/***************************************************************************
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Title: dprbkg.h
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Version: 1.00
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Date: 01/26/1998
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Author(s): Ed Lay & Allen Segall
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Header file for PMAC Dual Ported RAM Background functions.
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Note(s):
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----------------------------------------------------------------------------
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HISTORY:
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30Jul98 JET Added DprBackgroundVar() for enable disable of variable background.
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26Jan98 EBL Creation
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***************************************************************************/
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#ifndef _DPRBKG_H
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#define _DPRBKG_H
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typedef struct gsTURBO { // Global Status ??? Must be on BYTE boundaries
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// DWord 1 ( ??? 1st 24/32 bit word )
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USHORT rffu2 : 8; // 0-7
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USHORT internal1 : 3; // 8-10
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USHORT buffer_full : 1; // 11
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USHORT internal2 : 4; // 12-16
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USHORT internal3 : 1;
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USHORT plc_buf_open : 1; // 17
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USHORT rot_buf_open : 1; // 18
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USHORT prog_buf_open : 1; // 19
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USHORT bin_rot_buf_open : 1; // 20
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USHORT rffu3 : 1;
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USHORT vme : 1;
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USHORT ultralite : 1;
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USHORT pad2 : 8;
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// DWord 2 ( ??? 2nd 24/32 bit word )
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USHORT card_adrssed : 1; // 0
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USHORT all_adrssed : 1; // 1
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USHORT rffu1 : 2;
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USHORT ring_error : 1; // 4
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USHORT ring_io_error : 1; // 5
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USHORT tws_error : 1; // 6
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USHORT end_gather : 1; // 7
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USHORT rapid_m_flag : 1; // 8
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USHORT rti_warning : 1; // 9
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USHORT earom_error : 1; // 10
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USHORT dpram_error : 1; // 11
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USHORT prom_checksum : 1; // 12
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USHORT mem_checksum : 1; // 13
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USHORT comp_on : 1; // 14
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USHORT wdt1 : 1; // 15
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USHORT wdt2 : 1; // 16
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USHORT ext_trig_gat : 1; // 17
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USHORT prep_trig_gat : 1; // 18
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USHORT data_gat_on : 1; // 19
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USHORT servo_err : 1; // 20
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USHORT servo_active : 1; // 21
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USHORT intr_reentry : 1; // 22
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USHORT intr_active : 1; // 23
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USHORT pad1 : 8;
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} GLOBALSTATUSTURBO;
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///////////////////////////////////////////////////////////////////////////
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// PMAC Background Buffer ------------------------------------------------------
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///////////////////////////////////////////////////////////////////////////
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struct ms { // Motor definition word ( ? 2nd 24 bit word )
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USHORT in_position : 1;
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USHORT warn_ferr : 1;
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USHORT fatal_ferr : 1;
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USHORT amp_fault : 1;
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USHORT backlash_dir : 1;
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USHORT amp_i2t_err : 1;
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USHORT integral_ferr : 1;
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USHORT triger_home_flg : 1;
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USHORT phase_find_err : 1;
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USHORT rffu2 : 1;
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USHORT home_complete : 1;
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USHORT stopped_on_limit : 1;
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USHORT rffu3 : 2;
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USHORT amp_enabled : 1;
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USHORT rffu4 : 1;
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USHORT rffu5 : 4;
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USHORT coord_sys : 3;
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USHORT cs_assigned : 1;
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USHORT pad : 8;
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};
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struct ps { // Program Execution Status ( ?? 2nd 24 bit word )
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USHORT cir_spline_move : 1; // #0
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USHORT ccw_move : 1;
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USHORT cc_on : 1;
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USHORT cc_left : 1;
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USHORT pvt_spline_move : 1;
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USHORT seg_stop_request : 1;
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USHORT seg_accel : 1;
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USHORT seg_move : 1;
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USHORT rapid_move_mode : 1;
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USHORT cc_buffered : 1;
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USHORT cc_stop_request : 1;
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USHORT cc_outside_corner : 1;
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USHORT dwell_buffered : 1;
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USHORT sync_m_func : 1;
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USHORT eob_stop : 1;
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USHORT delayed_calc : 1;
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USHORT rot_buff_full : 1;
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USHORT in_position : 1;
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USHORT warn_ferr : 1;
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USHORT fatal_ferr : 1;
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USHORT amp_fault : 1;
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USHORT circle_rad_err : 1;
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USHORT run_time_err : 1;
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USHORT prog_hold : 1; // #23 Look ahead in TURBO
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USHORT pad : 8;
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};
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struct cs { // Coord Status
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// word 1 Motor definition word
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//DWORD motor_def;
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unsigned long motor_def;
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// word 2 Coordinate status ( ?? 1st 24 bit word )
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USHORT prog_running : 1;
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USHORT single_step_mode : 1;
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USHORT cont_motion_mode : 1;
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USHORT tm_mode : 1;
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USHORT cont_motion_req : 1;
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USHORT rad_vect_inc_mode : 1;
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USHORT a_axis_inc : 1;
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USHORT a_axis_infeed : 1;
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USHORT b_axis_inc : 1;
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USHORT b_axis_infeed : 1;
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USHORT c_axis_inc : 1;
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USHORT c_axis_infeed : 1;
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USHORT u_axis_inc : 1;
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USHORT u_axis_infeed : 1;
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USHORT v_axis_inc : 1;
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USHORT v_axis_infeed : 1;
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USHORT w_axis_inc : 1;
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USHORT w_axis_infeed : 1;
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USHORT x_axis_inc : 1;
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USHORT x_axis_infeed : 1;
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USHORT y_axis_inc : 1;
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USHORT y_axis_infeed : 1;
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USHORT z_axis_inc : 1;
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USHORT z_axis_infeed : 1;
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USHORT pad2 : 8;
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};
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struct bkfdptr {
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USHORT fdadr : 16; // Address of current % use to determine
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// if in normal or time base mode
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USHORT pad3 : 6;
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USHORT fdhld : 1; // in feed hold no jog off
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USHORT pad2 : 1;
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USHORT pad1 : 8;
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};
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struct backm { // background coord/motor axis structure
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// addresses below are for motor/coord 1
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long mpos[2 ]; // $D093 - $D094 motor desired position
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long bpos[2 ]; // $D095 - $D096 position bias
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struct ms mstatus; // $D097 motor status
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struct cs cstatus; // $D098 - $D099 coord sys status
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long cpos[9 ][2 ]; // $D09A - $D0AB axis desired position
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struct ps pstatus; // $D0AC program execution status
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unsigned long pr; // $D0AD program remaining
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unsigned long timrem; // $D0AE - time remain in move (I13=0)
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long tats; // $D0AF - time remain in TA/TS (I13=0)
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unsigned long pe; // $D0B0 - Program execution line
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long fvel; // $D0B1 - filtered velocity
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};
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struct backg { // background buffer structure
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USHORT dataready; // Y:$D08A PMAC done updating
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USHORT spare1; // X:$D08A spare
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unsigned long cpanelport; // $D08B control panel port
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unsigned long thumbwport; // $D08C thumbwheel port
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unsigned long machineport; // $D08D machine IO port
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struct bkfdptr fdptr[2 ]; // $DO8E - $D08F
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long fdpot[2 ]; // $DO90 - $D091
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unsigned long spare2[1 ]; // $D08E - $D092 spares
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struct backm mtrcrd[8 ]; // motor coord structures
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};
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struct bkfdptrTURBO {
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unsigned long fdadr : 19; // B0..18 - Address of current % use to determine
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// if in normal or time base mode
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USHORT pad3 : 2;
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USHORT fdslew : 1; // B21 = 1 - in feed slew mode
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USHORT fdhld : 1; // B22 = 1 - in feed hold no jog off
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USHORT pad2 : 1;
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USHORT pad1 : 8;
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};
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struct csTURBO { // Coord Status
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// word 1 Coordinate status ( ?? 2nd 24 bit word )
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USHORT: 8;
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USHORT: 8;
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USHORT: 2;
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USHORT in_prog_pmatch : 1; // #18
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USHORT sync_m_func_buf_ovrflow : 1; // #19
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USHORT sync_m_func_in_buf : 1; // #20
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USHORT look_ahead_buf_end : 1; // #21
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USHORT look_ahead_buf_lbck : 1; // #22
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USHORT look_ahead_buf_wrap : 1; // #23
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USHORT: 8;
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// word 2 Coordinate status ( ?? 1st 24 bit word )
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USHORT prog_running : 1;
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USHORT single_step_mode : 1;
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USHORT cont_motion_mode : 1;
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USHORT tm_mode : 1;
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USHORT cont_motion_req : 1;
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USHORT rad_vect_inc_mode : 1;
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USHORT a_axis_inc : 1;
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USHORT a_axis_infeed : 1;
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USHORT b_axis_inc : 1;
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USHORT b_axis_infeed : 1;
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USHORT c_axis_inc : 1;
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USHORT c_axis_infeed : 1;
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USHORT u_axis_inc : 1;
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USHORT u_axis_infeed : 1;
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USHORT v_axis_inc : 1;
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USHORT v_axis_infeed : 1;
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USHORT w_axis_inc : 1;
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USHORT w_axis_infeed : 1;
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USHORT x_axis_inc : 1;
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USHORT x_axis_infeed : 1;
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USHORT y_axis_inc : 1;
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USHORT y_axis_infeed : 1;
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USHORT z_axis_inc : 1;
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USHORT z_axis_infeed : 1;
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USHORT pad2 : 8;
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};
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struct backcTURBO { // background coord. Sys. axis structure
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// Addresses for C.S. #1
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long ffdrate[2 ]; // $602A5 - C.S. Feedrate(F) or Time(TM)
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long fdpot; // $602A7 - C.S. Feedpot
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// struct bkfdptrTURBO fdptr; // $602A8 - C.S. Desired Feedpot Ptr.
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struct bkfdptr fdptr; // $602A8 - C.S. Desired Feedpot Ptr.
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struct csTURBO cstatus; // $602AA - coord sys status X:mem
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long cpos[9 ][2 ]; // $602AB - $D0AB axis desired position
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struct ps pstatus; // $602BD - program execution status
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unsigned long pr; // $602BE - program remaining
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unsigned long timrem; // $602BF - time remain in move (I13=0)
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long tats; // $602C0 - time remain in TA/TS (I13=0)
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unsigned long pe; // $602C1 - Program execution line
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unsigned long sparec[3 ]; // $602C2 - $602C4 spares
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};
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struct bkrdycsTURBO {
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USHORT datardy : 1; // B0 - 1 = Data Rdy/ 0 = Request Data
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USHORT pad3 : 7;
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};
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struct backgTURBO { // background buffer structure
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USHORT cordsys : 8; // Y:$6019D B0..7 - Number of C.S. used to be I59
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USHORT spare1 : 8; // Y:$6019D B8..15 - Spare
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USHORT spare2 : 8; // X:$6019D B0..7 - Spare
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USHORT spare3 : 7; // X:$6019D B8..14 - Spare
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USHORT hostbusy : 1; // X:$6019D B15 - host accessing buffer
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USHORT servotimer; // Y:$6019E B0..16 - Servo Timer low 16 of pmac 24 bits
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USHORT servotimerms8 : 8; // X:$6019E B0..7 - Servo Timer upper 8 bits of pmac 24 bits
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USHORT pspare : 7; // X:$6019E B8..14 -
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USHORT datardy : 1; // X:$6019E B15 - pmac has written data
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unsigned long cpanelport; // $6019F - control panel port
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unsigned long machineport; // $601A0 - machine IO port
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unsigned long thumbwport; // $601A1 - thumbwheel port
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struct gsTURBO globalstatus; // $601A2
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unsigned long sparebg[3 ]; // $601A4 - $601A6 spares
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struct backcTURBO crdsys[16 ]; // $601A7 - $603A6 coord sys structures
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};
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///////////////////////////////////////////////////////////////////////////
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// BACK GROUND VARIABLE BUFFER Interface Structure
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struct backgvar {
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USHORT dataready; // Y:$D1FA PMAC done updating
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USHORT servotimer; // X:$D1FA servotimer
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USHORT bufsize; // Y:$D1FB Size of rotary buffer
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USHORT bufstart; // X:$D1FB buffer start / TURBO = offset
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};
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///////////////////////////////////////////////////////////////////////////
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// BACK GROUND VARIABLE WRITE BUFFER
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struct backgvarwrite {
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USHORT num_entries; // Y:$D1F5 Up to 32 writes
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USHORT buf_start; // X:$D1F5
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};
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struct VBGWFormat {
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long type_addr;
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long data1;
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long data2;
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};
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///////////////////////////////////////////////////////////////////////////
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// BACK GROUND VARIABLE BUFFER Status Structure
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// Update VBGDB structure
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struct backgvarbuf_status {
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USHORT num_entries; // Number of entries in address array
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USHORT num_data; // Number of PMAC 16 bit words placed in data array
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USHORT addr_offset; // Offset to begginning of user's address array
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USHORT data_offset; // Offset to begginning of user's data array
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};
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//////////////////////////////////////////////////////////////////////////
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// Functions
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#ifdef __cplusplus
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extern "C" {
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#endif
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BOOL CALLBACK PmacDPRBackground( DWORD dwDevice, int on );
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BOOL CALLBACK PmacDPRBackgroundEx( DWORD dwDevice, int on, UINT period, UINT crd );
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BOOL CALLBACK PmacDPRBackGroundVar( DWORD dwDevice, BOOL on );
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BOOL CALLBACK PmacDPRUpdateBackground( DWORD dwDevice );
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void CALLBACK PmacDPRLockBackground(DWORD dwDevice);
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void CALLBACK PmacDPRUnlockBackground(DWORD dwDevice);
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// Functions pertaining to coord systems
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long CALLBACK PmacDPRPe( DWORD dwDevice, int cs );
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BOOL CALLBACK PmacDPRRotBufFull( DWORD dwDevice, int crd );
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BOOL CALLBACK PmacDPRSysInposition( DWORD dwDevice, int crd );
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BOOL CALLBACK PmacDPRSysWarnFError( DWORD dwDevice, int crd );
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BOOL CALLBACK PmacDPRSysFatalFError( DWORD dwDevice, int crd );
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BOOL CALLBACK PmacDPRSysRunTimeError( DWORD dwDevice, int crd );
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BOOL CALLBACK PmacDPRSysCircleRadError( DWORD dwDevice, int crd );
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BOOL CALLBACK PmacDPRSysAmpFaultError( DWORD dwDevice, int crd );
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BOOL CALLBACK PmacDPRProgRunning( DWORD dwDevice, int crd );
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BOOL CALLBACK PmacDPRProgStepping( DWORD dwDevice, int crd );
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BOOL CALLBACK PmacDPRProgContMotion( DWORD dwDevice, int crd );
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BOOL CALLBACK PmacDPRProgContRequest( DWORD dwDevice, int crd );
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int CALLBACK PmacDPRProgRemaining( DWORD dwDevice, int crd );
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double CALLBACK PmacDPRCommanded( DWORD dwDevice, int coord, char axchar );
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BOOL CALLBACK PmacDPRLookAheadEnabled( DWORD dwDevice, int crd );
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// For BACKWARD COMPATIBLITY PURPOSES ONLY
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BOOL CALLBACK PmacDPRSetBackground( DWORD dwDevice );
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// Background VAR buffer functions
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void CALLBACK PmacDPRSetBackgroundVarBufSize(DWORD dwDevice, WORD size);
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WORD CALLBACK PmacDPRGetBackgroundVarBufSize(DWORD dwDevice);
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void CALLBACK PmacDPRSetBackgroundVarBufStart(DWORD dwDevice, WORD start);
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WORD CALLBACK PmacDPRGetBackgroundVarBufStart(DWORD dwDevice);
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BOOL CALLBACK PmacDPRBackgroundVarBufDataReady(DWORD dwDevice);
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void CALLBACK PmacDPRResetBackgroundVarBufDataReady(DWORD dwDevice);
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// Background VAR WRITE
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void CALLBACK PmacDPRSetBackgroundWriteBufEntries(DWORD dwDevice, WORD start);
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WORD CALLBACK PmacDPRGetBackgroundWriteBufEntries(DWORD dwDevice);
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void CALLBACK PmacDPRSetBackgroundWriteBufStart(DWORD dwDevice, WORD start);
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WORD CALLBACK PmacDPRGetBackgroundWriteBufStart(DWORD dwDevice);
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// Background gather buffer
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WORD CALLBACK PmacDPRGetBackgroundGatStart(DWORD dwDevice);
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WORD CALLBACK PmacDPRGetBackgroundGatSize(DWORD dwDevice);
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void CALLBACK PmacDPRSetBackgroundGatSize(DWORD dwDevice,WORD size);
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#ifdef __cplusplus
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}
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#endif
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#endif
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