stg2.h Source File

00001 #ifndef STG2_H
00002 #define STG2_H
00003 
00004 /*
00005   stg2.h
00006 
00007   Servo To Go board decls for new boards
00008 
00009   Modification history:
00010 
00011   2-Aug-2001  FMP added stgAdcStart,Wait,Read function decls
00012   13-Mar-2000 WPS eliminated function declaration isn't a prototype compiler
00013   warning by putting in the (void) for functions with no arguments.
00014   3-Nov-1999  FMP created
00015 */
00016 
00017 /* ident tag */
00018 #ifndef __GNUC__
00019 #ifndef __attribute__
00020 #define __attribute__(x)
00021 #endif
00022 #endif
00023 
00024 
00025 static char __attribute__((unused)) stg_h[] = "$Id: stg2.h,v 1.5 2001/10/30 23:34:05 paul_c Exp $";
00026 
00027 /*
00028  Number of axes in system defaults to 4. If STG_8_AXES is defined
00029  by compiler directive or other means, code will support 8 axes,
00030  e.g., -DSTG_8_AXES. Note that only 6 axes are really supported, since
00031  there is not enough digital IO for limit and home switches for all 8.
00032 
00033  Analog input is an option, normally not present. If STG_ANALOG_INPUT is
00034  defined by compiler directive or other means, code will support analog
00035  input, e.g., -DSTG_ANALOG_INPUT
00036  */
00037 
00038 /*
00039   Base address defaults to 0x200
00040   */
00041 #define DEFAULT_STG_BASE_ADDRESS 0x200
00042 extern unsigned short STG_BASE_ADDRESS;
00043 
00044 /* decls for external interface */
00045 
00046 extern int stgMotInit(const char * stuff);
00047 extern int stgMotQuit(void);
00048 
00049 extern int stgDacNum(void);
00050 extern int stgDacWrite(int dac, double volts);
00051 extern int stgDacWriteAll(int max, double * volts);
00052 
00053 extern int stgEncoderSetIndexModel(unsigned int model);
00054 extern int stgEncoderNum(void);
00055 extern int stgEncoderRead(int encoder, double * counts);
00056 extern int stgEncoderReadAll(int max, double * counts);
00057 extern int stgEncoderResetIndex(int encoder);
00058 extern int stgEncoderReadLatch(int encoder, int * flag);
00059 extern int stgEncoderReadLevel(int encoder, int * flag);
00060 
00061 extern int stgMaxLimitSwitchRead(int axis, int * flag);
00062 extern int stgMinLimitSwitchRead(int axis, int * flag);
00063 
00064 extern int stgHomeSwitchRead(int axis, int * flag);
00065 
00066 extern int stgAmpEnable(int axis, int enable);
00067 extern int stgAmpFault(int axis, int * fault);
00068 
00069 extern int stgDioInit(const char * stuff);
00070 extern int stgDioQuit(void);
00071 
00072 extern int stgDioMaxInputs(void);
00073 extern int stgDioMaxOutputs(void);
00074 extern int stgDioRead(int index, int *value);
00075 extern int stgDioWrite(int index, int value);
00076 extern int stgDioCheck(int index, int *value);
00077 extern int stgDioByteRead(int index, unsigned char *byte);
00078 extern int stgDioShortRead(int index, unsigned short *sh);
00079 extern int stgDioWordRead(int index, unsigned int *word);
00080 extern int stgDioByteWrite(int index, unsigned char byte);
00081 extern int stgDioShortWrite(int index, unsigned short sh);
00082 extern int stgDioWordWrite(int index, unsigned int word);
00083 extern int stgDioByteCheck(int index, unsigned char *byte);
00084 extern int stgDioShortCheck(int index, unsigned short *sh);
00085 extern int stgDioWordCheck(int index, unsigned int *word);
00086 
00087 extern int stgAioInit(const char * stuff);
00088 extern int stgAioQuit(void);
00089 
00090 extern int stgAioMaxInputs(void);
00091 extern int stgAioMaxOutputs(void);
00092 extern int stgAioStart(int index);
00093 extern void stgAioWait(void);
00094 extern int stgAioRead(int index, double *volts);
00095 extern int stgAioWrite(int index, double volts);
00096 extern int stgAioCheck(int index, double *volts);
00097 extern int stgModel(void);
00098 
00099 #define STG_SUCCESS 0
00100 #define STG_FAILURE 1
00101 
00102 #define NUM_AXIS_IN_SYS 8
00103 #define MAX_AXIS 8
00104 
00105 #define CNT0_D 0x00
00106 #define CNT1_D 0x01
00107 #define CNT0_C 0x02
00108 #define CNT1_C 0x03
00109 #define CNT2_D 0x04
00110 #define CNT3_D 0x05
00111 #define CNT2_C 0x06
00112 #define CNT3_C 0x07
00113 #define CNT4_D 0x08
00114 #define CNT5_D 0x09
00115 #define CNT4_C 0x0a
00116 #define CNT5_C 0x0b
00117 #define CNT6_D 0x0c
00118 #define CNT7_D 0x0d
00119 #define CNT6_C 0x0e
00120 #define CNT7_C 0x0f
00121 #define DAC_0 0x10
00122 #define DAC_1 0x12
00123 #define DAC_2 0x14
00124 #define DAC_3 0x16
00125 #define DAC_4 0x18
00126 #define DAC_5 0x1a
00127 #define DAC_6 0x1c
00128 #define DAC_7 0x1e
00129 #define ADC 0x410
00130 #define ADC_0 0x410
00131 #define ADC_1 0x412
00132 #define ADC_2 0x414
00133 #define ADC_3 0x416
00134 #define ADC_4 0x418
00135 #define ADC_5 0x41a
00136 #define ADC_6 0x41c
00137 #define ADC_7 0x41e
00138 #define CNTRL0 0x401 /* Model 2 */
00139 #define DIO_A 0x400 /* Model 1 */
00140 #define DIO_B 0x402 /* Model 1 */
00141 #define DIO_C 0x404 /* Model 1 */
00142 #define DIO_D 0x401 /* Model 1 */
00143 #define PORT_A 0x400 /* Model 2, replaces DIO_A */
00144 #define PORT_B 0x402 /* Model 2, replaces DIO_B */
00145 #define PORT_C 0x404 /* Model 2, replaces DIO_C */
00146 #define PORT_D 0x405 /* Model 2, replaces DIO_D */
00147 #define INTC 0x405 /* Model 1 */
00148 #define BRDTST 0x403
00149 #define MIO_1 0x406
00150 #define ABC_DIR 0x406 /* Model 2 */
00151 #define MIO_2 0x407
00152 #define D_DIR 0x407 /* Model 2 */
00153 #define ODDRST 0x407
00154 #define TIMER_0 0x408
00155 #define TIMER_1 0x40a
00156 #define TIMER_2 0x40c
00157 #define TMRCMD 0x40e
00158 #define ICW1 0x409
00159 #define ICW2 0x40b
00160 #define OCW1 0x40b
00161 #define OCW2 0x409
00162 #define OCW3 0x409
00163 #define IRRreg 0x409 /* there's something called IRR in ntddk.h */
00164 #define ISR 0x409
00165 #define IDLEN 0x409
00166 #define IMR 0x40b
00167 #define SELDI 0x40b
00168 #define IDL 0x40d
00169 #define CNTRL1 0x40f
00170 
00171 /*
00172  * Some bit masks for various registers
00173  */
00174 /* for IRR, ISR, and IMR */
00175 #define IXEVN 0x80
00176 #define IXODD 0x40
00177 #define LIXEVN 0x20
00178 #define LIXODD 0x10
00179 #define EOC 0x08
00180 #define TP0 0x04
00181 #define USR_INT 0x02
00182 #define TP2 0x01
00183 /* for INTC */
00184 #define AUTOZERO 0x80
00185 #define IXLVL 0x40
00186 #define IXS1 0x20
00187 #define IXS0 0x10
00188 #define USRINT 0x08
00189 #define IA2 0x04
00190 #define IA1 0x02
00191 #define IA0 0x01
00192 
00193 #define CNTRL0_AZ 0x80
00194 #define CNTRL0_AD2 0x40
00195 #define CNTRL0_AD1 0x20
00196 #define CNTRL0_AD0 0x10
00197 #define CNTRL0_CAL 0x08
00198 #define CNTRL0_IA2 0x04
00199 #define CNTRL0_IA1 0x02
00200 #define CNTRL0_IA0 0x01
00201 
00202 #define CNTRL1_WDTOUT 0x80
00203 #define CNTRL1_INT_G2 0x40
00204 #define CNTRL1_INT_T0 0x10
00205 #define CNTRL1_INT_T2 0x20
00206 #define CNTRL1_NOT_SLAVE 0x08
00207 #define CNTRL1_IEN_G2 0x04
00208 #define CNTRL1_IEN_T0 0x01
00209 #define CNTRL1_IEN_T2 0x02
00210 
00211 #define BRDTST_EOC 0x08
00212 
00213 /*
00214  * We're hardwired to irq 5 (sorry). This is normally reserved for
00215  * lpt2, but most people don't have two printers. Sometimes a modem,
00216  * sound card, etc. will be using this interrupt. It would be easiest
00217  * to remove any offending card temporarily. Otherwise you'll have
00218  * to figure out how to change the following define's.
00219  */
00220 #define INTR 13 /* irq5 is short 13 */
00221 #define INT_MASK 0x20 /* mask for motherboard interrupt controller */
00222 #define IC_ADD 0x20 /* address of the interrupt controller on your */
00223 /* motherboard (NOT the one on the Servo To Go */
00224 /* board). For low numbered interrupts (0-7) */
00225 /* it's 0x20, for higher numbered interrupts */
00226 /* (8-15) it's 0xa0 */
00227 #define EOI_5 0x65 /* Specific EOI for IRQ 5 (used with above) */
00228 #define IC_MASK 0x21 /* The interrupt mask register on your motherboard */
00229 
00230 #define IRQSL 0x84 /* IRQ selection for INTC register */
00231 /* end of irq related defines */
00232 
00233 /* */
00234 /* digital I/O port stuff */
00235 /* */
00236 /* begin to use the enumerated type, rather than the defines */
00237 /* */
00238 typedef enum { A_dir = 0x01, B_dir = 0x02, C_lo_dir = 0x04,
00239  C_hi_dir = 0x08, C_dir = 0x0c, D_lo_dir = 0x10,
00240  D_hiDir = 0x20, D_dir = 0x30 } eDir_typ;
00241 typedef enum { A_port, B_port, C_port, D_port } ePort_typ;
00242 typedef enum { HomeSwitchFORWARD, HomeSwitchREVERSE } eHomeDir_typ;
00243 
00244 #define STG_PORT_A 0x01
00245 #define STG_PORT_B 0x02
00246 #define STG_PORT_C_LO 0x04
00247 #define STG_PORT_C_HI 0x08
00248 #define STG_PORT_C (STG_PORT_C_LO | STG_PORT_C_HI)
00249 #define STG_PORT_D_LO 0x10
00250 #define STG_PORT_D_HI 0x20
00251 #define STG_PORT_D (STG_PORT_D_LO | STG_PORT_D_HI)
00252 #define STG_PORT_INPUT 0
00253 #define STG_PORT_OUTPUT 1
00254 
00255 /* hardware direction bit definitions */
00256 #define A_DIR_BIT 0x10
00257 #define B_DIR_BIT 0x02
00258 #define C_LOW_DIR_BIT 0x01
00259 #define C_HI_DIR_BIT 0x08
00260 #define D_DIR_BIT 0x10
00261 #define D_LOW_DIR_BIT 0x01
00262 #define D_HI_DIR_BIT 0x08
00263 
00264 /* parameters to the SelectInterruptPeriod Command */
00265 #define _500_MICROSECONDS 500
00266 #define _1_MILLISECOND 1000
00267 #define _2_MILLISECONDS 2000
00268 #define _3_MILLISECONDS 3000
00269 #define _4_MILLISECONDS 4000
00270 #define _5_MILLISECONDS 5000
00271 #define _10_MILLISECONDS 10000
00272 #define _100_MILLISECONDS 100000L
00273 #define _1_SECOND 1000000L
00274 #define MAX_PERIOD -1L
00275 
00276 #define NO_BOARD 1
00277 #define BOARD_PRESENT 0
00278 
00279 #define MODEL_NO_ID 0
00280 #define MODEL1 1
00281 #define MODEL2 2
00282 
00283 typedef union
00284 {
00285  unsigned long all;
00286  struct {unsigned char A, B, C, D;} port;
00287 } IO32;
00288 
00289 typedef union
00290 {
00291  long Long;
00292  unsigned char Byte[4];
00293 } LONGBYTE;
00294 
00295 typedef union
00296 {
00297  unsigned short Word;
00298  struct {unsigned char high, low;} Byte;
00299 } WORDBYTE;
00300 
00301 /* STG_STRUCT keeps board-specific values, and is passed as first arg
00302  to board functions so that multiple boards can be handled */
00303 typedef struct {
00304   unsigned short wBaseAddress;
00305   unsigned short wIrq;
00306   unsigned short wModel;
00307   unsigned short wNoBoardFlag;
00308   unsigned short wAxesInSys;
00309   unsigned short wSaveDirs;
00310   unsigned char byIndexPollAxis;
00311   unsigned char byIndexPulsePolarity;
00312   long lSimDac[MAX_AXIS];
00313   long lSimEnc[MAX_AXIS];
00314   unsigned char byEncHighByte[MAX_AXIS];
00315   unsigned char byOldByte2[MAX_AXIS];
00316 } STG_STRUCT;
00317 
00318 /* board functions, with STG_STRUCT as first argument */
00319 extern void ServoToGoConstructor(STG_STRUCT *stg, unsigned short wRequestedIrq);
00320 extern void ServoToGoDestructor(STG_STRUCT *stg);
00321 extern void Initialize(STG_STRUCT *stg, unsigned short wRequestedIrq);
00322 extern void SetIrq(STG_STRUCT *stg, unsigned short wRequestedIrq);
00323 extern unsigned short BaseFind(STG_STRUCT *stg);
00324 extern unsigned short BrdtstOK(STG_STRUCT *stg, unsigned short wBaseAddress);
00325 extern void SetDDir(STG_STRUCT *stg, unsigned short nSwDir);
00326 extern void MotSim(STG_STRUCT *stg);
00327 /* extern void Stg_Init(STG_STRUCT *stg, unsigned short wRequestedIrq, unsigned short wAdd); */
00328 extern void RawDAC(STG_STRUCT *stg, unsigned short nAxis, long lCounts);
00329 extern void StartADC(STG_STRUCT *stg, unsigned short wAxis);
00330 extern short SpinReadADC(STG_STRUCT *stg, unsigned short wAxis);
00331 extern long ReadADC(STG_STRUCT *stg, unsigned short wAxis, short * counts);
00332 extern void AutoZeroAdc(STG_STRUCT *stg);
00333 extern void DontAutoZeroAdc(STG_STRUCT *stg);
00334 extern void CalADC(STG_STRUCT *stg);
00335 extern void EncoderInit(STG_STRUCT *stg);
00336 extern void EncoderLatch(STG_STRUCT *stg);
00337 extern void EncoderResetAddr(STG_STRUCT *stg);
00338 extern void SetEncoderCounts(STG_STRUCT *stg, unsigned short nAxis, long lCounts);
00339 extern void SelectIndexAxis(STG_STRUCT *stg, unsigned char byAxis, unsigned char byPol);
00340 extern void SelectIndexOrExtLatch(STG_STRUCT *stg, unsigned char bySelectBits);
00341 extern void EnableCounterLatchOnIndexOrExt(STG_STRUCT *stg, unsigned char bySelectBits);
00342 extern short IndexPulse(STG_STRUCT *stg);
00343 extern unsigned short IndexPulseLatch(STG_STRUCT *stg);
00344 extern void ResetIndexLatches(STG_STRUCT *stg, unsigned char byLatchBits);
00345 extern unsigned char CurrentIRR(STG_STRUCT *stg);
00346 extern void ResetIndexLatch(STG_STRUCT *stg);
00347 extern unsigned char GetIndexLatches(STG_STRUCT *stg);
00348 extern unsigned char GetSELDI(STG_STRUCT *stg);
00349 extern unsigned char GetIDLEN(STG_STRUCT *stg);
00350 extern unsigned char GetCNTRL0(STG_STRUCT *stg);
00351 extern unsigned char GetCNTRL1(STG_STRUCT *stg);
00352 extern unsigned char GetBRDTST(STG_STRUCT *stg);
00353 extern void ResetWatchdogLatch(STG_STRUCT *stg);
00354 extern void EncReadAll(STG_STRUCT *stg, LONGBYTE *lbEnc);
00355 extern unsigned long RawDI(STG_STRUCT *stg);
00356 extern void RawDO(STG_STRUCT *stg, unsigned long lOutBits);
00357 extern void RawDOPort(STG_STRUCT *stg, unsigned char byBitNumber, unsigned char bySet0or1, unsigned short nPort);
00358 extern void DioDirection(STG_STRUCT *stg, const unsigned short nSwDir);
00359 extern void StopTimer(STG_STRUCT *stg);
00360 extern void StartInterrupts(STG_STRUCT *stg);
00361 extern void IrqReset(STG_STRUCT *stg);
00362 extern void SelectInterruptPeriod(STG_STRUCT *stg, long lPeriodSelect);
00363 extern void StopInterrupts(STG_STRUCT *stg);
00364 extern unsigned short GetBoardPresence(STG_STRUCT *stg);
00365 extern unsigned short GetAxes(STG_STRUCT *stg);
00366 extern unsigned short GetIrq(STG_STRUCT *stg);
00367 extern unsigned short GetAddr(STG_STRUCT *stg);
00368 extern unsigned short GetModel(STG_STRUCT *stg);
00369 extern void Timer2Delay(STG_STRUCT *stg, unsigned short counts);
00370 extern void StartTimer2TerminalCount(STG_STRUCT *stg, unsigned short count);
00371 extern void StartTimer2RTI(STG_STRUCT *stg, unsigned short count);
00372 extern unsigned short ReadTimer2TerminalCount(STG_STRUCT *stg);
00373 extern short PollTimer2(STG_STRUCT *stg);
00374 extern void MaskTimer2Interrupt(STG_STRUCT *stg);
00375 extern void UnMaskTimer2Interrupt(STG_STRUCT *stg);
00376 extern int AddressInRange(STG_STRUCT *stg, long);
00377 
00378 #endif /* STG2_H */