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bb5ea2c432e482b7be472dc4a840369b31ac3824
sicspsi/ighdriv.c
zolliker d6198ad3a3 - various small bugfixes 
- added driver for the lock-in amplifier
2006-10-27 08:14:13 +00:00

649 lines
19 KiB
C
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/*---------------------------------------------------------------------------
ighdriv.c
Driver for the Oxford Instruments IGH Intelligent gas handling system
(based on ease).
Markus Zolliker, May 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 <servlog.h>
#include <sicsvar.h>
#include <evdriver.i>
#include <rs232controller.h>
#include "oxinst.h"
#include "fsm.h"
#include "initializer.h"
#define OLDIGH -8
#define SORBS_FLAG 1
#define MIXP_FLAG 2
#define MAXP_FLAG 3
#define STILL_FLAG 4
#define SORBP_FLAG 5
#define MOT_FLAGS 6
#define VALVE_FLAGS 9
#define MAX_FLAG 32
static char *valves[]={"V9", "V8", "V7", "V11A", "V13A", "V13B", "V11B", "V12B",
" He4", "V1", "V5", "V4", "V3", "V14", "V10", "V2",
" V2A", " V1A", " V5A", " V4A", " V3A", " Roots", " Aux", "He3",
NULL}; /* valves beginning with blank are not shown in list */
typedef enum {V9,V8,V7,V11A,V13A,V13B,V11B,V12B,
HE4,V1,V5,V4,V3,V14,V10,V2,
V2A,V1A,V5A,V4A,V3A,ROOTS,AUX,HE3,n_VALVES} Valves;
static char *motorValves[]={"V6", "V12A", "V1K", NULL};
typedef enum {V6,V12A,V1K,n_MOTOR} MotorValves;
static char *motorCommands[]={"G", "H", "N"};
static char *gauges[]={"G1", "G2", "G3", "", "", "", "P1", "P2", NULL};
typedef enum {G1,G2,G3,G4,G5,G6,P1,P2,n_PRESS} PressureGauges;
static char *closedOrOpen[]={"closed", "open", NULL};
typedef struct {
EaseDriv d;
float setT;
float sorbS;
float mixT;
float onekT;
float sorbT;
float mixP;
float stillP;
float sorbP;
float press[n_PRESS];
float mv[n_MOTOR];
float v6pos;
time_t v6time;
int pdig;
int v[n_VALVES];
int e; /* heater range */
int a; /* actual heater mode */
int o; /* actual still/sorb mode */
int s; /* moving valve state */
int remote;
} Igh;
static ParClass ighClass = { "IGH", sizeof(Igh) };
static long IghSet(long pc, void *object);
/*----------------------------------------------------------------------------*/
static int IghPower2Range(float p) {
int e;
if (p <= 0) return 0;
for (e = 1; e < 5; e++) {
if (p < 1.9994) break;
p /= 10;
}
return e;
}
/*----------------------------------------------------------------------------*/
static float IghRange2Max(int e) {
static float elist[]={0,2,20,200,2000,20000};
if (e < 0) {
e = 0;
} else if (e > 5) {
e = 5;
}
return elist[e];
}
/*----------------------------------------------------------------------------*/
static void IghParDef(void *object) {
Igh *drv = ParCast(&ighClass, object);
EaseBase *eab = object;
int i, flag, l, changed;
char *vPos, *val;
char fmt[8], vList[80];
float maxP;
ParName(""); ParTail("K"); ParFmt("%.4f");
ParFloat(&drv->mixT, PAR_NAN);
ParName("Tset"); ParTail("K"); ParFmt("%.4f");
if (eab->syntax == OLDIGH) ParList("all");
ParFloat(&drv->setT, PAR_NAN);
ParName("TsorbSet");
EaseUpdate(SORBS_FLAG); ParTail("K"); ParFmt("%.1f");
ParFloat(&drv->sorbS, PAR_NAN);
ParName("Tmix");
ParTail("K"); ParFmt("%.4f");
ParFloat(&drv->mixT, PAR_NAN);
ParName("T1K");
ParTail("K"); ParFmt("%.4f");
ParFloat(&drv->onekT, PAR_NAN);
ParName("Tsorb");
ParTail("K"); ParFmt("%.1f");
ParFloat(&drv->sorbT, PAR_NAN);
ParName("Pmix");
if (drv->e >= 5 || drv->e < 1) {
strcpy(fmt, "%.0f");
} else {
snprintf(fmt, sizeof fmt, "%%.%df", 4 - drv->e);
}
EaseUpdate(MIXP_FLAG); ParTail("uW"); ParFmt(fmt);
ParFloat(&drv->mixP, PAR_NAN);
ParName("Pmax");
EaseUpdate(MAXP_FLAG); ParTail("uW"); ParFmt("%g");
if ((val = ParGetValueArg())) {
drv->e = IghPower2Range(atof(val) * 0.9);
}
maxP = IghRange2Max(drv->e);
ParFloat(&maxP, PAR_NAN);
ParName("Pstill");
EaseUpdate(STILL_FLAG); ParTail("mW"); ParFmt("%.3f");
ParFloat(&drv->stillP, PAR_NAN);
ParName("Psorb");
EaseUpdate(SORBP_FLAG); ParTail("W"); ParFmt("%.1f");
ParFloat(&drv->sorbP, PAR_NAN);
for (i=0; i<n_PRESS; i++) {
if (gauges[i][0] != '\0') {
ParName(gauges[i]);
ParTail("mbar");
if (i == P1) {
snprintf(fmt, sizeof fmt, "%%.%df", drv->pdig);
ParFmt(fmt);
} else if (i == P2) {
ParFmt("%.3f"); ParList("all");
} else if (i == G3) {
ParFmt("%.1f"); ParList("all");
} else {
ParFmt("%.1f");
}
ParFloat(&drv->press[i], PAR_NAN);
}
}
flag = MOT_FLAGS;
for (i=0; i<n_MOTOR; i++) {
ParName(motorValves[i]);
ParFmt("%.1f");
ParTail("%");
if (i == V1K) ParList("all");
EaseUpdate(flag); flag++;
ParFloat(&drv->mv[i], PAR_NAN);
}
ParName("v6pos"); ParFmt("%.1f"); ParTail("%");
ParFloat(&drv->v6pos, PAR_NAN);
assert(flag == VALVE_FLAGS);
l = 0;
for (i=0; i<n_VALVES; i++) {
if (valves[i][0] == ' ') {
ParName(valves[i]+1);
changed = 0;
} else {
ParName(valves[i]);
changed = EaseUpdate(flag);
}
ParEnum(closedOrOpen);
ParInt(&drv->v[i], PAR_LNAN);
if (changed) {
if (drv->v[i] != 1) drv->v[i] = 0; /* allow only 1 or 0 */
}
flag++;
if (ParActionIs(PAR_LIST) && valves[i][0] != ' ') {
if (drv->v[i] == 1) {
vPos = vList + l;
l += strlen(valves[i]) + 1;
if (l < sizeof vList) {
strcpy(vPos, " "); vPos++;
strcpy(vPos, valves[i]);
vList[l] = '\0';
} else {
l = vPos - vList;
}
}
}
}
assert(MAX_FLAG == flag-1);
if (ParActionIs(PAR_LIST)) {
vList[l] = '\0';
ParPrintf(NULL, eValue, "open valves:%s", vList);
}
EaseBasePar(drv);
EaseSendPar(drv);
ParStdDef();
EaseMsgPar(eab);
}
/*----------------------------------------------------------------------------*/
void IghStatus(Igh *drv) {
char *ans;
int *code;
long mask, p;
int i;
if (drv->d.b.state != EASE_read) return;
ans=drv->d.b.ans;
code=&drv->d.b.errCode;
if (ans[0] != 'X' ||
ans[2] != 'A' ||
ans[4] != 'C' ||
ans[6] != 'P' ||
ans[15] != 'S' ||
ans[17] != 'O' ||
ans[19] != 'E') {
ParPrintf(drv, eError, "illegal status response: %s", ans);
*code = EASE_FAULT;
return;
}
if (sscanf(ans+7, "%lx", &mask) <= 0) {
ParPrintf(drv, eError, "illegal valve status response");
*code = EASE_FAULT;
return;
}
p=1;
for (i=0; i<n_VALVES; i++) {
if (! EaseGetUpdate(drv, VALVE_FLAGS+i)) {
if (mask & p) {
drv->v[i] = 1;
} else {
drv->v[i] = 0;
}
p=p*2;
}
}
drv->a = ans[3] - '0';
drv->s = ans[16] - '0';
drv->o = ans[18] - '0';
if (EaseGetUpdate(drv, MAXP_FLAG) == 0) {
if (drv->a == 0) {
drv->e = 0;
} else {
drv->e = ans[20] - '0';
}
}
if (ans[5] != '3' && drv->remote == 2) {
ParPrintf(drv, eError, "IGH switched to local");
*code = EASE_FAULT;
drv->remote = 1;
return;
}
}
/*----------------------------------------------------------------------------*/
static long IghRead(long pc, void *object) {
Igh *drv = ParCast(&ighClass, object);
EaseBase *eab = object;
char *p;
int l;
time_t now;
float delta;
switch (pc) { default: /* FSM BEGIN *******************************/
EaseWrite(eab, "X");
return __LINE__; case __LINE__: /**********************************/
IghStatus(drv);
if (!drv->remote) goto skiprmt;
EaseWrite(eab, "C0");
drv->remote = 0;
return __LINE__; case __LINE__: /**********************************/
skiprmt:
if (! EaseNextFullRead(eab)) goto fsm_quit;
if (EaseCheckDoit(eab)) goto quit;
if (EaseGetUpdate(drv, SORBS_FLAG)) goto skip0;
if (drv->o / 2 != 1) {
drv->sorbS = 0;
goto skip0;
}
EaseWrite(eab, "R0");
return __LINE__; case __LINE__: /**********************************/
if (EaseGetUpdate(drv, SORBS_FLAG)) goto skip0;
drv->sorbS = OxiGet(eab, 1, NULL, drv->sorbS);
skip0:
if (EaseCheckDoit(eab)) goto quit;
if (eab->syntax == OLDIGH) {
EaseWrite(eab, "R3");
} else {
EaseWrite(eab, "R32");
}
return __LINE__; case __LINE__: /**********************************/
if (eab->syntax == OLDIGH) {
drv->mixT = OxiGet(eab, 3, NULL, drv->mixT);
} else {
drv->mixT = OxiGet(eab, 4, NULL, drv->mixT);
if (drv->mixT < 0) drv->mixT += 6.5536; /* correct a bug in firmware < 3.03 */
}
if (EaseCheckDoit(eab)) goto quit;
if (eab->syntax == OLDIGH) goto noSetTemp;
EaseWrite(eab, "R33");
return __LINE__; case __LINE__: /**********************************/
drv->setT = OxiGet(eab, 4, NULL, drv->setT);
noSetTemp:
EaseWrite(eab, "R1");
return __LINE__; case __LINE__: /**********************************/
drv->sorbT = OxiGet(eab, 1, NULL, drv->sorbT);
if (EaseCheckDoit(eab)) goto quit;
EaseWrite(eab, "R2");
return __LINE__; case __LINE__: /**********************************/
drv->onekT = OxiGet(eab, 3, NULL, drv->onekT);
if (EaseCheckDoit(eab)) goto quit;
if (drv->e == 0) {
drv->mixP = 0;
goto skip4;
}
if (EaseGetUpdate(drv, MIXP_FLAG)) goto skip4;
EaseWrite(eab, "R4");
return __LINE__; case __LINE__: /**********************************/
if (EaseGetUpdate(drv, MIXP_FLAG)) goto skip4;
drv->mixP = OxiGet(eab, 5 - drv->e, NULL, drv->mixP/10) * 10;
skip4:
if (EaseCheckDoit(eab)) goto quit;
if (EaseGetUpdate(drv, STILL_FLAG)) goto skip5;
EaseWrite(eab, "R5");
return __LINE__; case __LINE__: /**********************************/
if (EaseGetUpdate(drv, STILL_FLAG)) goto skip5;
drv->stillP = OxiGet(eab, 1, NULL, drv->stillP);
skip5:
if (EaseCheckDoit(eab)) goto quit;
if (EaseGetUpdate(drv, SORBP_FLAG)) goto skip6;
EaseWrite(eab, "R6");
return __LINE__; case __LINE__: /**********************************/
if (EaseGetUpdate(drv, SORBP_FLAG)) goto skip6;
drv->sorbP = OxiGet(eab, 3, NULL, drv->sorbP);
skip6:
if (EaseCheckDoit(eab)) goto quit;
if (EaseGetUpdate(drv, MOT_FLAGS+V6)) goto skip7;
EaseWrite(eab, "R7");
return __LINE__; case __LINE__: /**********************************/
if (EaseGetUpdate(drv, MOT_FLAGS+V6)) goto skip7;
drv->mv[V6] = OxiGet(eab, 1, NULL, drv->mv[V6]);
time(&now);
delta = (now - drv->v6time) / 2.64; /* speed: 1/2.64 %/sec */
drv->v6time = now;
if (drv->v6pos > drv->mv[V6] + delta) {
drv->v6pos -= delta;
} else if (drv->v6pos < drv->mv[V6] - delta) {
drv->v6pos += delta;
} else {
drv->v6pos = drv->mv[V6];
}
skip7:
if (EaseCheckDoit(eab)) goto quit;
if (EaseGetUpdate(drv, MOT_FLAGS+V12A)) goto skip8;
EaseWrite(eab, "R8");
return __LINE__; case __LINE__: /**********************************/
if (EaseGetUpdate(drv, MOT_FLAGS+V12A)) goto skip8;
drv->mv[V12A] = OxiGet(eab, 1, NULL, drv->mv[V12A]);
skip8:
if (EaseCheckDoit(eab)) goto quit;
if (EaseGetUpdate(drv, MOT_FLAGS+V1K)) goto skip9;
EaseWrite(eab, "R9");
return __LINE__; case __LINE__: /**********************************/
if (EaseGetUpdate(drv, MOT_FLAGS+V1K)) goto skip9;
drv->mv[V1K] = OxiGet(eab, 1, NULL, drv->mv[V1K]);
skip9:
if (EaseCheckDoit(eab)) goto quit;
EaseWrite(eab, "R14");
return __LINE__; case __LINE__: /**********************************/
drv->press[G1] = OxiGet(eab, 1, NULL, drv->press[G1]);
if (EaseCheckDoit(eab)) goto quit;
EaseWrite(eab, "R15");
return __LINE__; case __LINE__: /**********************************/
drv->press[G2] = OxiGet(eab, 1, NULL, drv->press[G2]);
if (EaseCheckDoit(eab)) goto quit;
EaseWrite(eab, "R16");
return __LINE__; case __LINE__: /**********************************/
drv->press[G3] = OxiGet(eab, 1, NULL, drv->press[G3]);
if (EaseCheckDoit(eab)) goto quit;
EaseWrite(eab, "R20");
return __LINE__; case __LINE__: /**********************************/
drv->press[P1] = OxiGet(eab, drv->pdig, &drv->pdig, drv->press[P1]);
if (EaseCheckDoit(eab)) goto quit;
EaseWrite(eab, "R21");
return __LINE__; case __LINE__: /**********************************/
drv->press[P2] = OxiGet(eab, 1, NULL, drv->press[P2]);
quit:
ParLog(drv);
fsm_quit: return 0; } /* FSM END **********************************/
}
/*----------------------------------------------------------------------------*/
static long IghStart(long pc, void *object) {
Igh *drv = ParCast(&ighClass, object);
EaseBase *eab = object;
switch (pc) { default: /* FSM BEGIN *******************************/
EaseWrite(eab, "V");
return __LINE__; case __LINE__: /**********************************/
if (0 != strncmp(eab->version, "IGH", 3)) {
snprintf(eab->msg, sizeof eab->msg, "unknown gas handling system version: %s", eab->version);
ParPrintf(drv, eError, "ERROR: %s", eab->msg);
EaseStop(eab);
goto quit;
}
if (strstr(eab->version, "2.01") != NULL) {
eab->syntax = OLDIGH; /* includes communication error correction */
} else {
eab->syntax = 0;
}
ParPrintf(drv, eStatus, "connected to %s", eab->version);
FsmCall(IghRead);
return __LINE__; case __LINE__: /**********************************/
quit:
return 0; } /* FSM END ********************************************/
}
/*----------------------------------------------------------------------------*/
static long IghSet(long pc, void *object) {
Igh *drv = ParCast(&ighClass, object);
EaseBase *eab = object;
char buf[8];
int a;
int upd;
int i;
float mp;
switch (pc) { default: /* FSM BEGIN *******************************/
EaseWrite(eab, "C3");
drv->remote=2;
loop:
return __LINE__; case __LINE__: /**********************************/
upd = EaseNextUpdate(drv);
if (upd >= VALVE_FLAGS) goto set_valve;
if (upd >= MOT_FLAGS) goto set_mot;
if (upd == EASE_RUN) goto set_temp;
if (upd == SORBS_FLAG) goto set_sorb_temp;
if (upd == MIXP_FLAG) goto set_mix_pow;
if (upd == MAXP_FLAG) goto set_max_pow;
if (upd == STILL_FLAG) goto set_still_pow;
if (upd == SORBP_FLAG) goto set_sorb_pow;
goto finish;
set_sorb_temp:
if (drv->sorbS == 0) {
drv->sorbP = 0;
goto set_sorb_pow;
}
OxiSet(eab, "K", drv->sorbS, 1);
return __LINE__; case __LINE__: /**********************************/
EaseWrite(eab, "X");
return __LINE__; case __LINE__: /**********************************/
IghStatus(drv);
if (drv->o == 2 || drv->o == 3) goto loop;
if (drv->o % 2) {
EaseWrite(eab, "O3");
} else {
EaseWrite(eab, "O2");
}
return __LINE__; case __LINE__: /**********************************/
goto loop;
set_sorb_pow:
EaseWrite(eab, "X");
return __LINE__; case __LINE__: /**********************************/
IghStatus(drv);
if (drv->o <= 1) goto skipSetO;
if (drv->o % 2) {
EaseWrite(eab, "O1"); drv->o = 1;
} else {
EaseWrite(eab, "O0"); drv->o = 0;
}
return __LINE__; case __LINE__: /**********************************/
skipSetO:
OxiSet(eab, "B", drv->sorbP, 3);
return __LINE__; case __LINE__: /**********************************/
if (drv->sorbP == 0.0 || drv->o >= 4) goto loop;
if (drv->o % 2) {
EaseWrite(eab, "O5");
} else {
EaseWrite(eab, "O4");
}
return __LINE__; case __LINE__: /**********************************/
goto loop;
set_still_pow:
OxiSet(eab, "S", drv->stillP, 1);
return __LINE__; case __LINE__: /**********************************/
EaseWrite(eab, "X");
return __LINE__; case __LINE__: /**********************************/
IghStatus(drv);
snprintf(buf, sizeof buf, "O%d", drv->o | 1);
EaseWrite(eab, buf);
return __LINE__; case __LINE__: /**********************************/
goto loop;
set_mix_pow:
EaseWrite(eab, "A0");
return __LINE__; case __LINE__: /**********************************/
if (drv->e <= 1) goto skipe;
EaseWrite(eab, "E1");
return __LINE__; case __LINE__: /**********************************/
skipe:
if (drv->mixP > 0) {
drv->e = IghPower2Range(drv->mixP);
mp = drv->mixP / IghRange2Max(drv->e) * 2000;
} else {
mp = 0; /* range unchanged for external heater signal */
}
OxiSet(eab, "M", mp, 0);
return __LINE__; case __LINE__: /**********************************/
if (drv->e == 0) goto loop;
EaseWrite(eab, "A1");
return __LINE__; case __LINE__: /**********************************/
set_max_pow:
if (drv->e == 0) goto seta0;
snprintf(buf, sizeof buf, "E%d", drv->e);
EaseWrite(eab, buf);
return __LINE__; case __LINE__: /**********************************/
goto loop;
seta0:
EaseWrite(eab, "A0");
return __LINE__; case __LINE__: /**********************************/
goto loop;
set_temp:
EaseWrite(eab, "A2");
return __LINE__; case __LINE__: /**********************************/
if (drv->d.targetValue < 0) drv->d.targetValue = 0;
if (drv->d.targetValue > 1.999) drv->d.targetValue = 1.999;
OxiSet(eab, "T", drv->d.targetValue, 4);
return __LINE__; case __LINE__: /**********************************/
goto loop;
set_valve:
i = upd - VALVE_FLAGS;
snprintf(buf, sizeof buf, "P%d", i * 2 + 3 - drv->v[i]);
EaseWrite(eab, buf);
return __LINE__; case __LINE__: /**********************************/
goto loop;
set_mot:
i = upd - MOT_FLAGS;
if (drv->mv[i] > 99.9) {
drv->mv[i]=99.9;
} else if (drv->mv[i] < 0) {
drv->mv[i]=0;
}
OxiSet(eab, motorCommands[i], drv->mv[i], 1);
return __LINE__; case __LINE__: /**********************************/
goto loop;
finish:
EaseWrite(eab, "C0");
return __LINE__; case __LINE__: /**********************************/
drv->remote = 0;
quit:
return 0; } /* FSM END ********************************************/
}
/*----------------------------------------------------------------------------*/
static int IghInit(SConnection *con, int argc, char *argv[], int dynamic) {
/* args:
MakeObject objectname igh <rs232>
MakeObject objectname igh <host> <port>
*/
Igh *drv;
drv = EaseMakeDriv(con, &ighClass, argc, argv, dynamic, MAX_FLAG,
IghParDef, OxiHandler, IghStart, NULL, IghRead,
IghSet);
if (drv == NULL) return 0;
return 1;
}
/*----------------------------------------------------------------------------*/
void IghStartup(void) {
ParMakeClass(&ighClass, EaseDrivClass());
MakeDriver("IGH", IghInit, 0, "OI Gas Handling System");
}
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