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pmac.h

Go to the documentation of this file.

#ifndef PMAC_H
#define PMAC_H

#include "rcs_defs.hh"


#ifdef __cplusplus
extern "C" {
#endif
/*
  Modification history:

  14-Nov-1995  Fred Proctor added probing interfaces
  13-Nov-1995  Fred Proctor reworked for 8 axes with better DPRAM mapping
  6-Oct-1995  Fred Proctor added X_OFFSET, etc.
  20-Jul-1995  Fred Proctor added pmac_target_pos()
  18-Jul-1995  Fred Proctor added pmac_reset()
  24-Mar-1995 Sandor Szabo moved pmac.c specific macros into pmac.c.
  This will minimize recompiles to *.cc files when low level changes
  made to pmac.c (e.g., changing PMAC_IO_ADDR).
  15-Mar-1995  Fred Proctor pulled pmac_enable,disable_spindle() into
  here
  15-Feb-1995  Fred Proctor added pmac_print_error() prototype
  13-Feb-1995  Fred Proctor added 4th axis DP RAM indices
  25-Jan-1995  Fred Proctor added TICKS_PER_INCH, TICKS_PER_REV
  24-Jan-1995  Fred Proctor changed AXIS_MAX from 3 to 4, to support
  servoed spindle
  ??? Fred Proctor created
  */

#define PMAC_MSG_LEN 256        /* max chars per message to PMAC; make
                                   this a multiple of 4 */

typedef enum {PMAC_ACK=0, PMAC_ERR, PMAC_BUF_TOO_SMALL,
                PMAC_BAD_PARAMS, PMAC_TIMEOUT,
                PMAC_INVALID_COMM_PARAMS,
                PMAC_WRITE_TIMEOUT } PMAC_RETURN_VAL;

/* system paramters for servo-- take care to match these to PMAC config
   file, e.g., mill.pmc or other files which contains I-vars defs, etc. */

#define AXIS_MAX 4              /* max axis used */

#ifdef lynxosPC
/* ptr to PMAC DP RAM */
extern  void *pmac;
#endif

/* sets DP RAM base address. Call before pmac_init() */
 int  pmac_set_base_addr(unsigned int addr);

/* sets IO port address. Call before pmac_init() */
 int   pmac_set_io_addr(unsigned int addr);

/* sets DP RAM ptr for internal use */
 void  pmac_init();

/* clears pmac DP RAM ptr, freeing up shared memory */
 void   pmac_exit();

#ifdef lynxosPC
/*
  Get logical address of physical dual-ported RAM.

  name is a string which is stored in an OS table;
  base is the actual physical address;
  size is the size in bytes of the DP RAM.

  Returns a void *, analogous to malloc(), or (void *) 0 if no
  memory can be allocated.
  */
 void *pmac_get(char *name, void *base, long int size);

/*
  Returns the void * to the beginning of valid PMAC memory (the first
  800 bytes are reserved for future use).  Return of 0 indicates error.
  */
  void *pmac_valid_base();

/*
  Returns the void * to the beginning of the message area; return
  of 0 indicates error.
  */
 void *pmac_msg_base();

/*
  Returns the void * to the beginning of PMAC memory which can be used
  as scratch area for writing.  Return of 0 indicates error.
  */
 void *pmac_data_base();

 #endif
 /*
  Detach from and remove physical memory definition.

  name is the name used for pmac_get;
  base is the pointer returned by pmac_get.
  */
  void pmac_free(char *name, void *base);

typedef unsigned char PMAC_UINT8;
typedef unsigned short PMAC_UINT16;
typedef unsigned long PMAC_UINT32;


/*
  Read contents of dual-ported RAM as a character,
  8 bits on LynxOS/386.

  base is a pointer, pmac_get() <= base < size;
  index is number of characters up from base.

  Returns unsigned char found at indexed location.
  */
  PMAC_UINT8 read_pmac_uint8(int index);

/*
  Write a character into dual-ported RAM,
  8 bits on LynxOS/386.

  base is a pointer, pmac_get() <= base < size;
  index is number of characters up from base.
  val is unsigned char to write at indexed location.
  */
 void write_pmac_uint8(int index, PMAC_UINT8 val);

/*
  Read contents of dual-ported RAM as a short integer,
  16 bits on LynxOS/386.

  base is a pointer, pmac_get() <= base < size;
  index is number of short integers up from base.

  Returns unsigned short found at indexed location.
  */
 PMAC_UINT16 read_pmac_uint16(int index);

/*
  Write a short integer into dual-ported RAM,
  16 bits on LynxOS/386.

  base is a pointer, pmac_get() <= base < size;
  index is number of short integers up from base.
  val is unsigned short integer to write at indexed location.
  */
 void write_pmac_uint16(int index, PMAC_UINT16 val);

/*
  Read contents of dual-ported RAM as an integer,
  32 bits on LynxOS/386.

  base is a pointer, pmac_get() <= base < size;
  index is number of integers up from base.

  Returns unsigned integer found at indexed location.
  */
 PMAC_UINT32 read_pmac_uint32(int index);

/*
  Write an integer into dual-ported RAM,
  32 bits on LynxOS/386.

  base is a pointer, pmac_get() <= base < size;
  index is number of integers up from base.
  val is unsigned integer to write at indexed location.
  */
 void write_pmac_uint32(int index, PMAC_UINT32 val);

/*
  Read contents of dual-ported RAM as a float,
  32 bits on LynxOS/386.

  base is a pointer, pmac_get() <= base < size;
  index is number of floats up from base.

  Returns float found at indexed location.
  */
 float pmac_readfloat(int index);

/*
  Write a float into dual-ported RAM,
  32 bits on LynxOS/386.

  base is a pointer, pmac_get() <= base < size;
  index is number of floats up from base.
  val is float to write at indexed location.
  */
 void pmac_writefloat(int index, float val);

/*
  msg should be terminated with a "\xD\0" -- this is the syntax
  expected by the PMAC board.  Make sure I3=2 on the PMAC-- this
  sets the protocol this routine expects.
  */
 PMAC_RETURN_VAL pmac_writemsg(const char *msg, char *reply, int len);

/* resets the PMAC to EEPROM settings */
 PMAC_RETURN_VAL pmac_reset();

/* pmac_sendstring assumes that PMAC has been initialized elsewhere */
 int pmac_sendstring(const char *string);

/* put the PMAC in online mode */
 int pmac_online();

/* put the PMAC in program mode */
 int pmac_program();

/* Returns 1 if the axis is in position, 0 if it is not, or -1
   if there is an error (bad axis number) */
int pmac_in_position(int axis);

/* Returns 1 if the axis is at home, 0 if it is not, or -1
   if there is an error (bad axis number) */
 int pmac_at_home(int axis);

/* Returns -1, 0, or 1 if the axis is at neg, not, or pos hardware limit */
 int pmac_at_limit(int axis);

/* Returns -1, 0, or 1 if the axis is at neg, not, or pos software limit */
 int pmac_at_sw_limit(int axis);

/*
  Returns 1 if a PMAC motion program is running, 0 if not.
  Heuristics:  program running bit is 0.
  */
 int pmac_prog_running();

/* returns the position of the specified axis */
 double pmac_pos(int axis);

/* returns the target position of the specified axis */
 double pmac_target_pos(int axis);

/* pass the reply buffer of the PMAC when you get PMAC_ERR, and
   this prints a line with a more descriptive error, as documented
   in PMAC manual for I-var I6, pp. 5-7, 5-8*/
 void pmac_print_error(int dperr, const char *reply);

/* speed is in RPMs, gear is 1=low, 2=med, 3=hi */
 void pmac_spindle_speed(double speed, int gear);

 int pmac_enable_spindle();
 int pmac_disable_spindle();
 int pmac_spindle_is_open_loop();

/* Probing */
 int pmac_probe_on();
 int pmac_probe_off();
 int pmac_probe_tripped(int axis);
 int pmac_probe_clear(int axis);
 int pmac_probe_value(int axis);

/* PMAC system and DP RAM indices */

/*
  To add another DP RAM variable:
  1.  Add the index in table below, noting $DXXX address.
  2.  code up the function in pmac.c, using dpram_readint(), etc.
  3.  edit .pmc file and put the M var assignment and copying into
      the PLC loop. Use the $DXXX for the DP RAM, and the M var
      assignment from PMAC documentation.
      */

/* Note mapping of DP RAM and indices:

   DPRAM  IX
   -----  --
   $D241   0
   $D242   1
   $D243   2
   $D244   3
   $D245   4
   $D246   5
   $D247   6
   $D248   7
   $D249   8
   $D24A   9
   $D24B  10
   $D24C  11
   $D24D  12
   $D24E  13
   $D24F  14
   $D250  15
   $D251  16
   $D252  17
   $D253  18
   $D254  19
   $D255  20
   $D256  21
   $D257  22
   $D258  23
   $D259  24
   $D25A  25
   $D25B  26
   $D25C  27
   $D25D  28
   $D25E  29
   $D25F  30
   $D260  31
   $D261  32
   $D262  33
   $D263  34
   $D264  35
   $D265  36
   $D266  37
   $D267  38
   $D268  39
   $D269  40
   $D26A  41
   $D26B  42
   $D26C  43
   $D26D  44
   $D26E  45
   $D26F  46
   $D270  47
   $D271  48
   $D272  49
   $D273  50
   $D274  51
   $D275  52
   $D276  53
   $D277  54
   $D278  55
   $D279  56
   $D27A  57
   $D27B  58
   $D27C  59
   $D27D  60
   $D27E  61
   $D27F  62
   $D280  63
   $D281  64
   $D282  65
   $D283  66
   $D284  67
   $D285  68
   $D286  69
   $D287  70
   $D288  71
   $D289  72
   $D28A  73
   $D28B  74
   $D28C  75
   $D28D  76
   $D28E  77
   $D28F  78
   $D290  79
   $D291  80
   $D292  81
   $D293  82
   $D294  83
   $D295  84
   $D296  85
   $D297  86
   $D298  87
   $D299  88
   $D29A  89
   $D29B  90
   $D29C  91
   $D29D  92
   $D29E  93
   $D29F  94
   $D3A0  95
   $D2A1  96
   $D2A2  97
   $D2A3  98
   $D2A4  99
   $D2A5  100
   $D2A6  101
   $D2A7  102
   $D2A8  103
   $D2A9  104
   $D2AA  105
   $D2AB  106
   $D2AC  107

   */

/* Motor 1 */
#define ANALOG_1_OUT 0
#define AMP_EN_1_OUT 1
#define HOME_FLAG_1 2
#define NEG_LIM_1 3
#define POS_LIM_1 4
#define PROG_RUNNING_1 5
#define OPEN_LOOP_1 6
#define AMP_EN_1 7
#define IPOS_1 8
#define HOMED_1 9
#define ACT_POS_1 10
#define TARGET_POS_1 11
#define SW_LIM_1 12
#define SW_POS_LIM_1 13
#define SW_NEG_LIM_1 14
#define UNUSED_1 15
#define CAPTURE_READY_1 16
#define HOME_OFFSET_1 17

/* Motor 2 */
#define ANALOG_2_OUT 20
#define AMP_EN_2_OUTPUT 21
#define HOME_FLAG_2 22
#define NEG_LIM_2 23
#define POS_LIM_2 24
#define PROG_RUNNING_2 25
#define OPEN_LOOP_2 26
#define AMP_EN_2 27
#define IPOS_2 28
#define HOMED_2 29
#define ACT_POS_2 30
#define TARGET_POS_2 31
#define SW_LIM_2 32
#define SW_POS_LIM_2 33
#define SW_NEG_LIM_2 34
#define UNUSED_2 35
#define CAPTURE_READY_2 36
#define HOME_OFFSET_2 37

/* Motor 3 */
#define ANALOG_3_OUT 40
#define AMP_EN_3_OUT 41
#define HOME_FLAG_3 42
#define NEG_LIM_3 43
#define POS_LIM_3 44
#define PROG_RUNNING_3 45
#define OPEN_LOOP_3 46
#define AMP_EN_3 47
#define IPOS_3 48
#define HOMED_3 49
#define ACT_POS_3 50
#define TARGET_POS_3 51
#define SW_LIM_3 52
#define SW_POS_LIM_3 53
#define SW_NEG_LIM_3 54
#define UNUSED_3 55
#define CAPTURE_READY_3 56
#define HOME_OFFSET_3 57

/* Motor 4 */
#define ANALOG_4_OUT 60
#define AMP_EN_4_OUT 61
#define HOME_FLAG_4 62
#define NEG_LIM_4 63
#define POS_LIM_4 64
#define PROG_RUNNING_4 65
#define OPEN_LOOP_4 66
#define AMP_EN_4 67
#define IPOS_4 68
#define HOMED_4 69
#define ACT_POS_4 70
#define TARGET_POS_4 71
#define SW_LIM_4 72
#define SW_POS_LIM_4 73
#define SW_NEG_LIM_4 74
#define UNUSED_4 75
#define CAPTURE_READY_4 76
#define HOME_OFFSET_4 77

/* Motor 5 */
#define ANALOG_5_OUT 80
#define AMP_EN_5_OUT 81
#define HOME_FLAG_5 82
#define NEG_LIM_5 83
#define POS_LIM_5 84
#define PROG_RUNNING_5 85
#define OPEN_LOOP_5 86
#define AMP_EN_5 87
#define IPOS_5 88
#define HOMED_5 89
#define ACT_POS_5 90
#define TARGET_POS_5 91
#define SW_LIM_5 92
#define SW_POS_LIM_5 93
#define SW_NEG_LIM_5 94
#define UNUSED_5 95
#define CAPTURE_READY_5 96
#define HOME_OFFSET_5 97

/* Motor 6 */
#define ANALOG_6_OUT 100
#define AMP_EN_6_OUT 101
#define HOME_FLAG_6 102
#define NEG_LIM_6 103
#define POS_LIM_6 104
#define PROG_RUNNING_6 105
#define OPEN_LOOP_6 106
#define AMP_EN_6 107
#define IPOS_6 108
#define HOMED_6 109
#define ACT_POS_6 110
#define TARGET_POS_6 111
#define SW_LIM_6 112
#define SW_POS_LIM_6 113
#define SW_NEG_LIM_6 114
#define UNUSED_6 115
#define CAPTURE_READY_6 116
#define HOME_OFFSET_6 117

/* Motor 7 */
#define ANALOG_7_OUT 120
#define AMP_EN_7_OUT 121
#define HOME_FLAG_7 122
#define NEG_LIM_7 123
#define POS_LIM_7 124
#define PROG_RUNNING_7 125
#define OPEN_LOOP_7 126
#define AMP_EN_7 127
#define IPOS_7 128
#define HOMED_7 129
#define ACT_POS_7 130
#define TARGET_POS_7 131
#define SW_LIM_7 132
#define SW_POS_LIM_7 133
#define SW_NEG_LIM_7 134
#define UNUSED_7 135
#define CAPTURE_READY_7 136
#define HOME_OFFSET_7 137

/* Motor 8 */
#define ANALOG_8_OUT 140
#define AMP_EN_8_OUT 141
#define HOME_FLAG_8 142
#define NEG_LIM_8 143
#define POS_LIM_8 144
#define PROG_RUNNING_8 145
#define OPEN_LOOP_8 146
#define AMP_EN_8 147
#define IPOS_8 148
#define HOMED_8 149
#define ACT_POS_8 150
#define TARGET_POS_8 151
#define SW_LIM_8 152
#define SW_POS_LIM_8 153
#define SW_NEG_LIM_8 154
#define UNUSED_8 155
#define CAPTURE_READY_8 156
#define HOME_OFFSET_8 157

#define CS_PROG_RUNNING 160
#define CS_IPOS 161

#define SPINDLE_SPEED ANALOG_4_OUT /* same as motor 4 */

/* axis offsets */
#define OFFSET_1 162
#define OFFSET_2 163
#define OFFSET_3 164

#define CAPTURED_1 171          /* look here for X when ready */
#define CAPTURED_2 172          /* look here for Y */
#define CAPTURED_3 173          /* look here for Z */


#ifdef __cplusplus
}
#endif

#endif          /* PMAC_H */

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