regs2407.h

关于2407控制电机及数据通讯的源代码。

#define EVAIMRC *((volatile int *)0x742E) /* Group C Interrupt Mask Register A */
#define EVAIFRA *((volatile int *)0x742F) /* Group A Interrupt Flag Register A */
#define EVAIFRB *((volatile int *)0x7430) /* Group B Interrupt Flag Register A */
#define EVAIFRC *((volatile int *)0x7431) /* Group C Interrupt Flag Register A */
#define GPTCONB *((volatile int *)0x7500) /* GP Timer control register B . */
#define T3CNT *((volatile int *)0x7501) /* GP Timer 3 counter register. */
#define T3CMPR *((volatile int *)0x7502) /* GP Timer 3 compare register. */
#define T3PR *((volatile int *)0x7503) /* GP Timer 3 period register. */
#define T3PER *((volatile int *)0x7503) /* GP Timer 3 period register. */
#define T3CON *((volatile int *)0x7504) /* GP Timer 3 control register. */
#define T4CNT *((volatile int *)0x7505) /* GP Timer 4 counter register. */
#define T4CMPR *((volatile int *)0x7506) /* GP Timer 4 compare register. */

#define T4PR *((volatile int *)0x7507) /* GP Timer 4 period register. */
#define T4PER *((volatile int *)0x7507) /* GP Timer 4 period register. */
#define T4CON *((volatile int *)0x7508) /* GP Timer 4 control register. */
#define COMCONB *((volatile int *)0x7511) /* Compare control register B. */
#define ACTRB *((volatile int *)0x7513) /* Full compare action control register*/
#define DBTCONB *((volatile int *)0x7515) /* Dead-band timer control register B. */
#define CMPR4 *((volatile int *)0x7517) /* Full compare unit compare register1 */
#define CMPR5 *((volatile int *)0x7518) /* Full compare unit compare register2 */
#define CMPR6 *((volatile int *)0x7519) /* Full compare unit compare register3 */
#define CAPCONB *((volatile int *)0x7520) /* Capture control register B. */
#define CAPFIFOB *((volatile int *)0x7522) /* Capture FIFO status register B. */
#define CAP4FIFO *((volatile int *)0x7523) /* Capture Channel 1 FIFO Top B */
#define CAP5FIFO *((volatile int *)0x7524) /* Capture Channel 2 FIFO Top B */
#define CAP6FIFO *((volatile int *)0x7525) /* Capture Channel 3 FIFO Top B */
#define CAP4FBOT *((volatile int *)0x7527) /* Bottom reg. pf capture FIFO stack 1 */
#define CAP5FBOT *((volatile int *)0x7528) /* Bottom reg. pf capture FIFO stack 2 */
#define CAP6FBOT *((volatile int *)0x7529) /* Bottom reg. pf capture FIFO stack 3 */
#define EVBIMRA *((volatile int *)0x752C) /* Group A Interrupt Mask Register B */
#define EVBIMRB *((volatile int *)0x752D) /* Group B Interrupt Mask Register B */
#define EVBIMRC *((volatile int *)0x752E) /* Group C Interrupt Mask Register B */
#define EVBIFRA *((volatile int *)0x752F) /* Group A Interrupt Flag Register B */
#define EVBIFRB *((volatile int *)0x7530) /* Group B Interrupt Flag Register B */
#define EVBIFRC *((volatile int *)0x7531) /* Group C Interrupt Flag Register B */
#define CANMDER *((volatile int *)0x7100) /* CAN Mailbox Direction/Enable reg */
#define CANTCR *((volatile int *)0x7101) /* CAN Transmission Control Reg */
#define CANRCR *((volatile int *)0x7102) /* CAN Recieve COntrol Reg */
#define CANMCR *((volatile int *)0x7103) /* CAN Master Control Reg */
#define CANBCR2 *((volatile int *)0x7104) /* CAN Bit COnfig Reg 2 */
#define CANBCR1 *((volatile int *)0x7105) /* CAN Bit Config Reg 1 */
#define CANESR *((volatile int *)0x7106) /* CAN Error Status Reg */
#define CANGSR *((volatile int *)0x7107) /* CAN Global Status Reg */
#define CANCEC *((volatile int *)0x7108) /* CAN Trans and Rcv Err counters */
#define CANIFR *((volatile int *)0x7109) /* CAN Interrupt Flag Registers */
#define CANIMR *((volatile int *)0x710a) /* CAN Interrupt Mask Registers */
#define CANLAM0H *((volatile int *)0x710b) /* CAN Local Acceptance Mask MBx0/1 */
#define CANLAM0L *((volatile int *)0x710c) /* CAN Local Acceptance Mask MBx0/1 */
#define CANLAM1H *((volatile int *)0x710d) /* CAN Local Acceptance Mask MBx2/3 */
#define CANLAM1L *((volatile int *)0x710e) /* CAN Local Acceptance Mask MBx2/3 */
#define CANMSGID0L *((volatile int *)0x7200) /* CAN Message ID for mailbox 0 (lower */
#define CANMSGID0H *((volatile int *)0x7201) /* CAN Message ID for mailbox 0 (upper */
#define CANMSGCTRL0 *((volatile int *)0x7202) /* CAN RTR and DLC */
#define CANMBX0A *((volatile int *)0x7204) /* CAN 2 of 8 bytes of Mailbox 0 */
#define CANMBX0B *((volatile int *)0x7205) /* CAN 2 of 8 bytes of Mailbox 0 */
#define CANMBX0C *((volatile int *)0x7206) /* CAN 2 of 8 bytes of Mailbox 0 */
#define CANMBX0D *((volatile int *)0x7207) /* CAN 2 of 8 bytes of Mailbox 0 */
#define CANMSGID1L *((volatile int *)0x7208) /* CAN Message ID for mailbox 1 (lower */
#define CANMSGID1H *((volatile int *)0x7209) /* CAN Message ID for mailbox 1 (upper */
#define CANMSGCTRL1 *((volatile int *)0x720A) /* CAN RTR and DLC */
#define CANMBX1A *((volatile int *)0x720C) /* CAN 2 of 8 bytes of Mailbox 1 */
#define CANMBX1B *((volatile int *)0x720D) /* CAN 2 of 8 bytes of Mailbox 1 */
#define CANMBX1C *((volatile int *)0x720E) /* CAN 2 of 8 bytes of Mailbox 1 */
#define CANMBX1D *((volatile int *)0x720F) /* CAN 2 of 8 bytes of Mailbox 1 */
#define CANMSGID2L *((volatile int *)0x7210) /* CAN Message ID for mailbox 2 (lower */
#define CANMSGID2H *((volatile int *)0x7211) /* CAN Message ID for mailbox 2 (upper */
#define CANMSGCTRL2 *((volatile int *)0x7212) /* CAN RTR and DLC */
#define CANMBX2A *((volatile int *)0x7214) /* CAN 2 of 8 bytes of Mailbox 2 */
#define CANMBX2B *((volatile int *)0x7215) /* CAN 2 of 8 bytes of Mailbox 2 */
#define CANMBX2C *((volatile int *)0x7216) /* CAN 2 of 8 bytes of Mailbox 2 */
#define CANMBX2D *((volatile int *)0x7217) /* CAN 2 of 8 bytes of Mailbox 2 */
#define CANMSGID3L *((volatile int *)0x7218) /* CAN Message ID for mailbox 3 (lower */
#define CANMSGID3H *((volatile int *)0x7219) /* CAN Message ID for mailbox 3 (upper */
#define CANMSGCTRL3 *((volatile int *)0x721A) /* CAN RTR and DLC */
#define CANMBX3A *((volatile int *)0x721C) /* CAN 2 of 8 bytes of Mailbox 3 */
#define CANMBX3B *((volatile int *)0x721D) /* CAN 2 of 8 bytes of Mailbox 3 */
#define CANMBX3C *((volatile int *)0x721E) /* CAN 2 of 8 bytes of Mailbox 3 */
#define CANMBX3D *((volatile int *)0x721F) /* CAN 2 of 8 bytes of Mailbox 3 */
#define CANMSGID4L *((volatile int *)0x7220) /* CAN Message ID for mailbox 4 (lower */
#define CANMSGID4H *((volatile int *)0x7221) /* CAN Message ID for mailbox 4 (upper */
#define CANMSGCTRL4 *((volatile int *)0x7222) /* CAN RTR and DLC */
#define CANMBX4A *((volatile int *)0x7224) /* CAN 2 of 8 bytes of Mailbox 4 */
#define CANMBX4B *((volatile int *)0x7225) /* CAN 2 of 8 bytes of Mailbox 4 */
#define CANMBX4C *((volatile int *)0x7226) /* CAN 2 of 8 bytes of Mailbox 4 */
#define CANMBX4D *((volatile int *)0x7227) /* CAN 2 of 8 bytes of Mailbox 4 */
#define CANMSGID5L *((volatile int *)0x7228) /* CAN Message ID for mailbox 5 (lower */
#define CANMSGID5H *((volatile int *)0x7229) /* CAN Message ID for mailbox 5 (upper */
#define CANMSGCTRL5 *((volatile int *)0x722A) /* CAN RTR and DLC */
#define CANMBX5A *((volatile int *)0x722C) /* CAN 2 of 8 bytes of Mailbox 5 */
#define CANMBX5B *((volatile int *)0x722D) /* CAN 2 of 8 bytes of Mailbox 5 */
#define CANMBX5C *((volatile int *)0x722E) /* CAN 2 of 8 bytes of Mailbox 5 */
#define CANMBX5D *((volatile int *)0x722F) /* CAN 2 of 8 bytes of Mailbox 5 */
/*--------------------------------------------------------------------------*/
/* I/O space mapped registers */
/*--------------------------------------------------------------------------*/
#define WSGR portffff
ioport unsigned portffff; /* Wait-State Generator Control Reg */
#define FCMR portff0f /* Flash mode control register */
ioport unsigned portff0f;
ioport unsigned port0;
ioport unsigned port1;
ioport unsigned port2;
ioport unsigned port3;
ioport unsigned port4;
#define DAC0 port0
#define DAC1 port1
#define DAC2 port2
#define DAC3 port3
#define DACL port4
#define PI 3.14159265358979323846


         
#endif /*__REGS240X_H__ */