// PC and DSP common shared definitions /*********************************************************************/ /* Copyright (c) 2003-2006 DynoMotion Incorporated */ /*********************************************************************/ #ifndef __PCDSP_H #define __PCDSP_H #define KMOTION_VER "4.33" #define ABORT_CHAR 0x03 // ctrl-c clears/aborts any command #define TIMEBASE 0.00009 // 90 us #define USER_PROG_ADDRESS_KMOTION 0x80038000 // where first user program is loaded #define MAX_USER_PROG_SIZE_KMOTION 0x8000 // space between each thread/user program #define USER_PROG_ADDRESS_KFLOP 0x80050000 // where first user program is loaded #define MAX_USER_PROG_SIZE_KFLOP 0x10000 // space between each thread/user program #define N_USER_THREADS 7 // how many user programs/threads there are #define MAX_SEGMENTS 35000 // max number of parametric segments #define N_USER_THREADS 7 // how many user programs/threads there are #define N_CHANNELS 8 // number of channels/board #define N_IIR_FILTERS 3 // number of IIR Filters per axis #define N_BYTES_PER_LINE 64 // number of bytes/line for coff downloads #define N_DACS 8 // KMotion #define N_ADCS 8 #define N_PWMS 8 #define N_ENCS 8 #define N_ADCS_SNAP 8 // per snap amp #define N_PWMS_SNAP 4 // per snap amp #define N_ENCS_SNAP 4 #define N_BITS 48 // total # bits defined in KFLOP FPGA (space for 6 ports) #define N_BITS_KMOTION 32 // total # bits defined in KMOTION FPGA (space for 4 ports) #define N_VIRTUAL_BITS 16 // Number of virtual I/O bits, starting at bit 48 (48-63) #define N_SNAPAMP_BITS0 32 // Number of SnapAmp I/O bits, 1st board, starting at bit 64 (64-95) 8-OPTO 8-DIFFENTIAL 14-LVTTK #define N_SNAPAMP_BITS1 32 // Number of SnapAmp I/O bits, 2nd board, starting at bit 96 (96-127) 8-OPTO 8-DIFFENTIAL 14-LVTTK #define N_KANALOG_INPUTBITS 16 // Number of Kanalog Input bits, starting at bit 128 (128-143) 8-GP 8-Opto in #define N_KANALOG_OUTPUTBITS 24 // Number of Kanalog Output bits, starting at bit 144 (144-167) 8-Opto out, 8-GP, 8-Opto out #define KSTEP_OPTO_IN_BITS 168 // KStep muxes in 16 inputs to these virtual inputs (168-183) #define N_KSTEP_INPUTBITS 16 // Number of KStep Input bits, starting at bit 168 (168-183) 16-Opto In #define VIRTUAL_BITS_EX 1024 // Starting number of first extended Virtual IO bit #define N_VIRTUAL_BITS_EX 1024 // Number of Extended virtual I/O bits, starting at bit 1024 (1024-2047) // Macros to convert KMotion ADC channels 0-3 readings to Volts #define FULL_RANGE_VOLTAGE_KMOTION (-10.0f) #define OFFSET_VOLTAGE_KMOTION 0.0f #define KMOTION_CONVERT_ADC_TO_VOLTS(x) (((x)-OFFSET_VOLTAGE_KMOTION)/2048.0f*FULL_RANGE_VOLTAGE_KMOTION) // Macros to convert KMotion ADC channels 4-7 readings to Amps #define FULL_RANGE_CURRENT_KMOTION 4.85f #define OFFSET_CURRENT_KMOTION (-2048.0f) #define KMOTION_CONVERT_ADC_TO_AMPS(x) (((x)-OFFSET_CURRENT_KMOTION)/4096.0f*FULL_RANGE_CURRENT_KMOTION) #define FULL_RANGE_VOLTAGE_KMOTION_4V (4.0f) #define KMOTION_CONVERT_DAC_TO_VOLTS_4V(x) ((x)/4096.0f*FULL_RANGE_VOLTAGE_KMOTION_4V) // Macros to convert SnapAmp ADC readings to Amps/Volts #define FULL_RANGE_CURRENT_SNAP 35.0f #define OFFSET_CURRENT_SNAP 8192.0f #define FULL_RANGE_VOLTAGE_SNAP 102.6f #define OFFSET_VOLTAGE_SNAP 256.0f #define SNAP_CONVERT_ADC_TO_AMPS(x) (((x)-OFFSET_CURRENT_SNAP)/8192.0f*FULL_RANGE_CURRENT_SNAP) #define SNAP_CONVERT_AMPS_TO_ADC(x) (((x)/FULL_RANGE_CURRENT_SNAP*8192.0f+OFFSET_CURRENT_SNAP)) #define SNAP_CONVERT_ADC_TO_VOLTS(x) (((x)-OFFSET_VOLTAGE_SNAP)/65536.0f*FULL_RANGE_VOLTAGE_SNAP) #define SNAP_CONVERT_VOLTS_TO_ADC(x) ((int)((x)/FULL_RANGE_VOLTAGE_SNAP*65536.0f+OFFSET_VOLTAGE_SNAP)) // Macros to convert Kanalog DAC/ADC settings to/from Volts #define KANALOG_CONVERT_DAC_TO_VOLTS(x) ((x)*(-10.0f/2048.0f)) #define KANALOG_CONVERT_ADC_TO_VOLTS(x) ((x)*( 10.0f/2048.0f)) // Common codes to be passed from KFLOP to the PC to issue specific commands for certain Apps // storing one of these codes into the PC_COMM_PERSIST variable will be uploaded to the PC // with the status, the PC will perform the requested function, then the PC will either clear the // persist variable to indicate success or set to a negative error code to indicate failure. #define PC_COMM_IDLE 0 #define PC_COMM_ESTOP 1 #define PC_COMM_HALT 2 #define PC_COMM_EXECUTE 3 #define PC_COMM_SINGLE_STEP 4 #define PC_COMM_SET_FRO 5 // Persist+1 is the FRO as a float #define PC_COMM_SET_FRO_INC 6 // Persist+1 is the factor to change it as float #define PC_COMM_SET_X 7 // Persist+1 is the value (32-bit float) to set the DRO to #define PC_COMM_SET_Y 8 // Persist+1 is the value (32-bit float) to set the DRO to #define PC_COMM_SET_Z 9 // Persist+1 is the value (32-bit float) to set the DRO to #define PC_COMM_SET_A 10 // Persist+1 is the value (32-bit float) to set the DRO to #define PC_COMM_SET_B 11 // Persist+1 is the value (32-bit float) to set the DRO to #define PC_COMM_SET_C 12 // Persist+1 is the value (32-bit float) to set the DRO to #define PC_COMM_USER_BUTTON 13 // Persist+1 is which User Button to push #define PC_COMM_MCODE 14 // Persist+1 is which MCode to execute // MessageBox Persist+1 = gather buffer offset (32-bit words) to message string // Persist+2 = Message Box Options (Icons and Buttons) // Persist+3 = MessageBox Result returned #define PC_COMM_MSG 15 // MessageBox Persist+1=string,+2=Options,+3=result // Get GCode Interpreter Persist+1 = first #Var to get // Persist+2 = How many consecutive #Vars to get // Persist+3 = where to place them in KFLOP persist (double offset) // (GCode #Vars -> KFLOP persist) note: vars are transferred as doubles 2 persists each #define PC_COMM_GET_VARS 16 // Persist+1=#Var,+2=N, +3=Dest // Set GCode Interpreter Persist+1 = first #Var to put // Persist+2 = How many consecutive #Vars to put // Persist+3 = where to get them from KFLOP persist (double offset) // (KFLOP persist -> GCode #Vars) note: vars are transferred as doubles 2 persists each #define PC_COMM_SET_VARS 17 // Persist+1=#Var,+2=N, +3=Dest // MDI Persist+1 = gather buffer offset (32-bit words) to GCode String // Persist+2 = Result returned #define PC_COMM_MDI 18 // Persist+1=string, +2=result // Requests the resolution in counts/inch for all 6 Axes as 32-bit floating point numbers #define PC_COMM_GETAXISRES 19 // Persist+1 is which where to place them in the UserData vars. #define PC_COMM_RESTART 20 // Resets the GCode back to line 1 #define PC_COMM_SET_SSO 21 // Persist+1 is the SSO as a float #define PC_COMM_SET_SSO_INC 22 // Persist+1 is the factor to change it as float // Get GCode Tool Table Length Persist+1 = Tool Index // Persist+2 = where to set value to KFLOP persist (double offset) // (GCode Tool Table -> KFLOP persist) note: vars are transferred as doubles 2 persists each #define PC_COMM_GET_TOOLTABLE_LENGTH 23 // Persist+1=#ToolIndex,+2=Dest // Set GCode Tool Table Length Persist+1 = Tool Index // Persist+2 = where to get value from KFLOP persist (double offset) // (KFLOP persist -> GCode Tool Table) note: vars are transferred as doubles 2 persists each #define PC_COMM_SET_TOOLTABLE_LENGTH 24 // Persist+1=#ToolIndex,+2=Source // Get GCode Misc Settings Persist+1 = where to set values to KFLOP persist (32-bit integers) // (GCode -> KFLOP persist) 4 values are sent to KFLOP, // Inches(1)/Metric(2) Flag // Tool Slot T number // Tool Index H number (length index) // Tool Index D number (radius index) #define PC_COMM_GET_MISC_SETTINGS 25 // Persist+1=Dest for values // Get GCode Interpreter DROS Persist+1 = where to place them in KFLOP persist (double offset) // (GCode Machine Coordinates -> KFLOP persist) note: vars are transferred as doubles 2 persists each #define PC_COMM_GET_MACHINE_COORDS 26 // Persist+1=Dest // Get GCode Interpreter DROS Persist+1 = where to place them in KFLOP persist (double offset) // (GCode DROs -> KFLOP persist) note: vars are transferred as doubles 2 persists each #define PC_COMM_GET_DROS 27 // Persist+1=Dest #define PC_COMM_UPDATE_FIXTURE 28 // Update any change in currently selected Fixture offsets // InputBox Persist+1 = gather buffer offset (32-bit words) to message string // Persist+2 = Value returned // Persist+3 = MessageBox Result returned #define PC_COMM_INPUT 29 // MessageBox Persist+1=string,+2=Value,+3=result // Get GCode Tool Table Diameter Persist+1 = Tool Index // Persist+2 = where to set value to KFLOP persist (double offset) // (GCode Tool Table -> KFLOP persist) note: vars are transferred as doubles 2 persists each #define PC_COMM_GET_TOOLTABLE_DIAMETER 30 // Persist+1=#ToolIndex,+2=Dest // Set GCode Tool Table Diameter Persist+1 = Tool Index // Persist+2 = where to get value from KFLOP persist (double offset) // (KFLOP persist -> GCode #Vars) note: vars are transferred as doubles 2 persists each #define PC_COMM_SET_TOOLTABLE_DIAMETER 31 // Persist+1=#ToolIndex,+2=Source // Get GCode Tool Table Offset X Persist+1 = Tool Index // Persist+2 = where to set value to KFLOP persist (double offset) // (GCode #Vars -> KFLOP persist) note: vars are transferred as doubles 2 persists each #define PC_COMM_GET_TOOLTABLE_OFFSETX 32 // Persist+1=#ToolIndex,+2=Dest // Set GCode Tool Table Offset X Persist+1 = Tool Index // Persist+2 = where to get value from KFLOP persist (double offset) // (KFLOP persist -> GCode #Vars) note: vars are transferred as doubles 2 persists each #define PC_COMM_SET_TOOLTABLE_OFFSETX 33 // Persist+1=#ToolIndex,+2=Source // Get GCode Tool Table Offset Y Persist+1 = Tool Index // Persist+2 = where to set value to KFLOP persist (double offset) // (GCode #Vars -> KFLOP persist) note: vars are transferred as doubles 2 persists each #define PC_COMM_GET_TOOLTABLE_OFFSETY 34 // Persist+1=#ToolIndex,+2=Dest // Set GCode Tool Table Offset Y Persist+1 = Tool Index // Persist+2 = where to get value from KFLOP persist (double offset) // (KFLOP persist -> GCode #Vars) note: vars are transferred as doubles 2 persists each #define PC_COMM_SET_TOOLTABLE_OFFSETY 35 // Persist+1=#ToolIndex,+2=Source #define PC_COMM_HALT_NEXT_LINE 36 // Stop Application at the Next Line of code #define PC_COMM_ENABLE_JOG_KEYS 37 // Allow User to Push Jog Buttons while JOB is running #define PC_COMM_DISABLE_JOG_KEYS 38 // Disable allowing User to Push Jog Buttons while Job is Running #define PC_COMM_PERSIST 100 // First Persist Variable that is uploaded in status #define N_PC_COMM_PERSIST 8 // Number of Persist Variables that are uploaded in status // Persist Variable used with CSS Constant Surface speed for Spindle // These parameters will be set when GCode switches to G97 CSS mode // A User program in KFLOP must be running to monitor the mode an x position // and alter the spindle RPM appropriately. #define PC_COMM_CSS_MODE 110 // Mode 1=Normal RPM mode. 2=CSS #define PC_COMM_CSS_X_OFFSET 111 // X axis counts for Radius zero #define PC_COMM_CSS_X_FACTOR 112 // X axis factor to convert counts to inches #define PC_COMM_CSS_S 113 // S speed setting in inches/sec #define PC_COMM_CSS_MAX_RPM 114 // Limit max RPM to this value as Radius approaches zero #define MACH3_PROBE_STATUS_VAR 62 #define MACH3_PROBE_RESULTS_VAR 50 // This status contains the majority of all status // so that it can be uploaded as a bulk transfer #define STAT_VERSION 308 typedef struct { int VersionAndSize; //bits 16-23 = version, bits 0-15 = size in words int ADC[N_ADCS+2*N_ADCS_SNAP]; int DAC[N_DACS]; int PWM[N_PWMS+2*N_PWMS_SNAP]; double Position[N_CHANNELS]; double Dest[N_CHANNELS]; unsigned char OutputChan0[N_CHANNELS]; int InputModes; // 4 bits for each axis int InputModes2; // 4 bits for each axis int OutputModes; // 4 bits for each axis int OutputModes2; // 4 bits for each axis int Enables; // 1 bit for each axis int AxisDone; // 1 bit for each axis int BitsDirection[2];// KMotion - 64 bits of I/O direction 1 = output int BitsState[2]; // KMotion - 64 bits of state lsb=I/O bit0 int SnapBitsDirection0; // Snap - 32 bits of I/O direction 1=output 16-29 GPIO only, Card 0 int SnapBitsDirection1; // Snap - 32 bits of I/O direction 1=output 16-29 GPIO only, Card 1 int SnapBitsState0; // Snap - 32 bits of state 16-29 GPIO 0-7 Diff 8-15 OPTO, Card 0 int SnapBitsState1; // Snap - 32 bits of state 16-29 GPIO 0-7 Diff 8-15 OPTO, Card 1 int KanalogBitsStateInputs; // Kanalog - 16 bits 128-143 int KanalogBitsStateOutputs; // Kanalog - 24 bits 144-167 int RunOnStartUp; // word Bits 1-7 selects which threads to execute on startup int ThreadActive; // one bit for each thread, 1=active, bit 0 - primary int StopImmediateState; // Status of Stop Coordinated Motion Immediately double TimeStamp; // Time in seconds (since KFlop boot) this status was aquired int PC_comm[N_PC_COMM_PERSIST];// 8 persist Variables constantly uploaded to send misc commands/data to PC int VirtualBits; // Virtual I/O bits simulated in memory int VirtualBitsEx0; // only upload 32 1024 Expanded Virtual Bits } MAIN_STATUS; // Axis Input Modes #define NO_INPUT_MODE 0 #define ENCODER_MODE 1 #define ADC_MODE 2 #define RESOLVER_MODE 3 #define USER_INPUT_MODE 4 #define NUM_INPUT_MODES 4 #define TranslateInputMode(x) ( ((x)&0xf) == NO_INPUT_MODE ? "No Input" : \ ((x)&0xf) == ENCODER_MODE ? "Encoder" : \ ((x)&0xf) == ADC_MODE ? "ADC" : \ ((x)&0xf) == RESOLVER_MODE ? "Resolver" :\ ((x)&0xf) == USER_INPUT_MODE ? "User Input" : \ "Invalid") #define InputModeToDefine(x) ( ((x)&0xf) == NO_INPUT_MODE ? "NO_INPUT_MODE" : \ ((x)&0xf) == ENCODER_MODE ? "ENCODER_MODE" : \ ((x)&0xf) == ADC_MODE ? "ADC_MODE" : \ ((x)&0xf) == RESOLVER_MODE ? "RESOLVER_MODE" :\ ((x)&0xf) == USER_INPUT_MODE ? "USER_INPUT_MODE" : \ "Invalid") // Axis Output Modes #define NO_OUTPUT_MODE 0 #define MICROSTEP_MODE 1 #define DC_SERVO_MODE 2 #define BRUSHLESS_3PH_MODE 3 #define BRUSHLESS_4PH_MODE 4 #define DAC_SERVO_MODE 5 #define STEP_DIR_MODE 6 #define CL_STEP_DIR_MODE 7 #define CL_MICROSTEP_MODE 8 #define NUM_SERVO_MODES 8 #define TranslateOutputMode(x) ( ((x)&0xf) == NO_OUTPUT_MODE ? "No Output" : \ ((x)&0xf) == MICROSTEP_MODE ? "Microstep" : \ ((x)&0xf) == DC_SERVO_MODE ? "DC Servo" : \ ((x)&0xf) == BRUSHLESS_3PH_MODE ? "3PH Servo" : \ ((x)&0xf) == BRUSHLESS_4PH_MODE ? "4PH Servo" : \ ((x)&0xf) == DAC_SERVO_MODE ? "DAC Servo" : \ ((x)&0xf) == STEP_DIR_MODE ? "Step Dir" : \ ((x)&0xf) == CL_STEP_DIR_MODE ? "CL Step" : \ ((x)&0xf) == CL_MICROSTEP_MODE ? "CL Micro" : \ "Invalid") #define OutputModeToDefine(x) ( ((x)&0xf) == NO_OUTPUT_MODE ? "NO_OUTPUT_MODE" : \ ((x)&0xf) == MICROSTEP_MODE ? "MICROSTEP_MODE" : \ ((x)&0xf) == DC_SERVO_MODE ? "DC_SERVO_MODE" : \ ((x)&0xf) == BRUSHLESS_3PH_MODE ? "BRUSHLESS_3PH_MODE" : \ ((x)&0xf) == BRUSHLESS_4PH_MODE ? "BRUSHLESS_4PH_MODE" : \ ((x)&0xf) == DAC_SERVO_MODE ? "DAC_SERVO_MODE" : \ ((x)&0xf) == STEP_DIR_MODE ? "STEP_DIR_MODE" : \ ((x)&0xf) == CL_STEP_DIR_MODE ? "CL_STEP_DIR_MODE" : \ ((x)&0xf) == CL_MICROSTEP_MODE ? "CL_MICROSTEP_MODE" : \ "Invalid") // Backlash Compensation Options #define BACKLASH_OFF 0 #define BACKLASH_LINEAR 1 #define NUM_BACKLASH_MODES 1 #define TranslateBacklashMode(x) (((x)&0xf) == BACKLASH_OFF ? "off" : \ ((x)&0xf) == BACKLASH_LINEAR ? "Linear" : \ "Invalid") #define BacklashModeToDefine(x) (((x)&0xf) == BACKLASH_OFF ? "BACKLASH_OFF" : \ ((x)&0xf) == BACKLASH_LINEAR ? "BACKLASH_LINEAR" : \ "Invalid") // Global Host Status extern int HostStatus // As host is requesting Global Status from KFLOP it can also optionally // specify its status as a 32 bit field. Bits can indicate its state and // modes such as whether a a Job is actively running so KFLOP should inhibit // mpg jogging #define HOST_JOB_ACTIVE_BIT 1 // bit0 indicates Host Job is Actively running #endif