CAMAC Progress Report

                      Week Ending: March 08, 2002
                               Week: 58

Tom Folkers:
     1. Began work on DBE upper level software. I've started with the 
        SAMBUS driver and next I will be working on the inter process 
        communications.

Tom Sargent:
     1. The servo.c program had to be repackaged a bit. It had grown 
        too large for emacs to be able to color code correctly. I 
        removed the command line shell software and now compile it as 
        a separate program which is linked in. 
     2. Finally got around to adding code to stop the telescope if it 
        is told to move to an object that is too close to the sun. In 
        this case, it prints error messages and executes a "pause".  
        The pause state holds the telescope motionless and prints a 
        pause reason periodically. The operator can unpause the 
        telescope at any time, presumably after he's directed it to an 
        object that isn't too close to the sun. 
     3. I put in code to monitor sun proximity every 10 seconds 
        regardless of what the telescope is doing; tracking, slewing, 
        or standing still.  This feature still requires some changes 
        to the drive state logic to be finished. When finished it will 
        move the telescope above or below the sun avoidance circle and 
        then move to an azimuth which is numerically less than that of 
        the sun.
     4. I started looking at the problems discovered during the last 
        engineering run at the telescope. I uncovered and fixed one 
        error in the sun avoidance path logic.  There is one more case 
        to fix. That fix has been coded, but not tested. There is 
        still a servo problem to be fixed which was causing the 
        telescope to be going too fast by about a factor of 2 when it 
        gets to the end of a slew while following a sun-avoidance 
        path.  I'll fix that next. 
     5. Adapted the Linux parallel port driver to Linux 2.4.4.  The 
        version we've been using up to this point was compatible with 
        the 2.2 kernel.

Pete Hubbard:
     1. Hooked up lab servo system after trip to SMT.
     2. Reducing the 60Hz noise in the lab telescope servo system. 
        Found that changing were the lamp supply for the encoder is 
        grounded reduced the noise.
     3. Found a lose connector on the A/D chassis were EL0 Sin channel 
        input goes.
     4. After looking at SMT servo data that Tom S. collected we went 
        back and looked at AZ Sine and Cosine data. The telescope had 
        a small drift when data was collected while stopped.

Lori Warner:
     1. The Makefile in directory FBMUX has been converted to work on 
        Linux using an MC68020  with an m68881 math coprocessor. One 
        warning occurs, which very well may have occured on the Sun 
        also: fbmux.c: In function `stuff_header':  fbmux.c:2412: 
        warning: type mismatch in implicit declaration for built-in 
        function `sqrt' Since this is only a warning, it does complete 
        successfully.
     2. I am now working on ways to convert from Network to Host byte 
        order again, as it will be tricky because the data is dynamic.

Dave Ashby:
     1. No Report.