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ppmc_encoder.c File Reference

#include "ppmc.h"
#include "extintf.h"
#include <stdio.h>

Include dependency graph for ppmc_encoder.c:

Go to the source code of this file.

Defines
#define	CONTROLPORT   ppmc_base_addr+2
#define	DATAPORT   ppmc_base_addr+4
Functions
int	iopl (int level)
int	EncoderInit (void)
int	EncoderQuit (void)
void	SelectInterruptPeriod (long lPeriodSelect)
int	EncoderLatch ()
int	EncReadAll (LONGBYTE *lbEnc)
int	ppmcEncoderSetIndexModel (unsigned int model)
int	ppmcEncoderNum ()
int	ppmcEncoderRead (int encoder, double *counts)
int	ppmcEncoderReadAll (int max, double *counts)
int	ppmcEncoderReadLatch (int encoder, int *flag)
int	ppmcEncoderReadLevel (int encoder, int *flag)
int	ppmcEncoderResetIndex (int encoder)

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Define Documentation

#define CONTROLPORT   ppmc_base_addr+2

Definition at line 59 of file ppmc_encoder.c.

#define DATAPORT   ppmc_base_addr+4

Definition at line 60 of file ppmc_encoder.c.

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Function Documentation

int EncReadAll (  LONGBYTE *    lbEnc )

Definition at line 157 of file ppmc_encoder.c. { static unsigned char byOldByte2[PPMC_MAX_AXIS]; static unsigned char byEncHighByte[PPMC_MAX_AXIS]; short i,max; SelAddr(ENCCNT0); // outb(0x24,CONTROLPORT); // set EPP port to input mode max = PPMC_MAX_AXIS; if (max > 4) max = 4; for (i = 0; i < max; i++) /* 24 bits means get 3 bytes each */ { lbEnc[i].Byte[0] = ReadData(); lbEnc[i].Byte[1] = ReadData(); lbEnc[i].Byte[2] = ReadData(); /* lbEnc[i].Byte[0] = inb(DATAPORT); lbEnc[i].Byte[1] = inb(DATAPORT); lbEnc[i].Byte[2] = inb(DATAPORT); */ } #ifdef PPMC_8_AXES if (PPMC_MAX_AXIS > 4) { SelAddr(ENCCNT4); for (i = 4; i < PPMC_MAX_AXIS; i++) /* 24 bits means get 3 bytes each */ { lbEnc[i].Byte[0] = ReadData(); lbEnc[i].Byte[1] = ReadData(); lbEnc[i].Byte[2] = ReadData(); } } #endif /* code to sign extend the 24 bit value */ /* but we won't do this. */ /*for ( i = 0; i < 8; i++) */ /* lbEnc[i].Byte[3] = lbEnc[i].Byte[2] & 0x80 ? 0xff : 0; */ /* maintain the high byte, to extend the counter to 32 bits */ /* */ /* base decisions to increment or decrement the high byte */ /* on the highest 2 bits of the 24 bit value. To get the */ /* highest 2 bits, use 0xc0 as a mask on byte [2] (the third */ /* byte). */ for (i = 0; i < PPMC_MAX_AXIS; i++) { /* check for -1 to 0 transition */ if ( ( (byOldByte2[i] & 0xc0) == 0xc0 ) /* 11xxxxxx */ && ( (lbEnc[i].Byte[2] & 0xc0) == 0 ) /* 00xxxxxx */ ) byEncHighByte[i]++; /* check for 0 to -1 transition */ if ( ( (byOldByte2[i] & 0xc0) == 0 ) /* 00xxxxxx */ && ( (lbEnc[i].Byte[2] & 0xc0) == 0xc0 ) /* 11xxxxxx */ ) byEncHighByte[i]--; lbEnc[i].Byte[3] = byEncHighByte[i]; byOldByte2[i] = lbEnc[i].Byte[2]; /* current byte 2 becomes old one */ } return 0; }

int EncoderInit (  void    )

Definition at line 64 of file ppmc_encoder.c. { #ifdef PPMC_8_AXES unsigned int wAdd; #endif short success=0; /* set all channels to normal mode (no find index, no load counters */ SelWrt(ENCCTRL_0,0); #ifdef PPMC_8_AXES SelWrt(ENCCTRL_1,0); SelWrt(ENCRATE_1,0); // in all cases, the 2nd encoder board is slaved to first #endif // SelWrt(ENCRATE_0,0x10); // make encoder board 0 master SelWrt(ENCRATE_0,0x00); // don't make encoder board 0 master for software latch // zero the encoder counters ( not needed ) SelWrt(ENCLOAD_0,0); /* clear 3-byte preload register */ WriteData(0); WriteData(0); SelWrt(ENCCTRL_0,0xF0); /* select load pos counter # and enable */ SelWrt(ENCCTRL_0,0xF0); /* select load pos counter # and enable */ SelWrt(ENCCTRL_0,0xF0); /* delay to give time for load to take place */ SelWrt(ENCCTRL_0,0xF0); /* more delay */ SelWrt(ENCCTRL_0,0); /* turn off load position counter function */ #ifdef PPMC_8_AXES SelWrt(ENCLOAD_1,0); /* clear 3-byte preload register */ WriteData(0); WriteData(0); for (wAdd = 0; wAdd <= 3; wAdd ++) { SelWrt(ENCCTRL_1,(unsigned char)((wAdd>>3)+32)); /* select load pos counter # and enable */ } SelWrt(ENCCTRL_1,0); /* turn off load position counter function */ #endif return success; }

int EncoderLatch (  void    )

Definition at line 148 of file ppmc_encoder.c. { SelWrt(ENCRATE_0, 0x20); /* pulse software generated strobe pulse */ SelWrt(ENCRATE_0, 0x00); // no need to do anything to 2nd encoder, // it is automatically slaved to first return 0; }

int EncoderQuit (  void    )

Definition at line 102 of file ppmc_encoder.c. { return 0; }

void SelectInterruptPeriod (  long    lPeriodSelect )

Definition at line 106 of file ppmc_encoder.c. { #ifdef PPMC_8_AXES SelWrt(ENCRATE_1,0); /* set 2nd board to slave timer mode */ #endif switch (lPeriodSelect) { case _500_MICROSECONDS: SelWrt(ENCRATE_0,0x0B); /* master mode, 10 KHz / 5 = 2 KHz */ break; case _1_MILLISECOND: SelWrt(ENCRATE_0,0x16); /* master mode, 10 KHz / 10 = 1 KHz */ break; case _2_MILLISECONDS: SelWrt(ENCRATE_0,0x00); /* master mode, 10 KHz / 16 = 0.667 KHz */ break; case _3_MILLISECONDS: SelWrt(ENCRATE_0,0x10); /* master mode, 10 KHz / 10 = 1 KHz */ break; case _4_MILLISECONDS: SelWrt(ENCRATE_0,0x10); /* master mode, 10 KHz / 10 = 1 KHz */ break; case _5_MILLISECONDS: SelWrt(ENCRATE_0,0x10); /* master mode, 10 KHz / 10 = 1 KHz */ break; case _10_MILLISECONDS: SelWrt(ENCRATE_0,0x10); /* master mode, 10 KHz / 10 = 1 KHz */ break; case _100_MILLISECONDS: SelWrt(ENCRATE_0,0x10); /* master mode, 10 KHz / 10 = 1 KHz */ break; case _1_SECOND: SelWrt(ENCRATE_0,0x10); /* master mode, 10 KHz / 10 = 1 KHz */ break; default: /* wrong input? then don't change it */ break; } }

int iopl (  int    level )  [static]

Definition at line 50 of file ppmc_encoder.c. { return 0; }

int ppmcEncoderNum (    )

Definition at line 236 of file ppmc_encoder.c. Referenced by extEncoderNum(). { return PPMC_MAX_AXIS; }

int ppmcEncoderRead (  int    encoder, double *    counts )

Definition at line 241 of file ppmc_encoder.c. Referenced by extEncoderRead(). { double allCounts[PPMC_MAX_AXIS]; if (encoder < 0 || encoder >= PPMC_MAX_AXIS) { *counts = 0.0; return 0; } ppmcEncoderReadAll(encoder + 1, allCounts); *counts = allCounts[encoder]; return 0; }

int ppmcEncoderReadAll (  int    max, double *    counts )

Definition at line 259 of file ppmc_encoder.c. Referenced by extEncoderReadAll(), main(), and ppmcEncoderRead(). { LONGBYTE lbEnc[PPMC_MAX_AXIS]; int t; int smax; /* how many we actually have */ /* clip smax to max supported-- if they want more, give them zeros */ if (max > PPMC_MAX_AXIS) { smax = PPMC_MAX_AXIS; } else { smax = max; } EncoderLatch(); EncReadAll(lbEnc); /* fill ours with the actual values */ for (t = 0; t < smax; t++) { counts[t] = (double) lbEnc[t].Long; } /* and fill the rest with zeros */ for (t = smax; t < max; t++) { counts[t] = 0.0; } return 0; }

int ppmcEncoderReadLatch (  int    encoder, int *    flag )

Definition at line 297 of file ppmc_encoder.c. Referenced by extEncoderReadLatch(), main(), ppmcEncoderReadLevel(), and ppmcEncoderResetIndex(). { #ifdef NO_INDEX_PULSE *flag = 1; return 0; #else short int index_sense_data; short int index_mask; if (encoder>PPMC_MAX_AXIS) return -1; //not that many encoders #ifdef PPMC_8_AXES if (encoder>=4) { index_sense_data=SelRead(ENCISR_1); index_mask=(1<<((short)encoder-4)); if(index_sense_data&index_mask)*flag=1; else *flag=0; return 0; } #endif //either wasn't 8 axis or was first encoder board index_sense_data=SelRead(ENCISR_0); index_mask=(1<<((short)encoder)); if(index_sense_data&index_mask)*flag=1; else *flag=0; return 0; #endif }

int ppmcEncoderReadLevel (  int    encoder, int *    flag )

Definition at line 327 of file ppmc_encoder.c. Referenced by extEncoderReadLevel(), and main(). { return ppmcEncoderReadLatch(encoder,flag); }

int ppmcEncoderResetIndex (  int    encoder )

Definition at line 333 of file ppmc_encoder.c. Referenced by extEncoderResetIndex(), and main(). { int dummyflag; return ppmcEncoderReadLatch(encoder,&dummyflag); }

int ppmcEncoderSetIndexModel (  unsigned int    model )

Definition at line 226 of file ppmc_encoder.c. Referenced by extEncoderSetIndexModel(). { if (model != EXT_ENCODER_INDEX_MODEL_MANUAL) { return -1; } return 0; }

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