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p12mProg program design
p12mProg commands
mode we use to run the p12m controller.
p12m logfile format

more info: patriot 12meter telescope

Intro:

The p12mProg is the AO control program for the 12meter telescope. It purpose is to:

Send commands to the 12m controller over ethernet (using some modbus over ethernet routines)
Take user input from sockets
Allow the user to control the 12meter telescope

turn on,off, set modes, track objects

When in tracking mode, the routine will convert Equatorial to az,el coordinates once a second and then send these points to the 12meter tracking array.

p12mProg commands (top)

The commands sent to the p12mProg via tcp/sockets are all in ascii. The communication protocol is:

cmd options with linefeed as terminator. cmd is in lower case

Reply for each cmd sent:

CMD ok nlinesAfterThis some_message
CMD err nlinesAfterThis some_message
each of the nlines after the reply should have a " " at the start of the line (but don't count on it!)..

The table below contains the currently supported commands with their options and a short description.
The Boldface part of the command/options is the minimum characters that must be sent for the program to recognize the command/options.

command

options

Description

dbg

return debugging info

ephm

Query ephm info. It returns the following:
startSec1970 secEntry NumEntry Nopts ephmFileNm

startSec1970: Linux time for first entry loaded. 0's returned if no file loaded.
secEntry:the number of seconds between entries
NumEntry : number of entries that have been loaded
Nopts : number of options (tokens after ra,dec)
ephmFileNm: name of ephemeris file that was loaded

ld type filename {startSec1970}

load an ephemeris file into memory
type: type of ephemeris we are loading

1 - standard jpl radar ephemeris (with rcv and tx entries)
2 - date time ra dec {optional values}

date,time,ra,dec same format as the standard radar ephemeris.

startSec1970: start loading at this time. def is start of file.

Notes:

How much error do we get by using the 305M (center of curvature) for the telescope position instead of the 12meter?
For more info on ephemeris tracking, see : pnt ephm command for 305 meter.

mode

standby

brakes are on, motors are de-energized.

stop

stop the telescope. The motors remain energized.

pos az el

move to setpoint position. az,el (both in degrees) using position setpoint mode.

rate azVel elVel

start moving at azVel,elVel (deg/sec) using velocity setpoint mode.

start tracking from the track array

monreq

return monitor info.

nop

send nop, get reply from p12mProg. checks that it is alive.

pwr

on off

turn on ,off 3phase power to motor drives

clr

clear points in tracking array. This will perform a mode stop before the clear.

hold

don't send computed tracking points to p12m. Used for debugging

send

send computed tracking points to p12m.

{-Ux} p1 p2 -Cp -Tp {-o o1 o2 -Co -To} {-r r1 r2 -Cr -Tr}
Point to track. It consists of 3 tupples: position(p1,p2), offset(o1,o2), rate(r1,r2)

-Ux define units for this and following tupples (pos,offset,rate)

Ur: radians, Ud; degrees,Un normal coords:(depends on coord sys..see below)

-Un is the default units.

You can redefine units eg: -Ud p1 p2 -o -Ur o1 o2 -r -Ud r1 r2

Once you redefine the units, this remains the units for the following tupples (until another -U)
Watch out for -Un with rates. Flor J,b this is hhmmss/sec ddmmss/sec.

for rates it is Units/sec.

-cX coordinate system to use for Position,Offset,Rate. keys are:

j : j2000. -Un is hhmmss.s,ddmmss.s
b: B1950 -Un is hhmmss.s,ddmmss.s
g: galactic -Un is deg,deg
a: azEl -Un is deg,deg this includes the model correction
x: azEl -Un is deg,deg no model included
s: azEl -Un is deg,deg great circle az
e:ephmJ2000 -c ignored. input is j2000 coordinates
r:ephmRcv -c ignored. input is ra,dec of date. receive ephemeris
t:ephmTx -c ignored. input is ra,dec of date. transmit ephemeris.

-tX time to start executing tupple

AST secFromMidnite (utc - 4, not ut1).
-tO, -tR if suppled should be after-tP

Notes:

tracking points are sent to the p12controller 2 seconds in advance.
the p12mProg has a current pnt that it uses to convert to az,el (once a sec 2 secs in the future).
If you put a timestamp on the position part of the pnt, and it is more than 2 seconds in the future, then this pnt will be a pending pnt in the p12mProg. When the time (2 secs in the future) arrives, the p12mProg will move the pending pnt to the current pnt and start using it to convert to az,el.
there is only 1 pending pnt in the p12mProg. If you have a pending pnt, and then you send another pnt (pending or not) the old pending pnt will be discarded,.

Mode we use to run the p12m controller (top)

The p12m controller has lots observing modes. Most of these are not used by the p12mProg. It converts everything to az,el before sending
it to the p12mcontroller. The p12m controller settings used by the p12mProg are:

DataMode: is always horizon. we do not send equatorial coordinates to the p12m controller.

Offsets: setpoint offsets:(OffsetMode), tracking offsets:(AzElOffsetMode, RaDecOffsetMode) inside the p12m controller are not used.

The tr command has position,offsets and rates that are combined before sending a single,az,el to p12m controller.

Tracking data Source:

Setpoint tracking (az,el) ra,dec Current is not supported. Setpoint az,el (via mode pos az el) is supported
The program originally used the track array for tracking sources. I
I eventually switched it to use ramp mode tracking (there are flags in the code that would let you switch back..)

Group reads:

once a second the p12mXfThr reads info from the controller. The group read function is used.
the addresses are defined in p12mdRdGrpDef.c
the routine p12mdGetStatBlkRdGrp.c does the read and decoding.
the addresses only need to be loaded once (they are non volatile). If you ever need to reload them use

Test/grpRdLdReboot.c

It take about 25 milliseconds to do the read and decode.
19jan15 to 26jan15 (11:22) lost group read addresses after power dip.

p12mProg: 12meter control program

Last Update: 28jan15

Intro:

p12mProg commands (top)

Mode we use to run the p12m controller (top)

command	options	Description
dbg	-	return debugging info
ephm	?	Query ephm info. It returns the following: startSec1970 secEntry NumEntry Nopts ephmFileNm startSec1970: Linux time for first entry loaded. 0's returned if no file loaded. secEntry:the number of seconds between entries NumEntry : number of entries that have been loaded Nopts : number of options (tokens after ra,dec) ephmFileNm: name of ephemeris file that was loaded
ephm	ld type filename {startSec1970} load an ephemeris file into memory type: type of ephemeris we are loading 1 - standard jpl radar ephemeris (with rcv and tx entries) 2 - date time ra dec {optional values} date,time,ra,dec same format as the standard radar ephemeris. startSec1970: start loading at this time. def is start of file. Notes: How much error do we get by using the 305M (center of curvature) for the telescope position instead of the 12meter? For more info on ephemeris tracking, see : pnt ephm command for 305 meter.
mode	standby	brakes are on, motors are de-energized.
	stop	stop the telescope. The motors remain energized.
	pos az el	move to setpoint position. az,el (both in degrees) using position setpoint mode.
	rate azVel elVel	start moving at azVel,elVel (deg/sec) using velocity setpoint mode.
	tr	start tracking from the track array
monreq	-	return monitor info.
nop	-	send nop, get reply from p12mProg. checks that it is alive.
pwr	on off	turn on ,off 3phase power to motor drives
tr	clr	clear points in tracking array. This will perform a mode stop before the clear.
	hold	don't send computed tracking points to p12m. Used for debugging
	send	send computed tracking points to p12m.
	{-Ux} p1 p2 -Cp -Tp {-o o1 o2 -Co -To} {-r r1 r2 -Cr -Tr} Point to track. It consists of 3 tupples: position(p1,p2), offset(o1,o2), rate(r1,r2) -Ux define units for this and following tupples (pos,offset,rate) Ur: radians, Ud; degrees,Un normal coords:(depends on coord sys..see below) -Un is the default units. You can redefine units eg: -Ud p1 p2 -o -Ur o1 o2 -r -Ud r1 r2 Once you redefine the units, this remains the units for the following tupples (until another -U) Watch out for -Un with rates. Flor J,b this is hhmmss/sec ddmmss/sec. for rates it is Units/sec. -cX coordinate system to use for Position,Offset,Rate. keys are: j : j2000. -Un is hhmmss.s,ddmmss.s b: B1950 -Un is hhmmss.s,ddmmss.s g: galactic -Un is deg,deg a: azEl -Un is deg,deg this includes the model correction x: azEl -Un is deg,deg no model included s: azEl -Un is deg,deg great circle az e:ephmJ2000 -c ignored. input is j2000 coordinates r:ephmRcv -c ignored. input is ra,dec of date. receive ephemeris t:ephmTx -c ignored. input is ra,dec of date. transmit ephemeris. -tX time to start executing tupple AST secFromMidnite (utc - 4, not ut1). -tO, -tR if suppled should be after-tP Notes: tracking points are sent to the p12controller 2 seconds in advance. the p12mProg has a current pnt that it uses to convert to az,el (once a sec 2 secs in the future). If you put a timestamp on the position part of the pnt, and it is more than 2 seconds in the future, then this pnt will be a pending pnt in the p12mProg. When the time (2 secs in the future) arrives, the p12mProg will move the pending pnt to the current pnt and start using it to convert to az,el. there is only 1 pending pnt in the p12mProg. If you have a pending pnt, and then you send another pnt (pending or not) the old pending pnt will be discarded,.