/* DPRRealT.h - Header file for PMAC Dual Ported RAM Real Time Data Buffer (DPRRTDB)
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HISTORY
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17Aug99 JET added hwpos (Master Position) to realmTURBO struct
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added PmacDPRNetActualPosition();
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20Jan98 EBL Latest Servo Structure
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12Dec97 EBL AS First Created
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*/
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#ifndef _DPRREALT_H
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#define _DPRREALT_H
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#include "windows.h"
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#ifdef __cplusplus
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extern "C" {
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#endif
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///////////////////////////////////////////////////////////////////////////
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// TURBO -------------------------------------------------------
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///////////////////////////////////////////////////////////////////////////
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typedef struct ssTURBO { // Motor Servo Status ( ? 1st 24 bit word )
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USHORT rapid_spd_sel : 1; // B00 - RAPID MOVE SPEED SELECT (IXX90)
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USHORT dac_sign_mag : 1; // B01 - SIGN/MAGNITUDE SERVO (IXX96)
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USHORT sw_capture : 1; // B02 - SOFTWARE HOME CAPTURE (IXX97.0)
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USHORT fe_capture : 1; // B03 - CAPTURE ON FOLLOWING ERROR (IXX97.1)
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USHORT handwheel_ena : 1; // B04 - HANDWHEEL ENABLE FLAG (IXX06.0)
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USHORT hw_mode : 1; // B05 - HANDWHEEL MODE FLAG (IXX06.1)
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USHORT phased_motor : 1; // B06 - PHASED MOTOR ENABLE FLAG (IXX01.0)
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USHORT yenc_phase : 1; // B07 - Y PHASE ENCODER (IXX01.1)
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USHORT user_servo : 1; // B08 - USER WRITEN SERVO ENABLE (IXX59.0)
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USHORT user_phase : 1; // B09 - USER WRITEN PHASE ENABLE (IXX59.1)
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USHORT home_search : 1; // B10 - HOME IN PROGRESS FLAG
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USHORT block_request : 1; // B11 - BLOCK REQUEST FLAG
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USHORT limit_stop : 1; // B12 - Limit Stop Flag
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USHORT desired_vel_0 : 1; // B13 - Desired Velocity = 0
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USHORT data_block_err : 1; // B14 - DATA BLOCK ERROR
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USHORT dwelling : 1; // B15 - Dwell Mode
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USHORT integrator_ena : 1; // B16 - Ixx34
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USHORT run_program : 1; // B17 - MOVE TIMER ACTIVE
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USHORT open_loop : 1; // B18 - OPEN LOOP MODE
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USHORT amp_enabled : 1; // B19 - AMPLIFIER ENABLED FLAG
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USHORT algo_ena : 1; // B20 - EXTENDED ALGO ENABLE FLAG (I3300+50*N)
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USHORT pos_limit : 1; // B21 - POSITIVE POSITION LIMIT
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USHORT neg_limit : 1; // B22 - NEGATIVE POSITION LIMIT
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USHORT activated : 1; // B23 - Ixx00
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USHORT pads : 8; // B24..31 - Not Available
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} SERVOSTATUSTURBO;
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typedef struct msTURBO { // Motor Status ( ? 1st 24 bit word )
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USHORT in_position : 1; // B00 - IN POSITION
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USHORT warn_ferr : 1; // B01 - SOFT FOLLOWING ERROR
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USHORT fatal_ferr : 1; // B02 - FATAL FOLLOWING ERROR
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USHORT amp_fault : 1; // B03 - AMP FAULT ERROR
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USHORT backlash_dir : 1; // B04 - BACKLASH DIRECTION FLAG
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USHORT amp_i2t_err : 1; // B05 - I2T AMP FAULT
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USHORT integral_ferr : 1; // B06 - INTEGRATED FOLLOWING ERROR FAULT
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USHORT triger_home_flg : 1; // B07 - TRIGGER/HOME MOVE FLAG
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USHORT phase_find_err : 1; // B08 - PHASE FINDING ERROR FLAG
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USHORT tbd09 : 1; // B09 - TBD
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USHORT home_complete : 1; // B10 - HOME COMPLETE FLAG
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USHORT stopped_on_limit : 1; // B11 - POS LIMIT STOP FLAG
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USHORT: 1; // B12 - TBD
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USHORT: 1; // B13 - TBD
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USHORT: 1; // B14 - TBD
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USHORT cs_assigned : 1; // B15 - TBD
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USHORT cs_def : 4; // B16..19 - Coord. Sys. Axis Def
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USHORT coord_sys : 4; // B20..23 - MOTOR COORDINATE SYSTEM NUMBER (-1)
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USHORT padm : 8; // B24..31 - Not Available
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} MOTORSTATUSTURBO;
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struct realmTURBO { // real time buffer motor structure
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long pepos[2 ]; // $6001D-1E - Mtr position following err
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long pdac; // $6001F - Mtr previous DAC
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struct ssTURBO sstatus; // $60020 - Mtr servo status
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struct msTURBO mstatus; // $60021 - Mtr Status
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long bpos[2 ]; // $60022-23 - Mtr Postion Bias
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long fvel; // $60024 - Mtr Filtered/Average Velocity
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long hwpos[2 ]; // $60025-26 - Mtr Master Position
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long pos[2 ]; // $60027-28 - Mtr Net actual position
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};
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struct realtTURBO { // real time buffer structure
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USHORT: 16; // Y:$6001A
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USHORT: 8; // X:$6001A B0-30 spare
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USHORT: 7;
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USHORT hostbusy : 1; // X:$6001A B31 host busy
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USHORT servotimer; // Y:$6001B Servo Timer
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USHORT servotimerms8 : 8; // X:$6001B Servo Timer upper 8 bits
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USHORT pspare : 7;
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USHORT dataready : 1; // X:$6001B pmac data ready/busy = 1/0
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long motor_mask; // L:$6001C Motor Mask (motors 1-32)
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struct realmTURBO motor[32 ]; // L:$6001D - $60028 1 thru 32 motor structures
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};
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///////////////////////////////////////////////////////////////////////////
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// PMAC -------------------------------------------------------
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///////////////////////////////////////////////////////////////////////////
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typedef struct ss { // Motor Servo Status ( ? 1st 24 bit word )
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USHORT internal1 : 8;
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USHORT internal2 : 2;
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USHORT home_search : 1;
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USHORT block_request : 1;
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USHORT rffu1 : 1;
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USHORT desired_vel_0 : 1;
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USHORT data_block_err : 1;
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USHORT dwelling : 1;
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USHORT integration : 1;
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USHORT run_program : 1;
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USHORT open_loop : 1;
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USHORT phased_motor : 1;
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USHORT handwheel_ena : 1;
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USHORT pos_limit : 1;
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USHORT neg_limit : 1;
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USHORT activated : 1;
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USHORT pad : 8;
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} SERVOSTATUS;
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typedef struct gs { // Global Status
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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;
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USHORT internal2 : 3; // 12-14
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USHORT dpram_response : 1;
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USHORT plc_command : 1;
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USHORT plc_buf_open : 1;
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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 internal3 : 2;
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USHORT host_comm_mode : 1;
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USHORT internal4 : 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;
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USHORT rapid_m_flag : 1;
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USHORT rti_warning : 1;
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USHORT earom_error : 1;
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USHORT dpram_error : 1;
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USHORT prom_checksum : 1;
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USHORT mem_checksum : 1;
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USHORT comp_on : 1;
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USHORT stimulate_on : 1;
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USHORT stimulus_ent : 1;
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USHORT prep_trig_gat : 1;
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USHORT prep_next_serv : 1;
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USHORT data_gat_on : 1;
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USHORT servo_err : 1;
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USHORT servo_active : 1;
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USHORT intr_reentry : 1;
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USHORT intr_active : 1;
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USHORT pad1 : 8;
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} GLOBALSTATUS;
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struct realm { // real time buffer motor structure
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// addresses below are for motor 1
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long dpos[2 ]; // $D012 - $D013 commanded position
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long apos[2 ]; // $D014 - $D015 actual position
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long hwpos[2 ]; // $D016 - $D017 hand wheel position
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long cpos[2 ]; // $D018 - $D019 compensation position
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unsigned long pdac; // $D01A previous DAC
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struct ss sstatus; // $D01B servo status
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long fvel; // $D01C velocity delta position
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long movtim; // $D01D Mtr Move Time remaining / %feedpot
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// valid when I13 = 0
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unsigned long mspare[3 ]; // $D01E - $D020 motor spares
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};
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struct realt { // real time buffer structure
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USHORT hostbusy : 1; // Y:$D009 B0
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USHORT rffu1 : 15; // Y:$D009 B1-15
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USHORT servotimer : 15; // X:$D009 B0-14
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USHORT pmacbusy : 1; // X:$D009 B15
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struct gs globalstatus; // $D00A - $D00B
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long ffdrate[2 ][2 ]; // Coord. System feedrate(F) or Time(TM)
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unsigned long spareglobal[2 ]; // $D020 - $D011
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struct realm mtrcrd[8 ]; // 1 thru 8 motor structures
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};
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//////////////////////////////////////////////////////////////////////////
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// Functions
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// *************************************************************************
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///////////////////////////////////////////////////////////////////////////*
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///////////////////// INITIALIZATION ROUTINES /////////////////////////////*
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///////////////////////////////////////////////////////////////////////////*
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// *************************************************************************
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BOOL CALLBACK PmacDPRRealTime( DWORD dwDevice, UINT period, int on );
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BOOL CALLBACK PmacDPRRealTimeEx( DWORD dwDevice, long mask, UINT period, int on );
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void CALLBACK PmacDPRRealTimeSetMotor( DWORD dwDevice, long mask );
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// *************************************************************************
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///////////////////////////////////////////////////////////////////////////*
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///////////////////// HANDSHAKING ROUTINES ////////////////////////////////*
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///////////////////////////////////////////////////////////////////////////*
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// *************************************************************************
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BOOL CALLBACK PmacDPRUpdateRealTime( DWORD dwDevice );
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void CALLBACK PmacDPRLockRealTime( DWORD dwDevice );
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void CALLBACK PmacDPRUnlockRealTime( DWORD dwDevice );
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BOOL CALLBACK PmacDPRRealTimeDataReady( DWORD dwDevice );
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void CALLBACK PmacDPRSetRealTimeDataReady( DWORD dwDevice );
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void CALLBACK PmacDPRResetRealTimeDataReady( DWORD dwDevice );
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void CALLBACK PmacDPRSetRealTimeMotorMask(DWORD dwDevice, DWORD mask);
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// *************************************************************************
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///////////////////////////////////////////////////////////////////////////*
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///////////////////// DATA ACCESS ROUTINES ////////////////////////////////*
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///////////////////////////////////////////////////////////////////////////*
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// *************************************************************************
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int CALLBACK PmacDPRGetServoTimer( DWORD dwDevice );
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double CALLBACK PmacDPRGetCommandedPos( DWORD dwDevice, int mtr, double units );
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double CALLBACK PmacDPRPosition( DWORD dwDevice, int mtr, double units );
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double CALLBACK PmacDPRNetActualPosition( DWORD dwDevice, int mtr, double units );
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double CALLBACK PmacDPRFollowError( DWORD dwDevice, int mtr, double units );
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void CALLBACK PmacDPRGetMasterPos( DWORD dwDevice, int mtr, double units, double *the_double );
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void CALLBACK PmacDPRGetCompensationPos( DWORD dwDevice, int mtr, double units, double *the_double );
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double CALLBACK PmacDPRGetVel( DWORD dwDevice, int mtr, double units );
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DWORD CALLBACK PmacDPRGetPrevDAC( DWORD dwDevice, int mtr );
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DWORD CALLBACK PmacDPRGetMoveTime( DWORD dwDevice, int mtr );
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// Functions pertaining to individual motors
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BOOL CALLBACK PmacDPRMotorEnabled( DWORD dwDevice, int mtr );
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BOOL CALLBACK PmacDPRHandwheelEnabled( DWORD dwDevice, int mtr );
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BOOL CALLBACK PmacDPRPhasedMotor( DWORD dwDevice, int mtr );
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BOOL CALLBACK PmacDPRDataBlock( DWORD dwDevice, int mtr );
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BOOL CALLBACK PmacDPROnNegativeLimit( DWORD dwDevice, int mtr );
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BOOL CALLBACK PmacDPROnPositiveLimit( DWORD dwDevice, int mtr );
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BOOL CALLBACK PmacDPROpenLoop( DWORD dwDevice, int mtr );
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void CALLBACK PmacDPRSetJogReturn( DWORD dwDevice, int mtr );
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//------------------- PMAC SPECIFIC --------------------------------------//
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struct ss CALLBACK PmacDPRMotorServoStatus( DWORD dwDevice, int mtr );
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//------------------- TURBO SPECIFIC -------------------------------------//
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struct ssTURBO CALLBACK PmacDPRMotorServoStatusTurbo( DWORD dwDevice, int mtr );
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#ifdef __cplusplus
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}
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#endif
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#endif
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