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remove pid record from base

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This commit is contained in:
Marty Kraimer
2000-07-05 12:23:27 +00:00
parent 0f37eb3178
commit ef5aa5ae60
2 changed files with 0 additions and 606 deletions
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415
src/rec/pidRecord.c
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@@ -1,415 +0,0 @@
/* recPid.c */
/* base/src/rec $Id$ */
/* recPid.c - Record Support Routines for Pid records */
/*
* Original Author: Bob Dalesio
* Current Author: Marty Kraimer
* Date: 5-19-89
*
* Experimental Physics and Industrial Control System (EPICS)
*
* Copyright 1991, the Regents of the University of California,
* and the University of Chicago Board of Governors.
*
* This software was produced under U.S. Government contracts:
* (W-7405-ENG-36) at the Los Alamos National Laboratory,
* and (W-31-109-ENG-38) at Argonne National Laboratory.
*
* Initial development by:
* The Controls and Automation Group (AT-8)
* Ground Test Accelerator
* Accelerator Technology Division
* Los Alamos National Laboratory
*
* Co-developed with
* The Controls and Computing Group
* Accelerator Systems Division
* Advanced Photon Source
* Argonne National Laboratory
*
* Modification Log:
* -----------------
* .01 10-15-90 mrk changes for new record support
* .02 11-11-91 jba Moved set and reset of alarm stat and sevr to macros
* .03 02-05-92 jba Changed function arguments from paddr to precord
* .04 02-28-92 jba Changed get_precision,get_graphic_double,get_control_double
* .05 02-28-92 jba ANSI C changes
* .06 06-02-92 jba changed graphic/control limits for hihi,high,low,lolo
* .07 07-15-92 jba changed VALID_ALARM to INVALID alarm
* .08 07-16-92 jba added invalid alarm fwd link test and chngd fwd lnk to macro
* .09 07-21-92 jba changed alarm limits for non val related fields
* .10 08-06-92 jba New algorithm for calculating analog alarms
* .11 09-10-92 jba modified fetch of VAL from STPL to call recGblGetLinkValue
* .12 03-29-94 mcn Converted to fast links
*/
#include <stddef.h>
#include <stdlib.h>
#include <stdarg.h>
#include <stdio.h>
#include <string.h>
#include "dbDefs.h"
#include "osiClock.h"
#include "epicsPrint.h"
#include "alarm.h"
#include "dbAccess.h"
#include "dbEvent.h"
#include "dbFldTypes.h"
#include "errMdef.h"
#include "recSup.h"
#include "recGbl.h"
#define GEN_SIZE_OFFSET
#include "pidRecord.h"
#undef GEN_SIZE_OFFSET
/* Create RSET - Record Support Entry Table*/
#define report NULL
#define initialize NULL
static long init_record();
static long process();
#define special NULL
#define get_value NULL
#define cvt_dbaddr NULL
#define get_array_info NULL
#define put_array_info NULL
static long get_units();
static long get_precision();
#define get_enum_str NULL
#define get_enum_strs NULL
#define put_enum_str NULL
static long get_graphic_double();
static long get_control_double();
static long get_alarm_double();
struct rset pidRSET={
RSETNUMBER,
report,
initialize,
init_record,
process,
special,
get_value,
cvt_dbaddr,
get_array_info,
put_array_info,
get_units,
get_precision,
get_enum_str,
get_enum_strs,
put_enum_str,
get_graphic_double,
get_control_double,
get_alarm_double };
static void alarm();
static void monitor();
static long do_pid();
static long init_record(ppid,pass)
struct pidRecord *ppid;
int pass;
{
if (pass==0) return(0);
/* initialize the setpoint for constant setpoint */
if (ppid->stpl.type == CONSTANT){
if(recGblInitConstantLink(&ppid->stpl,DBF_FLOAT,&ppid->val))
ppid->udf = FALSE;
}
return(0);
}
static long process(ppid)
struct pidRecord *ppid;
{
long status;
ppid->pact = TRUE;
status=do_pid(ppid);
if(status==1) {
ppid->pact = FALSE;
return(0);
}
recGblGetTimeStamp(ppid);
alarm(ppid);
monitor(ppid);
recGblFwdLink(ppid);
ppid->pact=FALSE;
return(status);
}
static long get_units(paddr,units)
struct dbAddr *paddr;
char *units;
{
struct pidRecord *ppid=(struct pidRecord *)paddr->precord;
strncpy(units,ppid->egu,DB_UNITS_SIZE);
return(0);
}
static long get_precision(paddr,precision)
struct dbAddr *paddr;
long *precision;
{
struct pidRecord *ppid=(struct pidRecord *)paddr->precord;
*precision = ppid->prec;
if(paddr->pfield == (void *)&ppid->val
|| paddr->pfield == (void *)&ppid->cval) return(0);
recGblGetPrec(paddr,precision);
return(0);
}
static long get_graphic_double(paddr,pgd)
struct dbAddr *paddr;
struct dbr_grDouble *pgd;
{
struct pidRecord *ppid=(struct pidRecord *)paddr->precord;
if(paddr->pfield==(void *)&ppid->val
|| paddr->pfield==(void *)&ppid->hihi
|| paddr->pfield==(void *)&ppid->high
|| paddr->pfield==(void *)&ppid->low
|| paddr->pfield==(void *)&ppid->lolo
|| paddr->pfield==(void *)&ppid->p
|| paddr->pfield==(void *)&ppid->i
|| paddr->pfield==(void *)&ppid->d
|| paddr->pfield==(void *)&ppid->cval){
pgd->upper_disp_limit = ppid->hopr;
pgd->lower_disp_limit = ppid->lopr;
} else recGblGetGraphicDouble(paddr,pgd);
return(0);
}
static long get_control_double(paddr,pcd)
struct dbAddr *paddr;
struct dbr_ctrlDouble *pcd;
{
struct pidRecord *ppid=(struct pidRecord *)paddr->precord;
if(paddr->pfield==(void *)&ppid->val
|| paddr->pfield==(void *)&ppid->hihi
|| paddr->pfield==(void *)&ppid->high
|| paddr->pfield==(void *)&ppid->low
|| paddr->pfield==(void *)&ppid->lolo
|| paddr->pfield==(void *)&ppid->p
|| paddr->pfield==(void *)&ppid->i
|| paddr->pfield==(void *)&ppid->d
|| paddr->pfield==(void *)&ppid->cval){
pcd->upper_ctrl_limit = ppid->hopr;
pcd->lower_ctrl_limit = ppid->lopr;
} else recGblGetControlDouble(paddr,pcd);
return(0);
}
static long get_alarm_double(paddr,pad)
struct dbAddr *paddr;
struct dbr_alDouble *pad;
{
struct pidRecord *ppid=(struct pidRecord *)paddr->precord;
if(paddr->pfield==(void *)&ppid->val){
pad->upper_alarm_limit = ppid->hihi;
pad->upper_warning_limit = ppid->high;
pad->lower_warning_limit = ppid->low;
pad->lower_alarm_limit = ppid->lolo;
} else recGblGetAlarmDouble(paddr,pad);
return(0);
}
static void alarm(ppid)
struct pidRecord *ppid;
{
double val;
float hyst, lalm, hihi, high, low, lolo;
unsigned short hhsv, llsv, hsv, lsv;
if(ppid->udf == TRUE ){
recGblSetSevr(ppid,UDF_ALARM,INVALID_ALARM);
return;
}
hihi = ppid->hihi; lolo = ppid->lolo; high = ppid->high; low = ppid->low;
hhsv = ppid->hhsv; llsv = ppid->llsv; hsv = ppid->hsv; lsv = ppid->lsv;
val = ppid->val; hyst = ppid->hyst; lalm = ppid->lalm;
/* alarm condition hihi */
if (hhsv && (val >= hihi || ((lalm==hihi) && (val >= hihi-hyst)))){
if (recGblSetSevr(ppid,HIHI_ALARM,ppid->hhsv)) ppid->lalm = hihi;
return;
}
/* alarm condition lolo */
if (llsv && (val <= lolo || ((lalm==lolo) && (val <= lolo+hyst)))){
if (recGblSetSevr(ppid,LOLO_ALARM,ppid->llsv)) ppid->lalm = lolo;
return;
}
/* alarm condition high */
if (hsv && (val >= high || ((lalm==high) && (val >= high-hyst)))){
if (recGblSetSevr(ppid,HIGH_ALARM,ppid->hsv)) ppid->lalm = high;
return;
}
/* alarm condition low */
if (lsv && (val <= low || ((lalm==low) && (val <= low+hyst)))){
if (recGblSetSevr(ppid,LOW_ALARM,ppid->lsv)) ppid->lalm = low;
return;
}
/* we get here only if val is out of alarm by at least hyst */
ppid->lalm = val;
return;
}
static void monitor(ppid)
struct pidRecord *ppid;
{
unsigned short monitor_mask;
float delta;
monitor_mask = recGblResetAlarms(ppid);
/* check for value change */
delta = ppid->mlst - ppid->val;
if(delta<0.0) delta = -delta;
if (delta > ppid->mdel) {
/* post events for value change */
monitor_mask |= DBE_VALUE;
/* update last value monitored */
ppid->mlst = ppid->val;
}
/* check for archive change */
delta = ppid->alst - ppid->val;
if(delta<0.0) delta = -delta;
if (delta > ppid->adel) {
/* post events on value field for archive change */
monitor_mask |= DBE_LOG;
/* update last archive value monitored */
ppid->alst = ppid->val;
}
/* send out all monitors for value changes*/
if (monitor_mask){
db_post_events(ppid,&ppid->val,monitor_mask);
}
delta = ppid->odm - ppid->dm;
if(delta<0.0) delta = -delta;
if(delta > ppid->odel) {
ppid->odm = ppid->dm;
monitor_mask = DBE_LOG|DBE_VALUE;
db_post_events(ppid,&ppid->dm,monitor_mask);
db_post_events(ppid,&ppid->p,monitor_mask);
db_post_events(ppid,&ppid->i,monitor_mask);
db_post_events(ppid,&ppid->d,monitor_mask);
db_post_events(ppid,&ppid->ct,monitor_mask);
db_post_events(ppid,&ppid->dt,monitor_mask);
db_post_events(ppid,&ppid->err,monitor_mask);
db_post_events(ppid,&ppid->derr,monitor_mask);
}
return;
}
/* A discrete form of the PID algorithm is as follows
* M(n) = KP*(E(n) + KI*SUMi(E(i)*dT(i))
* + KD*(E(n) -E(n-1))/dT(n) + Mr
* where
* M(n) Value of manipulated variable at nth sampling instant
* KP,KI,KD Proportional, Integral, and Differential Gains
* NOTE: KI is inverse of normal definition of KI
* E(n) Error at nth sampling instant
* SUMi Sum from i=0 to i=n
* dT(n) Time difference between n-1 and n
* Mr midrange adjustment
*
* Taking first difference yields
* delM(n) = KP*((E(n)-E(n-1)) + E(n)*dT(n)*KI
* + KD*((E(n)-E(n-1))/dT(n) - (E(n-1)-E(n-2))/dT(n-1))
* or using variables defined in following
* dm = kp*(de + e*dt*ki + kd*(de/dt - dep/dtp)
*/
static long do_pid(ppid)
struct pidRecord *ppid;
{
long status;
unsigned long ctp; /*clock ticks previous */
unsigned long ct; /*clock ticks */
float cval; /*actual value */
float val; /*desired value(setpoint)*/
float dt; /*delta time (seconds) */
float dtp; /*previous dt */
float kp,ki,kd;/*gains */
float e; /*error */
float ep; /*previous error */
float de; /*change in error */
float dep; /*prev change in error */
float dm; /*change in manip variable */
float p; /*proportional contribution*/
float i; /*integral contribution*/
float d; /*derivative contribution*/
/* fetch the controlled value */
if (ppid->cvl.type == CONSTANT) { /* nothing to control*/
if (recGblSetSevr(ppid,SOFT_ALARM,INVALID_ALARM)) return(0);
}
if (dbGetLink(&ppid->cvl,DBR_FLOAT,&cval,0,0)) {
recGblSetSevr(ppid,LINK_ALARM,INVALID_ALARM);
return(0);
}
/* fetch the setpoint */
if(ppid->smsl == CLOSED_LOOP){
status = dbGetLink(&(ppid->stpl),DBR_FLOAT,
&(ppid->val),0,0);
if (RTN_SUCCESS(status)) ppid->udf=FALSE;
}
val = ppid->val;
if (ppid->udf == TRUE ) {
recGblSetSevr(ppid,UDF_ALARM,INVALID_ALARM);
return(0);
}
/* compute time difference and make sure it is large enough*/
ctp = ppid->ct;
ct = clockGetCurrentTick();
if(ctp==0) {/*this happens the first time*/
dt=0.0;
} else {
if(ctp<ct) {
dt = (float)(ct-ctp);
}else { /* clock has overflowed */
dt = (unsigned long)(0xffffffff) - ctp;
dt = dt + ct + 1;
}
dt = dt/clockGetRate();
if(dt<ppid->mdt) return(1);
}
/* get the rest of values needed */
dtp = ppid->dt;
kp = ppid->kp;
ki = ppid->ki/60.0;
kd = ppid->kd/60.0;
ep = ppid->err;
dep = ppid->derr;
e = val - cval;
de = e - ep;
p = kp*de;
i = kp*e*dt*ki;
if(dtp>0.0 && dt>0.0) d = kp*kd*(de/dt - dep/dtp);
else d = 0.0;
dm = p + i + d;
/* update record*/
ppid->ct = ct;
ppid->dt = dt;
ppid->err = e;
ppid->derr = de;
ppid->cval = cval;
ppid->dm = dm;
ppid->p = p;
ppid->i = i;
ppid->d = d;
return(0);
}

191
src/rec/pidRecord.dbd
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@@ -1,191 +0,0 @@
recordtype(pid) {
include "dbCommon.dbd"
field(VAL,DBF_FLOAT) {
prompt("Setpoint")
asl(ASL0)
pp(TRUE)
}
field(CVL,DBF_INLINK) {
prompt("Controlled Value Loc")
promptgroup(GUI_PID)
interest(1)
}
field(STPL,DBF_INLINK) {
prompt("Setpoint Location")
promptgroup(GUI_PID)
interest(1)
}
field(SMSL,DBF_MENU) {
prompt("Setpoint Mode Select")
promptgroup(GUI_PID)
interest(1)
menu(menuOmsl)
}
field(PREC,DBF_SHORT) {
prompt("Display Precision")
promptgroup(GUI_DISPLAY)
interest(1)
}
field(MDT,DBF_FLOAT) {
prompt("Min Delta T")
promptgroup(GUI_PID)
interest(1)
}
field(KP,DBF_FLOAT) {
prompt("Proportional Gain")
promptgroup(GUI_PID)
interest(1)
}
field(KI,DBF_FLOAT) {
prompt("Intergral Gain")
promptgroup(GUI_PID)
interest(1)
}
field(KD,DBF_FLOAT) {
prompt("Derivative Gain")
promptgroup(GUI_PID)
interest(1)
}
field(EGU,DBF_STRING) {
prompt("Engineering Units")
promptgroup(GUI_DISPLAY)
interest(1)
size(16)
}
field(HOPR,DBF_FLOAT) {
prompt("High Operating Range")
promptgroup(GUI_DISPLAY)
interest(1)
}
field(LOPR,DBF_FLOAT) {
prompt("Low Operating Range")
promptgroup(GUI_DISPLAY)
interest(1)
}
field(HIHI,DBF_FLOAT) {
prompt("Hihi Deviation Limit")
promptgroup(GUI_ALARMS)
interest(1)
}
field(LOLO,DBF_FLOAT) {
prompt("Lolo Deviation Limit")
promptgroup(GUI_ALARMS)
interest(1)
}
field(HIGH,DBF_FLOAT) {
prompt("High Deviation Limit")
promptgroup(GUI_ALARMS)
interest(1)
}
field(LOW,DBF_FLOAT) {
prompt("Low Deviation Limit")
promptgroup(GUI_ALARMS)
interest(1)
}
field(HHSV,DBF_MENU) {
prompt("Hihi Severity")
promptgroup(GUI_ALARMS)
interest(1)
menu(menuAlarmSevr)
}
field(LLSV,DBF_MENU) {
prompt("Lolo Severity")
promptgroup(GUI_ALARMS)
interest(1)
menu(menuAlarmSevr)
}
field(HSV,DBF_MENU) {
prompt("High Severity")
promptgroup(GUI_ALARMS)
interest(1)
menu(menuAlarmSevr)
}
field(LSV,DBF_MENU) {
prompt("Low Severity")
promptgroup(GUI_ALARMS)
interest(1)
menu(menuAlarmSevr)
}
field(HYST,DBF_FLOAT) {
prompt("Alarm Deadband")
promptgroup(GUI_ALARMS)
interest(1)
}
field(ADEL,DBF_FLOAT) {
prompt("Archive Deadband")
promptgroup(GUI_DISPLAY)
interest(1)
}
field(MDEL,DBF_FLOAT) {
prompt("Monitor Deadband")
promptgroup(GUI_DISPLAY)
interest(1)
}
field(ODEL,DBF_FLOAT) {
prompt("DM Deadband")
promptgroup(GUI_PID)
interest(1)
}
field(CVAL,DBF_FLOAT) {
prompt("Controlled Value")
}
field(DM,DBF_FLOAT) {
prompt("Change in Manip Var")
special(SPC_NOMOD)
}
field(ODM,DBF_FLOAT) {
prompt("Prev Change")
special(SPC_NOMOD)
interest(3)
}
field(P,DBF_FLOAT) {
prompt("P component")
special(SPC_NOMOD)
interest(2)
}
field(I,DBF_FLOAT) {
prompt("I component")
special(SPC_NOMOD)
interest(2)
}
field(D,DBF_FLOAT) {
prompt("D component")
special(SPC_NOMOD)
interest(2)
}
field(CT,DBF_ULONG) {
prompt("Clock Ticks Prev")
special(SPC_NOMOD)
interest(4)
}
field(DT,DBF_FLOAT) {
prompt("Delta T")
special(SPC_NOMOD)
interest(2)
}
field(ERR,DBF_FLOAT) {
prompt("Error")
special(SPC_NOMOD)
interest(2)
}
field(DERR,DBF_FLOAT) {
prompt("Change in Error")
special(SPC_NOMOD)
interest(2)
}
field(LALM,DBF_FLOAT) {
prompt("Last Value Alarmed")
special(SPC_NOMOD)
interest(3)
}
field(ALST,DBF_FLOAT) {
prompt("Last Value Archived")
special(SPC_NOMOD)
interest(3)
}
field(MLST,DBF_FLOAT) {
prompt("Last Value Monitored")
special(SPC_NOMOD)
interest(3)
}
}