- Added a user specific range test to the astrium driver for the POLDI

- Added speed parameter to phytron - Added new drivers for EL755 magnets and the PI DC-406 motor controller
2009-12-04 13:02:10 +00:00
parent 8cc5474334
commit f40de7ffc6
6 changed files with 429 additions and 3 deletions
--- a/tcl/pimotor.tcl
+++ b/tcl/pimotor.tcl
@@ -0,0 +1,156 @@
+#----------------------------------------------------
+# This is a scriptcontext motor driver for the 
+# prehistoric Physik Instrumente DC-406 DC motor 
+# controller.
+#
+# copyright: see file COPYRIGHT
+#
+# Scriptchains:
+#        - read       - readreply
+#        - write      - writerepy
+#        - sendstatus - statusreply - statuspos
+#        - speedread  - readreply
+#        - writespeed - speedreply
+#        - writenull  - speedreply
+#
+# Mark Koennecke, Neovember 2009, after the 
+#  C original from 1998
+#-----------------------------------------------------
+
+namespace eval pimotor {}
+#----------------------------------------------------
+proc pimotor::read {num} {
+  sct send [format "%1.1dTP" $num]
+  return readreply
+}
+#----------------------------------------------------
+proc pimotor::readreply {} {
+  set result [sct result]
+  if {[string first ? $result] >= 0} {
+    error $result
+  }
+  set val [string range $result 3 end]
+  sct update $val
+  return idle
+}
+#----------------------------------------------------
+proc pimotor::write {num name} {
+  set ival [expr int([sct target])]
+  sct send [format "%1.1dMA%10.10d{0}" $num $ival]
+  hupdate /sics/${name}/status run
+  return writereply
+}
+#----------------------------------------------------
+proc pimotor::writereply {} {
+# the DC-406 does not reply on this, so we have for sure a
+# timeout here which we ignore. We do nothing else, as we
+# need a little wait anyway to get the motor to start
+# before starting to check status.
+  wait 2
+  set con [sct controller]
+  $con queue /sics/${name}/status progress read
+  return idle
+}
+#-----------------------------------------------------
+proc pimotor::sendstatus {num} {
+  sct send [format "%1.1dTV" $num]
+  return statusreply
+}
+#------------------------------------------------------
+proc pimotor::statusreply {num} {
+  set result [sct result]
+  if {[string first ? $result] >= 0} {
+    sct update error
+    error $result
+  }
+  set val [string range $result 3 end]
+  if {abs($val) > 0} {
+    sct update run
+    [sct controller] queue sct progress read  
+  } else {
+    pimotor::read $num
+    return statuspos
+  }
+  return idle
+}
+#------------------------------------------------------
+proc pimotor::statuspos {name} {
+  set result [sct result]
+  if {[string first ? $result] >= 0} {
+    error $result
+  }
+  set val [string range $result 3 end]
+  hupdate /sics/${name} $val
+  return idle
+}
+#-------------------------------------------------------
+proc pimotor::readspeed {num} {
+  sct send [format "%1.1dTY" $num]
+  return readreply
+}
+#--------------------------------------------------------
+proc pimotor::writespeed {num} {
+  sct send [format "%1.1dSV%7.7d{0}" $num [sct target]]
+  return speedreply
+}
+#----------------------------------------------------
+proc pimotor::emptyreply {} {
+  return idle
+}
+#-----------------------------------------------------
+proc pimotor::writenull {controller num} {
+  $controller send [format "%1.1dDH{0}" $num]
+  return Done
+}
+#------------------------------------------------------
+proc pimotor::writeon {controller num} {
+  $controller send [format "%1.1dMN{0}" $num]
+  return Done
+}
+#------------------------------------------------------
+proc pimotor::halt {controller num} {
+  $controller send [format "%1.1dAB{0}" $num]
+  return Done
+}
+#------------------------------------------------------
+proc pimotor::makepimotor {name num sct lowlim upperlim} {
+    MakeSecMotor $name
+
+    hdel /sics/${name}/hardupperlim
+    hdel /sics/${name}/hardlowerlim
+    hfactory /sics/${name}/hardupperlim plain internal float
+    hfactory /sics/${name}/hardlowerlim plain internal float
+    $name hardlowerlim $lowlim
+    $name softlowerlim $lowlim
+    $name hardupperlim $upperlim
+    $name softupperlim $upperlim
+  
+    hsetprop /sics/${name}/hardposition read pimotor::read $num
+    hsetprop /sics/${name}/hardposition readreply pimotor::readreply 
+    $sct poll /sics/${name} 60
+    
+    hsetprop /sics/${name}/hardposition write pimotor::write $num $name
+    hsetprop /sics/${name}/hardposition writereply pimotor::writereply
+    $sct write /sics/${name}/hardposition
+    
+    hsetprop /sics/${name}/status read pimotor::sendstatus $num
+    hsetprop /sics/${name}/status statusreply pimotor::statusreply $num
+    hsetprop /sics/${name}/status statuspos pimotor::statuspos $name
+    $sct poll /sics/${name}/status 60
+    
+    hfactory /sics/${name}/speed plain user int
+    hsetprop /sics/${name}/speed read pimotor::speedread $num
+    hsetprop /sics/${name}/speed readreply pimotor::readreply
+    $sct poll  /sics/${name}/speed 120
+
+    hsetprop /sics/${name}/speed write pimotor::writespeed $num
+    hsetprop /sics/${name}/speed speedreply pimotor::speedreply
+    $sct write /sics/${name}/speed
+ 
+    $name makescriptfunc halt "pimotor::halt $sct $num" user
+    $name makescriptfunc on  "pimotor::writeon $sct $num" user
+    $name makescriptfunc home "pimotor::writenull $sct $num" user
+    
+    hupdate /sics/${name}/status idle
+    $sct queue /sics/${name}/hardposition progress read 
+}