📄 dprbkg.h
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/***************************************************************************
Title: dprbkg.h
Version: 1.00
Date: 01/26/1998
Author(s): Ed Lay & Allen Segall
Header file for PMAC Dual Ported RAM Background functions.
Note(s):
----------------------------------------------------------------------------
HISTORY:
30Jul98 JET Added DprBackgroundVar() for enable disable of variable background.
26Jan98 EBL Creation
***************************************************************************/
#ifndef _DPRBKG_H
#define _DPRBKG_H
typedef struct gsTURBO { // Global Status ??? Must be on BYTE boundaries
// DWord 1 ( ??? 1st 24/32 bit word )
USHORT rffu2 : 8; // 0-7
USHORT internal1 : 3; // 8-10
USHORT buffer_full : 1; // 11
USHORT internal2 : 4; // 12-16
USHORT internal3 : 1;
USHORT plc_buf_open : 1; // 17
USHORT rot_buf_open : 1; // 18
USHORT prog_buf_open : 1; // 19
USHORT bin_rot_buf_open : 1; // 20
USHORT rffu3 : 1;
USHORT vme : 1;
USHORT ultralite : 1;
USHORT pad2 : 8;
// DWord 2 ( ??? 2nd 24/32 bit word )
USHORT card_adrssed : 1; // 0
USHORT all_adrssed : 1; // 1
USHORT rffu1 : 2;
USHORT ring_error : 1; // 4
USHORT ring_io_error : 1; // 5
USHORT tws_error : 1; // 6
USHORT end_gather : 1; // 7
USHORT rapid_m_flag : 1; // 8
USHORT rti_warning : 1; // 9
USHORT earom_error : 1; // 10
USHORT dpram_error : 1; // 11
USHORT prom_checksum : 1; // 12
USHORT mem_checksum : 1; // 13
USHORT comp_on : 1; // 14
USHORT wdt1 : 1; // 15
USHORT wdt2 : 1; // 16
USHORT ext_trig_gat : 1; // 17
USHORT prep_trig_gat : 1; // 18
USHORT data_gat_on : 1; // 19
USHORT servo_err : 1; // 20
USHORT servo_active : 1; // 21
USHORT intr_reentry : 1; // 22
USHORT intr_active : 1; // 23
USHORT pad1 : 8;
} GLOBALSTATUSTURBO;
///////////////////////////////////////////////////////////////////////////
// PMAC Background Buffer ------------------------------------------------------
///////////////////////////////////////////////////////////////////////////
struct ms { // Motor definition word ( ? 2nd 24 bit word )
USHORT in_position : 1;
USHORT warn_ferr : 1;
USHORT fatal_ferr : 1;
USHORT amp_fault : 1;
USHORT backlash_dir : 1;
USHORT amp_i2t_err : 1;
USHORT integral_ferr : 1;
USHORT triger_home_flg : 1;
USHORT phase_find_err : 1;
USHORT rffu2 : 1;
USHORT home_complete : 1;
USHORT stopped_on_limit : 1;
USHORT rffu3 : 2;
USHORT amp_enabled : 1;
USHORT rffu4 : 1;
USHORT rffu5 : 4;
USHORT coord_sys : 3;
USHORT cs_assigned : 1;
USHORT pad : 8;
};
struct ps { // Program Execution Status ( ?? 2nd 24 bit word )
USHORT cir_spline_move : 1; // #0
USHORT ccw_move : 1;
USHORT cc_on : 1;
USHORT cc_left : 1;
USHORT pvt_spline_move : 1;
USHORT seg_stop_request : 1;
USHORT seg_accel : 1;
USHORT seg_move : 1;
USHORT rapid_move_mode : 1;
USHORT cc_buffered : 1;
USHORT cc_stop_request : 1;
USHORT cc_outside_corner : 1;
USHORT dwell_buffered : 1;
USHORT sync_m_func : 1;
USHORT eob_stop : 1;
USHORT delayed_calc : 1;
USHORT rot_buff_full : 1;
USHORT in_position : 1;
USHORT warn_ferr : 1;
USHORT fatal_ferr : 1;
USHORT amp_fault : 1;
USHORT circle_rad_err : 1;
USHORT run_time_err : 1;
USHORT prog_hold : 1; // #23 Look ahead in TURBO
USHORT pad : 8;
};
struct cs { // Coord Status
// word 1 Motor definition word
//DWORD motor_def;
unsigned long motor_def;
// word 2 Coordinate status ( ?? 1st 24 bit word )
USHORT prog_running : 1;
USHORT single_step_mode : 1;
USHORT cont_motion_mode : 1;
USHORT tm_mode : 1;
USHORT cont_motion_req : 1;
USHORT rad_vect_inc_mode : 1;
USHORT a_axis_inc : 1;
USHORT a_axis_infeed : 1;
USHORT b_axis_inc : 1;
USHORT b_axis_infeed : 1;
USHORT c_axis_inc : 1;
USHORT c_axis_infeed : 1;
USHORT u_axis_inc : 1;
USHORT u_axis_infeed : 1;
USHORT v_axis_inc : 1;
USHORT v_axis_infeed : 1;
USHORT w_axis_inc : 1;
USHORT w_axis_infeed : 1;
USHORT x_axis_inc : 1;
USHORT x_axis_infeed : 1;
USHORT y_axis_inc : 1;
USHORT y_axis_infeed : 1;
USHORT z_axis_inc : 1;
USHORT z_axis_infeed : 1;
USHORT pad2 : 8;
};
struct bkfdptr {
USHORT fdadr : 16; // Address of current % use to determine
// if in normal or time base mode
USHORT pad3 : 6;
USHORT fdhld : 1; // in feed hold no jog off
USHORT pad2 : 1;
USHORT pad1 : 8;
};
struct backm { // background coord/motor axis structure
// addresses below are for motor/coord 1
long mpos[2 ]; // $D093 - $D094 motor desired position
long bpos[2 ]; // $D095 - $D096 position bias
struct ms mstatus; // $D097 motor status
struct cs cstatus; // $D098 - $D099 coord sys status
long cpos[9 ][2 ]; // $D09A - $D0AB axis desired position
struct ps pstatus; // $D0AC program execution status
unsigned long pr; // $D0AD program remaining
unsigned long timrem; // $D0AE - time remain in move (I13=0)
long tats; // $D0AF - time remain in TA/TS (I13=0)
unsigned long pe; // $D0B0 - Program execution line
long fvel; // $D0B1 - filtered velocity
};
struct backg { // background buffer structure
USHORT dataready; // Y:$D08A PMAC done updating
USHORT spare1; // X:$D08A spare
unsigned long cpanelport; // $D08B control panel port
unsigned long thumbwport; // $D08C thumbwheel port
unsigned long machineport; // $D08D machine IO port
struct bkfdptr fdptr[2 ]; // $DO8E - $D08F
long fdpot[2 ]; // $DO90 - $D091
unsigned long spare2[1 ]; // $D08E - $D092 spares
struct backm mtrcrd[8 ]; // motor coord structures
};
struct bkfdptrTURBO {
unsigned long fdadr : 19; // B0..18 - Address of current % use to determine
// if in normal or time base mode
USHORT pad3 : 2;
USHORT fdslew : 1; // B21 = 1 - in feed slew mode
USHORT fdhld : 1; // B22 = 1 - in feed hold no jog off
USHORT pad2 : 1;
USHORT pad1 : 8;
};
struct csTURBO { // Coord Status
// word 1 Coordinate status ( ?? 2nd 24 bit word )
USHORT: 8;
USHORT: 8;
USHORT: 2;
USHORT in_prog_pmatch : 1; // #18
USHORT sync_m_func_buf_ovrflow : 1; // #19
USHORT sync_m_func_in_buf : 1; // #20
USHORT look_ahead_buf_end : 1; // #21
USHORT look_ahead_buf_lbck : 1; // #22
USHORT look_ahead_buf_wrap : 1; // #23
USHORT: 8;
// word 2 Coordinate status ( ?? 1st 24 bit word )
USHORT prog_running : 1;
USHORT single_step_mode : 1;
USHORT cont_motion_mode : 1;
USHORT tm_mode : 1;
USHORT cont_motion_req : 1;
USHORT rad_vect_inc_mode : 1;
USHORT a_axis_inc : 1;
USHORT a_axis_infeed : 1;
USHORT b_axis_inc : 1;
USHORT b_axis_infeed : 1;
USHORT c_axis_inc : 1;
USHORT c_axis_infeed : 1;
USHORT u_axis_inc : 1;
USHORT u_axis_infeed : 1;
USHORT v_axis_inc : 1;
USHORT v_axis_infeed : 1;
USHORT w_axis_inc : 1;
USHORT w_axis_infeed : 1;
USHORT x_axis_inc : 1;
USHORT x_axis_infeed : 1;
USHORT y_axis_inc : 1;
USHORT y_axis_infeed : 1;
USHORT z_axis_inc : 1;
USHORT z_axis_infeed : 1;
USHORT pad2 : 8;
};
struct backcTURBO { // background coord. Sys. axis structure
// Addresses for C.S. #1
long ffdrate[2 ]; // $602A5 - C.S. Feedrate(F) or Time(TM)
long fdpot; // $602A7 - C.S. Feedpot
// struct bkfdptrTURBO fdptr; // $602A8 - C.S. Desired Feedpot Ptr.
struct bkfdptr fdptr; // $602A8 - C.S. Desired Feedpot Ptr.
struct csTURBO cstatus; // $602AA - coord sys status X:mem
long cpos[9 ][2 ]; // $602AB - $D0AB axis desired position
struct ps pstatus; // $602BD - program execution status
unsigned long pr; // $602BE - program remaining
unsigned long timrem; // $602BF - time remain in move (I13=0)
long tats; // $602C0 - time remain in TA/TS (I13=0)
unsigned long pe; // $602C1 - Program execution line
unsigned long sparec[3 ]; // $602C2 - $602C4 spares
};
struct bkrdycsTURBO {
USHORT datardy : 1; // B0 - 1 = Data Rdy/ 0 = Request Data
USHORT pad3 : 7;
};
struct backgTURBO { // background buffer structure
USHORT cordsys : 8; // Y:$6019D B0..7 - Number of C.S. used to be I59
USHORT spare1 : 8; // Y:$6019D B8..15 - Spare
USHORT spare2 : 8; // X:$6019D B0..7 - Spare
USHORT spare3 : 7; // X:$6019D B8..14 - Spare
USHORT hostbusy : 1; // X:$6019D B15 - host accessing buffer
USHORT servotimer; // Y:$6019E B0..16 - Servo Timer low 16 of pmac 24 bits
USHORT servotimerms8 : 8; // X:$6019E B0..7 - Servo Timer upper 8 bits of pmac 24 bits
USHORT pspare : 7; // X:$6019E B8..14 -
USHORT datardy : 1; // X:$6019E B15 - pmac has written data
unsigned long cpanelport; // $6019F - control panel port
unsigned long machineport; // $601A0 - machine IO port
unsigned long thumbwport; // $601A1 - thumbwheel port
struct gsTURBO globalstatus; // $601A2
unsigned long sparebg[3 ]; // $601A4 - $601A6 spares
struct backcTURBO crdsys[16 ]; // $601A7 - $603A6 coord sys structures
};
///////////////////////////////////////////////////////////////////////////
// BACK GROUND VARIABLE BUFFER Interface Structure
struct backgvar {
USHORT dataready; // Y:$D1FA PMAC done updating
USHORT servotimer; // X:$D1FA servotimer
USHORT bufsize; // Y:$D1FB Size of rotary buffer
USHORT bufstart; // X:$D1FB buffer start / TURBO = offset
};
///////////////////////////////////////////////////////////////////////////
// BACK GROUND VARIABLE WRITE BUFFER
struct backgvarwrite {
USHORT num_entries; // Y:$D1F5 Up to 32 writes
USHORT buf_start; // X:$D1F5
};
struct VBGWFormat {
long type_addr;
long data1;
long data2;
};
///////////////////////////////////////////////////////////////////////////
// BACK GROUND VARIABLE BUFFER Status Structure
// Update VBGDB structure
struct backgvarbuf_status {
USHORT num_entries; // Number of entries in address array
USHORT num_data; // Number of PMAC 16 bit words placed in data array
USHORT addr_offset; // Offset to begginning of user's address array
USHORT data_offset; // Offset to begginning of user's data array
};
//////////////////////////////////////////////////////////////////////////
// Functions
#ifdef __cplusplus
extern "C" {
#endif
BOOL CALLBACK PmacDPRBackground( DWORD dwDevice, int on );
BOOL CALLBACK PmacDPRBackgroundEx( DWORD dwDevice, int on, UINT period, UINT crd );
BOOL CALLBACK PmacDPRBackGroundVar( DWORD dwDevice, BOOL on );
BOOL CALLBACK PmacDPRUpdateBackground( DWORD dwDevice );
void CALLBACK PmacDPRLockBackground(DWORD dwDevice);
void CALLBACK PmacDPRUnlockBackground(DWORD dwDevice);
// Functions pertaining to coord systems
long CALLBACK PmacDPRPe( DWORD dwDevice, int cs );
BOOL CALLBACK PmacDPRRotBufFull( DWORD dwDevice, int crd );
BOOL CALLBACK PmacDPRSysInposition( DWORD dwDevice, int crd );
BOOL CALLBACK PmacDPRSysWarnFError( DWORD dwDevice, int crd );
BOOL CALLBACK PmacDPRSysFatalFError( DWORD dwDevice, int crd );
BOOL CALLBACK PmacDPRSysRunTimeError( DWORD dwDevice, int crd );
BOOL CALLBACK PmacDPRSysCircleRadError( DWORD dwDevice, int crd );
BOOL CALLBACK PmacDPRSysAmpFaultError( DWORD dwDevice, int crd );
BOOL CALLBACK PmacDPRProgRunning( DWORD dwDevice, int crd );
BOOL CALLBACK PmacDPRProgStepping( DWORD dwDevice, int crd );
BOOL CALLBACK PmacDPRProgContMotion( DWORD dwDevice, int crd );
BOOL CALLBACK PmacDPRProgContRequest( DWORD dwDevice, int crd );
int CALLBACK PmacDPRProgRemaining( DWORD dwDevice, int crd );
double CALLBACK PmacDPRCommanded( DWORD dwDevice, int coord, char axchar );
BOOL CALLBACK PmacDPRLookAheadEnabled( DWORD dwDevice, int crd );
// For BACKWARD COMPATIBLITY PURPOSES ONLY
BOOL CALLBACK PmacDPRSetBackground( DWORD dwDevice );
// Background VAR buffer functions
void CALLBACK PmacDPRSetBackgroundVarBufSize(DWORD dwDevice, WORD size);
WORD CALLBACK PmacDPRGetBackgroundVarBufSize(DWORD dwDevice);
void CALLBACK PmacDPRSetBackgroundVarBufStart(DWORD dwDevice, WORD start);
WORD CALLBACK PmacDPRGetBackgroundVarBufStart(DWORD dwDevice);
BOOL CALLBACK PmacDPRBackgroundVarBufDataReady(DWORD dwDevice);
void CALLBACK PmacDPRResetBackgroundVarBufDataReady(DWORD dwDevice);
// Background VAR WRITE
void CALLBACK PmacDPRSetBackgroundWriteBufEntries(DWORD dwDevice, WORD start);
WORD CALLBACK PmacDPRGetBackgroundWriteBufEntries(DWORD dwDevice);
void CALLBACK PmacDPRSetBackgroundWriteBufStart(DWORD dwDevice, WORD start);
WORD CALLBACK PmacDPRGetBackgroundWriteBufStart(DWORD dwDevice);
// Background gather buffer
WORD CALLBACK PmacDPRGetBackgroundGatStart(DWORD dwDevice);
WORD CALLBACK PmacDPRGetBackgroundGatSize(DWORD dwDevice);
void CALLBACK PmacDPRSetBackgroundGatSize(DWORD dwDevice,WORD size);
#ifdef __cplusplus
}
#endif
#endif
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