automate make process

.gitignore

@@ -29,6 +29,7 @@ python/ShapePathAnalyser/records/
 
 matlab/figures/*.eps
 matlab/figures/*-eps-converted-to.pdf
+matlab/ssc?.mat
 
 src/usrServo/usrServo.sublime-project
 src/usrServo/usrServo.sublime-workspace

MXfastStageDoc/MXfastStage.tex

@@ -699,13 +699,26 @@ The servo loop code is generated with: \verb|MXTuning.py –mode 256|.\\
 This python code reads \verb%/tmp/ssc[1|2].mat% and substitutes part of 
 \verb%usr_code/usrcode_template.[h|c]% to build the servo loop code \verb%usr_code/usrcode.[h|c]%.\\
 
-Finally the real time servo code is compliled for the DeltaTau with:\\
+Finally the real time servo code is compliled and installed on the DeltaTau with:\\
 
-\verb|/epics_ioc_modules/ESB_MX/python/usr_code$ make|\\
+\verb|/epics_ioc_modules/ESB_MX/python/usr_code$ make install|\\
 
 Following lines in gpasciiCommander will activate the user servo loop code.
 \vspace{1pc}
 
+The \verb|make install| process consists of many sub parts:\\
+%\begin{itemize}
+%\setlength\itemsep{-1em}
+%\item asfgd
+%\item asfgd
+%\item asfgd
+%\end{itemize}
+- generate observer date in MATLAB with \verb|StateSpaceControlDesign()|\\
+- generate code in python with \verb|MXTuning.py|\\
+- compile the code with \verb|MXTuning.py| (make all)\\
+- upload the module to Deltatau (make install)\\
+- activate the user servo loop (make install)\\
+
 Here the full process:
 
 \begin{tcolorbox}[width=15cm,colback=yellow!5!white,colframe=yellow!75!black,colbacktitle=yellow!50,coltitle=black,title=MATLAB]
@@ -734,6 +747,9 @@ scp userservo_util userphase_util usrServoSample/usralgo.ko root@SAR-CPPM-EXPMX1
 \end{verbatim}
 \end{tcolorbox}
 
+\begin{tcolorbox}[colback=red!5!white,colframe=red!75!black,colbacktitle=red!50,coltitle=black,title=TODO]
+Here is still work to do...
+\end{tcolorbox}
 
 \begin{tcolorbox}[width=15cm,colback=yellow!5!white,colframe=yellow!75!black,colbacktitle=yellow!50,coltitle=black,title=DeltaTau Shell]
 \begin{verbatim}

matlab/StateSpaceControlDesign.m

@@ -220,12 +220,23 @@ function [ssc]=StateSpaceControlDesign(mot,mode)
   end
   
   mat2py=struct();
-  [ozA,ozB,ozC,ozD]=ssdata(ss_oz);
+  %[ozA,ozB,ozC,ozD]=ssdata(ss_oz);
-  [pos_err_num,pos_err_den]=tfdata(filt_pos_err_z);
+  %[pos_err_num,pos_err_den]=tfdata(filt_pos_err_z);
-  for k=["Ts","V","MaxDac","ozA","ozB","ozC","ozD","pos_err_num","pos_err_den"]
+
-    mat2py=setfield(mat2py,k,eval(k));
+  mat2py.Ts=Ts;
-  end
+  mat2py.V=V;
-  fn=sprintf('/tmp/ssc%d.mat',mot.id);
+  mat2py.MaxDac=MaxDac;
+  mat2py.ozA=ss_oz.A;
+  mat2py.ozB=ss_oz.B;
+  mat2py.ozC=ss_oz.C;
+  mat2py.ozD=ss_oz.D;
+  mat2py.ozInpName=ss_oz.InputName
+  mat2py.ozOutName=ss_oz.OutputName
+
+  mat2py.pos_err_num=filt_pos_err_z.Numerator{1};
+  mat2py.pos_err_den=filt_pos_err_z.Denominator{1};
+  
+  fn=[pwd '/' sprintf( 'ssc%d.mat',mot.id)];
   save(fn,'-struct','mat2py');
   disp(['saved ' fn]);
 end

matlab/identifyFxFyStage.m

@@ -158,7 +158,11 @@ function motCell=identifyFxFyStage(mode)
   end
 
   function plotBode(mot)
+    try
       figure()
+    catch
+      return
+    end
     h=bodeplot(mot.meas,'r',mot.ss_plt(3,1),'g',mot.ss_c1(3,1),'b',mot.ss_d1(3,1),'m',mot.ss_1(2,1),'c',mot.ss_0(2,1),'k',mot.w);
     setoptions(h,'FreqUnits','Hz','Grid','on');
     p=getoptions(h);p.YLim{2}=[-360 90];p.YLimMode='manual';setoptions(h,p);

python/MXTuning.py

@@ -287,32 +287,50 @@ class MXTuning(Tuning):
       C=mat['ozC']
       D=mat['ozD']
       V=mat['V']
-      u=('DesPos','IqMeas','IqVolts','ActPos')
+      #u=('DesPos','IqMeas','ActVel','ActPos')
+      u=[]
+      for i in range(mat['ozInpName'].shape[0]):
+        s=str(mat['ozInpName'][i][0][0])
+        s=s[0].capitalize()+s[1:]
+        u.append(s)
       y=('obsvOut',)
-      progSample='''double usr_servo_ctrl_{motid}(MotorData *Mptr)
+      #y=[]
-{{
+      #for i in range(mat['ozOutName'].shape[0]):
-  pshm->P[2000]=pshm->P[2000]*.9999+abs(Mptr->PosError)*0.0001;  //lowpass of Position error
+      #  s=str(mat['ozOutName'][i][0][0])
-  return pshm->ServoCtrl(Mptr);
+      #  s=s[0].capitalize()+s[1:]
-}}'''.format(motid=motid)
+      #  u.append(s)
+
+#      progSample='''double usr_servo_ctrl_{motid}(MotorData *Mptr)
+#{{
+#  pshm->P[2000]=pshm->P[2000]*.9999+abs(Mptr->PosError)*0.0001;  //lowpass of Position error
+#  return pshm->ServoCtrl(Mptr);
+#}}'''.format(motid=motid)
 
       prog='''double obsvr_servo_ctrl_{motid}(MotorData *Mptr)
 {{
   //x[n+1]=A*x[n]+B*u
   //y=C*x[n]+D*x[n]
   //u=[{u}].T
+  //y=[{y}].T
+
   double x[{A.shape[0]}];  //new state
-  static double _x[{A.shape[0]}]={{0,0,0,0}}; //old state
+  static double _x[{A.shape[0]}]={{{xInit}}}; //old state
-  //double {u}; // input values
+
-  double {y},iqCmd; // output values
-  double maxDac=Mptr->MaxDac;
 '''.format(motid=motid,A=A,xInit=','.join('0'*A.shape[0]),u=', '.join(u),y=', '.join(y))
+
       s='  //input values\n'
       for i in range(len(u)):
         s+='  double {u}=Mptr->{u};\n'.format(u=u[i])
-      prog+=s+'''
+      prog+=s
+      prog+='''
+  double {y},iqCmd; // output values
+  double maxDac=Mptr->MaxDac; //other stuff
+'''.format(u=', '.join(u),y=', '.join(y))
+
+      prog +='''
   if (Mptr->ClosedLoop)
   {
-'''
+      '''
 
       s='    //x[n+1]=A*x[n]+B*u;\n'
       for i in range(A.shape[0]):
@@ -332,10 +350,14 @@ class MXTuning(Tuning):
         s+=';\n'
       prog+=s+'\n'
 
+      s='    //update states: oldstate=newstate\n    '
+      s+=' '.join(map(lambda i: '_x[{i:d}]=x[{i:d}];'.format(i=i),range(A.shape[0])))
+      prog+=s+'\n\n'
 
-      prog+='''    iqCmd=DesPos*{V}-{y};
+      prog+='''    //set output
+    iqCmd={u}*{V}-{y};
     //return iqCmd;
-    pshm->P[200{motid}]=iqCmd;  //lowpass of Position error
+    pshm->P[200{motid}]=iqCmd;
     return pshm->ServoCtrl(Mptr);
   }}
   else
@@ -343,7 +365,7 @@ class MXTuning(Tuning):
     Mptr->Servo.Integrator=0.0;
     return 0.0;
   }}
-}}'''.format(V=V[0,0],y=y[0],motid=motid)
+}}'''.format(u=u[0],V=V[0,0],y=y[0],motid=motid)
 
       hdr='''double obsvr_servo_ctrl_{motid}(MotorData *Mptr);
 EXPORT_SYMBOL(obsvr_servo_ctrl_{motid});'''.format(motid=motid)
@@ -767,8 +789,10 @@ EXPORT_SYMBOL(obsvr_servo_ctrl_{motid});'''.format(motid=motid)
         #after this go to: python/usr_code and call make to build the controller
         #to activate the controller checkout: PBTools/pbtools/usr_servo_phase
         base=os.path.dirname(__file__)
-        (hdr1,prog1)=self.usr_servo_gen_code('/tmp/ssc1.mat')
+        #(hdr1,prog1)=self.usr_servo_gen_code('/tmp/ssc1.mat')
-        (hdr2,prog2)=self.usr_servo_gen_code('/tmp/ssc2.mat')
+        #(hdr2,prog2)=self.usr_servo_gen_code('/tmp/ssc2.mat')
+        (hdr1,prog1)=self.usr_servo_gen_code(os.path.join(base,'../matlab/ssc1.mat'))
+        (hdr2,prog2)=self.usr_servo_gen_code(os.path.join(base,'../matlab/ssc2.mat'))
         fn_ct=os.path.join(base,'usr_code/usrcode_template.c')
         fn_ht=os.path.join(base,'usr_code/usrcode_template.h')
         fnc=os.path.join(base,'usr_code/usrcode.c')
@@ -868,7 +892,7 @@ Examples:'''+''.join(map(lambda s:cmd+s, exampleCmd))+'\n '
 
     #plt.ion()
     #args.host='MOTTEST-CPPM-CRM0573'
-    #args.host=None
+    args.host=None
     if args.host is None:
       comm=gt=None
     else:

python/usr_code/Makefile

@@ -73,7 +73,11 @@ KBUILD_EXTRA_SYMBOLS := /usr/local/dtlibs/libppmac/Module.symvers
 
 #all::
 #	cp -f /usr/local/usralgo/usralgomain.c $(PWD)
-all:
+
+
+all: usralgo.ko
+
+usralgo.ko: usrcode.c
 	$(MAKE) -C $(KSRC) SUBDIRS=$(PWD) modules
 
 #	$(MAKE) -C $(KSRC) SUBDIRS=$(PWD) modules V=1
@@ -108,6 +112,19 @@ tags:
 
 Debug: all
 
+../../matlab/ssc%.mat: ../../matlab/StateSpaceControlDesign.m ../../matlab/identifyFxFyStage.m
+	cd ../../matlab; /afs/psi.ch/sys/psi.x86_64_slp6/Programming/matlab/2018a/bin/matlab -nodisplay -nojvm -nosplash -nodesktop -r \
+      "clear;clear global;close all;\
+       mot=identifyFxFyStage(7);\
+       sscType=0;\
+       for k=1:2;\
+         [ssc]=StateSpaceControlDesign(mot{k},sscType);\
+       end;\
+       exit(0);"
+
+usrcode.c: ../../matlab/ssc1.mat ../../matlab/ssc2.mat ../MXTuning.py
+	cd ..;./MXTuning.py -m512
+
 install: all
 	scp usralgo.ko root@$(PPMAC):/tmp
 	scp /home/zamofing_t/Documents/prj/SwissFEL/PBTools/pbtools/usr_servo_phase/userservo_util root@$(PPMAC):/tmp