/*
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* common.h
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*
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* 32-bit Motion Control Device Driver
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* Hardware-specific data structures for the Pmac.
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*
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*
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* This header describes the structures that are shared between
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* the hardware-specific user-mode code and the hardware-specific
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* kernel mode code.
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*
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HISTORY
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*/
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#ifndef _COMMON_H_
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#define _COMMON_H_
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#ifdef _OLD_DLL
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#else
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// PT_PMAC is the transition marker between PMAC and TURBO do not remove
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typedef enum {
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PT_PMAC1 = 1, PT_PMAC2, PT_PMACUL, PT_PMAC,
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PT_PMAC1T, PT_PMAC2T, PT_PMACUT, PT_UMAC, PT_QMAC
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} PMACDEVICETYPE;
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typedef enum {
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PID = 1, ESA, LHB
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} PMACFIRMWARETYPE;
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// Enumerates where the communications are based from for a PMAC device
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typedef enum {LT_UNKNOWN, LT_ISA, LT_SER, LT_ETH, LT_PCI, LT_USB, LT_PCIE, LT_LAST} LOCATIONTYPE;
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// Enumerates the different ways a PMAC can communicate
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typedef enum { BUS, DPR } ASCIIMODE;
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#endif
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///////////////////////////////////////////////////////////////////////////
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// Error defines for system
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#define SYS_FATAL_FERR 0X0001
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#define SYS_WARN_FERR 0X0002
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#define SYS_SERVO_ERR 0X0004
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#define SYS_REENTRY_ERR 0X0008
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#define SYS_MEM_CHKSUM 0X0010
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#define SYS_PROM_CHKSUM 0X0020
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#define SYS_RUNTIME_ERR 0X0040
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#define SYS_CIR_RAD_ERR 0X0080
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#define SYS_AMP_FAULT 0X0100
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#define SYS_RING_ERR 0X0200
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#define SYS_RING_IO_ERR 0X0400
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// Error Defines for communications
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#define ERR_BAUDSEARCH -27
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#define ERR_VBG_DPRNOTON -28
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// Variable background buffer defines
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#define ERR_VBG_MAXUSERS -100 // Maximum number of users achieved in Variable Background Data Buffer
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#define ERR_VBG_MAXENTRIES -101 // Maximum number of entries (>128) in Variable Background Data Buffer
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// Polled Checksum communication defines
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#define CHECKSUMACKOK -20 // good acknowlegde checksum
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#define CHECKSUMDATAOK -21 // good data checksum
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#define CHECKSUMTIMEOUT -22 // it times out
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#define CHECKSUMDATABAD -23 // bad data checksum
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#define CHECKSUMACKBAD -24 // bad command acknowledge checksum
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/*
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* default settings for port, interrupt and dpram
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*/
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#define DEF_PCBUSTYPE 0 // ISA, VME etc.
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#define DEF_TYPE 1 // PMAC 1
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#define DEF_PORT 528 // 0x210
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#define DEF_INTERRUPT 0 // No interrupt, make them select!
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#define DEF_FIFO 0x0
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#define DEF_LOCATION 0 // Computer BUS
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#define DEF_TIMEOUT 200
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#define DEF_FLUSHTIMEOUT 20
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#define DEF_DPRROT1ADR 0x400
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#define DEF_DPRROT2ADR 0x400
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#define DEF_DPRROT3ADR 0x0
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#define DEF_DPRROT4ADR 0x0
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#define DEF_DPRROT5ADR 0x0
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#define DEF_DPRROT6ADR 0x0
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#define DEF_DPRROT7ADR 0x0
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#define DEF_DPRROT8ADR 0x0
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#define DEF_DPRROT9ADR 0x0
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#define DEF_DPRROT10ADR 0x0
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#define DEF_DPRROT11ADR 0x0
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#define DEF_DPRROT12ADR 0x0
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#define DEF_DPRROT13ADR 0x0
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#define DEF_DPRROT14ADR 0x0
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#define DEF_DPRROT15ADR 0x0
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#define DEF_DPRROT16ADR 0x0
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#define DEF_DPRVARADR 0xD60
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#define DEF_DPRUSERBUF 0x580
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#define DEF_FBSTART 0x9f00
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#define DEF_FBTIMER 0x9f80
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#define DEF_BAUDRATE 38400
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#define DEF_COMPORT 0 // COM1
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#define DEF_PARITY 0 // No Parity
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#define DEF_RTS_CONTROL 1 // Enabled
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#define DEF_CTS_OUTPUT 1 // Checked
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#define DEF_VMEBASE 0x7FA000 // PMAC's Default VME base address
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#define DEF_VMEDPRBASE 0x700000 // PMAC's Default VME DPR Base Address
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#define DEF_VMEINTERRUPT 7 // PMAC's Default VME Interrupt Level
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#define DEF_VMEHOSTID 0 // VMIC 7686
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#define DEF_VMEAM 0x39 // Address Modifier
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#define DEF_VMEAMDC 0x04 // Address Modifier Dont care
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#define DEF_VMEIRQVECT 0xA1 // VME IRQ Vector
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#define DEF_BUSCHARTIMEOUT 1000
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#define DEF_BUSFLUSHTIMEOUT 10
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#define DEF_VMECHARTIMEOUT 30
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#define DEF_VMEFLUSHTIMEOUT 3
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#define DEF_DPBKTIMEOUT 10
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#define DEF_DPRTTIMEOUT 2
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#define DEF_DPCHARTIMEOUT 1000
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#define DEF_DPFLUSHTIMEOUT 20
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#define DEF_SERCHARTIMEOUT 2000
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#define DEF_SERFLUSHTIMEOUT 30
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#define DEF_SERWRITECONSTANTTIMEOUT 1000
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#define DEF_SERWRITEMULTIPLYERTIMEOUT 0
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#define DEF_SERREADCONSTANTTIMEOUT 30
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#define DEF_SERREADINTERVALTIMEOUT 30 // A VALUE OF 0 indicates interval timeouts are not used
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#define DEF_SERREADCONSTANTTIMEOUTSLOW 30
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#define DEF_SERREADINTERVALTIMEOUTSLOW 30 // A VALUE OF 0 indicates interval timeouts are not used
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#define DEF_SERREADMULTIPLYERTIMEOUT 0
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#define DEF_USBMODE 0
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#define DEF_IPADDRESS 0xc0065e05
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#define DEF_DISABLEIRQ 1
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#define DEF_DISABLEDPRAM 1
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#define DEF_USENEWCOMMFEATURES 1 // Use New Firmware features by default
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/*
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* MEMORY Allocation Related macro,defines
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*
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*/
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#define MAX_DPRBUFFER (160)
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#define MAX_DPRREADBUFFER (256) // this is the maximum string Turbo can return
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#define DPR_READ_COPY_BUFFER_SIZE (MAX_DPRREADBUFFER+4) // +4 for stack protection
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/*
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* Common defines
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*
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*/
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#define MAXMOTORS 8
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#define MAXMOTORSTURBO 32
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#define MAXLINKS 68 // max number of PLCC links
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#define MINLINKS 41
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#define MAXLDS 27 // max number of PLCC LADDER DIAG links
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#define MINLDS 27 // MIN number of PLCC LADDER DIAG links
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#define MAXSTRLINK ((8*MAXLINKS)+1) // max string length of links
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#define VERSION_BUFFER_SIZE 100
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#define DATE_BUFFER_SIZE 100
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#define ISR_IPOS 1 /* IR0 for in position */
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#define ISR_BREQ 2 /* IR1 for buffer request */
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#define ISR_FERROR 4 /* IR2 for general error */
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#define ISR_ERROR 8 /* IR3 for following error */
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#define ISR_HREQ 16 /* IR4 for communication */
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#define ISR_IR5 32 /* IR5 */
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#define ISR_IR6 64 /* IR6 */
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#define ISR_IR7 128 /* IR7 */
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// Motor registers
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#define MTRSTATUS_X_OFS 0x3C // offset to each motor status X word
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#define MTRSTATUS_Y_OFS 0xC0 // offset to each motor status Y word
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#define MTRSTATUS_X_BASE 0x003D // address of mtr 1 first status word
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#define MTRSTATUS_X_BASE_ESA 0x004F // address of mtr 1 first status word
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#define MTRSTATUS_Y_BASE 0x0814 // address of mtr 1 second status word
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#define TURBO_MTRSTATUS_OFS 0x80 // offset to each motor status word
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#define TURBO_MTRSTATUS_X_BASE 0xB0 // address of mtr 1 first status word
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#define TURBO_MTRSTATUS_Y_BASE 0xC0 // address of mtr 1 second status word
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/*
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* Parameter Names:
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*
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* These are the names of Values in the Parameters key (or driver section
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* of the profile) used for communicating configuration information and errors
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* between the kernel and user-mode drivers.
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*/
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#define PARAM_TYPE TEXT("PmacType") // model of PMAC
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#define PARAM_PCBUSTYPE TEXT("PCBusType") // bus type isa, pci
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#define PARAM_PORT TEXT("Port") // port i/o address
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#define PARAM_INTERRUPT TEXT("Interrupt") // interrupt number
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#define PARAM_BUSCHARTIMEOUT TEXT("BUSCharTimeout")
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#define PARAM_BUSFLUSHTIMEOUT TEXT("BUSFlushTimeout")
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#define PARAM_FIFO TEXT("DualPortRam") // DP Ram physical addr
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#define PARAM_ERROR TEXT("InstallError") // config error/success code (below)
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#define PARAM_DPRROT1 TEXT("DualPortRamRot1")
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#define PARAM_DPRROT2 TEXT("DualPortRamRot2")
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#define PARAM_DPRROT3 TEXT("DualPortRamRot3")
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#define PARAM_DPRROT4 TEXT("DualPortRamRot4")
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#define PARAM_DPRROT5 TEXT("DualPortRamRot5")
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#define PARAM_DPRROT6 TEXT("DualPortRamRot6")
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#define PARAM_DPRROT7 TEXT("DualPortRamRot7")
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#define PARAM_DPRROT8 TEXT("DualPortRamRot8")
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#define PARAM_DPRROT9 TEXT("DualPortRamRot9")
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#define PARAM_DPRROT10 TEXT("DualPortRamRot10")
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#define PARAM_DPRROT11 TEXT("DualPortRamRot11")
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#define PARAM_DPRROT12 TEXT("DualPortRamRot12")
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#define PARAM_DPRROT13 TEXT("DualPortRamRot13")
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#define PARAM_DPRROT14 TEXT("DualPortRamRot14")
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#define PARAM_DPRROT15 TEXT("DualPortRamRot15")
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#define PARAM_DPRROT16 TEXT("DualPortRamRot16")
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#define PARAM_DPRVARADR TEXT("DualPortRamVar")
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#define PARAM_DPRUSERSIZE TEXT("DualPortRamUserSize")
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#define PARAM_FBSTART TEXT("FunctionBlockStart")
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#define PARAM_FBTIMER TEXT("FunctionBlockTimer")
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#define PARAM_PORTNUMBER TEXT("SerialPortNumber")
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#define PARAM_BAUDRATE TEXT("SerialBaudrate")
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#define PARAM_PARITY TEXT("SerialParity")
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#define PARAM_CTS TEXT("SerialCTSOutput")
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#define PARAM_RTS TEXT("SerialRTSControl")
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#define PARAM_LOCATION TEXT("Location")
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#define PARAM_ENUMERATION TEXT("Enumeration")
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#define PARAM_DISABLEDPR TEXT("DisableDPRAM")
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#define PARAM_DISABLEIRQ TEXT("DisableIRQ")
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#define PARAM_PCI_SLOT TEXT("PCISlot")
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#define PARAM_PCI_BUS TEXT("PCIBus")
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#define PARAM_IPADDRESS TEXT("IPAddress")
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#define PARAM_USENEWCOMMFEATURES TEXT("UseNewCommFeatures")
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#define PARAM_USBMODE TEXT("USBMode")
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#define PARAM_DPRAUTOACTIVE TEXT("DPRAutoActive")
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#define PARAM_DPRRTACTIVE TEXT("DPRRealTimeActive")
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#define PARAM_DPRBGACTIVE TEXT("DPRBackgroundActive")
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#define PARAM_DPRBGPERIOD TEXT("DPRBackgroundPeriod")
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#define PARAM_DPRRTPERIOD TEXT("DPRRealTimePeriod")
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#define PARAM_DPRRTMTRMASK TEXT("DPRRealTimeMtrMask")
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#define PARAM_DPRBGCOORDSYS TEXT("DPRBackgroundCrdSys")
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#define PARAM_DPRNUMMOTORS TEXT("DPRNumMotors")
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#define PARAM_DPRMONITORPERIOD TEXT("DPRMonitorPeriod")
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#define PARAM_ENABLEINTR TEXT("EnableInterrupts")
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#define PARAM_DPBKTIMEOUT TEXT("DPRBackTimeout")
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#define PARAM_DPRTTIMEOUT TEXT("DPRRTTimeout")
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#define PARAM_DPCHARTIMEOUT TEXT("DPRCharTimeout")
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#define PARAM_DPFLUSHTIMEOUT TEXT("DPRFlushTimeout")
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#define PARAM_VMEBASE TEXT("VMEBase")
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#define PARAM_VMEDPRBASE TEXT("VMEDPRBase")
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#define PARAM_VMEINTERRUPT TEXT("VMEInterrupt")
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#define PARAM_VMEHOSTID TEXT("VMEHostID")
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#define PARAM_VMEAM TEXT("VMEAM")
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#define PARAM_VMEAMDC TEXT("VMEAMDontCare")
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#define PARAM_VMEIRQVECT TEXT("VMEIRQVector")
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#define PARAM_VMECHARTIMEOUT TEXT("VMECharTimeout")
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#define PARAM_VMEFLUSHTIMEOUT TEXT("VMEFlushTimeout")
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#define PARAM_SERWRITEMULTIPLYERTIMEOUT TEXT("SerWriteMultiplyerTimeout")
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#define PARAM_SERWRITECONSTANTTIMEOUT TEXT("SerWriteConstantTimeout")
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#define PARAM_SERREADMULTIPLYERTIMEOUT TEXT("SerReadMultiplyerTimeout")
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#define PARAM_SERREADCONSTANTTIMEOUT TEXT("SerReadConstantTimeout")
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#define PARAM_SERREADINTERVALTIMEOUT TEXT("SerReadIntervalTimeout")
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#define PARAM_SERCHARTIMEOUT TEXT("SerCharTimeout")
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#define PARAM_SERFLUSHTIMEOUT TEXT("SerFlushTimeout")
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#ifdef _NC
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#define PARAM_NCTITLE TEXT("Title")
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#define PARAM_SOURCEPROFILE TEXT("SourceProfile")
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#define PARAM_TOOLPROFILE TEXT("ToolProfile")
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#define PARAM_COORDPROFILE TEXT("CoordProfile")
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#define PARAM_MACHINETYPE TEXT("MachineType")
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#define PARAM_NOOFTOOLS TEXT("NoOfTools")
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#define PARAM_NOOFBLOCKS TEXT("NoOfBlocks")
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#define PARAM_NOOFCOORDSYS TEXT("NoOfCoordSys")
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#define PARAM_METRICDISPLAY TEXT("MetricDisplay")
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#define PARAM_LEASTHANDLEINC TEXT("LeastHandleInc")
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#define PARAM_MAXHANDLEINC TEXT("MaxHandleInc")
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#define PARAM_LEASTJOGINC TEXT("LeastJogInc")
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#define PARAM_AXISMOTORMAP TEXT("AxisMotorMap")
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#define PARAM_AXISMOTORSEL TEXT("AxisMotorSel")
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#define PARAM_AXISDISPMAP TEXT("AxisDispMap")
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#define PARAM_MAXRAPIDOVRD TEXT("MaxRapidOvrd")
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#define PARAM_MAXFEEDOVRD TEXT("MaxFeedOvrd")
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// Axis stuff
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#define PARAM_ISSPINDLE TEXT("IsSpindle")
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#define PARAM_HASSLAVE TEXT("HasSlave")
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#define PARAM_ISPHANTOM TEXT("IsPhantom")
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#define PARAM_DISPLAY TEXT("Display")
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#define PARAM_DISPLAYSLAVE TEXT("DisplaySlave")
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#define PARAM_HOMEMODE TEXT("HomeMode")
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#define PARAM_HOMEPRGNUMBER TEXT("HomePrgNumber")
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#define PARAM_PRECISION TEXT("Precision")
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#define PARAM_METRICDISPLAY TEXT("MetricDisplay")
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#define PARAM_METRICUNITS TEXT("MetricUnits")
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#define PARAM_PROBEPRGNUMBER TEXT("ProbePrgNumber")
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#define PARAM_PULSEPERUNIT TEXT("PulsePerInit")
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#define PARAM_INPOSITIONBAND TEXT("InpositionBand")
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#define PARAM_MAXRAPID TEXT("MaxRapid")
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#define PARAM_MAXFEED TEXT("MaxFeed")
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#define PARAM_FATALFERROR TEXT("FatalFError")
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#define PARAM_WARNFERROR TEXT("WarnFError")
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#define PARAM_JOGSPEEDLOW TEXT("JogSpeedLow")
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#define PARAM_JOGSPEEDMedLow TEXT("JogSpeedMedLow")
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#define PARAM_JOGSPEEDMed TEXT("JogSpeedMed")
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#define PARAM_JOGSPEEDMedHigh TEXT("JogSpeedMedHigh")
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#define PARAM_JOGSPEEDHigh TEXT("JogSpeedHigh")
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#define PARAM_FORMATINCH TEXT("FormatInch")
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#define PARAM_FORMATMM TEXT("FormatMM")
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#endif
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/*
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* Error handling
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*
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* during startup of the kernel-driver, the PARAM_ERROR value is written with
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* one of the values below. These are the IDs of strings in
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* pmac\dll\pmac.rc that are produced in a dialog box by the user-mode
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* driver during configuration if not MC_ERR_OK
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*/
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#define ERR_OK 0 // no configuration error
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#define ERR_CREATEDEVICE 1001 // failed to create device object
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#define ERR_CONFLICT 1002 // resource conflict
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#define ERR_DETECTFAILED 1003 // could not find hardware
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#define ERR_INTERRUPT 1004 // interrupt did not install
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#define ERR_INTRDETECT 1005 // interrupt did not occur
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#define ERR_BUSTIMEOUT 1006 // timeout during bus read
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#define ERR_DPRTIMEOUT 1007 // timeout during dpram ascii read
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#define ERR_SERTIMEOUT 1008 // timeout during serial ascii rea
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#define ERR_INBOOTSTRAP 1009 // PMAC in bootstrap mode can't load
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#define ERR_CONFIGDRIVER 1010 // Unable to configure driver (in registry perhaps)
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#define ERR_EMPTYBUS 1011 // Continuous characters from bus, No Card!!
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#define ERR_EMPTYDPRAM 1012 // Continuous characters from bus, No Card!!
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#endif //_COMMON_H_
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