- Make Poldi Tensile device work

- Added error resetting and a coupel of bug fixes for SLS magnets
- Implemented new table driving mode for MARS

make_gen

@@ -4,7 +4,10 @@
 # Mark Koennecke, June 2003
 #-------------------------------------------------------------------------
 .SUFFIXES: 
-.SUFFIXES: .c .o .f
+.SUFFIXES: .c .o .f .tc
+
+.tc.c: 
+	tjxp $*.tc $*.c
 
 OBJ=psi.o buffer.o ruli.o dmc.o nxsans.o nextrics.o sps.o pimotor.o \
 	pipiezo.o sanswave.o faverage.o fowrite.o amor2t.o nxamor.o \
@@ -18,7 +21,10 @@ OBJ=psi.o buffer.o ruli.o dmc.o nxsans.o nextrics.o sps.o pimotor.o \
 	el737hpv2driv.o swmotor2.o tricssupport.o amorcomp.o \
 	$(MZOBJ) amordrive.o amorset.o tcpdornier.o sinqhttp.o\
 	dgrambroadcast.o sinq.o tabledrive.o tcpdocho.o julcho.o \
-	ritastorage.o poldizug.o audinelib.o delcam.o el737hpdrivsps.o 
+	ritastorage.o poldizug.o audinelib.o delcam.o el737hpdrivsps.o \
+	rebin.o sanslirebin.o
+
+.SECONDARY.: sanslirebin.c
 
 MZOBJ=fsm.o logger.o sugar.o pardef.o ease.o strobj.o oxinst.o logreader.o \
 	ipsdriv.o ilmdriv.o itcdriv.o ighdriv.o euro2kdriv.o modbus.o arrobj.o \

poldizug.c

@@ -7,22 +7,26 @@
  * 
  * copyright: see file COPYRIGHT
  * 
- * Mark Koennecke, October 2006
+ * Mark Koennecke, October 2006(started) 
+ *                 - May 2007(The device was actually available)
  */
 #include <sics.h>
 #include <rs232controller.h> 
-#include <bit.h>
 /*===============================================================*/
 #define FORCE  0
 #define ZUGPOS 1
+#define REGEL  10
+#define OFF    20
 /*---------------------------------------------------------------*/
 typedef struct {
     pObjectDescriptor pDes;
     pIDrivable pDriv;
     prs232 controller;
     int iMode;
+    int state;
     float maxForce, minForce;
     float maxPos, minPos;
+    int velocity;
 }PZR, *pPZR;
 /*--------------------------------------------------------------*/
 static int PZRCommand(prs232 controller, SConnection *pCon,
@@ -37,7 +41,14 @@ static int PZRCommand(prs232 controller, SConnection *pCon,
     for(i = 0; i < 3; i++){
         status = transactRS232(controller,command, strlen(command),
             reply, replyLen);
-        if(status == 1){
+        if(status > 0 ){
+            if(strstr(reply,"ERR") != NULL){
+                if(pCon != NULL){
+                    snprintf(buffer,511,"ERROR: device reported %s", reply);
+                    SCWrite(pCon,buffer,eError);
+                    return HWFault;
+                }
+            }
             return 1;
         }
         /*
@@ -85,7 +96,7 @@ static int PZRHalt(void *data) {
  
     self = (pPZR)data;
 
-    PZRCommand(self->controller,NULL,"stop\n",buffer,79);
+    PZRCommand(self->controller,NULL,"stop\r\n",buffer,79);
 
     return OKOK; 
 }
@@ -131,18 +142,54 @@ static long PZRSetValue(void *data, SConnection *pCon, float val){
  
     self = (pPZR)data;
 
-    if(self->iMode == FORCE){
+    switch(self->iMode){
-        snprintf(command,79,"wr force %f\n", val);
+        case FORCE:
-    } else {
+            if(self->state == OFF){
-        snprintf(command,79,"wr vel %f\n", val);
+               snprintf(command,79,"wr vel %d\r\n", self->velocity);
-    }
                status = PZRCommand(self->controller, pCon, command, reply, 79);
-    if(status == 1){
+               if(status != 1){
+                    return HWFault;
+               }
+               snprintf(command,79,"wr force %f\r\n", val);
+               status = PZRCommand(self->controller, pCon, command, reply, 79);
+               if(status != 1){
+                    return HWFault;
+               }
+               status = PZRCommand(self->controller, pCon, "wr mode 1\r\n", reply, 79);
+               if(status != 1){
+                    return HWFault;
+               }
+               self->state = REGEL;
                return OKOK;
             } else {
+               snprintf(command,79,"wr force %f\r\n", val);
+               status = PZRCommand(self->controller, pCon, command, reply, 79);
+               if(status != 1){
                     return HWFault;
                }
+               return OKOK;
+            }  
+            break;
+    case ZUGPOS:
+        self->state = OFF;
+        snprintf(command,79,"wr vel %d\r\n", self->velocity);
+        status = PZRCommand(self->controller, pCon, command, reply, 79);
+        if(status != 1){
             return HWFault;
+        }
+        snprintf(command,79,"wr pos %f\r\n", val);
+        status = PZRCommand(self->controller, pCon, command, reply, 79);
+        if(status != 1){
+            return HWFault;
+        }
+        status = PZRCommand(self->controller, pCon, "wr mode 2\r\n", reply, 79);
+        if(status != 1){
+            return HWFault;
+        }
+        return OKOK;
+        break;       
+    }
+    return OKOK; 
 }
 /*----------------------------------------------------------------
  Checks the status of a running motor. Possible return values
@@ -154,42 +201,80 @@ static long PZRSetValue(void *data, SConnection *pCon, float val){
  For real motors CheckStatus again shall try hard to fix any 
  issues with the motor 
 ------------------------------------------------------------------*/
+static int BitSet(char d, int n){
+    unsigned char e;
+    
+    e = d & (1 << n);
+    if(e == 0){
+        return 0;
+    } else {
+        return 1;
+    }
+}
+/*---------------------------------------------------------------*/
 static int PZRCheckStatus(void *data, SConnection *pCon){
     pPZR self = NULL; 
-    int status, code;
+    int status, code, i;
-    char command[80], reply[80], bits[1];
+    char command[80], reply[80], bits;
  
     self = (pPZR)data;
-    snprintf(command,79,"rd stat\n");
+    snprintf(command,79,"rd stat\r\n");
     status = PZRCommand(self->controller, pCon, command, reply, 79);
     if(status != 1){
         return HWFault;
     }
     sscanf(reply,"%x", &code);
-    bits[0] = (char)code;
+    bits = (char)code;
+    
+    /*
+    memset(command,0,80);
+    for(i = 0; i < 8; i++){
+        if(BitSet(bits,i)){
+            command[i] = '1';
+        } else {
+            command[i] = '0';
+        }    
+    }
+    snprintf(reply,79,"code = %d",code);
+    strcat(command,reply);
+    SCWrite(pCon,command,eValue);
+     */
+     
     /*
      * check for errors
      */  
-    if(BITSET(bits,3)){
+    if(BitSet(bits,4)){
-        SCWrite(pCon,"ERROR: BANG! Sample broken!",eError);
-        return HWFault;
-    }  
-    if(BITSET(bits,4)){
         SCWrite(pCon,"ERROR: hit positive limit switch",eError);
         return HWFault;
     }  
-    if(BITSET(bits,5)){
+    if(BitSet(bits,5)){
         SCWrite(pCon,"ERROR: hit negative limit switch",eError);
         return HWFault;
     }  
-    if(BITSET(bits,7)){
+    if(BitSet(bits,6)){
-        SCWrite(pCon,"ERROR: general and overall error",eError);
+        SCWrite(pCon,"ERROR: max force exceed, manual reset REQUIRED!",eError);
         return HWFault;
     }  
-    if(BITSET(bits,2)){
+    if(BitSet(bits,7)){
-        return HWBusy;
+        SCWrite(pCon,"ERROR: bit 7 error, ask Marcel what this means",eError);
-    } else {
+        return HWFault;
+    }  
+
+    switch(self->iMode){
+        case FORCE:
+            if(BitSet(bits,2)){
                 return HWIdle;
+            } else {
+                return HWBusy;
+            }
+            break;
+        case ZUGPOS:
+            if(BitSet(bits,3)){
+                return HWIdle;
+            } else {
+                return HWBusy;
+            }
+            break;
     }
 
     return HWFault; 
@@ -200,15 +285,15 @@ static int PZRCheckStatus(void *data, SConnection *pCon){
 ------------------------------------------------------------------*/
 static float PZRGetValue(void *data, SConnection *pCon){
     pPZR self = NULL; 
-    float val = -99999999.99;
+    float val = -9999.99;
     int status;
     char command[80], reply[80];
  
     self = (pPZR)data;
     if(self->iMode == FORCE){
-        snprintf(command,79,"rd force\n");
+        snprintf(command,79,"rd force\r\n");
     } else {
-        snprintf(command,79,"rd vel\n");
+        snprintf(command,79,"rd pos\r\n");
     }
     status = PZRCommand(self->controller, pCon, command, reply, 79);
     if(status != 1){
@@ -217,6 +302,22 @@ static float PZRGetValue(void *data, SConnection *pCon){
     sscanf(reply,"%f",&val);
     return val; 
 }
+/*---------------------------------------------------------------*/
+static int PZRConnect(pPZR self, SConnection *pCon){
+    char error[132], buffer[356];
+    int status;
+
+    closeRS232(self->controller);
+    status = initRS232(self->controller);
+    if(status < 0){
+        getRS232Error(status, error, 131);
+        snprintf(buffer,255,"ERROR: failed to reconnect with: %s", error);
+        SCWrite(pCon,buffer,eError);
+        return 0;        
+    }
+    SCSendOK(pCon);
+    return 1;
+}
 /*----------------------------------------------------------------
  returns NULL on failure, a new datastructure else
 ------------------------------------------------------------------*/
@@ -237,7 +338,7 @@ static pPZR PZRMakeObject(char *host, int port){
     initRS232(self->controller);
     setRS232SendTerminator(self->controller,"\n");   
     setRS232ReplyTerminator(self->controller,"\n"); 
-    setRS232Timeout(self->controller,1000);
+    setRS232Timeout(self->controller,10000);
     setRS232Debug(self->controller,1);
       
     
@@ -286,31 +387,18 @@ static int PoldiReissAction(SConnection *pCon, SicsInterp *pSics,
                 }
                 strtolower(argv[2]);
                 if(strcmp(argv[2],"force") == 0) {
-                    status = PZRCommand(self->controller, pCon,
+                    self->iMode = FORCE;
-                        "wr mode 1\n", reply,79);
-                    if(status == 1){    
-                        self->iMode == FORCE;
                     SCSendOK(pCon);
                     return 1;
-                    } else {
-                        return 0;
-                    }
                 } else if(strcmp(argv[2],"pos") == 0) {
-                    status = PZRCommand(self->controller, pCon,
+                    self->iMode = ZUGPOS;
-                        "wr mode 0\n", reply,79);
-                    if(status == 1){    
-                        self->iMode == ZUGPOS;
                     SCSendOK(pCon);
                     return 1;
-                    } else {
-                        return 0;
-                    }
                 } else {
                     SCWrite(pCon,"ERROR: zug mode unknown, allowed force, pos",
                         eError);
                     return 0;
                 }
-            }
             } else {
                 if(self->iMode == FORCE){
                     snprintf(command,79,"%s.mode = force",argv[0]);
@@ -320,6 +408,59 @@ static int PoldiReissAction(SConnection *pCon, SicsInterp *pSics,
                 SCWrite(pCon,command,eValue);
                 return 1;
             }
+        } else if(strcmp(argv[1],"velocity") == 0) {
+            if(argc > 2){
+                if(!SCMatchRights(pCon,usUser)){
+                    return 0;
+                }
+                self->velocity = atoi(argv[2]);
+                SCSendOK(pCon);
+                return 1;
+            } else {
+                snprintf(command,70,"%s.velocity = %d", argv[0], self->velocity);
+                SCWrite(pCon,command,eValue);
+                return 1;
+            }
+        } else if(strcmp(argv [1],"connect") == 0){
+            return PZRConnect(self,pCon);
+        } else if(strcmp(argv[1],"off") == 0) {
+            status = PZRCommand(self->controller, pCon, "wr mode 0\r\n", reply, 79);
+            self->state = OFF;
+            if(status == 1) {
+                SCSendOK(pCon);
+                return 1;
+            } else {
+                return 0;
+            }
+        } else if(strcmp(argv[1],"poslimits") == 0){
+            if(argc > 3){
+               if(!SCMatchRights(pCon,usMugger)){
+                    return 0;
+                }
+                self->minPos = atof(argv[2]);
+                self->maxPos = atof(argv[3]);
+                SCSendOK(pCon);
+                return 1; 
+            } else {
+                snprintf(command,80,"pzr.poslimits = %f,%f", self->minPos, self->maxPos);
+                SCWrite(pCon,command,eValue);
+                return 1;
+            }
+        } else if(strcmp(argv[1],"forcelimits") == 0){
+            if(argc > 3){
+               if(!SCMatchRights(pCon,usMugger)){
+                    return 0;
+                }
+                self->minForce = atof(argv[2]);
+                self->maxForce = atof(argv[3]);
+                SCSendOK(pCon);
+                return 1; 
+            } else {
+                snprintf(command,80,"pzr.forcelimits = %f,%f", self->minForce, self->maxForce);
+                SCWrite(pCon,command,eValue);
+                return 1;
+            }
+        }
     }
     val = self->pDriv->GetValue(self,pCon);
     snprintf(command,79,"%s = %f", argv[0], val);
@@ -347,8 +488,11 @@ int MakePoldiReiss(SConnection *pCon, SicsInterp *pSics,
     self->maxForce = atof(argv[5]);            
     self->minPos = atof(argv[6]);            
     self->maxPos = atof(argv[7]); 
+    self->iMode = FORCE;   
+    self->state = OFF;   
+    self->velocity = 10;     
     PZRCommand(self->controller, pCon,
-                        "wr mode 1\n", reply,79);
+                        "wr mode 0\r\n", reply,79);
 
     AddCommand(pSics,argv[1],
         PoldiReissAction,

psi.c

@@ -6,7 +6,7 @@
 
  copyright: see file COPYRIGHT
 
- Mark Koennecke, June 2003
+ Mark Koennecke, June 2003 - May 2007
  -----------------------------------------------------------------------*/
 #include <stdlib.h>
 #include <assert.h>
@@ -69,6 +69,9 @@ extern int JulChoFactory(SConnection *pCon, SicsInterp *pSics, void *pData,
 /* from ritastorage.c */                     
 extern int MakeRitaFix(SConnection *pCon, SicsInterp *pSics, void *pData,
                      int argc, char *argv[]);
+/* from sanslirebin.c */
+extern int MakeSansliRebin(SConnection *pCon, SicsInterp *pSics, void *pData,
+                     int argc, char *argv[]);
 /*--------------------------------------------------------------------------*/
 void SiteInit(void) {
 
@@ -124,6 +127,7 @@ static void AddPsiCommands(SicsInterp *pInter){
     AddCommand(pInter,"MakeJulCho",JulChoFactory,NULL,NULL);
     AddCommand(pInter,"MakeRitaFix",MakeRitaFix,NULL,NULL);
     AddCommand(pInter,"MakePoldiReiss",MakePoldiReiss,NULL,NULL);
+    AddCommand(pInter,"MakeSansliRebin",MakeSansliRebin,NULL,NULL);
 /*
     AddCommand(pInter,"MakeDifrac",MakeDifrac,NULL,NULL);
 */
@@ -147,6 +151,7 @@ static void RemovePsiCommands(SicsInterp *pSics){
     RemoveCommand(pSics,"MakeJulCho");
     RemoveCommand(pSics,"MakeRitaFix");
     RemoveCommand(pSics,"MakePoldiReiss");
+    RemoveCommand(pSics,"MakeSansliRebin");
 /*
     RemoveCommand(pSics,"MakeDifrac");
 */

rebin.c

@@ -0,0 +1,142 @@
+/**
+ * This is a couple of functions to do rebinning. This is neeeded when 
+ * you have a number of data points with random coordinates and you wish to 
+ * get this back onto a regular grid for better handling. 
+ * 
+ * copyright: see file COPYRIGHT
+ * 
+ * Mark Koennecke, May 2007
+ */  
+ #include <math.h>
+#include "rebin.h"
+/*---------------------------------------------------------------------------*/
+static int checkPoint(pNXDS target, double x, double y){
+    int maxx, maxy;
+    
+    maxx = getNXDatasetDim(target,0);
+    maxy = getNXDatasetDim(target,1);
+    
+    if(x < .0 || y < .0 || x > maxx -1 || y > maxy -1) {
+        return 0;
+    }
+    return 1; 
+}
+/*--------------------------------------------------------------------------*/
+static void addNXDatasetValue(pNXDS target, int iPos[], double value){
+    double val;
+    
+    val = value + getNXDatasetValue(target,iPos);
+    putNXDatasetValue(target,iPos,val);
+}
+/*---------------------------------------------------------------------------*/
+static void roundPoint(pNXDS target, double x, double y, double value){
+    int iDim[2];
+    
+    iDim[0] = (int)floor(x + .5);
+    iDim[1] = (int)floor(y + 0.5);
+    
+    addNXDatasetValue(target,iDim,value);
+}
+/*----------------------------------------------------------------------------
+ * I am using the squares here, no need to do the sqrt which would give the 
+ * actual distance.
+ * ---------------------------------------------------------------------------*/ 
+static double dist(double x1, double y1, double x2, double y2){
+    double dx, dy;
+    
+    dx = x1 - x2;
+    dy = y1 -y2;
+    return dx*dx + dy*dy;
+}
+/*-----------------------------------------------------------------------------
+ * This tries to distribute value over all of the four neighbouring points 
+ * weighted with the distance to them.
+-------------------------------------------------------------------------------*/
+static void distribute(pNXDS target, double x, double y, double value){
+    double lldist, lrdist, uldist, urdist, totalDist, ix, iy, frac;
+    int iPos[2];
+    
+    ix = floor(x);
+    iy = floor(y);
+    lldist = dist(x,y,ix,iy);
+    if(lldist < .01){
+       iPos[0] = ix;
+       iPos[1] = iy; 
+       addNXDatasetValue(target,iPos,value);
+       return;
+    }
+    
+    ix += 1;
+    lrdist = dist(x,y,ix,iy);
+    if(lrdist < .01){
+       iPos[0] = ix;
+       iPos[1] = iy; 
+       addNXDatasetValue(target,iPos,value);
+       return;
+    }
+    
+    iy += 1;
+    urdist = dist(x,y,ix,iy);
+    if(urdist < .01){
+       iPos[0] = ix;
+       iPos[1] = iy; 
+       addNXDatasetValue(target,iPos,value);
+       return;
+    }
+    
+    ix = floor(x);
+    uldist = dist(x,y,ix,iy);
+    if(uldist < .01){
+       iPos[0] = ix;
+       iPos[1] = iy; 
+       addNXDatasetValue(target,iPos,value);
+       return;
+    }
+
+    lldist = 1./lldist;    
+    lrdist = 1./lrdist;    
+    urdist = 1./urdist;    
+    uldist = 1./uldist;    
+    totalDist = lldist + lrdist + urdist + uldist;
+    
+    if(totalDist < .01){
+        iPos[0] = (int)floor(x);
+        iPos[1] = (int)floor(y);
+        addNXDatasetValue(target,iPos,value);
+         return;
+    }
+    
+    iPos[0] = (int)floor(x);
+    iPos[1] = (int)floor(y);
+    frac = (lldist/totalDist)*value;
+    addNXDatasetValue(target,iPos,frac);
+
+    iPos[0]  += 1;
+    frac = (lrdist/totalDist)*value;
+    addNXDatasetValue(target,iPos,frac);
+    
+    iPos[1] += 1;
+    frac = (urdist/totalDist)*value;
+    addNXDatasetValue(target,iPos,frac);
+    
+    iPos[0] = (int)floor(x);
+    frac = (uldist/totalDist)*value;
+    addNXDatasetValue(target,iPos,frac);
+}
+/*---------------------------------------------------------------------------*/
+int rebinPoint2D(pNXDS target, double x, double y, double value, int method){
+      if(!checkPoint(target,x,y)){
+        return 0;
+      }
+      switch(method){
+        case TRILINEAR:
+            distribute(target,x,y,value);
+            break;
+        case ROUND:
+            roundPoint(target,x,y,value);
+            break;
+        default:
+            return 0;
+      }
+      return 1;
+}

rebin.h

@@ -0,0 +1,27 @@
+/**
+ * This is a couple of functions to do rebinning. This is neeeded when 
+ * you have a number of data points with random coordinates and you wish to 
+ * get this back onto a regular grid for better handling. 
+ * 
+ * copyright: see file COPYRIGHT
+ * 
+ * Mark Koennecke, May 2007
+ */  
+#ifndef REBIN_H_
+#define REBIN_H_
+#include <nxdataset.h>
+
+#define TRILINEAR 1
+#define ROUND     2
+/**
+ * rebin a point
+ * @param target The target dataset to rebin too
+ * @param x The x coordiante of the point
+ * @param y The y coordinate of the point
+ * @param value The value of the point
+ * @param method The method to use for interpolation
+ * @return 1 on success, 0 else
+ */
+int rebinPoint2D(pNXDS target, double x, double y, double value, int method);
+
+#endif /*REBIN_H_*/

sanslirebin.tc

@@ -0,0 +1,71 @@
+/**
+ * A special module for doing SANSLI rebinning. This is a fudge to make 
+ * the data from the new detector electronics look like the old one.
+ * 
+ * copyright: see file COPYRIGHT
+ *
+ * Mark Koennecke, May 2007
+ */
+ <%! source ../sicstemplates.tcl %> 
+<% stdIncludes %>
+#include <math.h>
+#include <sicsdata.h>
+#include "rebin.h"
+/*---------------------------------------------------------------------------*/
+<% makeSicsFunc SansliRebin%>{
+    pSICSData target = NULL, hmData = NULL;
+    pNXDS dataset = NULL;
+    int iDim[2], ix, iy, pos, ival;
+    double x, y, val;
+ 
+    <% testNoPar 2 4 %>    
+    
+    hmData = (pSICSData)FindCommandData(pSics,argv[1],"SICSData");
+    if(hmData == NULL){
+        SCWrite(pCon,"ERROR: histogram memory data not found",eError);
+        return 0;
+    }
+    target = (pSICSData)FindCommandData(pSics,argv[2],"SICSData");
+    if(target == NULL){
+        SCWrite(pCon,"ERROR: target sicsdata not found",eError);
+        return 0;
+    }
+    iDim[0] = 128;
+    iDim[1] = 128;
+    dataset = createNXDataset(2,NX_FLOAT64, iDim);
+    if(dataset == NULL){
+        SCWrite(pCon,"ERROR: out of memory allocating temporary data",eError);
+        return 0;
+    }
+    
+    
+    for(ix = 113; ix < 415; ix++){
+        for(iy = 153; iy < 363; iy++){
+            x = ((double)ix - 113.)/2.359;
+            y = ((double)iy - 153.)/1.640;
+            getSICSDataInt(hmData,512*iy + ix,&ival);
+            val = (double)ival;
+            rebinPoint2D(dataset,x,y,val,TRILINEAR);
+        } 
+    }
+    
+    pos = 0;
+    clearSICSData(target);
+    if(argc > 3) {
+        setSICSDataInt(target,0,128);
+        setSICSDataInt(target,1,128);
+        pos = 2;
+    }
+    for(ix = 0; ix < 128*128; ix++, pos++){
+        setSICSDataInt(target,pos,(int)floor(dataset->u.dPtr[ix] +.5));
+    }
+    dropNXDataset(dataset);
+    SCSendOK(pCon);
+    return 1;
+}
+/*---------------------------------------------------------------------------*/
+<% makeSicsFunc MakeSansliRebin%>{
+    AddCommand(pSics,"sanslirebin", SansliRebin,NULL,NULL);
+    SCSendOK(pCon);
+    return 1;
+}

sinqhmdriv.c

@@ -839,11 +839,12 @@ pCon);
      }
      
      /* stop DAQ, if still active */
+     /*
      if(iDaq == 1)
      {
         SINQHMStopDAQ(pInternal->pMaster);
      }
-
+    */
 
      /* do only counter, histograms are read on demand */
      if(pInternal->pCounter != NULL)

slsmagnet.c

@@ -14,6 +14,19 @@
  
  Adaptiert auf neue DSP Software version, Mark Koennecke, August 2005
 
+ Fixed some bugs and added resetting of error conditions:
+ Mark Koennecke, May 2007
+ 
+ There is another scheme for resetting controller erros which might need
+ to be implemented:
+ 1) switch the controller off
+ 2) Write 0 to 0x21
+ 3) switch on 
+ 4) drive to target
+ This reboots the controller. Lukas Tanner does not recommend to do this 
+ automatically. This is why it is not implemented yet. This reboot anyway 
+ is not as hard as a full power cycle.   
+
  Copyright: see copyright.h
 ----------------------------------------------------------------------------*/
 #include <string.h>
@@ -209,7 +222,7 @@ static int communicateSLS(mkChannel *pSock, char msg[6], char reply[6])
      err = (int)reply[5];
      if(err != 0){
      	pMe->iError = -7000 - err;
-     	return pMe->iError;
+     	return 0;
      }
       
      return 1;
@@ -880,16 +893,43 @@ static void slsdspCodeToText(int code, char *text, int textlen){
   static int SLSFix(pEVDriver self, int iError)
   {
      pSLSDriv pMe = NULL;
-     int iRet, i;
+     int iRet, i, ival;
      char buffer[80];
+     char msg[6], reply[6];
+     float fVal = .0;
      
      assert(self);
      pMe = (pSLSDriv )self->pPrivate;
      assert(pMe);
 
 	 if(iError < -7000){
+        /* 
+         * This logic tries to reset the error code. Then it reads the 
+         * error back. Serious errors persist and must be fixed by magnet 
+         * technicians. But some can be cleared.... 
+         */
+        msg[0] = DSPWRITE;
+        msg[1] = 0x29;
+        ival = double2DSPfloat((double)fVal);
+        memcpy(msg+2, &ival,4);
+        communicateSLS(pMe->pSock,msg,reply);
+        /*
+         * read again: if persists: this is really, really bad
+         */
+        msg[0] = DSPREAD;
+        msg[1] = 0x29;
+        iRet = communicateSLS(pMe->pSock,msg,reply);
+        if(iRet < 0)
+        {
             return DEVFAULT;
         }
+        ival  = (int)reply[5];
+        if(ival != 0){
+            return DEVFAULT;
+        } else {
+            return DEVREDO;
+        }
+	 }
 	 
      switch(iError)
      {

tabledrive.c

@@ -104,7 +104,7 @@ static int findOrientingMotor(pTableDrive self, ptdMotor moti){
 }
 /*-------------------------------------------------------------------------*/
 static float locatePosition(tdMotor moti, SConnection *pCon){
-	int status;
+	int status, begin = 1;
 	float value;
         double diff;
 	tdEntry lower, upper;
@@ -137,6 +137,9 @@ static float locatePosition(tdMotor moti, SConnection *pCon){
 		    diff = upper.position - lower.position;
 		    return lower.tablePos + (value - lower.position)/diff;
 		  }
+                  if(begin == 1 && value < lower.position) {
+		    return lower.tablePos;
+                  }
 		} else {
 		  /*
 		   * descending table
@@ -145,8 +148,12 @@ static float locatePosition(tdMotor moti, SConnection *pCon){
 		    diff = lower.position - upper.position;
 		    return lower.tablePos + ABS(value - lower.position)/diff;
 		  } 
+                  if(begin == 1 && value > lower.position){
+		    return lower.tablePos;
                   }
 		}
+		begin = 0;
+	}
 	return -999.99;
 }
 /*-------------------------------------------------------------------------*/
@@ -384,8 +391,13 @@ static void showPositions(pTableDrive self, SConnection *pCon,
     	status = LLDnodePtr2Next(self->motorTable);
     }
 }
-/*-------------------------------------------------------------------------*/
+/*-------------------------------------------------------------------------
-static int TableDriveCheckStatus(void *pData, SConnection *pCon){
+ * This is the old scheme: drive table positions tablestep by tablestep.
+ * I leave this code here: may be it is useful in another scenario then
+ * MARS. Then some means must be found to select the table drive 
+ * algorithm.
+ * -----------------------------------------------------------------------*/
+static int TableDriveCheckStatusOld(void *pData, SConnection *pCon){
 	pTableDrive self = (pTableDrive)pData;
 	int status;
 	float step;
@@ -464,6 +476,179 @@ static int TableDriveCheckStatus(void *pData, SConnection *pCon){
 	}	
 	return HWFault; 
 }
+/*===========================================================================
+ * This is code for the new scheme of driving MARS tables:
+ * 1) drive ds and as to 0
+ * 2) drive all other motors to targets directly
+ * 3) drive ds and as to desired positions.
+ * =========================================================================*/
+ #define WAITDSAS  110
+ #define WAITOTHER 111
+ #define ASDSTO0      200
+ #define ASDSTOTARGET 201
+/*-------------------------------------------------------------------------*/
+static int startASDS(pTableDrive self, SConnection *pCon, int target){
+    tdMotor moti;
+    int status;
+    char name[132];
+    float targetValue;
+    
+    if(self == NULL || self->motorTable < 0){
+            return 0;
+    }
+            
+    status = LLDnodePtr2First(self->motorTable);
+    while(status != 0){
+        LLDnodeDataTo(self->motorTable,&moti);
+        strncpy(name,moti.motorName,131);
+        strtolower(name);
+        if(strstr(name,"ds") != NULL || strstr(name,"as") != NULL){
+            if(target == ASDSTO0){
+                targetValue = 0.0;
+            } else  {
+                targetValue = findTarget(moti, self->targetPosition);
+            }
+            status  = MotorRun(moti.pMot,pCon,targetValue);
+            if(status != OKOK){
+                return status;
+            }
+         }
+        status = LLDnodePtr2Next(self->motorTable); 
+    }
+    return OKOK;
+}
+/*-------------------------------------------------------------------------*/
+static int startOthers(pTableDrive self, SConnection *pCon){
+    tdMotor moti;
+    int status;
+    char name[132];
+    float targetValue;
+    
+    if(self == NULL || self->motorTable < 0){
+            return 0;
+    }
+            
+    status = LLDnodePtr2First(self->motorTable);
+    while(status != 0){
+        LLDnodeDataTo(self->motorTable,&moti);
+        strncpy(name,moti.motorName,131);
+        strtolower(name);
+        if(strstr(name,"ds") == NULL && strstr(name,"as") == NULL){
+            targetValue = findTarget(moti, self->targetPosition);
+            status  = MotorRun(moti.pMot,pCon,targetValue);
+            if(status != OKOK){
+                return status;
+            }
+         }
+        status = LLDnodePtr2Next(self->motorTable); 
+    }
+    return OKOK;
+}
+/*-------------------------------------------------------------------------*/
+static int TableDriveCheckStatus(void *pData, SConnection *pCon){
+    pTableDrive self = (pTableDrive)pData;
+    int status;
+    float step;
+    char pBueffel[1024];
+
+    switch(self->state){
+        case STARTING:
+            /*
+             * make sure that our current position is up-to-date
+             */
+            TableDriveGetValue(self,pCon);
+            liberateMotors(self,pCon);
+            status = startASDS(self,pCon,ASDSTO0);
+            if(status != OKOK){
+	      TableDriveHalt(self);
+	      return HWFault;
+            }
+            self->state = WAITDSAS;    
+            return HWBusy;
+            break;
+         case WAITDSAS:
+            status = checkRunning(self,pCon);
+            switch(status){
+                case HWIdle:
+                case OKOK:
+                    if(self->debug > 0){
+                        showPositions(self,pCon,pBueffel,1023);
+                        SCWrite(pCon,pBueffel,eValue);
+                    }
+                    status = startOthers(self,pCon);
+                    if(status != OKOK){
+		      TableDriveHalt(self);
+		      return HWFault;
+                    }
+                    self->state = WAITOTHER;
+                    return HWBusy;
+                    break;
+                case HWBusy:
+                    return HWBusy;
+                    break;
+                default:
+                    TableDriveHalt(self);
+                    self->state = WAITFINISH;
+                    return HWBusy;
+                    break;                              
+            }
+            break;
+         case WAITOTHER:
+            status = checkRunning(self,pCon);
+            switch(status){
+                case HWIdle:
+                case OKOK:
+                    if(self->debug > 0){
+                        showPositions(self,pCon,pBueffel,1023);
+                        SCWrite(pCon,pBueffel,eValue);
+                    }
+                    status = startASDS(self,pCon,ASDSTOTARGET);
+                    if(status != OKOK){
+		      TableDriveHalt(self);
+		      return HWFault;
+                    }
+                    self->state = WAITFINISH;
+                    return HWBusy;
+                    break;
+                case HWBusy:
+                    return HWBusy;
+                    break;
+                default:
+                    TableDriveHalt(self);
+                    self->state = WAITFINISH;
+                    return HWBusy;
+                    break;                              
+            }
+            break;
+        case WAITFINISH:
+            status = checkRunning(self,pCon);
+            if(status != HWBusy){
+                if(self->debug > 0){
+                    showPositions(self,pCon,pBueffel,1023);
+                    SCWrite(pCon,pBueffel,eValue);
+                }
+                TableDriveGetValue(self,pCon);
+                closeMotors(self,pCon);
+                self->state = IDLE;
+                return status;
+            } else {
+              return HWBusy;
+            }
+            break;
+        case OUTOFSYNC:
+            SCWrite(pCon,"WARNING: tabledrive out of sync",eWarning);
+            self->state = IDLE;
+            return HWFault;
+            break;
+        default:
+            SCWrite(pCon,
+            "ERROR: programming error in tabledrive, invalid state",
+            eError);
+            return HWFault;
+            break;
+    }
+    return HWFault;
+}  
 /*================== live and death ========================================*/
 static void *TableDriveInterface(void *pData, int ID){
 	pTableDrive self = (pTableDrive)pData;