From e5f696a1ebafaa0e0bdc7947932ca2527f395dc3 Mon Sep 17 00:00:00 2001
From: Anders Sandstrom <anders.sandstrom@esss.se>
Date: Thu, 11 Mar 2021 16:59:52 +0100
Subject: [PATCH] SDO write tested.

---
 .../Db/ecmcPluginSocketCAN_SDO.substitutions  |  2 +-
 ...=> ecmcPluginSocketCAN_SDO_input.template} |  0
 .../ecmcPluginSocketCAN_SDO_output.template   | 11 ++++++++
 iocsh/pvs.log                                 | 25 ++++++++++---------
 iocsh/test.script                             |  2 +-
 5 files changed, 26 insertions(+), 14 deletions(-)
 rename ecmc_plugin_socketcan/ecmc_plugin_socketcanApp/Db/{ecmcPluginSocketCAN_SDO.template => ecmcPluginSocketCAN_SDO_input.template} (100%)
 create mode 100644 ecmc_plugin_socketcan/ecmc_plugin_socketcanApp/Db/ecmcPluginSocketCAN_SDO_output.template

diff --git a/ecmc_plugin_socketcan/ecmc_plugin_socketcanApp/Db/ecmcPluginSocketCAN_SDO.substitutions b/ecmc_plugin_socketcan/ecmc_plugin_socketcanApp/Db/ecmcPluginSocketCAN_SDO.substitutions
index 49120a4..0813531 100644
--- a/ecmc_plugin_socketcan/ecmc_plugin_socketcanApp/Db/ecmcPluginSocketCAN_SDO.substitutions
+++ b/ecmc_plugin_socketcan/ecmc_plugin_socketcanApp/Db/ecmcPluginSocketCAN_SDO.substitutions
@@ -1,4 +1,4 @@
-file "ecmcPluginSocketCAN_SDO.template"
+file "ecmcPluginSocketCAN_SDO_input.template"
 {
   pattern {CH_ID, DEV_ID, NELM, suffix,      source,        DTYP,             FTVL }
           {03,    3,      28,   SDO01-Array, analogValues1, asynInt16ArrayIn, SHORT}
diff --git a/ecmc_plugin_socketcan/ecmc_plugin_socketcanApp/Db/ecmcPluginSocketCAN_SDO.template b/ecmc_plugin_socketcan/ecmc_plugin_socketcanApp/Db/ecmcPluginSocketCAN_SDO_input.template
similarity index 100%
rename from ecmc_plugin_socketcan/ecmc_plugin_socketcanApp/Db/ecmcPluginSocketCAN_SDO.template
rename to ecmc_plugin_socketcan/ecmc_plugin_socketcanApp/Db/ecmcPluginSocketCAN_SDO_input.template
diff --git a/ecmc_plugin_socketcan/ecmc_plugin_socketcanApp/Db/ecmcPluginSocketCAN_SDO_output.template b/ecmc_plugin_socketcan/ecmc_plugin_socketcanApp/Db/ecmcPluginSocketCAN_SDO_output.template
new file mode 100644
index 0000000..813c4cb
--- /dev/null
+++ b/ecmc_plugin_socketcan/ecmc_plugin_socketcanApp/Db/ecmcPluginSocketCAN_SDO_output.template
@@ -0,0 +1,11 @@
+# Data source: plugin.can.dev3.sdo.analogValues4
+record(waveform,"$(P)CAN${CH_ID}-${suffix=}"){
+  info(asyn:READBACK,"1")
+  field(DESC, "SDO Data")  
+  field(DTYP, "${DTYP=asynInt8ArrayOut}")
+  field(INP,  "@asyn(${PORT},$(ADDR=0),$(TIMEOUT=1000))T_SMP_MS=$(T_SMP_MS=1000)/TYPE=${DTYP=asynInt8ArrayOut}/plugin.can.dev${DEV_ID}.sdo.${source=value}=")
+  field(FTVL, "${FTVL=CHAR}")
+  field(NELM, "${NELM=1024}")
+  field(SCAN, "Passive")
+  field(TSE,  "0")
+}
diff --git a/iocsh/pvs.log b/iocsh/pvs.log
index 7e638e2..d44bfce 100644
--- a/iocsh/pvs.log
+++ b/iocsh/pvs.log
@@ -1,17 +1,18 @@
-REQMOD:mcag-trgt-muts--29276:MODULES
-REQMOD:mcag-trgt-muts--29276:VERSIONS
-REQMOD:mcag-trgt-muts--29276:MOD_VER
+REQMOD:mcag-trgt-muts--5858:MODULES
+REQMOD:mcag-trgt-muts--5858:VERSIONS
+REQMOD:mcag-trgt-muts--5858:MOD_VER
 IOC_TEST:CAN03-PDO01-Array
 IOC_TEST:CAN03-SDO01-Array
 IOC_TEST:CAN03-SDO02-Array
 IOC_TEST:CAN03-SDO03-Array
 IOC_TEST:CAN03-SDO04-Array
-REQMOD:mcag-trgt-muts--29276:exit
-REQMOD:mcag-trgt-muts--29276:BaseVersion
-REQMOD:mcag-trgt-muts--29276:require_VER
-REQMOD:mcag-trgt-muts--29276:ecmccfg_VER
-REQMOD:mcag-trgt-muts--29276:asyn_VER
-REQMOD:mcag-trgt-muts--29276:exprtk_VER
-REQMOD:mcag-trgt-muts--29276:motor_VER
-REQMOD:mcag-trgt-muts--29276:ecmc_VER
-REQMOD:mcag-trgt-muts--29276:ecmc_plugin_socketcan_VER
+IOC_TEST:CAN03-BasicConfig
+REQMOD:mcag-trgt-muts--5858:exit
+REQMOD:mcag-trgt-muts--5858:BaseVersion
+REQMOD:mcag-trgt-muts--5858:require_VER
+REQMOD:mcag-trgt-muts--5858:ecmccfg_VER
+REQMOD:mcag-trgt-muts--5858:asyn_VER
+REQMOD:mcag-trgt-muts--5858:exprtk_VER
+REQMOD:mcag-trgt-muts--5858:motor_VER
+REQMOD:mcag-trgt-muts--5858:ecmc_VER
+REQMOD:mcag-trgt-muts--5858:ecmc_plugin_socketcan_VER
diff --git a/iocsh/test.script b/iocsh/test.script
index 8daaa13..5f8b830 100644
--- a/iocsh/test.script
+++ b/iocsh/test.script
@@ -99,7 +99,7 @@ ecmcCANOpenAddSDO("analogValues4",3,0x583,0x603,2,0x2640,0x0,56,7000) # READ
 dbLoadTemplate(ecmcPluginSocketCAN_SDO.substitutions, "P=${ECMC_PREFIX},PORT=${ECMC_ASYN_PORT},ADDR=0,TIMEOUT=1,T_SMP_MS=${ECMC_SAMPLE_RATE_MS},TSE=${ECMC_TSE}")
 
 ecmcCANOpenAddSDO("basicConfig",3,0x583,0x603,1,0x2690,0x1,7,0)      # WRITE
-
+dbLoadRecords(ecmcPluginSocketCAN_SDO_output.template, "P=${ECMC_PREFIX},PORT=${ECMC_ASYN_PORT},ADDR=0,TIMEOUT=1,T_SMP_MS=${ECMC_SAMPLE_RATE_MS},TSE=${ECMC_TSE},NELM=${NELM=1},CH_ID=03,DEV_ID=3,suffix=BasicConfig,source=basicConfig,DTYP=asynInt8ArrayOut,FTVL=CHAR,NELM=7")
 ##############################################################################
 ############# Go to realtime: