#include <stdio.h>
#include <stdlib.h>
#include <stdarg.h>
#include <string.h>
#include <math.h>
#include "midas.h"
#include "steppermotor.h"
#include "ets_logout.h"
#include "lemSCWatchdog.h"

Include dependency graph for steppermotor.c:

Data Structures
struct	SM_INTERNAL
	stores internal information More...

struct	SM_INDIVIDUAL
	structure to store information on individual steppermotor More...

struct	SM_SETTINGS
	stores internal informations within the DD. More...

struct	SM_INFO

Macros
#define	SM_ETS_LOGOUT_SLEEP 10000
	sleep time (us) between the telnet commands of the ets_logout More...

#define	SM_TIME_OUT 2000
	time out in msecs for read (rs232) More...

#define	SM_TIME_BETWEEN_SETS 10
	minimum time between settings of steppermotor to allow odb updates More...

#define	SM_ACCURACY 1.0
	condition for alarm on manual changes More...

#define	SM_RECONNECTION_TIMEOUT 5
	timeout in (sec) between logout terminal server an reconnection trial More...

#define	SM_MAX_READBACK_FAILURE 5
	maximum number of readback failures before a reconnect will take place More...

#define	SM_MAX_RECONNECTION_FAILURE 5
	maximum number of reconnections before bailing off More...

#define	SM_MAX_ERROR 3
	maximum number of error messages More...

#define	SM_DELTA_TIME_ERROR 3600
	reset error counter after SM_DELTA_TIME_ERROR seconds More...

#define	SM_MAX_TRY 10
	maximum number of communication attempts More...

#define	SM_WAIT 500
	time (ms) to wait between commands More...

#define	SM_INIT_ERROR -2
	initialize error tag More...

#define	SM_READ_ERROR -1
	read error tag More...

#define	SM_DEBUG 0
	debug tag, if set to TRUE, additional messages will be displayed at execution time More...

#define	SM_K2700_CH 20

#define	SM_K2700_SIG_CH 4

#define	SM_K2700_POT_CH 2

#define	SM_SCS900_CH 32

#define	SM_SCS900_SIG_CH 4

#define	SM_SCS900_POT_CH 2

#define	SM_SCS2001M_CH 44

#define	SM_SCS2001M_SIG_CH 14

#define	SM_SCS2001M_POT_CH 15

#define	SM_INTERNAL_STR "\ODB Offset = INT : 12\n\Detailed Messages = INT : 0\n\ETS_IN_USE = INT : 1\n\SCW_IN_USE = INT : 0\n\No Connection = INT : 1\n\Reconnection Timeout = INT : 10\n\Read Timeout = INT : 5\n"
	initializing string for SM_INTERNAL More...

Functions
INT	sm_send_rcv (SM_INFO info, char cmd, char *str)

INT	sm_send (SM_INFO info, char cmd)

void	sm_no_connection (SM_INFO *info, INT value)

float	sm_read_potmeter (SM_INFO *info)

int	check_serialnumber_and_maxima (SM_INFO *info)

float	sm_read_position (SM_INFO *info)

float	sm_read_velocity (SM_INFO *info)

INT	sm_in_init (HNDLE hKey, void *pinfo, INT channels, INT(bd)(INT cmd,...))

INT	sm_out_init (HNDLE hKey, void *pinfo, INT channels, INT(bd)(INT cmd,...))

INT	sm_set (SM_INFO *info, float setpoint)

INT	sm_get (SM_INFO info, float pvalue)

INT	sm_out_get_default_name (SM_INFO info, INT channel, char name)

INT	sm_in_get_default_name (SM_INFO info, INT channel, char name)

INT	sm_switch (SM_INFO *info, float floatmodus)

INT	sm_exit (SM_INFO *info)

INT	SM_in (INT cmd,...)

INT	SM_out (INT cmd,...)

Variables
SM_INFO *	info
	global info structure, in/out-init routines need the same structure More...

Macro Definition Documentation

#define SM_ACCURACY 1.0

condition for alarm on manual changes

Definition at line 35 of file steppermotor.c.

Referenced by sm_in_init(), sm_set(), and sm_switch().

#define SM_DEBUG 0

debug tag, if set to TRUE, additional messages will be displayed at execution time

Definition at line 55 of file steppermotor.c.

Referenced by sm_get(), sm_in_init(), sm_read_potmeter(), and sm_switch().

#define SM_DELTA_TIME_ERROR 3600

reset error counter after SM_DELTA_TIME_ERROR seconds

Definition at line 48 of file steppermotor.c.

#define SM_ETS_LOGOUT_SLEEP 10000

sleep time (us) between the telnet commands of the ets_logout

Definition at line 31 of file steppermotor.c.

#define SM_INIT_ERROR -2

initialize error tag

Definition at line 51 of file steppermotor.c.

#define SM_INTERNAL_STR "\ODB Offset = INT : 12\n\Detailed Messages = INT : 0\n\ETS_IN_USE = INT : 1\n\SCW_IN_USE = INT : 0\n\No Connection = INT : 1\n\Reconnection Timeout = INT : 10\n\Read Timeout = INT : 5\n"

initializing string for SM_INTERNAL

Definition at line 79 of file steppermotor.c.

Referenced by sm_in_init().

#define SM_K2700_CH 20

Definition at line 57 of file steppermotor.c.

Referenced by sm_in_init().

#define SM_K2700_POT_CH 2

Definition at line 59 of file steppermotor.c.

Referenced by sm_in_init(), and sm_read_potmeter().

#define SM_K2700_SIG_CH 4

Definition at line 58 of file steppermotor.c.

Referenced by sm_in_init().

#define SM_MAX_ERROR 3

maximum number of error messages

Definition at line 47 of file steppermotor.c.

#define SM_MAX_READBACK_FAILURE 5

maximum number of readback failures before a reconnect will take place

Definition at line 42 of file steppermotor.c.

#define SM_MAX_RECONNECTION_FAILURE 5

maximum number of reconnections before bailing off

Definition at line 44 of file steppermotor.c.

Referenced by sm_set().

#define SM_MAX_TRY 10

maximum number of communication attempts

Definition at line 49 of file steppermotor.c.

Referenced by sm_send_rcv().

#define SM_READ_ERROR -1

read error tag

Definition at line 52 of file steppermotor.c.

#define SM_RECONNECTION_TIMEOUT 5

timeout in (sec) between logout terminal server an reconnection trial

Definition at line 40 of file steppermotor.c.

Referenced by sm_set().

#define SM_SCS2001M_CH 44

Definition at line 63 of file steppermotor.c.

Referenced by sm_in_init().

#define SM_SCS2001M_POT_CH 15

Definition at line 65 of file steppermotor.c.

Referenced by sm_in_init(), and sm_read_potmeter().

#define SM_SCS2001M_SIG_CH 14

Definition at line 64 of file steppermotor.c.

Referenced by sm_in_init().

#define SM_SCS900_CH 32

Definition at line 60 of file steppermotor.c.

Referenced by sm_in_init().

#define SM_SCS900_POT_CH 2

Definition at line 62 of file steppermotor.c.

Referenced by sm_in_init(), and sm_read_potmeter().

#define SM_SCS900_SIG_CH 4

Definition at line 61 of file steppermotor.c.

Referenced by sm_in_init().

#define SM_TIME_BETWEEN_SETS 10

minimum time between settings of steppermotor to allow odb updates

Definition at line 34 of file steppermotor.c.

Referenced by sm_set().

#define SM_TIME_OUT 2000

time out in msecs for read (rs232)

Definition at line 33 of file steppermotor.c.

Referenced by sm_send_rcv().

#define SM_WAIT 500

time (ms) to wait between commands

Definition at line 50 of file steppermotor.c.

Referenced by sm_send_rcv().

Function Documentation

int check_serialnumber_and_maxima ( SM_INFO * info )

Checking serial number, checks the serial number of the steppermotordriver

Returns:
-999 : bus not connected
1 : length of serial number not correct
j+10 : character j of serialnumber not correct

Definition at line 256 of file steppermotor.c.

References SM_INFO::bd_connected, SM_SETTINGS::individual, SM_INDIVIDUAL::mhc, SM_INFO::sm_in_use, sm_send(), sm_send_rcv(), and SM_INFO::sm_settings.

Referenced by sm_in_init(), and sm_switch().

INT sm_exit ( SM_INFO * info )

terminates the bus driver and free's the memory allocated for the info structure SM_INFO.

Return: FE_SUCCESS

Parameters

info	is a pointer to the DD specific info structure

Definition at line 1170 of file steppermotor.c.

References SM_INFO::bd, SM_INFO::bd_connected, SM_INFO::bd_info, and SM_INFO::data.

Referenced by SM_in().

INT sm_get	(	SM_INFO *	info,
		float *	pvalue
	)

Obtains the opening in percent if sm is in_use,
otherwise -300.0 if the steppermotor is not in use
or opening minus 1000.0 if the opening is out of range (<-10 or >120)

Return: FE_SUCCESS

Parameters

info	is a pointer to the DD specific info structure
pvalue	a pointer to where the results will be stored

Definition at line 884 of file steppermotor.c.

References SM_DEBUG, SM_INFO::sm_in_use, sm_read_potmeter(), and SM_INFO::startup_error.

Referenced by SM_in().

INT SM_in	(	INT	cmd,
			...
	)

steppermotor device driver (DD). It is handling the communication between the steppermotor and midas.

steppermotor_in is the part, which handles the communication steppermotor->MIDAS

RS232: 9600 baud, 8 data bits, 1 stop bit, no parity bit, no hardware protocol, no software protocol, termination: \ r\n (CR LF)

Device Driver info structure entries are organized as:

  sm_settings
      |__ closed_potmeter_reading

Definition at line 1186 of file steppermotor.c.

References hKey, info, sm_exit(), sm_get(), sm_in_get_default_name(), and sm_in_init().

INT sm_in_get_default_name	(	SM_INFO *	info,
		INT	channel,
		char *	name
	)

at startup, after initialization of the DD, this routine allows to write default names of the in-channels into the ODB.

Return: FE_SUCCESS

Parameters

info	is a pointer to the DD specific info structure
channel	of the name to be set
name	pointer to the ODB name

Definition at line 973 of file steppermotor.c.

References SM_INFO::sm_in_name.

Referenced by SM_in().

INT sm_in_init	(	HNDLE	hKey,
		void **	pinfo,
		INT	channels,
		INT(*)(INT cmd,...)	bd
	)

Initializes the SM device driver, i.e. generates all the necessary structures in the ODB if necessary, initializes the bus driver.

Return:

FE_SUCCESS if everything went smooth

Parameters

hKey	is the device driver handle given from the class driver
pinfo	is needed to store the internal info structure
channels	is the number of channels of the device (from the class driver)
bd	is a pointer to the 0bus driver

Definition at line 362 of file steppermotor.c.

References SM_INFO::bd, SM_INFO::bd_connected, SM_INFO::bd_info, check_serialnumber_and_maxima(), SM_INFO::data, SM_INTERNAL::detailed_msg, SM_INFO::first_bd_error, SM_INFO::FromAutoPress, hDB, SM_INFO::hDB, hKey, SM_INFO::hkey, SM_INFO::hkey_no_connection, SM_SETTINGS::individual, info, SM_SETTINGS::intern, SM_INFO::last_reconnect, SM_INFO::last_set_time, SM_INFO::modus, SM_INTERNAL::odb_offset, SM_INFO::position, SM_SETTINGS::read_back_device, SM_INFO::setpoint, SM_INDIVIDUAL::signature, SM_INFO::signature, SM_ACCURACY, SM_DEBUG, SM_INFO::sm_in_name, SM_INFO::sm_in_use, SM_INTERNAL_STR, SM_K2700_CH, SM_K2700_POT_CH, SM_K2700_SIG_CH, SM_INFO::sm_modus_name, sm_no_connection(), SM_INFO::sm_out_name, sm_read_position(), sm_read_potmeter(), sm_read_velocity(), SM_SCS2001M_CH, SM_SCS2001M_POT_CH, SM_SCS2001M_SIG_CH, SM_SCS900_CH, SM_SCS900_POT_CH, SM_SCS900_SIG_CH, SM_INFO::sm_settings, SM_INFO::startup_error, SM_INFO::velocity, and SM_INFO::voltage.

Referenced by SM_in().

void sm_no_connection	(	SM_INFO *	info,
		INT	value
	)

Set's the no connection flag.

Parameters

info	is a pointer to the DD specific info structure.
value	equal 1 if the connection is available, otherwise 0.

Definition at line 236 of file steppermotor.c.

References SM_INFO::bd_connected, SM_INFO::hDB, and SM_INFO::hkey_no_connection.

Referenced by sm_in_init(), sm_send_rcv(), and sm_switch().

INT SM_out	(	INT	cmd,
			...
	)

steppermotor device driver (DD). It is handling the communication between the steppermotor and midas.

steppermotor_out is the part, which handles the communication steppermotor<-MIDAS

Definition at line 1236 of file steppermotor.c.

References hKey, info, sm_out_get_default_name(), sm_out_init(), sm_set(), and sm_switch().

INT sm_out_get_default_name	(	SM_INFO *	info,
		INT	channel,
		char *	name
	)

at startup, after initialization of the DD, this routine allows to write default names of the out-channels into the ODB.

Return: FE_SUCCESS

Parameters

info	is a pointer to the DD specific info structure
channel	of the name to be set
name	pointer to the ODB name

Definition at line 951 of file steppermotor.c.

References SM_INFO::sm_modus_name, and SM_INFO::sm_out_name.

Referenced by SM_out().

INT sm_out_init	(	HNDLE	hKey,
		void **	pinfo,
		INT	channels,
		INT(*)(INT cmd,...)	bd
	)

Initializes the SM device0 driver.

Return:

FE_SUCCESS if everything went smooth

Parameters

hKey	is the device driver handle given from the class driver
pinfo	is needed to store the internal info structure
channels	is the number of channels of the device (from the class driver)
bd	is a pointer to the bus driver

Definition at line 673 of file steppermotor.c.

References hDB, and info.

Referenced by SM_out().

float sm_read_position ( SM_INFO * info )

Reads postion from the motor-driver (PRINT POS)

Returns position (float)

Definition at line 295 of file steppermotor.c.

References SM_INFO::bd_connected, SM_INTERNAL::detailed_msg, SM_SETTINGS::intern, sm_send_rcv(), and SM_INFO::sm_settings.

Referenced by sm_in_init(), sm_set(), and sm_switch().

float sm_read_potmeter ( SM_INFO * info )

Reads the voltage from the potentiometer using the read back devise.
It use info->settings.pcurve and info->settings.closed_voltage to translate the voltage into a opening in degrees

Returns opening of the needlevalve in degrees

Definition at line 918 of file steppermotor.c.

References SM_INFO::data, SM_SETTINGS::individual, SM_INDIVIDUAL::pcurve, SM_SETTINGS::read_back_device, SM_DEBUG, SM_INFO::sm_in_use, SM_K2700_POT_CH, SM_SCS2001M_POT_CH, SM_SCS900_POT_CH, SM_INFO::sm_settings, and SM_INFO::voltage.

Referenced by sm_get(), sm_in_init(), sm_set(), and sm_switch().

float sm_read_velocity ( SM_INFO * info )

Reads maximum velocity from the motor-driver PRINT VM

Returns maximum velocity in degrees per second (float)

Definition at line 326 of file steppermotor.c.

References SM_INFO::bd_connected, SM_INTERNAL::detailed_msg, SM_SETTINGS::intern, sm_send_rcv(), and SM_INFO::sm_settings.

Referenced by sm_in_init(), and sm_switch().

INT sm_send	(	SM_INFO *	info,
		char *	cmd
	)

send/recieve routine. loops SM_MAX_TRY times if there would be a communication problem.

Return: FE_SUCCESS

Parameters

cmd	command string

Definition at line 211 of file steppermotor.c.

References SM_INFO::bd_connected, SM_INTERNAL::detailed_msg, SM_SETTINGS::intern, and SM_INFO::sm_settings.

Referenced by check_serialnumber_and_maxima(), and sm_set().

INT sm_send_rcv	(	SM_INFO *	info,
		char *	cmd,
		char *	str
	)

send/recieve routine. loops SM_MAX_TRY times if there would be a communication problem.

Return: number of read bytes

Parameters

cmd	command string
str	reply string

Definition at line 162 of file steppermotor.c.

References SM_INFO::bd_connected, SM_INTERNAL::detailed_msg, SM_SETTINGS::intern, SM_MAX_TRY, sm_no_connection(), SM_INFO::sm_settings, SM_TIME_OUT, and SM_WAIT.

Referenced by check_serialnumber_and_maxima(), sm_read_position(), and sm_read_velocity().

INT sm_set	(	SM_INFO *	info,
		float	setpoint
	)

Sends absolute set command to the steppermotor

Return: FE_SUCCESS

Parameters

info	is a pointer to the DD specific info structure
setpoint	is the requested opening in percent

Definition at line 691 of file steppermotor.c.

References SM_INFO::bd, SM_INFO::bd_connected, SM_INFO::bd_info, SM_INTERNAL::detailed_msg, SM_INFO::first_bd_error, SM_INFO::hkey, SM_SETTINGS::individual, SM_SETTINGS::intern, SM_INFO::last_reconnect, SM_INFO::last_set_time, SM_INDIVIDUAL::mac_close, SM_INDIVIDUAL::mac_open, SM_INFO::modus, SM_INDIVIDUAL::mrc_close, SM_INDIVIDUAL::mrc_open, SM_INFO::position, SM_INFO::reconnection_failures, SM_INFO::scw, SM_INTERNAL::scw_in_use, SM_INFO::setpoint, SM_ACCURACY, SM_INFO::sm_in_use, SM_MAX_RECONNECTION_FAILURE, sm_read_position(), sm_read_potmeter(), SM_RECONNECTION_TIMEOUT, sm_send(), SM_INFO::sm_settings, SM_TIME_BETWEEN_SETS, SM_INFO::startup_error, SM_INDIVIDUAL::valve_range, and SM_INFO::velocity.

Referenced by SM_out().

INT sm_switch	(	SM_INFO *	info,
		float	floatmodus
	)

Switches the steppermotor program between read_only (0), read_write(1) and automatic(2)
In the read_only case it tries to free the bus.

Return: FE_SUCCESS

Parameters

info	is a pointer to the DD specific info structure
floatmodus	is the new value for the info->modus

Definition at line 987 of file steppermotor.c.

References SM_INFO::bd, SM_INFO::bd_connected, SM_INFO::bd_info, check_serialnumber_and_maxima(), SM_INTERNAL::detailed_msg, SM_INFO::FromAutoPress, SM_INFO::hDB, SM_INFO::hkey, SM_SETTINGS::intern, SM_INFO::modus, SM_INTERNAL::odb_offset, SM_INFO::position, SM_INFO::setpoint, SM_ACCURACY, SM_DEBUG, SM_INFO::sm_in_use, sm_no_connection(), sm_read_position(), sm_read_potmeter(), sm_read_velocity(), SM_INFO::sm_settings, SM_INFO::startup_error, and SM_INFO::velocity.

Referenced by SM_out().

Variable Documentation

SM_INFO* info

global info structure, in/out-init routines need the same structure

Definition at line 152 of file steppermotor.c.

Data Structures

Macros

Functions

Variables

Macro Definition Documentation

Function Documentation

Variable Documentation