Add el5112

paulscherrerinstitute · Mar 8, 2024 · d2aefb3 · d2aefb3
1 parent 4a3eb16
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diff --git a/db/Beckhoff_3XXX/ecmcELM3602-0002.substitutions b/db/Beckhoff_3XXX/ecmcELM3602-0002.substitutions
@@ -18,3 +18,16 @@ file "ecmc_controlWord-chX.template"
           {01,    "AI", "-Ctrl", "control",   "AI Control Word"}
           {02,    "AI", "-Ctrl", "control",   "AI Control Word"}
 }
+
+# timestamp
+file "ecmc_timestamp_32-chX.template"{
+  pattern {CH_ID, KEY,      suffix,        sourceName         }
+          {"",    "AI01",   "-Time_l32",   "timestamp01_l32"  }
+          {"",    "AI01",   "-Time_u32",   "timestamp01_u32"  }
+}
+
+# timestamp
+file "ecmc_timestamp_64-chX.template"{
+  pattern {CH_ID, KEY,      suffix,        sourceName         }
+          {"",    "AI01",   "-Time",       "timestamp01"      }
+}
diff --git a/db/Beckhoff_3XXX/ecmcELM3602.substitutions b/db/Beckhoff_3XXX/ecmcELM3602.substitutions
@@ -18,3 +18,11 @@ file "ecmc_controlWord-chX.template"
           {01,    "AI", "-Ctrl", "control",   "AI Control Word"}
           {02,    "AI", "-Ctrl", "control",   "AI Control Word"}
 }
+
+# timestamp
+file "ecmc_timestamp_32-chX.template"{
+  pattern {CH_ID, KEY,      suffix,        sourceName              }
+          {"",    "AI01",   "-Time",       "timestamp01"           }
+          {"",    "AI01",   "-Time_l32",   "timestamp01_l32"  }
+          {"",    "AI01",   "-Time_u32",   "timestamp01_u32"  }
+}
diff --git a/db/Beckhoff_5XXX/ecmcEL5112_AB.substitutions b/db/Beckhoff_5XXX/ecmcEL5112_AB.substitutions
@@ -0,0 +1,6 @@
+file "ecmcEL5131-chX.template"
+{
+    pattern {CH_ID}
+            {01   }
+            {02   }
+}
diff --git a/db/Beckhoff_5XXX/ecmcEL5112_ABC.substitutions b/db/Beckhoff_5XXX/ecmcEL5112_ABC.substitutions
@@ -0,0 +1,5 @@
+file "ecmcEL5131-chX.template"
+{
+    pattern {CH_ID}
+            {01   }
+}
diff --git a/db/Beckhoff_5XXX/ecmcEL5112_ABC_DC32.substitutions b/db/Beckhoff_5XXX/ecmcEL5112_ABC_DC32.substitutions
@@ -0,0 +1,15 @@
+file "ecmcEL5131-chX.template"
+{
+    pattern {CH_ID}
+            {01   }
+
+}
+
+# timestamp
+file "ecmc_timestamp_64-chX.template"{
+  pattern {CH_ID, KEY,      suffix,        sourceName          }
+          {"",    "Enc01",  "-Time",       "timestamp01"       }
+          {"",    "Enc01",  "-TimeIdx",    "timestampIndex01"  }
+          {"",    "Enc01",  "-TimeLtch01", "timestampLatch01"  }
+          {"",    "Enc01",  "-TimeLtch02", "timestampLatch02"  }
+}
diff --git a/db/Beckhoff_5XXX/ecmcEL5112_ABC_DC64.substitutions b/db/Beckhoff_5XXX/ecmcEL5112_ABC_DC64.substitutions
@@ -0,0 +1,15 @@
+file "ecmcEL5131-chX.template"
+{
+    pattern {CH_ID}
+            {01   }
+
+}
+
+# timestamp
+file "ecmc_timestamp_64-chX.template"{
+  pattern {CH_ID, KEY,      suffix,        sourceName          }
+          {"",    "Enc01",  "-Time",       "timestamp01"       }
+          {"",    "Enc01",  "-TimeIdx",    "timestampIndex01"  }
+          {"",    "Enc01",  "-TimeLtch01", "timestampLatch01"  }
+          {"",    "Enc01",  "-TimeLtch02", "timestampLatch02"  }
+}
diff --git a/db/Beckhoff_5XXX/ecmcEL5131-chX.template b/db/Beckhoff_5XXX/ecmcEL5131-chX.template
@@ -160,7 +160,7 @@ record(ai,"${ECMC_P}Enc${CH_ID}-Cmd-RB"){
 }
 
 record(ao,"${ECMC_P}Enc${CH_ID}-PosCmd"){
-  field(DESC, "$(HWTYPE): Enc Counter Value Setpoint")
+  field(DESC, "$(HWTYPE): Enc Cnt Val Sp")
   field(PINI, "$(PINI=1)")
   field(DTYP, "asynInt32")
   field(OUT,  "@asyn($(PORT),$(ADDR),$(TIMEOUT))T_SMP_MS=$(T_SMP_MS=1000)/TYPE=asynInt32/ec$(MASTER_ID).s$(SLAVE_POS).encoderValue${CH_ID}=")

diff --git a/db/generic/ecmc_timestamp_32-chX.template b/db/generic/ecmc_timestamp_32-chX.template
@@ -0,0 +1,28 @@
+#- timestamp template
+#- MACROS
+#- mandatory
+#- ECMC_P
+#- CH_ID
+#- sourceName
+
+record(ai,"${ECMC_P}${KEY=timestamp}${CH_ID}${suffix=}"){
+  field(DESC, "${HWTYPE}: CH${CH_ID}: timestamp [ns]")
+  field(PINI, 1)
+  field(DTYP, "asynFloat64")
+  field(INP,  "@asyn(${PORT},${ADDR=0},${TIMEOUT=1})CMD=UINT32TOFLOAT64/T_SMP_MS=${T_SMP_MS=1000}/TYPE=asynFloat64/ec${MASTER_ID}.s${SLAVE_POS}.${sourceName}${CH_ID}?")
+  field(SCAN, "I/O Intr")
+  field(TSE,  "${TSE=-2}")
+  field(PREC, "0" )
+  field(EGU,  "ns" )
+  field(FLNK, "${ECMC_P}${KEY=timestamp}${CH_ID}${suffix=}TS.PROC")
+}
+
+record(aSub,  "${ECMC_P}${KEY=timestamp}${CH_ID}${suffix=}TS") {
+  field(DESC,  "ECAT timestamp")
+  field(INAM,  "ECATtimestampInit")
+  field(SNAM,  "ECATtimestamp")
+  field(INPA,  "${ECMC_P}${KEY=timestamp}${CH_ID}${suffix=}")
+  field(FTA,   "DOUBLE")
+  field(NOA,   1)
+  field(TSE,  -2)
+}
diff --git a/hardware/Beckhoff_3XXX/EL/ecmcELM3602-XXXX.cmd b/hardware/Beckhoff_3XXX/EL/ecmcELM3602-XXXX.cmd
@@ -100,6 +100,9 @@ ecmcConfigOrDie "Cfg.EcAddMemMapDT(ec$(ECMC_EC_MASTER_ID).s${ECMC_EC_SLAVE_NUM}.
 ecmcConfigOrDie "Cfg.EcAddEntryDT(${ECMC_EC_SLAVE_NUM},${ECMC_EC_VENDOR_ID},${ECMC_EC_PRODUCT_ID},2,3,0x1a10,0x6005,0x1,U32,timestamp${ECMC_CH}_l32)"
 ecmcConfigOrDie "Cfg.EcAddEntryDT(${ECMC_EC_SLAVE_NUM},${ECMC_EC_VENDOR_ID},${ECMC_EC_PRODUCT_ID},2,3,0x1a10,0x6005,0x2,U32,timestamp${ECMC_CH}_u32)"
 
+#- Add an 64 bit dataitem on top of the 64 bits
+ecmcConfigOrDie "Cfg.EcAddDataDT(ec${MASTER_ID=${ECMC_EC_MASTER_ID=0}}.s${ECMC_EC_SLAVE_NUM}.timestamp01_l32,0,0,2,U64,timestamp01)"
+
 #-  CH 2
 epicsEnvSet("ECMC_CH"             "02")
 

diff --git a/hardware/Beckhoff_5XXX/EL/ecmcEL5112_AB.cmd b/hardware/Beckhoff_5XXX/EL/ecmcEL5112_AB.cmd
@@ -0,0 +1,31 @@
+#-d /**
+#-d   \brief hardware script for EL5112: 2 channels no dc support
+#-d   \details EL5112 Incremental encoder interface, one channel ABC or two channel AB
+#-d   \author Anders Sandstroem
+#-d   \file
+#-d */
+
+epicsEnvSet("ECMC_EC_HWTYPE"             "EL5112_AB")
+epicsEnvSet("ECMC_EC_VENDOR_ID"          "0x2")
+epicsEnvSet("ECMC_EC_PRODUCT_ID"         "0x13f83052")
+
+#- verify slave, including reset
+ecmcFileExist(${ecmccfg_DIR}slaveVerify.cmd,1)
+${SCRIPTEXEC} ${ecmccfg_DIR}slaveVerify.cmd "RESET=true"
+
+#- CH 1
+ecmcConfigOrDie "Cfg.EcAddEntryDT(${ECMC_EC_SLAVE_NUM},${ECMC_EC_VENDOR_ID},${ECMC_EC_PRODUCT_ID},1,2,0x1602,0x7000,0x01,U16,encoderControl01)"
+ecmcConfigOrDie "Cfg.EcAddEntryDT(${ECMC_EC_SLAVE_NUM},${ECMC_EC_VENDOR_ID},${ECMC_EC_PRODUCT_ID},1,2,0x1602,0x7000,0x11,U32,encoderValue01)"
+
+ecmcConfigOrDie "Cfg.EcAddEntryDT(${ECMC_EC_SLAVE_NUM},${ECMC_EC_VENDOR_ID},${ECMC_EC_PRODUCT_ID},2,3,0x1a02,0x6000,0x01,U32,encoderStatus01)"
+ecmcConfigOrDie "Cfg.EcAddEntryDT(${ECMC_EC_SLAVE_NUM},${ECMC_EC_VENDOR_ID},${ECMC_EC_PRODUCT_ID},2,3,0x1a02,0x6000,0x11,U32,positionActual01)"
+ecmcConfigOrDie "Cfg.EcAddEntryDT(${ECMC_EC_SLAVE_NUM},${ECMC_EC_VENDOR_ID},${ECMC_EC_PRODUCT_ID},2,3,0x1a02,0x6000,0x12,U32,encoderLatchPostion01)"
+
+#- CH 2
+ecmcConfigOrDie "Cfg.EcAddEntryDT(${ECMC_EC_SLAVE_NUM},${ECMC_EC_VENDOR_ID},${ECMC_EC_PRODUCT_ID},1,2,0x160A,0x7000,0x01,U16,encoderControl02)"
+ecmcConfigOrDie "Cfg.EcAddEntryDT(${ECMC_EC_SLAVE_NUM},${ECMC_EC_VENDOR_ID},${ECMC_EC_PRODUCT_ID},1,2,0x160A,0x7000,0x11,U32,encoderValue02)"
+
+ecmcConfigOrDie "Cfg.EcAddEntryDT(${ECMC_EC_SLAVE_NUM},${ECMC_EC_VENDOR_ID},${ECMC_EC_PRODUCT_ID},2,3,0x1a11,0x6010,0x01,U32,encoderStatus02)"
+ecmcConfigOrDie "Cfg.EcAddEntryDT(${ECMC_EC_SLAVE_NUM},${ECMC_EC_VENDOR_ID},${ECMC_EC_PRODUCT_ID},2,3,0x1a11,0x6010,0x11,U32,positionActual02)"
+ecmcConfigOrDie "Cfg.EcAddEntryDT(${ECMC_EC_SLAVE_NUM},${ECMC_EC_VENDOR_ID},${ECMC_EC_PRODUCT_ID},2,3,0x1a11,0x6010,0x12,U32,encoderLatchPostion02)"
+
diff --git a/hardware/Beckhoff_5XXX/EL/ecmcEL5112_ABC.cmd b/hardware/Beckhoff_5XXX/EL/ecmcEL5112_ABC.cmd
@@ -0,0 +1,23 @@
+#-d /**
+#-d   \brief hardware script for EL5112: One channel ABC
+#-d   \details EL5112 Incremental encoder interface, one channel ABC or two channel AB
+#-d   \author Anders Sandstroem
+#-d   \file
+#-d */
+
+epicsEnvSet("ECMC_EC_HWTYPE"             "EL5112_ABC")
+epicsEnvSet("ECMC_EC_VENDOR_ID"          "0x2")
+epicsEnvSet("ECMC_EC_PRODUCT_ID"         "0x13f83052")
+
+#- verify slave, including reset
+ecmcFileExist(${ecmccfg_DIR}slaveVerify.cmd,1)
+${SCRIPTEXEC} ${ecmccfg_DIR}slaveVerify.cmd "RESET=true"
+
+#- CH 1
+ecmcConfigOrDie "Cfg.EcAddEntryDT(${ECMC_EC_SLAVE_NUM},${ECMC_EC_VENDOR_ID},${ECMC_EC_PRODUCT_ID},1,2,0x1600,0x7000,0x01,U16,encoderControl01)"
+ecmcConfigOrDie "Cfg.EcAddEntryDT(${ECMC_EC_SLAVE_NUM},${ECMC_EC_VENDOR_ID},${ECMC_EC_PRODUCT_ID},1,2,0x1600,0x7000,0x11,U32,encoderValue01)"
+
+ecmcConfigOrDie "Cfg.EcAddEntryDT(${ECMC_EC_SLAVE_NUM},${ECMC_EC_VENDOR_ID},${ECMC_EC_PRODUCT_ID},2,3,0x1a00,0x6000,0x01,U32,encoderStatus01)"
+ecmcConfigOrDie "Cfg.EcAddEntryDT(${ECMC_EC_SLAVE_NUM},${ECMC_EC_VENDOR_ID},${ECMC_EC_PRODUCT_ID},2,3,0x1a00,0x6000,0x11,U32,positionActual01)"
+ecmcConfigOrDie "Cfg.EcAddEntryDT(${ECMC_EC_SLAVE_NUM},${ECMC_EC_VENDOR_ID},${ECMC_EC_PRODUCT_ID},2,3,0x1a00,0x6000,0x12,U32,encoderLatchPostion01)"
+ecmcConfigOrDie "Cfg.EcAddEntryDT(${ECMC_EC_SLAVE_NUM},${ECMC_EC_VENDOR_ID},${ECMC_EC_PRODUCT_ID},2,3,0x1a00,0x6000,0x12,U32,encoderLatchPostion02)"
diff --git a/hardware/Beckhoff_5XXX/EL/ecmcEL5112_ABC_DC32.cmd b/hardware/Beckhoff_5XXX/EL/ecmcEL5112_ABC_DC32.cmd
@@ -0,0 +1,34 @@
+#-d /**
+#-d   \brief hardware script for EL5112: Cfg for 1 ch ABC (index pulse possible)
+#-d   \details EL5112 Incremental encoder interface, one channel ABC or two channel AB
+#-d   \author Anders Sandstroem
+#-d   \file
+#-d */
+
+epicsEnvSet("ECMC_EC_HWTYPE"             "EL5112_ABC_DC32")
+epicsEnvSet("ECMC_EC_VENDOR_ID"          "0x2")
+epicsEnvSet("ECMC_EC_PRODUCT_ID"         "0x13f83052")
+
+#- verify slave, including reset
+ecmcFileExist(${ecmccfg_DIR}slaveVerify.cmd,1)
+${SCRIPTEXEC} ${ecmccfg_DIR}slaveVerify.cmd "RESET=true"
+
+#- CH 1
+ecmcConfigOrDie "Cfg.EcAddEntryDT(${ECMC_EC_SLAVE_NUM},${ECMC_EC_VENDOR_ID},${ECMC_EC_PRODUCT_ID},1,2,0x1600,0x7000,0x01,U16,encoderControl01)"
+ecmcConfigOrDie "Cfg.EcAddEntryDT(${ECMC_EC_SLAVE_NUM},${ECMC_EC_VENDOR_ID},${ECMC_EC_PRODUCT_ID},1,2,0x1600,0x7000,0x11,U32,encoderValue01)"
+
+ecmcConfigOrDie "Cfg.EcAddEntryDT(${ECMC_EC_SLAVE_NUM},${ECMC_EC_VENDOR_ID},${ECMC_EC_PRODUCT_ID},2,3,0x1a00,0x6000,0x01,U32,encoderStatus01)"
+ecmcConfigOrDie "Cfg.EcAddEntryDT(${ECMC_EC_SLAVE_NUM},${ECMC_EC_VENDOR_ID},${ECMC_EC_PRODUCT_ID},2,3,0x1a00,0x6000,0x11,U32,positionActual01)"
+ecmcConfigOrDie "Cfg.EcAddEntryDT(${ECMC_EC_SLAVE_NUM},${ECMC_EC_VENDOR_ID},${ECMC_EC_PRODUCT_ID},2,3,0x1a00,0x6000,0x12,U32,encoderLatchPostion01)"
+ecmcConfigOrDie "Cfg.EcAddEntryDT(${ECMC_EC_SLAVE_NUM},${ECMC_EC_VENDOR_ID},${ECMC_EC_PRODUCT_ID},2,3,0x1a00,0x6000,0x12,U32,encoderLatchPostion02)"
+
+#- DC clocks (only one channel it seems)
+ecmcConfigOrDie "Cfg.EcAddEntryDT(${ECMC_EC_SLAVE_NUM},${ECMC_EC_VENDOR_ID},${ECMC_EC_PRODUCT_ID},2,3,0x1a0e,0x6000,0x16,U32,timestamp01)"
+ecmcConfigOrDie "Cfg.EcAddEntryDT(${ECMC_EC_SLAVE_NUM},${ECMC_EC_VENDOR_ID},${ECMC_EC_PRODUCT_ID},2,3,0x1a0e,0x6000,0x1F,U32,timestampIndex01)"
+ecmcConfigOrDie "Cfg.EcAddEntryDT(${ECMC_EC_SLAVE_NUM},${ECMC_EC_VENDOR_ID},${ECMC_EC_PRODUCT_ID},2,3,0x1a0e,0x6000,0x20,U32,timestampLatch01)"
+ecmcConfigOrDie "Cfg.EcAddEntryDT(${ECMC_EC_SLAVE_NUM},${ECMC_EC_VENDOR_ID},${ECMC_EC_PRODUCT_ID},2,3,0x1a0e,0x6000,0x21,U32,timestampLatch02)"
+
+#- Configure DC clock
+ecmcEpicsEnvSetCalc("ECMC_TEMP_PERIOD_NANO_SECS",1000/${ECMC_EC_SAMPLE_RATE=1000}*1E6)
+ecmcConfigOrDie "Cfg.EcSlaveConfigDC(${ECMC_EC_SLAVE_NUM},0x700,${ECMC_TEMP_PERIOD_NANO_SECS},0,0,0)"
+epicsEnvUnset(ECMC_TEMP_PERIOD_NANO_SECS)
diff --git a/hardware/Beckhoff_5XXX/EL/ecmcEL5112_ABC_DC64.cmd b/hardware/Beckhoff_5XXX/EL/ecmcEL5112_ABC_DC64.cmd
@@ -0,0 +1,34 @@
+#-d /**
+#-d   \brief hardware script for EL5112: Cfg for 1 ch ABC (index pulse possible)
+#-d   \details EL5112 Incremental encoder interface, one channel ABC or two channel AB
+#-d   \author Anders Sandstroem
+#-d   \file
+#-d */
+
+epicsEnvSet("ECMC_EC_HWTYPE"             "EL5112_ABC_DC32")
+epicsEnvSet("ECMC_EC_VENDOR_ID"          "0x2")
+epicsEnvSet("ECMC_EC_PRODUCT_ID"         "0x13f83052")
+
+#- verify slave, including reset
+ecmcFileExist(${ecmccfg_DIR}slaveVerify.cmd,1)
+${SCRIPTEXEC} ${ecmccfg_DIR}slaveVerify.cmd "RESET=true"
+
+#- CH 1
+ecmcConfigOrDie "Cfg.EcAddEntryDT(${ECMC_EC_SLAVE_NUM},${ECMC_EC_VENDOR_ID},${ECMC_EC_PRODUCT_ID},1,2,0x1600,0x7000,0x01,U16,encoderControl01)"
+ecmcConfigOrDie "Cfg.EcAddEntryDT(${ECMC_EC_SLAVE_NUM},${ECMC_EC_VENDOR_ID},${ECMC_EC_PRODUCT_ID},1,2,0x1600,0x7000,0x11,U32,encoderValue01)"
+
+ecmcConfigOrDie "Cfg.EcAddEntryDT(${ECMC_EC_SLAVE_NUM},${ECMC_EC_VENDOR_ID},${ECMC_EC_PRODUCT_ID},2,3,0x1a00,0x6000,0x01,U32,encoderStatus01)"
+ecmcConfigOrDie "Cfg.EcAddEntryDT(${ECMC_EC_SLAVE_NUM},${ECMC_EC_VENDOR_ID},${ECMC_EC_PRODUCT_ID},2,3,0x1a00,0x6000,0x11,U32,positionActual01)"
+ecmcConfigOrDie "Cfg.EcAddEntryDT(${ECMC_EC_SLAVE_NUM},${ECMC_EC_VENDOR_ID},${ECMC_EC_PRODUCT_ID},2,3,0x1a00,0x6000,0x12,U32,encoderLatchPostion01)"
+ecmcConfigOrDie "Cfg.EcAddEntryDT(${ECMC_EC_SLAVE_NUM},${ECMC_EC_VENDOR_ID},${ECMC_EC_PRODUCT_ID},2,3,0x1a00,0x6000,0x12,U32,encoderLatchPostion02)"
+
+#- DC clocks (only one channel it seems)
+ecmcConfigOrDie "Cfg.EcAddEntryDT(${ECMC_EC_SLAVE_NUM},${ECMC_EC_VENDOR_ID},${ECMC_EC_PRODUCT_ID},2,3,0x1a0d,0x6000,0x16,U64,timestamp01)"
+ecmcConfigOrDie "Cfg.EcAddEntryDT(${ECMC_EC_SLAVE_NUM},${ECMC_EC_VENDOR_ID},${ECMC_EC_PRODUCT_ID},2,3,0x1a0d,0x6000,0x1F,U64,timestampIndex01)"
+ecmcConfigOrDie "Cfg.EcAddEntryDT(${ECMC_EC_SLAVE_NUM},${ECMC_EC_VENDOR_ID},${ECMC_EC_PRODUCT_ID},2,3,0x1a0d,0x6000,0x20,U64,timestampLatch01)"
+ecmcConfigOrDie "Cfg.EcAddEntryDT(${ECMC_EC_SLAVE_NUM},${ECMC_EC_VENDOR_ID},${ECMC_EC_PRODUCT_ID},2,3,0x1a0d,0x6000,0x21,U64,timestampLatch02)"
+
+#- Configure DC clock
+ecmcEpicsEnvSetCalc("ECMC_TEMP_PERIOD_NANO_SECS",1000/${ECMC_EC_SAMPLE_RATE=1000}*1E6)
+ecmcConfigOrDie "Cfg.EcSlaveConfigDC(${ECMC_EC_SLAVE_NUM},0x700,${ECMC_TEMP_PERIOD_NANO_SECS},0,0,0)"
+epicsEnvUnset(ECMC_TEMP_PERIOD_NANO_SECS)