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.template

@@ -1,4 +1,4 @@
 record(ai,"$(P)DAQ-${Name}-CH${CH}-Type") {
-    field(DESC, "Channel Type")
+    field(DESC, "${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 = 9.4.0
+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

iocsh/edwin_test.script

@@ -49,40 +49,40 @@ 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}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} ${ecmc_plugin_daq_DIR}ecmcDAQAddChannel.cmd,      "TYPE=1001"
+${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} ${ecmc_plugin_daq_DIR}ecmcDAQAddChannel.cmd,      "TYPE=11"
+${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} ${ecmc_plugin_daq_DIR}ecmcDAQAddChannel.cmd,      "TYPE=12"
+${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} ${ecmc_plugin_daq_DIR}ecmcDAQAddChannel.cmd,      "TYPE=1000"
+${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} ${ecmc_plugin_daq_DIR}ecmcDAQAddChannel.cmd,      "TYPE=1"
+${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} ${ecmc_plugin_daq_DIR}ecmcDAQAddChannel.cmd,      "TYPE=1000"
+${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}"
+${SCRIPTEXEC} ${ecmc_plugin_daq_DIR}ecmcDAQFinalizeArray.cmd    "NAME=${NAME},DATA_FLNK=''"
 
 #- To check result use  camon -t c6025a:DAQ-ToEdwin-DataAct
 

scripts/ecmcDAQAddChannel.cmd

@@ -13,10 +13,11 @@
 #- 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=${TYPE=0}")
+dbLoadRecords(ecmcPluginDAQ_chX.template,"P=${ECMC_PREFIX},Name=${NAME},PORT=ECMC.PLUGIN.DAQ.${NAME},CH=${ECMC_DAQ_CURR_CH=00},TYPE=${TYPE=0},DESC=${DESC=}")

scripts/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..
@@ -24,7 +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/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()