📄 functions.c
字号:
#include "Functions.h"
T_IPC_HANDLES ipc_handles;
SCS_TASK_t SCS_Task[MAX_NUM_TASKS];
char * pbBaseAdress;
USHORT usCount_NC_SERCOS_TAKT_SYNC_USER=1;
USHORT usCount_NC_SERCOS_TAKT_USER_ACC=1;
USHORT usNC_SERCOS_TAKT;
BOOL DriveExist[256];
ULONG SercansInit( void )
{
PCI_SLOT_NUMBER SlotNumber;
PPCI_COMMON_CONFIG PciData;
UCHAR buffer[PCI_COMMON_HDR_LENGTH];
LARGE_INTEGER PCI_Adr,SCS_Adr;
HANDLE hInterrupt;
BOOL bfound=0,bret; //found the SERCANSII Card
ULONG i; // logical slot number for the PCI adapter
ULONG f; // function number on the specified adapter
ULONG bytesWritten; // return value from RtGetBusDataByOffset
ULONG bus; // bus number
BOOLEAN flag;
ULONG Offset= 0;
ULONG nothingWritten = 0;
ULONG ulAdrSpace=0;
//Scan SERCANSII PCI card
PciData = (PPCI_COMMON_CONFIG) buffer;
SlotNumber.u.bits.Reserved = 0;
flag = TRUE;
for (bus=0; flag; bus++) {
if (bfound) break;
for (i=0; i<PCI_MAX_DEVICES && flag; i++) {
if (bfound) break;
SlotNumber.u.bits.DeviceNumber = i;
for (f=0; f<PCI_MAX_FUNCTION; f++) {
if (bfound) break;
SlotNumber.u.bits.FunctionNumber = f;
bytesWritten = RtGetBusDataByOffset (
PCIConfiguration,
bus,
SlotNumber.u.AsULONG,
PciData,
Offset,
PCI_COMMON_HDR_LENGTH
);
if (bytesWritten == nothingWritten) {
// out of PCI buses
flag = FALSE;
break;
}
if (PciData->VendorID == PCI_INVALID_VENDORID) {
// no device at this slot number, skip to next slot
break;
}
if (PciData->u.type0.InterruptPin == 0) {
// no pin number for this device - it was simply
// illusion that it exists
break;
}
// A device is found, print out the PCI configuration information
if (PciData->VendorID == 0x104a)
{
// RtPrintf("SERCANSII_InterruptLine = %d\n",PciData->u.type0.InterruptLine);
// RtPrintf("bus:%d,device:%d,function:%d\n",bus,i,f);
bfound=TRUE;
}
}
}
}
//Map the Memory BAR0
PCI_Adr.QuadPart=PciData->u.type0.BaseAddresses[0];
PCI_Adr.QuadPart=PCI_Adr.QuadPart-0x8;//0xda000000;
bret=RtTranslateBusAddress( PCIBus,
0,
PCI_Adr,
&ulAdrSpace,
&SCS_Adr);
/* Das Uebersetzen der PCI-Adresse ging schief */
if( !bret )
{
RtPrintf("RtTranslateBusAddress error!\n");
ExitProcess(1);
}
/* Bildet den Speicher der PCI-Karte in den virtuellen Speicher vom PC ab. */
pbBaseAdress = (char *) RtMapMemory( SCS_Adr, 4000000, TRUE);
if( pbBaseAdress == NULL )
{
RtPrintf("RtMapMemory error!\n");
ExitProcess(1);
}
// RTX interrupt handler code
// RtAttachInterruptVector associates a handler routine with
// a hardware interrupt.
// Note: level triggered interrupts are not supported in the
// Win32 environment
// RtPrintf("PciData->u.type0.InterruptLine = %d\n",PciData->u.type0.InterruptLine);
hInterrupt = RtAttachInterruptVector(
NULL, // thread attributes
0, // stack size - 0 uses default
SERCANS_ISR, // handler routine
NULL,// context
RT_PRIORITY_MAX, // priority
PCIBus, // interface type
0, // bus number
PciData->u.type0.InterruptLine, // bus interrupt level
PciData->u.type0.InterruptLine ); // bus interrupt vector
if (! hInterrupt)
{
//
// TO DO: exception code here
RtWprintf(L"RtAttachInterruptVector error = %d\n",GetLastError());
return 1;
// ExitProcess(1);
}
return 0;
}
USHORT Request_ReadDriveParameter(USHORT uDriveNbr, ULONG ulIDN, short sDataBlockElement,BOOL bSinglePara)
{
#define NC_SERVICE_CHANNEL_WRITE(_DrvAddr) (pbBaseAdress+_DrvAddr*0x20+0x00040000)
#define NC_SERVICE_CHANNEL_Read(_DrvAddr) (pbBaseAdress+_DrvAddr*0x20+0x00044000)
char * pbDriveParameterDataWr;
char* pbDriveParameterDataRd;
short sControlWord;
NC_SERVICE_CHN rRequestData = {0};
NC_SERVICE_CHN rResponseData = {0};
pbDriveParameterDataWr = NC_SERVICE_CHANNEL_WRITE(uDriveNbr);
pbDriveParameterDataRd = NC_SERVICE_CHANNEL_Read(uDriveNbr);
memcpy( &rResponseData, (NC_SERVICE_CHN*) pbDriveParameterDataRd, sizeof(rResponseData));
if (rResponseData.uStatusWord & 0x40)
{
RtPrintf("SVCH_IN_USE\n");
return (SVCH_IN_USE);
}
// RtPrintf("rResponseData.uStatusWord=0x%08x\n",rResponseData.uStatusWord);
sControlWord = 0x1;
sControlWord |= ((sDataBlockElement & 0x7)<<8);
if(!bSinglePara){
//Name,Unit等非List Parameter 只使用 List container #0
//为方便起见，写List Parameter 虽然可以使用其它1-31个List container，但是仍然使用List container #0
rRequestData.Data_Cont.QuadPart = 0;
sControlWord |= 0x8;
}
rRequestData.ulIdent_Nbr = ulIDN;
rRequestData.uControlWord = sControlWord;
/* RtPrintf("sControlWord=0x%08x\n",sControlWord);
RtPrintf("rRequestData.ulIdent_Nbr=0x%08x\n",rRequestData.ulIdent_Nbr);
RtPrintf("rRequestData.uControlWord=0x%08x\n",rRequestData.uControlWord);*/
memcpy( (NC_SERVICE_CHN*)pbDriveParameterDataWr, &rRequestData,sizeof(rRequestData));
return(SVCH_OK);
}
USHORT Request_HMIReadDriveParameter(ULONG ulIDN, short sDataBlockElement,BOOL bSinglePara)
{
char * pbDriveParameterDataWr;
char* pbDriveParameterDataRd;
short sControlWord;
NC_SERVICE_CHN rRequestData = {0};
NC_SERVICE_CHN rResponseData = {0};
pbDriveParameterDataWr = pbBaseAdress+0x28000;
pbDriveParameterDataRd = pbBaseAdress+0x28000;
memcpy( &rResponseData, (NC_SERVICE_CHN*) pbDriveParameterDataRd, sizeof(rResponseData));
if (rResponseData.uStatusWord & 0x40)
{
RtPrintf("SVCH_IN_USE\n");
return (SVCH_IN_USE);
}
// RtPrintf("rResponseData.uStatusWord=0x%08x\n",rResponseData.uStatusWord);
sControlWord = 0x1;
sControlWord |= ((sDataBlockElement & 0x7)<<8);
if(!bSinglePara){
sControlWord |= 0x8;
}
// RtPrintf("Request_HMIReadDriveParameter ulIDN=0x%08x\n",ulIDN);
rRequestData.ulIdent_Nbr = ulIDN;
rRequestData.uControlWord = sControlWord;
/* RtPrintf("sControlWord=0x%08x\n",sControlWord);
RtPrintf("rRequestData.ulIdent_Nbr=0x%08x\n",rRequestData.ulIdent_Nbr);
RtPrintf("rRequestData.uControlWord=0x%08x\n",rRequestData.uControlWord);*/
memcpy( (NC_SERVICE_CHN*)pbDriveParameterDataWr, &rRequestData,sizeof(rRequestData));
return(SVCH_OK);
}
USHORT Response_ReadDriveParameter(USHORT uDriveNbr, ULONG* pulData,USHORT *pusLength)
{
#define NC_SERVICE_CHANNEL_READ(_DrvAddr) (pbBaseAdress+_DrvAddr*0x20+0x00044000)
char* pbDriveParameterDataRd;
NC_SERVICE_CHN rResponseData;
pbDriveParameterDataRd = NC_SERVICE_CHANNEL_READ(uDriveNbr);
memcpy ( &rResponseData, (NC_SERVICE_CHN*)pbDriveParameterDataRd, sizeof(rResponseData));
// RtPrintf("rResponseData.uStatusWord=0x%08x\n",rResponseData.uStatusWord);
if(!(rResponseData.uStatusWord & 0x1))
{
return (SVCH_NO_READ);
}
else if (rResponseData.uStatusWord & 0x8000)
{
// RtPrintf("rResponseData.uStatusWord=0x%08x\n",rResponseData.uStatusWord);
memcpy((LARGE_INTEGER*)pulData, &(rResponseData.Data_Cont),4);
// RtPrintf("rResponseData.Data_Cont=0x%08x\n",rResponseData.Data_Cont);
// RtPrintf("in function *pulData=0x%08x\n",*pulData);
//*((LARGE_INTEGER*)psData) = rResponseData.Data_Cont;
return (SVCH_ERROR);
}
else if (rResponseData.uStatusWord & 0x40)
{
return (SVCH_IN_PROGRESS);
}
else if (rResponseData.uStatusWord & 0x80)
{
/* RtPrintf("rResponseData.uStatusWord=0x%08x\n",rResponseData.uStatusWord);
RtPrintf("rResponseData.Data_Cont=0x%08x\n",rResponseData.Data_Cont);
RtPrintf("rResponseData.usACT_LEN=0x%08x\n",rResponseData.usACT_LEN);
*/
memcpy((LARGE_INTEGER*)pulData, &(rResponseData.Data_Cont),4);
*pusLength=rResponseData.usACT_LEN;
// RtPrintf("rResponseData.usACT_LEN=0x%08x,*pusLength =%d\n",rResponseData.usACT_LEN,*pusLength);
return (SVCH_FINISHED);
}
else
{
return (SVCH_NO_STATE);
}
}
USHORT Response_HMIReaDriveParameter(ULONG* pulData,USHORT *pusLength)
{
char* pbDriveParameterDataRd;
NC_SERVICE_CHN rResponseData;
pbDriveParameterDataRd = pbBaseAdress+0x28000;
memcpy ( &rResponseData, (NC_SERVICE_CHN*)pbDriveParameterDataRd, sizeof(rResponseData));
// RtPrintf("rResponseData.uStatusWord=0x%08x\n",rResponseData.uStatusWord);
if(!(rResponseData.uStatusWord & 0x1))
{
return (SVCH_NO_READ);
}
else if (rResponseData.uStatusWord & 0x8000)
{
// RtPrintf("rResponseData.uStatusWord=0x%08x\n",rResponseData.uStatusWord);
memcpy((LARGE_INTEGER*)pulData, &(rResponseData.Data_Cont),4);
// RtPrintf("rResponseData.Data_Cont=0x%08x\n",rResponseData.Data_Cont);
// RtPrintf("in function *pulData=0x%08x\n",*pulData);
//*((LARGE_INTEGER*)psData) = rResponseData.Data_Cont;
return (SVCH_ERROR);
}
else if (rResponseData.uStatusWord & 0x40)
{
return (SVCH_IN_PROGRESS);
}
else if (rResponseData.uStatusWord & 0x80)
{
/* RtPrintf("rResponseData.uStatusWord=0x%08x\n",rResponseData.uStatusWord);
RtPrintf("rResponseData.Data_Cont=0x%08x\n",rResponseData.Data_Cont);
RtPrintf("rResponseData.usACT_LEN=0x%08x\n",rResponseData.usACT_LEN);
*/
memcpy((LARGE_INTEGER*)pulData, &(rResponseData.Data_Cont),4);
*pusLength=rResponseData.usACT_LEN;
return (SVCH_FINISHED);
}
else
{
return (SVCH_NO_STATE);
}
}
USHORT Request_WriteDriveParameter(USHORT uDriveNbr,ULONG ulIDN, short sDataBlockElement, SERC_ARGS_t* ph_ptr, short sLength,BOOL bSinglePara)
{
#define NC_SERVICE_CHANNEL_WRITE(_DrvAddr) (pbBaseAdress+_DrvAddr*0x20+0x00040000)
#define NC_SERVICE_CHANNEL_Read(_DrvAddr) (pbBaseAdress+_DrvAddr*0x20+0x00044000)
#define LIST_CONTAINER(_Index) (pbBaseAdress+_Index*0x10000+0x00200000)
char * pbDriveParameterDataWr;
char* pbDriveParameterDataRd;
char * pListParameterDataWr;
short sControlWord;
NC_SERVICE_CHN rRequestData = {0};
NC_SERVICE_CHN rResponseData = {0};
pbDriveParameterDataWr = NC_SERVICE_CHANNEL_WRITE(uDriveNbr);
pbDriveParameterDataRd = NC_SERVICE_CHANNEL_Read(uDriveNbr);
memcpy( &rResponseData, (NC_SERVICE_CHN*) pbDriveParameterDataRd, sizeof(rResponseData));
if (rResponseData.uStatusWord & 0x40)
{
RtPrintf("SVCH_IN_USE\n");
return (SVCH_IN_USE);
}
// RtPrintf("rResponseData.uStatusWord=0x%08x\n",rResponseData.uStatusWord);
sControlWord = 0x2;
sControlWord |= ((sDataBlockElement & 0x7)<<8);
if(!bSinglePara)
sControlWord |= 0x8;
rRequestData.ulIdent_Nbr = ulIDN;
if(bSinglePara)
//memcpy(&rRequestData.Data_Cont,&pulData,sLength);
memcpy(&rRequestData.Data_Cont,&ph_ptr->ldata,sLength);
else{
//Name,Unit等非List Parameter 只使用 List container #0
//为方便起见，写List Parameter 虽然可以使用其它1-31个List container，但是仍然使用List container #0
rRequestData.Data_Cont.QuadPart = 0;
pListParameterDataWr = LIST_CONTAINER(rRequestData.Data_Cont.QuadPart);
//pchData=(char *)pulData;
memcpy(pListParameterDataWr,(void*)ph_ptr->vdata,sLength);
// memcpy((void*)rRequestData.Data_Cont,(void*)pulData,sLength);
}
rRequestData.uControlWord = sControlWord;
memcpy( (NC_SERVICE_CHN*)pbDriveParameterDataWr, &rRequestData,sizeof(rRequestData));
return(SVCH_OK);
}
USHORT Request_HMIWriteDriveParameter(ULONG ulIDN, short sDataBlockElement, SERC_ARGS_t* ph_ptr, short sLength,BOOL bSinglePara)
{
char * pbDriveParameterDataWr;
char* pbDriveParameterDataRd;
char * pListParameterDataWr;
short sControlWord;
NC_SERVICE_CHN rRequestData = {0};
NC_SERVICE_CHN rResponseData = {0};
pbDriveParameterDataWr = pbBaseAdress+0x28000;
pbDriveParameterDataRd = pbBaseAdress+0x28000;
memcpy( &rResponseData, (NC_SERVICE_CHN*) pbDriveParameterDataRd, sizeof(rResponseData));
if (rResponseData.uStatusWord & 0x40)
{
RtPrintf("SVCH_IN_USE\n");
return (SVCH_IN_USE);
}
sControlWord = 0x2;
sControlWord |= ((sDataBlockElement & 0x7)<<8);
if(!bSinglePara)
sControlWord |= 0x8;
rRequestData.ulIdent_Nbr = ulIDN;
if(bSinglePara)
//memcpy(&rRequestData.Data_Cont,&pulData,sLength);
memcpy(&rRequestData.Data_Cont,&ph_ptr->ldata,sLength);
else{
⌨️ 快捷键说明
复制代码
Ctrl + C
搜索代码
Ctrl + F
全屏模式
F11
切换主题
Ctrl + Shift + D
显示快捷键
?
增大字号
Ctrl + =
减小字号
Ctrl + -