use ecmc 11.0.0

Db/ecmcPluginDAQ.template

@@ -2,12 +2,12 @@
 record(waveform,"$(P)DAQ-${Name}-DataAct"){
   info(asyn:FIFO, "1000")
   field(DESC,     "Data")
-  field(PINI,     "1")
   field(DTYP,     "asynFloat64ArrayIn")
   field(INP,      "@asyn(${PORT},$(ADDR=0),$(TIMEOUT=1000))plugin.daq.${Name}.data")
   field(FTVL,     "DOUBLE")
   field(NELM,     "${NELM}")
   field(SCAN,     "I/O Intr")
+  field(FLNK,     "${FLNK=''}")
   field(TSE,      "0")
 }
 

Db/ecmcPluginDAQ_chX-itmX.template

@@ -0,0 +1,4 @@
+record(stringin,"$(P)DAQ-${Name}-CH${CH}-${ITEM}-Info") {
+    field(DESC, "${DESC=empty}")
+    field(VAL,  "${VAL=empty}")
+}

Db/ecmcPluginDAQ_chX.template

@@ -0,0 +1,4 @@
+record(ai,"$(P)DAQ-${Name}-CH${CH}-Type") {
+    field(DESC, "${DESC=}")
+    field(VAL,  "${TYPE=0}")
+}

GNUmakefile

@@ -2,11 +2,13 @@ include /ioc/tools/driver.makefile
 
 MODULE = ecmc_plugin_daq
 
-BUILDCLASSES = Linux
-ARCH_FILTER = deb10%
+# "Transfer" module name to plugin
+USR_CFLAGS +=-DECMC_PLUGIN_MODULE_NAME=${MODULE}
 
-# Run 7.0.6 for now
-EXCLUDE_VERSIONS+=3 7.0.5 7.0.6
+BUILDCLASSES = Linux
+ARCH_FILTER = deb10% deb12%
+
+EXCLUDE_VERSIONS+=3 7.0.5 7.0.6 7.0.7
 
 IGNORE_MODULES += asynMotor
 IGNORE_MODULES += motorBase
@@ -15,8 +17,26 @@ USR_CXXFLAGS += -std=c++17
 OPT_CXXFLAGS_YES = -O3
 
 # dependencies
-ECmasterECMC_VERSION = v1.1.0
-ecmc_VERSION = 9.1.0
+ecmc_VERSION = 11.0
+
+# ethercat
+#   debian 12
+EC_MASTER_VER = 1.6.3
+EC_BASE_PATH = /ioc/NeedfulThings/EtherCAT/4epics/${EC_MASTER_VER}/
+USR_CXXFLAGS_deb12-x86_64 += -I${EC_BASE_PATH}${T_A}/include/
+USR_CXXFLAGS_deb12-x86_64 += -L${EC_BASE_PATH}${T_A}/lib/
+
+LIB_SYS_LIBS += ethercat
+USR_LDFLAGS_deb12-x86_64 += -Wl,-rpath=${EC_BASE_PATH}${T_A}/lib/
+USR_LDFLAGS_deb12-x86_64 +=         -L ${EC_BASE_PATH}${T_A}/lib/
+
+#   debian 10
+#   note: EC_MASTER LIB does not depend on epics version hence use the 7.0.8 build..
+USR_LDFLAGS_deb10-x86_64 += -lethercat
+EC_MASTER_LIB = /ioc/NeedfulThings/EtherCAT/4epics/v1.1.0/R7.0.8/
+USR_LDFLAGS_deb10-x86_64 += -Wl,-rpath=${EC_MASTER_LIB}lib/${T_A}
+USR_LDFLAGS_deb10-x86_64 +=  -L ${EC_MASTER_LIB}lib/${T_A}
+USR_CXXFLAGS_deb10-x86_64 += -I${EC_MASTER_LIB}/include/
 
 BASE_DIR = .
 SRC_DIR = $(BASE_DIR)/src

README.md

@@ -60,7 +60,7 @@ ${SCRIPTEXEC} ${ecmc_plugin_daq_DIR}ecmcDAQAddChannel.cmd,      "TYPE=1234"
 
 ### Adding a data item the a channel
 
-Add a channel to the last created array with ecmcDAQAddDataItem.cmd. The command takes two parameters:
+Add a channel to the last created array with ecmcDAQAddDataItem.cmd. The command takes three parameters:
 1. PARAM  : Parameter name to specify the data to read from ecmc, ec0.s1.analogInput01, ax1.poserr,...
 2. FORMAT : Optional formatting of data:
 ```
@@ -71,6 +71,9 @@ Add a channel to the last created array with ecmcDAQAddDataItem.cmd. The command
                                        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.
 ```
+3. SEND_OLD : Optional to send old data (for scalars from previosu cycle, for arrays just one element shift) 
+
+
 ### Finalizing a array
 When the configurations for an array is finalized then the ecmcDAQFinalizeArray.cmd must be called.
 The command will read the total array size (header plus data) from the plugin and then load the database with the waveform record (with correct NELM). The command takes the array name as a parameter ("NAME").
@@ -168,4 +171,15 @@ 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} ${ecmc_plugin_daq_DIR}ecmcDAQAddChannel.cmd,      "TYPE=10,DESC='Sin/Cos 1VPP'"
+${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} ${ecmc_plugin_daq_DIR}ecmcDAQAddChannel.cmd,      "TYPE=1001,DESC='Incremental'"
+${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} ${ecmc_plugin_daq_DIR}ecmcDAQAddChannel.cmd,      "TYPE=11,DESC='Incremental'"
+${SCRIPTEXEC} ${ecmc_plugin_daq_DIR}ecmcDAQAddDataItem.cmd,     "PARAM=ec0.s2.positionActual01"
+
+#- EL5042: BISS-C ch 01
+${SCRIPTEXEC} ${ecmc_plugin_daq_DIR}ecmcDAQAddChannel.cmd,      "TYPE=12,DESC='BISS-C'"
+${SCRIPTEXEC} ${ecmc_plugin_daq_DIR}ecmcDAQAddDataItem.cmd,     "PARAM=ec0.s3.positionActual01"
+
+#- EL5101-0011: Incremental oversampling 
+${SCRIPTEXEC} ${ecmc_plugin_daq_DIR}ecmcDAQAddChannel.cmd,      "TYPE=1000,DESC='Incremental Oversampling'"
+${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} ${ecmc_plugin_daq_DIR}ecmcDAQAddChannel.cmd,      "TYPE=1,DESC='Timestamped input 5V'"
+${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} ${ecmc_plugin_daq_DIR}ecmcDAQAddChannel.cmd,      "TYPE=1000,DESC='Analog input +-10V'"
+${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},DATA_FLNK=''"
+
+#- 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/ecmcDAQAddArray.cmd

@@ -17,3 +17,4 @@
 
 #-               Name  , Asyn port name
 ecmcDAQAddArray(${NAME},ECMC.PLUGIN.DAQ.${NAME})
+epicsEnvSet(ECMC_DAQ_CURR_CH,-1)

scripts/ecmcDAQAddChannel.cmd

@@ -12,7 +12,12 @@
 #-
 #- Arguments
 #- TYPE : Type (number of data type)
+#- NAME : Name of DAQ array object
+#- DESC : Optional description of channel
 #-
 #-################################################################################
 
 ecmcDAQAddChannel(${TYPE})
+epicsEnvSet(ECMC_DAQ_CURR_ITM,-1)
+ecmcEpicsEnvSetCalc("ECMC_DAQ_CURR_CH" ,${ECMC_DAQ_CURR_CH=-1}+1,"%02d")
+dbLoadRecords(ecmcPluginDAQ_chX.template,"P=${ECMC_PREFIX},Name=${NAME},PORT=ECMC.PLUGIN.DAQ.${NAME},CH=${ECMC_DAQ_CURR_CH=00},TYPE=${TYPE=0},DESC=${DESC=}")

scripts/ecmcDAQAddDataItem.cmd

@@ -19,7 +19,11 @@
 #-                                         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)
+#- NAME : Name of DAQ array object
 #-
 #-################################################################################
 
-ecmcDAQAddItem(${PARAM},${FORMAT=0})
+ecmcDAQAddItem(${PARAM},${FORMAT=0},${SEND_OLD=0})
+ecmcEpicsEnvSetCalc("ECMC_DAQ_CURR_ITM" ,${ECMC_DAQ_CURR_ITM=-1}+1,"%02d")
+dbLoadRecords(ecmcPluginDAQ_chX-itmX.template,"P=${ECMC_PREFIX},Name=${NAME},PORT=ECMC.PLUGIN.DAQ.${NAME},CH=${ECMC_DAQ_CURR_CH=00},ITEM=${ECMC_DAQ_CURR_ITM=00},VAL=${PARAM=empty},DESC='FORMAT=${FORMAT=0},SEND_OLD=${SEND_OLD=0}'")

scripts/ecmcDAQFinalizeArray.cmd

@@ -11,8 +11,9 @@
 #-###############################################################################
 #-
 #- Arguments
-#- NAME : Name of DAQ array
-#-
+#- NAME      : Name of DAQ array
+#- DATA_FLNK : Forward link from data array (optional, default to '')
+#- 
 #-################################################################################
 
 #- Connect to sources in order to know NELM.. Data sources must be known before added with the scripts..
@@ -24,5 +25,7 @@ ecmcIf("${DAQ_NELM=-1}<0")
 ${IF_TRUE}ecmcExit  : Failed read DAQ array NELM
 ecmcEndIf()
 
-dbLoadRecords(ecmcPluginDAQ.template,"P=${ECMC_PREFIX},Name=${NAME},NELM=${DAQ_NELM},PORT=ECMC.PLUGIN.DAQ.${NAME}")
+dbLoadRecords(ecmcPluginDAQ.template,"P=${ECMC_PREFIX},Name=${NAME},NELM=${DAQ_NELM},PORT=ECMC.PLUGIN.DAQ.${NAME},FLNK=${DATA_FLNK=''}")
 epicsEnvUnset(DAQ_NELM)
+epicsEnvUnset(ECMC_DAQ_CURR_CH)
+epicsEnvUnset(ECMC_DAQ_CURR_ITM)

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);
 }
 
 

src/ecmcPluginDAQ.c

@@ -32,11 +32,11 @@ static char*  lastConfStr         = NULL;
 static int alreadyLoaded = 0;
 
 /** Optional. 
- *  Will be called once after successfull load into ecmc.
+ *  Will be called once after successful load into ecmc.
  *  Return value other than 0 will be considered error.
  *  configStr can be used for configuration parameters.
  **/
-int daqConstruct(char *configStr)
+static int daqConstruct(char *configStr)
 {
   if(alreadyLoaded) {
     printf("Error: Plugin ecmc_plugin_daq already loaded and can only be loaded once.");
@@ -51,28 +51,29 @@ int daqConstruct(char *configStr)
 /** Optional function.
  *  Will be called once at unload.
  **/
-void daqDestruct(void)
+static void daqDestruct(void)
 {
-  deleteAllDAQs();
-  if(lastConfStr){
-    free(lastConfStr);
-  }
+  // Segfaults here during destruction?! need to check..
+  //deleteAllDAQs();
+  //if(lastConfStr){
+  //  free(lastConfStr);
+  //}
 }
 
 /** Optional function.
- *  Will be called each realtime cycle if definded
- *  ecmcError: Error code of ecmc. Makes it posible for 
+ *  Will be called each realtime cycle if defined
+ *  ecmcError: Error code of ecmc. Makes it possible for 
  *  this plugin to react on ecmc errors
  *  Return value other than 0 will be considered to be an error code in ecmc.
  **/
-int daqRealtime(int ecmcError)
+static int daqRealtime(int ecmcError)
 { 
   lastEcmcError = ecmcError;  
   return executeDAQs();
 }
 
 
-int daqEnterRT(){
+static int daqEnterRT(){
   return validateDAQs(); //linkDataToDAQs();
 }
 
@@ -80,31 +81,16 @@ int daqEnterRT(){
  *  Will be called once just before leaving realtime mode
  *  Return value other than 0 will be considered error.
  **/
-int daqExitRT(void){
+static int daqExitRT(void){
   return 0;
 }
 
-// // Plc function for clear of buffers
-// double daq_clear(double index) {
-//   return (double)clearDAQ((int)index);
-// }
-
-// Plc function for enable
-//double daq_enable(double index, double enable) {
-//  return 0; //(double)enableDAQ((int)index, (int)enable);
-//}
-
-// // Plc function for trigg new measurement (will clear buffers)
-// double daq_trigg(double index) {
-//   return (double)triggDAQ((int)index);
-// }
-
 // Register data for plugin so ecmc know what to use
-struct ecmcPluginData pluginDataDef = {
+static struct ecmcPluginData pluginDataDef = {
   // Allways use ECMC_PLUG_VERSION_MAGIC
   .ifVersion = ECMC_PLUG_VERSION_MAGIC, 
   // Name 
-  .name = "ecmcPlugin_DAQ",
+  .name = "ecmc_plugin_daq",
   // Description
   .desc = "DAQ plugin for use with ecmc.",
   // Option description
@@ -123,28 +109,6 @@ struct ecmcPluginData pluginDataDef = {
   .realtimeExitFnc = daqExitRT,
   // PLC funcs
   .funcs[0] = {0},
-//      { /*----fft_clear----*/
-//        // Function name (this is the name you use in ecmc plc-code)
-//        .funcName = "daq_enable",
-//        // Function description
-//        .funcDesc = "daq_enable(index,enable) : Enable/disaable daq[index].",
-//        /**
-//        * 12 different prototypes allowed (only doubles since reg in plc).
-//        * Only funcArg${argCount} func shall be assigned the rest set to NULL.
-//        **/
-//        .funcArg0 = NULL,
-//        .funcArg1 = NULL,
-//        .funcArg2 = daq_enable,
-//        .funcArg3 = NULL,
-//        .funcArg4 = NULL,
-//        .funcArg5 = NULL,
-//        .funcArg6 = NULL,
-//        .funcArg7 = NULL,
-//        .funcArg8 = NULL,
-//        .funcArg9 = NULL,
-//        .funcArg10 = NULL,
-//        .funcGenericObj = NULL,
-//      },
   .consts[0] = {0}, // last element set all to zero..
 };
 

startup.cmd

@@ -10,10 +10,15 @@
 #-###############################################################################
 #-
 #- Arguments
-#- PLUGIN_ID : Id of plugin to load (mandatory)
+#- PLUGIN_ID : Id of plugin to load (optional)
 #-
 #################################################################################
 
 #- Load plugin:
+
 epicsEnvSet(ECMC_PLUGIN_FILNAME,"$(ecmc_plugin_daq_DIR)lib/${EPICS_HOST_ARCH=linux-x86_64}/libecmc_plugin_daq.so")
-${SCRIPTEXEC} ${ecmccfg_DIR}loadPlugin.cmd, "PLUGIN_ID=${PLUGIN_ID}, FILE='${ECMC_PLUGIN_FILNAME}' , CONFIG='NOT USED',REPORT=1"
+ecmcIf("${PLUGIN_ID=-1}=-1")
+${IF_TRUE}${SCRIPTEXEC} ${ecmccfg_DIR}loadPlugin.cmd, "FILE='${ECMC_PLUGIN_FILNAME}' , CONFIG='NOT USED',REPORT=1"
+#else
+${IF_FALSE}${SCRIPTEXEC} ${ecmccfg_DIR}loadPlugin.cmd, "PLUGIN_ID=${PLUGIN_ID}, FILE='${ECMC_PLUGIN_FILNAME}' , CONFIG='NOT USED',REPORT=1"
+ecmcEndIf()