- Fixed a bug fix with Fixed motor in TAS code
- Made AMOR write HDF-5 data in chunks - Added driver for a PSI-DSP magnet controller as used at SLS - Added code for directly accessing RS232 controllers connected to a terminal server, thereby bypassing the SerPortServer - A rounding problem in the PSD histogram memory was resolved.
This commit is contained in:
cvs
388
slsmagnet.c
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388
slsmagnet.c
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@@ -0,0 +1,388 @@
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/*--------------------------------------------------------------------------
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S L S M A G N E T
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This file contains the driver for the PSI-DSP magnet controller as
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aquired from SLS.
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Mark Koennecke, October 2001
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Copyright: see copyright.h
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----------------------------------------------------------------------------*/
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#include <string.h>
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#include <stdlib.h>
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#include <time.h>
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#include <math.h>
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#include <assert.h>
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#include "fortify.h"
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#include "conman.h"
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#include "servlog.h"
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#include "fortify.h"
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typedef struct __EVDriver *pEVDriver;
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#include "evdriver.i"
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#include "hardsup/el734_def.h"
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#include "hardsup/el734fix.h"
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#include "network.h"
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#include "rs232controller.h"
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/*
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error codes
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*/
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#define BADECHO -5100
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#define NOTCONNECTED -5200
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#define TIMEOUT -5300
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/*
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when waiting for results, the code loops at max MAXLOOP times
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before doing a timeout. 100 corresponds to one second
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*/
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#define MAXLOOP 100
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/*
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packet header codes
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*/
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#define DSPWRITE 0x80
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#define DSPREAD 0x0
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/*-----------------------------------------------------------------------*/
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typedef struct {
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mkChannel *pSock;
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char *pHost;
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int iPort;
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int iError;
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} SLSDriv, *pSLSDriv;
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/*-------------------------------------------------------------------------
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Code for data conversion from Lukas Tanner. The ULONG is system dependent,
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it MUST describe a 32 bit value.
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-------------------------------------------------------------------------*/
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#define ULONG int
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/***********************************************************************/
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static ULONG double2DSPfloat( double input )
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/***********************************************************************/
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/* Konvertiert eine normale double Variable in ein 32bit DSP Float Format. */
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{
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ULONG output;
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double mantissa;
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int exponent;
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if (input == 0) {
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output = 0;
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} else {
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mantissa = 2 * (frexp(fabs(input), &exponent));
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mantissa = ldexp(mantissa, 23);
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exponent =exponent - 1 + 127;
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if (exponent < 0) {
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exponent = 0;
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} else if (exponent > 0xFE) {
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exponent = 0xFE;
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}
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exponent = exponent << 23;
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output = ((ULONG) mantissa) & 0x7FFFFF;
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output = output | ((ULONG) (exponent));
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if (input < 0) {
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output = output | 0x80000000;
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}
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}
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return output;
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}
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/***********************************************************************/
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static double DSPfloat2double( ULONG input )
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/***********************************************************************/
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/* Konvertiert eine Variable inder ein 32bit DSP Float Wert abgelegt ist,
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in ein normales double Format
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32bit IEEE Float => SEEEEEEEEMMMMMMMMMMMMMMMMMMMMMMM; S = Sign Bit
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E = Exponent
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M = Mantissa (23)*/
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{
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double output;
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if ((input & 0x7FFFFF) == 0 && ((input >> 23) & 0xFF) == 0) {
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output = 0;
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} else {
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output = ldexp(input & 0x7FFFFF,-23) + 1;
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output = output * pow(-1, ((input >>31) & 1));
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output = output * ldexp(1, (((input >>23) & 0xFF) - 127));
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}
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return output;
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}
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/*-------------------------------------------------------------------------*/
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static int communicateSLS(mkChannel *pSock, char msg[6], char reply[6])
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{
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long lVal = 0;
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int iRet, i;
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if(!pSock)
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return NOTCONNECTED;
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iRet = NETWrite(pSock,msg,6);
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if(iRet < 0)
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{
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return iRet;
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}
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for(i = 0; i < MAXLOOP; i++)
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{
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iRet = NETAvailable(pSock,10);
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if(iRet < 0)
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{
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return iRet;
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}
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else if(iRet == 1)
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{
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lVal += NETRead(pSock,reply+lVal,6-lVal,-10);
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if(lVal >= 6)
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{
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return (int)lVal;
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}
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else
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{
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continue;
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}
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}
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}
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return TIMEOUT;
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}
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/*---------------------------------------------------------------------------*/
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static int GetSLSPos(pEVDriver self, float *fPos)
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{
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pSLSDriv pMe = NULL;
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int iRet, ival;
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double dval;
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char msg[6], reply[6];
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long lVal;
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assert(self);
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pMe = (pSLSDriv)self->pPrivate;
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assert(pMe);
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msg[0] = DSPREAD; /* read request */
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msg[1] = 0x92; /* address of mag current */
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iRet = communicateSLS(pMe->pSock,msg,reply);
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if(iRet < 0)
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{
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pMe->iError = iRet;
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return iRet;
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}
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memcpy(&ival,reply+2,4);
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dval = DSPfloat2double(ival);
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*fPos = (float)dval;
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pMe->iError = 0;
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return 1;
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}
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/*----------------------------------------------------------------------------*/
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static int SLSRun(pEVDriver self, float fVal)
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{
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pSLSDriv pMe = NULL;
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int iRet, ival,i;
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char msg[6], reply[6];
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assert(self);
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pMe = (pSLSDriv )self->pPrivate;
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assert(pMe);
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msg[0] = DSPWRITE;
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msg[1] = 0x90;
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ival = double2DSPfloat((double)fVal);
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memcpy(msg+2, &ival,4);
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iRet = communicateSLS(pMe->pSock,msg,reply);
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if(iRet <= 0)
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{
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pMe->iError = iRet;
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return iRet;
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}
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for(i = 1; i < 6; i++)
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{
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if(msg[i] != reply[i])
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{
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pMe->iError = BADECHO;
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return BADECHO;
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}
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}
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return 1;
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}
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/*--------------------------------------------------------------------------*/
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static int SLSError(pEVDriver self, int *iCode, char *error, int iErrLen)
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{
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pSLSDriv pMe = NULL;
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char *pPtr = NULL;
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int i1, i2;
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char pBueffel[132];
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assert(self);
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pMe = (pSLSDriv)self->pPrivate;
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assert(pMe);
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*iCode = pMe->iError;
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switch(*iCode)
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{
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case BADECHO:
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strncpy(error,"message sent and reply did not match", iErrLen);
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break;
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case NOTCONNECTED:
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strncpy(error,"Not connected to device", iErrLen);
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break;
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case TIMEOUT:
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strncpy(error,"Timeout waiting for response", iErrLen);
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break;
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default:
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getRS232Error(*iCode,error,iErrLen);
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break;
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}
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return 1;
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}
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/*-------------------------------------------------------------------------*/
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static int SLSSend(pEVDriver self, char *pCommand, char *pReply, int iLen)
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{
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strncpy(pReply,"PSI-DSP understands only binary, send disabled",iLen);
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return 0;
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}
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/*--------------------------------------------------------------------------*/
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static int SLSInit(pEVDriver self)
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{
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pSLSDriv pMe = NULL;
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int iRet, ival, i;
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char msg[6], reply[6];
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assert(self);
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pMe = (pSLSDriv )self->pPrivate;
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assert(pMe);
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pMe->pSock = NULL;
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pMe->pSock = NETConnect(pMe->pHost,pMe->iPort);
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if(!pMe->pSock)
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{
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return 0;
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}
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sleep(1);
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/*
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try to switch device on
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*/
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msg[0] = DSPWRITE;
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msg[1] = 0x31;
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ival = 1;
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memcpy(msg+2, &ival,4);
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iRet = communicateSLS(pMe->pSock,msg,reply);
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if(iRet <= 0)
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{
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pMe->iError = iRet;
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return iRet;
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}
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for(i = 1; i < 6; i++)
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{
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if(msg[i] != reply[i])
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{
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pMe->iError = BADECHO;
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return BADECHO;
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}
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}
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return iRet;
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}
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/*--------------------------------------------------------------------------*/
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static int SLSClose(pEVDriver self)
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{
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pSLSDriv pMe = NULL;
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int iRet;
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assert(self);
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pMe = (pSLSDriv )self->pPrivate;
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assert(pMe);
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NETClosePort(pMe->pSock);
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pMe->pSock = NULL;
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return 1;
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}
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/*---------------------------------------------------------------------------*/
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static int SLSFix(pEVDriver self, int iError)
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{
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pSLSDriv pMe = NULL;
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int iRet;
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assert(self);
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pMe = (pSLSDriv )self->pPrivate;
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assert(pMe);
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switch(iError)
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{
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case BADECHO:
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case TIMEOUT:
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return DEVREDO;
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default:
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SLSClose(self);
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iRet = SLSInit(self);
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if(iRet)
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{
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return DEVREDO;
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}
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else
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{
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return DEVFAULT;
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}
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break;
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}
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}
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/*--------------------------------------------------------------------------*/
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static int SLSHalt(pEVDriver *self)
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{
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assert(self);
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return 1;
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}
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/*------------------------------------------------------------------------*/
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void KillSLS(void *pData)
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{
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pSLSDriv pMe = NULL;
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pMe = (pSLSDriv)pData;
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assert(pMe);
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if(pMe->pHost)
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{
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free(pMe->pHost);
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}
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free(pMe);
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}
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/*------------------------------------------------------------------------*/
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pEVDriver CreateSLSDriv(int argc, char *argv[])
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{
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pEVDriver pNew = NULL;
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pSLSDriv pSim = NULL;
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/* check for arguments */
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if(argc < 2)
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{
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return NULL;
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}
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pNew = CreateEVDriver(argc,argv);
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pSim = (pSLSDriv)malloc(sizeof(SLSDriv));
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memset(pSim,0,sizeof(SLSDriv));
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if(!pNew || !pSim)
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{
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return NULL;
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}
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pNew->pPrivate = pSim;
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pNew->KillPrivate = KillSLS;
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pSim->pHost = strdup(argv[0]);
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pSim->iPort = atoi(argv[1]);
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/* initialise function pointers */
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pNew->SetValue = SLSRun;
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pNew->GetValue = GetSLSPos;
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pNew->Send = SLSSend;
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pNew->GetError = SLSError;
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pNew->TryFixIt = SLSFix;
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pNew->Init = SLSInit;
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pNew->Close = SLSClose;
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return pNew;
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}
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