encodrbd.h

RTX是当前非常流行的RTX实时操作系统

/*****************************************************************************
***   ENCODRBD.H -- header file (US Digital Optical Encoder Interface Board)      ***
******************************************************************************
****                                                                      ****
****     Header file containing I/O register mapping and other info       ****
****     for the US Digital board                             ****
****                                                                      ****
****     Last revision date:  1/4/99                                     ****
****     Programmer:  Dan Block                                           ****
****                                                                      ****
*****************************************************************************/
#define ENCINIT 0
#define ENCDIV 5000 //Number of (counts/div)*4
#define ENCPI 3.1415926536F

#define ENCBASE        ((PUCHAR)0x220)   /* default BASE address of interface board */

#define DATA1           ((PUCHAR)0x220)      /* data register of LS7166 */
#define CONTROL1        ((PUCHAR)0x221)      /* control register of LS7166 */
#define DATA2           ((PUCHAR)0x222)      /* data register of LS7166 */
#define CONTROL2        ((PUCHAR)0x223)      /* control register of LS7166 */
#define DATA3           ((PUCHAR)0x224)      /* data register of LS7166 */
#define CONTROL3        ((PUCHAR)0x225)      /* control register of LS7166 */
#define DATA4           ((PUCHAR)0x226)      /* data register of LS7166 */
#define CONTROL4        ((PUCHAR)0x227)      /* control register of LS7166 */
#define LATCH           ((PUCHAR)0x228)      /* a read causes all LS7166s to latch counter */

/* LS7166 commands */
#define MASTER_RESET    0X20    /* master reset command */
#define INPUT_SETUP     0X68    /* command to setup counter input */
#define QUAD_X1         0XC1    /* command to setup quadrature multiplier to 1 */
#define QUAD_X2         0XC2    /* command to setup quadrature multiplier to 2 */
#define QUAD_X4         0XC3    /* command to setup quadrature multiplier to 4 */
#define ADDR_RESET      0X01    /* command to reset address pointer */
#define LATCH_CNTR      0X02    /* command to latch counter */
#define CNTR_RESET      0X04    /* command to reset counter */
#define PRESET_CTR      0X08      /* transfer preset to counter */

VOID _stdcall init_7166(void);
VOID _stdcall hard_latch(void);
long _stdcall read_chip1(void);
long _stdcall read_chip2(void);
long _stdcall read_chip3(void);
long _stdcall read_chip4(void);   
VOID _stdcall read_encoders(float*,float*);