linse/sicspsi
0
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

- Improvements to the chooper driver for the SANS2 chopper

Browse Source 
- Fixes to the new counter and motor drivers
- Updated Linux makefiles to linux_def
This commit is contained in:
cvs
2003-07-14 11:56:55 +00:00
parent 3a45c3051d
commit 0e420a12f7
7 changed files with 83 additions and 35 deletions
Download Patch File Download Diff File Expand all files Collapse all files

86
dornier2.c
View File

@ -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)
{
@ -146,33 +163,42 @@ 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));
pDorn->fTarget = fVal;
sprintf(pCommand,"SDR %d\n",(int)fVal);
}
}
setRS232ReplyTerminator(pDorn->controller,"\\");
pDorn->fTarget = fVal;
iRet = transactRS232(pDorn->controller,pCommand,strlen(pCommand),
pAnswer,49);
setRS232ReplyTerminator(pDorn->controller,"\r\n");
if(iRet != 1)
{
if(iRet != INCOMPLETE){
pDorn->iLastError = iRet;
return 0;
}
}
pDorn->statusMode = STATSEND;
if(startFlag){
pDorn->iLastError = STARTED;
@ -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 = transactRS232(pDorn->controller,"REM\n",4,pError,79);
setRS232ReplyTerminator(pDorn->controller,"\r\n");
iRet = takeControl(pDorn);
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;
}
/*-------------------------------------------------------------------------*/

2
el734hp.c
View File

@ -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){

2
el737hpdriv.c
View File

@ -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);
}

5
hardsup/makefile_linux
View File

@ -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../..

7
makefile_linux
View File

@ -5,16 +5,13 @@
# Mark Koennecke 1996-2001
# Markus Zolliker, March 2003
#==========================================================================
# the following lines only for fortified version
#DFORTIFY=-DFORTIFY
#FORTIFYOBJ=strdup.o fortify.o
#==========================================================================
include ../linux_def
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

4
psi.c
View File

@ -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;
}

6
tecs/makefile_linux
View File

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