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'<ADbasic Header, Headerversion 001.001>
' Process_Number = 1
' Initial_Processdelay = 2000
' Eventsource = Timer
' Control_long_Delays_for_Stop = No
' Priority = High
' Version = 1
' ADbasic_Version = 6.3.1
' Optimize = Yes
' Optimize_Level = 4
' Stacksize = 1000
'<Header End>
#include adwinpro_all.inc
' Array Size Settings
' TODO: check these values in labscript_devices files
#define ZERO 32768 ' Zero Volts in Adwin 16bit representation
#define N 32768 ' Max Voltage offset by ZERO
#define MAX_EVENTS 500000 ' Max number of events that can be stored
#define MAX_PID_EVENTS 2000 ' Max number of changing the AIN channel for PID feedback to AOUT
#define MAX_TICO_EVENTS 3000 ' Max number of Digital Output events
#define A_IN_BUFFER 10000000 ' Size of Array to transmit AIN values to the runner PC
#define PIDNO 100 ' Max Number of PIDs
#define AOUTNO 16 ' Number of output channels
' Set Module Adresses
' TODO get or set these values from labscript ?
#define DIO1 1 'DIO Card 32
#define DIO2 2 'DIO Card 32
#define AIN1 3 'AIN Card 8/16
#define AIN2 4 'AIN Card 8/16
#define AOUT1 5 'AOUT Card 8/16
#define AOUT2 6 'AOUT Card 8/16
' Declare arrays for analog data from experiment control software
DIM DATA_1[MAX_EVENTS] AS LONG 'Analog time
DIM DATA_2[MAX_EVENTS] AS LONG 'Analog channel
DIM DATA_3[MAX_EVENTS] AS LONG 'Analog ouput value
' Declare arrays for PID channels for each AOUT channel
DIM DATA_4[MAX_PID_EVENTS] AS LONG 'Times for changing PID channels
DIM DATA_5[MAX_PID_EVENTS] AS LONG 'PID A_OUT channel
DIM DATA_6[MAX_PID_EVENTS] AS LONG 'PID A_In channel
'Declare arrays for digital data from experiment control software
DIM DATA_10[MAX_TICO_EVENTS] AS LONG 'DIO1 TiCo times
DIM DATA_11[MAX_TICO_EVENTS] AS LONG 'DIO1 digital output values
DIM DATA_20[MAX_TICO_EVENTS] AS LONG 'DIO2 TiCo times
DIM DATA_21[MAX_TICO_EVENTS] AS LONG 'DIO2 digital output values
'Declare arrays that are used for AIN transmission
DIM DATA_7[A_IN_BUFFER] AS LONG
DIM DATA_8[A_IN_BUFFER] AS LONG
DIM DATA_9[A_IN_BUFFER] AS LONG
'Declare arrays to store TICO memory pointers
DIM PTR_TICO1[150] AS LONG
DIM PTR_TICO2[150] AS LONG
'Declare PID SETTINGS Arrays
DIM pid_P[PIDNO] AS FLOAT
DIM pid_I[PIDNO] AS FLOAT
DIM pid_D[PIDNO] AS FLOAT
'Declare PID integrator and differentiator values
DIM pidn AS LONG 'Number of selected PID channels
DIM pid_error AS LONG 'Difference between target and actual voltage
DIM pid_dError AS FLOAT 'Difference times differential gain
DIM pid_lin AS FLOAT 'Proportional part of PID
DIM pid_sum[AOUTNO] AS FLOAT 'Integral part of PID
DIM pid_diff AS FLOAT 'Differential part of PID
DIM pid_prev_dError[AOUTNO] AS FLOAT
DIM processIdx AS LONG
DIM eventIdx AS LONG
DIM pidIdx AS LONG
DIM timer AS LONG 'timing the event duration
DIM i AS LONG 'for loop index
'Declare arrays for storing AIN and setting AOUT channels
DIM set_target[AOUTNO] AS LONG ' Set values to be written to AOUTs
DIM set_output[AOUTNO] AS LONG ' Set values to be written to AOUTs
DIM set_pid[AOUTNO] AS LONG ' PID selection for each AOUT
DIM act_values[PIDNO] AS LONG ' Analog values measured from AINs
'========================================================================================================================================
'========================================================================================================================================
init:
'Set Processdelay to 2us
PROCESSDELAY = 2000
'Initialize Variables
processIdx = 0
'===========================================================INITIALIZE TICOS============================================================
'Set DIO channels as outputs
P2_DigProg(DIO1, 1111b) 'Channel 0-31 as outputs
P2_DigProg(DIO2, 1111b) 'Channel 32-63 as outputs
'P2_tico_reset(000011b)
'Initialize pointers to Tico memory
P2_TDrv_Init(DIO1, 1, PTR_TICO1) 'Data Transfer to Module DIO1
P2_TDrv_Init(DIO2, 1, PTR_TICO2) 'Data Transfer Module DIO2
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'Load digital event data to tico 1
P2_SetData_Long(PTR_TICO1, 1, 1, MAX_TICO_EVENTS, DATA_10, 1, 1) 'DIO1 TiCo times
P2_SetData_Long(PTR_TICO1, 2, 1, MAX_TICO_EVENTS, DATA_11, 1, 1) 'DIO1 digital output values
'Load digital event data to tico 2
P2_SetData_Long(PTR_TICO2, 1, 1, MAX_TICO_EVENTS, DATA_20, 1, 1) 'DIO2 TiCo times
P2_SetData_Long(PTR_TICO2, 2, 1, MAX_TICO_EVENTS, DATA_21, 1, 1) 'DIO2 digital output values
'Initialize Digital Channels
P2_Set_Par(DIO1,1,1,DATA_10[1]) 'DIO1 digital output values
P2_Set_Par(DIO2,1,1,DATA_11[1]) 'DIO2 digital output values
'Initialize time counter for tico to synchronize to analog channels
P2_Set_Par(DIO1,1,2,81)
P2_Set_Par(DIO2,1,2,81)
'Initialize event counter for digital channels
P2_Set_Par(DIO1,1,3,2)
P2_Set_Par(DIO2,1,3,2)
'=============================================================PID SETTINGS==============================================================
'A_IN 1 - insert describtion here -
pid_P[1] = 1
pid_I[1] = 1
pid_D[1] = 1
'A_IN 2 - insert describtion here -
pid_P[2] = 1
pid_I[2] = 1
pid_D[2] = 1
'Initialize Integrator and Difference
for i=1 to AOUTNO
pid_sum[i]=0
pid_prev_dError[i]=0
next i
'===========================================================INITIALIZE AOUTS============================================================
'Initialize set values of all output channels to 0V
for i=1 to AOUTNO
set_target[i]=ZERO
set_output[i]=ZERO
set_pid[i]=0
next i
'Write analog out values
P2_Write_DAC8(AOUT1,set_output,1)
P2_Write_DAC8(AOUT2,set_output,9)
'Output set voltages
P2_Start_DAC(AOUT1)
P2_Start_DAC(AOUT2)
'============================================================OTHER SETTINGS=============================================================
'Set DIO of T12 as input
CPU_Dig_IO_Config(10b)
'Turn LEDs ON
P2_Set_Led(DIO1, 1)
P2_Set_Led(DIO2, 1)
P2_Set_Led(AIN1, 1)
P2_Set_Led(AIN2, 1)
P2_Set_Led(AOUT1, 1)
P2_Set_Led(AOUT2, 1)
'==========================================================AIN CONFIGURATION===========================================================
'Set P2_ADCF_Mode - leave it set standard (=0) here since later the sampling rate is set by hand
P2_ADCF_Mode(2^(AIN1-1),0)
'Average over 4 sample values
P2_Set_Average_Filter(AIN1,2)
'Set P2_ADCF_Mode - leave it set standard (=0) here since later the sampling rate is set by hand
P2_ADCF_Mode(2^(AIN2-1),0)
'Average over 4 sample values
P2_Set_Average_Filter(AIN2,2)
'Set Gain of AIN Channels if required
P2_Set_Gain(AIN1,1,0)
'### Set the Sampling Rate of the AIN cards. The Period is given by T = 250ns + (value-1)* 10ns. The value is set by writing to the correct register using POKE(register,value)
CHECK_CARD(AIN1)
POKE((68050100h OR shift_left(AIN1,20)),1)
CHECK_CARD(AIN2)
POKE((68050100h OR shift_left(AIN2,20)),1)
'Wait for 200 * 10ns to make sure that first ADC values are ready
CPU_Sleep(200)
'========================================================================================================================================
'========================================================================================================================================
EVENT:
timer = Read_Timer_Sync()
'Synchronize DIO Channels
if(processIdx = 20) then
P2_set_par(DIO1,1,20,1) 'starte tico event Modul 1
P2_set_par(DIO2,1,20,1) 'starte tico event Modul 5
endif
'======================================================== READ ANALOG IN CARDS ========================================================
'Read act_values at all ADC Channels
P2_READ_ADCF8(AIN1, act_values, 1) 'READ CHANNEL 1-8 OF AIN MODULE 1
P2_READ_ADCF8(AIN2, act_values, 9) 'READ CHANNEL 1-8 OF AIN MODULE 2
'Start conversion at all ADC Channels Synced for next Event
P2_Sync_All(001100b)
'=======================================================CALCULATE NEW SET VALUES =======================================================
'### CH1 - insert describtion here -
pidn = set_pid[1]
if (pidn = 0) then
'No PID active
set_output[1]=set_target[1]
pid_sum[1] = 0
pid_prev_dError[1] = 0
else
'Get deviation from target voltage
pid_error = set_target[1]- act_values[pidn]
'Get proportional part
pid_lin=pid_P[pidn]*pid_error
'Get integral part
pid_sum[1] = pid_sum[1] + pid_I[pidn]*pid_error
'Get differential part
pid_dError = pid_D[pidn]* pid_error
pid_diff = pid_dError - pid_prev_dError[1]
pid_prev_dError[1] = pid_dError
'Check for integral overflow
if (pid_sum[1] > N) then pid_sum[1] = N
if (pid_sum[1] < -N) then pid_sum[1] = -N
set_output[1]=(pid_lin+pid_sum[1]+pid_diff) + N
endif
'Check that output is within safe limits
if (set_output[1] < -N) then set_output[1] = - N
if (set_output[1] > 65535) then set_output[1] = 65535
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'### CH2 - insert describtion here -
set_output[2]=set_target[2]
'### CH3 - insert describtion here -
set_output[3]=set_target[3]
'### CH4 - insert describtion here -
set_output[4]=set_target[4]
'### CH5 - insert describtion here -
set_output[5]=set_target[5]
'### CH6 - insert describtion here -
set_output[6]=set_target[6]
'### CH7 - insert describtion here -
set_output[7]=set_target[7]
'### CH8 - insert describtion here -
set_output[8]=set_target[8]
'### CH9 - insert describtion here -
set_output[9]=set_target[9]
'### CH10 - insert describtion here -
set_output[10]=set_target[10]
'### CH11 - insert describtion here -
set_output[11]=set_target[11]
'### CH12 - insert describtion here -
set_output[12]=set_target[12]
'### CH13 - insert describtion here -
set_output[13]=set_target[13]
'### CH14 - insert describtion here -
set_output[14]=set_target[14]
'### CH15 - insert describtion here -
set_output[15]=set_target[15]
'### CH16 - insert describtion here -
set_output[16]=set_target[16]
'======================================================== SET NEW AOUT VALUES ========================================================
'Write values to AOUT Cards
P2_Write_DAC8(AOUT1,set_output,1) ''sende neue stellwerte an die Analog out Karten
P2_Write_DAC8(AOUT2,set_output,9)
'Set all voltages synchronously
P2_Sync_All(110000b)
inc processIdx
'Write ADC Values
IF ( processIdx < A_IN_BUFFER ) THEN
DATA_7[processIdx] = act_values[1]
DATA_8[processIdx] = act_values[2]
DATA_9[processIdx] = act_values[3]
'Update target values
IF(DATA_1[eventIdx+1] <= processIdx) THEN
DO
inc eventIdx
set_target[DATA_2[eventIdx]]=DATA_3[eventIDX]
UNTIL(DATA_1[eventIdx+1] > processIdx)
ENDIF
'Update pid target
IF(DATA_4[pidIdx+1] <= processIdx) Then
DO
inc pidIdx
set_pid[DATA_5[pidIdx]]=DATA_6[pidIdx]
UNTIL (DATA_4[pidIdx+1] > processIdx)
ENDIF
'### Programmterminierung
END 'end loop when last last timing event completed
ENDIF
'### Debug Timer
par_13=READ_TIMER_SYNC() -timer
par_15=processIdx
FINISH:
'Turn Module LEDs OFF
P2_Set_Led(DIO1,0)
P2_Set_Led(DIO2,0)
P2_Set_Led(AIN1,0)
P2_Set_Led(AIN2,0)
P2_Set_Led(AOUT1,0)
P2_Set_Led(AOUT2,0)
'Stop Tico Processes
P2_TiCo_Stop_Process(PTR_TICO1,1)
P2_TiCo_Stop_Process(PTR_TICO2,1)
'Set values of all output channels to 0V
for i=1 to AOUTNO
set_output[i]=ZERO
next i
'Write analog out values
P2_Write_DAC8(AOUT1,set_output,1)
P2_Write_DAC8(AOUT2,set_output,9)
'Output set voltages
P2_Start_DAC(AOUT1)
P2_Start_DAC(AOUT2)
PAR_1 = 0