- 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
This commit is contained in:
koennecke
4
make_gen
4
make_gen
@ -10,7 +10,7 @@
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tjxp $*.tc $*.c
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OBJ=psi.o buffer.o ruli.o sps.o pimotor.o \
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pipiezo.o sanswave.o faverage.o \
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pipiezo.o sanswave.o faverage.o fetchwrite.o\
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amorstat.o tasinit.o ptasdrive.o tasutil.o tasscan.o swmotor.o \
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polterwrite.o ecb.o frame.o el734driv.o el734dc.o ecbdriv.o \
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ecbcounter.o el737driv.o sinqhmdriv.o tdchm.o velodorn.o \
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@ -19,7 +19,7 @@ OBJ=psi.o buffer.o ruli.o sps.o pimotor.o \
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el755driv.o serial.o scontroller.o t_update.o \
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t_rlp.o t_conv.o el737hpdriv.o dornier2.o el734hp.o \
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el737hpv2driv.o swmotor2.o tricssupport.o amorcomp.o \
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$(MZOBJ) amordrive.o amorset.o sinqhttp.o\
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$(MZOBJ) amordrive.o amorset.o sinqhttp.o slsecho.o\
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dgrambroadcast.o sinq.o tabledrive.o julcho.o \
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ritastorage.o poldizug.o audinelib.o delcam.o el737hpdrivsps.o \
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rebin.o sanslirebin.o lmd200.o slsvme.o julprot.o sinqhttpprot.o \
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3
psi.c
3
psi.c
@ -20,8 +20,8 @@
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Markus Zolliker, Jan 2010
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-----------------------------------------------------------------------*/
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#include <tcl.h>
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#include "site.h"
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#include "sics.h"
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#include "site.h"
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#include <motor.h>
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#include <site.h>
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#include "ecbdriv.h"
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@ -69,6 +69,7 @@ void SiteInit(void)
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INIT(AddPfeifferProtocoll);
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INIT(AddTermProtocoll);
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INIT(AddPhytronProtocoll);
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INIT(AddSLSEchoProtocoll);
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}
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288
slsecho.c
Normal file
288
slsecho.c
Normal file
@ -0,0 +1,288 @@
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/*
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* slsecho.c
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* This is a protocol adapter for yet another driver for the
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* SLS DPC magnet controller. This one is for the shiny, silvery
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* little box with TCP/IP, 8 fibre optic magnet couplers and
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* two wires for power. The current assumption is that this
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* device communicates with 64 byte message going back and forth,
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* 8 bytes for each channel. Where the first two seem to be unused
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* and the last 6 being the DSP codes as described elsewhere.
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*
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* The expected input for this is:
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*
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* channel:mode:code:val:convertflag
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*
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* with mode being either r or w and convertflag being one of
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* none,read,write
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*
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* Created on: Mar 18, 2010
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* Author: Mark Koennecke
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*/
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#include <math.h>
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#include <errno.h>
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#include <ascon.h>
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#include <ascon.i>
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#include <stptok.h>
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#define NONE 0
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#define READ 1
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#define WRITE 2
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typedef struct {
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char sendbuf[64];
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char readbuf[64];
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int convertflag; /* which conversions need to be done */
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int channel; /* magnet channel number, starting at 0 */
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} SLSEcho, *pSLSEcho;
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/*
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packet header codes
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*/
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#define DSPWRITE 0x80
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#define DSPREAD 0x0
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/*-------------------------------------------------------------------------
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Code for data conversion from Lukas Tanner. The ULONG is system dependent,
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it MUST describe a 32 bit value.
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-------------------------------------------------------------------------*/
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#define ULONG int
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/***********************************************************************/
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static ULONG double2DSPfloat(double input)
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/***********************************************************************/
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/* Konvertiert eine normale double Variable in ein 32bit DSP Float Format. */
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{
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ULONG output;
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double mantissa;
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int exponent;
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if (input == 0) {
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output = 0;
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} else {
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mantissa = 2 * (frexp(fabs(input), &exponent));
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mantissa = ldexp(mantissa, 23);
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exponent = exponent - 1 + 127;
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if (exponent < 0) {
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exponent = 0;
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} else if (exponent > 0xFE) {
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exponent = 0xFE;
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}
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exponent = exponent << 23;
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output = ((ULONG) mantissa) & 0x7FFFFF;
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output = output | ((ULONG) (exponent));
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if (input < 0) {
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output = output | 0x80000000;
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}
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}
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return output;
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}
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/***********************************************************************/
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static double DSPfloat2double(ULONG input)
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/***********************************************************************/
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/* Konvertiert eine Variable inder ein 32bit DSP Float Wert abgelegt ist,
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in ein normales double Format
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32bit IEEE Float => SEEEEEEEEMMMMMMMMMMMMMMMMMMMMMMM; S = Sign Bit
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E = Exponent
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M = Mantissa (23)*/
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{
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double output;
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if ((input & 0x7FFFFF) == 0 && ((input >> 23) & 0xFF) == 0) {
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output = 0;
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} else {
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output = ldexp(input & 0x7FFFFF, -23) + 1;
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output = output * pow(-1, ((input >> 31) & 1));
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output = output * ldexp(1, (((input >> 23) & 0xFF) - 127));
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}
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return output;
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}
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/*----------------------------------------------------------------------------*/
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static int EchoPack(Ascon *a)
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{
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pSLSEcho echo = NULL;
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char *pMessage = NULL, *pPtr = NULL;
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char token[20], parseString[255];
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int code, val;
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double dval;
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echo = a->private;
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assert(echo != NULL);
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memset(echo->sendbuf,0,sizeof(echo->sendbuf));
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memset(echo->readbuf,0,sizeof(echo->readbuf));
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assert(GetDynStringLength(a->wrBuffer) < 255);
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memset(parseString,0,sizeof(parseString));
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strcpy(parseString,GetCharArray(a->wrBuffer));
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pPtr = parseString;
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/* read num */
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pPtr = stptok(pPtr,token,sizeof(token),":");
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echo->channel = atoi(token);
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pMessage = echo->sendbuf + echo->channel*8;
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/* read mode */
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pPtr = stptok(pPtr,token,sizeof(token),":");
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if(token[0] == 'r'){
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pMessage[2] = DSPREAD;
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} else if(token[0] == 'w'){
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pMessage[2] = DSPWRITE;
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} else {
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a->state = AsconFailed;
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DynStringConcat(a->errmsg,"ERROR: bad mode token ");
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DynStringConcat(a->errmsg,token);
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return 0;
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}
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/* read code */
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pPtr = stptok(pPtr,token,sizeof(token),":");
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sscanf(token,"%x", &code);
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pMessage[3] = code;
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/* read value */
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pPtr = stptok(pPtr,token,sizeof(token),":");
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dval = atof(token);
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val = dval;
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/* read convertflag */
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pPtr = stptok(pPtr,token,sizeof(token),":");
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if(strcmp(token,"none") == 0){
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echo->convertflag = NONE;
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} else if(strcmp(token,"read") == 0){
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echo->convertflag = READ;
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} else if(strcmp(token,"write") == 0){
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echo->convertflag = WRITE;
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} else {
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a->state = AsconFailed;
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DynStringConcat(a->errmsg,"ERROR: bad convertflag ");
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DynStringConcat(a->errmsg,token);
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return 0;
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}
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if(echo->convertflag == WRITE){
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val = double2DSPfloat(dval);
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}
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memcpy(pMessage+4,&val,4);
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/* printf("Sending code: 0x%x, val = %d\n", code, val); */
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return 1;
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}
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/*-------------------------------------------------------------------*/
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static int EchoUnpack(Ascon *a)
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{
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pSLSEcho echo = a->private;
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char *pMessage = NULL, printbuf[30];
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int code, val;
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double dval;
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DynStringClear(a->rdBuffer);
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pMessage = echo->readbuf + echo->channel*8;
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code = pMessage[3];
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snprintf(printbuf,sizeof(printbuf),"%x", code);
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DynStringConcat(a->rdBuffer,printbuf);
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DynStringConcatChar(a->rdBuffer,':');
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memcpy(&val,pMessage+4, 4);
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dval = (double)val;
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if(echo->convertflag == READ){
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dval = DSPfloat2double(val);
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}
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snprintf(printbuf,sizeof(printbuf),"%f", dval);
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DynStringConcat(a->rdBuffer,printbuf);
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/* printf("Reading code: 0x%x, val = %d\n", code, val);*/
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return 1;
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}
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/*----------------------------------------------------------------------*/
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static int SLSEchoHandler(Ascon *a)
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{
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pSLSEcho echo = a->private;
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int written, read;
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char c;
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assert(echo != NULL);
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switch(a->state){
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case AsconWriteStart:
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EchoPack(a);
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a->wrPos = 0;
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a->state = AsconWriting;
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break;
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case AsconWriting:
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AsconReadGarbage(a->fd);
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written = send(a->fd, echo->sendbuf+a->wrPos,64-a->wrPos, 0);
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if(written > 0){
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a->wrPos += written;
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if(a->wrPos >= 64){
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a->state = AsconWriteDone;
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break;
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}
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} else if (written == 0) {
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errno = ECONNRESET;
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return ASCON_DISCONNECTED;
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} else {
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return ASCON_SEND_ERROR;
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}
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break;
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case AsconReadStart:
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a->start = DoubleTime();
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a->state = AsconReading;
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a->wrPos = 0; /* reusing wrPos for character count received*/
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break;
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case AsconReading:
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read = AsconReadChar(a->fd,&c);
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if (read <= 0) {
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if (read < 0) {
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AsconError(a, "ASC5", errno);
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return 0;
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}
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if (a->timeout > 0) {
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if (DoubleTime() - a->start > a->timeout) {
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AsconError(a, "no response", 0);
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a->state = AsconTimeout;
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}
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}
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return 0;
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}
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echo->readbuf[a->wrPos] = c;
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a->wrPos++;
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if(a->wrPos >= 64){
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a->state = AsconReadDone;
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EchoUnpack(a);
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}
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break;
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default:
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return AsconStdHandler(a);
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}
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return 1;
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}
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/*------------------------------------------------------------------------*/
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static int SLSEchoInit(Ascon * a, SConnection * con, int argc, char *argv[])
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{
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a->fd = -1;
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a->state = AsconConnectStart;
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a->reconnectInterval = 10;
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a->hostport = strdup(argv[1]);
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if (argc > 2) {
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a->timeout = atof(argv[2]);
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} else {
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a->timeout = 2.0; /* sec */
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}
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a->private = malloc(sizeof(SLSEcho));
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if(a->private == NULL){
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return 0;
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}
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a->killPrivate = free;
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return 1;
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}
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/*------------------------------------------------------------------------*/
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void AddSLSEchoProtocoll()
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{
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AsconProtocol *prot = NULL;
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prot = calloc(sizeof(AsconProtocol), 1);
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prot->name = strdup("slsecho");
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prot->init = SLSEchoInit;
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prot->handler = SLSEchoHandler;
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AsconInsertProtocol(prot);
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}
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Reference in New Issue
Block a user