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//
// Copyright (C) 2012 Andy Pugh
//
// This program is free software; you can redistribute it and/or modify
// it under the terms of the GNU General Public License as published by
// the Free Software Foundation; either version 2 of the License, or
// (at your option) any later version.
//
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
// GNU General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with this program; if not, write to the Free Software
// Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
//
#ifndef __SSERIAL_H
#define __SSERIAL_H
#define HM2_SSERIAL_TYPE_8I20 0x30324938 // '8i20' as 4 ascii
#define HM2_SSERIAL_TYPE_7I64 0x34364937 // More to be added later.
#define HM2_SSERIAL_MAX_STRING_LENGTH 48
//Commands etc
#define LBPNONVOL_flag 0xCC000000
#define LBPWRITE 0x20000000
#define LBPNONVOLCLEAR 0x0
#define LBPNONVOLEEPROM 0x01
#define LBPNONVOLFLASH 0x02
#define READ_LOCAL_CMD 0x2000
#define WRITE_LOCAL_CMD 0xA000
#define READ_REM_BYTE_CMD 0x44000000
#define READ_REM_WORD_CMD 0x45000000
#define READ_REM_LONG_CMD 0x46000000
#define READ_REM_DOUBLE_CMD 0x47000000
#define READ_COOKIE_CMD 0xDF000000
#define WRITE_REM_BYTE_CMD 0x64000000
#define WRITE_REM_WORD_CMD 0x65000000
#define WRITE_REM_LONG_CMD 0x66000000
#define WRITE_REM_DOUBLE_CMD 0x67000000
#define FLASHERASE_CMD 0xFE
#define FLASHWRITE_CMD 0xFD
#define SSLBPMAJORREVISIONLOC 2
#define SSLBPMINORREVISIONLOC 3
#define SSLBPCHANNELSTARTLOC 4
#define SSLBPCHANNELSTRIDELOC 5
#define LBPFLASHOFFSETLOC 0x8000
#define LBPFLASHERASESIZELOC 0x8004
#define LBPFLASHWRITESIZELOC 0x8005
#define LBPFLASHCOMMITLOC 0x8007
#define LBPCOOKIE 0x5A
#define HM2WRITE(a,b) hm2->llio->write(hm2->llio, a, &b, sizeof(u32))
#define HM2READ(a,b) hm2->llio->read(hm2->llio, a, &b, sizeof(u32))
#define LBP_IN 0x00
#define LBP_IO 0x40
#define LBP_OUT 0x80
#define LBP_DATA 0xA0
#define LBP_MODE 0xB0
#define LBP_PAD 0x00
#define LBP_BITS 0x01
#define LBP_UNSIGNED 0x02
#define LBP_SIGNED 0x03
#define LBP_NONVOL_UNSIGNED 0x04
#define LBP_NONVOL_SIGNED 0x05
#define LBP_STREAM 0x06
#define LBP_BOOLEAN 0x07
#define LBP_ENCODER 0x08
#define LBP_ENCODER_H 0x18 // For Fanuc Absolute Encoders with separate
#define LBP_ENCODER_L 0x28 // part and full count fields.
typedef struct {
unsigned char RecordType;
unsigned char DataLength;
unsigned char DataType;
unsigned char DataDir;
float ParmMin;
float ParmMax;
short ParmAddr;
char UnitString[HM2_SSERIAL_MAX_STRING_LENGTH+1];
char NameString[HM2_SSERIAL_MAX_STRING_LENGTH+1];
}hm2_sserial_data_t;
static const hm2_sserial_data_t hm2_8i20_params[] = {
{LBP_DATA,0x10,LBP_UNSIGNED,LBP_OUT,0.0,1.0,0,"degrees","angle"},
{LBP_DATA,0x10,LBP_SIGNED,LBP_OUT,-10.0,10.0,0,"amps","current"},
{LBP_DATA,0x10,LBP_UNSIGNED,LBP_IN,0,65535,0,"Deg C","card-temp"},
{LBP_DATA,0x10,LBP_UNSIGNED,LBP_IN,0,655.35,0,"volts","bus-voltage"},
{LBP_DATA,0x01,LBP_BOOLEAN,LBP_IN,0,0,0,"none","status.current-lim"},
{LBP_DATA,0x01,LBP_BOOLEAN,LBP_IN,0,0,0,"none","status.brake-on"},
{LBP_DATA,0x01,LBP_BOOLEAN,LBP_IN,0,0,0,"none","status.brake-old"},
{LBP_DATA,0x01,LBP_BOOLEAN,LBP_IN,0,0,0,"none","status.bus-underv"},
{LBP_DATA,0x01,LBP_BOOLEAN,LBP_IN,0,0,0,"none","status.wd-reset"},
{LBP_DATA,0x01,LBP_BOOLEAN,LBP_IN,0,0,0,"none","status.sw-reset"},
{LBP_DATA,0x01,LBP_BOOLEAN,LBP_IN,0,0,0,"none","status.ext-reset"},
{LBP_DATA,0x01,LBP_PAD,LBP_IN,0,0,0,"pad","pad"},
{LBP_DATA,0x01,LBP_BOOLEAN,LBP_IN,0,0,0,"none","status.no-enable"},
{LBP_DATA,0x01,LBP_BOOLEAN,LBP_IN,0,0,0,"none","status.pid-on"},
{LBP_DATA,0x06,LBP_PAD,LBP_IN,0,0,0,"pad","pad"},
{LBP_DATA,0x01,LBP_BOOLEAN,LBP_IN,0,0,0,"none","fault.watchdog"},
{LBP_DATA,0x01,LBP_BOOLEAN,LBP_IN,0,0,0,"none","fault.no-enable"},
{LBP_DATA,0x01,LBP_BOOLEAN,LBP_IN,0,0,0,"none","fault.overtemp"},
{LBP_DATA,0x01,LBP_PAD,LBP_IN,0,0,0,"pad","pad"},
{LBP_DATA,0x01,LBP_BOOLEAN,LBP_IN,0,0,0,"none","fault.overcurrent"},
{LBP_DATA,0x01,LBP_BOOLEAN,LBP_IN,0,0,0,"none","fault.U-current"},
{LBP_DATA,0x01,LBP_BOOLEAN,LBP_IN,0,0,0,"none","fault.V-current"},
{LBP_DATA,0x01,LBP_BOOLEAN,LBP_IN,0,0,0,"none","fault.W-current"},
{LBP_DATA,0x01,LBP_BOOLEAN,LBP_IN,0,0,0,"none","fault.bus-underv"},
{LBP_DATA,0x01,LBP_BOOLEAN,LBP_IN,0,0,0,"none","fault.bus-high"},
{LBP_DATA,0x01,LBP_BOOLEAN,LBP_IN,0,0,0,"none","fault.bus-overv"},
{LBP_DATA,0x01,LBP_BOOLEAN,LBP_IN,0,0,0,"none","fault.module"},
{LBP_DATA,0x01,LBP_PAD,LBP_IN,0,0,0,"pad","pad"},
{LBP_DATA,0x01,LBP_PAD,LBP_IN,0,0,0,"pad","pad"},
{LBP_DATA,0x01,LBP_BOOLEAN,LBP_IN,0,0,0,"none","fault.overrun"},
{LBP_DATA,0x01,LBP_BOOLEAN,LBP_IN,0,0,0,"none","fault.framingr"}
};
static const hm2_sserial_data_t hm2_8i20_globals[] = {
{LBP_DATA,0x10,LBP_UNSIGNED,LBP_IN,0,0,2164,"none","swrevision"},
{LBP_DATA,0x20,LBP_UNSIGNED,LBP_IN,0,0,2344,"none","unitnumber"},
{LBP_DATA,0x10,LBP_NONVOL_UNSIGNED,LBP_IN,0,32.768,2,"amps","nvmaxcurrent"},
{LBP_DATA,0x10,LBP_NONVOL_UNSIGNED,LBP_IN,0,0,36,"volts","nvbusundervmax"},
{LBP_DATA,0x10,LBP_NONVOL_UNSIGNED,LBP_IN,0,0,34,"volts","nvbusundervmin"},
{LBP_DATA,0x10,LBP_NONVOL_UNSIGNED,LBP_IN,0,0,38,"volts","nvbusoverv"},
{LBP_DATA,0x10,LBP_NONVOL_UNSIGNED,LBP_IN,0,0,40,"volts","nvbrakeonv"},
{LBP_DATA,0x10,LBP_NONVOL_UNSIGNED,LBP_IN,0,0,42,"volts","nvbrakeoffv"},
{LBP_DATA,0x10,LBP_NONVOL_UNSIGNED,LBP_IN,0,0,6,"bps","nvrembaudrate"},
{LBP_DATA,0x10,LBP_NONVOL_UNSIGNED,LBP_IN,0,0,10,"none","nvkqp"},
{LBP_DATA,0x10,LBP_NONVOL_UNSIGNED,LBP_IN,0,0,14,"none","nvkqihi"},
{LBP_DATA,0x10,LBP_NONVOL_UNSIGNED,LBP_IN,0,0,12,"none","nvkqilo"},
{LBP_DATA,0x10,LBP_NONVOL_UNSIGNED,LBP_IN,0,0,16,"none","nvkqil"},
{LBP_DATA,0x10,LBP_NONVOL_UNSIGNED,LBP_IN,0,0,18,"none","nvkdp"},
{LBP_DATA,0x10,LBP_NONVOL_UNSIGNED,LBP_IN,0,0,22,"none","nvkdihi"},
{LBP_DATA,0x10,LBP_NONVOL_UNSIGNED,LBP_IN,0,0,20,"none","nvkdilo"},
{LBP_DATA,0x10,LBP_NONVOL_UNSIGNED,LBP_IN,0,0,24,"none","nvkdil"}
};
static const hm2_sserial_data_t hm2_7i64_params[] = {
{LBP_DATA,0x18,LBP_BITS,LBP_OUT,0,0,0,"none","output"},
{LBP_DATA,0x18,LBP_BITS,LBP_IN,0,0,0,"none","input"},
{LBP_DATA,0x08,LBP_PAD,LBP_IN,0,0,0,"pad","pad"},
{LBP_DATA,0x10,LBP_UNSIGNED,LBP_IN,0,3.3,0,"volts","analog0"},
{LBP_DATA,0x10,LBP_UNSIGNED,LBP_IN,0,3.3,0,"volts","analog1"}
};
typedef struct {
unsigned char RecordType;
unsigned char ModeIndex;
unsigned char ModeType;
unsigned char Unused;
char NameString[HM2_SSERIAL_MAX_STRING_LENGTH+1];
}hm2_sserial_mode_t;
typedef struct {
hal_u32_t *u32_pin;
hal_s32_t *s32_pin;
hal_s32_t *s32_pin2;
hal_float_t *float_pin;
hal_bit_t **bit_pins;
hal_bit_t **bit_pins_not;
hal_bit_t *invert;
hal_bit_t *boolean;
hal_bit_t *boolean2;
hal_float_t maxlim;
hal_float_t minlim;
hal_float_t fullscale;
hal_u32_t u32_param;
hal_bit_t graycode;
s64 oldval; // not pins, but this way every pin can have one
s64 accum; // these two are only currently used by encoders
s64 offset;
}hm2_sserial_pins_t;
typedef struct {
hal_u32_t u32_param;
hal_s32_t s32_param;
hal_float_t float_param;
hal_u32_t timer_num;
hal_bit_t *error;
}hm2_sserial_params_t;
typedef struct {
int num_confs;
int num_modes;
int num_globals;
int num_pins;
int num_read_bits;
int num_write_bits;
hm2_sserial_mode_t *modes;
hm2_sserial_data_t *confs;
hm2_sserial_data_t *globals;
hm2_sserial_pins_t *pins;
hm2_sserial_params_t *params;
hal_u32_t serialnumber;
hal_u32_t status;
u32 *reg_cs_read;
u32 *reg_cs_write;
u32 *reg_0_read;
u32 *reg_0_write;
u32 *reg_1_read;
u32 *reg_1_write;
u32 *reg_2_read;
u32 *reg_2_write;
u32 reg_cs_addr;
u32 reg_0_addr;
u32 reg_1_addr;
u32 reg_2_addr;
int index;
u32 command_reg_addr; // a duplicate so that a single channel can be passed
u32 data_reg_addr;
u32 data_written;
u32 data2_written;
u32 data3_written;
int myinst;
char name[21];
}hm2_sserial_remote_t;
typedef struct {
int device_id;
int use_serial_numbers;
int num_remotes;
int num_channels;
int tag;
hm2_sserial_remote_t *remotes;
int index;
u32 command_reg_addr;
u32 *command_reg_read;
u32 *command_reg_write;
u32 data_reg_addr;
u32 *data_reg_read;
u32 *data_reg_write;
hal_u32_t *fault_count;
hal_u32_t fault_inc;
hal_u32_t fault_dec;
hal_u32_t fault_lim;
hal_bit_t *run;
hal_u32_t *state;
u32 timer;
} hm2_sserial_instance_t;
typedef struct {
u8 version;
int baudrate;
int num_instances; // number of active instances
hm2_sserial_instance_t *instance ;
} hm2_sserial_t;
#endif
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