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/************************************************************************\
## ##
## Creation Date: 18 Mar 2007 ##
## Last Update: 18 Mar 2007 ##
## Author: XInstruments ##
## ##
## Desc: Setup packet-building functions. ##
## ##
\************************************************************************/
#ifndef _USMCTYPES_H
#define _USMCTYPES_H
#include <linux/types.h>
// IOControl Codes:
// Controller-specific operations:
#define IOCTL_GET_DESCRIPTOR_CONFIGURATION 0x00000000
#define IOCTL_GET_DESCRIPTOR_DEVICE 0x00000001
#define IOCTL_GET_DESCRIPTOR_STRING 0x00000002
#define IOCTL_GET_STATUS_DEVICE 0x00000003
#define IOCTL_GET_STATUS_ENDPOINT 0x00000004
#define IOCTL_GET_STATUS_INTERFACE 0x00000005
#define IOCTL_GET_VERSION 0x00000006
#define IOCTL_GET_SERIAL 0x00000007
#define IOCTL_GET_ENCODER_STATE 0x00000008
#define IOCTL_GET_STATE 0x00000009
#define IOCTL_GO_TO 0x0000000A
#define IOCTL_SET_MODE 0x0000000B
#define IOCTL_SET_PARAMETERS 0x0000000C
#define IOCTL_DOWNLOAD 0x0000000D
#define IOCTL_SET_SERIAL 0x0000000E
#define IOCTL_SET_CURRENT_POSITION 0x0000000F
#define IOCTL_STOP_STEP_MOTOR 0x00000010
#define IOCTL_EMULATE_BUTTONS 0x00000011
#define IOCTL_SAVE_PARAMETERS 0x00000012
// Driver-specific operations:
#define IOCTL_GET_NOD 0x00000100
// Types of GetDescriptor SetupPacket:
#define GET_DESCRIPTOR_CONFIGURATION 1
#define GET_DESCRIPTOR_DEVICE 2
#define GET_DESCRIPTOR_STRING 3
// Types of GetStatus SetupPacket:
#define GET_STATUS_DEVICE 1
#define GET_STATUS_ENDPOINT 2
#define GET_STATUS_INTERFACE 3
#pragma pack ( push, 1 )
typedef struct _STATE_PACKET // 11 bytes;
{
__u32 CurPos; // Current Position (byte 0 is lowest byte 3 - highest) - CP.
__u16 Temp; // Current Temperature of Driver.
// Byte 6:
__u8 M1 : 1; // | Step size is 2^(-M1-2*M2), where M1,M2 = 0,1. May be otherwise 1<->2.
__u8 M2 : 1; // |
__u8 LOFT : 1; // Indicates "Loft State".
__u8 REFIN : 1; // If TRUE then full power.
__u8 CW_CCW : 1; // Current direction. Relatively!
__u8 RESET : 1; // If TRUE then Step Motor is ON.
__u8 FULLSPEED : 1; // If TRUE then full speed. Valid in "Slow Start" mode.
__u8 AFTRESET : 1; // TRUE After Device reset, FALSE after "Set Position".
// Byte 7:
__u8 RUN : 1; // TRUE if step motor is rotating.
__u8 SYNCIN : 1; // Logical state directly from input synchronization PIN (pulses treated as positive).
__u8 SYNCOUT : 1; // Logical state directly from output synchronization PIN (pulses are positive).
__u8 ROTTR : 1; // Indicates current rotary transducer logical press state.
__u8 ROTTRERR : 1; // Indicates rotary transducer error flag (reset by USMC_SetMode function with ResetRT bit √ TRUE).
__u8 EMRESET : 1; // Indicates state of emergency disable button (TRUE √ Step motor power off).
__u8 TRAILER1 : 1; // Indicates trailer 1 logical press state.
__u8 TRAILER2 : 1; // Indicates trailer 2 logical press state.
// Byte 8:
__u8 USBPOW : 1; // USB Powered.
__u8 UNKNOWN : 6;
__u8 Working : 1; // This bit must be always TRUE (to chek functionality).
__u16 Voltage; // Voltage of +40V Power input.
} STATE_PACKET, * PSTATE_PACKET, * LPSTATE_PACKET;
typedef struct _ENCODER_STATE_PACKET // 8 bytes;
{
__u32 ECurPos; // Current Position in Encoder Units.
__u32 EncPos; // Encoder Current Position.
} ENCODER_STATE_PACKET, * PENCODER_STATE_PACKET, * LPENCODER_STATE_PACKET;
typedef struct _GO_TO_PACKET // 7 bytes;
{
__u32 DestPos; // Destination Position.
__u16 TimerPeriod; // Period between steps is 12*(65536-[TimerPeriod])/[SysClk] in seconds, where SysClk = 24000000 Hz.
// Byte 7:
__u8 M1 : 1; // | Step size is 2^(-M1-2*M2), where M1,M2 = 0,1. May be otherwise 1<->2.
__u8 M2 : 1; // |
__u8 DEFDIR : 1; // Default direction. For "Anti Loft" operation.
__u8 LOFTEN : 1; // Enable automatic "Anti Loft" operation.
__u8 SLSTRT : 1; // Slow Start(and Stop) mode.
__u8 WSYNCIN : 1; // Wait for input synchronization signal to start.
__u8 SYNCOUTR : 1; // Reset output synchronization counter.
__u8 FORCELOFT : 1; // Force driver automatic "Anti Loft" mechanism to reset "Loft State".
} GO_TO_PACKET, * PGO_TO_PACKET, * LPGO_TO_PACKET;
typedef struct _MODE_PACKET // 7 bytes;
{
// Byte 0:
__u8 PMODE : 1; // Turn off buttons (TRUE - buttons disabled).
__u8 REFINEN : 1; // Current reduction regime (TRUE - regime is on).
__u8 RESETD : 1; // Turn power off and make a whole step (TRUE - apply).
__u8 EMRESET : 1; // Quick power off.
__u8 TR1T : 1; // Trailer 1 TRUE state.
__u8 TR2T : 1; // Trailer 2 TRUE state.
__u8 ROTTRT : 1; // Rotary Transducer TRUE state.
__u8 TRSWAP : 1; // If TRUE, Trailers are Swapped (Swapping After Reading Logical State).
// Byte 1:
__u8 TR1EN : 1; // Trailer 1 Operation Enabled.
__u8 TR2EN : 1; // Trailer 2 Operation Enabled.
__u8 ROTTREN : 1; // Rotary Transducer Operation Enabled.
__u8 ROTTROP : 1; // Rotary Transducer Operation Select (stop on error for TRUE).
__u8 BUTT1T : 1; // Button 1 TRUE state.
__u8 BUTT2T : 1; // Button 2 TRUE state.
__u8 BUTSWAP : 1; // If TRUE, Buttons are Swapped (Swapping After Reading Logical State).
__u8 RESETRT : 1; // Reset Rotary Transducer Check Positions (need one full revolution before it can detect error).
// Byte 2:
__u8 SNCOUTEN : 1; // Output Syncronization Enabled.
__u8 SYNCOUTR : 1; // Reset output synchronization counter.
__u8 SYNCINOP : 1; // Synchronization input mode: TRUE - Step motor will move one time to the DestPos FALSE - Step motor will move multiple times by DestPos microsteps as distance.
__u8 SYNCOPOL : 1; // Output Syncronization Pin Polarity.
__u8 ENCODER : 1; // Encoder is used on pins {SYNCIN,ROTTR} - disables Syncronization input and Rotary Tranducer.
__u8 INVENC : 1; // Invert Encoder Counter Direction.
__u8 RESBENC : 1; // Reset <Encoder Position> and <SM Position in Encoder units> to 0.
__u8 RESENC : 1; // Reset <SM Position in Encoder units> to <Encoder Position>.
__u16 SYNCCOUNT; // Number of steps after which synchronization output signal occurs.
} MODE_PACKET, * PMODE_PACKET, * LPMODE_PACKET;
typedef struct _PARAMETERS_PACKET // 57 bytes;
{
__u8 DELAY1; // Acceleration time multiplier.
__u8 DELAY2; // Deceleration time multiplier.
__u16 RefINTimeout; // Timeout for RefIN reseting.
__u16 BTIMEOUT1; // | Buttons Timeouts (4 stages).
__u16 BTIMEOUT2; // |
__u16 BTIMEOUT3; // |
__u16 BTIMEOUT4; // |
__u16 BTIMEOUTR; // Timeout for RESET command.
__u16 BTIMEOUTD; // Timeout for Double Click.
__u16 MINPERIOD; // Standart Timer Period.
__u16 BTO1P; // | Timer Periods for button rotation.
__u16 BTO2P; // |
__u16 BTO3P; // |
__u16 BTO4P; // |
__u16 MAX_LOFT; // Max Loft Value.
__u32 STARTPOS; // Start Position.
__u16 RTDelta; // Revolution Distance.
__u16 RTMinError; // Minimal value of Rotatory Tranduser Error.
__u16 MaxTemp; // Working Temperature Limit.
__u8 SynOUTP; // Syncronizaion OUT pulse duration( T = (sopd-1/2)*StepPeriod ).
__u16 LoftPeriod; // Loft last phase speed.
__u8 EncVSCP; // 4x Number of Encoder steps per one full SM step.
__u8 Reserved [15]; // Reserved.
} PARAMETERS_PACKET, * PPARAMETERS_PACKET, * LPPARAMETERS_PACKET;
typedef struct _DOWNLOAD_PACKET // 65 bytes;
{
__u8 Page; // Page number ( 0 - 119 ). 0 - first, 119 - last.
__u8 Data [64]; // Data.
} DOWNLOAD_PACKET, * PDOWNLOAD_PACKET, * LPDOWNLOAD_PACKET;
typedef struct _SERIAL_PACKET // 32 bytes;
{
__u8 Password [16];
__u8 SerialNumber [16];
} SERIAL_PACKET, * PSERIAL_PACKET, * LPSERIAL_PACKET;
#pragma pack ( pop )
typedef GO_TO_PACKET const * PCGO_TO_PACKET;
typedef GO_TO_PACKET const * LPCGO_TO_PACKET;
typedef MODE_PACKET const * PCMODE_PACKET;
typedef MODE_PACKET const * LPCMODE_PACKET;
typedef PARAMETERS_PACKET const * PCPARAMETERS_PACKET;
typedef PARAMETERS_PACKET const * LPCPARAMETERS_PACKET;
typedef DOWNLOAD_PACKET const * PCDOWNLOAD_PACKET;
typedef DOWNLOAD_PACKET const * LPCDOWNLOAD_PACKET;
typedef SERIAL_PACKET const * PCSERIAL_PACKET;
typedef SERIAL_PACKET const * LPCSERIAL_PACKET;
typedef STATE_PACKET const * PCSTATE_PACKET;
typedef STATE_PACKET const * LPCSTATE_PACKET;
typedef ENCODER_STATE_PACKET const * PCENCODER_STATE_PACKET;
typedef ENCODER_STATE_PACKET const * LPCENCODER_STATE_PACKET;
#endif // _USMCTYPES_H