287 lines
9.1 KiB
Plaintext
287 lines
9.1 KiB
Plaintext
#
|
|
# Template driver for the Knauer BlueShadow Pump 40P
|
|
# vim: ts=8 sts=2 sw=2 expandtab autoindent smartindent nocindent
|
|
#
|
|
driver knauer_pump = {
|
|
debug_threshold = 0;
|
|
vendor = knauer; device = pump40p; protocol = knauer_ap;
|
|
class = environment;
|
|
simulation_group = environment_simulation
|
|
#
|
|
group dummy = {
|
|
type = text; readable = 1; data = false; control = false; nxsave = false;
|
|
var status = { read_command = 'STATUS?'; read_function = read_status; }
|
|
var glp = { read_command = 'GLP?'; read_function = read_glp; }
|
|
}
|
|
|
|
group volume = {
|
|
type = float;
|
|
property 'units' = 'mL';
|
|
var sensor = {
|
|
readable = 1;
|
|
read_command = ' ';
|
|
fetch_function = volume_fetch;
|
|
#checkrange_function = volume_reject;
|
|
}
|
|
var setpoint = {
|
|
writeable = 1;
|
|
write_command = ' ';
|
|
write_function = volume_write;
|
|
driveable = volume/sensor;
|
|
checkstatus_function = volume_checkstatus;
|
|
halt_function = volume_halt;
|
|
lowerlimit = 0; upperlimit = 100; tolerance = 0.01;
|
|
readable = 1;
|
|
read_command = ' ';
|
|
fetch_function = volume_checkpumping;
|
|
}
|
|
}
|
|
group ratios = {
|
|
type = text;
|
|
property 'units' = 'percent';
|
|
var sensor = {
|
|
readable = 1; read_command = ' '; fetch_function = ratios_fetch;
|
|
}
|
|
var setpoint = {
|
|
writeable = 1; write_command = ' '; write_function = ratios_write; checkrange_function = ratios_check;
|
|
}
|
|
}
|
|
group flow = {
|
|
type = float;
|
|
property 'units' = 'mL/min';
|
|
var sensor = {
|
|
readable = 1; read_command = ' '; fetch_function = flow_fetch;
|
|
}
|
|
var setpoint = {
|
|
writeable = 1; write_command = ' '; write_function = flow_write;
|
|
lowerlimit = 0; upperlimit = 10;
|
|
}
|
|
}
|
|
|
|
group stuff = {
|
|
readable = 60;
|
|
type = text;
|
|
var an_out = { read_command = 'AN_OUT?'; }
|
|
var boardinfo = { read_command = 'BOARDINFO?'; }
|
|
var config = { read_command = 'CONFIG?'; }
|
|
var cprofinfo = { read_command = 'CPROFINFO?'; }
|
|
var dout = { read_command = 'DOUT?'; }
|
|
var error = { read_command = 'ERROR?'; }
|
|
var errors = { read_command = 'ERRORS?'; }
|
|
var flushpmp = { read_command = 'FLUSHPMP?'; }
|
|
var head = { read_command = 'HEAD?'; }
|
|
var head_par = { read_command = 'HEAD_PAR?'; }
|
|
var identify = { read_command = 'IDENTIFY?'; }
|
|
var lpg = { read_command = 'LPG?'; }
|
|
var oem = { read_command = 'OEM?'; }
|
|
var opt = { read_command = 'OPT?'; }
|
|
var plim = { read_command = 'PLIM?'; }
|
|
var pressure = { read_command = 'PRESSURE?'; }
|
|
var prfastacq = { read_command = 'PRFASTACQ?'; }
|
|
var purge = { read_command = 'PURGE?'; }
|
|
var remote = { read_command = 'REMOTE?'; }
|
|
var rfid = { read_command = 'RFID?'; }
|
|
var service = { read_command = 'SERVICE?'; }
|
|
var sysinfo = { read_command = 'SYSINFO?'; }
|
|
var 'units' = { read_command = 'UNITS?'; }
|
|
var valves = { read_command = 'VALVES?'; }
|
|
}
|
|
group prog = {
|
|
readable = 30;
|
|
type = text;
|
|
var line_01 = { read_command = "TT_GET:1,1"; }
|
|
var line_02 = { read_command = "TT_GET:1,2"; }
|
|
var line_03 = { read_command = "TT_GET:1,3"; }
|
|
var line_04 = { read_command = "TT_GET:1,4"; }
|
|
var line_05 = { read_command = "TT_GET:1,5"; }
|
|
}
|
|
group glp = {
|
|
type = text;
|
|
readable = 1;
|
|
fetch_function = fetch_from_glp;
|
|
var board_time = { read_command = '0'; }
|
|
var motor_time = { read_command = '1'; }
|
|
var head_count = { read_command = '3'; }
|
|
var head_time = { read_command = '4'; }
|
|
var head_volm = { read_command = '5'; }
|
|
var head_voln = { read_command = '6'; }
|
|
var head_pwrhi = { read_command = '7'; }
|
|
var head_pwrlo = { read_command = '8'; }
|
|
var pump_revs = { read_command = '9'; }
|
|
var pump_volm = { read_command = '10'; }
|
|
var pump_voln = { read_command = '11'; }
|
|
var pump_pwrhi = { read_command = '12'; }
|
|
var pump_pwrlo = { read_command = '13'; }
|
|
}
|
|
group status = {
|
|
type = text;
|
|
readable = 1;
|
|
fetch_function = fetch_from_status;
|
|
var state = { read_command = '1'; }
|
|
var cur_error = { read_command = '2'; }
|
|
var cur_run_time = { read_command = '3'; }
|
|
var flow_rate = { read_command = '4'; }
|
|
var lpg_0 = { read_command = '5'; }
|
|
var lpg_1 = { read_command = '6'; }
|
|
var lpg_2 = { read_command = '7'; }
|
|
var lpg_3 = { read_command = '8'; }
|
|
var evt_0 = { read_command = '9'; }
|
|
var evt_1 = { read_command = '10'; }
|
|
var evt_2 = { read_command = '11'; }
|
|
var evt_3 = { read_command = '12'; }
|
|
var evt_4 = { read_command = '13'; }
|
|
var evt_5 = { read_command = '14'; }
|
|
var evt_6 = { read_command = '15'; }
|
|
var evt_7 = { read_command = '16'; }
|
|
var cur_pres = { read_command = '17'; }
|
|
var start_in = { read_command = '18'; }
|
|
var error_in = { read_command = '19'; }
|
|
}
|
|
|
|
code fetch_from_glp = {%%
|
|
set index ${cmd_str}
|
|
set data [hgetpropval ${tc_root}/dummy/glp real_data]
|
|
set dlist [split ${data} ","]
|
|
sct result [lindex ${dlist} ${index}]
|
|
set cmd "@@NOSEND@@"
|
|
%%}
|
|
|
|
code fetch_from_status = {%%
|
|
set index ${cmd_str}
|
|
set data [hgetpropval ${tc_root}/dummy/status real_data]
|
|
set dlist [split ${data} ","]
|
|
sct result [lindex ${dlist} ${index}]
|
|
set cmd "@@NOSEND@@"
|
|
%%}
|
|
|
|
code read_glp = {%%
|
|
set dlist [split [lindex [split ${data} ":"] 1] ","]
|
|
sct real_data "[join [lrange ${dlist} 0 end] ,]"
|
|
set data "Hidden in real_data property"
|
|
%%}
|
|
code read_status = {%%
|
|
set dlist [split [lindex [split ${data} ":"] 1] ","]
|
|
sct real_data "[join [lrange ${dlist} 0 end] ,]"
|
|
set data "Hidden in real_data property"
|
|
%%}
|
|
|
|
code halt = {%%
|
|
set ratios [hval ${tc_root}/ratios/setpoint]
|
|
set ratios [join [split ${ratios} /] ,]
|
|
set cmd "RAMP:0,0,${ratios},0,0,0,0,0,0,0,0,2"
|
|
%%}
|
|
|
|
code flow_fetch = {%%
|
|
set data [hgetpropval ${tc_root}/dummy/status real_data]
|
|
set dlist [split ${data} ","]
|
|
set flow [lindex ${dlist} 4]
|
|
sct result [expr {0.001 * ${flow}}]
|
|
set cmd "@@NOSEND@@"
|
|
%%}
|
|
code flow_write = {%%
|
|
set data [sct target]
|
|
set cmd "@@NOSEND@@"
|
|
set nextState idle
|
|
if { ${data} != [sct oldval] } {
|
|
debug_log ${tc_root} 1 "[sct] changed to new:${data}, from old:[sct oldval]"
|
|
sct oldval ${data}
|
|
sct update ${data}
|
|
sct utime readtime
|
|
}
|
|
%%}
|
|
|
|
code ratios_check = {%%
|
|
set ratios [split ${setpoint} /]
|
|
if { [llength ${ratios}] != 4 } {
|
|
sct geterror "${setpoint} has [llength ${ratios}] components, needs 4"
|
|
error [sct geterror]
|
|
}
|
|
set sum [expr [lindex ${ratios} 0] + [lindex ${ratios} 1] + [lindex ${ratios} 2] + [lindex ${ratios} 3]]
|
|
if { ${sum} != 100 } {
|
|
sct geterror "sum is ${sum}, must be 100"
|
|
error [sct geterror]
|
|
}
|
|
%%}
|
|
|
|
code ratios_fetch = {%%
|
|
set data [hgetpropval ${tc_root}/dummy/status real_data]
|
|
set dlist [split ${data} ","]
|
|
set ratios "[lindex ${dlist} 5]/[lindex ${dlist} 6]/[lindex ${dlist} 7]/[lindex ${dlist} 8]"
|
|
sct result ${ratios}
|
|
set cmd "@@NOSEND@@"
|
|
%%}
|
|
code ratios_write = {%%
|
|
set data [sct target]
|
|
set cmd "@@NOSEND@@"
|
|
set nextState idle
|
|
if { ${data} != [sct oldval] } {
|
|
debug_log ${tc_root} 1 "[sct] changed to new:${data}, from old:[sct oldval]"
|
|
sct oldval ${data}
|
|
sct update ${data}
|
|
sct utime readtime
|
|
}
|
|
%%}
|
|
|
|
code volume_fetch = {%%
|
|
set data [hgetpropval ${tc_root}/dummy/glp real_data]
|
|
set dlist [split ${data} ","]
|
|
if { [llength ${dlist}] > 11 } {
|
|
set pump_volm [lindex ${dlist} 10]
|
|
set pump_voln [lindex ${dlist} 11]
|
|
set volume [expr {${pump_volm} + 0.000001 * ${pump_voln}}]
|
|
} else {
|
|
set volume 0.0
|
|
}
|
|
sct raw_volume ${volume}
|
|
if { [hpropexists [sct] base_volume] } {
|
|
set volume [expr {${volume} - [sct base_volume]}]
|
|
} else {
|
|
sct base_volume [sct raw_volume]
|
|
}
|
|
sct result ${volume}
|
|
set cmd "@@NOSEND@@"
|
|
%%}
|
|
code volume_write = {%%
|
|
hsetprop ${tc_root}/[sct driveable] base_volume [hgetpropval ${tc_root}/[sct driveable] raw_volume]
|
|
hset ${tc_root}/[sct driveable] 0.0
|
|
set flow [expr {int(1000.0 * [hval ${tc_root}/flow/setpoint])}]
|
|
set ratios [hval ${tc_root}/ratios/setpoint]
|
|
set ratios [join [split ${ratios} /] ,]
|
|
set cmd "RAMP:0,${flow},${ratios},0,0,0,0,0,0,0,0,3"
|
|
sct pumping 1
|
|
%%}
|
|
|
|
code volume_checkpumping = {%%
|
|
set cmd "@@NOSEND@@"
|
|
set nextState idle
|
|
if { [hpropexists [sct] pumping] && [sct pumping] } {
|
|
if { [hpropexists [sct] driving] && [sct driving] } {
|
|
volume_checkstatus "${tc_root}"
|
|
}
|
|
set sp "[sct target]"
|
|
set pv "[hval ${tc_root}/[sct driveable]]"
|
|
if { (${sp} - ${pv}) <= [sct tolerance] } {
|
|
set flow 0
|
|
set ratios [hval ${tc_root}/ratios/setpoint]
|
|
set ratios [join [split ${ratios} /] ,]
|
|
set cmd "RAMP:0,${flow},${ratios},0,0,0,0,0,0,0,0,2"
|
|
set nextState noResponse
|
|
sct pumping 0
|
|
}
|
|
}
|
|
%%}
|
|
|
|
code volume_halt = {%%
|
|
set flow 0
|
|
set ratios [hval ${tc_root}/ratios/setpoint]
|
|
set ratios [join [split ${ratios} /] ,]
|
|
set cmd "RAMP:0,${flow},${ratios},0,0,0,0,0,0,0,0,2"
|
|
sct send ${cmd}
|
|
%%}
|
|
|
|
code volume_reject = {%%
|
|
sct geterror "cannot use hset on [sct]"
|
|
error "[sct geterror]"
|
|
%%}
|
|
}
|