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Дата изменения: Mon Apr 7 18:26:06 2014
Дата индексирования: Tue Apr 12 02:43:01 2016
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online datatking program doc

The pointing program

apr14

Other info:
tcl Pnt command

Intro

The pointing program (actually programs) is run on the pnt vme crate (motorola 167 boards). They are written in C for the vxWorks operating system.

pntMProg.c - master pointing program.

runs on the pnt cpu
talks to the outside world via messages
controls the other programs that make up the pointing system
It is closely coupled with pntXform since they both run on the same cpu (vxWorks memory can be global on a cpu).

a semaphore is used to synchronize the communications of these two through a common memory area.
pntXform takes care of providing timestamped encoder values for the various devices (vertex,turret, tiedowns)
pntMProg does the communications with the outside world. It also sends the non time critical commands (doit it now stuff) tothe various devices.

pntXForm.c - performs the pointing transformations (ra,dec to az,za) once a second.

runs on pnt cpu
talks to pntMProg.c via a common communications area (vxWorks memory) and a semaphore to synchronize access to area
runs on a 1 second tick cycle. Every second it wakes up and:

checks for new points for vertex, turret, tie (in that order)

vertex: Transforms ra,dec (or whatever higher level coordinate system) to az,za once a second

It does this two seconds in the future.
offsets, rates are added at this point

sends time the stamped az,za positions to the agcProg (on pntp1 cpu) once a second.
The agcProg sends these to the the vertex control computer
They are sent 1 to 2seconds in the future

turret, tiedown can be command to do patterns.. ramps, sinewaves, etc

these are computed here and then sent to the devices.

agcProg.c - controls the vertex devices: az, ch,, dome via the control computers in the vertex shelter.

agcOProg.c - real time portion of agcProg.

loops taking requests off a queue and sending to the vertex once a second.

both run on the pntp1 cpu in the pnt crate
agcProg receives commands from pntMProg to forward to the vertex system
receives time stamped az,za positions for tracking from pntXform once a second
regular commands are sent to vertex when they are received
timestamped tracking positions are pushed onto a fifo for agcOProg
agcOProg takes data for the fifo and sends to vertex when ready

The split in programs is so that agcOProg never waits on i/o and runs at a higher priority than agcProg

send commands to vertex system via a dedicated ethernet.

ttProg.c - controls the turret

runs on pntp2.
receives requests from pntMProg and pntXform
sends info to little star master (below pnt vme crate) using rs422->rs485 conveter (check this).

The master sends info to little star in the rotary floor room to control the floor.

tieProg.c - controls the tiedowns

runs on pntp3
receives requests from pntMProg and pntXform
sends comands out the rs232/422 port to the little start master for the tiedowns.
The little start master forwards the info to the 3 little stars under the bowl at each tiedown

lrMon.c - grabs the laser ranging data and computes the average platform height.

runs on pntp3
provides info to pntMProg to decide how to move the tiedowns to keep the platform at the correct height.

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