linse/sicspsi
0
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity
Files
main
sicspsi/euro2kdriv.c
zolliker f16d738b4a improvements: 
- added is_running to driveable ease objects
- ighdriv.c: try <maxtry> times when status reply failes
- ipsdriv.c: fix trainedTo parameter
- reduced SEA version of SICS
2021-09-16 12:35:06 +02:00

658 lines
16 KiB
C
Raw Permalink Blame History

/*---------------------------------------------------------------------------
euro2kdriv.c
Driver for the EuroTherm 2000 controllers (ModBus protocol)
Markus Zolliker, August 2005
----------------------------------------------------------------------------*/
#include <string.h>
#include <stdio.h>
#include <stdlib.h>
#include <assert.h>
#include <sys/time.h>
#include <math.h>
#include <tcl.h>
#include <fortify.h>
#include <sics.h>
#include <splitter.h>
#include <obpar.h>
#include <devexec.h>
#include <nserver.h>
#include <interrupt.h>
#include <emon.h>
#include <evcontroller.h>
#include <evcontroller.i>
#include <sicsvar.h>
#include <evdriver.i>
#include <rs232controller.h>
#include "modbus.h"
#include "fsm.h"
#include "initializer.h"
#define EURO2K_SET 1
#define EURO2K_MODE 2
#define EURO2K_PAR 3
typedef enum { read_only, settable, to_set } Euro2kAccess;
typedef struct Euro2kPar {
struct Euro2kPar *next;
char *name;
char *unit;
char *fmt;
int adr;
ModBusType type; /* 0: float, 1: int, 2: time */
Euro2kAccess set; /* 0: read-only; 1: settable; 2: to be set */
float par;
} Euro2kPar;
typedef struct {
EaseDriv d;
char *unit;
int mode;
char *script;
int warned;
float value;
float output;
float position;
float range;
float asymmetry;
float setpoint;
Euro2kPar *pars, *readPar, *setPar;
Statistics *stat;
double lastRd;
char *model;
int rdonly;
} Euro2k;
static ParClass euro2kClass = { "EURO2K", sizeof(Euro2k) };
/*----------------------------------------------------------------------------*/
static int Euro2kMakePar(void *object, void *userarg, int argc,
char *argv[])
{
Euro2k *drv = ParCast(&euro2kClass, object);
Euro2kPar *par, **last;
int iarg;
assert(drv);
if (argc < 2)
goto Usage;
last = &drv->pars;
for (par = drv->pars; par != NULL; par = par->next) {
if (strcasecmp(argv[0], par->name) == 0) {
break;
}
last = &par->next;
}
if (par == NULL) {
par = calloc(1, sizeof(Euro2kPar));
if (par == NULL)
return 0;
*last = par;
par->unit = NULL;
par->fmt = NULL;
par->par = PAR_NAN;
} else {
if (par->unit) {
free(par->unit);
par->unit = NULL;
}
if (par->fmt) {
free(par->fmt);
par->fmt = NULL;
}
}
par->name = strdup(argv[0]);
iarg = 1;
if (strcasecmp(argv[iarg], "w") == 0) { /* writeable */
par->set = settable;
iarg++;
} else {
par->set = read_only;
}
par->type = modBusFloat;
if (iarg >= argc)
goto Usage;
if (strcasecmp(argv[iarg], "int") == 0) {
par->type = modBusInt;
iarg++;
par->fmt = "%.0f";
} else if (strcasecmp(argv[iarg], "time") == 0) {
par->type = modBusTime;
iarg++;
par->unit = "sec";
par->fmt = "%.4g";
} else {
par->type = modBusFloat;
}
if (iarg >= argc)
goto Usage;
par->adr = atoi(argv[iarg]);
iarg++;
if (iarg < argc) {
if (argv[iarg] && argv[iarg][0]) {
par->unit = argv[iarg];
}
iarg++;
if (iarg < argc) {
if (argv[iarg] && argv[iarg][0]) {
par->fmt = argv[iarg];
}
iarg++;
if (iarg < argc)
goto Usage;
}
}
if (par->unit)
par->unit = strdup(par->unit);
if (par->fmt)
par->fmt = strdup(par->fmt);
ParInitPar(object, par->name, 1);
EaseParHasChanged();
drv->readPar = NULL;
return 1;
Usage:
ParPrintf(object, eError,
"Usage: %s makepar <name> [w] [int|time] adr [unit] [fmt]",
drv->d.b.p.name);
return 0;
}
/*----------------------------------------------------------------------------*/
void Euro2kParDef(void *object)
{
Euro2k *drv = ParCast(&euro2kClass, object);
ParData *obj = object;
Euro2kPar *par, *next;
FILE *saveFile;
char *w, *t, *u, *f;
float old;
static char *modeList[] = { "auto", "manual", NULL };
ParName("");
ParTail(drv->unit);
ParFloat(&drv->value, PAR_NAN);
ParName("unit");
if (drv->unit == NULL) {
ParAccess(usUser);
}
ParLogAs(NULL);
ParStr(&drv->unit, NULL);
ParName("mode");
ParEnum(modeList);
ParList(0);
EaseUpdate(EURO2K_MODE);
ParInt(&drv->mode, 1);
ParName("model");
ParLogAs(NULL);
ParStr(&drv->model, NULL);
/*
ParName("pbPow"); ParAccess(usUser); ParFloat(&drv->pbPow, 0.0);
ParName("pbMin"); ParAccess(usUser); ParFloat(&drv->pbMin, 8.0);
ParName("pbScl"); ParAccess(usUser); ParFloat(&drv->pbScl, 3.0);
*/
old = 0.0;
ParName("pbPow");
ParSave(0);
ParFloat(&old, 0.0);
ParName("pbMin");
ParSave(0);
ParFloat(&old, 0.0);
ParName("pbScl");
ParSave(0);
ParFloat(&old, 0.0);
ParName("output");
ParTail("%");
ParFloat(&drv->output, PAR_NAN);
ParName("position");
ParTail("%");
ParAccess(usUser);
ParFloat(&drv->position, 50.0);
ParName("asymmetry");
ParAccess(usUser);
ParFloat(&drv->asymmetry, PAR_NAN);
ParName("range");
ParAccess(usUser);
ParFloat(&drv->range, PAR_NAN);
ParName("set");
ParTail(drv->unit);
EaseUpdate(EURO2K_SET);
ParFloat(&drv->setpoint, PAR_NAN);
ParName("rdonly");
ParLogAs(NULL);
ParAccess(usUser);
ParInt(&drv->rdonly, 0);
ParName("task");
ParAccess(usUser);
ParList(NULL);
ParSave(1);
ParStr(&drv->script, "0");
saveFile = ParSaveFile();
for (par = drv->pars; par != NULL; par = par->next) {
if (par->adr > 0) {
if (saveFile) {
if (par->set) {
w = "w ";
} else {
w = "";
}
if (par->type == modBusInt) {
t = "int ";
} else if (par->type == modBusTime) {
t = "time ";
} else {
t = "";
}
if (par->unit) {
u = par->unit;
} else {
u = "";
}
if (par->fmt) {
f = par->fmt;
} else {
f = "";
}
fprintf(saveFile, "%s makepar %s %s%s%d \"%s\" \"%s\"\n",
obj->name, par->name, w, t, par->adr, u, f);
}
ParName(par->name);
if (par->unit) {
if (strcmp(par->unit, "@") == 0) {
ParTail(drv->unit);
} else {
ParTail(par->unit);
}
} else {
ParList(NULL);
}
if (par->fmt) {
ParFmt(par->fmt);
}
if (par->set >= settable) {
if (EaseUpdate(EURO2K_PAR)) {
old = par->par;
ParFloat(&par->par, PAR_NAN);
if (fabsf(par->par - old) > 1e-5 * (par->par + old)) {
par->set = to_set;
}
} else {
ParFloat(&par->par, PAR_NAN);
}
} else {
ParFloat(&par->par, PAR_NAN);
}
}
}
ParName("makepar");
ParAccess(usUser);
ParCmd(Euro2kMakePar, NULL);
EaseBasePar(drv);
EaseDrivPar(drv, "%.5g", drv->unit);
ParStdDef();
EaseMsgPar(drv);
if (ParActionIs(PAR_KILL)) {
next = drv->pars;
for (par = next; par != NULL; par = next) {
next = par->next;
if (par->name) {
free(par->name);
par->name = NULL;
}
if (par->unit) {
free(par->unit);
par->unit = NULL;
}
if (par->fmt) {
free(par->fmt);
par->fmt = NULL;
}
free(par);
}
drv->pars = NULL;
drv->readPar = NULL;
if (drv->stat) {
StatisticsKill(drv->stat);
}
}
}
double getTime(void)
{
struct timeval tv;
gettimeofday(&tv, NULL);
return tv.tv_sec + 1.0e-6 * tv.tv_usec;
}
/*----------------------------------------------------------------------------*/
float Euro2kGet(EaseBase * eab, Euro2kPar * par)
{
/* a hack for converting different time formats on 2216 and 3216 models) */
float value;
value = ModBusGet(eab, par->adr, par->type);
if (par->type == modBusTime && value > 100000.0) {
par->type = modBusFloat;
value = ModBusGet(eab, par->adr, par->type);
}
return value;
}
/*----------------------------------------------------------------------------*/
static long Euro2kRead(long pc, void *object)
{
Euro2k *drv = ParCast(&euro2kClass, object);
EaseBase *eab = object;
Euro2kPar *par, *par0;
Tcl_Interp *pTcl = NULL;
char *p;
int l, m, iRet;
float dif, a, pb;
char buf[4];
Statistics *old;
double now, delta;
switch (pc) {
default: /* FSM BEGIN ****************************** */
EasePchk(drv);
if (drv->rdonly) {
if (getTime() < drv->lastRd + 10) {
goto fsm_quit;
}
}
if (drv->script && drv->script[0] != '\0'
&& 0 != strcmp(drv->script, "0")) {
pTcl = InterpGetTcl(pServ->pSics);
old = StatisticsBegin(drv->stat);
iRet = Tcl_Eval(pTcl, drv->script);
StatisticsEnd(old);
if (iRet == TCL_OK) {
if (drv->warned > 0)
drv->warned--;
} else if (drv->warned < 3) {
drv->warned++;
ParPrintf(drv, eError, "ERROR: %s in %s.task '%s'", pTcl->result,
eab->p.name, drv->script);
}
}
if (EaseGetUpdate(drv, EURO2K_MODE))
goto skipMode;
ModBusRequestValue(eab, 273, modBusInt); /* get manual or auto */
return __LINE__;
case __LINE__: /**********************************/
if (!EaseGetUpdate(drv, EURO2K_MODE)) {
m = ModBusGetValue(eab, modBusInt);
if (m != drv->mode) { /* mode changed manually -> change disp */
drv->mode = m;
EaseSetUpdate(drv, EURO2K_MODE, 1);
}
}
skipMode:
ModBusRequestValues(eab, 1, 9);
return __LINE__;
case __LINE__: /**********************************/
drv->value = ModBusGet(eab, 1, modBusFloat);
if (!EaseGetUpdate(drv, EURO2K_SET)) {
drv->setpoint = ModBusGet(eab, 2, modBusFloat);
}
drv->output = ModBusGet(eab, 3, modBusFloat);
for (par = drv->pars; par != NULL; par = par->next) {
if (par->adr > 3 && par->adr <= 9 && par->set != to_set) {
par->par = Euro2kGet(eab, par);
}
}
now = getTime();
delta = now - drv->lastRd;
drv->lastRd = now;
if (delta > 10)
delta = 10;
a = drv->output * delta / drv->range;
if ((drv->position > 50.) == (drv->output > 0)) {
drv->position += a * (1 - drv->asymmetry * 0.01);
} else {
drv->position += a * (1 + drv->asymmetry * 0.01);
}
if (drv->position < 0)
drv->position = 0;
if (drv->position > 100)
drv->position = 100;
/*
if (drv->pbPow <= 0.0) goto getPars;
pb = drv->pbMin + pow(drv->value * drv->pbScl, drv->pbPow);
if (pb > 999.) pb=999.;
ModBusPutValue(eab, 6, modBusFloat, pb);
return __LINE__; case __LINE__:
getPars:
*/
par = drv->readPar;
par0 = par;
do {
if (par == NULL) {
par = drv->pars;
} else {
par = par->next;
}
if (par == par0)
goto skipPar;
} while (par == NULL || par->adr <= 9 || par->set == to_set);
ModBusRequestValue(eab, par->adr, par->type);
drv->readPar = par;
return __LINE__;
case __LINE__: /**********************************/
par = drv->readPar;
if (par->set != to_set) {
par->par = Euro2kGet(eab, par);
}
skipPar:
if (eab->p.verbose >= 3) {
eab->p.verbose--;
if (eab->p.verbose < 3)
eab->p.verbose = 0;
}
finish:
ParLog(drv);
fsm_quit:return 0;
} /* FSM END ******************************** */
}
/*----------------------------------------------------------------------------*/
static long Euro2kSet(long pc, void *object)
{
Euro2k *drv = ParCast(&euro2kClass, object);
EaseBase *eab = object;
Euro2kPar *par;
char *p;
int l;
int upd;
char buf[4];
float value;
switch (pc) {
default: /* FSM BEGIN ****************************** */
EasePchk(drv);
loop:
if (drv->rdonly)
goto fsm_quit;
upd = EaseNextUpdate(drv);
if (upd == EASE_RUN) {
drv->setpoint = drv->d.targetValue;
goto run;
}
if (upd == EURO2K_MODE)
goto mode;
if (upd == EURO2K_SET)
goto run;
for (par = drv->pars; par != NULL; par = par->next) {
if (par->set == to_set) {
ModBusRequestValue(eab, par->adr, par->type);
goto readIt;
}
}
goto fsm_quit;
run:
ModBusRequestValue(eab, 2, modBusFloat);
return __LINE__;
case __LINE__: /**********************************/
value = ModBusGetValue(eab, modBusFloat);
if (fabsf(value - drv->setpoint) <= 1e-5 * (value + drv->setpoint))
goto skipset;
ModBusPutFloats(eab, 2, 1, &drv->setpoint);
return __LINE__;
case __LINE__: /**********************************/
skipset:
if (drv->mode == 0)
goto loop;
drv->mode = 0;
mode:
if (drv->mode)
drv->mode = 1;
ModBusPutValue(eab, 106, modBusInt, drv->mode * 5); /* set display std or blank */
return __LINE__;
case __LINE__: /**********************************/
ModBusPutValue(eab, 273, modBusInt, drv->mode); /* set manual to 0 */
goto setIt;
readIt:
drv->setPar = par;
return __LINE__;
case __LINE__: /**********************************/
par = drv->setPar;
value = Euro2kGet(eab, par);
par->set = settable;
if (fabsf(par->par - value) <= 0.00001 * fabsf(par->par + value)) {
goto loop;
}
ModBusPutValue(eab, par->adr, par->type, par->par);
setIt:
return __LINE__;
case __LINE__: /**********************************/
goto loop;
fsm_quit:return 0;
} /* FSM END ******************************** */
}
/*----------------------------------------------------------------------------*/
static long Euro2kStart(long pc, void *object)
{
Euro2k *drv = ParCast(&euro2kClass, object);
EaseBase *eab = object;
int number;
char hex[8];
switch (pc) {
default: /* FSM BEGIN ****************************** */
EasePchk(drv);
ModBusRequestValue(eab, 122, modBusInt);
return __LINE__;
case __LINE__: /**********************************/
if (eab->state != EASE_read) {
ParPrintf(drv, eError, "bad or no response on ModBus");
goto quit;
}
number = ModBusGetValue(eab, modBusInt);
if (drv->model != NULL) {
free(drv->model);
}
snprintf(hex, sizeof hex, "%4.4X", number);
if (hex[0] == 'E')
hex[0] = '3';
if (hex[2] == '3') {
hex[3] = '2';
} else if (hex[2] == '6') {
hex[2] = '1';
hex[3] = '6';
} else {
hex[2] = '0';
hex[3] = hex[2];
}
drv->model = strdup(hex);
ModBusRequestValue(eab, 107, modBusInt);
return __LINE__;
case __LINE__: /**********************************/
number = ModBusGetValue(eab, modBusInt);
snprintf(eab->version, sizeof(eab->version), "%s V%4.4X", drv->model,
number);
ParPrintf(drv, eLog, "connected to Eurotherm %s", eab->version);
if (drv->unit != NULL)
goto unitGiven;
ModBusRequestValue(eab, 516, modBusInt);
return __LINE__;
case __LINE__: /**********************************/
number = ModBusGetValue(eab, modBusInt);
if (number == 0) {
drv->unit = strdup("C");
} else if (number == 2) {
drv->unit = strdup("K");
}
unitGiven:
if (drv->rdonly)
goto quit;
ModBusPutValue(eab, 111, modBusFloat, drv->d.upperLimit);
return __LINE__;
case __LINE__: /**********************************/
ModBusPutValue(eab, 112, modBusFloat, drv->d.lowerLimit);
return __LINE__;
case __LINE__: /**********************************/
FsmCall(Euro2kRead);
return __LINE__;
case __LINE__: /**********************************/
quit:
return 0;
} /* FSM END ******************************************* */
}
/*----------------------------------------------------------------------------*/
static int Euro2kInit(SConnection * con, int argc, char *argv[],
int dynamic)
{
/* args:
MakeObject objectname euro2k <rs232>
<host> <port>
*/
Euro2k *drv;
char sn[64];
drv = EaseMakeDriv(con, &euro2kClass, argc, argv, dynamic, 7,
Euro2kParDef, ModBusHandler, Euro2kStart, NULL,
Euro2kRead, Euro2kSet);
if (drv == NULL)
return 0;
drv->pars = NULL;
drv->readPar = NULL;
snprintf(sn, sizeof sn, "%s task", argv[1]);
drv->stat = StatisticsNew(sn);
drv->lastRd = getTime();
setRS232ReplyTerminator(drv->d.b.ser, "");
setRS232SendTerminator(drv->d.b.ser, "");
return 1;
}
/*----------------------------------------------------------------------------*/
void Euro2kStartup(void)
{
ParMakeClass(&euro2kClass, EaseDrivClass());
MakeDriver("EURO2K", Euro2kInit, 0, "Eurotherm 2xxx");
}
Reference in New Issue View Git Blame Copy Permalink