📄 functions.c
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#include "Functions.h"
pthread_t root_thread;
pthread_t acph_thread;
pthread_t syst_thread;
pthread_t diag_thread;//not used yet
BOOL bhard_enable_irq;
T_IPC_HANDLES ipc_handles;
SCS_TASK_t SCS_Task[MAX_NUM_TASKS];
unsigned char hInt;
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 )
{
unsigned char bus,fun;
//Scan SERCANSII PCI card
if( pcibios_find_device(0x16f2,0x104a,0,&bus,&fun)!=PCIBIOS_SUCCESSFUL)//check 0x16f2? 0x104a=inventor id
{
rtl_printf("Not found SERCANSII card!\n");
return 1;
}
//Map the Memory BAR0
if( pcibios_read_config_dword(bus,fun,PCI_BASE_ADDRESS_0, &base0))
{
rtl_printf("Not found SERCANSII base0!\n");
return 1;
}
pbBaseAdress=(unsigned short *) ioremap(base0,4*1024);
if (pbBaseAdress==0)
{
rtl_printf("error map SERCANSII base0!\n");
return 1;
}
//Attach Interrupt
if( pcibios_read_config_byte(bus,fun,PCI_INTERRUPT_LINE, &ipc_handles.hInterrupt))
{
rtl_printf("error Attach SERCANSII Interrupt!\n");
return 1;
}
if (rtl_request_irq(ipc_handles.hInterrupt,SERCANS_ISR))
{
rtl_printf("error rtl_request_irq!\n");
rtl_free_irq(ipc_handles.hInterrupt);
return 1;
}else{
rtl_hard_enable_irq(ipc_handles.hInterrupt);
bhard_enable_irq = 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)
{
rtl_printf("SVCH_IN_USE\n");
return (SVCH_IN_USE);
}
// rtl_printf("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;
/* rtl_printf("sControlWord=0x%08x\n",sControlWord);
rtl_printf("rRequestData.ulIdent_Nbr=0x%08x\n",rRequestData.ulIdent_Nbr);
rtl_printf("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)
{
rtl_printf("SVCH_IN_USE\n");
return (SVCH_IN_USE);
}
// rtl_printf("rResponseData.uStatusWord=0x%08x\n",rResponseData.uStatusWord);
sControlWord = 0x1;
sControlWord |= ((sDataBlockElement & 0x7)<<8);
if(!bSinglePara){
sControlWord |= 0x8;
}
// rtl_printf("Request_HMIReadDriveParameter ulIDN=0x%08x\n",ulIDN);
rRequestData.ulIdent_Nbr = ulIDN;
rRequestData.uControlWord = sControlWord;
/* rtl_printf("sControlWord=0x%08x\n",sControlWord);
rtl_printf("rRequestData.ulIdent_Nbr=0x%08x\n",rRequestData.ulIdent_Nbr);
rtl_printf("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)
//USHORT uDriveNbr 驱动器地址
//ULONG* pulData 操作数或列表型操作数的在list contain中的索引（只能是NC通道有对列表型操作数的访问）
//USHORT *pusLength 操作数或列表型操作数的长度
{
#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));
// rtl_printf("rResponseData.uStatusWord=0x%08x\n",rResponseData.uStatusWord);
if(!(rResponseData.uStatusWord & 0x1))
{
return (SVCH_NO_READ);
}
else if (rResponseData.uStatusWord & 0x8000)
{
// rtl_printf("rResponseData.uStatusWord=0x%08x\n",rResponseData.uStatusWord);
memcpy((LARGE_INTEGER*)pulData, &(rResponseData.Data_Cont),4);
// rtl_printf("rResponseData.Data_Cont=0x%08x\n",rResponseData.Data_Cont);
// rtl_printf("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)
{
/* rtl_printf("rResponseData.uStatusWord=0x%08x\n",rResponseData.uStatusWord);
rtl_printf("rResponseData.Data_Cont=0x%08x\n",rResponseData.Data_Cont);
rtl_printf("rResponseData.usACT_LEN=0x%08x\n",rResponseData.usACT_LEN);
*/
memcpy((LARGE_INTEGER*)pulData, &(rResponseData.Data_Cont),4);
*pusLength=rResponseData.usACT_LEN;
// rtl_printf("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));
// rtl_printf("rResponseData.uStatusWord=0x%08x\n",rResponseData.uStatusWord);
if(!(rResponseData.uStatusWord & 0x1))
{
return (SVCH_NO_READ);
}
else if (rResponseData.uStatusWord & 0x8000)
{
// rtl_printf("rResponseData.uStatusWord=0x%08x\n",rResponseData.uStatusWord);
memcpy((LARGE_INTEGER*)pulData, &(rResponseData.Data_Cont),4);
// rtl_printf("rResponseData.Data_Cont=0x%08x\n",rResponseData.Data_Cont);
// rtl_printf("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)
{
/* rtl_printf("rResponseData.uStatusWord=0x%08x\n",rResponseData.uStatusWord);
rtl_printf("rResponseData.Data_Cont=0x%08x\n",rResponseData.Data_Cont);
rtl_printf("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)
{
rtl_printf("SVCH_IN_USE\n");
return (SVCH_IN_USE);
}
// rtl_printf("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)
{
rtl_printf("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{
pListParameterDataWr = pbBaseAdress+0x28018;
//pchData=(char *)pulData;
memcpy(pListParameterDataWr,(void*)ph_ptr->vdata,sLength);
// memcpy((void*)rRequestData.Data_Cont,(void*)pulData,sLength);
}
rRequestData.uControlWord = sControlWord;
/* rtl_printf("sControlWord=0x%08x\n",sControlWord);
rtl_printf("Request_HMIWriteDriveParameter rRequestData.ulIdent_Nbr=0x%08x\n",rRequestData.ulIdent_Nbr);
rtl_printf("Request_HMIWriteDriveParameter rRequestData.uControlWord=0x%08x\n",rRequestData.uControlWord);
*/
memcpy( (NC_SERVICE_CHN*)pbDriveParameterDataWr, &rRequestData,sizeof(rRequestData));
return(SVCH_OK);
}
USHORT Response_WriteDriveParameter (USHORT uDriveNbr, ULONG* pulData)
{
#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));
if(!(rResponseData.uStatusWord & 0x2))
{
return (SVCH_NO_WRITE);
}
else if (rResponseData.uStatusWord & 0x8000)
{
// rtl_printf("rResponseData.uStatusWord=0x%08x\n",rResponseData.uStatusWord);
memcpy((LARGE_INTEGER*)pulData, &(rResponseData.Data_Cont),4);
// rtl_printf("rResponseData.Data_Cont=0x%08x\n",rResponseData.Data_Cont);
// rtl_printf("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)
{
/* rtl_printf("rResponseData.uStatusWord=0x%08x\n",rResponseData.uStatusWord);
rtl_printf("rResponseData.Data_Cont=0x%08x\n",rResponseData.Data_Cont);
rtl_printf("rResponseData.usACT_LEN=0x%08x\n",rResponseData.usACT_LEN);
*/
*pulData = 0;
return (SVCH_FINISHED);
}
else
{
return (SVCH_NO_STATE);
}
}
USHORT Response_HMIWriteDriveParameter (ULONG* pulData)
{
char* pbDriveParameterDataRd;
NC_SERVICE_CHN rResponseData;
pbDriveParameterDataRd = pbBaseAdress+0x28000;
memcpy ( &rResponseData, (NC_SERVICE_CHN*)pbDriveParameterDataRd, sizeof(rResponseData));
if(!(rResponseData.uStatusWord & 0x2))
{
return (SVCH_NO_WRITE);
}
else if (rResponseData.uStatusWord & 0x8000)
{
// rtl_printf("rResponseData.uStatusWord=0x%08x\n",rResponseData.uStatusWord);
memcpy((LARGE_INTEGER*)pulData, &(rResponseData.Data_Cont),4);
// rtl_printf("rResponseData.Data_Cont=0x%08x\n",rResponseData.Data_Cont);
// rtl_printf("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)
{
/* rtl_printf("rResponseData.uStatusWord=0x%08x\n",rResponseData.uStatusWord);
rtl_printf("rResponseData.Data_Cont=0x%08x\n",rResponseData.Data_Cont);
rtl_printf("rResponseData.usACT_LEN=0x%08x\n",rResponseData.usACT_LEN);
*/
*pulData = 0;
return (SVCH_FINISHED);
}
else
{
return (SVCH_NO_STATE);
}
}
void ReadCyclicData(USHORT uDriveNbr, T_CYC_DATA* psActualData, short sActualDataLength)
{
#define ACTUAL_DATA(_DrvAddr) (pbBaseAdress + _DrvAddr*0x48 + 0x00010000)
char * pbDriveCyclicData;
pbDriveCyclicData = ACTUAL_DATA(uDriveNbr);
// rtl_printf("ReadCyclicData *pbDriveCyclicData=0X%08X\n",*(ULONG*)pbDriveCyclicData);
memcpy((char*) psActualData, pbDriveCyclicData, sActualDataLength);
// rtl_printf("ReadCyclicData *psActualData=0X%08X\n",*(ULONG*)psActualData);
}
void WriteCyclicData(USHORT uDriveNbr, T_CYC_DATA * psCommandData, short sCommandDataLength)
{
#define COMMAND_DATA(_DrvAddr) (pbBaseAdress + _DrvAddr*0x48)
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