- Improvements to the chooper driver for the SANS2 chopper

- Fixes to the new counter and motor drivers
- Updated Linux makefiles to linux_def

dornier2.c

@@ -41,6 +41,8 @@ typedef struct __VelSelDriv *pVelSelDriv;
 /*--------- special Dornier conditions*/
 #define STARTED    -88
 #define HALTREQ    -77
+#define INVALIDSTATUS -7000
+#define TARGETREJECTED -7001
 
 /*---------- DORNIER status modes */
 #define STATSEND 1
@@ -58,6 +60,7 @@ typedef struct __VelSelDriv *pVelSelDriv;
                 DornierStatus lastStatus;
                 int minRPM; /* the minimum control speed of the thing*/
                 int haltCount;
+                int rejectCount;
                 } Dornier, *pDornier;
 /*------------------------------------------------------------------*/
 static int requestDornierStatus(pDornier pDorn){
@@ -81,10 +84,24 @@ static int readAndInterpretStatus(pDornier pDorn, DornierStatus *DStatus){
     pDorn->iLastError = status;
     return 0;
   }
+  if(strlen(reply) < 80){
+    pDorn->iLastError = INVALIDSTATUS;
+    pDorn->statusMode = STATSEND;
+    return 0;
+  }
 
   DecodeNewDornierStatus(reply,DStatus);
   return 1;
 }
+/*-----------------------------------------------------------------*/
+static int takeControl(pDornier pDorn){
+  int iRet;
+  char pError[80];
+  setRS232ReplyTerminator(pDorn->controller,"\\");
+  iRet = transactRS232(pDorn->controller,"REM\n",4,pError,79);
+  setRS232ReplyTerminator(pDorn->controller,"\r\n");
+  return iRet;
+}
 /*--------------------------------------------------------------------*/
   static int GetDornierPos(pVelSelDriv self, float *fPos)
   {
@@ -146,32 +163,41 @@ static int readAndInterpretStatus(pDornier pDorn, DornierStatus *DStatus){
 	 less then minRPM, means halt in this case.
 	 Accept this only after three times, see code in GetError as well.
       */
-      if(fVal < pDorn->minRPM - self->fTolerance)
+      if(fVal < 0){
+	fVal = - fVal;
+      }
+      memset(pCommand,0,50);
+      pDorn->rejectCount = 0;
+      if(fVal < pDorn->minRPM - 3*self->fTolerance)
       {
 	if(pDorn->haltCount < 3){
 	  pDorn->iLastError = HALTREQ;
 	  return 0;
 	}
 	strcpy(pCommand,"HAL\n");
+	setRS232ReplyTerminator(pDorn->controller,"\\");
       } else {
 	if(pDorn->lastStatus.cur_rpm < pDorn->minRPM){
 	  strcpy(pCommand,"SST\n");
+	  setRS232ReplyTerminator(pDorn->controller,"\\");
 	  startFlag = 1;
 	  pDorn->fTarget = pDorn->minRPM;
 	} else {
-	  snprintf(pCommand,49,"SDR %5u\n",(int)nintf(fVal));
+	  sprintf(pCommand,"SDR %d\n",(int)fVal);
-          pDorn->fTarget = fVal;
 	}
       }
       
-      setRS232ReplyTerminator(pDorn->controller,"\\");
+      pDorn->fTarget = fVal;
       iRet = transactRS232(pDorn->controller,pCommand,strlen(pCommand),
 			   pAnswer,49);
       setRS232ReplyTerminator(pDorn->controller,"\r\n");
       if(iRet != 1)
       {
-         pDorn->iLastError = iRet;
+	if(iRet != INCOMPLETE){
-         return 0;
+	  
+	  pDorn->iLastError = iRet;
+	  return 0;
+	} 
       }
       pDorn->statusMode = STATSEND;
       if(startFlag){
@@ -201,6 +227,12 @@ static int DornierError(pVelSelDriv self, int *iCode,
 		"Started selector, standby and check manually when ready",
 		iErrLen);
 	break;
+      case INVALIDSTATUS:
+	strncpy(error,"Received invalid status reply",iErrLen);
+	break;
+      case TARGETREJECTED:
+	strncpy(error,"VS in local mode or target out of range", iErrLen);
+	break;
       default:
 	getRS232Error(pDorn->iLastError,error,iErrLen);
 	break;
@@ -210,7 +242,7 @@ static int DornierError(pVelSelDriv self, int *iCode,
 /*-------------------------------------------------------------------*/
 static int DornierFixIt(pVelSelDriv self, int iCode){
       pDornier pDorn = NULL;
-      int status;
+      int status, oldReject;
 
       assert(self);
       pDorn = (pDornier)self->pPrivate;    
@@ -226,8 +258,23 @@ static int DornierFixIt(pVelSelDriv self, int iCode){
 	break;
       case TIMEOUT:
       case INCOMPLETE:
+      case INVALIDSTATUS:
 	return VELOREDO;
 	break;
+      case TARGETREJECTED:
+        if(pDorn->rejectCount >= 1){
+	  pDorn->rejectCount = 0;
+	  return VELOFAIL;
+	}
+	oldReject = pDorn->rejectCount;
+	status = takeControl(pDorn);
+	if(status == 1){
+	  DornierRun(self,pDorn->fTarget);
+	  pDorn->rejectCount = oldReject + 1;
+	  return VELOREDO;
+	}
+	return VELOFAIL;
+	break;
       default:
 	return VELOFAIL;
       }
@@ -262,6 +309,21 @@ static int evaluateStatus(pVelSelDriv self, int *iCode){
   }
 
   *iCode = ROTMOVE;
+
+  /*
+    sometimes the velocity selector does not accept a new target:
+    Two reasons: a) it is local, b) out of range
+    Check for this here as it is the only place appropriate.
+  */
+  fDelta = sStatus.nom_rpm - pDorn->fTarget;
+  if(fDelta < 0){
+    fDelta = - fDelta;
+  }
+  if(fDelta > self->fTolerance){
+    pDorn->iLastError = TARGETREJECTED;
+    return VSFAIL;
+  }
+
   /*
     This code considers the velocity selector arrived if it reads 
     four times a difference between requested spped and actual speed
@@ -433,12 +495,11 @@ static int DornierStatNew(pVelSelDriv self, int *iCode, float *fCur){
   static void DornierKill(void *pData)
   {
      pDornier pDorn = NULL;
-     char pAns[10];
      
      pDorn = (pDornier)pData;
      assert(pDorn);
      
-     transactRS232(pDorn->controller,"TTY\n",4,pAns,10);
+     writeRS232(pDorn->controller,"TTY\n",4);
      KillRS232(pDorn->controller);
      free(pDorn);
   }
@@ -460,15 +521,13 @@ static int DornierStatNew(pVelSelDriv self, int *iCode, float *fCur){
       }      
       setRS232SendTerminator(pDorn->controller,"\n");
       setRS232Timeout(pDorn->controller,pDorn->iTimeOut);
-      setRS232Debug(pDorn->controller,1);
+      setRS232Debug(pDorn->controller,0);
 
       /* 
 	 tell him that we want control.
 	 Funny enough no <cr> or <nl> is sent in the reply to this.
       */
-      setRS232ReplyTerminator(pDorn->controller,"\\");
+      iRet = takeControl(pDorn);
-      iRet = transactRS232(pDorn->controller,"REM\n",4,pError,79);
-      setRS232ReplyTerminator(pDorn->controller,"\r\n");
       if(iRet != 1)
       {
         sprintf(pBueffel,
@@ -480,11 +539,6 @@ static int DornierStatNew(pVelSelDriv self, int *iCode, float *fCur){
 	check which status the velo is in
       */
       pDorn->statusMode = STATSEND;
-      GetDornierPos(self,&fRot);
-      if(fRot < 0){
-	GetDornierPos(self,&fRot);
-      }
-      
       return 1;   
   }    
 /*-------------------------------------------------------------------------*/

el734hp.c

@@ -132,7 +132,7 @@ static int EL734Run(void *pData,float fValue){
   assert(self);
 
   self->oredMsr = 0;
-  snprintf(pCommand,79,"p %d %3.f\r",self->iMotor,fValue);
+  snprintf(pCommand,79,"p %d %.3f\r",self->iMotor,fValue);
   status = transactRS232(self->controller,pCommand,strlen(pCommand),
 			 pReply,79);
   if(status != 1){

el737hpdriv.c

@@ -283,7 +283,7 @@ static int EL737Start(struct __COUNTER *self){
 
   fixMode(pPriv);
   if(self->eMode == ePreset){
-    snprintf(pCommand,49,"MP %d\r",(int)nintf(self->fPreset));
+    snprintf(pCommand,49,"MP %d\r",(int)self->fPreset);
   } else {
     snprintf(pCommand,49,"TP %.2f\r", self->fPreset);
   }

hardsup/makefile_linux

@@ -5,9 +5,8 @@
 # Mark Koennecke, November 1996
 # Markus Zolliker, March 2003
 #--------------------------------------------------------------------------
-# the following line only for fortified version
+
-#DFORTIFY=-DFORTIFY
+include ../../linux_def
-#==========================================================================
 
 CC       = gcc
 CFLAGS   = -g -DLINUX $(DFORTIFY) -I$(SRC). -I.. -I../..

makefile_linux

@@ -5,16 +5,13 @@
 # Mark Koennecke 1996-2001
 # Markus Zolliker, March 2003
 #==========================================================================
-# the following lines only for fortified version
+
-#DFORTIFY=-DFORTIFY
+include ../linux_def
-#FORTIFYOBJ=strdup.o fortify.o
-#==========================================================================
 
 CC       = gcc
 CFLAGS = -I$(HDFROOT)/include -DHDF4 -DHDF5 $(NI) -Ihardsup \
        -I../ -fwritable-strings -DCYGNUS -DNONINTF -g $(DFORTIFY)
 
-HDFROOT=/afs/psi.ch/project/sinq/linux
 EXTRA=nintf.o
 
 include make_gen

psi.c

@@ -160,7 +160,7 @@ static pMotor CreatePsiMotor(SConnection *pCon, int argc, char *argv[]){
       return NULL; 
     }
   } else if(strcmp(argv[1],"ecb") == 0){
-    pDriver = (MotorDriver *)CreateECBMotor(pCon,argc-1,&argv[2]);
+    pDriver = (MotorDriver *)CreateECBMotor(pCon,argc-2,&argv[2]);
     if(!pDriver){
       return NULL;
     }
@@ -198,8 +198,8 @@ static pCounterDriver CreatePsiCounterDriver(SConnection *pCon,
 	      "ERROR: insufficient no of arguments to create ECB counter",
 	      eError);
       return NULL;
-      pNew = MakeECBCounter(argv[3]);
     }
+    pNew = MakeECBCounter(argv[3]);
   }
   return pNew;
 }

tecs/makefile_linux

@@ -4,10 +4,8 @@
 #
 # Markus Zolliker, March 2003
 #--------------------------------------------------------------------------
-# the following lines only for fortified version
+
-DFORTIFY=-DFORTIFY -I$(SRC)..
+include ../../linux_def
-FORTIFYOBJ=../strdup.o ../fortify.o
-#==========================================================================
 
 SICST=..
 SICS=$(SRC)..