/*-------------------------------------------------------------------------- S L S V M E This file contains the driver for the PSI-DSP magnet controller as aquired from SLS. This version is for the new interface provided by the vmemaggi server program running on embedded linux on a computer in the VME crate which talks directly to the IP communication mudules on the VME bus. Copyright: see file COPYRIGHT Mark Koennecke, April 2008 ----------------------------------------------------------------------------*/ #include #include #include #include #include #include #include #include #include #include #include #include "evdriver.h" #include #include #include "vmemaggi.h" #include #define ABS(x) (x < 0 ? -(x) : (x)) extern char *trim(char *txt); #define DEVERR -2001 #define BADHIGHLIM -2002 #define BADLOWLIM -2003 /*-----------------------------------------------------------------------*/ typedef struct { prs232 controller; int iNum; int iError; int iDevError; char errorText[80]; } SLSDriv, *pSLSDriv; /*-------------------------------------------------------------------------*/ static int communicateSLS(pSLSDriv self, char *command, char *reply, int replyLen) { long lVal = 0; int iRet, i, address, status; char *pPtr; char text[80]; if(!self->controller){ self->iError = NOTCONNECTED; strcpy(self->errorText,"Not Connected"); return -1; } self->iDevError = 0; memset(reply,0,replyLen); iRet = transactRS232(self->controller, command, strlen(command), reply, replyLen); if(iRet < 0){ return iRet; } if(strstr(reply, "ERROR") != NULL){ pPtr = reply; /* jump over error */ pPtr = stptok(pPtr,"text",80,":"); /* read error number */ pPtr = stptok(pPtr,"text",80,":"); self->iError = atoi(trim(text)); /* read error description */ pPtr = stptok(pPtr,"text",80,":"); strncpy(self->errorText, text, 80); return DEVERR; } return 1; } /*--------------------------------------------------------------------------*/ static void locateValue(char *rawReply, char *value, int valLen){ char *pPtr; pPtr = rawReply; pPtr = stptok(pPtr,value, valLen," "); pPtr = stptok(pPtr,value, valLen," "); stptok(pPtr,value, valLen," "); } /*---------------------------------------------------------------------*/ static void slsdspCodeToText(int code, char *text, int textlen){ switch(code){ case 0x0: strncpy(text,"NO",textlen); break; case 0x1: strncpy(text,"DEVICE_STATE_ERROR",textlen); break; case 0x2: strncpy(text,"DEVICE_SUPERVISOR_DISABLED",textlen); break; case 0x3: strncpy(text,"COMMAND_ABORT",textlen); break; case 0x4: strncpy(text,"DATA_NOT_STORED",textlen); break; case 0x5: strncpy(text,"ERROR_ERASING_FLASH",textlen); break; case 0x6: strncpy(text,"COMMUNICATION_BREAK",textlen); break; case 0x7: strncpy(text,"INTERNAL_COMMUNICATION_ERROR",textlen); break; case 0x8: strncpy(text,"MASTER_CARD_ERROR",textlen); break; case 0x9: strncpy(text,"INTERNAL_BUFFER_FULL",textlen); break; case 0xa: strncpy(text,"WRONG_SECTOR",textlen); break; case 0xb: strncpy(text,"DATA_NOT_COPIED",textlen); break; case 0xc: strncpy(text,"WRONG_DOWNLOAD_PARAMETERS",textlen); break; case 0xd: strncpy(text,"DEVICE_PARAMETRIZATION_ERROR",textlen); break; case 0x10: strncpy(text,"TIMEOUT_DC_LINK_VOLTAGE",textlen); break; case 0x11: strncpy(text,"TIMEOUT_AUXILIARY_RELAY_ON",textlen); break; case 0x12: strncpy(text,"TIMEOUT_AUXILIARY_RELAY_OFF",textlen); break; case 0x13: strncpy(text,"TIMEOUT_MAIN_RELAY_ON",textlen); break; case 0x14: strncpy(text,"TIMEOUT_MAIN_RELAY_OFF",textlen); break; case 0x15: strncpy(text,"TIMEOUT_DATA_DOWNLOAD",textlen); break; case 0x20: strncpy(text,"INTERLOCK",textlen); break; case 0x21: strncpy(text,"MASTER_SWITCH",textlen); break; case 0x22: strncpy(text,"MAGNET_INTERLOCK",textlen); break; case 0x23: strncpy(text,"TEMPERATURE_TRANSFORMER",textlen); break; case 0x24: strncpy(text,"TEMPERATURE_RECTIFIER",textlen); break; case 0x25: strncpy(text,"TEMPERATURE_CONVERTER",textlen); break; case 0x26: strncpy(text,"CURRENT_TRANSDUCER",textlen); break; case 0x27: strncpy(text,"TEMPERATURE_POLARITY_SWITCH",textlen); break; case 0x28: strncpy(text,"POWER_SEMICONDUCTOR",textlen); break; case 0x29: strncpy(text,"MAIN_RELAY",textlen); break; case 0x2a: strncpy(text,"AD_CONVERTER_CARD",textlen); break; case 0x2b: strncpy(text,"POLARITY_SWITCH",textlen); break; case 0x2c: strncpy(text,"AUXILIARY_RELAY",textlen); break; case 0x2d: strncpy(text,"MASTER_SWITCH_T1",textlen); break; case 0x2e: strncpy(text,"MASTER_SWITCH_T2",textlen); break; case 0x2f: strncpy(text,"TEMPERATURE_MAGNET",textlen); break; case 0x30: strncpy(text,"WATER_MAGNET",textlen); break; case 0x31: strncpy(text,"WATER_RACK",textlen); break; case 0x40: strncpy(text,"LOAD_CURRENT_TOO_HIGH",textlen); break; case 0x41: strncpy(text,"DC_LINK_VOLTAGE_TOO_LOW",textlen); break; case 0x42: strncpy(text,"DC_LINK_VOLTAGE_TOO_HIGH",textlen); break; case 0x43: strncpy(text,"LOAD_VOLTAGE_TOO_HIGH",textlen); break; case 0x44: strncpy(text,"LOAD_CURRENT_RIPPLE_TOO_HIGH",textlen); break; case 0x45: strncpy(text,"DC_LINK_ISOLATION_NOT_OK",textlen); break; case 0x46: strncpy(text,"LOAD_ISOLATION_NOT_OK",textlen); break; case 0x47: strncpy(text,"LOAD_IMPEDANCE_OUT_OF_RANGE",textlen); break; case 0x48: strncpy(text,"SHUT_OFF_CURRENT_TOO_HIGH",textlen); break; case 0x49: strncpy(text,"LOAD_DC_CURRENT_TOO_HIGH",textlen); break; case 0x4a: strncpy(text,"CURRENT_I1A1_TOO_HIGH",textlen); break; case 0x4b: strncpy(text,"CURRENT_I1B1_TOO_HIGH",textlen); break; case 0x4c: strncpy(text,"CURRENT_I1A2_TOO_HIGH",textlen); break; case 0x4d: strncpy(text,"CURRENT_I1B2_TOO_HIGH",textlen); break; case 0x4e: strncpy(text,"CURRENT_I2A1_TOO_HIGH",textlen); break; case 0x4f: strncpy(text,"CURRENT_I2B1_TOO_HIGH",textlen); break; case 0x50: strncpy(text,"CURRENT_I2A2_TOO_HIGH",textlen); break; case 0x51: strncpy(text,"CURRENT_I2B2_TOO_HIGH",textlen); break; case 0x52: strncpy(text,"CURRENT_I3P_TOO_HIGH",textlen); break; case 0x53: strncpy(text,"CURRENT_I3N_TOO_HIGH",textlen); break; case 0x54: strncpy(text,"CURRENT_IE_TOO_HIGH",textlen); break; case 0x55: strncpy(text,"VOLTAGE_U1A_TOO_LOW",textlen); break; case 0x56: strncpy(text,"VOLTAGE_U1B_TOO_LOW",textlen); break; case 0x57: strncpy(text,"DIFF_CURRENT_I1A1_I1A2_TOO_HIGH",textlen); break; case 0x58: strncpy(text,"DIFF_CURRENT_I1B1_I1B2_TOO_HIGH",textlen); break; case 0x59: strncpy(text,"DIFF_CURRENT_I2A1_I2A2_TOO_HIGH",textlen); break; case 0x5a: strncpy(text,"DIFF_CURRENT_I2B1_I2B2_TOO_HIGH",textlen); break; case 0x5b: strncpy(text,"DIFF_CURRENT_I3P_I3N_TOO_HIGH",textlen); break; case 0x5c: strncpy(text,"CURRENT_I1A_TOO_HIGH",textlen); break; case 0x5d: strncpy(text,"CURRENT_I1B_TOO_HIGH",textlen); break; case 0x5e: strncpy(text,"CURRENT_I3A1_TOO_HIGH",textlen); break; case 0x5f: strncpy(text,"CURRENT_I3B1_TOO_HIGH",textlen); break; case 0x60: strncpy(text,"CURRENT_I3A2_TOO_HIGH",textlen); break; case 0x61: strncpy(text,"CURRENT_I3B2_TOO_HIGH",textlen); break; case 0x62: strncpy(text,"CURRENT_I4_TOO_HIGH",textlen); break; case 0x63: strncpy(text,"CURRENT_I5_TOO_HIGH",textlen); break; case 0x64: strncpy(text,"DIFF_CURRENT_I3A1_I3A2_TOO_HIGH",textlen); break; case 0x65: strncpy(text,"DIFF_CURRENT_I3B1_I3B2_TOO_HIGH",textlen); break; case 0x66: strncpy(text,"DIFF_CURRENT_I4_I5_TOO_HIGH",textlen); break; case 0x67: strncpy(text,"VOLTAGE_U3A_TOO_LOW",textlen); break; case 0x68: strncpy(text,"VOLTAGE_U3B_TOO_LOW",textlen); break; case 0x69: strncpy(text,"VOLTAGE_U1_TOO_LOW",textlen); break; case 0x6a: strncpy(text,"VOLTAGE_U3A_TOO_HIGH",textlen); break; case 0x6b: strncpy(text,"VOLTAGE_U3B_TOO_HIGH",textlen); break; case 0x6c: strncpy(text,"SPEED_ERROR_TOO_HIGH",textlen); break; case 0x70: strncpy(text,"MAIN_RELAY_A",textlen); break; case 0x71: strncpy(text,"MAIN_RELAY_B",textlen); break; case 0x72: strncpy(text,"POWER_SWITCH_A",textlen); break; case 0x73: strncpy(text,"POWER_SWITCH_B",textlen); break; case 0x74: strncpy(text,"MONITOR_TRAFO_A",textlen); break; case 0x75: strncpy(text,"MONITOR_TRAFO_B",textlen); break; case 0x76: strncpy(text,"TEMPERATURE_RECTIFIER_A",textlen); break; case 0x77: strncpy(text,"TEMPERATURE_RECTIFIER_B",textlen); break; case 0x78: strncpy(text,"TEMPERATURE_CONVERTER_A",textlen); break; case 0x79: strncpy(text,"TEMPERATURE_CONVERTER_B",textlen); break; case 0x7a: strncpy(text,"TEMPERATURE_CONVERTER_A1",textlen); break; case 0x7b: strncpy(text,"TEMPERATURE_CONVERTER_B1",textlen); break; case 0x7c: strncpy(text,"TEMPERATURE_CONVERTER_A2",textlen); break; case 0x7d: strncpy(text,"TEMPERATURE_CONVERTER_B2",textlen); break; case 0x7e: strncpy(text,"TEMPERATURE_TRANSFORMER_A",textlen); break; case 0x7f: strncpy(text,"TEMPERATURE_TRANSFORMER_B",textlen); break; case 0x80: strncpy(text,"WATER_RECTIFIER_A",textlen); break; case 0x81: strncpy(text,"WATER_RECTIFIER_B",textlen); break; case 0x82: strncpy(text,"WATER_CONVERTER_A",textlen); break; case 0x83: strncpy(text,"WATER_CONVERTER_B",textlen); break; case 0x84: strncpy(text,"WATER_CONVERTER_A1",textlen); break; case 0x85: strncpy(text,"WATER_CONVERTER_B1",textlen); break; case 0x86: strncpy(text,"WATER_CONVERTER_A2",textlen); break; case 0x87: strncpy(text,"WATER_CONVERTER_B2",textlen); break; case 0x88: strncpy(text,"WATER_TRANSFORMER_A",textlen); break; case 0x89: strncpy(text,"WATER_TRANSFORMER_B",textlen); break; case 0x8a: strncpy(text,"DOOR_A",textlen); break; case 0x8b: strncpy(text,"DOOR_B",textlen); break; case 0x8c: strncpy(text,"DOOR_C",textlen); break; case 0x8d: strncpy(text,"POWER_SEMICONDUCTOR_CONVERTER_A",textlen); break; case 0x8e: strncpy(text,"POWER_SEMICONDUCTOR_CONVERTER_B",textlen); break; case 0x8f: strncpy(text,"POWER_SEMICONDUCTOR_CONVERTER_A1",textlen); break; case 0x90: strncpy(text,"POWER_SEMICONDUCTOR_CONVERTER_B1",textlen); break; case 0x91: strncpy(text,"POWER_SEMICONDUCTOR_CONVERTER_A2",textlen); break; case 0x92: strncpy(text,"POWER_SEMICONDUCTOR_CONVERTER_B2",textlen); break; case 0x93: strncpy(text,"CURRENT_TRANSDUCER_I3P",textlen); break; case 0x94: strncpy(text,"CURRENT_TRANSDUCER_I3N",textlen); break; case 0x95: strncpy(text,"MAGNET_INTERLOCK_1",textlen); break; case 0x96: strncpy(text,"MAGNET_INTERLOCK_2",textlen); break; case 0x97: strncpy(text,"VENTILATOR",textlen); break; case 0x98: strncpy(text,"EMERGENCY_SWITCH",textlen); break; case 0x99: strncpy(text,"CAPACITOR_DISCHARGE_A_ON",textlen); break; case 0x9a: strncpy(text,"CAPACITOR_DISCHARGE_B_ON",textlen); break; case 0x9b: strncpy(text,"CURRENT_TRANSDUCER_I4",textlen); break; case 0x9c: strncpy(text,"CURRENT_TRANSDUCER_I5",textlen); break; case 0xb0: strncpy(text,"TIMEOUT_DC_LINK_VOLTAGE_PART_A",textlen); break; case 0xb1: strncpy(text,"TIMEOUT_DC_LINK_VOLTAGE_PART_B",textlen); break; case 0xb2: strncpy(text,"TIMEOUT_AUXILIARY_RELAY_A_ON",textlen); break; case 0xb3: strncpy(text,"TIMEOUT_AUXILIARY_RELAY_B_ON",textlen); break; case 0xb4: strncpy(text,"TIMEOUT_AUXILIARY_RELAY_A_OFF",textlen); break; case 0xb5: strncpy(text,"TIMEOUT_AUXILIARY_RELAY_B_OFF",textlen); break; case 0xb6: strncpy(text,"TIMEOUT_MAIN_RELAY_A_ON",textlen); break; case 0xb7: strncpy(text,"TIMEOUT_MAIN_RELAY_B_ON",textlen); break; case 0xb8: strncpy(text,"TIMEOUT_MAIN_RELAY_A_OFF",textlen); break; case 0xb9: strncpy(text,"TIMEOUT_MAIN_RELAY_B_OFF",textlen); break; } } /*---------------------------------------------------------------------------*/ static int GetSLSPos(pEVDriver self, float *fPos) { pSLSDriv pMe = NULL; char command[40], reply[132], value[40]; int iRet; assert(self); pMe = (pSLSDriv)self->pPrivate; assert(pMe); /* * first try to read the error code */ snprintf(command,40,"r %d err\n", pMe->iNum); iRet = communicateSLS(pMe, command, reply, 132); if(iRet < 0){ return 0; } locateValue(reply, value,40); sscanf(value,"%x", &iRet); if(iRet != 0){ slsdspCodeToText(iRet, pMe->errorText, 80); pMe->iError = DEVERROR; pMe->iDevError = iRet; return 0; } /* * really read the current */ snprintf(command,40,"r %d cur\n", pMe->iNum); iRet = communicateSLS(pMe, command, reply, 132); if(iRet < 0){ return 0; } locateValue(reply, value,40); sscanf(value,"%f", fPos); return 1; } /*----------------------------------------------------------------------------*/ static int SLSRun(pEVDriver self, float fVal) { pSLSDriv pMe = NULL; int iRet; char command[40], reply[132], value[40]; assert(self); pMe = (pSLSDriv )self->pPrivate; assert(pMe); /* * first check if this on */ snprintf(command,40,"r %d onoff\n", pMe->iNum); iRet = communicateSLS(pMe, command, reply, 132); if(iRet < 0){ return 0; } locateValue(reply,value,40); if(strstr(value,"1") == NULL){ /* * switch on */ snprintf(command,40,"w %d on\n", pMe->iNum); iRet = communicateSLS(pMe, command, reply, 132); if(iRet < 0){ return 0; } } /* * set a new value */ snprintf(command,40,"w %d cur %f\n", pMe->iNum, fVal); iRet = communicateSLS(pMe, command, reply, 132); if(iRet < 0){ return 0; } return 1; } /*--------------------------------------------------------------------------*/ static int SLSError(pEVDriver self, int *iCode, char *error, int iErrLen) { pSLSDriv pMe = NULL; char *pPtr = NULL; int i1, i2; char pBueffel[132]; assert(self); pMe = (pSLSDriv)self->pPrivate; assert(pMe); *iCode = pMe->iError; if(pMe->iError == DEVERROR){ strncpy(error,pMe->errorText, iErrLen); return 1; } if(pMe->iError < -2000 || (pMe->iError >= 70 && pMe->iError < 83)){ strncpy(error,pMe->errorText, iErrLen); return 1; } getRS232Error(*iCode,error,iErrLen); return 1; } /*-------------------------------------------------------------------------*/ static int SLSSend(pEVDriver self, char *pCommand, char *pReply, int iLen) { pSLSDriv pMe = NULL; int iRet, ival; char command[40]; assert(self); pMe = (pSLSDriv )self->pPrivate; assert(pMe); if(strcmp(pCommand,"off") == 0){ snprintf(command,40,"w %d off\n", pMe->iNum); } else if(strcmp(pCommand,"on") == 0){ snprintf(command,40,"w %d on\n", pMe->iNum); } else { strncpy(command,pCommand,40); } iRet = communicateSLS(pMe, command, pReply, iLen); if(iRet < 0){ return 0; } return 1; } /*--------------------------------------------------------------------------*/ static int SLSInit(pEVDriver self) { pSLSDriv pMe = NULL; int iRet, ival, i; char msg[40], reply[40]; assert(self); pMe = (pSLSDriv )self->pPrivate; assert(pMe); iRet = initRS232(pMe->controller); if(iRet < 0) { return 0; } setRS232SendTerminator(pMe->controller, "\n"); setRS232ReplyTerminator(pMe->controller, "\n"); setRS232Timeout(pMe->controller, 1000); snprintf(msg,40,"w %d on\n", pMe->iNum); iRet = communicateSLS(pMe, msg, reply, 40); if(iRet < 0){ return 0; } return 1; } /*--------------------------------------------------------------------------*/ static int SLSClose(pEVDriver self) { pSLSDriv pMe = NULL; int iRet, ival; char msg[6], reply[6]; assert(self); pMe = (pSLSDriv )self->pPrivate; assert(pMe); closeRS232(pMe->controller); return 1; } /*---------------------------------------------------------------------------*/ static int SLSFix(pEVDriver self, int iError) { pSLSDriv pMe = NULL; int iRet, i, dataLen; char buffer[80]; char msg[6], reply[6]; float fVal = .0; assert(self); pMe = (pSLSDriv )self->pPrivate; assert(pMe); switch(iError) { case BADHIGHLIM: case BADLOWLIM: case BADSLOT: case BADMAP: case DSPSTOP: case LINKDWN: case MISPS: case PSRNG: case NOPAR: case NOVAL: case BADPAR: case SETRNG: case DEVERROR: return DEVFAULT; break; case SOFTTIM: case FPGATIM: case ADDRMIS: return DEVREDO; break; case TIMEOUT: for(i = 0; i < 10; i++){ iRet = availableRS232(pMe->controller); dataLen = 70; if(iRet == 1){ readRS232(pMe->controller, buffer,&dataLen); } } return DEVREDO; break; default: SLSClose(self); iRet = SLSInit(self); if(iRet) { return DEVREDO; } else { return DEVFAULT; } break; } } /*--------------------------------------------------------------------------*/ static int SLSHalt(pEVDriver *self) { assert(self); return 1; } /*------------------------------------------------------------------------*/ static void KillSLS(void *pData) { pSLSDriv pMe = NULL; pMe = (pSLSDriv)pData; assert(pMe); free(pMe); } /*------------------------------------------------------------------------*/ pEVDriver CreateSLSVMEDriv(int argc, char *argv[]) { pEVDriver pNew = NULL; pSLSDriv pSim = NULL; /* check for arguments */ if(argc < 2) { return NULL; } pNew = CreateEVDriver(argc,argv); pSim = (pSLSDriv)malloc(sizeof(SLSDriv)); memset(pSim,0,sizeof(SLSDriv)); if(!pNew || !pSim) { return NULL; } pNew->pPrivate = pSim; pNew->KillPrivate = KillSLS; pSim->controller = FindCommandData(pServ->pSics, argv[0],"RS232 Controller"); if(pSim->controller == NULL){ return NULL; } pSim->iNum = atoi(argv[1]); /* initialise function pointers */ pNew->SetValue = SLSRun; pNew->GetValue = GetSLSPos; pNew->Send = SLSSend; pNew->GetError = SLSError; pNew->TryFixIt = SLSFix; pNew->Init = SLSInit; pNew->Close = SLSClose; return pNew; }