initial commit
This commit is contained in:
l_samenv
405
tcl/drivers/nvstep.tcl
Normal file
405
tcl/drivers/nvstep.tcl
Normal file
@ -0,0 +1,405 @@
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namespace eval nvstep {
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}
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proc stdConfig::nvstep {} {
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variable name
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controller syncedprot
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pollperiod 1 1
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obj NvStep wr
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prop write nvstep::write
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prop read "nvstep::read [silent 0 result instconfig sensirion]"
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prop enum fixed=0,controlled=1,automatic=2,close=3,open=4
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prop write nvstep::write
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prop lastpulse 0
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prop filter 0
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prop closetest 0
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prop amplitude 0
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prop t_after_delay 0
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prop fixed_to_auto 0
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prop initialize 0
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prop maxflow 0
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default 0
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kids "needle value" {
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node flow upd
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node motstat -text upd
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node set out
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default 2.5
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prop check nvstep::checkset
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prop write stdSct::complete
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prop label "flow set"
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node flowmax par 20
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prop label "flow maximum"
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node flowp upd
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prop help "flow calculated from pressure before pump"
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node ctrl -none
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kids "control parameters" {
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node prop par 10
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prop help bigger means higher feedback
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node int par 15
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prop help bigger means reacting slower (unit: sec)
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node delay par 5
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prop help minimum time to wait before next motor step
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node tol par 0.1
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}
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node autoflow -none
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kids "autoflow control parameters" {
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flow::make flow::tmts {result tt set/reg}
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}
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node calib -none
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kids calib {
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node ln_per_min_per_mbar par 0.9
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node mbar_offset par 0.5
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}
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node initialize -int out
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default 0
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prop visible false
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prop enum check=1,adjust=2,stop=3
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prop label "limit switch"
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prop write nvstep::startinit
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node initstate -text upd
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prop visible false
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default ""
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}
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}
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proc nvstep::checkset {} {
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sct update [sct target]
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set s [hvali [sct parent]]
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if {[hvali /cc/fa] == 0 || ($s != 1 && $s != 2)} {
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if {$s != 2} {
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set s 1
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}
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hset [sct parent] $s
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}
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}
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proc nvstep::write {} {
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switch [sct target] {
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3 {
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sct rangeshift 0
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if {[hvali [sct]/nvmot] > [hvali [sct]/nvmot/lowerlimit]} {
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nvmot [hvali [sct]/nvmot/lowerlimit]
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updateval [sct]/motstat closing
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}
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}
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4 {
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nvmot [hvali [sct]/nvmot/upperlimit]
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updateval [sct]/motstat opening
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}
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2 {
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hupdate [sct]/autoflow/suspended 0
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}
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}
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sct fixed_to_auto 0
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if {[sct target] == 0 || [sct target] > 2} {
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logsetup [sct]/set clear
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logsetup [sct]/autoflow/flowtarget clear
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}
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sct update [sct target]
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return idle
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}
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proc nvstep::calcstep {from to prop} {
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# for the decreasing step (to < from), we use a linear function above 20
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foreach var {from to} {
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if {[set $var] > 20 && $to < $from} {
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set $var [expr 1.9 + 0.0025 * [set $var]]
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} elseif {[set $var] > 1} {
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set $var [expr 2 - 1.0 / [set $var]]
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}
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}
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set res [expr ($to - $from) * $prop]
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return $res
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}
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proc nvstep::poll {} {
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set now [DoubleTime]
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set mode [sctval [sct]]
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if {$mode != 0} {
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set encpos [hval [sct]/nvmot/encoder]
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if {$encpos < [hval [sct]/nvmot/lowerlimit] - 15 ||
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$encpos > [hval [sct]/nvmot/upperlimit] + 15} {
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hsetprop [sct]/nvmot/encoder adjust_zero 1
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return idle
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}
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}
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# if {[silent 0 sct initialize] > 0} {
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# return nvstep::init
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# }
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hset [sct]/nvmot/disablelimits 0
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set umsg "automatic needle valve not activated - set temperature undefined"
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switch -- $mode {
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1 - 2 {
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# pump_is_off is defined in startup/hepump.tcl
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if {[info command pump_is_off] ne "" && [pump_is_off]} {
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return idle
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}
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if {$mode == 1 || [sctval [sct]/autoflow/suspended]} {
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set soll [hvali [sct]/set]
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hupdate [sct]/autoflow/flowtarget $soll
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} else {
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if {$now > [silent 0 sct lastauto] + 4.7} {
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sct lastauto $now
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set script [hvali [sct]/autoflow/script]
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set flowmax [hvali [sct]/flowmax]
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if {$flowmax > 20} {
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set flowmax 20
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clientput "WARNING: reduced flowmax to $flowmax ln/min for less stress to the pump"
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hupdate [sct]/flowmax $flowmax
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}
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$script [sct]/autoflow [hvali [sct]/set] $flowmax
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}
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set soll [hvali [sct]/autoflow/flowset]
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if {[hgetpropval [sct]/autoflow/getTset t_set_undefined]} {
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if {[hvali [sct]/status] ne $umsg} {
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clientput "ERROR: $umsg"
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}
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hupdate [sct]/status $umsg
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}
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}
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set ist [hvali [sct]/flow]
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set tol [hvali [sct]/ctrl/tol]
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set a [sct amplitude]
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set t [sct t_after_delay]
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if {$t != 0} {
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set t [expr $now - $t]
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}
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set i [hvali [sct]/ctrl/int]
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# lim is an exponential curve converging to soll.
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# the range between lim and soll is a window shrinking with time
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# before t_after_delay, the last 'ist' value is between lim and soll
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# if the 'ist' value does not change it will reach lim at t_after_delay
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set lim [expr $soll + $a * exp(-$t/double($i))]
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# calculate expected limits for no further step needed
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if {$lim > $soll} {
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set uplim [expr $lim + $tol]
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set lolim [expr $soll - $tol]
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} else {
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set uplim [expr $soll + $tol]
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set lolim [expr $lim - $tol]
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}
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if {$ist > $uplim || $ist < $lolim} {
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# we have to do a next step
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set step [nvstep::calcstep $ist $soll [hvali [sct]/ctrl/prop]]
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sct t_after_delay [expr $now + [hvali [sct]/ctrl/delay]]
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sct amplitude [expr $ist - $soll]
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set v [format %.2f [expr [hvali [sct]/nvmot] + $step]]
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set u [hvali [sct]/nvmot/upperlimit]
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set ll [hvali [sct]/nvmot/lowerlimit] ;# ll was 0 before!
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if {$v > $u} {
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set v $u
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updateval [sct]/motstat opened
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} elseif {$v < $ll} {
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set v $ll
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updateval [sct]/motstat closed
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} elseif {$step > 0} {
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updateval [sct]/motstat opening
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} else {
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updateval [sct]/motstat closing
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}
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#clientput "$step $v"
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nvmot $v
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} else {
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# no step needed yet
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updateval [sct]/motstat idle
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if {$t > 0} {
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if {$ist < $uplim - $tol && $ist > $lolim + $tol} {
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# the ist value is making more progress then expected at worst
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# so we narrow the window accordingly
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sct amplitude [expr $ist - $soll]
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sct t_after_delay $now
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}
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}
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}
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}
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0 { # fixed
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set cnt [sct fixed_to_auto]
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if {[silent 0 hval [sct]/flow] > [hvali [sct]/flowmax] + 10} {
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incr cnt
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if {$cnt > 60} {
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clientput "pressure high - switch to automatic mode"
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hset [sct] 2
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}
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} else {
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if {$cnt > 0} {
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incr cnt -1
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}
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}
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sct fixed_to_auto $cnt
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switch [hvali [sct]/motstat] {
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opening - closing {
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if {[hgetpropval [sct]/nvmot status] ne "run"} {
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updateval [sct]/motstat idle
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}
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}
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}
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}
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3 { # close
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set stat [hvali [sct]/motstat]
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if {[hgetpropval [sct]/nvmot status] ne "run" && $stat eq "closing"} {
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updateval [sct]/motstat closed
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}
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}
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4 { # open
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set stat [hvali [sct]/motstat]
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if {[hgetpropval [sct]/nvmot status] ne "run" && $stat eq "opening"} {
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updateval [sct]/motstat opened
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}
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}
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}
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if {[hvali [sct]/status] eq $umsg && \
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([sctval [sct]] != 2 || [hgetpropval [sct]/autoflow/getTset t_set_undefined] == 0)} {
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hsetprop [sct]/autoflow/getTset t_set_undefined 0
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hupdate [sct]/status ""
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}
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return idle
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}
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proc nvstep::read {{sensirion 0}} {
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hsetprop /cc/fa nvpath [sct]
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_cc updatescript /cc/fa nvstep::updatemode
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hsetprop /cc/f nvpath [sct]
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if {$sensirion} {
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hsetprop /nvflow flowsource flowmeter
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hsetprop /nvflow nvpath [sct]
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hsetprop /nvflow nvctrl [sct controller]
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_hemot updatescript /nvflow nvstep::updateflow
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hsetprop /cc/f flowsource pressref
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} else {
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hsetprop /cc/f nvctrl [sct controller]
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hsetprop /cc/f flowsource flowpress
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}
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_cc updatescript /cc/f nvstep::updateflow
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return unpoll
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}
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proc nvstep::updateflow {value} {
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# flowsource:
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# pressref: just update nv/flowp
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# flowmeter: update nv/flow
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# flowpress: flow from pressure
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set source [silent pressure sct flowsource]
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set filter [lrange "[silent $value sct filter] $value" end-9 10]
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sct filter $filter
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# filter out values which are within the 3 highest or 3 lowest values
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# out of 10 last values (i.e. within 5 seconds)
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set m 3
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set filter [lsort -real $filter]
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if {[llength $filter] < 10} {
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set flow $value
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} else {
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set min [lindex $filter $m]
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set max [lindex $filter end-$m]
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set mean [expr double([join $filter +]) / [llength $filter]]
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set flow [silent 0 sct filtered]
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if {$max < $flow} {
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set flow $max
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} elseif {$min > $flow} {
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set flow $min
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} else {
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set flow [expr $flow * 0.98 + $mean * 0.02]
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}
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}
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sct filtered $flow
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if {$source eq "flowmeter"} {
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updateval [sct nvpath]/flow $flow
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} else {
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if {$flow < -50} {
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set flow -62.5
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} else {
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set off [hval [sct nvpath]/calib/mbar_offset]
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set fpm [hval [sct nvpath]/calib/ln_per_min_per_mbar]
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set flow [expr ($flow - $off) * $fpm]
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}
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if {$source eq "pressref"} {
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hupdate [sct nvpath]/flowp $flow
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return
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}
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updateval_e [sct nvpath]/flow $flow -62.5 no_sensor
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}
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[sct nvctrl] queue [sct nvpath] read nvstep::poll
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}
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proc nvstep::startinit {} {
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set i [hgetpropval [sct parent] initialize]
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switch [sct target] {
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1 {
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if {$i != 0} {
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error "checking already"
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}
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# hsetprop [sct parent] initialize 10
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hsetprop [sct parent] initialize 13
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}
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2 {
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if {$i != 0} {
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error "adjusting already"
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}
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hsetprop [sct parent] initialize 20
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}
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3 {
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if {$i >= 10 && $i < 13} {
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hsetprop [sct parent] initialize 13
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} elseif {$i >= 20} {
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hsetprop [sct parent] initialize 28
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} else {
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hsetprop [sct parent] initialize 29
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}
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}
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}
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sct update [sct target]
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return idle
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}
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proc nvstep::ierror {msg} {
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updateerror [sct]/initstate "$msg"
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clientput "[sct]: $msg"
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}
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proc nvstep::imsg {msg} {
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if {$msg ne [hvali [sct]/initstate]} {
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hupdate [sct]/initstate $msg
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clientput "[sct]: $msg"
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catch {hdelprop [sct]/initstate geterror}
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}
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}
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proc nvstep::init {} {
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set now [DoubleTime]
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if {[hgetpropval [sct]/nvmot status] eq "run"} {
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return idle
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}
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set phase [sct initialize]
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set pos [hvali [sct]/nvmot/encoder]
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set goto ""
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switch $phase {
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10 { # start check
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ierror "limit switch no longer supported"
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}
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20 { # start adjust
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ierror "limit switch no longer supported"
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}
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}
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if {$goto ne ""} {
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sct goto $goto
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clientput "goto $goto"
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run [hgetpropval [sct]/nvmot sicsdev] $goto
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}
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sct initialize $phase
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return idle
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}
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Block a user