ppmc.h File Reference

00058 {
00059         SelWrt(DAC_WRITE_0,0);    // reset strobe
00060         SelWrt(DAC_MODE_0,0);     // sel strobe to INTR/ line
00061         return 0;
00062 }

00065 {
00066            return DACInit();  //init sets all outputs to zero
00067 }

00018 {
00019         return 0;
00020 }

00022 {
00023         return 0;
00024 }

00065 {
00066 #ifdef PPMC_8_AXES
00067   unsigned int wAdd;
00068 #endif
00069   short success=0;
00070         
00071 
00072   /* set all channels to normal mode (no find index, no load counters */
00073   SelWrt(ENCCTRL_0,0);
00074 #ifdef PPMC_8_AXES
00075   SelWrt(ENCCTRL_1,0);
00076   SelWrt(ENCRATE_1,0);  // in all cases, the 2nd encoder board is slaved to first
00077 #endif
00078   //  SelWrt(ENCRATE_0,0x10);  // make encoder board 0 master
00079   SelWrt(ENCRATE_0,0x00);  // don't make encoder board 0 master for software latch
00080  // zero the encoder counters  ( not needed )
00081   SelWrt(ENCLOAD_0,0);             /* clear 3-byte preload register */
00082   WriteData(0);
00083   WriteData(0);
00084   SelWrt(ENCCTRL_0,0xF0);  /* select load pos counter # and enable */
00085   SelWrt(ENCCTRL_0,0xF0);  /* select load pos counter # and enable */
00086   SelWrt(ENCCTRL_0,0xF0);  /* delay to give time for load to take place */
00087   SelWrt(ENCCTRL_0,0xF0);  /* more delay */
00088   SelWrt(ENCCTRL_0,0);         /* turn off load position counter function */
00089       
00090 #ifdef PPMC_8_AXES
00091   SelWrt(ENCLOAD_1,0);             /* clear 3-byte preload register */
00092   WriteData(0);
00093   WriteData(0);
00094   for (wAdd = 0; wAdd <= 3; wAdd ++)
00095     {
00096       SelWrt(ENCCTRL_1,(unsigned char)((wAdd>>3)+32));  /* select load pos counter # and enable */
00097     }
00098   SelWrt(ENCCTRL_1,0);         /* turn off load position counter function */
00099 #endif
00100         return success;
00101 }

00149 {
00150         SelWrt(ENCRATE_0, 0x20);           /* pulse software generated strobe pulse */
00151         SelWrt(ENCRATE_0, 0x00);  // no need to do anything to 2nd encoder,
00152         // it is automatically slaved to first
00153      
00154   return 0;
00155 }

00103 {
00104         return 0;
00105 }

00235   {
00236     //    outb(inb(CONTROLPORT) | 0x20,CONTROLPORT);  // set port direction to input
00237     outb(0x24,CONTROLPORT);  // set port direction to input
00238     return inb(DATAPORT);
00239     
00240   }

00208 {
00209   /* writes a device address to the data port and toggles address strobe low, and waits
00210                 for handshake */
00211     ClrTimeout();
00212     //    outb(inb(CONTROLPORT) & 0xDF,CONTROLPORT);  // set port direction to output
00213     outb(0x04,CONTROLPORT);  // set port direction to output
00214  
00215    outb(port,ADDRPORT);
00216     return;
00217 }

00243 {
00244   /* writes a device address to the data port and toggles address strobe low, and waits
00245                 for handshake, then inputs data byte and toggles data strobe low, then
00246                 high again */
00247     ClrTimeout();
00248     outb(inb(CONTROLPORT) & 0xDF,CONTROLPORT);  // set port direction to output
00249     outb(port,ADDRPORT);
00250     outb(inb(CONTROLPORT) | 0x20,CONTROLPORT);  // set port direction to input
00251     return inb(DATAPORT);
00252     
00253 }

00256 {
00257   /* writes a device address to the data port and toggles address strobe low, and waits
00258                 for handshake, then outputs data byte and toggles data strobe low, then
00259                 high again */
00260     ClrTimeout();
00261     //    outb(inb(CONTROLPORT) & 0xDF,CONTROLPORT);  // set port direction to output
00262     outb(0x04,CONTROLPORT);  // set port direction to output
00263     outb(port,ADDRPORT);
00264     outb(byte,DATAPORT);
00265     return;
00266 }

00268 {
00269   /* writes a device address to the data port and toggles address strobe low, and waits
00270                 for handshake, then (outputs data byte and toggles data strobe low, then
00271                 high again) repeat for 2nd byte */
00272     ClrTimeout();
00273     outb(inb(CONTROLPORT) & 0xDF,CONTROLPORT);  // set port direction to output
00274     outb(port,ADDRPORT);
00275     outb(word & 0x00FF,DATAPORT);
00276     outb(word >> 8,DATAPORT);
00277     return;
00278 }

00220 {
00221   /* writes data to the data port and toggles data strobe low, and waits
00222                 for handshake */
00223     outb(byte,DATAPORT);
00224         ClrTimeout();
00225     return;
00226 }

00228 {
00229   
00230     outb(word & 0x00FF,DATAPORT);
00231     outb(word >> 8,DATAPORT);
00232     return;
00233 }

00023                                                    : ppmc.h,v 1.1 2001/08/23 20:54:33 paul_c Exp $";
00024 
00025 /* 
00026  Number of axes in system defaults to 4. If PPMC_8_AXES is defined
00027  by compiler directive or other means, code will support 8 axes,
00028  e.g., -DPPMC_8_AXES.
00029 
00030  Analog input is an option, normally not present. If STG_ANALOG_INPUT is
00031  defined by compiler directive or other means, code will support analog
00032  input, e.g., -DSTG_ANALOG_INPUT
00033  */
00034 #ifdef PPMC_8_AXES
00035 #define PPMC_MAX_AXIS 8
00036 #else
00037 #define PPMC_MAX_AXIS 4
00038 #endif
00039 /*
00040   Base address defaults to 0x378 i.e. lpt1
00041   */
00042 #define DEFAULT_PPMC_BASE_ADDRESS 0x378
00043 extern unsigned short STG_BASE_ADDRESS;
00044 #define ppmc_base_addr STG_BASE_ADDRESS
00045 
00046 /* decls for external interface */
00047 
00048 extern int ppmcMotInit(const char * stuff);
00049 extern int ppmcMotQuit(void);
00050 
00051 extern int ppmcDacNum(void);
00052 extern int ppmcDacWrite(int dac, double volts);
00053 extern int ppmcDacWriteAll(int max, double * volts);
00054 
00055 extern int ppmcEncoderSetIndexModel(unsigned int model);
00056 extern int ppmcEncoderNum(void);
00057 extern int ppmcEncoderRead(int encoder, double * counts);
00058 extern int ppmcEncoderReadAll(int max, double * counts);
00059 extern int ppmcEncoderResetIndex(int encoder);
00060 extern int ppmcEncoderReadLatch(int encoder, int * flag);
00061 extern int ppmcEncoderReadLevel(int encoder, int * flag);
00062 
00063 extern int ppmcMaxLimitSwitchRead(int axis, int * flag);
00064 extern int ppmcMinLimitSwitchRead(int axis, int * flag);
00065 
00066 extern int ppmcHomeSwitchRead(int axis, int * flag);
00067 
00068 extern int ppmcAmpEnable(int axis, int enable);
00069 extern int ppmcAmpFault(int axis, int * fault);
00070 
00071 extern int ppmcDioInit(const char * stuff);
00072 extern int ppmcDioQuit(void);
00073 
00074 extern int ppmcDioMaxInputs(void);
00075 extern int ppmcDioMaxOutputs(void);
00076 extern int ppmcDioRead(int index, int *value);
00077 extern int ppmcDioWrite(int index, int value);
00078 extern int ppmcDioCheck(int index, int *value);
00079 extern int ppmcDioByteRead(int index, unsigned char *byte);
00080 extern int ppmcDioShortRead(int index, unsigned short *sh);
00081 extern int ppmcDioWordRead(int index, unsigned int *word);
00082 extern int ppmcDioByteWrite(int index, unsigned char byte);
00083 extern int ppmcDioShortWrite(int index, unsigned short sh);
00084 extern int ppmcDioWordWrite(int index, unsigned int word);
00085 extern int ppmcDioByteCheck(int index, unsigned char *byte);
00086 extern int ppmcDioShortCheck(int index, unsigned short *sh);
00087 extern int ppmcDioWordCheck(int index, unsigned int *word);
00088 
00089 extern int ppmcAioInit(const char * stuff);
00090 extern int ppmcAioQuit(void);
00091 
00092 extern int ppmcAioMaxInputs(void);
00093 extern int ppmcAioMaxOutputs(void);
00094 extern int ppmcAioRead(int index, double *volts);
00095 extern int ppmcAioWrite(int index, double volts);
00096 extern int ppmcAioCheck(int index, double *volts);
00097 
00098 typedef union
00099 {
00100   unsigned short                          Word;
00101   struct   {unsigned char    high, low;}  Byte;
00102 } WORDBYTE;

00027 {
00028   return 0;
00029 }

00032 {
00033   return 0;
00034 }

00022 {
00023   return 0;
00024 }

ppmc.h File Reference

Data Structures

Defines

Functions

Variables

Define Documentation

Function Documentation

Variable Documentation

Data Structures
union	IO32
union	LONGBYTE
Defines
#define	__attribute__(x)
#define	PPMC_MAX_AXIS 4
#define	DEFAULT_PPMC_BASE_ADDRESS 0x378
#define	ppmc_base_addr STG_BASE_ADDRESS
#define	ENCCNT0 0x00
#define	ENCCNT1 0x03
#define	ENCCNT2 0x06
#define	ENCCNT3 0x09
#define	ENCCTRL_0 0x03
#define	ENCRATE_0 0x04
#define	ENCISR_0 0x0C
#define	ENCLOAD_0 0x00
#define	ENCCNT4 0x10
#define	ENCCNT5 0x13
#define	ENCCNT6 0x16
#define	ENCCNT7 0x19
#define	ENCRATE_1 0x14
#define	ENCLOAD_1 0x10
#define	ENCCTRL_1 0x13
#define	ENCISR_1 0x1C
#define	DAC_0 0x20
#define	DAC_1 0x22
#define	DAC_2 0x24
#define	DAC_3 0x26
#define	DAC_4 0x30
#define	DAC_5 0x32
#define	DAC_6 0x34
#define	DAC_7 0x36
#define	DAC_MODE_0 0x2C
#define	DAC_WRITE_0 0x28
#define	DAC_MODE_1 0x3C
#define	DAC_WRITE_1 0x38
#define	DIN_0 0x40
#define	DIN_1 0x41
#define	DOUT_0 0x50
#define	DOUT_1 0x51
#define	NO_BOARD 1
#define	BOARD_PRESENT 0
#define	NO_HOME_SWITCH
#define	NO_LIMIT_SWITCH
#define	_500_MICROSECONDS 500
#define	_1_MILLISECOND 1000
#define	_2_MILLISECONDS 2000
#define	_3_MILLISECONDS 3000
#define	_4_MILLISECONDS 4000
#define	_5_MILLISECONDS 5000
#define	_10_MILLISECONDS 10000
#define	_100_MILLISECONDS 100000L
#define	_1_SECOND 1000000L
#define	MAX_PERIOD -1L
Functions
char	__attribute__ ((unused)) ppmc_h[]="$Id
void	SelAddr (unsigned int port)
void	WriteData (unsigned char byte)
void	WriteData16 (unsigned short word)
unsigned short	ReadData (void)
unsigned short	SelRead (unsigned int port)
void	SelWrt (unsigned int port, unsigned char byte)
void	SelWrt16 (unsigned int port, unsigned short word)
short	DACQuit (void)
short	DACInit (void)
int	DIOQuit (void)
int	DIOInit (void)
int	EncoderQuit (void)
int	EncoderInit (void)
int	EncoderLatch (void)
int	ppmcAioQuit (void)
int	ppmcAioMaxInputs (void)
int	ppmcAioMaxOutputs (void)
Variables
	WORDBYTE