1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
|
#ifndef STG_H
#define STG_H
/** This is the driver for an Servo-To-Go Model I board.
The board includes 8 channels of quadrature encoder input,
8 channels of analog input and output, 32 bits digital I/O,
and an interval timer with interrupt.
**/
/** Copyright (C) 2005 Alex Joni
<alex DOT joni AT robcon DOT ro>
**/
/** This program is free software; you can redistribute it and/or
modify it under the terms of version 2 of the GNU General
Public License as published by the Free Software Foundation.
This library 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 library; if not, write to the Free Software
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111 USA
THE AUTHORS OF THIS LIBRARY ACCEPT ABSOLUTELY NO LIABILITY FOR
ANY HARM OR LOSS RESULTING FROM ITS USE. IT IS _EXTREMELY_ UNWISE
TO RELY ON SOFTWARE ALONE FOR SAFETY. Any machinery capable of
harming persons must have provisions for completely removing power
from all motors, etc, before persons enter any danger area. All
machinery must be designed to comply with local and national safety
codes, and the authors of this software can not, and do not, take
any responsibility for such compliance.
This code was written as part of the EMC HAL project. For more
information, go to www.linuxcnc.org.
**/
/*
Servo To Go board decls
*/
#define MAX_CHANS 8
#define CNT0_D 0x00
#define CNT1_D 0x01
#define CNT0_C 0x02
#define CNT1_C 0x03
#define CNT2_D 0x04
#define CNT3_D 0x05
#define CNT2_C 0x06
#define CNT3_C 0x07
#define CNT4_D 0x08
#define CNT5_D 0x09
#define CNT4_C 0x0a
#define CNT5_C 0x0b
#define CNT6_D 0x0c
#define CNT7_D 0x0d
#define CNT6_C 0x0e
#define CNT7_C 0x0f
#define DAC_0 0x10
#define DAC_1 0x12
#define DAC_2 0x14
#define DAC_3 0x16
#define DAC_4 0x18
#define DAC_5 0x1a
#define DAC_6 0x1c
#define DAC_7 0x1e
#define ADC_0 0x410
#define ADC_1 0x412
#define ADC_2 0x414
#define ADC_3 0x416
#define ADC_4 0x418
#define ADC_5 0x41a
#define ADC_6 0x41c
#define ADC_7 0x41e
#define BRDTST 0x403
#define DIO_A 0x400 /* Model 1 */
#define DIO_B 0x402 /* Model 1 */
#define DIO_C 0x404 /* Model 1 */
#define DIO_D 0x401 /* Model 1 */
#define PORT_A 0x400 /* Model 2, same function as DIO_A */
#define PORT_B 0x402 /* Model 2, same function as DIO_B */
#define PORT_C 0x404 /* Model 2, same function as DIO_C */
#define PORT_D 0x405 /* Model 2, same function as DIO_D */
#define CNTRL0 0x401 /* Model 2 */
#define CNTRL1 0x40f /* Model 2 */
#define ABC_DIR 0x406 /* Model 2 */
#define D_DIR 0x407 /* Model 2 */
#define MIO_1 0x406
#define INTC 0x405
#define MIO_2 0x407
#define ODDRST 0x407
#define TIMER_0 0x408
#define TIMER_1 0x40a
#define TIMER_2 0x40c
#define TMRCMD 0x40e
#define ICW1 0x409
#define ICW2 0x40b
#define OCW1 0x40b
#define OCW2 0x409
#define OCW3 0x409
#define IRR 0x409
#define ISR 0x409
#define IMR 0x40b
#define IDLEN 0x409
#define SELDI 0x40B
#define IDL 0x40D
/*
* Some bit masks for various registers for Model 1
*/
// for IRR, ISR, and IMR
#define IXEVN 0x80
#define IXODD 0x40
#define LIXEVN 0x20
#define LIXODD 0x10
#define EOC 0x08
#define TP0 0x04
#define USR_INT 0x02
#define TP2 0x01
// for INTC
#define AUTOZERO 0x80
#define IXLVL 0x40
#define IXS1 0x20
#define IXS0 0x10
#define USRINT 0x08
#define IA2 0x04
#define IA1 0x02
#define IA0 0x01
#endif
|
