app.c

此文件是硬盘自伺服刻录代码

	TargetCylinderAddr = 0x00005000;
	TargetSectorAddr   = 0x0046;//0010 YTW 2005-9-13
	TargetHeadAddr     = 0x0000;
	SecondSyncMarkMode = 0x0000;
	DFMode2            = 0x0004;
	DFModeCtrl         = 0x000b;
	ReadTotalSignal    = 0x71d2;
	DFRetryCount       = 0x000f;
	DFFIFOWriPoint     = 0x0000;
	DFFIFOReadPoint    = 0x0000;
	//WriteCylinAddr     = 0x00000ce5;
    //ExtendFieldCount   = 0x0c06;
	LoopCountNumSector = 0x0010;
	//BufTransMode       = 0x8c00;   //ver
	
}
void BufManager(void)
{
	BufManageCtrl_0   = 0xa840;
	BufManageItuptMask= 0xffff;
	BufManageCtrl_1   = 0x8000;
	BufManageCtrl_2   = 0x0000;
	RefreshPeriod     = 0x0fff;
	HostLinkListPoint = 0x0000;
	HostLinkListAddr  = 0x0000;
	AWSegmentSize     = 0x0075;
	SectorSize        = 0x0100;
	HostSegmentSize   = 0x0180;
	HosSegmentSecCont = 0x0009;
	AWSegSecCont      = 0x0009;
	DiskSegSecCont    = 0x0009;
	ZSDTablePoint     = 0x00008494;
	AWSegTransPoint   = 0x00021a00;
	AWSegStartAddr    = 0x00020000;
	AWSegEndAddr      = 0x0002fffc;
	HostSegTransPoint = 0x00011a00;
	HostSegStartAddr  = 0x00010000;
	HostSegEndAddr    = 0x0002fffc;
	DiskSegTransPoint = 0x00020000;
	DiskSegStartAddr  = 0x00020000;
	DiskSegEndAddr    = 0x0002fffc;
	DMTablePointer    = 0x0000813c;
	SubsegStartAddr_0 = 0x00000000;
	
}
void LoadZSDTable()
{
    int j;
    INT16U * tmp = (INT16U*)ZSDTable_pointer;
	for (j=0;j<5;j++)
	{
		//* tmp1 &= 0x00000000;
		//* tmp1 |= WData[j];	// set	
		* tmp = ZSDTable[j];
		tmp ++;
	} 
	ZSD_Table_Point   = 0x20000;
	SAIL_Status       = 0xffff; 
}
void ZSD_Table (void)
{
	ZSD_1             = 0x8008;
	ZSD_2             = 0x0000;
	ZSD_3             = 0x0001;
	ZSD_Table_Point   = 0x20000;
	SAIL_Status       = 0xffff; 
}
///////////////////////////////////////////////////////////////
//function of preamplifier
/////////////////////////////////////////////////////////////
/*
void WriteRegister(INT8U regnum, INT8U data)
{}
INT8U ReadRegister(INT8U RegNum)
{return RegNum;}

void PREM_SetMode(INT8U Mode,INT8U Detail)//Mode=1:SLEEP;Detail=0
                                          //Mode=2:IDLE; Detail =1:no MR bais;Detail =2:normal MR bais; Detail =3:Low MR bais
                                          //Mode=3:Read; Detail =0
                                          //Mode=4:write;Detail=1:MR bais on IMR;Detail =2:Low MR bais;
                                          //Mode=5:Servo Bank write;Detail=0
{
   INT8U ReadData;
   switch(Mode)
   {
      case 1:
          ReadData = ReadRegister(5);
          ReadData &= 0xFE;
          WriteRegister(5,ReadData);          
          break;
      case 2:
          ReadData = ReadRegister(9);
          ReadData |=0x08;
          WriteRegister(9,ReadData);//protection
          if(Detail ==1)
          {
             ReadData = ReadRegister(5);
             ReadData &= 0xFC;
             ReadData |= 0x01;
             WriteRegister(5,ReadData);
             ReadData = ReadRegister(6);
             ReadData &= 0xEF;
             WriteRegister(6,ReadData);             
             break;
             
          }
          else if(Detail ==2)
          {  //Valid:Servo Gate is low
             ReadData = ReadRegister(5);
             ReadData &= 0xFC;
             ReadData |= 0x01;
             WriteRegister(5,ReadData);
             ReadData = ReadRegister(6);
             ReadData |= 0x10;
             WriteRegister(6,ReadData);             
             break;
          }
          else if(Detail ==3)
          { //Valid:Servo Gate is high
             ReadData = ReadRegister(5);
             ReadData |= 0x03;
             WriteRegister(5,ReadData);
             break;
          }
          else
          break;
      case 3://Valid:Servo Gate is low,Read Gate is high
          ReadData = ReadRegister(5);
          ReadData |= 0x03;
          WriteRegister(5,ReadData);
          break;
      case 4:
          ReadData = ReadRegister(5);
          ReadData |= 0x03;
          WriteRegister(5,ReadData);
          if(Detail == 1)
          {  //Valid:SG is low, Write Gate is high
             ReadData = ReadRegister(6);
             ReadData &= 0xEF;
             WriteRegister(6,ReadData);
             break;
          }
          else if(Detail ==2)
          {  //Valid:SG is low, Write Gate is high
             ReadData = ReadRegister(6);
             ReadData |= 0x10;
             WriteRegister(6,ReadData);
             break;
          }
          else
          break;
      case 5://Vaild: Servo gate is high
          ReadData = ReadRegister(5);
          ReadData |= 0x03;
          WriteRegister(5,ReadData);
          break;                    
   }
}

void PREM_HeadSelect(INT8U Mode,INT8U Head) //Mode =3 or 4; write and read mode,Head =0 or 1;
                                            //Mode =5;servo bank write mode; Head =0 or 1, if head =3,select all heads, if head=4,no head selected
{ 
   INT8U ReadData;
   ReadData = ReadRegister(1);
   if((Mode == 3)||(Mode == 4))
   {
     if(Head == 0)
     {
        ReadData &= 0xFE;
        WriteRegister(1,ReadData);
     }
     else if(Head == 1)
     {
        ReadData |= 0x01;
        WriteRegister(1,ReadData);
     }
   }
   else if(Mode == 5)
   {
      if(Head == 0)
      {
         ReadData |= 0x02;
         ReadData &= 0xFA;
         WriteRegister(1,ReadData);
      }
      else if(Head == 1)
      {
         ReadData |= 0x01;
         ReadData &= 0xF9;
         WriteRegister(1,ReadData);
      }
      else if(Head == 3)
      {
         ReadData |= 0x03;
         ReadData &= 0xFB;
         WriteRegister(1,ReadData);
      }
      else if(Head == 4)
      {
         ReadData |= 0x04;         
         WriteRegister(1,ReadData);
      }
   }
}

void PREM_SetReadCurrent(INT8U CurrentNum)//see Table8
{
   INT8U ReadData;
   CurrentNum = CurrentNum<<3;
   ReadData = ReadRegister(1);
   ReadData &= 0x07;
   ReadData |= CurrentNum;
   WriteRegister(1,ReadData);
}
void PREM_SetWriteCurrent(INT8U CurrentNum)//see Table7
{   
   WriteRegister(2,CurrentNum);
}
void PREM_SetLowCurrentMRBais(INT8U BaisNum)//for write and bank write mode,see table6
{
   BaisNum = BaisNum<<4;
   WriteRegister(3,BaisNum);
}*/
////////////////////////////////////////////////////////////
//end of function of preamplifier
///////////////////////////////////////////////////////////

///////////////////////////////////////////////////////////////
// function of self servo write
///////////////////////////////////////////////////////////////

void SSW_Init(void)
{
   SSW_MAINCTRL = 0xA7;// 7th:enable SSW,6th:only write PES,5~0 bits:preamble length
   SSW_COMBLOCK = 0x56; // select HFS1
   SSW_F0H = 0x00;//set Frequency high bits
   SSW_F0L = 0x00;//set Frequency low bits
   SSW_DELTAP = 0x00;//set phase
   SSW_TIMESTAMP = 0x8f;//TBG timestamp,internal timestamp, ...
   SSW_DISTH = 0x1d;
   SSW_DISTL = 0x04;// 0x741*4
   SSW_DLYH  &= 0x00; //high bits are set to 0, //only use 13-8 bit of the register
   SSW_DLYL  =  0x8F; //dely 5.83us
   SSW_ENCODE &= 0xEF;//manchester code
   SSW_DISTRESET = 0x06;//reset distance at next SG
   
   /*------------data contral-----------------*/
   SSW_PES_CONFIGL4 = 0xc8;// write PES field with normal polarity,write Burst D and erace burat C
   SSW_PES_CONFIGH2 &= 0x0F;//pattern is 1
   SSW_PES_LEN_MODE_CNT |= SSW_PESLEN;
   SSW_PES_LEN_MODE_CNT |= SSW_PESMODE;
   SSW_PES_LEN_MODE_CNT |= SSW_PESCNT;
   
   SSW_PESGAP |=0x10; 
   
   SSW_SSM = 0x27;//STM pattern, if index sector,set to 14h, else set to 27h
   SSW_READBACKEN &= 0x7f; //enable servo gray code read back 
   SSW_READBACKEN |= 0xa0; //gap between gray code and PES
   SSW_GRAYCODELEN = 0xbf;// disable split, gray code length=
   SSW_GRAYCODESPLIT = 0xd8;
   SSW_GRAYCODEDATA = 0x00000000;
   SSW_WGOUT_EN |=0x01;//enable*/
}

 void SSW_InterruptSet()
 {
   SSW_INTCTRL = 0x0100;// select servo interrupt for IRQ
   SSW_SERVOSTATUS = 0xffcf;//clear servo status
   SSW_SERVOMASK |= 0xef0f;//mask drive Fault interrupt
 }
 
 ////////////////////////////////////
 //change to gray code
 ///////////////////////////////////
 INT8U ChangeToGrayCode(INT8U data)
 {
    return (data^(data/2));
 }
/* 
 INT32U HexToDec(INT32U data)
 {
   return data;
 }
*/ 


//////////////////////////////////////////////////////////////
// end of self servo write function
//////////////////////////////////////////////////////////////
OS_STK TestTaskStk[100];
OS_STK TestTaskStk2[100];
void TestTask(void *pdata);
void TestTask2 (void *pdata);
void C_MAIN(void)
{
   SSW_INTCTRL = 0x0100; //set interrupt 
   SSW_SERVOSTATUS = 0xffff;
   OSInit();
   OSTaskCreate(TestTask,(void *)0,&TestTaskStk[99],1);
   OSTaskCreate(TestTask2,(void *)0,&TestTaskStk2[99],2);  
   OSStart(); 
}
void TestTask2 (void *pdata)
{
   double i;
   i = 0;
   while(1)
   {
     if(i<100000000)
     i++;
     else
     i = 0;
   }
}
void TestTask (void *pdata)
{
//int r;

#if OS_CRITICAL_METHOD == 3                  //Allocate storage for CPU status register
    OS_CPU_SR  cpu_sr;
#endif

  		OSInit();
   		CpuInit();
  		OS_ENTER_CRITICAL();
//SOFT_RST = 0x80; yaogaihuiqu
//SOFT_RST = 0x00; yaogaihuiqu
 SQ_CTL&=0x00000000;
//SetupCPU();      yaogaihuiqu     
		PwrCtl();          
		WCSInit();
		SetupWCS();
       //ChnlInit();
		SetupPattern();   
		SetupPatternTiming();
// CnlOpt();
 		SetupTxFmt();
		SetupSrvctlFmt();
//EnTest();
//start servo controller
/**************The next setting is for Servo mode****************/ 

 IndexsectorCtrl=0x0000;
 SQ_CTL|=0x00000001;
        Channel_Setting();     	   
	    Channel_Reg();
	    DataChan_Reg();//Add by gary 09012005; 
	    SetupWCS();   //verify by Gary 09052005
	    while (1)   //Some information you may watch!
	    {
        WPwrCtl();          
		WWCSInit();
		HDC_Inter_Init();
		SailRegistorInit();
		DefectManager();
		ErrorCorrectUnit();
		DiskFormmater();
		BufManager();
		DataPatternInit();
		WgateInitial();
	    WSetupWCS();
	    ZSD_Table();
        LoadZSDTable();
        WgateInitial();
	    WSequencerStart();
	    WSequencerStop();
	    while(1)
	    {
	   
	    }	  */
/************The next setting is for self servo write*******/
        EnterINT = 0;
        WriteSecCunt = 0;
        StartNewStep = 1;
//        WriteLosingSec = 0;
        LosingSecCunt = 0;
        StopWrite = 0;
        ArraySubscript = 0;
        SSW_InterruptSet();
        //open IRQ interrupt
        __asm
        {
          MSR CPSR_c,#0x40|0x13
        }        
        PwrCtl();
      //  SRV_DATA_CFG = 0x0004;
       // SRV_DATA_CFG &= 0xfff8;
       //SRV_DATA_CFG = 0x1;	   
        SSW_Init();        
        while(1)
	    {
	            
	      INT8U I;
	      if(EnterINT == 1)
	      {
	         EnterINT = 0;
	         //if(WriteSecCunt <1000)
	         WriteSecCunt++;
	         *(INT32U *)0x10002570 =WriteSecCunt;	      
	         //if(WriteSecCunt >=1000)
	       //  {	   	             
	       //      for(I=0;I<10000;I++)
	       //      {}	             
	      //       WriteSecCunt = 0;	               
	       //  }//end if(WriteSecCunt >= 100)
	         
	      }// end if(EnterINT == 1)
	   
	    } //end while    
    
}//end of task