merged compu sm specific include file
This commit is contained in:
Jeff Hill
+210
-2
@@ -48,7 +48,7 @@
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* .10 06-26-92 bg Added level to compu_sm_io_report in drvCompuSm
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* structure
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* .11 06-29-92 joh took file ptr arg out of io report
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* .12 08-06-92 joh include file name change
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* .12 08-06-92 joh merged compu sm include file
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*/
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#include <vxWorks.h>
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#include <vme.h>
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@@ -56,14 +56,15 @@
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#include <semLib.h> /* library for semaphore support */
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#include <wdLib.h>
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#include <rngLib.h> /* library for ring buffer support */
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#if 0
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#include <stdioLib.h>
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#endif
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/* drvCompuSm.c - Driver Support Routines for CompuSm */
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#include <dbDefs.h>
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#include <drvSup.h>
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#include <module_types.h>
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#include <drvCompuSm.h>
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#include <steppermotor.h>
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#include <task_params.h>
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@@ -94,6 +95,213 @@ static long init()
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return(0);
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}
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/* compumotor vme interface information */
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#define MAX_COMPU_MOTORS 8 /********/
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#define RESP_SZ 16 /* card returns 16 chars - cmd & resp */
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#define RESPBUF_SZ (RESP_SZ+1) /* intr routine also passes motor no. */
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/* Control Byte bit definitions for the Compumotor 1830 */
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/* bits 0 and 1 are not used */
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#define CBEND 0x04 /* end of command string */
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#define CBLMR 0x08 /* last message byte read */
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#define CBCR 0x10 /* command ready in cm_idb */
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#define CBMA 0x20 /* message accepted from odb */
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#define CBEI 0x40 /* enable interrupts */
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#define CBBR 0x80 /* board reset */
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#define SND_MORE CBCR | CBEI /* more chars to send */
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#define SND_LAST CBEND | SND_MORE /* last char being sent */
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#define RD_MORE CBMA | CBEI /* more chars to read */
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#define RD_LAST CBLMR | RD_MORE /* last byte we need to read */
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/* Status Byte bit definitions */
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#define SBIRDY 0x10 /* idb is ready */
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/* Structure used for communication with a Compumotor 1830
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** Motor Controller. The data buffer is repeated 64 times
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** on even word addresses (0xXXXXXX1,0xXXXXX5...) and the
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** control location is repeated 64 times on odd word
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** addresses (0xXXXXX3, 0xXXXXX7...). The registers must
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** be read and written as bytes.
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*/
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struct compumotor {
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char cm_d1; /* not accessable */
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char cm_idb; /* input data buffer */
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char cm_d2; /* not accessable */
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char cm_cb; /* control byte */
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char cm_d3[0x100-4]; /* fill to next standard address */
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};
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/* This file includes defines for all compumotor 1830 controller
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** commands. */
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#define SM_NULL 0x0 /* Null command */
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#define SM_INT 0x1 /* Interrupt X */
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#define SM_WRT_STAT 0x8 /* Write X to the user defined status bits */
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#define SM_SET_STAT 0x9 /* Set user defined status bit number X */
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#define SM_CLR_STAT 0xa /* Clear user defined status bit number X */
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#define SM_SET_PROG 0xb /* Set programmable output bit X */
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#define SM_CLR_PROG 0xc /* Clear programmable output bit X */
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#define SM_WRT_PROG 0xd /* Write X to the programmable output bits */
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#define SM_DEF_X_TO_Y 0xf /* Define bit X to indicate state Y */
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#define SM_TOG_JOG 0x10 /* Disable/enable the JOG inputs */
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#define SM_DEF_JOG 0x11 /* Define JOG input functions */
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#define SM_TOG_REM_PWR 0x12 /* Turn off/on remote power shutdown */
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#define SM_TOG_REM_SHUT 0x13 /* Disable/enable the "remote shutdown" bit */
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#define SM_SET_CW_MOTN 0x14 /* Set CW motion equal to +- */
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#define SM_TOG_POS_MTN 0x18 /* Turn off/on post-move position maintenance */
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#define SM_TOG_STOP_STL 0x19 /* Turn off/on termination on stall detect */
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#define SM_REP_X_Y 0x20 /* Repeat the following X commands Y times */
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#define SM_REP_TIL_CONT 0x21 /* Repeat the following X commands
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until a CONTINUE is received */
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#define SM_WAIT_CONT 0x28 /* Wait for a CONTINUE */
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#define SM_WAIT_MILLI 0x29 /* Wait X milliseconds */
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#define SM_WAIT_SECOND 0x2a /* Wait X seconds */
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#define SM_WAIT_MINUTE 0x2b /* Wait X minutes */
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#define SM_WAIT_TRIGGER 0x2c /* Wait for trigger X to go active */
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#define SM_DEF_A_OP_POS 0x2e /* Define the abs open-loop position as X */
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#define SM_DEF_A_CL_POS 0x2f /* Define absolute closed-loop position */
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#define SM_DEF_ABS_ZERO 0x30 /* Define the present position as the
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absolute zero position */
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#define SM_DEF_VEL_ACC 0x31 /* Define default velocity and acceleration */
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#define SM_MOV_DEFAULT 0x32 /* Perform the default move (trapezoidal
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continuous) */
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#define SM_MOV_REL_POS 0x33 /* Go to relative position X at default
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velocity and acceleration */
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#define SM_MOV_ABS_POS 0x34 /* Go to absolute position X at default
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velocity and acceleration */
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#define SM_MOV_REL_ENC 0x35 /* Go to relative encoder position X */
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#define SM_MOV_ABS_ENC 0x36 /* Go to absolute encoder position X */
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#define SM_DEF_OP_HOME 0x38 /* Define HOME location (open loop */
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#define SM_DEF_CL_HOME 0x38 /* Define HOME location (closed loop) */
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#define SM_MOV_HOME_POS 0x39 /* Go HOME at the default velocity and
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acceleration */
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#define SM_MOV_HOME_ENC 0x3a /* Go to encoder HOME at the default
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velocity and acceleration */
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#define SM_DO_MOV_X 0x40 /* Perform move number X */
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#define SM_DO_SEQ_X 0x41 /* Perform sequence buffer X */
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#define SM_DO_VEL_STR 0x42 /* Perform the velocity streaming buffer */
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#define SM_CONT 0x48 /* CONTINUE (perform next command) */
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#define SM_OP_LOOP_MODE 0x50 /* Enter open loop indexer mode */
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#define SM_VEL_DIS_MODE 0x51 /* Enter velocity-distance streaming mode */
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#define SM_VEL_TIM_MODE 0x52 /* Enter velocity-time streaming mode */
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#define SM_STOP 0x70 /* STOP motion */
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#define SM_DSC_SEQ 0x71 /* Discontinue the sequence buffer */
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#define SM_SSP_SEQ 0x72 /* Suspend the sequence buffer;
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wait for a CONTINUE to resume */
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#define SM_DSC_SNGL 0x73 /* Discontinue any singular command
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currently being performed */
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#define SM_STOP_ON_TRG 0x74 /* STOP motion when trigger X goes active */
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#define SM_DSC_SEQ_TRG 0x75 /* Discontinue the sequence buffer when
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trigger X goes active */
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#define SM_SSP_SEQ_TRG 0x76 /* Suspend sequence buffer when trigger
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X goes active */
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#define SM_DSC_SNGL_TRG 0x77 /* Discontinue any singular command when
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trigger X goes active */
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#define SM_KILL 0x78 /* Kill motion */
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#define SM_KILL_SEQ 0x79 /* Kill the sequence buffer */
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#define SM_KILL_SEQ_SNGL 0x7a /* Kill current sequence singular command;
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wait for CONTINUE */
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#define SM_KILL_VEL_STR 0x7b /* Kill the velocity streaming buffer */
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#define SM_KILL_ON_TRG 0x7c /* Kill motion when trigger X goes active */
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#define SM_KILL_SEQ_TRG 0x7d /* Kill the sequence buffer when trigger
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X goes active */
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#define SM_KL_SQSNG_TRG 0x7e /* Kill current sequence singular command
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when trigger X goes active; wait for
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a continue */
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#define SM_KL_VLSTR_TRG 0x7f /* Kill the velocity streaming buffer
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when trigger X goes active */
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#define SM_GET_B_REL_POS 0x80 /* Request position relative to the
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beginning of the current move */
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#define SM_GET_E_REL_POS 0x81 /* Request position relative to the
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end of the current move */
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#define SM_GET_H_REL_POS 0x82 /* Request position relative to the home
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limit switch */
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#define SM_GET_Z_REL_POS 0x83 /* Request position relative to the
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absolute zero position */
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#define SM_GET_CUR_DIR 0x84 /* Request current direction */
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#define SM_GET_VEL 0x85 /* Request current velocity */
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#define SM_GET_ACC 0x86 /* Request current acceleration */
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#define SM_GET_MOV_STAT 0x88 /* Request current move status */
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#define SM_GET_LIM_STAT 0x89 /* Request state of the limit switches */
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#define SM_GET_HOME_STAT 0x8a /* Request state of the HOME switch */
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#define SM_GET_TRV_DIR 0x8b /* Request direction of travel */
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#define SM_GET_MOT_MOV 0x8c /* Request whether motor is moving or not */
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#define SM_GET_MOT_CONST 0x8d /* Request whether motor is at constant,
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nonzero velocity or not */
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#define SM_GET_MOT_ACC 0x8e /* Request whether motor is or is not
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accelerating */
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#define SM_GET_MOT_DEC 0x8f /* Request whether motor is or is not
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decelerating */
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#define SM_GET_MODE 0x90 /* Request present mode */
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#define SM_GET_MV_PARM 0x91 /* Request move parameters for move number X */
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#define SM_GET_SEQ_CMMD 0x92 /* request commands stored in the
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sequence buffer */
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#define SM_GET_MVDEF_STAT 0x93 /* Request state of the move definitions */
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#define SM_GET_TRG_STAT 0x94 /* Request state of trigger inputs */
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#define SM_GET_JOG_STAT 0x95 /* Request state of JOG inputs */
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#define SM_GET_Z_STAT 0x96 /* Request state of the Channel Z home input */
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#define SM_GET_OUT_STAT 0x97 /* Request the state of the programmable
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output bits */
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#define SM_GET_REL_ENC 0x98 /* Request relative encoder count */
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#define SM_GET_REL_ERR 0x99 /* Request relative error from desired
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closed loop position */
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#define SM_GET_ABS_ENC 0x9a /* Request absolute encoder count */
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#define SM_GET_SLIP_STAT 0x9b /* Request slip detect status */
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#define SM_GET_RATIO 0x9c /* Request motor pulse to encoder pulse ratio */
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#define SM_GET_RESOLTN 0x9d /* Request motor resolution */
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#define SM_GET_BACK_SIG 0x9e /* Request backlash sigma (motor steps)*/
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#define SM_GET_ALG 0x9f /* Request position maintenance alg.
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const, and max velocity */
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#define SM_INT_NXT_MOV 0xa0 /* Interrupt at start of next move */
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#define SM_INT_ALL_MOV 0xa1 /* Interrupt at the start of every move */
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#define SM_INT_NXT_NZ 0xa2 /* Interrupt at constant nonzero velocity
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of next move */
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#define SM_INT_ALL_NZ 0xa3 /* Interrupt at constant nonzero velocity
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of every move */
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#define SM_INT_NXT_END 0xa4 /* Interrupt at next end of motion */
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#define SM_INT_ALL_END 0xa5 /* Interrupt at every end of motion */
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#define SM_INT_NXT_STL 0xa6 /* Interrupt on next stall detect */
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#define SM_INT_ALL_STL 0xa7 /* Interrupt on every stall detect */
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#define SM_INT_NXT_PLIM 0xa8 /* Interrupt the next time the motor
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hits the positive limit */
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#define SM_INT_ALL_PLIM 0xa9 /* Interrupt on every positive limit */
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#define SM_INT_NXT_NLIM 0xaa /* Interrupt the next time the motor
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hits the negative limit */
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#define SM_INT_ALL_NLIM 0xab /* Interrupt on every negative limit */
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#define SM_INT_TRG 0xac /* Interrupt on trigger X active */
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#define SM_INT_INHBT 0xaf /* Inhibit all interrupts */
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#define SM_DEF_RATIO 0xb0 /* Define motor pulse to encoder pulse ratio */
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#define SM_DEF_RESOLTN 0xb1 /* Define motor resolution */
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#define SM_DEF_BACK_SIG 0xb2 /* Define backlash sigma (motor steps)*/
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#define SM_DEF_ALG 0xb3 /* Define position maintenance algorithm
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const, and max velocity */
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#define SM_DEF_TEETH 0xb4 /* Define the number of rotor teeth */
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#define SM_DEF_DEADBAND 0xb5 /* Def the deadband region in encoder pulses */
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#define SM_DEF_REL_TRP 0xc8 /* Define move X as a relative,
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trapezoidal move */
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#define SM_DEF_ABS_TRP 0xcb /* Define move X as an absolute
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trapezoidal move */
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#define SM_DEF_CONT 0xce /* Define move X as a continuous move */
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#define SM_DEF_REL_CL 0xd4 /* Define move X, define it as relative,
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closed-loop move */
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#define SM_DEF_ABS_CL 0xd5 /* Def move X as an abs, closed- loop move */
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#define SM_DEF_STSTP_VEL 0xd6 /* Define the start/stop velocity */
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#define SM_DEL_MOV_X 0xd7 /* Delete move X */
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#define SM_END_SEQ_DEF 0xd8 /* End definition of sequence buffer */
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#define SM_BEG_SEQ_DEF 0xd9 /* Begin definition of sequence buffer */
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#define SM_DEL_SEQ_X 0xda /* Delete sequence buffer X */
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#define SM_LD_VD_DATA 0xe0 /* Place data into the velocity-distance buffer */
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#define SM_LD_VT_DATA 0xe1 /* Place data into the velocity-time buffer */
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#define SM_GET_FREE_BYT 0xe2 /* Request number of free bytes in vel-
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streaming/sequence buffer */
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#define SM_DEF_VS_CMMD 0xee /* Define command to be executed during
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the velocity streaming buffer */
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#define SM_GET_NUM_REV 0xfd /* Request software part number and revision */
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#define SM_TEST_SWITCH 0xff /* Perform the test switch function */
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#define VELOCITY_MODE 0
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#define MAX_COMMANDS 256
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#define COMPU_INT_LEVEL 5
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