MotnCnst.h

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#ifndef ___motncnst_h___
#define ___motncnst_h___
 
/*****************************************************************************************
   This file contains standard definitions used by the Value Motion and Flex Motion 
   motion controller board families.
 
   The sections in this file are:
 
      Data Types
      Board Types
      Board Class (servo or stepper).
      Board Family
      Bus Type
      Loop Mode
      Axis Numbers
 
*****************************************************************************************/
 
/*********************************** Data Types *****************************************/
#ifndef __LINUX__
typedef unsigned char u8;
typedef unsigned short u16;
typedef unsigned long u32;
#else
    #ifndef __KERNEL__
    typedef unsigned char u8;
    typedef unsigned short u16;
    typedef unsigned long u32;
    #endif
#endif
 
typedef char            i8;
typedef short           i16;
typedef long            i32;
typedef double          f64;
typedef float           f32;
typedef long            tBoolean;
 
#define  NIMC_FALSE     0
#define  NIMC_TRUE      1
/********************************** Board Types *****************************************/
                        
#define  PC_SERVO_2A       7
#define  PC_SERVO_4A       3
#define  PC_STEP_2OX       8
#define  PC_STEP_4OX       4
#define  PC_STEP_2CX       9
#define  PC_STEP_4CX       5  
#define  PC_FLEXMOTION_6C  16
 
#define  PCI_SERVO_2A      17
#define  PCI_SERVO_4A      11
#define  PCI_STEP_2OX      18
#define  PCI_STEP_4OX      12
#define  PCI_STEP_2CX      19
#define  PCI_STEP_4CX      13
#define  PCI_FLEXMOTION_6C 24
#define PCI_7344                28
#define PCI_7324                29
#define PCI_7314                30
#define  PCI_7334               32
#define  PCI_7332               33
#define  PCI_7348          34
#define  PCI_7342               37
#define  PCI_7346               38
 
#define  PXI_7312    22    // Step-2OX
#define  PXI_7314    20    // Step-4OX 
#define  PXI_7322    23    // Step-2CX
#define  PXI_7324    21  
#define  PXI_7332    26   
#define  PXI_7334    25    
#define  PXI_7344       27
#define  PXI_7348    35
#define  PXI_7342       36
#define  PXI_7346    39
 
#define FW_7344     31      //1394 7344
#define ENET_7344   41      // Ethernet 7344
#define SER_7344        51      // Serial 7344
 
// existing boards no longer being shipped.
#define  PC_CONTROL        0
#define  PC_STEP_OL        1
#define  PC_STEP_CL        2
#define  PC_ENCODER_4A     6
#define  PCI_ENCODER_4A    14
 
#define  PC_SERVO_1P       PC_SERVO_2A
 
// *******************************************************************
// There are currently 31 boards, and the PC_SERVO_1P is NOT included.
// *******************************************************************
 
 
#define  NIMC_SERVO 0
#define  NIMC_OPEN_LOOP_STEPPER  1
#define  NIMC_CLOSED_LOOP_STEPPER  2
 
#define  NIMC_FLEX_6C       0
#define  NIMC_FLEX_7344     1
#define NIMC_FLEX_7334      2
 
#define  SERVO 0
#define  STEPPER  1
#define  SERVO_STEPPER 2
 
#define  NIMC_FLEX_MOTION  0
#define  NIMC_VALUE_MOTION 1
 
#define  NIMC_ISA_BUS   0
#define  NIMC_PCI_BUS  1
#define  NIMC_PXI_BUS  2
#define  NIMC_UNKNOWN_BUS 3
#define NIMC_1394_BUS   4
#define NIMC_ENET_BUS   5
#define NIMC_SERIAL_BUS 6
 
#define  OPEN_LOOP   0
#define  CLOSED_LOOP  1
 
#define  TWO_AXIS   2
#define  THREE_AXIS   3
#define  FOUR_AXIS   4
#define  SIX_AXIS   6
#define EIGHT_AXIS   8
 
#define NIMC_UNKNOWN_OS 0xFFFF
#define NIMC_WIN95      0
#define NIMC_WIN98      2
#define NIMC_WINNT      3
#define NIMC_WIN2000        4
#define NIMC_PHARLAP        5
#define NIMC_LINUX      6
 
/************************************ MISC ********************************************/
#define  MAX_TRIGGER_NUMBER 4
#define  MAX_NUM_AXIS_VALUEMOTION 4
#define  MAX_NUM_AXIS_FLEXMOTION 6
#define  NIMC_MAXBOARDS 32
 
#define  NIMC_BOARD_FAMILY                1100
#define  NIMC_BOARD_TYPE                  1120
#define  NIMC_BUS_TYPE                    1130
#define  NIMC_CLOSED_LOOP_CAPABLE         1150
#define  NIMC_NOT_APPLICABLE              1500
#define  NIMC_NUM_AXES                    1510
#define  NIMC_VALUEMOTION_BOARD_CLASS     2020
#define  NIMC_BOARDTYPE_TO_VALUEMOTION_BOARD_CLASS     2150
#define NIMC_BOOT_VERSION                3010
#define NIMC_FIRMWARE_VERSION            3020
#define NIMC_DSP_VERSION                 3030
#define NIMC_FPGA_VERSION                3040
#define  NIMC_FPGA1_VERSION                 3040
#define  NIMC_FPGA2_VERSION                 3050
#define  NIMC_FLEXMOTION_BOARD_CLASS        2030
#define NIMC_CONTROLLER_SERIAL_NUMBER       2040
 
 
//ValueMotion Axis Status bits
#define  NIMC_VALUEMOTION_PROFILE_COMPLETE  0x400 //profile complete bit for ValueMotion
#define  NIMC_VALUEMOTION_MOTOR_OFF             4     //motor off bit for ValueMotion
#define  NIMC_VALUEMOTION_MOTOR_RUNNING     0x80  //motor running bit for ValueMotion
#define NIMC_VALUEMOTION_LIMIT_SWITCH 1
#define  NIMC_VALUEMOTION_HOME_SWITCH   2
#define  NIMC_VALUEMOTION_FOLLOWING_ERROR       0x20
#define NIMC_VALUEMOTION_DIRECTION  0x1000
#define  NIMC_VALUEMOTION_INDEX 0x8
 
//ValueMotion communication status bits
#define NIMC_VALUEMOTION_HARDWARE_FAIL      0x40
#define NIMC_VALUEMOTION_FUNCTION_ERROR 0x10
#define NIMC_VALUEMOTION_PREVIOUS_FUNCTION_ERROR 0x80
 
 
#define NIMC_KP     0
#define NIMC_KI     1
#define NIMC_IL     2
#define NIMC_KD     3
#define NIMC_TD     4
#define NIMC_KV     5
#define NIMC_AFF        6
#define NIMC_VFF        7
#define NIMC_KS_POS 8
#define NIMC_KS_NEG 9
 
#define NIMC_BOTH 0
#define NIMC_ACCELERATION 1
#define NIMC_ACCEL NIMC_ACCELERATION
#define NIMC_DECELERATION 2
#define NIMC_DECEL NIMC_DECELERATION
 
#define NIMC_RUN_STOP_STATUS 0
#define NIMC_MOTOR_OFF_STATUS 1 
#define NIMC_VELOCITY_THRESHOLD_STATUS 2
#define NIMC_MOVE_COMPLETE_STATUS 3
 
#define NIMC_DECEL_STOP 0
#define NIMC_HALT_STOP 1
#define NIMC_KILL_STOP 2
 
#define NIMC_LIMIT_INPUTS 0 
#define NIMC_SOFTWARE_LIMITS 1
 
#define NIMC_OBJECT_SAVE 0
#define NIMC_OBJECT_DELETE 1
#define NIMC_OBJECT_FREE 2
 
#define NIMC_SEND_COMMAND 0
#define NIMC_SEND_AND_READ 1
#define NIMC_READ_RDB 2
 
#define NIMC_WAIT 0
#define NIMC_WAIT_OR 1
 
#define  NIMC_OPEN_LOOP 0
#define  NIMC_CLOSED_LOOP 1
 
#define  NIMC_MATCH_ALL 0
#define  NIMC_MATCH_ANY 1
 
#define NIMC_PROGRAM_DONE 0
#define NIMC_PROGRAM_PLAYING 1
#define NIMC_PROGRAM_PAUSED 2
#define NIMC_PROGRAM_STORING 3
 
//Condition Codes for FlexMotion flex_wait_on_condition() and
//flex_jump_label_on_condition()
#define  NIMC_CONDITION_LESS_THAN                     0 // Less Than
#define  NIMC_CONDITION_EQUAL                           1   // Equal    
#define  NIMC_CONDITION_LESS_THAN_OR_EQUAL           2  // Less Than or Equal to    
#define  NIMC_CONDITION_GREATER_THAN                   3    // Greater Than     
#define  NIMC_CONDITION_NOT_EQUAL                     4 // Not Equal
#define  NIMC_CONDITION_GREATER_THAN_OR_EQUAL         5 // Greater Than or Equal
#define  NIMC_CONDITION_TRUE                            6   // TRUE (default)   
#define  NIMC_CONDITION_HOME_FOUND                    7 // Home Found sequence completed
#define  NIMC_CONDITION_INDEX_FOUND                   8  // Index Found on Axes 
#define  NIMC_CONDITION_HIGH_SPEED_CAPTURE           9  // High Speed Capt on Axes
#define  NIMC_CONDITION_POSITION_BREAKPOINT          10 // Position breakpoint on Axes              
#define  NIMC_CONDITION_ANTICIPATION_TIME_BREAKPOINT  11    // Anticipation Time Breakpoint 
#define  NIMC_CONDITION_VELOCITY_THRESHOLD              12  // Velocity Breakpoint          
#define  NIMC_CONDITION_MOVE_COMPLETE                   13  // Move Complete                
#define  NIMC_CONDITION_PROFILE_COMPLETE                14  // Profile Complete             
#define  NIMC_CONDITION_BLEND_COMPLETE                  15  // Blend Complete               
#define  NIMC_CONDITION_MOTOR_OFF                       16  // Motor Off                    
#define  NIMC_CONDITION_HOME_INPUT_ACTIVE               17  // Home Active                  
#define  NIMC_CONDITION_LIMIT_INPUT_ACTIVE              18  // Limit Active                 
#define  NIMC_CONDITION_SOFTWARE_LIMIT_ACTIVE         19 // Software Limit Active
#define  NIMC_CONDITION_PROGRAM_COMPLETE                20  // Program has run to completion
#define  NIMC_CONDITION_IO_PORT_MATCH               21  // IO port match                
 
// Operation Modes
#define NIMC_ABSOLUTE_POSITION     0
#define  NIMC_RELATIVE_POSITION     1
#define  NIMC_VELOCITY              2
#define  NIMC_RELATIVE_TO_CAPTURE   3
#define  NIMC_MODULUS_POSITION      4
#define NIMC_ABSOLUTE_CONTOURING    5
#define NIMC_RELATIVE_CONTOURING    6
 
// ValueMotion breakpoint constants
#define NIMC_POSITION_BREAKPOINT 0
#define NIMC_ANTICIPATION_TIME_BREAKPOINT 1
 
// FlexMotion breakpoint constants
#define NIMC_BREAKPOINT_OFF         0
#define NIMC_ABSOLUTE_BREAKPOINT    1
#define NIMC_RELATIVE_BREAKPOINT    2
#define NIMC_MODULO_BREAKPOINT      3
 
#define NIMC_NO_CHANGE                  0
#define NIMC_RESET_BREAKPOINT       1
#define NIMC_SET_BREAKPOINT         2
#define NIMC_TOGGLE_BREAKPOINT      3
 
#define NIMC_OPERATION_SINGLE       0
#define NIMC_OPERATION_BUFFERED     1
 
// FlexMotion regeneration mode constants for write_buffer
#define NIMC_REGENERATION_NO_CHANGE     0
#define NIMC_REGENERATION_LAST_WRITE    1
 
// FlexMotion high-speed capture constants
#define NIMC_HS_NON_INVERTING_LEVEL         0
#define NIMC_HS_INVERTING_LEVEL             1
#define NIMC_HS_LOW_TO_HIGH_EDGE                2
#define NIMC_HS_HIGH_TO_LOW_EDGE                3
#define NIMC_HS_NON_INVERTING_DI                4
#define NIMC_HS_INVERTING_DI                    5
 
// These are used for getting error descriptions
#define NIMC_ERROR_ONLY         0
#define NIMC_FUNCTION_NAME_ONLY     1
#define NIMC_RESOURCE_NAME_ONLY     2
#define NIMC_COMBINED_DESCRIPTION   3
 
// ADC range constants
#define NIMC_ADC_UNIPOLAR_5 0
#define NIMC_ADC_BIPOLAR_5      1
#define NIMC_ADC_UNIPOLAR_10    2
#define NIMC_ADC_BIPOLAR_10 3
 
// RTSI constants (destination)
#define NIMC_RTSI0              0
#define NIMC_RTSI1              1
#define NIMC_RTSI2              2
#define NIMC_RTSI3              3
#define NIMC_RTSI4              4
#define NIMC_RTSI5              5
#define NIMC_RTSI6              6
#define NIMC_PXI_STAR_TRIGGER   7
#define NIMC_HS_CAPTURE1        8
#define NIMC_HS_CAPTURE2        9
#define NIMC_HS_CAPTURE3        10
#define NIMC_HS_CAPTURE4        11
 
// RTSI constants (source)
#define NIMC_TRIGGER_INPUT      8
#define NIMC_BREAKPOINT1        9
#define NIMC_BREAKPOINT2        10
#define NIMC_BREAKPOINT3        11
#define NIMC_BREAKPOINT4        12
#define NIMC_RTSI_SOFTWARE_PORT 13
#define NIMC_DONT_DRIVE         14
#define NIMC_BREAKPOINT5        15
#define NIMC_BREAKPOINT6        16
#define NIMC_PHASE_A1           17
#define NIMC_PHASE_A2           18
#define NIMC_PHASE_A3           19
#define NIMC_PHASE_A4           20
#define NIMC_PHASE_A5           21
#define NIMC_PHASE_A6           22
#define NIMC_PHASE_B1           23
#define NIMC_PHASE_B2           24
#define NIMC_PHASE_B3           25
#define NIMC_PHASE_B4           26
#define NIMC_PHASE_B5           27
#define NIMC_PHASE_B6           28
#define NIMC_INDEX1             29
#define NIMC_INDEX2             30
#define NIMC_INDEX3             31
#define NIMC_INDEX4             32
#define NIMC_INDEX5             33
#define NIMC_INDEX6             34
 
/* These are the base CTRL values for resourses.*/
#define NIMC_AXIS_CTRL              0x00
#define NIMC_VECTOR_SPACE_CTRL   0x10
#define NIMC_ENCODER_CTRL           0x20
#define NIMC_DAC_CTRL               0x30
#define NIMC_STEP_OUTPUT_CTRL       0x40
#define NIMC_ADC_CTRL               0x50
#define NIMC_IO_PORT_CTRL           0x00
#define NIMC_PWM_CTRL               0x00
#define NIMC_PROGRAM_CTRL           0x00
 
#define NIMC_AXIS1  0x01
#define NIMC_AXIS2  0x02
#define NIMC_AXIS3  0x03
#define NIMC_AXIS4  0x04
#define NIMC_AXIS5  0x05
#define NIMC_AXIS6  0x06
 
#define NIMC_VECTOR_SPACE1  0x11
#define NIMC_VECTOR_SPACE2  0x12
#define NIMC_VECTOR_SPACE3  0x13
 
#define NIMC_ENCODER1   0x21
#define NIMC_ENCODER2   0x22
#define NIMC_ENCODER3   0x23
#define NIMC_ENCODER4   0x24
#define NIMC_ENCODER5   0x25
#define NIMC_ENCODER6   0x26
 
#define NIMC_DAC1   0x031
#define NIMC_DAC2   0x032
#define NIMC_DAC3   0x033
#define NIMC_DAC4   0x034
#define NIMC_DAC5   0x035
#define NIMC_DAC6   0x036
 
#define NIMC_STEP_OUTPUT1   0x41
#define NIMC_STEP_OUTPUT2   0x42
#define NIMC_STEP_OUTPUT3   0x43
#define NIMC_STEP_OUTPUT4   0x44
#define NIMC_STEP_OUTPUT5   0x45
#define NIMC_STEP_OUTPUT6   0x46
 
#define NIMC_ADC1   0x51
#define NIMC_ADC2   0x52
#define NIMC_ADC3   0x53
#define NIMC_ADC4   0x54
#define NIMC_ADC5   0x55
#define NIMC_ADC6   0x56
#define NIMC_ADC7   0x57
#define NIMC_ADC8   0x58
 
#define NIMC_IO_PORT1   0x01
#define NIMC_IO_PORT2   0x02
#define NIMC_IO_PORT3   0x03
 
#define NIMC_PWM1       0x01
#define NIMC_PWM2       0x02
 
// These constants are used by flex_enable_axes to set the PID rate.
#define NIMC_PID_RATE_62_5      0
#define NIMC_PID_RATE_125       1
#define NIMC_PID_RATE_188       2
#define NIMC_PID_RATE_250       3
#define NIMC_PID_RATE_313       4
#define NIMC_PID_RATE_375       5
#define NIMC_PID_RATE_438       6
#define NIMC_PID_RATE_500       7
 
#define NIMC_FORWARD_DIRECTION  0 
#define NIMC_REVERSE_DIRECTION  1
 
#define NIMC_OUTPUT 0 
#define NIMC_INPUT  1
 
//Communication Status Register bits
#define NIMC_READY_TO_RECEIVE 0x01      //Ready to receive
#define NIMC_DATA_IN_RDB        0x02        //Data in return data buffer
#define NIMC_PACKET_ERROR     0x10      //Packet error
#define NIMC_POWER_UP_RESET 0x20        //Power up Reset
#define NIMC_MODAL_ERROR_MSG  0x40      //Modal error message
#define NIMC_HARDWARE_FAIL      0x80        //Hardware Fail bit
 
 
//Read Axis Status bits
#define NIMC_RUN_STOP_BIT               0x0001          //Axis running bit
#define NIMC_PROFILE_COMPLETE_BIT   0x0002          //Profile complete bit in 'per Axis' hardware status
#define NIMC_AXIS_OFF_BIT               0x0004          //Motor off bit
#define NIMC_FOLLOWING_ERROR_BIT        0x0008          //Following error bit
#define NIMC_LIMIT_SWITCH_BIT           0x0010          //Hardware Limit
#define NIMC_HOME_SWITCH_BIT            0x0020          //Home switch bit
#define NIMC_SW_LIMIT_BIT               0x0040          //Software Limit
#define NIMC_VELOCITY_THRESHOLD_BIT 0x0100          //Velocity threshold
#define NIMC_POS_BREAKPOINT_BIT     0x0200          //Position Breakpoint
#define NIMC_HOME_FOUND_BIT         0x0400       //Home Found
#define NIMC_INDEX_FOUND_BIT            0x0800          //Index Found
#define NIMC_HIGH_SPEED_CAPTURE_BIT 0x1000      //High Speed capture
#define NIMC_DIRECTION_BIT              0x2000      //Direction
#define NIMC_BLEND_STATUS_BIT           0x4000      //Blend Status
#define NIMC_MOVE_COMPLETE_BIT      0x8000      //Move Complete 
 
//Gearing Mode constants
#define NIMC_ABSOLUTE_GEARING       0   //Absolute gearing
#define NIMC_RELATIVE_GEARING       1   //Relative gearing
 
//Load Counts/Steps per Revolution constants
#define NIMC_COUNTS 0
#define NIMC_STEPS  1
 
#define NIMC_MAX_FILENAME_LEN       256 // includes nulls byte
 
#define NIMC_ENABLE_1394_WATCHDOG   1  //Enables the communication watchdog on the 
                                                    //1394 motherboard
#define NIMC_DISABLE_1394_WATCHDOG  0  //Disables the communication watchdog on the 
                                                    //1394 motherboard
 
// Buffered Operations Constants
#define NIMC_GENERAL_PURPOSE_INPUT      0
#define NIMC_GENERAL_PURPOSE_OUTPUT     1
#define NIMC_POSITION_DATA              2
#define NIMC_BREAKPOINT_DATA            3
#define NIMC_HS_CAPTURE_READBACK        4
 
// Contouring Points Constants
#define NIMC_MIN_CONTOURING_INTERVAL    10      // 10 ms
#define NIMC_MAX_CONTOURING_INTERVAL    90.5    // PID rate of 500 us with splinePoints = 181
#define NIMC_MAX_SPLINE_POINTS          181     // sqrt(2^15) -- 
                                                // Precondition on DSP code, DX^2 <= 2^15
 
// Buffer states
#define NIMC_BUFFER_NOT_EXIST       0
#define NIMC_BUFFER_READY           1
#define NIMC_BUFFER_ACTIVE          2
#define NIMC_BUFFER_DONE            3
#define NIMC_BUFFER_OLDDATASTOP     4
 
// informationType Constants for getu32/setu32 functions.
#define NIMC_BUS_TIMEOUT    256     // Attribute specifying the time out value for remote device
#define NIMC_BP_WINDOW      512     // Attribute specifying the window for enabling breakpoint
#define NIMC_PROGRAM_AUTOSTART  768     // Attribute specifying the program that is enabled for auto start
#define NIMC_PULL_IN_WINDOW 1024    // Attribute specifying the deadband around the target position for a 
                                                // pull in move (closed loop stepper only).
#define NIMC_PULL_IN_TRIES  1025    // Attribute specifying the number of tries to pull in a closed loop
                                                // stepper move in the target position is not reached.
#define NIMC_STICTION_MODE              1030    // Attribute the mode of stiction compensation.
#define NIMC_STICTION_MAX_DEADBAND      1031    // Attribute to set the stiction max deadband (where pid gains reconnected).
#define NIMC_STICTION_MIN_DEADBAND      1032    // Attribute to set the stiction min deadband (where pid gains disconnected).
#define NIMC_STICTION_ITERM_OFFSET_FWD  1033    // Attribute to set postive integral error offset (for forward direction).
#define NIMC_STICTION_ITERM_OFFSET_REV  1034    // Attribute to set negative integral offset (for reverse direction).
 
//Object Types
#define NIMC_OBJECT_TYPE_PROGRAM 1
#define NIMC_OBJECT_TYPE_BUFFER 2
 
// Pull in Constants (Closed Loop Stepper Only)
#define NIMC_MAX_PULL_IN_WINDOW 32767
#define NIMC_MAX_PULL_IN_TRIES  32767
 
// Stiction parameters (Servo only)
// Modes
#define NIMC_STICTION_OFF           0
#define NIMC_STICTION_ZERO_DAC  1
#define NIMC_STICTION_KILL          2
 
 
#endif // ___motncnst_h___