servo.h

一个两碟控制的VCD的代码,两碟之间的转动及连续播放,已大量生产的CODE.

/* SCCSID @(#)servo.h	1.17 11/30/98 */
/*
 * $Log$
 */


#ifndef __SERVO_H__
#define __SERVO_H__

#if (SERVO || TCSERVO)

#ifndef _COMMON_H_
#include "common.h"
#endif

#ifndef _CONFIG_H_
#include "config.h"
#endif

/************************************************************************
 * Defines for SERVO.							*
 ************************************************************************/
#define job_sledin 	0x00
#define job_focus  	0x01
#define job_clvon  	0x02
#define job_stop   	0x03

/*
 * Q code information
 */
#define SUBQ_LEN	10
#define SERVO_QCTRADD	0
#define SERVO_QTRACK	1
#define SERVO_QPOINT	2
#define SERVO_QRMIN	3
#define SERVO_QRSEC	4
#define SERVO_QRFRAME	5
#define SERVO_QZERO	6
#define SERVO_QPMIN	7
#define SERVO_QPSEC	8
#define SERVO_QPFRAME	9

/*
 * SERVO mode information
 */
#define SERVO_IDLE		0
#define SERVO_STOP		1
#define SERVO_OPEN		2
#define SERVO_CLOSE		3
#define SERVO_PLAY		4
#define SERVO_PAUSE		5
#define SERVO_RELEASEPAUSE	6
#define SERVO_RECOVER		7
#define SERVO_SEARCH		8

#ifdef SERVO2545
#define FASTER			1

#define OPEN_M		0x00
#define STOP_M		0x01
#define CUE_M		0x02(FF/REV)
#define PLAY_M 		0x03
#define OPEN_00		0x00
#define OPEN_10		1
#define UNLD_10		2
#define LOAD_10		3
#define SLED_10		4
#define STOP_10		5
#define STOP_20		6
#define STOP_30		7
#define STOP_40		8
#define STOP_100	9
#define STOP_110	10 
#define STOP_120	11 
#define STOP_200	12 
#define STOP_210	13 
#define STOP_220	14 
#define STOP_230	15 
#define FOCUS_10	16 
#define FOCUS_20	17
#define FOCUS_30	18
#define FOCUS_40	19
#define FOCUS_50	20
#define FOCUS_60	21
#define EFV_10		22
#define FBIAS_10	23  
#define FBIAS_20	24
#define AGC_10		25
#define AGC_20		26  
#define TOC_10		27
#define ACES_10		28 
#define ACES_20		29
#define ACES_30		30
#define ACES_40		31
#define CUE_10		32
#define CUE_20		33 
#define CUE_30		34
#define CUE_40		35
#define PLAY_10		36
#define RUN_10		37
#define EMR_10		38
#define EMR_20		39
#define FB_SPL		60
#define FB_STP		0x20
#define FB_R_LIMIT	0x60
#define FB_L_LIMIT	(-0x60)
#define FB_ABT		03
#define F_OFF		0x00
#define FCSDWN		0x02
#define AS_OFF		0x11
#define TG_NOR		0x19
#define TG_UP		0x17
#define TOFF_SOFF	0x20
#define TOFF_SFWD	0x22
#define TOFF_SREV	0x23
#define TON_SOFF	0x24
#define TON_SON		0x25
#define A_CANCEL	0x4000
#define AGC_CANCEL	x38148e
#define A_FOCUS		0x4700
#define A_1TJF		0x48
#define A_1TJR		0x49
#define A_10TJF		0x4A
#define A_10TJR		0x4B
#define A_2NTJF		0x4C
#define A_2NTJR		0x4D
#define A_NTMF		0x4E
#define A_NTMR		0x4F
#define SET_B1		0x59
#define B_1TJF		0x53
#define B_1TJR		0x53
#define B_10TJF		0x58
#define B_10TJR		0x58
#define B_30TJF		0x5B
#define B_30TJR		0x5B
#define B_100TJF	0x5B
#define B_100TJR	0x5B
#define B_NTMF		0x5B
#define B_NTMR		0x5B
#define D_30TJF		0x62
#define D_30TJR		0x62
#define D_100TJF	0x62
#define D_100TJR	0x62
#define CLV_STOP	0xE0
#define CLV_KICK	0xE8
#define CLV_BRK		0xEA
#define CLV_A		0xE6
#define T2WMAX		0x01

#define TIMER1_INTERVAL	10	/* 10ms */
#define T4SECOND	(4000/TIMER1_INTERVAL)
#define T3SECOND	(3000/TIMER1_INTERVAL)
#define T2SECOND	(2000/TIMER1_INTERVAL)
#define T1SECOND	(1000/TIMER1_INTERVAL)
#define T500MS		(500/TIMER1_INTERVAL)
#define T300MS		(300/TIMER1_INTERVAL)
#define T250MS		(250/TIMER1_INTERVAL)
#define T200MS		(200/TIMER1_INTERVAL)
#define T150MS		(150/TIMER1_INTERVAL)
#define T100MS		(100/TIMER1_INTERVAL)
#define T80MS		(80/TIMER1_INTERVAL)
#define T30MS		(30/TIMER1_INTERVAL)

#define FOK_TIMEOUT	T80MS
#define GFSMUTE_TIMEOUT T30MS
#define GFS_TIMEOUT	T4SECOND
#define SUBQ_TIMEOUT	T4SECOND

#define SERVO_TRK_SLD_OFF	SERVO_send_command(2, TOFF_SOFF)
#define SERVO_TRK_SLD_ON	SERVO_send_command(2, TON_SON)
#define SERVO_FOCUS_OFF		SERVO_send_command(2, F_OFF)
#define SERVO_FOCUS_DOWN	SERVO_send_command(2, FCSDWN)
#define SERVO_AGC_CANCEL	SERVO_send_command(6, AGC_CANCEL)
#define SERVO_AUTOSEQ_CANCEL	{ SERVO_send_command(4, A_CANCEL); \
				  risc_sleep_a_bit(CYCLES_IN_ONE_MS/10); }
#define SERVO_ANTISHOCK_OFF	SERVO_send_command(2, AS_OFF)
#define SERVO_AUTO_FOCUS	SERVO_send_command(4, A_FOCUS)

#define SERVO_CLV_KICK	{ SERVO_send_command(6, xe80000); }
#define SERVO_CLV_STOP	{ SERVO_send_command(6, xe00000); }
#define SERVO_CLV_BRK	{ SERVO_send_command(6, xea0000); }
#define SERVO_CLV_A	{ SERVO_send_command(6, xe60000); kickfg = 1; }
#endif

#ifdef TCSERVO
#define SET_rough_search 	servo_flags |= 0x0001
#define CLR_rough_search 	servo_flags &= ~0x0001
#define rough_search_TRUE 	(servo_flags & 0x0001)
#define rough_search_FALSE 	!(servo_flags & 0x0001)
#define SET_search_flag 	servo_flags |= 0x0002
#define CLR_search_flag 	servo_flags &= ~0x0002
#define search_flag_TRUE 	(servo_flags & 0x0002)
#define search_flag_FALSE 	!(servo_flags & 0x0002)
#define SET_servo_abort 	servo_flags |= 0x0004
#define CLR_servo_abort 	servo_flags &= ~0x0004
#define servo_abort_TRUE 	(servo_flags & 0x0004)
#define servo_abort_FALSE 	!(servo_flags & 0x0004)
#define SET_servo_adj 		servo_flags |= 0x0008
#define CLR_servo_adj 		servo_flags &= ~0x0008
#define servo_adj_TRUE 		(servo_flags & 0x0008)
#define servo_adj_FALSE		!(servo_flags & 0x0008)

#define SET_close_mode 		mode_flags |= 0x0001
#define CLR_close_mode 		mode_flags &= ~0x0001
#define TOG_close_mode 		mode_flags ^= 0x0001
#define close_mode_TRUE 	(mode_flags & 0x0001)
#define close_mode_FALSE 	!(mode_flags & 0x0001)
#define SET_access_mode 	mode_flags |= 0x0002
#define CLR_access_mode 	mode_flags &= ~0x0002
#define access_mode_TRUE 	(mode_flags & 0x0002)
#define access_mode_FALSE 	!(mode_flags & 0x0002)
#define SET_pause_mode 		mode_flags |= 0x0004
#define CLR_pause_mode 		mode_flags &= ~0x0004
#define pause_mode_TRUE	 	(mode_flags & 0x0004)
#define pause_mode_FALSE 	!(mode_flags & 0x0004)
#define SET_tray_blocked 	mode_flags |= 0x0008
#define CLR_tray_blocked 	mode_flags &= ~0x0008
#define tray_blocked_TRUE 	(mode_flags & 0x0008)
#define tray_blocked_FALSE 	!(mode_flags & 0x0008)
#define SET_in_initCD 		mode_flags |= 0x0010
#define CLR_in_initCD 		mode_flags &= ~0x0010
#define in_initCD_TRUE 		(mode_flags & 0x0010)
#define in_initCD_FALSE 	!(mode_flags & 0x0010)

/* Constants of Tray Process */
#define TRAY_MOVE_TIME_LIMIT	0x100
/* State of Tray Process */
#define TRAY_START_OPEN		0
#define TRAY_MONITOR_OPEN	1
#define TRAY_START_CLOSE	2
#define TRAY_MONITOR_CLOSE	3
#define TRAY_FULL_OPEN		4
#define TRAY_IDLE_CLOSE		5
#define TRAY_IDLE		6
/* Return value of Tray Process */
#define TRAY_RET_wait		0
#define TRAY_RET_closed		1
#define TRAY_RET_opened		2
#define TRAY_RET_blocked	3
#define TRAY_RET_push		4

/* Servo Mode */
#define Mode_Focusing		0
#define Mode_Tracking		1
#define Mode_Monitor		2
#define Mode_Stopping		3
/* Return value of Servo Process */
#define SERVO_RET_wait		0
#define SERVO_RET_fok		1
#define SERVO_RET_fng		2
#define SERVO_RET_clvok		3
#define SERVO_RET_clvng		4
#define SERVO_RET_stopok	5
#define SERVO_RET_loss		6
#define SERVO_RET_Qcode		7
#define SERVO_RET_int		8
/* Focusing State */
#define Focus_Para			0
#define Focus_PickUpOut		1
#define Focus_PickUpIn		2
#define Focus_LDon		3
#define Focus_LenDown		4
#define Focus_DnDelay		5
#define Focus_AccDisc		6
#define Focus_Init		7
#define Focus_Wait_Init		8
#define Focus_Init_2		9
#define Focus_Init_3		10
#define Focus_Init_4		11
#define Focus_Init_5		12
#define Focus_Init_6		13
#define Focus_Wait_FOK		14
#define Focus_Wait_FOK_2	15
#define Focus_recover		16
/* Tracking State */
#define CLV_Kick		0
#define CLV_KickWait		1
#define CLV_Kick_2		2
#define CLV_Kick_3		3
#define CLV_Kick_31		4
#define CLV_Kick_32		5
#define CLV_Kick_33		6
#define CLV_Kick_4		7
/* Monitor State */
#define MON_slide		0
#define MON_jump		1
/* Stopping State */
#define STOP_start		0
#define STOP_brake_wait		1
#define STOP_off		2
#define STOP_idle		3

/*
 * Q code information
 */
#define SUBQ_LEN		10
#define SERVO_QCTRADD		0
#define SERVO_QTRACK		1
#define SERVO_QPOINT		2
#define SERVO_QRMIN		3
#define SERVO_QRSEC		4
#define SERVO_QRFRAME		5
#define SERVO_QZERO		6
#define SERVO_QPMIN		7
#define SERVO_QPSEC		8
#define SERVO_QPFRAME		9

/* Track jump */
#define J_FORWARD		1
#define J_BACKWARD		0

#ifdef DAYTONA
#define TRISTATE_CLOSE_SW	TRISTATE_EAUX10
#define CLOSE_SW_HIGH		EAUX10_HIGH
#define CLOSE_SW_LOW		EAUX10_LOW

#define TRISTATE_OPEN_SW	TRISTATE_EAUX9
#define OPEN_SW_HIGH		EAUX9_HIGH
#define OPEN_SW_LOW		EAUX9_LOW

#define SET_MOTOR_REV		SET_EAUX13
#define CLEAR_MOTOR_REV		CLEAR_EAUX13

#define SET_MOTOR_FWD		SET_EAUX7
#define CLEAR_MOTOR_FWD		CLEAR_EAUX7
#else /* DAYTONA */
#define TRISTATE_CLOSE_SW	TRISTATE_EAUX1
#define CLOSE_SW_HIGH		EAUX1_HIGH
#define CLOSE_SW_LOW		EAUX1_LOW

#define TRISTATE_OPEN_SW	TRISTATE_EAUX2
#define OPEN_SW_HIGH		EAUX2_HIGH
#define OPEN_SW_LOW		EAUX2_LOW

#define SET_MOTOR_REV		SET_EAUX7
#define CLEAR_MOTOR_REV		CLEAR_EAUX7

#define SET_MOTOR_FWD		SET_EAUX8
#define CLEAR_MOTOR_FWD		CLEAR_EAUX8
#endif /* DAYTONA */

/* Debug Pins */
#define SET_DEBUG_PIN0		SET_AUX0
#define CLEAR_DEBUG_PIN0	CLEAR_AUX0
#define SET_DEBUG_PIN1		SET_AUX1
#define CLEAR_DEBUG_PIN1	CLEAR_AUX1
#define SET_DEBUG_PIN2		SET_AUX3
#define CLEAR_DEBUG_PIN2	CLEAR_AUX3
/* Function Pins */
#ifdef DAYTONA
#define TRISTATE_LIMIT_SW	TRISTATE_EAUX14
#define LIMIT_SW_HIGH		EAUX14_HIGH
#define LIMIT_SW_LOW		EAUX14_LOW

#define SET_RESET_TC		SET_AUX0
#define CLEAR_RESET_TC		CLEAR_AUX0

#define SET_BCK			SET_EAUX8
#define CLEAR_BCK		CLEAR_EAUX8

#define SET_CCE			SET_EAUX4
#define CLEAR_CCE		CLEAR_EAUX4

#define EAUX_R_ADDRESS		dsc_aux0_datam
#define NIBBLE_MASK		0x0f
#define EAUX_LH			0
#define NIBBLE_SHIFT		0
#else /* DAYTONA */
#define TRISTATE_LIMIT_SW	TRISTATE_EAUX0
#define LIMIT_SW_HIGH		EAUX0_HIGH
#define LIMIT_SW_LOW		EAUX0_LOW

#define SET_RESET_TC		SET_EAUX9
#define CLEAR_RESET_TC		CLEAR_EAUX9

#define SET_BCK			SET_EAUX10
#define CLEAR_BCK		CLEAR_EAUX10

#define SET_CCE			SET_EAUX11
#define CLEAR_CCE		CLEAR_EAUX11

#define EAUX_R_ADDRESS		dsc_aux1_datam
#define NIBBLE_MASK		0xf0
#define EAUX_LH			1
#define NIBBLE_SHIFT		4
#endif /* DAYTONA */
#endif TCSERVO/*===========================================================*/

/****************************************
 * Global variables			*
 ****************************************/
GBLDEF0(char	servo_fb_ok);
GBLDEF0(char	servo_EF_balance_ok);
GBLDEF0(char	servo_AGF_ok);
GBLDEF0(char	servo_AGT_ok);
GBLDEF0(char	servo_focus_drop);
GBLDEF0(char	servo_gfs_drop);
GBLDEF0(uchar	servo_pres_m);
GBLDEF0(short 	servo_fbias);
GBLDEF0(volatile short	servo_sys_timer);
GBLDEF0(ushort	servo_ef_mem);
GBLDEF0(ushort	servo_fg_mem);
GBLDEF0(ushort	servo_tg_mem);
GBLDEF0(uint  	servo_per_ave);

/****************************************
 * Global Functions			*
 ****************************************/
EXPORT	void	SERVO_init(void);
EXPORT	void	SERVO_interrupt_service(void);
EXPORT	void	SERVO_service(void);

#ifdef SERVO2545
EXPORT	void	SERVO_fbias(void);
EXPORT	void	SERVO_EF_balance(void);
EXPORT	void	SERVO_efv_10(void);
EXPORT	void	SERVO_agc(void);
EXPORT	void	SERVO_agc_10(void);
EXPORT	void	SERVO_agc_20(void);
EXPORT	void	SERVO_ag_trk(void);
EXPORT	void	SERVO_fb_dtr(void);
EXPORT	void	SERVO_rfjsmp(void);
EXPORT	void	SERVO_emrchk(void);
EXPORT	void	SERVO_fcson(void);
EXPORT	ushort	SERVO_read_data(unsigned char, int);
EXPORT	void	SERVO_send_command_no_latch(int, unsigned int);
EXPORT	void	SERVO_sledin(void);
EXPORT	void	SERVO_focus(void);
EXPORT	void	SERVO_schedule(void);
EXPORT	int	SERVO_search(void);

EXPORT  PFV	servo_task;
#endif	/* SERVO2545 */

#endif SERVO

#endif /* __SERVO_H__ */