📄 common.h
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/*
* common.h
*
* 32-bit Motion Control Device Driver
* Hardware-specific data structures for the Pmac.
*
*
* This header describes the structures that are shared between
* the hardware-specific user-mode code and the hardware-specific
* kernel mode code.
*
HISTORY
*/
#ifndef _COMMON_H_
#define _COMMON_H_
#ifdef _OLD_DLL
#else
// PT_PMAC is the transition marker between PMAC and TURBO do not remove
typedef enum {
PT_PMAC1 = 1, PT_PMAC2, PT_PMACUL, PT_PMAC,
PT_PMAC1T, PT_PMAC2T, PT_PMACUT, PT_UMAC, PT_QMAC
} PMACDEVICETYPE;
typedef enum {
PID = 1, ESA, LHB
} PMACFIRMWARETYPE;
// Enumerates where the communications are based from for a PMAC device
typedef enum {LT_UNKNOWN, LT_ISA, LT_SER, LT_ETH, LT_PCI, LT_USB, LT_LAST} LOCATIONTYPE;
// Enumerates the different ways a PMAC can communicate
typedef enum { BUS, DPR } ASCIIMODE;
#endif
/*
* default settings for port, interrupt and dpram
*/
#define DEF_PCBUSTYPE 0 // ISA, VME etc.
#define DEF_TYPE 1 // PMAC 1
#define DEF_PORT 528 // 0x210
#define DEF_INTERRUPT 0 // No interrupt, make them select!
#define DEF_FIFO 0x0
#define DEF_LOCATION 0 // Computer BUS
#define DEF_TIMEOUT 200
#define DEF_FLUSHTIMEOUT 20
#define DEF_DPRROT1ADR 0x400
#define DEF_DPRROT2ADR 0x400
#define DEF_DPRROT3ADR 0x0
#define DEF_DPRROT4ADR 0x0
#define DEF_DPRROT5ADR 0x0
#define DEF_DPRROT6ADR 0x0
#define DEF_DPRROT7ADR 0x0
#define DEF_DPRROT8ADR 0x0
#define DEF_DPRVARADR 0xD60
#define DEF_DPRUSERBUF 0x580
#define DEF_FBSTART 0x9f00
#define DEF_FBTIMER 0x9f80
#define DEF_BAUDRATE 38400
#define DEF_COMPORT 0 // COM1
#define DEF_PARITY 0 // No Parity
#define DEF_RTS_CONTROL 1 // Enabled
#define DEF_CTS_OUTPUT 1 // Checked
#define DEF_VMEBASE 0x7FA000 // PMAC's Default VME base address
#define DEF_VMEDPRBASE 0x700000 // PMAC's Default VME DPR Base Address
#define DEF_VMEINTERRUPT 7 // PMAC's Default VME Interrupt Level
#define DEF_VMEHOSTID 0 // VMIC 7686
#define DEF_VMEAM 0x39 // Address Modifier
#define DEF_VMEAMDC 0x04 // Address Modifier Dont care
#define DEF_VMEIRQVECT 0xA1 // VME IRQ Vector
#define DEF_BUSCHARTIMEOUT 1000
#define DEF_BUSFLUSHTIMEOUT 10
#define DEF_VMECHARTIMEOUT 30
#define DEF_VMEFLUSHTIMEOUT 3
#define DEF_DPBKTIMEOUT 10
#define DEF_DPRTTIMEOUT 2
#define DEF_DPCHARTIMEOUT 1000
#define DEF_DPFLUSHTIMEOUT 20
#define DEF_SERCHARTIMEOUT 2000
#define DEF_SERFLUSHTIMEOUT 30
#define DEF_SERWRITECONSTANTTIMEOUT 1000
#define DEF_SERWRITEMULTIPLYERTIMEOUT 0
#define DEF_SERREADCONSTANTTIMEOUT 30
#define DEF_SERREADINTERVALTIMEOUT 30 // A VALUE OF 0 indicates interval timeouts are not used
#define DEF_SERREADCONSTANTTIMEOUTSLOW 30
#define DEF_SERREADINTERVALTIMEOUTSLOW 30 // A VALUE OF 0 indicates interval timeouts are not used
#define DEF_SERREADMULTIPLYERTIMEOUT 0
#define DEF_USBMODE 0
#define DEF_IPADDRESS 0xc0065e05
#define DEF_DISABLEIRQ 1
#define DEF_DISABLEDPRAM 1
#define DEF_USENEWCOMMFEATURES 1 // Use New Firmware features by default
/*
* MEMORY Allocation Related macro,defines
*
*/
#define MAX_DPRBUFFER (160)
#define MAX_DPRREADBUFFER (256) // this is the maximum string Turbo can return
#define DPR_READ_COPY_BUFFER_SIZE (MAX_DPRREADBUFFER+4) // +4 for stack protection
#define DPRAMLENGTH 0x4000 // DPRAM Size ie D4000 - D7FFF
/*
* Common defines
*
*/
#define MAXMOTORS 8
#define MAXMOTORSTURBO 32
#define MAXLINKS 68 // max number of PLCC links
#define MINLINKS 41
#define MAXLDS 27 // max number of PLCC LADDER DIAG links
#define MINLDS 27 // MIN number of PLCC LADDER DIAG links
#define MAXSTRLINK ((8*MAXLINKS)+1) // max string length of links
#define VERSION_BUFFER_SIZE 20
#define DATE_BUFFER_SIZE 20
#define ISR_IPOS 1 /* IR0 for in position */
#define ISR_BREQ 2 /* IR1 for buffer request */
#define ISR_FERROR 4 /* IR2 for general error */
#define ISR_ERROR 8 /* IR3 for following error */
#define ISR_HREQ 16 /* IR4 for communication */
#define ISR_IR5 32 /* IR5 */
#define ISR_IR6 64 /* IR6 */
#define ISR_IR7 128 /* IR7 */
// Motor registers
#define MTRSTATUS_X_OFS 0x3C // offset to each motor status X word
#define MTRSTATUS_Y_OFS 0xC0 // offset to each motor status Y word
#define MTRSTATUS_X_BASE 0x003D // address of mtr 1 first status word
#define MTRSTATUS_X_BASE_ESA 0x004F // address of mtr 1 first status word
#define MTRSTATUS_Y_BASE 0x0814 // address of mtr 1 second status word
#define TURBO_MTRSTATUS_OFS 0x80 // offset to each motor status word
#define TURBO_MTRSTATUS_X_BASE 0xB0 // address of mtr 1 first status word
#define TURBO_MTRSTATUS_Y_BASE 0xC0 // address of mtr 1 second status word
/*
* Parameter Names:
*
* These are the names of Values in the Parameters key (or driver section
* of the profile) used for communicating configuration information and errors
* between the kernel and user-mode drivers.
*/
#define PARAM_TYPE TEXT("PmacType") // model of PMAC
#define PARAM_PCBUSTYPE TEXT("PCBusType") // bus type isa, pci
#define PARAM_PORT TEXT("Port") // port i/o address
#define PARAM_INTERRUPT TEXT("Interrupt") // interrupt number
#define PARAM_BUSCHARTIMEOUT TEXT("BUSCharTimeout")
#define PARAM_BUSFLUSHTIMEOUT TEXT("BUSFlushTimeout")
#define PARAM_FIFO TEXT("DualPortRam") // DP Ram physical addr
#define PARAM_ERROR TEXT("InstallError") // config error/success code (below)
#define PARAM_DPRROT1 TEXT("DualPortRamRot1")
#define PARAM_DPRROT2 TEXT("DualPortRamRot2")
#define PARAM_DPRROT3 TEXT("DualPortRamRot3")
#define PARAM_DPRROT4 TEXT("DualPortRamRot4")
#define PARAM_DPRROT5 TEXT("DualPortRamRot5")
#define PARAM_DPRROT6 TEXT("DualPortRamRot6")
#define PARAM_DPRROT7 TEXT("DualPortRamRot7")
#define PARAM_DPRROT8 TEXT("DualPortRamRot8")
#define PARAM_DPRVARADR TEXT("DualPortRamVar")
#define PARAM_DPRUSERSIZE TEXT("DualPortRamUserSize")
#define PARAM_FBSTART TEXT("FunctionBlockStart")
#define PARAM_FBTIMER TEXT("FunctionBlockTimer")
#define PARAM_PORTNUMBER TEXT("SerialPortNumber")
#define PARAM_BAUDRATE TEXT("SerialBaudrate")
#define PARAM_PARITY TEXT("SerialParity")
#define PARAM_CTS TEXT("SerialCTSOutput")
#define PARAM_RTS TEXT("SerialRTSControl")
#define PARAM_LOCATION TEXT("Location")
#define PARAM_ENUMERATION TEXT("Enumeration")
#define PARAM_DISABLEDPR TEXT("DisableDPRAM")
#define PARAM_DISABLEIRQ TEXT("DisableIRQ")
#define PARAM_PCI_SLOT TEXT("PCISlot")
#define PARAM_PCI_BUS TEXT("PCIBus")
#define PARAM_IPADDRESS TEXT("IPAddress")
#define PARAM_USENEWCOMMFEATURES TEXT("UseNewCommFeatures")
#define PARAM_USBMODE TEXT("USBMode")
#define PARAM_DPRAUTOACTIVE TEXT("DPRAutoActive")
#define PARAM_DPRRTACTIVE TEXT("DPRRealTimeActive")
#define PARAM_DPRBGACTIVE TEXT("DPRBackgroundActive")
#define PARAM_DPRBGPERIOD TEXT("DPRBackgroundPeriod")
#define PARAM_DPRRTPERIOD TEXT("DPRRealTimePeriod")
#define PARAM_DPRRTMTRMASK TEXT("DPRRealTimeMtrMask")
#define PARAM_DPRMONITORPERIOD TEXT("DPRMonitorPeriod")
#define PARAM_ENABLEINTR TEXT("EnableInterrupts")
#define PARAM_DPBKTIMEOUT TEXT("DPRBackTimeout")
#define PARAM_DPRTTIMEOUT TEXT("DPRRTTimeout")
#define PARAM_DPCHARTIMEOUT TEXT("DPRCharTimeout")
#define PARAM_DPFLUSHTIMEOUT TEXT("DPRFlushTimeout")
#define PARAM_VMEBASE TEXT("VMEBase")
#define PARAM_VMEDPRBASE TEXT("VMEDPRBase")
#define PARAM_VMEINTERRUPT TEXT("VMEInterrupt")
#define PARAM_VMEHOSTID TEXT("VMEHostID")
#define PARAM_VMEAM TEXT("VMEAM")
#define PARAM_VMEAMDC TEXT("VMEAMDontCare")
#define PARAM_VMEIRQVECT TEXT("VMEIRQVector")
#define PARAM_VMECHARTIMEOUT TEXT("VMECharTimeout")
#define PARAM_VMEFLUSHTIMEOUT TEXT("VMEFlushTimeout")
#define PARAM_SERWRITEMULTIPLYERTIMEOUT TEXT("SerWriteMultiplyerTimeout")
#define PARAM_SERWRITECONSTANTTIMEOUT TEXT("SerWriteConstantTimeout")
#define PARAM_SERREADMULTIPLYERTIMEOUT TEXT("SerReadMultiplyerTimeout")
#define PARAM_SERREADCONSTANTTIMEOUT TEXT("SerReadConstantTimeout")
#define PARAM_SERREADINTERVALTIMEOUT TEXT("SerReadIntervalTimeout")
#define PARAM_SERCHARTIMEOUT TEXT("SerCharTimeout")
#define PARAM_SERFLUSHTIMEOUT TEXT("SerFlushTimeout")
#ifdef _NC
#define PARAM_NCTITLE TEXT("Title")
#define PARAM_SOURCEPROFILE TEXT("SourceProfile")
#define PARAM_TOOLPROFILE TEXT("ToolProfile")
#define PARAM_COORDPROFILE TEXT("CoordProfile")
#define PARAM_MACHINETYPE TEXT("MachineType")
#define PARAM_NOOFTOOLS TEXT("NoOfTools")
#define PARAM_NOOFBLOCKS TEXT("NoOfBlocks")
#define PARAM_NOOFCOORDSYS TEXT("NoOfCoordSys")
#define PARAM_METRICDISPLAY TEXT("MetricDisplay")
#define PARAM_LEASTHANDLEINC TEXT("LeastHandleInc")
#define PARAM_MAXHANDLEINC TEXT("MaxHandleInc")
#define PARAM_LEASTJOGINC TEXT("LeastJogInc")
#define PARAM_AXISMOTORMAP TEXT("AxisMotorMap")
#define PARAM_AXISMOTORSEL TEXT("AxisMotorSel")
#define PARAM_AXISDISPMAP TEXT("AxisDispMap")
#define PARAM_MAXRAPIDOVRD TEXT("MaxRapidOvrd")
#define PARAM_MAXFEEDOVRD TEXT("MaxFeedOvrd")
// Axis stuff
#define PARAM_ISSPINDLE TEXT("IsSpindle")
#define PARAM_HASSLAVE TEXT("HasSlave")
#define PARAM_ISPHANTOM TEXT("IsPhantom")
#define PARAM_DISPLAY TEXT("Display")
#define PARAM_DISPLAYSLAVE TEXT("DisplaySlave")
#define PARAM_HOMEMODE TEXT("HomeMode")
#define PARAM_HOMEPRGNUMBER TEXT("HomePrgNumber")
#define PARAM_PRECISION TEXT("Precision")
#define PARAM_METRICDISPLAY TEXT("MetricDisplay")
#define PARAM_METRICUNITS TEXT("MetricUnits")
#define PARAM_PROBEPRGNUMBER TEXT("ProbePrgNumber")
#define PARAM_PULSEPERUNIT TEXT("PulsePerInit")
#define PARAM_INPOSITIONBAND TEXT("InpositionBand")
#define PARAM_MAXRAPID TEXT("MaxRapid")
#define PARAM_MAXFEED TEXT("MaxFeed")
#define PARAM_FATALFERROR TEXT("FatalFError")
#define PARAM_WARNFERROR TEXT("WarnFError")
#define PARAM_JOGSPEEDLOW TEXT("JogSpeedLow")
#define PARAM_JOGSPEEDMedLow TEXT("JogSpeedMedLow")
#define PARAM_JOGSPEEDMed TEXT("JogSpeedMed")
#define PARAM_JOGSPEEDMedHigh TEXT("JogSpeedMedHigh")
#define PARAM_JOGSPEEDHigh TEXT("JogSpeedHigh")
#define PARAM_FORMATINCH TEXT("FormatInch")
#define PARAM_FORMATMM TEXT("FormatMM")
#endif
/*
* Error handling
*
* during startup of the kernel-driver, the PARAM_ERROR value is written with
* one of the values below. These are the IDs of strings in
* pmac\dll\pmac.rc that are produced in a dialog box by the user-mode
* driver during configuration if not MC_ERR_OK
*/
#define ERR_OK 0 // no configuration error
#define ERR_CREATEDEVICE 1001 // failed to create device object
#define ERR_CONFLICT 1002 // resource conflict
#define ERR_DETECTFAILED 1003 // could not find hardware
#define ERR_INTERRUPT 1004 // interrupt did not install
#define ERR_INTRDETECT 1005 // interrupt did not occur
#define ERR_BUSTIMEOUT 1006 // timeout during bus read
#define ERR_DPRTIMEOUT 1007 // timeout during dpram ascii read
#define ERR_SERTIMEOUT 1008 // timeout during serial ascii rea
#define ERR_INBOOTSTRAP 1009 // PMAC in bootstrap mode can't load
#define ERR_CONFIGDRIVER 1010 // Unable to configure driver (in registry perhaps)
#define ERR_EMPTYBUS 1011 // Continuous characters from bus, No Card!!
#define ERR_EMPTYDPRAM 1012 // Continuous characters from bus, No Card!!
#endif //_COMMON_H_
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