EoWo Datasource running

Signed-off-by: Bernardo Carvalho <bernardo.carvalho@tecnico.ulisboa.pt>

Analysis/pyqtPlotMds.py

@@ -15,8 +15,8 @@ app = pg.mkQApp("Plotting MARTe2 AtcaIop Data")
 #mw = QtWidgets.QMainWindow()
 #mw.resize(800,800)
 
-MAX_SAMPLES = 50000
+#MAX_SAMPLES = 50000
-ADC_CHANNELS = 4
+#ADC_CHANNELS = 4
 DECIM_RATE = 200
 
 parser = argparse.ArgumentParser(description = 'Script to support the QA activities')
@@ -27,7 +27,7 @@ parser.add_argument('-c', '--crange', nargs='+',type=int, help='Channel plots (1
 parser.add_argument('-i', '--irange', nargs='+',type=int,default=[1, 12])
 #parser.add_argument('pulse','-', nargs='+', help='<Required> Set flag', required=True)
 parser.add_argument('-s', '--shot', type=int, help='Mds+ pulse Number ([1, ...])', default=100)
-parser.add_argument('-m', '--maxsamples', type=int, help='Max samples to plot', default=50000)
+parser.add_argument('-m', '--maxpoints', type=int, help='Max points to plot', default=50000)
 parser.add_argument('-z', '--zero', action='store_true',help='Zero integral Lines') #, default='')
 
 args = parser.parse_args()
@@ -60,8 +60,7 @@ for i in range(start, stop):
     mdsNode = tree.getNode(f"ATCAIOP1.ADC{i}RAW")
     dataAdc = mdsNode.getData().data()
     timeData = mdsNode.getDimensionAt(0).data()
-    #y = dataAdc[ :args.maxsamples, 0]
+    y = dataAdc[ :args.maxpoints, 0]
-    y = dataAdc[ :MAX_SAMPLES, 0]
     x = DECIM_RATE * np.arange(len(y)) / 2.0e6
     p1.plot(x,y, pen=pg.mkPen(i, width=2), name=f"Ch {i+1}")
 #p1.setLabel('bottom', "Y Axis", units='s')
@@ -79,7 +78,7 @@ for i in range(start, stop):
         dataAdcInt = mdsNode.getData().data()
         timeData = mdsNode.getDimensionAt(0).data()
         total_samples = DECIM_RATE * len(dataAdcInt[:, 0])
-        y = dataAdcInt[ :args.maxsamples, 0]  / 2.0e6 #  LSB * sec
+        y = dataAdcInt[ :args.maxpoints, 0]  / 2.0e6 #  LSB * sec
         if(args.zero):
             y = y - dataAdcInt[0, 0] / 2.0e6 #  LSB * sec
             wo =  (dataAdcInt[-1, 0] - dataAdcInt[0, 0]) /total_samples
@@ -96,5 +95,10 @@ p4.setLabel('bottom', "Time", units='s')
 #updatePlot()
 
 if __name__ == '__main__':
-    pg.exec()
+    import sys
+    if sys.flags.interactive != 1 or not hasattr(QtCore, 'PYQT_VERSION'):
+        pg.QtGui.QApplication.exec_()
+
+    #iprint("xwc")
+    #pg.exec()
 # vim: syntax=python ts=4 sw=4 sts=4 sr et

Configurations/README.md

@@ -0,0 +1,2 @@
+# Replace lines with sed
+`sed -i "s/BoardId =.*/BoardId = 9/g" RTApp-AtcaIop-ppr9.cfg`

Configurations/RTApp-AtcaIop.cfg

@@ -563,6 +563,36 @@ $IsttokApp = {
             }
         }
     }
+    +AtcaGAMEoWoOutput = {
+        Class = "IOGAM"
+        InputSignals = {
+          EoArr = {
+            DataSource = "DDB1"
+              NumberOfDimensions = "1"
+              NumberOfElements = "16"
+              Type = "int32"
+          }
+          WoArr = {
+            DataSource = "DDB1"
+              NumberOfDimensions = "1"
+              NumberOfElements = "16"
+              Type = "float32"
+          }
+        }
+        OutputSignals = {
+          EO = {
+              DataSource = AtcaIopConfigEoWo_2
+              Type = int32
+              NumberOfElements = "16"
+              Trigger = 1
+          }
+          WO = {
+              DataSource = AtcaIopConfigEoWo_2
+              NumberOfElements = "16"
+              Type = float32
+          }
+        }
+    }
     +GAMConvert2Volt = {
       Class = "ConversionGAM"
       InputSignals = {
@@ -1129,10 +1159,25 @@ $IsttokApp = {
     +Timings = {
       Class = "TimingDataSource"
     }
+    +AtcaIopConfigEoWo_2 = {
+      Class = AtcaIop::AtcaIopConfigEoWo
+      //CPUMask = "0xC"
+      DeviceName = "/dev/atca_v6"
+      BoardId = 2 //Mandatory
+      Signals = {
+          EO = {
+              Type = int32 //Mandatory. Only type that is supported.
+          }
+          WO = {
+              Type = float32 //Mandatory. Only type that is supported.
+          }
+      }
+    }
     +AtcaIop_0_DAC = {
       Class = "AtcaIop::AtcaIopDAC"
       //CPUMask = "0xC"
-      DeviceName = "/dev/atca_v6_dac_9"
+      DeviceName = "/dev/atca_v6"
+      BoardId = 2 //Mandatory
       //NumberOfChannels = 2
       Signals = {
        DAC0 = {
@@ -1149,12 +1194,13 @@ $IsttokApp = {
     +AtcaIop_0_ADC = {
       Class = "AtcaIop::AtcaIopADC"
       CPUMask = "0xC"
-      DeviceName = "/dev/atca_v6_9"
+      DeviceName = "/dev/atca_v6"
-      DeviceDmaName = "/dev/atca_v6_dmart_9"
+      BoardId = 2 //Mandatory
+      DeviceDmaName = "/dev/atca_v6_dmart_2"
       NumberOfChannels = "12"
       IsMaster = "1"
       SleepNature = "Busy"
-      SleepPercentage = "0"
+      SleepPercentage = "20"
       ADCFrequency = "2000000"
       RTDecimation = "200"
       ChopperPeriod = "2000"
@@ -1227,6 +1273,66 @@ $IsttokApp = {
         }
         ADC6Integral = {
           Type = "int64"
+    +AtcaGAMEoWoOutput = {
+        Class = "IOGAM"
+        InputSignals = {
+          EoArr = {
+            DataSource = "DDB1"
+              NumberOfDimensions = "1"
+              NumberOfElements = "16"
+              Type = "int32"
+    +AtcaGAMEoWoOutput = {
+        Class = "IOGAM"
+        InputSignals = {
+          EoArr = {
+            DataSource = "DDB1"
+              NumberOfDimensions = "1"
+              NumberOfElements = "16"
+              Type = "int32"
+          }
+          WoArr = {
+            DataSource = "DDB1"
+              NumberOfDimensions = "1"
+              NumberOfElements = "16"
+              Type = "float32"
+          }
+        }
+        OutputSignals = {
+          EO = {
+              DataSource = AtcaIopConfigEoWo_2
+              Type = int32
+              NumberOfElements = "16"
+              Trigger = 1
+          }
+          WO = {
+              DataSource = AtcaIopConfigEoWo_2
+              NumberOfElements = "16"
+              Type = float32
+          }
+        }
+    }
+          }
+          WoArr = {
+            DataSource = "DDB1"
+              NumberOfDimensions = "1"
+              NumberOfElements = "16"
+              Type = "float32"
+          }
+        }
+        OutputSignals = {
+          EO = {
+              DataSource = AtcaIopConfigEoWo_2
+              Type = int32
+              NumberOfElements = "16"
+              Trigger = 1
+          }
+          WO = {
+              DataSource = AtcaIopConfigEoWo_2
+              NumberOfElements = "16"
+              Type = float32
+          }
+        }
+    }
         }
         ADC7Integral = {
           Type = "int64"
@@ -1547,7 +1653,8 @@ $IsttokApp = {
         +Thread1 = {
           Class = "RealTimeThread"
           CPUs = "0x4"
-          Functions = {"AtcaGAMInput" "DacConstants" "AtcaGAMOutput" "GAMConvert2Volt" "GAMConvert2Float" "GAMHistogramCycleTimes" "GAMCAOutput"}
+          //Functions = {"AtcaGAMInput" "DacConstants" "AtcaGAMOutput" "GAMConvert2Volt" "GAMConvert2Float" "GAMHistogramCycleTimes" "GAMCAOutput"}
+          Functions = {"AtcaGAMInput" "DacConstants" "AtcaGAMOutput" "AtcaGAMEoWoOutput" "GAMConvert2Volt" "GAMConvert2Float" "GAMHistogramCycleTimes" "GAMCAOutput" "GAMCAInput"}
 
         }
       }

DataSources/AtcaIop/AtcaIopADC.cpp

@@ -40,6 +40,7 @@
 #include "AtcaIopADC.h"
 #include "atca-v6-iop-ioctl.h"
 
+#define DEBUG_POLL 1
 /*---------------------------------------------------------------------------*/
 /*                           Static definitions                              */
 /*---------------------------------------------------------------------------*/
@@ -77,9 +78,9 @@ struct atca_wo_config {
 /*---------------------------------------------------------------------------*/
 AtcaIopADC::AtcaIopADC() :
         DataSourceI(), MessageI(), EmbeddedServiceMethodBinderI(), executor(*this) {
-    //boardId = 2u;
     deviceName = "";
-    deviceDmaName = "";
+    boardId = 2u;
+    //deviceDmaName = "";
     boardFileDescriptor = -1;
     boardDmaDescriptor = -1;
     mappedDmaBase = NULL;
@@ -93,6 +94,8 @@ AtcaIopADC::AtcaIopADC() :
     counterAndTimer[1] = 0u;
     sleepNature = Busy;
     sleepPercentage = 0u;
+    execCounter = 0u;
+    pollTimout = 0u;
     adcPeriod = 0.;
     uint32 k;
     for (k=0u; k<ATCA_IOP_N_ADCs; k++) {
@@ -153,12 +156,20 @@ bool AtcaIopADC::Initialise(StructuredDataI& data) {
             REPORT_ERROR(ErrorManagement::ParametersError, "The DeviceName shall be specified");
         }
     }
+    if (ok) {
+        ok = data.Read("BoardId", boardId);
+        if (!ok) {
+            REPORT_ERROR(ErrorManagement::ParametersError, "The BoardId shall be specified");
+        }
+    }
+    /*
     if (ok) {
         ok = data.Read("DeviceDmaName", deviceDmaName);
         if (!ok) {
             REPORT_ERROR(ErrorManagement::ParametersError, "The DeviceDmaName shall be specified");
         }
     }
+    */
     if (ok) {
         ok = data.Read("NumberOfChannels", numberOfChannels);
         if (!ok) {
@@ -343,7 +354,8 @@ bool AtcaIopADC::SetConfiguredDatabase(StructuredDataI& data) {
     StreamString fullDeviceName;
     //Configure the board
     if (ok) {
-        ok = fullDeviceName.Printf("%s", deviceName.Buffer());
+        ok = fullDeviceName.Printf("%s_%d", deviceName.Buffer(), boardId);
+        //ok = fullDeviceName.Printf("%s", deviceName.Buffer());
     }
     if (ok) {
         ok = fullDeviceName.Seek(0LLU);
@@ -359,7 +371,8 @@ bool AtcaIopADC::SetConfiguredDatabase(StructuredDataI& data) {
     }
     ok = fullDeviceName.Seek(0LLU);
     if (ok) {
-        ok = fullDeviceName.Printf("%s", deviceDmaName.Buffer());
+        ok = fullDeviceName.Printf("%s_dmart_%d", deviceName.Buffer(), boardId);
+        //ok = fullDeviceName.Printf("%s", deviceName.Buffer());
     }
     if (ok) {
         ok = fullDeviceName.Seek(0LLU);
@@ -538,6 +551,10 @@ bool AtcaIopADC::SetConfiguredDatabase(StructuredDataI& data) {
         timerPeriodUsecTime = static_cast<uint32>(periodUsec);
         float64 sleepTimeT = (static_cast<float64>(HighResolutionTimer::Frequency()) / cycleFrequency);
         sleepTimeTicks = static_cast<uint64>(sleepTimeT);
+/*
+ * [Information - AtcaIopADC.cpp:548]: The timer will be set using a cycle frequency of 10000.000000 Hz
+ * [Information - AtcaIopADC.cpp:554]: The timer will be set using a sleepTimeTicks of 100000 (ns)
+ */
         REPORT_ERROR(ErrorManagement::Information,
                 "The timer will be set using a sleepTimeTicks of %d (ns)", sleepTimeTicks);
     }
@@ -613,6 +630,9 @@ bool AtcaIopADC::PrepareNextState(const char8* const currentStateName, const cha
         ok = executor.Start();
         REPORT_ERROR(ErrorManagement::Information, "Executor Start");
     }
+    if (executor.GetStatus() == EmbeddedThreadI::RunningState) {
+        REPORT_ERROR(ErrorManagement::Information, " ADC currentStateName   %s, nextStateName %s", currentStateName, nextStateName);
+    }
     counterAndTimer[0] = 0u;
     //counterAndTimer[1] = 0u;
     return ok;
@@ -638,19 +658,32 @@ ErrorManagement::ErrorType AtcaIopADC::Execute(ExecutionInfo& info) {
     uint64 deltaTicks = sleepTimeTicks - sleepTicksCorrection;
     //volatile int32 currentDMA = 0u;
     oldestBufferIdx = GetOldestBufferIdx();
+    float32 totalSleepTime = static_cast<float32>(static_cast<float64>(deltaTicks) * HighResolutionTimer::Period());
+#ifdef DEBUG_POLL    
+    if((execCounter++)%4096 == 0) {
+           REPORT_ERROR(ErrorManagement::Information, "Executor sleepTime: %f pollTimout: %d", totalSleepTime, pollTimout);
+    }
+#endif
     if (sleepNature == Busy) {
-        if (sleepPercentage == 0u) {
+        if (sleepPercentage > 0u) {
+            //float32 sleepTime = totalSleepTime * 0.5;
+            float32 sleepTime = totalSleepTime * (static_cast<float32>(sleepPercentage) / 100.F);
+            Sleep::NoMore(sleepTime);
             //currentDMA = 
-            PollDma(startTicks + deltaTicks + 100000u); // TODO check max wait
+            //if(PollDma(startTicks + deltaTicks + 100000u) < 0)
             //while ((HighResolutionTimer::Counter() - startTicks) < deltaTicks) {
             //}
         }
+        if(PollDma(startTicks + deltaTicks + sleepTimeTicks + 10000u) < 0)
+            pollTimout++; // TODO check max wait
+        /*
         else {
             float32 totalSleepTime = static_cast<float32>(static_cast<float64>(deltaTicks) * HighResolutionTimer::Period());
             uint32 busyPercentage = (100u - sleepPercentage);
             float32 busyTime = totalSleepTime * (static_cast<float32>(busyPercentage) / 100.F);
             Sleep::SemiBusy(totalSleepTime, busyTime);
         }
+        */
     }
     else {
         float32 sleepTime = static_cast<float32>(static_cast<float64>(deltaTicks) * HighResolutionTimer::Period());
@@ -691,6 +724,9 @@ uint32 AtcaIopADC::GetStackSize() const {
 uint32 AtcaIopADC::GetSleepPercentage() const {
     return sleepPercentage;
 }
+/*
+ * waitLimitTicks in ns
+ * */
 
 int32 AtcaIopADC::PollDma(uint64 waitLimitTicks) const {
         uint32 buffIdx = oldestBufferIdx;

DataSources/AtcaIop/AtcaIopADC.h

@@ -248,7 +248,7 @@ namespace MARTe {
             /**
              * The board identifier
              */
-            //uint32 boardId;
+            uint32 boardId;
             /**
              * The numberOfChannels
              */
@@ -264,7 +264,7 @@ namespace MARTe {
             /**
              * The board device name
              */
-            StreamString deviceDmaName;
+            //StreamString deviceDmaName;
             /**
              * The board file descriptor
              */
@@ -294,6 +294,12 @@ namespace MARTe {
              */
             AtcaIopADCSleepNature sleepNature;
 
+            /**
+             * Debugging
+             */
+            uint32 execCounter;
+            uint32 pollTimout;
+
             /**
              * Current counter and timer
              */

DataSources/AtcaIop/AtcaIopConfigEoWo.cpp

@@ -77,7 +77,6 @@ namespace MARTe {
     AtcaIopConfigEoWo::~AtcaIopConfigEoWo() {
         if (boardFileDescriptor != -1) {
             uint32 statusReg = 0;
-            //REPORT_ERROR(ErrorManagement::Information, " Close Device Status Reg %d, 0x%x", rc, statusReg);
             close(boardFileDescriptor);
             REPORT_ERROR(ErrorManagement::Information, "Close device %d OK. Status Reg 0x%x,", boardFileDescriptor, statusReg);
         }
@@ -206,6 +205,9 @@ namespace MARTe {
     /*lint -e{715}  [MISRA C++ Rule 0-1-11], [MISRA C++ Rule 0-1-12]. Justification: the counter and the timer are always reset irrespectively of the states being changed.*/
     bool AtcaIopConfigEoWo::PrepareNextState(const char8* const currentStateName, const char8* const nextStateName) {
         REPORT_ERROR(ErrorManagement::Information, " EoWo currentStateName   %s, nextStateName %s", currentStateName, nextStateName);
+        //if (currentStateName == "Idle") {
+        //    REPORT_ERROR(ErrorManagement::Information, "OffState");
+        //}
         return true;
     }
 
@@ -351,7 +353,6 @@ namespace MARTe {
             }
             if (ok) {
                 //Allocate memory
-                //channelsMemory = new float32[ATCA_IOP_MAX_DAC_CHANNELS];
                 eoValues = new int32[ATCA_IOP_MAX_ADC_CHANNELS];
                 woValues = new float32[ATCA_IOP_MAX_ADC_CHANNELS];
             }
@@ -362,11 +363,15 @@ namespace MARTe {
 
         bool AtcaIopConfigEoWo::Synchronise() {
             uint32 i;
-            int32 w;
+            int32 w = 1;
             bool ok = true;
+#ifdef DEBUG_POLL
             if((synchCounter++)%4096 == 0) {
-                REPORT_ERROR(ErrorManagement::Information, " Synchronise");
+                //i = (synchCounter/4096) & 0xF;
+                REPORT_ERROR(ErrorManagement::Information, "Synchronise eo0:%d wo0%0.3f", eoValues[0], woValues[0]);
             }
+#endif
+            //write(boardFileDescriptor,  &w, 4);
             /*
             if (channelsMemory != NULL_PTR(float32 *)) {
 

DataSources/AtcaIop/AtcaIopDAC.cpp

@@ -57,6 +57,7 @@ namespace MARTe {
             numberOfDACsEnabled = 0u;
             //isMaster = 0u;
             deviceName = "";
+            boardId = 2u;
             triggerSet = false;
             uint32 n;
             for (n = 0u; n < ATCA_IOP_MAX_DAC_CHANNELS; n++) {
@@ -198,6 +199,12 @@ namespace MARTe {
             }
         }
 
+        if (ok) {
+            ok = data.Read("BoardId", boardId);
+            if (!ok) {
+                REPORT_ERROR(ErrorManagement::ParametersError, "The BoardId shall be specified");
+            }
+        }
         //if (!data.Read("IsMaster", isMaster)) {
         //  REPORT_ERROR(ErrorManagement::Warning, "IsMaster not specified. Using default: %d", isMaster);
         //}
@@ -303,7 +310,8 @@ namespace MARTe {
             StreamString fullDeviceName;
             //Configure the board
             if (ok) {
-                ok = fullDeviceName.Printf("%s", deviceName.Buffer());
+                ok = fullDeviceName.Printf("%s_dac_%d", deviceName.Buffer(), boardId);
+                //ok = fullDeviceName.Printf("%s", deviceName.Buffer());
             }
             if (ok) {
                 ok = fullDeviceName.Seek(0LLU);
@@ -332,7 +340,7 @@ namespace MARTe {
             bool ok = true;
             if (channelsMemory != NULL_PTR(float32 *)) {
 
-//                value = channelsMemory[0] / DAC_RANGE;
+                //                value = channelsMemory[0] / DAC_RANGE;
                 for (i = 0u; (i < 2u) && (ok); i++) {
                     //for (i = 0u; (i < numberOfDACsEnabled ) && (ok); i++) {
                     float32 value = channelsMemory[i] / outputRange[i];

DataSources/AtcaIop/AtcaIopDAC.h

@@ -182,6 +182,10 @@ namespace MARTe {
              * The board device name
              */
             StreamString deviceName;
+            /**
+             * The board identifier
+             */
+            uint32 boardId;
             /**
              * The board file descriptor
              */