/* DPR.H Header file for PMAC Dual Ported RAM communications.
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HISTORY:
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03Aug98 JET Added *_DPR_BASE definitions, added PmacDPRAddressRange() decl.
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23Jan98 EBL Add TURBO PMAC changes
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24May94 DES Removed bit defines, changed to bit fields.
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18Nov92 DES Created
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***************************************************************************/
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#include "DPRRealT.h"
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#include "DPRBkg.h"
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#ifndef _DPR_H
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#define _DPR_H
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#define PMAC_DPR_BASE 0xD000
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#define TURBO_DPR_BASE 0x60000
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#define UMAC_DPR_BASE 0x6C000
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#define RETRY 5
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#define MAXAOUT 160 // ASCII interface max output string length
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#define MAXAIN 256 // ASCII interface max input string length
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#define MAX_VBGBUF_USERS 9 // Maximum number of vbg data buffer users
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typedef enum { stop, run, step, hold, joghold, jogstop } PROGRAM;
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typedef enum { inpos, jog, running, homing, handle, openloop, disabled } MOTION;
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typedef enum { linear, rapid, circw, circcw, spline, pvt } MOTIONMODE;
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typedef void (FAR WINAPI * DPRTESTMSGPROC) ( LONG NumErrors, LPTSTR action, LONG CURRENT_OFFSET );
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typedef void (FAR WINAPI * DPRTESTPROGRESS) ( LONG Percent );
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// Return codes for PmacDPRrotput()
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#define RET_ERROR -1 // Internal Rotary Buffer has zero size, or conversion error
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#define RET_BUSY 1 // Could not load Command Array into DPR Rotary Buffer
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#define RET_OKAY 0 // Loaded Command Array into DPR Rotary Buffer
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///////////////////////////////////////////////////////////////////////////
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// Dual Ported RAM structure
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//
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// Control Panel ----------------------------------------------------------
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struct cpanec { // cpanel motor/coord request structure
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USHORT spare : 8; // place holder
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USHORT jogminus : 1; // jog minus ( motor only )
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USHORT jogplus : 1; // jog plus ( motor only )
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USHORT jogreturn : 1; // jog return ( motor only )
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USHORT start : 1; // start program ( coord only )
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USHORT step : 1; // step program ( coord only )
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USHORT stop : 1; // abort program ( coord only )
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USHORT home : 1; // home motor ( motor only )
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USHORT hold : 1; // hold program ( coord only )
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};
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struct cpanem { // cpanel motor/coord structure
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struct cpanec request; // Y:$D001 motor/coord request
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USHORT feedpot; // X:$D001 feed pot override
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};
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struct cpane {
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USHORT request1 : 1; // Y:$D000:B0 enable coord/motor 1
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USHORT request2 : 1; // Y:$D000:B1 enable coord/motor 2
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USHORT request3 : 1; // Y:$D000:B2 enable coord/motor 3
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USHORT request4 : 1; // Y:$D000:B3 enable coord/motor 4
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USHORT request5 : 1; // Y:$D000:B4 enable coord/motor 5
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USHORT request6 : 1; // Y:$D000:B5 enable coord/motor 6
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USHORT request7 : 1; // Y:$D000:B6 enable coord/motor 7
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USHORT request8 : 1; // Y:$D000:B7 enable coord/motor 8
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USHORT notused : 8; // Y:$D000:B8-B15 place holder
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USHORT feedoverride; // X:$D000 reserved for feedpot override
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struct cpanem mtrcrd[8 ]; // $D001 - $D008 for 8 coord/motor
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};
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///////////////////////////////////////////////////////////////////////////
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// ASCII Interface Structure ----------------------------------------------
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///////////////////////////////////////////////////////////////////////////
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struct ascii {
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USHORT sendready : 1; // Y:$D18B($603A7) output control word
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USHORT pad : 15;
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USHORT ctrlchar; // X:$D18B control character
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char outstr[MAXAOUT ]; // $D18C - $D1B3 output string buffer
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USHORT instatus; // Y:$D1B4($603D0) input control word
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USHORT charcount; // X:$D1B4 input character count
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char instr[MAXAIN ]; // $D1B5 - $D1F4 input string buffer
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};
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///////////////////////////////////////////////////////////////////////////
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// ROT BUFFER Interface Structure
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struct rotbuf {
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USHORT roterr : 8; // Y:$D1FC Error codes
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USHORT spare0 : 6;
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USHORT busy : 1; // Y:$D1FC Internal Rotary buffer full
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USHORT error : 1; // Y:$D1FC Error Flag
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USHORT coord; // X:$D1FC coordinate system
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USHORT hostindex; // Y:$D1FD Host Index to Rotary Buffer
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USHORT pmacindex; // X:$D1FD PMAC Index to Rotary Buffer
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USHORT bufsize; // Y:$D1FE Size of rotary buffer
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USHORT bufstart; // X:$D1FE buffer start / TURBO = offset from fixed buf
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};
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///////////////////////////////////////////////////////////////////////////
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// DATA GATHER Interface Structure
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struct gatbuf {
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USHORT bufsize; // Y:$D1FF Size of rotary buffer
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USHORT bufstart; // X:$D1FF buffer start index
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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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void _cdecl DPRLock( DWORD dwDevice );
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void _cdecl DPRUnlock( DWORD dwDevice );
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VOID SaveConfiguration( DWORD dwDevice );
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DWORD GetDPRAMAddress( DWORD dwDevice );
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BOOL ConfigureDPRAM( DWORD dwDevice, DWORD dwDPRBaseAddress );
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BOOL CardHasMem( DWORD dwDevice );
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LONG CALLBACK PmacDPRTest();
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void _cdecl DPRTestThread( PCHAR dummy );
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void CALLBACK PmacAbortDPRTest( void );
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void CALLBACK PmacDPRStatus( DWORD dwDevice, UINT * comm, UINT * bg, UINT * bgv,
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UINT * rt, UINT * cp, UINT * rot );
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BOOL CALLBACK PmacDPRAvailable( DWORD dwDevice );
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// Numeric read/write functions
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PVOID CALLBACK PmacDPRGetMem( DWORD dwDevice, DWORD offset, size_t count, PVOID val );
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PVOID CALLBACK PmacDPRSetMem( DWORD dwDevice, DWORD offset, size_t count, PVOID val );
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BOOL CALLBACK PmacDPRGetMemBits( DWORD dwDevice, DWORD offset, UINT startbit,UINT width, PDWORD val );
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BOOL CALLBACK PmacDPRSetMemBits( DWORD dwDevice, DWORD offset, UINT startbit,UINT width, DWORD val );
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BOOL CALLBACK PmacDPRGetMemBit( DWORD dwDevice, DWORD offset, UINT bit, PBOOL val );
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BOOL CALLBACK PmacDPRSetMemBit( DWORD dwDevice, DWORD offset, UINT bit, BOOL val );
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BOOL CALLBACK PmacDPRDWordBitSet( DWORD dwDevice, UINT offset, UINT bit );
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void CALLBACK PmacDPRSetDWordBit( DWORD dwDevice, UINT offset, UINT bit );
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void CALLBACK PmacDPRResetDWordBit( DWORD dwDevice, UINT offset, UINT bit );
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WORD CALLBACK PmacDPRGetWord( DWORD dwDevice, UINT offset );
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void CALLBACK PmacDPRSetWord( DWORD dwDevice, UINT offset, WORD val );
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DWORD CALLBACK PmacDPRGetDWord( DWORD dwDevice, UINT offset );
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void CALLBACK PmacDPRSetDWord( DWORD dwDevice, UINT offset, DWORD val );
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float CALLBACK PmacDPRGetFloat( DWORD dwDevice, UINT offset );
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void CALLBACK PmacDPRSetFloat( DWORD dwDevice, UINT offset, double val );
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void CALLBACK PmacDPRSetDWordMask( DWORD dwDevice, UINT offset, DWORD val, BOOL onoff );
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DWORD CALLBACK PmacDPRGetDWordMask( DWORD dwDevice, UINT offset, DWORD val );
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double CALLBACK PmacDPRFloat( long d[], double scale );
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double CALLBACK PmacDPRLFixed( long d[], double scale );
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double CALLBACK PmacDPRVelocity( DWORD dwDevice, int mtr, double units );
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double CALLBACK PmacDPRVectorVelocity( DWORD dwDevice, int num, int mtr[], double units[] );
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void CALLBACK PmacDPRSetMotors( DWORD dwDevice, UINT n );
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// Function pertaining to global status
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void CALLBACK PmacDPRGetGlobalStatus(DWORD dwDevice,VOID *gstatus);
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void CALLBACK PmacDPRGetGlobalStatusTurbo(DWORD dwDevice,struct gsTURBO *turbogstatus);
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BOOL CALLBACK PmacDPRMotionBufOpen( DWORD dwDevice );
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BOOL CALLBACK PmacDPRRotBufOpen( DWORD dwDevice );
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BOOL CALLBACK PmacDPRSysServoError( DWORD dwDevice );
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BOOL CALLBACK PmacDPRSysReEntryError( DWORD dwDevice );
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BOOL CALLBACK PmacDPRSysMemChecksumError( DWORD dwDevice );
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BOOL CALLBACK PmacDPRSysPromChecksumError( DWORD dwDevice );
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// Functions pertaining to individual motors
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// Background-Functions pertaining to individual motors
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BOOL CALLBACK PmacDPRAmpEnabled( DWORD dwDevice, int mtr );
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BOOL CALLBACK PmacDPRWarnFError( DWORD dwDevice, int mtr );
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BOOL CALLBACK PmacDPRFatalFError( DWORD dwDevice, int mtr );
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BOOL CALLBACK PmacDPRAmpFault( DWORD dwDevice, int mtr );
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BOOL CALLBACK PmacDPROnPositionLimit( DWORD dwDevice, int mtr );
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BOOL CALLBACK PmacDPRHomeComplete( DWORD dwDevice, int mtr );
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BOOL CALLBACK PmacDPRInposition( DWORD dwDevice, int mtr );
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double CALLBACK PmacDPRGetTargetPos( DWORD dwDevice, int motor, double posscale );
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double CALLBACK PmacDPRGetBiasPos( DWORD dwDevice, int motor, double posscale );
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long CALLBACK PmacDPRTimeRemInMove( DWORD dwDevice, int cs );
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long CALLBACK PmacDPRTimeRemInTATS( DWORD dwDevice, int cs );
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DWORD CALLBACK PmacDPRGetAssignedCoord(DWORD dwDevice, int mtr ,DWORD bWaitForUpdate);
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DWORD CALLBACK PmacDPRIsAssignedCoord(DWORD dwDevice, int mtr ,DWORD bWaitForUpdate);
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// Logical query functions
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PROGRAM CALLBACK PmacDPRGetProgramMode( DWORD dwDevice, int csn );
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MOTIONMODE CALLBACK PmacDPRGetMotionMode( DWORD dwDevice, int csn );
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////////////////////////////////////////////////////////////////////////////
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// DPR Control Panel functions
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////////////////////////////////////////////////////////////////////////////
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BOOL CALLBACK PmacDPRControlPanel( DWORD dwDevice, long on );
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void CALLBACK PmacDPRSetJogPosBit( DWORD dwDevice, long motor, long onoff );
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long CALLBACK PmacDPRGetJogPosBit( DWORD dwDevice, long motor );
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void CALLBACK PmacDPRSetJogNegBit( DWORD dwDevice, long motor, long onoff );
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long CALLBACK PmacDPRGetJogNegBit( DWORD dwDevice, long motor );
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void CALLBACK PmacDPRSetJogReturnBit( DWORD dwDevice, long motor, long onoff );
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long CALLBACK PmacDPRGetJogReturnBit( DWORD dwDevice, long motor );
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void CALLBACK PmacDPRSetRunBit( DWORD dwDevice, long cs, long onoff );
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long CALLBACK PmacDPRGetRunBit( DWORD dwDevice, long cs );
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void CALLBACK PmacDPRSetStopBit( DWORD dwDevice, long cs, long onoff );
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long CALLBACK PmacDPRGetStopBit( DWORD dwDevice, long cs );
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void CALLBACK PmacDPRSetHomeBit( DWORD dwDevice, long cs, long onoff );
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long CALLBACK PmacDPRGetHomeBit( DWORD dwDevice, long cs );
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void CALLBACK PmacDPRSetHoldBit( DWORD dwDevice, long cs, long onoff );
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long CALLBACK PmacDPRGetHoldBit( DWORD dwDevice, long cs );
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long CALLBACK PmacDPRGetStepBit( DWORD dwDevice, long cs );
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void CALLBACK PmacDPRSetStepBit( DWORD dwDevice, long cs, long onoff );
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long CALLBACK PmacDPRGetRequestBit( DWORD dwDevice, long mtrcrd );
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void CALLBACK PmacDPRSetRequestBit( DWORD dwDevice, long mtrcrd, long onoff );
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long CALLBACK PmacDPRGetFOEnableBit( DWORD dwDevice, long cs );
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void CALLBACK PmacDPRSetFOEnableBit( DWORD dwDevice, long cs, long on_off );
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void CALLBACK PmacDPRSetFOValue( DWORD dwDevice, long cs, long value );
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long CALLBACK PmacDPRGetFOValue( DWORD dwDevice, long cs );
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////////////////////////////////////////////////////////////////////////////
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// Uses both Realtime and background features
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////////////////////////////////////////////////////////////////////////////
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MOTION CALLBACK PmacDPRGetMotorMotion( DWORD dwDevice, int mtr );
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double CALLBACK PmacDPRGetFeedRateMode( DWORD dwDevice, int csn, BOOL * mode );
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BOOL CALLBACK PmacDPRFixedBufferDataUpdate( DWORD dwDevice );
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////////////////////////////////////////////////////////////////////////////
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// ASCII FUNCTIONS
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////////////////////////////////////////////////////////////////////////////
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BOOL CALLBACK PmacDPRComm( DWORD dwDevice, BOOL on );
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BOOL CALLBACK PmacDPRReadReady( DWORD dwDevice );
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void CALLBACK PmacDPRFlush( DWORD dwDevice );
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int CALLBACK PmacDPRSendLineA( DWORD dwDevice, PCHAR outchar );
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int CALLBACK PmacDPRSendCharA( DWORD dwDevice, CHAR outstr );
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int CALLBACK PmacDPRSendCtrlCharA( DWORD dwDevice, CHAR outstr );
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int CALLBACK PmacDPRGetLineA( DWORD dwDevice, PCHAR linebuf, UINT maxchar, PUINT nc );
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int CALLBACK PmacDPRGetBufferA( DWORD dwDevice, PCHAR s, UINT maxchar, PUINT nc );
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int CALLBACK PmacDPRGetControlResponseA( DWORD dwDevice, PCHAR s, UINT maxchar, CHAR outchar );
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int CALLBACK PmacDPRGetResponseA( DWORD dwDevice, PCHAR s, UINT maxchar, PCHAR outstr );
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void CALLBACK PmacDPRSendCommandA( DWORD dwDevice, PCHAR outchar );
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int CALLBACK PmacDPRSendLineW( DWORD dwDevice, PWCHAR outchar );
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int CALLBACK PmacDPRSendCharW( DWORD dwDevice, WCHAR outstr );
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int CALLBACK PmacDPRSendCtrlCharW( DWORD dwDevice, WCHAR outstr );
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int CALLBACK PmacDPRGetLineW( DWORD dwDevice, PWCHAR linebuf, UINT maxchar, PUINT nc );
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int CALLBACK PmacDPRGetBufferW( DWORD dwDevice, PWCHAR s, UINT maxchar, PUINT nc );
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int CALLBACK PmacDPRGetControlResponseW( DWORD dwDevice, PWCHAR s, UINT maxchar, WCHAR outchar );
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int CALLBACK PmacDPRGetResponseW( DWORD dwDevice, PWCHAR s, UINT maxchar, PWCHAR outstr );
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void CALLBACK PmacDPRSendCommandW( DWORD dwDevice, PWCHAR outchar );
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long CALLBACK PmacDPRAddressRange( DWORD dwDevice, BOOL Upper, BOOL PC_offsets );
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#ifdef __cplusplus
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}
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#endif
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#ifdef UNICODE
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#define PmacDPRSendLine PmacDPRSendLineW
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#define PmacDPRSendChar PmacDPRSendCharW
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#define PmacDPRSendCtrlChar PmacDPRSendCtrlCharW
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#define PmacDPRWaitGetLine PmacDPRWaitGetLineW
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#define PmacDPRGetLine PmacDPRGetLineW
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#define PmacDPRGetResponse PmacDPRGetResponseW
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#define PmacDPRGetControlResponse PmacDPRGetControlResponseW
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#define PmacDPRSendCommand PmacDPRSendCommandW
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#else
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#define PmacDPRSendLine PmacDPRSendLineA
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#define PmacDPRSendChar PmacDPRSendCharA
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#define PmacDPRSendCtrlChar PmacDPRSendCtrlCharA
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#define PmacDPRWaitGetLine PmacDPRWaitGetLineA
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#define PmacDPRGetLine PmacDPRGetLineA
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#define PmacDPRGetResponse PmacDPRGetResponseA
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#define PmacDPRGetControlResponse PmacDPRGetControlResponseA
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#define PmacDPRSendCommand PmacDPRSendCommandA
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#endif // !UNICODE
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#endif
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