Add setting to send old data, one cycle for scalars and one elemenbt for arrays (edwin needed for simpler triggering of incremental card timestamp).

GNUmakefile

@@ -16,7 +16,7 @@ OPT_CXXFLAGS_YES = -O3
 
 # dependencies
 ECmasterECMC_VERSION = v1.1.0
-ecmc_VERSION = 9.1.0
+ecmc_VERSION = 9.4.0
 
 BASE_DIR = .
 SRC_DIR = $(BASE_DIR)/src

README.md

@@ -168,4 +168,15 @@ Array data "Testing2":
 ```
 caget -t c6025a:DAQ-Testing2-DataAct
 14:21:22.652988 c6025a:DAQ-Testing2-Data-Act 2 2092191543 1234 10 6 -1 4321 16 5 -1 4293967 0 0 0 0 0 4293967 0 0 0 0 
-```
+```
+
+# Some data
+```
+camon -t c6025a:DAQ-ToEdwin-DataAct
+
+16:54:32.812939 c6025a:DAQ-ToEdwin-DataAct 6 4194379137 1 26 1 -1 2 27 1 -1 3 28 1 -1 1100 29 102 -1 4 131 2 -1 1050 133 52 -1 0 0 0 4194377117 4194378117 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 4194376067 4194377067 -316 -285 -499 -578 -400 -414 -313 -390 -365 -408 -545 -448 -188 -482 -445 -364 -398 -261 -310 -450 -229 -227 -563 -319 -335 -326 -490 -240 -307 -513 -448 -435 -582 -394 -298 -242 -539 -449 -492 -443 -377 -143 -299 -484 -515 -370 -422 -636 -547 -288 
+16:54:32.813945 c6025a:DAQ-ToEdwin-DataAct 6 4194380144 1 26 1 -1 2 27 1 -1 3 28 1 -1 1100 29 102 -1 4 131 2 -1 1050 133 52 -1 0 0 0 4194378117 4194379117 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 4194377067 4194378067 -344 -364 -685 -532 -328 -527 -483 -386 -346 -528 -340 -437 -323 -453 -382 -525 -629 -475 -466 -577 -516 -550 -451 -326 -273 -308 -535 -269 -413 -465 -297 -340 -480 -443 -280 -469 -523 -555 -630 -412 -350 -411 -591 -548 -580 -466 -238 -265 -321 -394 
+16:54:32.814938 c6025a:DAQ-ToEdwin-DataAct 6 4194381137 1 26 1 -1 2 27 1 -1 3 28 1 -1 1100 29 102 -1 4 131 2 -1 1050 133 52 -1 0 0 0 4194379117 4194380117 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 4194378067 4194379067 -417 -219 -286 -338 -338 -270 -214 -409 -481 -423 -488 -565 -359 -544 -423 -190 -236 -487 -633 -488 -468 -336 -556 -505 -232 -257 -463 -464 -382 -480 -215 -420 -548 -467 -335 -330 -406 -337 -278 -361 -511 -509 -588 -376 -315 -399 -448 -512 -602 -778 
+16:54:32.815937 c6025a:DAQ-ToEdwin-DataAct 6 4194382136 1 26 1 -1 2 27 1 -1 3 28 1 -1 1100 29 102 -1 4 131 2 -1 1050 133 52 -1 0 0 0 4194380117 4194381117 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 4194379067 4194380067 -586 -383 -404 -641 -533 -296 -208 -416 -525 -314 -379 -362 -468 -491 -483 -503 -471 -513 -462 -482 -690 -483 -368 -294 -400 -452 -452 -456 -246 -371 -353 -395 -330 -554 -317 -204 -375 -361 -545 -580 -396 -493 -415 -349 -484 -252 -311 -573 -432 -289 
+16:54:32.816939 c6025a:DAQ-ToEdwin-DataAct 6 4194383137 1 26 1 -1 2 27 1 -1 3 28 1 -1 1100 29 102 -1 4 131 2 -1 1050 133 52 -1 0 0 0 4194381117 4194382117 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 4194380067 4194381067 -358 -237 -197 -450 -430 -279 -448 -518 -490 -213 -202 -248 -300 -418 -344 -595 -658 -525 -302 -262 -353 -328 -401 -360 -478 -460 -364 -549 -522 -342 -410 -472 -444 -459 -338 -321 -344 -313 -423 -445 -427 -560 -470 -298 -341 -190 -339 -374 -536 -494 
+```

iocsh/edwin_test.script

@@ -0,0 +1,99 @@
+##############################################################################
+## test config for ecmc_plugin_daq
+##
+
+epicsEnvSet(IOC,c6025a)
+require ecmccfg "ENG_MODE=1"
+
+##############################################################################
+## Configure hardware
+#-  0  0:0  PREOP  +  EK1100 EtherCAT-Koppler (2A E-Bus)
+#-  1  0:1  PREOP  +  EL5021 1Ch. Sin/Cos Encoder
+#-  2  0:2  PREOP  +  EL5112 2Ch. Inc. Encoder 5V (2xAB or 1xABC RS422,TTL)
+#-  3  0:3  PREOP  +  EL5042 2Ch. BiSS-C Encoder
+#-  4  0:4  PREOP  +  EL5101-0011 1K. Inc. Encoder 5V (20 Mio. Inkremente/s, oversamp
+#-  5  0:5  PREOP  +  EL9505 Netzteilklemme 5V
+#-  6  0:6  PREOP  +  EL1252-0050 2K. Fast Dig. Eingang 5V, 1<>s, DC Latch
+#-  7  0:7  PREOP  +  ELM3602-0002 2Ch. IEPE Sensor, 24 bit, high precision
+
+require ecmccomp
+${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd, "HW_DESC=EK1100"
+${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd, "HW_DESC=EL5021"
+${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd, "HW_DESC=EL5112_ABC_DC64"
+
+${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd, "HW_DESC=EL5042"
+${SCRIPTEXEC} ${ecmccomp_DIR}applyComponent.cmd "COMP=Encoder-RLS-LA11-26bit-BISS-C,CH_ID=1"
+${SCRIPTEXEC} ${ecmccomp_DIR}applyComponent.cmd "COMP=Encoder-RLS-LA11-26bit-SSI,CH_ID=2"
+
+${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd, "HW_DESC=EL5101-0011,NELM=100"
+${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd, "HW_DESC=EL9505"
+${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd, "HW_DESC=EL1252"
+${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd, "HW_DESC=ELM3602-0002,NELM=50"
+
+#- Ch1 +-10v
+ecmcConfigOrDie "Cfg.EcAddSdo(${ECMC_EC_SLAVE_NUM},0x8000,0x1,97,2)"
+
+#- Ch2 +-10v
+ecmcConfigOrDie "Cfg.EcAddSdo(${ECMC_EC_SLAVE_NUM},0x8010,0x1,97,2)"
+
+#Apply hardware configuration
+ecmcConfigOrDie "Cfg.EcApplyConfig(1)"
+
+##############################################################################
+## Load and configure daq plugin
+
+require ecmc_plugin_daq "PLUGIN_ID=0"
+
+epicsEnvSet(NAME,ToEdwin) # PREFIX:DAQ-ToEdwin-DataAct
+
+${SCRIPTEXEC} ${ecmc_plugin_daq_DIR}ecmcDAQAddArray.cmd,        "NAME=${NAME}"
+
+#- EL5021: Incremental sin/cos 1vpp
+${SCRIPTEXEC} ${ecmc_plugin_daq_DIR}ecmcDAQAddChannel.cmd,      "TYPE=10"
+${SCRIPTEXEC} ${ecmc_plugin_daq_DIR}ecmcDAQAddDataItem.cmd,     "PARAM=ec0.s1.positionActual01"
+
+#- EL5112: Incremental (treat as array, but same timestamp twice, the second actualy not used)
+${SCRIPTEXEC} ${ecmc_plugin_daq_DIR}ecmcDAQAddChannel.cmd,      "TYPE=1001"
+${SCRIPTEXEC} ${ecmc_plugin_daq_DIR}ecmcDAQAddDataItem.cmd,     "PARAM=ec0.s2.timestamp01, FORMAT=1"
+${SCRIPTEXEC} ${ecmc_plugin_daq_DIR}ecmcDAQAddDataItem.cmd,     "PARAM=ec0.s2.timestamp01, FORMAT=1, SEND_OLD=1"
+${SCRIPTEXEC} ${ecmc_plugin_daq_DIR}ecmcDAQAddDataItem.cmd,     "PARAM=ec0.s2.positionActual01"
+
+${SCRIPTEXEC} ${ecmc_plugin_daq_DIR}ecmcDAQAddChannel.cmd,      "TYPE=11"
+${SCRIPTEXEC} ${ecmc_plugin_daq_DIR}ecmcDAQAddDataItem.cmd,     "PARAM=ec0.s2.positionActual01"
+
+#- EL5042: BISS-C ch 01
+${SCRIPTEXEC} ${ecmc_plugin_daq_DIR}ecmcDAQAddChannel.cmd,      "TYPE=12"
+${SCRIPTEXEC} ${ecmc_plugin_daq_DIR}ecmcDAQAddDataItem.cmd,     "PARAM=ec0.s3.positionActual01"
+
+#- EL5101-0011: Incremental oversampling 
+${SCRIPTEXEC} ${ecmc_plugin_daq_DIR}ecmcDAQAddChannel.cmd,      "TYPE=1000"
+${SCRIPTEXEC} ${ecmc_plugin_daq_DIR}ecmcDAQAddDataItem.cmd,     "PARAM=ec0.s4.nextSyncTime, FORMAT=2"
+${SCRIPTEXEC} ${ecmc_plugin_daq_DIR}ecmcDAQAddDataItem.cmd,     "PARAM=ec0.s4.nextSyncTime, FORMAT=1"
+${SCRIPTEXEC} ${ecmc_plugin_daq_DIR}ecmcDAQAddDataItem.cmd,     "PARAM=ec0.s4.mm.positionActualArray01"
+
+#- EL1252-0050: timestamped input ch 01
+${SCRIPTEXEC} ${ecmc_plugin_daq_DIR}ecmcDAQAddChannel.cmd,      "TYPE=1"
+${SCRIPTEXEC} ${ecmc_plugin_daq_DIR}ecmcDAQAddDataItem.cmd,     "PARAM=ec0.s6.timestampLatchPositive01 ,FORMAT=1"
+${SCRIPTEXEC} ${ecmc_plugin_daq_DIR}ecmcDAQAddDataItem.cmd,     "PARAM=ec0.s6.timestampLatchNegative01 ,FORMAT=1"
+
+#- ELM3602-0002: Analog input ch 01
+${SCRIPTEXEC} ${ecmc_plugin_daq_DIR}ecmcDAQAddChannel.cmd,      "TYPE=1000"
+${SCRIPTEXEC} ${ecmc_plugin_daq_DIR}ecmcDAQAddDataItem.cmd,     "PARAM=ec0.s7.timestamp01, FORMAT=2"
+${SCRIPTEXEC} ${ecmc_plugin_daq_DIR}ecmcDAQAddDataItem.cmd,     "PARAM=ec0.s7.timestamp01, FORMAT=1"
+${SCRIPTEXEC} ${ecmc_plugin_daq_DIR}ecmcDAQAddDataItem.cmd,     "PARAM=ec0.s7.mm.analogInputArray01"
+
+${SCRIPTEXEC} ${ecmc_plugin_daq_DIR}ecmcDAQFinalizeArray.cmd    "NAME=${NAME}"
+
+#- To check result use  camon -t c6025a:DAQ-ToEdwin-DataAct
+
+##############################################################################
+## Configure diagnostics:
+#
+ecmcConfigOrDie "Cfg.EcSetDiagnostics(1)"
+ecmcConfigOrDie "Cfg.EcEnablePrintouts(0)"
+ecmcConfigOrDie "Cfg.EcSetDomainFailedCyclesLimit(100)"
+
+##############################################################################
+## go active
+#
+$(SCRIPTEXEC) ($(ecmccfg_DIR)setAppMode.cmd)

scripts/ecmcDAQAddDataItem.cmd

@@ -19,7 +19,8 @@
 #-                                         Useful for oversampling slaves where normally the nextsync time is available.\n");
 #-                                         The calculated time then would correspond to the first data in the array recived.\n");
 #-         3 = time_ns_minus_period      : Time: Raw value minus one period.\n");
+#- SEND_OLD : 1 = Send one element old data (for scalars from last cycle, for arrays shift one element), defaults to 0 (send fresh data)
 #-
 #-################################################################################
 
-ecmcDAQAddItem(${PARAM},${FORMAT=0})
+ecmcDAQAddItem(${PARAM},${FORMAT=0},${SEND_OLD=0})

src/ecmcDAQChannelItem.h

@@ -35,16 +35,19 @@ enum class ecmcDAQDataFormat { raw = 0,
 *                                   Useful for oversampling slaves where normally the nextsync time is available.
 *                                   The calculated time then would correspond to the first data in the array recived.
 *     3=time_ns_minus_period      : Time: Raw value minus one period.
+* sendOneCycleOldData             : Send data from previous cycle (or for arrays elements are shifted one index). To be used by Edwin to trigger on timechange for incremntal timestamped cards..
 */
 
+
 class ecmcDAQChannelItem {
   public:
-  ecmcDAQChannelItem(const char* name, ecmcDAQDataFormat format) {
+  ecmcDAQChannelItem(const char* name, ecmcDAQDataFormat format, int sendOneCycleOldData) {
     dataItem_        = NULL;
     dataItemInfo_    = NULL;
     name_            = name;
     cstrName_        = strdup(name);
     format_          = format; // micro s in int32
+    sendOneCycleOldData_ = sendOneCycleOldData;  // Will only work for scalars (if arrays the elements are shifted once)
     sampleTimeCompensation_ = 0;
     dataIndexToReturn_ = 0;
     dataElementCount_  = 0;
@@ -60,6 +63,7 @@ class ecmcDAQChannelItem {
     float32Ptr_      = NULL;
     float64Ptr_      = NULL;
     dataType_        = ECMC_EC_NONE;
+    dataOld_         = 0;
     printf("ecmcDAQChannelItem: Created new item %s, format %d\n",name,(int)format);
   }
 
@@ -204,13 +208,21 @@ class ecmcDAQChannelItem {
       break;
     }
 
-    //if(dataIndexToReturn_>0) {
-    //  printf("%s[%zu] data = %lf\n",cstrName_,dataIndexToReturn_,data);
-    //}
-
     dataIndexToReturn_++;
-    
-    return formatData(data,time);
+
+    double freshData = formatData(data,time);
+    double dataToSend = 0;
+
+    if(sendOneCycleOldData_) {
+      dataToSend = dataOld_;
+    } else {
+      dataToSend = freshData;
+    }
+
+    // Store the fresh data here
+    dataOld_ = freshData;
+
+    return dataToSend;
   }
   
   double formatData(double data, uint64_t time){
@@ -274,6 +286,8 @@ class ecmcDAQChannelItem {
   uint64_t *uint64Ptr_;
   float *float32Ptr_;
   double *float64Ptr_;
+  int sendOneCycleOldData_;
+  double dataOld_;
 };
 #endif  /* ECMC_DAQ_CHANNEL_ITEM_H_ */
 

src/ecmcDAQDataArray.cpp

@@ -62,9 +62,9 @@ void  ecmcDAQDataArray::addChannel(int type) {
   channelCounter_++;
 }
 
-void ecmcDAQDataArray::addDataItemToChannel(const char* name, int format) {
+void ecmcDAQDataArray::addDataItemToChannel(const char* name, int format, int oldData) {
   // Always add to last added channel
-  dataChannels_.back()->addDataItem(name, format);
+  dataChannels_.back()->addDataItem(name, format, oldData);
 }
 
 void ecmcDAQDataArray::connectToDataSources() {

src/ecmcDAQDataArray.h

@@ -28,7 +28,7 @@ class ecmcDAQDataArray : public asynPortDriver {
   void        connectToDataSources();
   void        execute();
   void        addChannel(int type);
-  void        addDataItemToChannel(const char* name, int format); // Always add to last added channel
+  void        addDataItemToChannel(const char* name, int format, int oldData); // Always add to last added channel
   void        setEnable(int enable);
   size_t      getArraySize();
   int         validate();

src/ecmcDAQDataChannel.cpp

@@ -29,8 +29,8 @@ ecmcDAQDataChannel::ecmcDAQDataChannel(int type){
 ecmcDAQDataChannel::~ecmcDAQDataChannel() {
 }
 
-void  ecmcDAQDataChannel::addDataItem(const char* name, int format) {
-  dataItems_.push_back(new ecmcDAQChannelItem(name, (ecmcDAQDataFormat)format));
+void  ecmcDAQDataChannel::addDataItem(const char* name, int format,int oldData) {
+  dataItems_.push_back(new ecmcDAQChannelItem(name, (ecmcDAQDataFormat)format, oldData));
   itemCounter_++;
 }
 

src/ecmcDAQDataChannel.h

@@ -23,7 +23,7 @@ class ecmcDAQDataChannel {
   ecmcDAQDataChannel(int type);
   ~ecmcDAQDataChannel();
   void     connectToDataSources();
-  void     addDataItem(const char* name, int format);
+  void     addDataItem(const char* name, int format, int oldData);
   size_t   getDataElementCount();
   double   getData(int first);
   bool     empty();

src/ecmcDAQWrap.cpp

@@ -91,9 +91,9 @@ int createDAQChannel(int type) {
   return 0;
 }
 
-int createDAQItem(const char* name, int type) {
+int createDAQItem(const char* name, int type, int oldData) {
   try {
-    arrays.back()->addDataItemToChannel(name,type);
+    arrays.back()->addDataItemToChannel(name,type,oldData);
   }
   catch(std::exception& e) {
     printf("Exception: %s. Plugin will unload.\n",e.what());
@@ -104,6 +104,9 @@ int createDAQItem(const char* name, int type) {
 }
 
 void deleteAllDAQs() {
+
+  return;  // The delete process results in seg fault.. need to investigate..
+  
   for(std::vector<ecmcDAQDataArray*>::iterator pDAQArray = arrays.begin(); pDAQArray != arrays.end(); ++pDAQArray) {
     if(*pDAQArray) {
       delete (*pDAQArray);
@@ -258,7 +261,7 @@ static void initCallFunc_1(const iocshArgBuf *args) {
 */
 void ecmcAddDAQItemHelp() {
   printf("\n");
-  printf("       Use ecmcAddDAQItem(<dataitem_name>, <format>)\n");
+  printf("       Use ecmcAddDAQItem(<dataitem_name>, <format>,<send_one_cycle_old_data>)\n");
   printf("          <dataitem_name> : Data item name ex: 'ec0.s11.analogInput01' .\n");
   printf("          <format>        : Optional format conversion of data:.\n");
   printf("                0 = raw                       : Take raw value (do not apply special format)\n");
@@ -267,17 +270,18 @@ void ecmcAddDAQItemHelp() {
   printf("                                                Useful for oversampling slaves where normally the nextsync time is available.\n");
   printf("                                                The calculated time then would correspond to the first data in the array recived.\n");
   printf("                3 = time_ns_minus_period      : Time: Raw value minus one period.\n");
+  printf("          <send_one_cycle_old_data> : Send data from the previous cycle (for scalars). If waveform the elemtes will be shifted one index");
   printf("\n");
 }
 
-int ecmcAddDAQItem(const char* name, int format) {
+int ecmcAddDAQItem(const char* name, int format, int oldData) {
   if(strcmp(name,"-h") == 0 || strcmp(name,"--help") == 0 ) {
     ecmcAddDAQItemHelp();
     return asynSuccess;
   }
 
   try {
-    return createDAQItem(name,format);
+    return createDAQItem(name,format, oldData);
   }
   catch(std::exception& e) {
     printf("Exception: %s. Create DAQ item failed.\n",e.what());
@@ -293,12 +297,16 @@ static const iocshArg initArg0_2 =
 static const iocshArg initArg1_2 =
 { "Type", iocshArgInt };
 
-static const iocshArg *const initArgs_2[]  = { &initArg0_2,
-                                               &initArg1_2};
+static const iocshArg initArg2_2 =
+{ "Old value", iocshArgInt };
 
-static const iocshFuncDef    initFuncDef_2 = { "ecmcDAQAddItem", 2, initArgs_2};
+static const iocshArg *const initArgs_2[]  = { &initArg0_2,
+                                               &initArg1_2,
+                                               &initArg2_2};
+
+static const iocshFuncDef    initFuncDef_2 = { "ecmcDAQAddItem", 3, initArgs_2};
 static void initCallFunc_2(const iocshArgBuf *args) {
-  ecmcAddDAQItem(args[0].sval,args[1].ival);
+  ecmcAddDAQItem(args[0].sval, args[1].ival, args[2].ival);
 }