A x 2 a n d A x 4 U s e r M a n u a l
Contents
1. Studio Ferraris Ax2000 System User Manual Rev 001 Page 7 34 OR EHE T E Dou efi e AE D eue ET g p Bem Haa D S uu Hp ES Figure 2 Ax2 The Ax2 board is a subset of the Ax4 board In this manual the description of all features will follow the Ax4 layout and naming conventions Where different for the Ax2 board the different naming or features will be indicated in parenthesis Looking at the layout proceeding from top to bottom and left to right the following connectors can be found e JP29 34 poles male connector for digital outputs e JP30 34 poles male connector for digital inputs e JP26 34 poles male connector for LCD and keyboard e JP24 60 poles male connector for encoder and analog I O Studio Ferraris Ax4 doc 7 34 Studio Ferraris Ax2000 System User Manual Rev 001 Page 8 34 Connectors The description o2. define hash i j i j 1133 amp OxFF void mem void unsigned char far pmem Studio Ferraris Ax4 doc 32 34 int i static int j 0 pmem unsigned char far MK FP 0xD clrscr cprintf rTest Mem n r while kbhit for i 0 i lt 2048 itt pmem i hash i j if pmem i hash i j amp amp noprn printf Error mem 3X read i pmem i hash i j pmem i for i 0 i lt 2048 i if pmem i hash i j amp amp noprn printf Error mem 3X read i pmem i hash i j pmem i JFF kbflush HMOEMMLPMBL MIEL IPC BGGMl MllllilllllllllBd Bdi void main int argc char argv usage while argc Iu Lf if TE stricmp stricmp stricmp stricmp argv argc argv argc argv argc argv argc noprn ax2 ax2 newlcd help l l l l if help prnhelp exit 0 sleep 1 Wait logo clrser testreg testshift readcnt readprb anlgout ANALOGXY if lax2 anlgout ANALOGZW anlgin digital else digital2 keyboard if newlcd lcdgrf Studio Ferraris Ax2000 System User Manual noprn Rev 001 Page 33 34 800 0 write memory read memory 3X written 3X xor 3x n hash i 3j 9 read again 3X written 3X xor 3x n hash i 3 MM MLMB
3. Studio Ferraris Ax2000 System User Manual Rev 001 Page 15 34 closes again This latch can be reset only under software control BIT 5 Touch probe status This bit gives the actual status of the read touch probe The software can determine if the touch probe is deflected or not BIT 4 Write one into this bit results in resetting the touch probe write latch After this operation the latch is armed for the next touch BIT 5 Write one into this bit to enable the touch latch signal to write actually trigger the counter latches If this bit is zero the C channel of each encoder will trigger the counter latches To use the hardware latches the software can follow this sequence e Assure that the state machine is not busy e Set the bit 5 and bit 4 of the register to enable and reset the touch probe latch e Wait until the bit 4 of the register reads back as one signaling that a touch event has happened e Go read the latches in the usual way e Wait for the current probe status to be clear again indicating that the touch is released closed e Reset the touch latch writing one into bit 4 and also into bit 5 to continue to enable the touch logic Reading Analog and digital I O Group 2 All digital and analog I O are grouped together under the group 2 the channel selects which type of I O Channel 0 Analog output X low 12 bits and Y high 12 bits Channel 1 Analog output Z
4. Studio Ferraris Date 11 01 2002 Rev 001 Ax2 and Ax4 User Manual Page 4 34 Abstract This document contains the description of the Ax2 and Ax4 boards how to install and configure them Also programming information and test code is given Studio Ferraris Via Borgonuovo 27 10040 Givoletto To Italy Tel 39 011 9947752 Fax 39 011 9948921 Mob 39 0 335 8061568 Studio Ferraris Ax4 doc 4 34 Studio Ferraris Date 11 01 2002 Rev 001 Ax2 and Ax4 User Manual Page 5 34 Reference documents Author Title Description Studio Ferraris Via Borgonuovo 27 10040 Givoletto To Italy Tel 39 011 9947752 Fax 39 011 9948921 Mob 39 0 335 8061568 Studio Ferraris Ax4 doc 5 34 Studio Ferraris Ax2000 System User Manual Rev 001 Page 6 34 Layout The Ax4 Ax2 Axis control board contains the hardware necessary to provide four two axis channels with encoder counter and analog output In addition 8 0 analog inputs 24 16 digital outputs and 48 24 digital inputs are provided The board is completed with a keyboard and LCD interface and a battery backed RAM All analog inputs and outputs are 12 bit resolution with a voltage range of 10V All digital inputs and outputs are 24V industrial range and the outputs are capable of 350mA each Since there is no serigraphy on the board the identification and orientation of the connectors and jum
5. void Lcdgotoxy int col static int trsl 4 waitlcdbusy outp REGISTRO write outp LOW trsl row void Lcdprintf char fm static char buf 50 int i 0 va_list ap lcdgrfGrafHome GRAFBASE EO Auto write mode 1 row 0x80 0x5C Auto write mode off x01 HMOEMMLBMBLMMIMP P MIUILMMMPMP TTT TTT STITT TTS STITT TTT FGRP LCDWRITE GRP LCDREAD Stato dei led int row 0x00 0x40 0x14 0x54 1 col 1 0x80 t Studio Ferraris Ax4 doc 30 34 Rev 001 Page 30 34 Studio Ferraris Ax2000 System User Manual va_start ap fmt vsprintf buf fmt ap while buf i waitlcdbusy outp REGISTRO write outp MID char buf i va end ap void LedOn int msk statoled amp msk waitbusy outp REGISTRO LKFGRP KEYBOARD outp LOW statoled void LedoOff int msk statoled msk waitbusy outp REGISTRO LKFGRP KEYBOARD outp LOW statoled static int InitLcdChar unsigned char c time t ini fin outp REGISTRO read time amp ini while inp LOW amp BUSY time amp fin if difftime fin ini gt 2 break if inp LOW amp BUSY 0 outp REGISTRO write outp LOW c return 1 else LedOn LED ERROR return 0 LCD Inizialization void Ini
6. Page 9 34 Pin 1 2 3 4 are the 24V supply for internal logic must not be removed Pin 5 6 7 8 are the 24V supply for output byte 3 N C on Ax2 Pin 9 to 16 are the 8 inputs of byte 0 Pin 17 to 24 are the 8 inputs of byte 1 Pin 25 to 32 are the 8 inputs of byte 2 Pin 33 34 are the supply ground JP27 JP26 middle This is the keyboard and display connector On this connector there are the standard display interface signals as well as 8 buffered TTL outputs and 8 TTL inputs for a matrix keyboard The digital outputs can be also used to light LED providing external current limiting resistor for each The digital inputs and outputs are totally uncommitted and under software control allowing for any mix of LED direct keys and matrix keyboard In the standard panel as an example there are four direct LED a keyboard matrix of four rows per eight columns total of 32 keys and a text 4x20 or graphic 128x64 LCD display Test software and samples are given for this arrangement The connector is provided with key to minimize connection errors Pin 1 2 are reserved do not connect Pin 3 is the LCD contrast voltage adjustable from 0 to 5Volt with the on board trimmer Pin 4 is DS pin of the display interface Pin 5 is RW pin of the display interface Pin 6 is E pin of the display interface Pin 7 to 14 are the DB pins of the display interface Pin 15 is a ground connected to the board ground Pin 16 is a 5Volt connected to the b
7. 8 col lcdgrfcmd 0x21 Studio Ferraris Ax4 doc 27 34 Studio Ferraris Ax2000 System User Manual Rev 001 Page 28 34 void lcdgrfOffset unsigned int addr lcdgrfdt2 addr lcdgrfcemd 0x22 void lcdgrfPointer unsigned int addr lcdgrfdt2 addr lcdgrfcmd 0x24 void lcdgrfTextHome unsigned int addr lcdgrfdt2 addr lcdgrfcemd 0x40 void lcdgrfTextArea unsigned int cols lcdgrfdt2 cols lcdgrfcmd 0x41 void lcdgrfGrafHome unsigned int addr lcdgrfdt2 addr lcdgrfcmd 0x42 void lcdgrfGrafArea unsigned int cols ledgrfdt2 cols lcdgrfcmd 0x43 SALAATIN AA AALALA ATTA AAA 1 1 Inizialization routine void lcdgrfInit void unsigned int i TEXTBASE lcdgrfTextHome Text from 0 for 16 pages lcdgrfGrafHome GRAFBASE Graficsfrom BOOH for 3 pag lcdgrfTextArea TEXTCOLS columns lcdgrfGrafArea GRAFCOLS columns lcdgrfcmd 0x81 Mode set XOR Internal CG lcdgrfOffset CGBASE 11 offs 00011 char 0x80 gt Ox1C00 lcdgrfcmd 0x9E Text on Graph on Curs on Blink off Clear all RAM lcdgrfPointer 0x0000 Begin of RAM lcdgrfcmd 0xB0 Auto write mode for i 0 i lt 8192U i 8K lcdgrfautowrite 0x00 blank code lcdgrfcmd 0xB2 Auto write mode off MI ATTA TTT ATTA TATA TTT ATI
8. only two data registers are combined Since writing in the HIG byte starts the defined operation normally the sequence to give commands should be the following 1 Check if the state machine is available checking if bit 7 of REG is zero BUSY Optionally wait The maximum time to wait should be less then 40 microseconds worst case 2 Setup the REG for the required operation 3 Prepare the data to be written and write it beginning from the LOW byte and ending with the HIG 4 Writing HIG starts the operation If results are needed then wait for BUSY to return to zero 5 Optional Read back the results Register The REG byte is a dual function read and write register Few bits have meaning unused bit should be written as zero and read as don t care Used bits are BIT 0 1 Channel select Valid for counter and analog output and some other peripheral Studio Ferraris Ax4 doc 12 34 Studio Ferraris Ax2000 System User Manual Rev 001 Page 13 34 BIT 2 3 Group select Selects counters latched counters digital I O or other type of peripherals BIT 4 5 Touch probe interface bit 4 read probe status bit 5 read latch status bit 4 write enable touch bit 5 write enable touch probe and reset flags latch BIT 6 Selects secondary inputs Ax4 only BIT 7 Reset state machine if written one Read as state machine BUSY No operation should be
9. 2X 2X i 2X 2X 2X x 2X 2X 2XNr out 0 swapbit out 1 out 2 in 0 in 1 in 2 xor 0 xor 1 xor 2 if xor 0 xor 1 cprintf Nn LE 2 lt 0 xor 2 Studio Ferraris Ax4 doc 25 34 rt O e ct ct ct il waitbusy Studio Ferraris Ax2000 System User Manual Rev 001 Page 26 34 outp REGISTRO grp outp LOW out 0 outp MID swapbit out 1 outp HIG out 2 delay 1 delay 1 kbflush HMOMUMBMbMlllllll ll lllllilllllll ll P P lll P P PL P MOL P M IP TTT TTS TIT T TTT void keyboard void unsigned int cnt i unsigned char grp clrscri LKFGRP KEYBOARD cprintf NrTest Keyboard n r waitbusy cnt 0 while kbhit outp REGISTRO grp outp LOW 1 lt lt cnt i inp LOW if i OxFF cprintf row GIC if cnt gt 8 kbflush 2X val cnt 0 2XNr ont i amp OxFF VI ML ML B B P TP Pg PTI o MM P P oL MM MM ML Mg MM hM M Ml Ml lI ll 1ll Low level read write data command void lcdgrfwrdata unsigned char data const unsigned char write outp REGISTRO write outp LOW data LKFGRP LCDWRITE Write LCD Data void lcdgrfwrcmd unsigned char cmd const unsigned char write outp REGISTRO write outp MID cmd LKFGRP LCDWRITE Write LCD Command u
10. 3 BIT 4 7 Not used read as zero To read the counters the software must follow this sequence e Assure that the state machine is not busy e Select group zero and the required channel The channels are paired for what regards the flags so channel 1 flags are in the same byte HIG with the flags of channel 0 selecting channel 0 Studio Ferraris Ax4 doc 13 34 Studio Ferraris Ax2000 System User Manual Rev 001 Page 14 34 e Read the flags HIG byte This operation latches both 0 2 and 1 3 counters e Read the LOW byte first and then the MID byte to complete the 16 bits of the counter Reading the MID byte have also the effect of releasing the latches It is important to release both latches from the current and the following channel If the other channel reading is not necessary the software have still to make a dummy read in the MID byte of that channel Reading encoder latches Group 1 An additional hardware latch can be triggered by the C channel of each encoder independently or together all four encoders upon an external trigger probe signal The choice is under software control through the ENAPALP bit bit 5 of register If this bit is HIG the C channel is not used and the latches will be triggered by the touch probe input only If this bit is low the C channel of the encoders will trigger the latches and the touch probe is not used although in this condition the status and re
11. Analog input should be read one at a time The analog input reading is performed in two phases In the first phase a channel is selected and the conversion is started in the second the results are read It is possible to combine the two operation but since it is required to leave enough time for conversion from the start phase to the reading phase it s better to combine the start of the next conversion with the reading of the previous If the reading of the analog inputs 1s done continuously this is usually not a problem but must be remembered that setting up a channel and starting the conversion will result in getting the previous channel and value The complete procedure is e Assure that the state machine is not busy e Selecting group two and channel two in REG e Write channel number and few other bits to the MID first and HIG byte last to start operation These two bytes should be as follows HIG MID LLELLLII LLELELILI Channel Fixed 0x10 Fixed 0x00 e Assure that the state machine is not busy e The results can be read in the same two bytes as follows HIG MID ESSE ie CCCF e Channel Converted value Studio Ferraris Ax4 doc 17 34 Studio Ferraris Ax2000 System User Manual Rev 001 Page 18 34 It is important to note that the channel read back in this operation can be different than the channel written before because the written value will be used for the next conversion that star
12. REGISTER 12 READING ENCODER COUNTERS GROUP 0 eeeeseeseeeseseeeeee ense eas anse OKERE ENERE AKSES aS Ea Eaa DESERTE daea 13 READING ENCODER LATCHES GROUP 1 ssccssscsseessesssestcesscssscesscsseessecsaecoaeconecouscssesnsesusesucessesseessesssessaeeaesnaecatecnseenes 14 USING THE TOUGH PROBE te a eE EN AP E e E e EEE E EE r E E E 14 READING ANALOG AND DIGITAL I O GROUP 2 sese 15 WRITING ANALOG OUTPUTS 5iesesetk opes teet uera ee esee ee EHE R VERE PLE SENER ENNES SEENEN EENKEER S EYE ERE eed Yee wee EEES EEEREN ERES 16 READING ANALOG INPUTS AX4 ONLY sse esse eenn 17 READING DISPLAY AND KEYBOARD GROUP 3 eene enne entren trennen trennen eene enn nennen nes 18 PROGRAM SAMPLES PEEL 18 Studio Ferraris Via Borgonuovo 27 10040 Givoletto To Italy Tel 39 011 9947752 Fax 39 011 9948921 Mob 39 0 335 8061568 Studio Ferraris Ax4 doc 2 34 Studio Ferraris Date 11 01 2002 Rev 001 Ax2 and Ax4 User Manual Page 3 34 Revisions Rev Author Date Description 000 Maurizio Ferraris 15 Jul 1998 First Release 001 Maurizio Ferraris 06 Sept 2001 Minor changes and esthetic review Studio Ferraris Via Borgonuovo 27 10040 Givoletto To Italy Tel 39 011 9947752 Fax 39 011 9948921 Mob 39 0 335 8061568 Studio Ferraris Ax4 doc 3 34
13. TATA TATA ITT JI II I Base routines for AXA Studio Ferraris Ax4 doc 28 34 Studio Ferraris Ax2000 System User Manual Write char and string on the display void lcdgrfputc int c lcdgrfdtl c lcdgrfcmd 0xCO0 Move cursor 1 1 21 8 void lcdgrfgotoxy int col int row lcdgrfCursor col 1 row 1 ledgrfPointer row 1 typedef enum CUR OFF CUR ON CUR BLINK TEXTCOLS col Write char Increment pointer Move cursor 1 Move pointer TCurType Cursor type definition void lcdgrfcursor TCurType t if t CUR OFF lcdgrfcmd 0x9C Text on Graph on Curs off Blink off else if t CUR_ON ledgrfcmd 0x9E Text on Graph on Curs on Blink off else if t CUR BLINK lcdgrfcmd 0x9F Text on Graph on Curs on Blink on lcdgrfemd 0xAO0 line cursor 1 1 1 1 1 1 1 Test LCD void lcdgrf void unsigned int i unsigned int j clrscer cprintf NrTest LCD n r waitbusy lcdgrfInit lcdgrfPointer TEXTBASE Fill each text pag lcdgrfcmd 0xB0 Auto write mode for j 0 j lt TEXTPAGES j for i 0 i lt TEXTSIZE i ledgrfautowrite j 0x21 pages A B C D lcdgrfcmd 0xB2 Auto write mode off lcdgrfPointer GRAFBASE Fills each grafic page lcdgrfcmd 0xB0 Auto write mode for j 0 j lt GR
14. encoder 1 Pin 42 is a digital ground supply to the encoder 1 Pin 43 is a digital ground shield 2 Pin 44 45 46 47 48 49 are the A A B B C C signals of encoder 2 Pin 50 is a 5V power supply to the encoder 2 Pin 51 is a digital ground supply to the encoder 2 Pin 52 is a digital ground shield 3 Pin 53 54 55 56 57 58 are the A A B B C C signals of encoder 3 Pin 59 is a 5V power supply to the encoder 3 Pin 60 is a digital ground supply to the encoder 3 Studio Ferraris Ax4 doc 10 34 Studio Ferraris Ax2000 System User Manual Rev 001 Page 11 34 Jum ers The description of jumper position here follows the orientation found in the picture and in the real board On these boards there are a number of jumpers for special factory configuration These jumpers are implemented as a zero ohm resistor soldered on the board Modification of these settings is allowed only by permission and for specific purposes Other user configurable jumpers can be modified to select the base address of the I O and memory spaces Memory address jumpers The jumpers JP19 to JP23 JP18 JP22 for Ax2 determine the base address of the battery backed ram present on the board There are five jumpers to select the highest addresses of the PC bus JP23 JP22 the rightmost select A19 to JP19 JP18 the leftmost that select A15 Inserting a jumper means select the address to zero removing a jumper selects one T
15. low 12 bits and W high 12 bits Ax4 only Channel2 Analog input Ax4 only Channel3 Digital I O The procedure how to format and read or write the analog I O is described in the following sections This section will focus on reading the digital I Os Studio Ferraris Ax4 doc 15 34 Studio Ferraris Ax2000 System User Manual Rev 001 Page 16 34 As described previously these accesses are done through the state machine and it is very important to wait for the busy flag before changing any bit in the register Moreover the digital I O are exchanged in a single operation that is writing the digital outputs result in reading the digital inputs On the Ax4 board there are two series of 24 inputs for one series of 24 output so a bit in the register is used to select which input series have to be exchanged with the output If the software needs to read both input series it have to write the same output twice selecting the correct input series between the writes The complete procedure is as follows e Assure that the state machine is not busy e Select group two and channel three and first input series bit 6 of register low e Write the LOW MID and HIG byte with the required 24 output values It is important to write the HIG byte last because this enables the transfer to the real outputs e Wait for the state machine to be ready again e Read the LOW MID and HIG byte of the first inpu
16. performed on any Ax4 register if the state machine is busy The only allowed operation in this situation is reading the register to check the busy Reading encoder counters Group 0 To read the encoder counters it is necessary to follow a procedure to assure that the high byte of a channel is corresponding to the low byte Since the two bytes are read in different time the hardware have a latch that can be triggered upon software action that freezes the counter value during the reading It is software responsibility to trigger the latch before reading and to release it after It is important to know that only the reading is frozen during this operation the counter itself is unaffected The counter is 16 bits wide and can be extended in software Only the LOW and MID addresses are used to read the counters Selecting even channels at the HIG byte it is possible to read the flags status Four bits gives information about the current and latched status of the current and following channel Reading the flags also triggers the latches to allow a consistent reading of both channels The software can read both flags Ax2 only before reading to have consistent reading of all four counters The flags bytes is structured as follows BIT 0 Current status of C Channel of encoder 0 2 BIT 1 Latched status of C Channel of encoder 0 2 BIT 2 Current status of C Channel of encoder 1 3 BIT 3 Latched status of C Channel of encoder 1
17. row and eight columns keyboard and four LED and two possibilities for the display a standard 20x4 text LCD and a standard graphic 128x64 LCD Program samples include stdio h include stdarg h include string h include conio h include dos h include process h include time h Studio Ferraris Ax4 doc 18 34 Studio Ferraris Ax2000 System User Manual Rev 001 Page 19 34 V MIM MMMMMMIMMIP CPlMTBIIVEIEPPLgLGMGMEllIIIII T IP M IIIIMPM MINIMI Pg glH AIM ML I O Port adresses define BASE 0x280 define LOW BASE define MID BASE 1 define HIG BASE 2 define REGISTRO BASE 3 Peripheral groups define COUNTGRP 0x00 define LATCHGRP 0x04 define IOGRP 0x08 define LKFGRP Ox0OC Channel definition for IOGRP define ANALOGXY 0x00 define ANALOGZW 0x01 define ANALOGIN 0x02 define DIGITAL 0x03 Channel definition for LKFGRP define LCDWRITE 0x00 define LCDREAD 0x01 define KEYBOARD 0x02 define FLASH 0x03 Bits and masks for REGISTRO define CHANMSK 0x03 define GRPMSK 0x0C define PALPLATCH 0x10 define RESPALP 0x10 define PALPIN 0x20 define ENAPALP 0x20 define LOL 0x40 define BUSY 0x80 ITIIIIIIIIII Display defines define TEXTBASE 0 define TEXTCOLS 22 define TEXTROWS 8 define TEXTSIZE TEXTCOLS TEXTROWS define TEXTPAGES 16 define GRAFBASE 0xBOO define GRAFCOLS
18. while kbhit outp LOW 0 outp MID o i inp LOW j inp MID if i 20 j o cprintf out 3X inlow 3X xXor 3X inmid 3X xor 3X r o i i j ro 3 amp OXFF Ott kbflush Studio Ferraris Ax4 doc 20 34 Studio Ferraris Ax2000 System User Manual Rev 001 Page 21 34 JILTLLTTTTSSLITTTTSST ITT TTT ATT TTT TAT TTT TTT TTT TAT void readcnt void unsigned int i ax 4 unsigned char grp elrser lg 4 COUNTGRP cprintf NrTest Read CountersWMn Nr while kbhit for i 0 i lt outp REGISTRO if i amp 0x01 flg i ax i ax i cprintf X 6d Fz w 1 ax 0 ax 3 inp inp HIG inp LOW 4 i grp i ogni gruppo di due contatori blocca i latch software MID lt lt 8 sblocca i latch software 4X W XNr ax 0 ax 1 ax 1 ax 2 ax 2 ax 3 flg 0 flg 2 Y 6d 4X Z 6d S4X 6d 4X Fx y 1X if flg 1 unsigned int beep flg 1 flg 3 for i flg flg 0 i outp REGISTRO inp LOW inp MID axl i axl i cprintf MnX fl g 0 flg 3 flg 2 axl 4 0 2 uds itt LATCHGRP i 256 57d Y 7d Z 7d W 7dNr axl 0 axl 1 axl 2 ax1 3 gotoxy 1 kbflush 2 outp REGISTRO grp ENAPALP Reset home flags MOEIM
19. 22 define GRAFROWS 8 define GRAFSIZE GRAFCOLS GRAFROWS 8 define GRAFPAGES 3 define CGBASE 0x1800 VMUIMMMMMMMMPMPMPWPHWPMLPMPMlMKMPMPMPBWPBPWBMlMlPlPllel Illllll TALAAN d HLTHIMMIM int noprn 0 ax2 0 newlcd 0 void usage void printf Studio Ing Ferraris nTest AX4 AX2 boards n printf usage AX4TEST noprn ax2 newlcd n n printf ESC to terminate n n Studio Ferraris Ax4 doc 19 34 Studio Ferraris Ax2000 System User Manual Rev 001 Page 20 34 void prnhelp void printf noprn no error printout n printf ax2 test for Ax2 2 Assi 24 in 16 out n printf newlcd test grafic lcd default text 20x4 n printf n n exit 0 void kbflush void while kbhit if getch Ox1B exit 0 Escape exit void beep void sound 440 delay 50 nosound 1111111111111111 STITT TILA TTT IL E IPP P TTT TTT TTT TTT TTT Mgllf f ffl void Lest red void unsigned char o 0 unsigned char i clrscr cprintf rTest R W Register n r while kbhit outp REGISTRO o i inp REGISTRO cprintf out 3X in 3X xor 53X err 3XNr OQ Lh 0 C 4 i amp Ox4F Ott kbflush LET IALL TTA ATA ATTA TATA void testshift void unsigned char o 0 unsigned char i j clrser cprintf NrTest R W Shift Register WMnNr outp REGISTRO IOGRP DIGITAL
20. AFPAGES j for i 0 i lt GRAFSIZE i lcdgrfautowrite j lcdgrfcmd 0xB2 lcdgrfgotoxy 1 1 lcdgrfcursor CUR ON lcdgrfPointer CGBASE 0x80 8 pages 0 1 2 Auto write mode off set cursor Fills the C G lcdgrfcmd 0xB0 Auto write mode for i 0 i lt 8 i 1 char Studio Ferraris Ax4 doc 29 34 Rev 001 Page 29 34 Studio Ferraris Ax2000 System User Manual lcdgrfautowrite OxFF gt gt i triangle top right lcdgrfcmd 0xB2 Auto write mode off lcdgrfgotoxy 1 1 set cursor lcdgrfcursor CUR ON for j 0 j lt TEXTPAGES j lcdgrfgotoxy j 1 1 lcdgrfcursor TCurType j amp 0x3 lcdgrfTextHome j TEXTSIZE getch lcdgrfcursor CUR OFF for j 0 j lt GRAFPAGES j lcdgrfGrafHome GRAFBASE getch GRAFSIZE j lcdgrfTextHome T EXTBASE lcdgrfPointer TEXTBASE lcdgrfcmd 0xB0 for i 0 i lt 20 itt lcdgrfautowrite 1 amp 0 lcdgrfcmd 0xB2 kbflush 111 1 1 1 111 11 1 1111111 111 typedef enum ED ERROR 0x20 ED SHIFT 0x40 ED READY 0x80 LedMask LK LKF Ox unsigned char write unsigned char read static int statoled void wai tlcdbusy void waitbusy outp REGISTRO while inp LOW read amp BUSY
21. Bg llll l Ll P PP CMM MM Pg IM 1 1 newlcd 1 1 Studio Ferraris Ax4 doc 33 34 else Studio Ferraris Ax2000 System User Manual lcd mem Rev 001 Page 34 34 Studio Ferraris Ax4 doc 34 34
22. MLMBM NINE PMBgMMaOMEMMMMPPMBPGMl MMMPMPPPMBPMAMMPMPIIPPMIMEMMMPPMIM MT MP MP BP MEET TTT TTT void readprb void unsigned int reg i ax 4 flg 4 unsigned int axl 4 unsigned char grp COUNTGRP ENAPALP unsigned char ltc LATCHGRP ENAPALP clrscr cprintf NrTest Read Probe Latch n r while kbhit outp REGISTRO grp Rises ENAPALP e reset RESPALP reg inp REGISTRO cprintf reg 3X n r reg for i 0 i lt 4 i Studio Ferraris Ax4 doc 21 34 Studio Ferraris Ax2000 System User Manual Rev 001 Page 22 34 outp REGISTRO grp i if i amp 0x01 each two counters flg i inp HIG triggers the software latch ax i inp LOW ax i inp MID lt lt 8 releases the software latch cprintf X 6d 4X Y 6d 4X 2 6a 4X W 6d 4X Fx y 1X Fz w t 1XNr ax 0 ax 0 ax 1 ax 1 ax 2 ax 2 ax 3 ax 3 flg 0 flg 2 for i 0 i lt 4 i outp REGISTRO ltc i axl i inp LOW axl i inp MID 256 cprintf nX 7d Y 37d Z 7d W 7dNr axl 0 axl 1 axl 2 ax1 3 if reg amp PALPLATCH beep latch outp REGISTRO grp RESPALP Reset latch gotoxy 1 2 kbflush HMOEMUMLBMBbMllll ll l P MEM PP M EIEP PPP PEL PPP MIL TTT TTT TTT TSS TTT TTT void waitbusy void unsigned int cnt for cnt 0 cnt lt 10000 cnt if inp
23. REGISTRO amp BUSY 0 break if cnt gt 100 cprintf loop 7d r cnt TILTLITTTTSSLITTTTSST ITT TTS TTT TTT TASTE pM T TTT void anlgout int chan unsigned int x 0 y 2048 unsigned char grp IOGRP chan elrser if chan 0 cprintf rTest Analog Out X Y n r else cprintf rTest Analog Out Z W n r while kbhit waitbusy outp REGISTRO grp outp LOW x amp OxFF outp MID x gt gt 8 amp OxOF y lt lt 4 amp OxF0 outp HIG y gt gt 4 amp OxFE cprintf c 6d c 6dNr chan Z X x chan W VY V ys xtt if x gt 4096 x 0 Studio Ferraris Ax4 doc 22 34 Studio Ferraris Ax2000 System User Manual if y gt 4096 y 0 kbflush Rev 001 Page 23 34 SILTLITTTTTSL ITT TTSS IM uaEHB LIP IPPP Pg Bg UMP TTT TTT TT TTT TT TTS void anlgin void unsigned int val 8 unsigned int cnt i unsigned char grp IOGRP ANALOGIN clrscr cprintf NrTest Analog In n r waitbusy while kbhit Gprintf Xr s for i 0j i lt 8 ITE outp REGISTRO grp outp MID 0 outp HIG i lt lt 5 0x10 waitbusy cnt inp LOW inp MID lt lt 8 cprintf c 1X 2 4d cnt gt gt 12 amp 0x7 cnt amp OxFFF kbflush HMOEMUMLBMblMIMIMMLMMIEIIIMTIIIP B M ilL P P P P MT PP P Mg O ML PL g LP P P TTT TTT TTS unsigned
24. Studio Ferraris Date 11 01 2002 Rev 001 Ax2 and Ax4 User Manual Page 1 34 L Ax2 and Ax4 User Manual Revision 001 11 January 2002 Studio Ferraris Via Borgonuovo 27 10040 Givoletto To Italy Tel 39 011 9947752 Fax 39 011 9948921 Mob 39 0 335 8061568 Studio Ferraris Ax4 doc 1 34 Studio Ferraris Date 11 01 2002 Rev 001 Ax2 and Ax4 User Manual Page 2 34 SUMMARY NIU 0 E A 2 REVISIONS Een 3 ABST RAC er 4 REFERENCE DOCUMENTS oc 5 TAY OUT 6 CONNECTORS M 8 MARIDO Gg 8 JP30 NOT PRESENT MIDDLE LEFT cesses enne enne nnne nnne nnne trente erret enne inre ni tnr teni eene nn serere trennen sestese seese setes 8 JP29 IP30 BOTTOM LBRT ieies iessen ene eaae ga a rv Eae Ar EEE Pa Reb RUF aE o eR uu ee Eea ede koe e EHE R Iure Pepe SA eR eR 8 JP27 JP26 MIDDEB srie ire E EE cogs RYE EH ER YR T EE HR HEU E EE T ERE PH ds dae 9 JPG JPA TEED S ic genes ane ete wet esc vances cet aa tae INSIEME Lm mM EE 10 ALOI H N D e 11 MEMORY ADDRESS JUMPERS E 11 VO ADDRESS JUMPERS 6 ere Hi eee RG eee ee ne ens 11 Iu tereto ihi emm oon ESO ssvescoussveseseutoasuossensd A 12
25. char swapbit unsigned char c return c amp 0x80 0x01 0 c amp 0x40 0x02 O0 c amp 0x20 0x04 0 c amp 0x10 0x08 0 c amp 0x08 0x10 0 c amp 0x04 0x20 0 c amp 0x02 0x40 O0 c amp Ox01 0x80 0 void digital void unsigned char in 3 qnt rs unsigned char grp IOGRP DIGITAL unsigned char grpl IOGRP DIGITAL I01 inl 3 out 3 xor 3 xorl 3 clrser cprintf rTest Digital I O n r waitbusy for i 0 i lt 3 itt in i inl i out i 0 for i 0 i lt 50 i Spegne il reset waitbusy Studio Ferraris Ax4 doc 23 34 Studio Ferraris Ax2000 System User Manual Rev 001 Page 24 34 outp outp outp outp REGISTRO grp LOW out 0 MID swapbit out 1 HIG out 2 while kbhit waitbusy outp outp outp outp REGISTRO grp LOW out 0 MID swapbit out 1 HIG out 2 waitbusy in 0 in 1 in 2 outp outp outp outp inp LOW inp MID inp HIG REGISTRO grpl LOW out 0 MID swapbit out 1 HIG out 2 waitbusy inl 0 inl inl NS KA xor 0 xor 1 xor 2 xorl 0 xorl i1 xorl 2 if no p swapbit out 1 inp LOW inp MID inp HIG out 0 in O in 1 out 2 in 2 out 0 inl 0 swapbi
26. f each connector here follows the orientation found in the picture and in the real board JP28 JP29 top left This is the digital output connector In this connector there are pins for 24Volt supply and ground In addition each group of 8 outputs can be powered using a different power supply The connector is provided with key to minimize connection errors Pin 1 2 3 4 are the 24V supply for output byte 0 Pin 5 6 7 8 are the 24V supply for output byte 1 Pin 9 to 16 are the 8 outputs of byte 0 Pin 17 to 24 are the 8 outputs of byte 1 Pin 25 to 32 are the 8 outputs of byte 2 N C on Ax2 Pin 33 34 are the supply ground JP30 not present middle left This is the second digital input connector In this connector there are pins for 24Volt supply and ground This connector is not present in the Ax2 board The connector is provided with key to minimize connection errors Pin 1 2 3 4 are the 24V supply for internal logic must not be removed Pin 5 6 7 8 are not connected Pin 9 to 16 are the 8 inputs of byte 3 Pin 17 to 24 are the 8 inputs of byte 4 Pin 25 to 32 are the 8 inputs of byte 5 Pin 33 34 are the supply ground JP29 JP30 bottom left This is the first digital input connector In this connector there are pins for 24Volt supply and ground The connector is provided with key to minimize connection errors Studio Ferraris Ax4 doc 8 34 Studio Ferraris Ax2000 System User Manual Rev 001
27. he default configuration maps the ram at D800 0 7FF and is JUZUU A15 Al6 A17 A18 A19 I O address jumpers The jumpers JP11 to JP18 JP10 JP17 for Ax2 determine the base address of the I O space There are eight jumpers to select the higher addresses of the PC bus JP18 JP17 the rightmost select A9 to JP11 JP10 the leftmost that select A2 Inserting a jumper means select the address to zero removing a jumper selects one The default configuration maps the I O space at 280 283 and is AOGAGUAL A2 A3 A4 A5 A6 A7 A8 A9 Studio Ferraris Ax4 doc 11 34 Studio Ferraris Ax2000 System User Manual Rev 001 Page 12 34 Pro rammi The board span for four bytes of addressing in the I O space and 2K of memory space The base address is defined by the jumper position The memory is flat and can have any user defined structure while the I O space is structured as follows BASE LOW Low data byte The meaning of this byte depend on 0 the function selected and should be combined with MID and HIG BASE MID Mid data byte see LOW 1 BASE HIG High data byte see LOW Writing into this 2 register also starts the operation defined by the other registers so it should be written last BASE REG Register for function selection and for status 3 checking The LOW MID and HIG data byte are combined to form a 24 bit data In some cases where less then 24 bits are required
28. nsigned char lcdgrfrddata void const unsigned char read outp REGISTRO read LKFGRP LCDREAD Studio Ferraris Ax4 doc 26 34 Studio Ferraris Ax2000 System User Manual Rev 001 Page 27 34 return inp LOW Read LCD Data unsigned char lcdgrfrdstatus void const unsigned char read LKFGRP LCDREAD outp REGISTRO read return inp MID Read LCD Status VAA AAAA TIAA MP MB MH AAAA M M P NEM TL P g MOM TATA l gl ll ITITISTIIIII Low level auto read write data void lcdgrfautowrite unsigned char data while lcdgrfrdstatus amp 0x08 0x08 lcdgrfwrdata data unsigned char lcdgrfautoread void TODO da implementare return 0 VMIM MMMMMMMMIMMMEMPGMPMMMM MM IP TATA TATA ATTA PB Ml lll ll lg ITITISIIIIIII Basic write data and command void lcdgrfdt1 unsigned char dl while lcdgrfrdstatus amp 0x03 0x03 lcdgrfwrdata d1 void lcdgrfdt2 unsigned int d2 while lcdgrfrdstatus amp 0x03 0x03 dcos eph dE amp OxFF while lcdgrfrdstatus amp 0x03 0x03 RE gt gt 8 void lcdgrfcmd unsigned char cmd while lcdgrfrdstatus amp 0x03 0x03 lcdgrfwrcmd cmd VMMMMMMMIMMPMM IMIEEMLIPLPCMB ATTA ATTA AAAI ITAA MP M M abd d Ml ll l TT 1 1 1 Sigh level commands void lcdgrfCursor unsigned char col unsigned char row lecdgrfdt2 row lt lt
29. oard power Pin 17 19 21 23 25 27 29 31 are the TTL outputs Pin 18 20 22 24 26 28 30 32 are the TTL inputs Pin 34 is a 5Volt connected to the board power Pin 33 is a ground connected to the board ground Pin 34 is a 5Volt connected to the board power Studio Ferraris Ax4 doc 9 34 Studio Ferraris Ax2000 System User Manual Rev 001 Page 10 34 JP6 JP24 left This is the axis and analog connector On this connector there are the standard encoder inputs the analog inputs and outputs as well as power and ground pins and two signals for a touch probe interface The connector is provided with key to minimize connection errors Pin 1 2 are the analog ground Pin 3 to 10 are the analog inputs pins Pin 11 is the 12V 15V analog power supply Pin 12 is the 12V 15V analog power supply Pin 13 15 17 19 are the analog grounds Pin 14 16 18 20 are analog outputs Pin 21 is a ground supply for external touch probe Pin 22 is the touch probe output LED Pin 23 is a 5V power supply for external touch probe Pin 24 is the touch probe input Pin 25 is a digital ground shield 0 Pin 26 27 28 29 30 31 are the A A B B C C signals of encoder 0 Pin 32 is a 5V power supply to the encoder 0 Pin 33 is a digital ground supply to the encoder 0 Pin 34 is a digital ground shield 1 Pin 35 36 37 38 39 40 are the A A B B C C signals of encoder 1 Pin 41 is a 5V power supply to the
30. pers must be done matching this description with the layout of the board visible in following picture Io 2X IQ serene 907 NU Tera IK eth IK 22u 22u E Pm MASS 7 pr Map MAX532 E ll ka L Es G ie eere 1u a L DU m I3 nk 7SSID ap m w uw l E oO Fs pd uu me upss IF uono 4 IP Lem he r 7 SAPE MEE D CSF x Se esti HCsos osos s ke S ud ese fede ae TAN re O Figure 1 Ax4 Looking at the layout proceeding from top to bottom and left to right the following connectors can be found e JP28 34 poles male connector for digital outputs e JP30 34 poles male connector for digital inputs e JP29 34 poles male connector for digital inputs e JP27 34 poles male connector for LCD and keyboard e JP6 60 poles male connector for encoder and analog I O Studio Ferraris Ax4 doc 6 34
31. set bits related to the touch probe are still valid only the latches are not affected This means that during the home search the status of the external touch probe can be still monitored even if the signal cannot latch the counters This way the software can take any measure to prevent damage of the probe during the home search Again only the latches are frozen during this operation the counter itself is unaffected To read the latches whether they are triggered by the C channel or by the external touch probe the software must follow this sequence e Assure that the state machine is not busy e Select group one and the required channel e Read the LOW byte and the MID byte to complete the 16 bits of the counter e Ifthe reading is due to a C channel trigger it is necessary to reset the C channel flags latch in order to be able to detect another pulse on the same channel This is done by toggling the Touch probe Enable bit ENAPALP in the register It is possible to set this bit and immediately reset it with to output instructions Using the touch probe The touch probe is managed by two bits present in the register bit 4 and bit 5 These two bits have a different meaning on reading and writing according to the following description BIT 4 Touch probe latch status This latch is set by the first opening read on the touch probe and remains set even if the touch probe Studio Ferraris Ax4 doc 14 34
32. t out 1 inl 1 out 2 in1 2 n Cprintf o 2X 2X 2X i 2X 2X 2X x 2X 2X 2X i1 2X 2X S2X x1 292X 2X 2X r out 0 swapbit out 1 out 2 in 0 in 1 in 2 xor 0 xor 1 xor 2 in1 0 inl1 1 in1 2 xorl 0 xorl 1 xor1 2 if xor 0 xor 1 xor 2 xor1 0 xorl 1 xor1 2 cprintf Nn if i lt 0 i 95 out 0 out EL out 2 waitbusy outp REGISTRO grp Studio Ferraris Ax4 doc 24 34 outp LOW out 0 outp MID swapbit outp HIG out 2 delay 1 delay 1 kbflush void digital2 void Studio Ferraris Ax2000 System User Manual Rev 001 Page 25 34 out 1 unsigned char in 3 out 3 xor 3 int i unsigned char grp IOGRP DIGITAL elrser cprintf rTest Digital I O n r waitbusy for i 0 i lt 3 i in i out i 0 for i 0 i lt 50 i waitbusy outp outp outp outp LOW out 0 HIG out 2 while kbhit waitbusy outp outp outp outp LOW out 0 HIG out 2 waitbusy in 0 inp LOW in 1 inp MID in 2 inp HIG xor 0 out 0 in 0 xor 1 swapbit out 1 xor 2 out 2 in 2 if noprn REGISTRO grp REGISTRO grp Charges the reset circuit MID swapbit out 1 MID swapbit out 1 5 znpil Cprintf o 2X
33. t series e If Ax4 then select again group two and channel three and the second input series bit 6 of register high e Write the LOW MID and HIG byte with the same 24 output values It is important to write the HIG byte last because this enables the transfer to the real outputs e Wait for the state machine to be ready again e Read the LOW MID and HIG byte of the second input series Writing analog outputs Analog outputs are combined two channels at a time the two 12 bit values results in a 24 bit word to be written in the LOW MID and HIG registers Analog outputs are write only and always two at a time A channel have to be selected in the REG following the rule above The complete procedure is as follows e Assure that the state machine is not busy e Select group two and channel zero e Write the LOW MID and HIG byte with the combined value of X and Y analog outputs It is important to write the HIG byte last because this enables the transfer to the real outputs Studio Ferraris Ax4 doc 16 34 Studio Ferraris Ax2000 System User Manual Rev 001 Page 17 34 e Wait for the state machine to be ready again e Select group two and channel one e There is no need to read the LOW MID and HIG byte so it is possible to write the LOW MID and HIG byte with the combined value of Z and W analog outputs Ax4 only e Wait for the state machine to be ready again Reading analog inputs Ax4 only
34. tLcd void delay 100 outp REGISTRO write outp LOW 0x30 delay 100 outp REGISTRO write Set 8 bit interface Rev 001 Page 31 34 Set 8 bit interface again Studio Ferraris Ax4 doc 31 34 Studio Ferraris Ax2000 System User Manual Rev 001 Page 32 34 outp LOW 0x30 delay 100 outp REGISTRO write Set 8 bit interface and again outp LOW 0x30 Now use display busy flag if InitLcdChar 0x38 return Set 8 bit 2 line 5x7 if InitLcdChar 0x08 return Display Off if InitLcdChar Aft LEY 0x01 return Clear LCD and Home InitLcdChar 0x06 return Mode increment InitLcdChar 0x0E return Display and cursor on void lcd void static o 0 InitLcd clrscr cprintf NrTest Text LCD n r while kbhit waitbusy Lcdgotoxy 1 1 Lcdprintf TEST LCD ys Lcdgotoxy 1 2 Lcdprintf abcdefghijklmnopgrst Lcdgotoxy 1 3 Lcdprintf ABCDEFGHIJKLMNOPOQRST Lcdgotoxy 1 4 Ledprintf 0123456789 lt gt S amp switch ot 6 case 0 edOn LED ERROR break case 1 edOn LED SHIFT break case 2 edOn LED READY break case 3 edOff LED ERROR break case 4 edOff LED SHIFT break case 5 edOff LED READY break delay 200 kbflush
35. ts immediately while the resulting channel is the channel for which the conversion has been completed previously If all the channels are read in sequence the resulting channel should be the previous in the sequence It is important to note that the writing and reading operation starts also the conversion for the selected channel but the software must wait for the conversion to be complete 20uS worst case before sending a new request to the analog converter The BUSY bit of the state machine is of no help in this case because the state machine has indeed finished its job starting the conversion Reading Display and keyboard Group 3 Reading the display and the keyboard is direct and do not require the state machine but since the register must be set up for the group and channel actually no other activity can take place on the board while reading these I Os The group must be set to group 3 and the channel selects the operation according to the following table Channel 0 Write to display LOW is command MID is data Channel 1 Read from the display LOW is status MID is data Channel 2 Keyboard write sets the output read gets the input values Channel 3 Not used The actual command and data written to the display or the value associated with each I O for the keyboard is under software control and depends on which LCD and which keyboard layout are used In the sample program there is a generic four
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