- Extended sicshdbadapter to attach a node to the target of any

drivable. Required a new event in devexec.c
- Fixed the phytron driver to handle speed well
- Added a protocol driver for the TCP/IP bridge to the SLS magnets

make_gen

@@ -10,7 +10,7 @@
 	tjxp $*.tc $*.c
 
 OBJ=psi.o buffer.o ruli.o  sps.o pimotor.o \
-	pipiezo.o sanswave.o faverage.o  \
+	pipiezo.o sanswave.o faverage.o  fetchwrite.o\
 	amorstat.o tasinit.o ptasdrive.o tasutil.o tasscan.o swmotor.o \
 	polterwrite.o ecb.o frame.o el734driv.o el734dc.o ecbdriv.o \
 	ecbcounter.o el737driv.o sinqhmdriv.o tdchm.o velodorn.o \
@@ -19,7 +19,7 @@ OBJ=psi.o buffer.o ruli.o  sps.o pimotor.o \
 	el755driv.o  serial.o scontroller.o  t_update.o \
 	t_rlp.o t_conv.o el737hpdriv.o dornier2.o el734hp.o \
 	el737hpv2driv.o swmotor2.o tricssupport.o amorcomp.o \
-	$(MZOBJ) amordrive.o amorset.o  sinqhttp.o\
+	$(MZOBJ) amordrive.o amorset.o  sinqhttp.o slsecho.o\
 	dgrambroadcast.o sinq.o tabledrive.o  julcho.o \
 	ritastorage.o poldizug.o audinelib.o delcam.o el737hpdrivsps.o \
 	rebin.o sanslirebin.o lmd200.o slsvme.o julprot.o sinqhttpprot.o \

psi.c

@@ -20,8 +20,8 @@
  Markus Zolliker, Jan 2010
  -----------------------------------------------------------------------*/
 #include <tcl.h>
-#include "site.h"
 #include "sics.h"
+#include "site.h"
 #include <motor.h>
 #include <site.h>
 #include "ecbdriv.h"
@@ -69,6 +69,7 @@ void SiteInit(void)
   INIT(AddPfeifferProtocoll);
   INIT(AddTermProtocoll);
   INIT(AddPhytronProtocoll);
+  INIT(AddSLSEchoProtocoll);
 
 }
 

slsecho.c

@@ -0,0 +1,288 @@
+/*
+ * slsecho.c
+ * This is a protocol adapter for yet another driver for the
+ * SLS DPC magnet controller. This one is for the shiny, silvery
+ * little box with TCP/IP, 8 fibre optic magnet couplers and
+ * two wires for power.  The current assumption is that this
+ * device communicates with 64 byte message going back and forth,
+ * 8 bytes for each channel. Where the first two seem to be unused
+ * and the last 6 being the DSP codes as described elsewhere.
+ *
+ * The expected input for this is:
+ *
+ *  channel:mode:code:val:convertflag
+ *
+ *  with mode being either r or w and convertflag being one of
+ *  none,read,write
+ *
+ *  Created on: Mar 18, 2010
+ *      Author: Mark Koennecke
+ */
+#include  <math.h>
+#include <errno.h>
+#include <ascon.h>
+#include <ascon.i>
+#include <stptok.h>
+
+#define NONE 0
+#define READ 1
+#define WRITE 2
+
+typedef struct {
+	char sendbuf[64];
+	char readbuf[64];
+	int convertflag; /* which conversions need to be done */
+	int channel; /* magnet channel number, starting at 0 */
+} SLSEcho, *pSLSEcho;
+
+/*
+  packet header codes
+*/
+#define DSPWRITE 0x80
+#define DSPREAD 0x0
+
+/*-------------------------------------------------------------------------
+ Code for data conversion from Lukas Tanner. The ULONG is system dependent,
+ it MUST describe a 32 bit value.
+ -------------------------------------------------------------------------*/
+#define ULONG int
+/***********************************************************************/
+static ULONG double2DSPfloat(double input)
+/***********************************************************************/
+/* Konvertiert eine normale double Variable in ein 32bit DSP Float Format. */
+{
+  ULONG output;
+  double mantissa;
+  int exponent;
+
+  if (input == 0) {
+    output = 0;
+  } else {
+    mantissa = 2 * (frexp(fabs(input), &exponent));
+    mantissa = ldexp(mantissa, 23);
+    exponent = exponent - 1 + 127;
+    if (exponent < 0) {
+      exponent = 0;
+    } else if (exponent > 0xFE) {
+      exponent = 0xFE;
+    }
+    exponent = exponent << 23;
+    output = ((ULONG) mantissa) & 0x7FFFFF;
+    output = output | ((ULONG) (exponent));
+    if (input < 0) {
+      output = output | 0x80000000;
+    }
+  }
+  return output;
+}
+
+/***********************************************************************/
+static double DSPfloat2double(ULONG input)
+/***********************************************************************/
+/* Konvertiert eine Variable inder ein 32bit DSP Float Wert abgelegt ist,
+   in ein normales double Format
+   32bit IEEE Float => SEEEEEEEEMMMMMMMMMMMMMMMMMMMMMMM;	S = Sign Bit
+															E = Exponent
+												   			M = Mantissa (23)*/
+{
+  double output;
+  if ((input & 0x7FFFFF) == 0 && ((input >> 23) & 0xFF) == 0) {
+    output = 0;
+  } else {
+    output = ldexp(input & 0x7FFFFF, -23) + 1;
+    output = output * pow(-1, ((input >> 31) & 1));
+    output = output * ldexp(1, (((input >> 23) & 0xFF) - 127));
+  }
+  return output;
+}
+/*----------------------------------------------------------------------------*/
+static int EchoPack(Ascon *a)
+{
+	pSLSEcho echo = NULL;
+	char *pMessage = NULL, *pPtr = NULL;
+	char token[20], parseString[255];
+	int code, val;
+	double dval;
+
+	echo = a->private;
+	assert(echo != NULL);
+
+	memset(echo->sendbuf,0,sizeof(echo->sendbuf));
+	memset(echo->readbuf,0,sizeof(echo->readbuf));
+
+    assert(GetDynStringLength(a->wrBuffer) < 255);
+    memset(parseString,0,sizeof(parseString));
+    strcpy(parseString,GetCharArray(a->wrBuffer));
+    pPtr = parseString;
+
+    /* read num */
+    pPtr = stptok(pPtr,token,sizeof(token),":");
+    echo->channel = atoi(token);
+    pMessage = echo->sendbuf + echo->channel*8;
+
+    /* read mode */
+    pPtr = stptok(pPtr,token,sizeof(token),":");
+    if(token[0] == 'r'){
+    	pMessage[2] = DSPREAD;
+    } else if(token[0] == 'w'){
+    	pMessage[2] = DSPWRITE;
+    } else {
+    	a->state = AsconFailed;
+		DynStringConcat(a->errmsg,"ERROR: bad mode token ");
+		DynStringConcat(a->errmsg,token);
+    	return 0;
+    }
+
+    /* read code */
+    pPtr = stptok(pPtr,token,sizeof(token),":");
+    sscanf(token,"%x", &code);
+    pMessage[3] = code;
+
+    /* read value */
+    pPtr = stptok(pPtr,token,sizeof(token),":");
+    dval = atof(token);
+    val = dval;
+
+    /* read convertflag */
+    pPtr = stptok(pPtr,token,sizeof(token),":");
+    if(strcmp(token,"none") == 0){
+    	echo->convertflag = NONE;
+    } else if(strcmp(token,"read") == 0){
+    	echo->convertflag = READ;
+    } else if(strcmp(token,"write") == 0){
+    	echo->convertflag = WRITE;
+    } else {
+    	a->state = AsconFailed;
+		DynStringConcat(a->errmsg,"ERROR: bad convertflag ");
+		DynStringConcat(a->errmsg,token);
+    	return 0;
+    }
+    if(echo->convertflag == WRITE){
+    	val = double2DSPfloat(dval);
+    }
+    memcpy(pMessage+4,&val,4);
+
+    /* printf("Sending code: 0x%x, val = %d\n", code, val); */
+	return 1;
+}
+/*-------------------------------------------------------------------*/
+static int EchoUnpack(Ascon *a)
+{
+	pSLSEcho echo = a->private;
+	char *pMessage = NULL, printbuf[30];
+	int code, val;
+	double dval;
+
+
+	DynStringClear(a->rdBuffer);
+	pMessage = echo->readbuf + echo->channel*8;
+
+	code = pMessage[3];
+	snprintf(printbuf,sizeof(printbuf),"%x", code);
+	DynStringConcat(a->rdBuffer,printbuf);
+	DynStringConcatChar(a->rdBuffer,':');
+
+	memcpy(&val,pMessage+4, 4);
+	dval = (double)val;
+
+	if(echo->convertflag == READ){
+		dval = DSPfloat2double(val);
+	}
+	snprintf(printbuf,sizeof(printbuf),"%f", dval);
+	DynStringConcat(a->rdBuffer,printbuf);
+    /* printf("Reading code: 0x%x, val = %d\n", code, val);*/
+	return 1;
+}
+/*----------------------------------------------------------------------*/
+static int SLSEchoHandler(Ascon *a)
+{
+	pSLSEcho echo = a->private;
+	int written, read;
+    char c;
+
+	assert(echo != NULL);
+
+	switch(a->state){
+	case AsconWriteStart:
+		EchoPack(a);
+		a->wrPos = 0;
+		a->state = AsconWriting;
+		break;
+	case AsconWriting:
+	    AsconReadGarbage(a->fd);
+	    written = send(a->fd, echo->sendbuf+a->wrPos,64-a->wrPos, 0);
+	    if(written > 0){
+	    	a->wrPos += written;
+	    	if(a->wrPos >= 64){
+	    		a->state = AsconWriteDone;
+	    		break;
+	    	}
+	    } else if (written == 0) {
+	    	errno = ECONNRESET;
+	    	return ASCON_DISCONNECTED;
+	    } else {
+	    	return ASCON_SEND_ERROR;
+	    }
+	    break;
+	case AsconReadStart:
+		a->start = DoubleTime();
+		a->state = AsconReading;
+		a->wrPos = 0; /* reusing wrPos for character count received*/
+		break;
+	case AsconReading:
+		read = AsconReadChar(a->fd,&c);
+	    if (read <= 0) {
+	      if (read < 0) {
+	        AsconError(a, "ASC5", errno);
+	        return 0;
+	      }
+	      if (a->timeout > 0) {
+	        if (DoubleTime() - a->start > a->timeout) {
+	          AsconError(a, "no response", 0);
+	          a->state = AsconTimeout;
+	        }
+	      }
+	      return 0;
+	    }
+	    echo->readbuf[a->wrPos] = c;
+	    a->wrPos++;
+	    if(a->wrPos >= 64){
+	    	a->state = AsconReadDone;
+	    	EchoUnpack(a);
+	    }
+		break;
+	default:
+	    return AsconStdHandler(a);
+	}
+	return 1;
+}
+/*------------------------------------------------------------------------*/
+static int SLSEchoInit(Ascon * a, SConnection * con, int argc, char *argv[])
+{
+  a->fd = -1;
+  a->state = AsconConnectStart;
+  a->reconnectInterval = 10;
+  a->hostport = strdup(argv[1]);
+  if (argc > 2) {
+    a->timeout = atof(argv[2]);
+  } else {
+    a->timeout = 2.0;           /* sec */
+  }
+  a->private = malloc(sizeof(SLSEcho));
+  if(a->private == NULL){
+	  return 0;
+  }
+  a->killPrivate = free;
+  return 1;
+}
+/*------------------------------------------------------------------------*/
+void AddSLSEchoProtocoll()
+{
+  AsconProtocol *prot = NULL;
+
+  prot = calloc(sizeof(AsconProtocol), 1);
+  prot->name = strdup("slsecho");
+  prot->init = SLSEchoInit;
+  prot->handler = SLSEchoHandler;
+  AsconInsertProtocol(prot);
+}

sps.c

@@ -67,7 +67,7 @@ static int init(pSPS self)
 	  return 0;
   }
   setRS232SendTerminator(rs232,"\r\n");
-  setRS232ReplyTerminator(rs232,"\n");
+  setRS232ReplyTerminator(rs232,"\r\n");
   setRS232Timeout(rs232,10000);
   /* setRS232Debug(rs232,1); */