sct_fermichopper.tcl
Refactored to enable creation master and slave chopper objects and added a mkChoppers command. r3749 | ffr | 2012-09-26 10:02:12 +1000 (Wed, 26 Sep 2012) | 4 lines
This commit is contained in:
Ferdi Franceschini
committed by
Douglas Clowes
Douglas Clowes
parent
b887636684
commit
99c3c397d3
@@ -1,249 +1,236 @@
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namespace eval ::scobj::chopper {
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namespace eval ::scobj::chopper {
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# MakeSICSObj disk_chopper SCT_OBJECT user int
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# MakeSICSObj disk_chopper SCT_OBJECT user int
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# sicslist setatt disk_chopper klass NXdisk_chopper
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# sicslist setatt disk_chopper klass NXdisk_chopper
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# sicslist setatt disk_chopper long_name disk_chopper
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# sicslist setatt disk_chopper long_name disk_chopper
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proc sndMBquery {rdScript cmd nextReq} {
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proc sndMBquery {rdScript cmd nextReq} {
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set chN [sct chopper]
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set chN [ lindex [sct P_chAddress] [sct P_chIndex] ]
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sct nextSndReq $nextReq
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sct nextSndReq $nextReq
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sct send "$chN:$cmd"
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sct send "$chN:$cmd"
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return $rdScript
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return $rdScript
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}
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}
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proc sndMBset {root cmd} {
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proc sndMBset {root cmd} {
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set val [sct target]
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set val [sct target]
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#TODO convert val to appropriate units, if [convfact] then val = val * [sct convfact]
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#TODO convert val to appropriate units, if [convfact] then val = val * [sct convfact]
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sct send "$cmd:$val"
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sct send "$cmd:$val"
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sct target 0
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sct target 0
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return RDSETREPLY
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return RDSETREPLY
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}
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proc rdStatus {root statnode fields} {
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set currCh [sct chopper]
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set chPath $root/ch$currCh/$statnode
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set oldval [hgetpropval $chPath oldval]
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set val [sct result]
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if {[string match "ASCERR:*" $val]} {
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sct geterror $val
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return idle
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}
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}
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if {$val != $oldval} {
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proc rdStatus {root statnode fields} {
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hsetprop $chPath oldval $val
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set currCh [ lindex [sct P_name] [sct P_chIndex] ]
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binary scan [binary format c $val] B* binNum
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set chPath $root/$currCh/$statnode
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set bitfield [split $binNum ""]
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set oldval [hgetpropval $chPath P_oldval]
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foreach n $fields b $bitfield {
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set val [sct result]
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hset $chPath/$n $b
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if {[string match "ASCERR:*" $val]} {
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}
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sct geterror $val
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}
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return [sct nextSndReq]
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}
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proc rdSysStatus {root nodes} {
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# Read status byte and set nodes for each bit
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set currCh [sct chopper]
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set chPath $root/ch$currCh/system_status
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set oldval [hgetpropval $chPath oldval]
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set val [sct result]
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if {[string match "ASCERR:*" $val]} {
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sct geterror $val
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return idle
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}
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if {$val != $oldval} {
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hsetprop $chPath oldval $val
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binary scan [binary format c $val] B* binNum
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set bitfield [split $binNum ""]
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binary scan [binary format c $oldval] B* oldbinNum
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set oldbitfield [split $oldbinNum ""]
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foreach n $nodes b $bitfield ob $oldbitfield {
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if {$b != $ob} {
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hset $chPath/$n $b
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}
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}
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}
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return [sct nextSndReq]
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}
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proc rdIntLkStatus {root nodes} {
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# Read status byte and set nodes for each bit
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set currCh [sct chopper]
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set chPath $root/ch$currCh/intlck_status
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set oldval [hgetpropval $chPath oldval]
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set val [sct result]
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if {[string match "ASCERR:*" $val]} {
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sct geterror $val
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return idle
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}
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if {$val != $oldval} {
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hsetprop $chPath oldval $val
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binary scan [binary format c $val] B* binNum
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set bitfield [split $binNum ""]
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binary scan [binary format c $oldval] B* oldbinNum
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set oldbitfield [split $oldbinNum ""]
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foreach n $nodes b $bitfield ob $oldbitfield {
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if {$b != $ob} {
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hset $chPath/$n $b
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}
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}
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}
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return [sct nextSndReq]
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}
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##
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# Reads a list of values in the result and assigns them to the nodes in the args list
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proc rdVal {root nodes} {
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set currCh [sct chopper]
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set values [sct result]
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set chPath $root/ch$currCh
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if {[string match "ASCERR:*" $values]} {
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sct geterror $values
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hset $chPath/device_error $values
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return idle
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}
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if {[hval $chPath/device_error] != ""} {
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hset $chPath/device_error ""
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}
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foreach n $nodes v $values {
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set oldval [hval $chPath/$n]
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# if {$n == "speed_setpt"} {
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# broadcast rdVal,$n $chPath/$n: oldval=$oldval, v=$v
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# }
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if {$v != $oldval} {
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# if {$n == "speed_setpt"} {
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# broadcast rdVal,$n: hset $chPath/$n $v
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# }
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hset $chPath/$n $v
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}
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}
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set nextReq [sct nextSndReq]
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if {$nextReq == "NXTCHOPPER"} {
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if {$currCh < [sct chMax] } {
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incr currCh
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sct chopper $currCh
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} else {
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sct chopper 1
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return idle
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return idle
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}
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}
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if {$val != $oldval} {
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sct update 1
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hsetprop $chPath P_oldval $val
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binary scan [binary format c $val] B* binNum
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set bitfield [split $binNum ""]
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foreach n $fields b $bitfield {
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hset $chPath/$n $b
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}
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}
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return [sct nextSndReq]
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}
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}
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return $nextReq
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}
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proc rdSetCmdReply {root chPath} {
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proc rdCoil {root node coil} {
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set reply [sct result]
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set chIndex [sct P_chIndex]
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if {[string match "ASCERR:*" $reply]} {
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set currCh [ lindex [sct P_name] $chIndex ]
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sct geterror $reply
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set val [sct result]
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hset $chPath/device_error $reply
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set cAddr [expr $coil - 1]
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set coilPath $root/$currCh/$node
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set oldval [hgetpropval $coilPath P_oldval]
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if {$val != $oldval} {
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hsetprop $coilPath P_oldval $val
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}
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return [sct nextSndReq]
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}
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##
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# Reads a list of values in the result and assigns them to the nodes in the args list
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proc rdVal {root nodes} {
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set chIndex [sct P_chIndex]
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set currCh [ lindex [sct P_name] $chIndex ]
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set values [sct result]
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set chPath $root/$currCh
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if {[string match "ASCERR:*" $values]} {
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sct geterror $values
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hset $chPath/device_error $values
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return idle
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}
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if {[hval $chPath/device_error] != ""} {
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hset $chPath/device_error ""
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}
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foreach n $nodes v $values {
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set oldval [hval $chPath/$n]
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if {$v != $oldval} {
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hset $chPath/$n $v
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}
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}
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set nextReq [sct nextSndReq]
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if {$nextReq == "NXTCHOPPER"} {
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incr chIndex
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if {$chIndex < [sct P_numChops] } {
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sct P_chIndex $chIndex
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} else {
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sct P_chIndex 0
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return idle
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}
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}
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return $nextReq
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}
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proc rdSetCmdReply {root chPath} {
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set reply [sct result]
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if {[string match "ASCERR:*" $reply]} {
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sct geterror $reply
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hset $chPath/device_error $reply
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return idle
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}
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if {[hval $chPath/device_error] != ""} {
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hset $chPath/device_error ""
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}
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sct_fermi queue $root progress read
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return idle
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return idle
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}
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}
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if {[hval $chPath/device_error] != ""} {
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hset $chPath/device_error ""
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}
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sct_fermi queue $root progress read
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return idle
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}
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# Create chopper control
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set scobjNS ::scobj::chopper
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set sim_mode false
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set pollrate 5
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MakeSICSObj fermi_chopper SCT_OBJECT user int
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sicslist setatt fermi_chopper klass NXfermi_chopper
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set fermiPath /sics/fermi_chopper
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::scobj::hinitprops fermi_chopper
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if {$sim_mode == "false"} {
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makesctcontroller sct_fermi tcpmodbus 137.157.202.213:502
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}
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hsetprop $fermiPath chopper 1
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set intlck_fields {test_mode cc_shutdown_req dsp_summ_shtdwn cooling_loss spd_sensor_loss ref_sig_loss over_temp vac_fail overspeed_or_brakefail cc_wd_fail ext_fault ups_fail emerg_stop pos_alarm osc_fail dsp_wd_fail}
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##
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# @brief Make fermi chopper driver
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set chMax 1
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#
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hsetprop $fermiPath chMax $chMax
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# @param nm_addr_list, list of chopper names and modbus addresses eg mkChoppers {mch 1 sch 2}
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for {set chN 1} {$chN <= $chMax} {incr chN} {
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proc mkChoppers {nm_addr_list} {
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set chname ch$chN
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set scobjNS ::scobj::chopper
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sicslist setatt fermi_chopper klass NXfermi_chopper
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set pollrate 5
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sicslist setatt fermi_chopper long_name fermi_chopper
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foreach {n a} $nm_addr_list {
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hfactory $fermiPath/$chname plain user float
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lappend chopperName $n
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set chPath $fermiPath/$chname
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lappend chAddress $a
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hfactory $chPath/device_error plain user text
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foreach field {
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system_status intlck_status rotation_speed
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phase_veto_count phase_nonveto_count phase_acc
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phase_rep phase_ok vetowin100ns
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vetowin50ns mode speed_setpt
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prop_gain int_gain phase_gain
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ref_delay ref_period sync_srce motdir idle_toggle
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} {
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hfactory $fermiPath/$chname/$field plain user float
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}
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hsetprop $chPath/system_status oldval "UNKNOWN"
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hsetprop $chPath/intlck_status oldval "UNKNOWN"
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foreach field {
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avc_on motdir phase_locked lev_complete alarm run up_to_speed ok
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} {
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hfactory $fermiPath/$chname/system_status/$field plain user int
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}
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foreach field $intlck_fields {
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hfactory $fermiPath/$chname/intlck_status/$field plain user int
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}
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hfactory $chPath/control plain user none
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hfactory $chPath/control/device_error plain user text
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foreach {n cmd} [subst -nocommands {
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set_vetowin100 "$chN:16:30:1:U32"
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set_vetowin50 "$chN:16:32:1:U32"
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set_rotspeed "$chN:16:1000:1:U32"
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set_prop_gain "$chN:16:1004:1:F32"
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set_int_gain "$chN:16:1006:1:F32"
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set_phase_gain "$chN:16:1008:1:F32"
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set_ref_delay "$chN:16:1010:1:U32"
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set_ref_period "$chN:16:1012:1:U32"
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set_sync_source "$chN:16:1014:1:U32"
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set_motor_dir "$chN:16:1016:1:U32"
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start "$chN:5:1"
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stop "$chN:5:2"
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idle_toggle "$chN:5:3"
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reset "$chN:5:4"
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}] {
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hfactory $chPath/control/$n plain user float
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hsetprop $chPath/control/$n write ${scobjNS}::sndMBset $chPath $cmd
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hsetprop $chPath/control/$n RDSETREPLY ${scobjNS}::rdSetCmdReply $fermiPath $chPath/control
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if {$sim_mode == "false"} {
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sct_fermi write $chPath/control/$n
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}
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}
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}
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set numChops [llength $chAddress]
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}
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# Each Req chains to a rdVal proc which chains to the next req
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MakeSICSObj fermi_chopper SCT_OBJECT
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# Add a next state property
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sicslist setatt fermi_chopper klass NXfermi_chopper
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#TODO Read idle_toggle status
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variable fermiPath
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hsetprop $fermiPath nextSndReq "UNKNOWN"
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set fermiPath /sics/fermi_chopper
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hsetprop $fermiPath read ${scobjNS}::sndMBquery "RDSYSSTAT" "3:10:1:U16" "INTLKREQ"
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::scobj::hinitprops fermi_chopper
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hsetprop $fermiPath "NXTCHOPPER" ${scobjNS}::sndMBquery "RDSYSSTAT" "3:10:1:U16" "INTLKREQ"
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set sim_mode false
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hsetprop $fermiPath "INTLKREQ" ${scobjNS}::sndMBquery "RDINTLKSTAT" "3:12:1:U16" "ROTSPDREQ"
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if {$sim_mode == "false"} {
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hsetprop $fermiPath "ROTSPDREQ" ${scobjNS}::sndMBquery "RDROTSPD" "3:14:1:U16" "VETOINF"
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makesctcontroller sct_fermi tcpmodbus 137.157.202.213:502
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hsetprop $fermiPath "VETOINF" ${scobjNS}::sndMBquery "RDVETOINF" "3:18:2:U32" "PHASEINF"
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}
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hsetprop $fermiPath "PHASEINF" ${scobjNS}::sndMBquery "RDPHASEINF" "3:24:3:F32" "VETO"
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hsetprop $fermiPath P_chIndex 0
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hsetprop $fermiPath "VETO" ${scobjNS}::sndMBquery "RDVETO" "3:30:3:U32" "ROTSPSET"
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set intlck_fields {test_mode cc_shutdown_req dsp_summ_shtdwn cooling_loss spd_sensor_loss ref_sig_loss over_temp vac_fail overspeed_or_breakfail cc_wd_fail ext_fault ups_fail emerg_stop pos_alarm osc_fail dsp_wd_fail}
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hsetprop $fermiPath "ROTSPSET" ${scobjNS}::sndMBquery "RDROTSPSET" "3:1000:1:U32" "GAINPHASE"
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hsetprop $fermiPath "GAINPHASE" ${scobjNS}::sndMBquery "RDGAINPHASE" "3:1004:3:F32" "SYNMOTDIR"
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hsetprop $fermiPath P_numChops $numChops
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hsetprop $fermiPath "SYNMOTDIR" ${scobjNS}::sndMBquery "RDSYNMOTDIR" "3:1010:4:U32" "IDLETOGGLE"
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hsetprop $fermiPath P_chAddress $chAddress
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hsetprop $fermiPath "IDLETOGGLE" ${scobjNS}::sndMBquery "RDIDLE" "1:3:1" "NXTCHOPPER"
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hsetprop $fermiPath P_name $chopperName
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variable fermiPath
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foreach {chname chN} $nm_addr_list {
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# set chname [lindex $chopperName [expr $chN - 1]]
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sicslist setatt fermi_chopper klass NXfermi_chopper
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sicslist setatt fermi_chopper long_name fermi_chopper
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hfactory $fermiPath/$chname plain user none
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set chPath $fermiPath/$chname
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hfactory $chPath/device_error plain user text
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foreach field {
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rotation_speed phase_veto_count phase_nonveto_count phase_acc phase_rep
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phase_ok vetowin100ns vetowin50ns mode speed_setpt
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prop_gain int_gain phase_gain ref_delay ref_period
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sync_srce motdir
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} {
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hfactory $fermiPath/$chname/$field plain user float
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}
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hfactory $fermiPath/$chname/idle_toggle plain user int
|
||||||
|
hsetprop $chPath/idle_toggle P_oldval "UNKNOWN"
|
||||||
|
|
||||||
|
hfactory $fermiPath/$chname/system_status plain user none
|
||||||
|
hsetprop $chPath/system_status P_oldval "UNKNOWN"
|
||||||
|
foreach field {
|
||||||
|
avc_on motdir phase_locked lev_complete alarm run up_to_speed ok
|
||||||
|
} {
|
||||||
|
hfactory $fermiPath/$chname/system_status/$field plain user int
|
||||||
|
}
|
||||||
|
|
||||||
|
hfactory $fermiPath/$chname/intlck_status plain user none
|
||||||
|
hsetprop $chPath/intlck_status P_oldval "UNKNOWN"
|
||||||
|
foreach field $intlck_fields {
|
||||||
|
hfactory $fermiPath/$chname/intlck_status/$field plain user int
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
|
hfactory $chPath/control plain user none
|
||||||
|
hfactory $chPath/control/device_error plain user text
|
||||||
|
|
||||||
|
foreach {n cmd} [subst -nocommands {
|
||||||
|
set_vetowin100 "$chN:16:30:1:U32"
|
||||||
|
set_vetowin50 "$chN:16:32:1:U32"
|
||||||
|
set_rotspeed "$chN:16:1000:1:U32"
|
||||||
|
set_prop_gain "$chN:16:1004:1:F32"
|
||||||
|
set_int_gain "$chN:16:1006:1:F32"
|
||||||
|
set_phase_gain "$chN:16:1008:1:F32"
|
||||||
|
set_ref_delay "$chN:16:1010:1:U32"
|
||||||
|
set_ref_period "$chN:16:1012:1:U32"
|
||||||
|
set_sync_source "$chN:16:1014:1:U32"
|
||||||
|
set_motor_dir "$chN:16:1016:1:U32"
|
||||||
|
start "$chN:5:1"
|
||||||
|
stop "$chN:5:2"
|
||||||
|
idle_toggle "$chN:5:3"
|
||||||
|
reset "$chN:5:4"
|
||||||
|
}] {
|
||||||
|
hfactory $chPath/control/$n plain user float
|
||||||
|
hsetprop $chPath/control/$n write ${scobjNS}::sndMBset $chPath $cmd
|
||||||
|
hsetprop $chPath/control/$n RDSETREPLY ${scobjNS}::rdSetCmdReply $fermiPath $chPath/control
|
||||||
|
if {$sim_mode == "false"} {
|
||||||
|
sct_fermi write $chPath/control/$n
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
# Each Req chains to a rdVal proc which chains to the next req
|
||||||
|
# Add a next state property
|
||||||
|
#TODO Read idle_toggle status
|
||||||
|
hsetprop $fermiPath nextSndReq "UNKNOWN"
|
||||||
|
hsetprop $fermiPath read ${scobjNS}::sndMBquery "RDSYSSTAT" "3:10:1:U16" "INTLKREQ"
|
||||||
|
hsetprop $fermiPath "NXTCHOPPER" ${scobjNS}::sndMBquery "RDSYSSTAT" "3:10:1:U16" "INTLKREQ"
|
||||||
|
hsetprop $fermiPath "INTLKREQ" ${scobjNS}::sndMBquery "RDINTLKSTAT" "3:12:1:U16" "IDLETOGGLE"
|
||||||
|
hsetprop $fermiPath "IDLETOGGLE" ${scobjNS}::sndMBquery "RDIDLE" "1:3:1" "VETOINF"
|
||||||
|
hsetprop $fermiPath "VETOINF" ${scobjNS}::sndMBquery "RDVETOINF" "3:18:2:U32" "PHASEINF"
|
||||||
|
hsetprop $fermiPath "PHASEINF" ${scobjNS}::sndMBquery "RDPHASEINF" "3:24:3:F32" "VETO"
|
||||||
|
hsetprop $fermiPath "VETO" ${scobjNS}::sndMBquery "RDVETO" "3:30:3:U32" "ROTSPSET"
|
||||||
|
hsetprop $fermiPath "ROTSPSET" ${scobjNS}::sndMBquery "RDROTSPSET" "3:1000:1:U32" "GAINPHASE"
|
||||||
|
hsetprop $fermiPath "GAINPHASE" ${scobjNS}::sndMBquery "RDGAINPHASE" "3:1004:3:F32" "SYNMOTDIR"
|
||||||
|
hsetprop $fermiPath "SYNMOTDIR" ${scobjNS}::sndMBquery "RDSYNMOTDIR" "3:1010:4:U32" "ROTSPDREQ"
|
||||||
|
hsetprop $fermiPath "ROTSPDREQ" ${scobjNS}::sndMBquery "RDROTSPD" "3:14:1:U16" "NXTCHOPPER"
|
||||||
|
|
||||||
|
|
||||||
hsetprop $fermiPath "RDSYSSTAT" ${scobjNS}::rdStatus $fermiPath system_status {avc_on motdir phase_locked lev_complete alarm run up_to_speed ok}
|
hsetprop $fermiPath "RDSYSSTAT" ${scobjNS}::rdStatus $fermiPath system_status {avc_on motdir phase_locked lev_complete alarm run up_to_speed ok}
|
||||||
hsetprop $fermiPath "RDINTLKSTAT" ${scobjNS}::rdStatus $fermiPath intlck_status $intlck_fields
|
hsetprop $fermiPath "RDINTLKSTAT" ${scobjNS}::rdStatus $fermiPath intlck_status $intlck_fields
|
||||||
hsetprop $fermiPath "RDROTSPD" ${scobjNS}::rdVal $fermiPath rotation_speed
|
hsetprop $fermiPath "RDROTSPD" ${scobjNS}::rdVal $fermiPath rotation_speed
|
||||||
hsetprop $fermiPath "RDVETOINF" ${scobjNS}::rdVal $fermiPath {phase_veto_count phase_nonveto_count}
|
hsetprop $fermiPath "RDIDLE" ${scobjNS}::rdCoil $fermiPath idle_toggle 3
|
||||||
hsetprop $fermiPath "RDPHASEINF" ${scobjNS}::rdVal $fermiPath {phase_acc phase_rep phase_ok}
|
hsetprop $fermiPath "RDPHASEINF" ${scobjNS}::rdVal $fermiPath {phase_acc phase_rep phase_ok}
|
||||||
hsetprop $fermiPath "RDVETO" ${scobjNS}::rdVal $fermiPath {vetowin100ns vetowin50ns mode}
|
hsetprop $fermiPath "RDVETO" ${scobjNS}::rdVal $fermiPath {vetowin100ns vetowin50ns mode}
|
||||||
hsetprop $fermiPath "RDROTSPSET" ${scobjNS}::rdVal $fermiPath speed_setpt
|
hsetprop $fermiPath "RDROTSPSET" ${scobjNS}::rdVal $fermiPath speed_setpt
|
||||||
hsetprop $fermiPath "RDGAINPHASE" ${scobjNS}::rdVal $fermiPath {prop_gain int_gain phase_gain}
|
hsetprop $fermiPath "RDGAINPHASE" ${scobjNS}::rdVal $fermiPath {prop_gain int_gain phase_gain}
|
||||||
hsetprop $fermiPath "RDSYNMOTDIR" ${scobjNS}::rdVal $fermiPath {ref_delay ref_period sync_srce motdir}
|
hsetprop $fermiPath "RDSYNMOTDIR" ${scobjNS}::rdVal $fermiPath {ref_delay ref_period sync_srce motdir}
|
||||||
hsetprop $fermiPath "RDIDLE" ${scobjNS}::rdVal $fermiPath idle_toggle
|
hsetprop $fermiPath "RDVETOINF" ${scobjNS}::rdVal $fermiPath {phase_veto_count phase_nonveto_count}
|
||||||
|
|
||||||
|
|
||||||
if {$sim_mode == "false"} {
|
if {$sim_mode == "false"} {
|
||||||
sct_fermi poll $fermiPath $pollrate
|
sct_fermi poll $fermiPath $pollrate
|
||||||
sct_fermi queue $fermiPath progress read
|
sct_fermi queue $fermiPath progress read
|
||||||
|
}
|
||||||
|
return $fermiPath
|
||||||
}
|
}
|
||||||
|
namespace export mkChoppers
|
||||||
}
|
}
|
||||||
|
namespace import ::scobj::chopper::*
|
||||||
|
# mkChoppers { mch 1 sch 2 }
|
||||||
|
|
||||||
|
|
||||||
|
|||||||
Reference in New Issue
Block a user