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0677ecfbe7c2c8057fc7290a86a4f573fd9229a4
sicspsi/ipsdriv.c

468 lines
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C
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/*---------------------------------------------------------------------------
ipsdriv.c
Driver for the Oxford Instruments IPS/PS magnet power supply.
Markus Zolliker, Sept 2004
----------------------------------------------------------------------------*/
#include <string.h>
#include <stdio.h>
#include <stdlib.h>
#include <assert.h>
#include <sys/time.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 <servlog.h>
#include <sicsvar.h>
#include <evdriver.i>
#include <rs232controller.h>
#include "oicom.h"
#include "fsm.h"
typedef struct {
Eve eve;
float current; /* current (in Tesla) */
float persfield; /* persistent field from IPS (in Tesla) */
float lastfield; /* persistent field from last drive */
float confirmfield; /* field confirmed in 1st step */
float ramp; /* actual ramp rate (Telsa/min) */
int persmode; /* 0: leave switch on, 1: go to persistant mode */
int perswitch; /* state of switch */
int remote; /* 0: local, 1: remote, do not check, 2: remote, check */
int heaterFault;
int force; /* force = 2: put heater switch even when stored field does not match */
time_t swtim; /* time when last switching the heater */
time_t tim;
} IpsDriv;
int IpsConfirm(SConnection *pCon, pEVControl evc, int argc, char *argv[]);
/*----------------------------------------------------------------------------*/
static int IpsOk(IpsDriv *me, SConnection *pCon) {
float dif;
Eve *eve=&me->eve;
if (me->eve.version[0]=='\0') return 1; /* connection not yet confirmed */
if (me->perswitch) return 1;
if (fabs(me->persfield - me->lastfield) < 1e-5) return 1;
if (me->force != 0) return 1;
eve->errCode = EVE_FAULT;
if (!pCon) pCon = SCLoad(&eve->evc->conn);
SCPrintf(pCon, eWarning,
"\nit is not sure which field is in the magnet\n"
"value stored in power supply: %f\n"
" in software: %f\n"
"use command\n \n %s confirm ...\n \n"
"to specify the persistent field\n \n"
, me->persfield, me->lastfield, eve->evc->pName);
me->force = 0;
return 0;
}
/*----------------------------------------------------------------------------*/
#define A EVE_ACTPAR
#define L EVE_LOGPAR
#define S EVE_SAVEPAR
void IpsPars(IpsDriv *me, EveParArg *arg) {
EveIntPar(arg, "persmode", &me->persmode, usUser, A+S);
EveIntPar(arg, "perswitch", &me->perswitch, usInternal, A);
EveObPar(arg, UPLIMIT, "%.5g\tTesla", A+S);
EveFloatPar(arg, "ramp", &me->ramp, "%.5g\tTesla/min", usUser, A+S);
EveFloatPar(arg, "current", &me->current, "%.5g\tTesla", usInternal, A+L);
EveFloatPar(arg, "lastfield", &me->lastfield, "%.5g\tTesla", usInternal, S);
EveCmd(arg, "confirm", IpsConfirm, usUser);
EveStdParEnd(arg, "%.5g\tTesla", A+L+S);
if (EveUserAction(arg)) {
IpsOk(me, EveArgConn(arg));
}
}
/*----------------------------------------------------------------------------*/
void IpsStatus(IpsDriv *me) {
char *ans;
int *code;
Eve *eve=&me->eve;
int swi;
if (eve->state != readState) return;
ans=eve->ans;
code=&eve->errCode;
if (ans[0] != 'X' ||
ans[3] != 'A' ||
ans[5] != 'C' ||
ans[7] != 'H' ||
ans[9] != 'M') {
EvePrintf(eve, eError, "illegal status response");
*code = EVE_FAULT;
return;
}
switch (ans[1]) {
case '0': break;
case '1': EvePrintf(eve, eError, "magnet quenched"); *code = EVE_FAULT; return;
case '2': EvePrintf(eve, eError, "IPS overheated"); *code = EVE_FAULT; return;
case '4': EvePrintf(eve, eError, "IPS warming up"); *code = EVE_FAULT; return;
case '8': EvePrintf(eve, eError, "IPS fault"); *code = EVE_FAULT; return;
default:
EvePrintf(eve, eError, "illegal status response");
*code = EVE_FAULT;
return;
}
if (ans[6] != '3' && me->remote == 2) {
EvePrintf(eve, eError, "IPS switched to local");
*code = EVE_FAULT;
me->remote = 1;
return;
}
if (ans[8] == '5') {
me->heaterFault = 1;
return;
}
if (ans[8] == '1') {
swi = 1;
} else {
swi = 0;
}
if (swi != me->perswitch || me->swtim == 0) {
me->swtim = time(NULL);
me->perswitch = swi;
}
}
/*----------------------------------------------------------------------------*/
static void IpsSetField(IpsDriv *me, float val) {
char buf[128];
if (me->eve.value != val && me->eve.evc != NULL) {
snprintf(buf, sizeof(buf), "%s = %g", me->eve.evc->pName, val);
InvokeCallBack(me->eve.evc->pCall, VALUECHANGE, buf);
}
if (me->perswitch) {
me->current = val;
me->lastfield = val;
me->persfield = val;
} else if (me->force == 2) {
me->lastfield = val;
} else {
me->persfield = val;
}
me->eve.value = val;
}
/*----------------------------------------------------------------------------*/
static int IpsRead(long pc, IpsDriv *me) {
Eve *eve=&me->eve;
FSM_BEGIN
EveWrite(eve, "X");
FSM_NEXT
IpsStatus(me); /* check for errors and get perswitch */
/*
if (!me->remote) goto rd;
EveWrite(eve, "C0");
me->remote = 0;
FSM_NEXT
*/
rd:
EveWrite(eve, "R7"); /* read current (in Tesla) */
FSM_NEXT
me->current = OiGetFlt(eve, 3, NULL);
if (me->perswitch) {
IpsSetField(me, me->current);
goto quit;
}
EveWrite(eve, "R18"); /* read persistant field (in Tesla) */
FSM_NEXT
IpsSetField(me, OiGetFlt(eve, 3, NULL));
quit:
EveLog(eve);
FSM_END
}
/*----------------------------------------------------------------------------*/
static int IpsStart(long pc, IpsDriv *me) {
Eve *eve=&me->eve;
FSM_BEGIN
EveWrite(eve, "V");
FSM_NEXT
if (0 == strncmp(eve->version, "IPS120", 6)) {
me->eve.syntax = 1;
} else if (0 == strncmp(eve->version, "PS", 2)) {
me->eve.syntax = 0;
} else {
EvePrintf(eve, eError, "unknown power supply version: %s", eve->version);
goto quit;
}
EvePrintf(eve, eStatus, "connected to %s", eve->version);
FSM_CALL(IpsRead);
quit:
FSM_END
}
/*----------------------------------------------------------------------------*/
static int IpsChangeField(long pc, IpsDriv *me) {
Eve *eve=&me->eve;
pEVControl evc=eve->evc;
float fld;
float step;
float ramp;
time_t delay;
FSM_BEGIN
EveWrite(eve, "C3");
me->remote = 1;
FSM_NEXT
EveWrite(eve, "F7"); /* switch to tesla on display */
FSM_NEXT
EveWrite(eve, "A0"); /* hold */
FSM_NEXT
FSM_CALL(IpsRead);
me->remote = 2;
if (!IpsOk(me, NULL)) goto finish;
if (fabs(evc->fTarget - me->lastfield) < 1e-5) {
EvePrintf(eve, -1, "IPS: we are already at field %f", me->lastfield);
if (me->persmode) {
if (!me->perswitch) goto finish;
goto target_reached;
} else {
if (me->perswitch) goto finish;
}
}
if (fabs(me->current - me->lastfield) < 1e-5) {
goto switch_on;
}
OiSet(eve, "J", me->lastfield, 3); /* set point */
FSM_NEXT
EveWrite(eve, "A1");
EvePrintf(eve, -1, "IPS: ramp to current for %f Tesla", me->lastfield);
FSM_NEXT
me->tim = time(NULL);
stab1:
EveWrite(eve, "X");
FSM_NEXT
IpsStatus(me); /* just check for errors */
EveWrite(eve, "R7"); /* read current (in Tesla) */
FSM_NEXT
me->current = OiGetFlt(eve, 3, NULL);
EveLog(eve);
if (fabs(me->current - me->lastfield) > 1e-5) goto stab1;
stab2:
FSM_WAIT(1)
EveWrite(eve, "X");
FSM_NEXT
IpsStatus(me);
if (time(NULL) < me->tim + 3) goto stab2; /* stabilize */
switch_on:
if (me->perswitch) goto wait_open;
if (me->force == 2) {
EveWrite(eve, "H2");
} else {
EveWrite(eve, "H1");
}
me->force = 0;
FSM_NEXT
me->perswitch = 1;
me->swtim = time(NULL);
wait_open:
delay = me->swtim + 30 - time(NULL);
if (delay > 0)
EvePrintf(eve, -1, "IPS: wait %d sec to open switch", delay);
start_ramp:
FSM_WAIT(1)
EveWrite(eve, "X");
FSM_NEXT
IpsStatus(me); /* check for errors */
if (me->heaterFault) {
if (time(NULL) > me->swtim + 3) {
EvePrintf(eve, eError, "IPS heater fault");
eve->errCode = EVE_FAULT;
goto off_finish;
}
me->heaterFault = 0;
}
if (time(NULL) < me->swtim + 30) goto start_ramp; /* wait */
OiSet(eve, "T", me->ramp, 3);
FSM_NEXT
OiSet(eve, "J", me->current, 3); /* put set point to actual value */
FSM_NEXT
EveWrite(eve, "A1"); /* go to setpoint (do not yet run) */
FSM_NEXT
EvePrintf(eve, -1, "IPS: ramp to %f Tesla", evc->fTarget);
ramping:
FSM_WAIT(1)
EveWrite(eve, "R7"); /* read "current" in Tesla */
FSM_NEXT
IpsSetField(me, OiGetFlt(eve, 3, NULL)); /* set me->current and callback */
EveWrite(eve, "X");
FSM_NEXT
IpsStatus(me); /* just check for errors */
EveWrite(eve, "R9"); /* read back ramp rate (may be sweep limited) */
FSM_NEXT
ramp=OiGetFlt(eve, 3, NULL);
step=ramp/20; /* step = ramp * 3sec */
if (step < 0.001) step=0.001;
if (evc->fTarget > me->current + step) {
fld=me->current + step;
} else if (evc->fTarget < me->current - step) {
fld=me->current - step;
} else {
fld=evc->fTarget;
if (fabs(me->current - evc->fTarget) < 1e-5) goto target_reached;
}
OiSet(eve, "J", fld, 3);
FSM_NEXT
EveLog(eve);
goto ramping;
target_reached:
eve->hwstate = HWIdle;
EveWrite(eve, "A0"); /* hold */
FSM_NEXT
evc->eMode = EVMonitor; /* we are at field, drive has finished */
if (!me->persmode) goto hold_finish;
/* but we continue in the background */
me->tim = time(NULL);
stab3:
FSM_WAIT(1)
EveWrite(eve, "X");
FSM_NEXT
IpsStatus(me); /* just check for errors */
if (time(NULL) < me->tim + 3) goto stab3; /* stabilize */
EveWrite(eve, "H0");
me->perswitch = 0;
me->swtim = time(NULL);
me->lastfield = me->current;
FSM_NEXT
EvePrintf(eve, -1, "IPS: wait 30 sec to close switch");
wait_closed:
FSM_WAIT(1)
EveWrite(eve, "X");
FSM_NEXT
IpsStatus(me);
if (time(NULL) < me->swtim + 30) goto wait_closed; /* wait */
if (me->current == 0) goto finish;
EveWrite(eve, "A2"); /* goto zero */
EvePrintf(eve, -1, "IPS: ramp current to 0");
FSM_NEXT
goto finish;
hold_finish:
EveWrite(eve, "A0");
FSM_NEXT
goto finish;
off_finish:
if (me->perswitch) {
me->lastfield = me->current;
me->swtim = time(NULL);
}
EveWrite(eve, "H0");
FSM_NEXT
finish:
EveWrite(eve, "C0");
me->remote = 0;
eve->hwstate = HWIdle;
FSM_NEXT
FSM_END
}
/*----------------------------------------------------------------------------*/
int IpsConfirm(SConnection *pCon, pEVControl evc, int argc, char *argv[]) {
float fld;
IpsDriv *me;
me=evc->pDriv->pPrivate; assert(me);
if (argc > 1) {
if (argc > 2) {
SCPrintf(pCon, eError, "Too many arguments");
return -1;
}
fld=atof(argv[1]);
if (fld > ObVal(evc->pParam, UPLIMIT)) {
SCPrintf(pCon, eError, "Field outside limit");
return -1;
}
if (me->perswitch) {
SCPrintf(pCon, eWarning, "switch heater is on - field is %f", me->current);
return -1;
}
if (fabs(fld - me->persfield) > 1e-5 && fabs(fld - me->lastfield) > 1e-5) {
SCPrintf(pCon, eWarning, "Be aware that this does neither match the field"
" stored in software\nnor the field stored in power supply.");
}
if (me->force && fld != me->confirmfield) me->force = 0;
if (me->force == 0) {
SCPrintf(pCon, eWarning, "Please repeat this command, to confirm again"
" the persistent field of\n %f Tesla.", fld);
me->confirmfield = fld;
me->force=1;
} else {
me->force=2;
IpsSetField(me, fld);
SCPrintf(pCon, eValue, "%s.%s = %f", evc->pName, argv[1], fld);
}
} else {
SCPrintf(pCon, eValue, "%s.%s = %f", evc->pName, argv[1], me->eve.value);
}
return 1;
}
/*------------------------------------------------------------------------*/
static int IpsIsOk(void *data) {
/* always in tolerance (here we may implement what to do in case of a quench) */
return 1;
}
/*------------------------------------------------------------------------*/
pEVControl IpsMakeEVC(SConnection *pCon, int argc, char *argv[]) {
/* args:
<objectname> ips <rs232>
<objectname> ips <host> <port>
*/
IpsDriv *me;
Eve *eve;
pEVControl evc;
evc = MakeEveEVC(argc, argv, calloc(1, sizeof *me), pCon);
if (!evc) return NULL;
me = evc->pDriv->pPrivate;
eve=&me->eve;
me->current = 0;
me->persfield = 0;
me->lastfield = 0;
me->persmode = 1;
me->perswitch = 0;
me->force = 0;
me->tim = 0;
me->swtim = 0;
me->ramp=0.1;
eve->run = (FsmFunc)IpsChangeField;
eve->read = (FsmFunc)IpsRead;
eve->pardef = (EveParDef)IpsPars;
eve->todo = (FsmFunc)IpsStart;
eve->task = FsmStartTask(me, (FsmHandler)OiHandler, (FsmFunc)EveIdle);
evc->pEnvir->IsInTolerance = IpsIsOk;
EVCSetPar(evc,"upperlimit",14.9,pCon);
EVCSetPar(evc,"lowerlimit",-14.9,pCon);
return evc;
}
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