0, FILE=./plc/homeSlit.plc, SAMPLE_RATE_MS=100"
+  ```
+  * pure yaml based PLC
+  ```bash
+  ${SCRIPTEXEC} "${ECMC_CONFIG_ROOT}loadYamlPlc.cmd" "FILE=./plc1.yaml, ECMC_TMPDIR=/tmp/"
+  ```
+  * yaml definition, with classic PLC-file, Note: `file` key in yaml config will overwrite anything in the `code` key!
+  ```bash
+  ${SCRIPTEXEC} "${ECMC_CONFIG_ROOT}loadYamlPlc.cmd" "FILE=./plc1File.yaml, ECMC_TMPDIR=/tmp/"
+  ```
 
 10. go active
-    ```bash
-      ${SCRIPTEXEC} ${ecmccfg_DIR}setAppMode.cmd
-    ```
-
+  ```bash
+  ${SCRIPTEXEC} ${ecmccfg_DIR}setAppMode.cmd
+  ```

TestedTerminals_v7_RC1.md

@@ -0,0 +1,45 @@
+## Terminals tested with new naming in branch v7_RC1
+* c9900-M995
+* EK1100
+* EK1110
+* EK1122
+* EL1018
+* EL1014
+* EL1088
+* EL1252
+* EL1809
+* EL2014
+* EL2502
+* EL2521
+* EL2522
+* EL2808
+* EL2819
+* EL3174 (tested +-10V with signal generator)
+* EL3208
+* EL3214
+* EL3314
+* EL3255 (with potentiometer)
+* EL3602
+* ELM3602
+* ELM3604
+* EL3702
+* EL3742 (without signal)
+* EL3751 (tested +-10V with signal generator)
+* EL4002
+* EL4134
+* EL4732 (tested but without signal generator and scope)
+* EL5002 (with wachendorf SSI)
+* EL5021 (without encoder)
+* EL5101 (encoder control only partly)
+* EL5101-0011
+* EL5042 (with SSI encoder)
+* EL6002
+* EL6022
+* EL6090
+* EL7031 (There are encoder latch PVs. I think the hardware not supports this)
+* EL7037 (not the encoder control)
+* EL7041 (without motor)
+* EL7411
+* EL7411_CSP
+* EL9505
+* EL9410