TIP114-SW-95
Contents
1. Example J Read the actual value from channel 2 pid_t tipll4_procid TIP114_ IN STRUCT in_par TIP114 OUT_STRUCT out_par int retval in_par command TIP114_ READ in_par u chanNo 2 retval Send tipl14_procid amp in_par amp 0ut_par sizeof in_par sizeof out_par if retval 0 if out_par cmdStat 0 Send successful completed printf Value Xh n out_par u value else Read command failed Send failed TIP114 SW 95 QNX4 Device Driver page 12 4 2 2 TIP114_SIMREAD This function reads the actual value of all 10 channels simultaneously The union u is not used with the Send buffer The Reply buffer will be used with the selection array svalue in the union u the actual values of the channels will be placed in this array Example Read the actual value from all channels Ki pid_t tipll4_procid TIP114 IN STRUCT in_par TIP114 OUT_STRUCT out_par int retval in_par command TIP114_ SIMREAD retval Send tip1l14_procid amp in_par amp 0ut_par sizeof in_par sizeof out_par if retval 0 if out_par cmdStat 0 Send successful completed tor 2 08 a lt TO EEF printf Value d Xh n X out_par u svalue x else Read command failed Send failed TIP114 SW 95 QNX4 Device Driver page 132. TIP114_FL_NOZERO O lt lt 2 no zero flag used TIP114_FL_ZERO 1 lt lt 2 zero flag used TIP114_FL_NOGRAY O lt lt 3 no gray code used TIP114_FL_GRAY 1 lt lt 3 no gray code used This values are returned in the Reply buffer in the argument cmdStat This values is only valid if the Send function returns successful error numbers are defined in the QNxX header file error h The following additional status codes are defined in tip114 h TIP114_ERR_ICHAN 0x01140101 An illegal channel number has been specified TIP114_ERR_CLKZERO 0x01140102 The specified channel is disabled or all channels are disabled TIP114_ ERR_PERR 0x01140103 A parity error is indicated by the TIP114 TIP114_ERR_IPARA 0x01140104 An invalid parameter values has been TIP114 SW 95 QNX4 Device Driver specified page 18
3. channel number gi int clock clock rate in us SI int databits number of data bits int flags use definitions config u TIP114_OUT_STRUCT Arguments cmdStat value svalue config This argument returns the function status or error code These codes are described in the chapter Status and Error codes This union shares the buffer depending on the specified function The following arguments are all part of the union and must be used as a part of it This union selection is used by 7 P114_READ command and returns actual value of the specified channel This union selection is a array of values which will be used when calling the 7T P114_SIMREAD command A value for all channels will be returned the index identifies the channel number Values returned for disabled channels are not valid This union selection is a structure which returns the actual setup of the specified channel This selection is used with the 7 P114_CONFGET command 4 2 4 TIP114_ CONFGET TIP114 SW 95 QNX4 Device Driver page 11 4 2 Driver functions 4 2 1 TIP114_ READ This function reads the actual value of the specified channel The union u is used with the selection chanNo with the Send buffer chanNo specifies the channel which shall be read The Reply buffer will be used with the selection value in the union u the actual value of the specified channel will be placed in this selection
4. 4 2 3 TIP114_CONFSET This function reads the actual value of the specified channel The union u is used with the selection conf with the Send buffer The values of conf are described below The Reply buffer will not use the union u The structure conf includes the following four parameters chanNo specifies the channel which shall be configured clock specifies the clock rate which shall be used this value is specified in steps of 1us Valid values are 1 15 and 0 if the channel shall be disabled databits specifies the number of data bits that shall be used Allowed values are 1 31 and 0 for 32 bits The last parameter flags is a bit field which is ORed value of the defines from the following categories The parity mode is selected with TIP114_FL_NOP no parity mode TIP114_FL_ODP odd parity mode TIP114_FL_EVP even parity mode The zero flag mode is selected with TIP114_FL_NOZERO don t use the zero flag TIP114_FL_ZERO use the zero flag The gray code mode is selected with TIP114_FL_NOGRAY The input will be interpreted binary TIP114_FL_GRAY The input will be interpreted as gray coded More details about configuration can be found in the TIP 114 User manual TIP114 SW 95 QNX4 Device Driver page 14 Example configure channel 2 with the following parameters kx 24 data bits KOR 5 us clock rate KSE gray coded RE no zero flag a
5. Absolute Encoder Interface IP with QNX4 operating systems with Intel and Intel compatible x86 CPU and a PCI40A compatible carrier Supported features gt Read absolute value from a specified channel gt Configure and read configuration of channel gt Synchronous read from all enabled channels TIP114 SW 95 QNX4 Device Driver page 4 2 Installation The software is delivered on a PC formatted 31 2 HD diskette Following files are located on the diskette tip114 c Driver source code isr c Interrupt function source code tip114 h Driver and application include file tip114def h Driver include file tpxxxhwdep c Hardware dependent functions tpxxxhwdep h Include file for hardware dependent functions makefile Makefile to compile the driver task example Example application For installation copy these files into a desired target directory 2 1 Build the device driver 1 Change to the target directory 2 Execute the Makefile make 2 2 Start the driver process For starting the driver process you have to call the executable file tip114 tip114 Now the driver process will start a search for the first TIP114 module and will use this If you want to use a second TIP114 you have to specify this when starting the process The flag l lt index gt will specify the index of the module If you want to start a process using the 3 module you have to call tip114 I2 The process will be started with a defa
6. TIP114 SW 95 QNX4 Device Driver 10 Channel Absolute Encoder Interface SSI on SBS PCI40A Carrier Version 1 0 Issue 1 0 August 20 2001 TEWS DATENTECHNIK GmbH Am Bahnhof 7 D 25469 Halstenbek Germany Tel 49 0 4101 4058 0 Fax 49 0 4101 4058 19 Email Support tews com WEB http www tews com TIP114 SW 95 10 Channel Absolute Encoder interface SSI on SBS PCI40A Carrier QNX4 Device Driver Description First Issue This document contains information which is proprietary to TEWS DATENTECHNIK GmbH Any reproduction without written permission is forbidden TEWS DATENTECHNIK GmbH has made any effort to ensure that this manual is accurate and complete However TEWS DATENTECHNIK GmbH reserves the right to change the product described in this document at any time without notice This product has been designed to operate with IndustryPack compatible carriers Connection to incompatible hardware is likely to cause serious damage TEWS DATENTECHNIK GmbH is not liable for any damage arising out of the application or use of the device described herein 2001 by TEWS DATEN TECHNIK GmbH IndustryPack is a registered trademark of GreenSpring Computers Inc Date August 20 2001 TIP114 SW 95 QNX4 Device Driver page 2 Table of Contents TIP114 SW 95 QNX4 Device Driver page 3 1 Introduction The TIP114 SW 95 QNX4 device driver software allows the operation of a TIP114 10 Channel
7. d All the driver function calls are using the same send and reply buffer The send buffer has the structure of TIP114_IN_ STRUCT and the reply buffer has the structure of the TIP 114 OUT STRUCT These structures will be described below 4 1 1 TIP114_IN STRUCT typedef struct int command VO command union int chanNo channel number struct int chanNo channel number int clock clock rate in us SI int databits number of data bits int flags use definitions config u TIP114_IN_STRUCT Arguments command This argument specifies the driver function that shall be executed The values of the driver functions and the use of the send buffer will be described below in the chapter Driver functions u This union shares the buffer depending on the specified function The following arguments are all part of the union and must be used as a part of it chanNo This value specifies the channel Number where the value should be read from This union selection will be used by TIP114_READ and TIP114_CONFGET config This union selection is a structure which has four values that are used for the 7 P114_CONFSET function 4 2 3 TIP114 _CONFSET TIP114 SW 95 QNX4 Device Driver page 10 4 1 2 TIP114_OUT_STRUCT typedef struct int cmdStat 1 O command status union unsigned long value input value unsigned long svalue 10 simultaneous values Wi struct int chanNo
8. d with TIP114_FL_NOZERO don t use the zero flag TIP114_FL_ZERO use the zero flag The gray code mode is indicated with TIP114_FL_NOGRAY The input will be interpreted binary TIP114_FL_GRAY The input will be interpreted as gray coded More details about configuration can be found in the TIP 114 User manual TIP114 SW 95 QNX4 Device Driver page 16 Example Read the actual configuration of channel 2 pid_t tipll4_procid TIP114_ IN STRUCT in_par TIP114 OUT_STRUCT out_par int retval in_par command TIP114_ CONFGET in_par u chanNo 2 retval Send tip1l14_procid amp in_par amp 0ut_par sizeof in_par sizeof out_par if retval 0 if out_par cmdStat 0 Send successful completed printf Clockrate Xh n out_par u conf clock else Read command failed Send failed TIP114 SW 95 QNX4 Device Driver page 17 5 Appendix 5 1 Defined Values 5 1 1 Function Codes 5 2 Status and Error Codes TIP815 READ 0x01140001 Read the value of a specified channel TIP815 SIMREAD 0x01140002 Read the values of all channels TIP815 CONFSET 0x01140003 Set the configuration of a specified channel TIP815 CONFGET 0x01140004 Read the configuration of a specified channel 5 1 2 Flags TIP114_FL_NOP O lt lt 0 no parity bit used TIP114_FL_ODP 1 lt lt 0 odd parity bit used TIP114_FL_EVP 2 lt lt 0 even parity bit used
9. exchange the current process would have incurred a segment violation Your buffer s may be invalid or too small EHOSTUNREACH The destination node is not in the net mapping or a physical I O error occurred trying to communicate to the node EINTR Call interrupted by signal EINVAL The virtual circuit buffer cannot be grown due to an invalid message length ENOMEM The virtual circuit buffer cannot be grown because no memory is available ESRCH The process pid does not exist See also the description of errno in the Watcom C Library Reference See also Watcom C Library Reference Send Includes lt sys kernel h gt TIP114 SW 95 QNX4 Device Driver page 8 Example Read the actual value of channel 2 pid_t tipll14_procid TIP114 IN STRUCT in_par TIP114 OUT_STRUCT out_par int retval in_par command TIP114 READ in_par u chanNo 2 retval Send tip1l14_procid amp in_par amp 0ut_par sizeof in_par P sizeof out_par if retval 0 if out_par cmdStat 0 Send successful completed printf Value Xh n out_par u value else Read command failed Send failed TIP114 SW 95 QNX4 Device Driver page 9 4 Using the Driver Functions 4 1 Send and Reply buffer This chapter describes the use of the TIP114 driver functions These driver functions are using the Sena function described in the chapter Sen
10. no parity my pid_t tipl14_procid TIP114 IN STRUCT in_par TIP114 OUT_STRUCT out_par int retval in_par command TIP114 CONFSET in_par u conf chanNo 23 in_par u conf databits 24 in_par u conf clock 5y in_par u conf flags TIP114_FL_NOP TIP114_FL_NOZERO TIP114_FL_GRAY retval Send tip1l14_procid amp in_par amp 0ut_par C sizeof in_par E sizeof out_par if retval 0 if out_par cmdStat 0 Send successful completed else Configure command failed Send failed TIP114 SW 95 QNX4 Device Driver page 15 4 2 4 TIP114_CONFGET This function reads the actual configuration of the specified channel The union u is used with the selection chanNo with the Send buffer chanNo specifies the channel where the configuration shall be read from The Reply buffer will be used with the selection config in the union u the config structure contains four values chanNo is not used clock returns the actual chosen clock rate in steps is 1 us a value of 0 signals that the channel is disabled databits returns the number of data bits that are actually used 0 is returned for 32 bits The last parameter flags is a bit field which is an ORed value of the defines from the following categories The parity mode is indicated with TIP114_FL_NOP no parity mode TIP114_FL_ODP odd parity mode TIP114_FL_EVP even parity mode The zero flag mode is indicate
11. tached this name See also the description of errno in the Watcom C Library Reference See also Watcom C Library Reference qnx_name_locate Includes lt sys name h gt TIP114 SW 95 QNX4 Device Driver page 6 Example pid_t tipll4_procid tip114_procid qnx_name_locate 0 tipl14 0 0 NULL if tipl14_procid 1 device driver process found device driver process not found TIP114 SW 95 QNX4 Device Driver page 7 3 2 Send Synopsis int Send pid _t pid void smsqg void rmsg unsigned snbytes unsigned rnbytes Description The kernel function Send sends a message pointed to by smsg to the process identified by pid Any reply is placed in the message buffer pointed to by rmsg The size of the sent message is snbytes while the size of the reply message is truncated to a maximum of rnbytes The TIP114 device driver process always waits for the same message buffer type TIP114_IN_STRUCT and always will receive the same reply buffer TIP114_OUT_STRUCT The different functions will use different parts of a union within these structures The structures will be described in the device driver functions see Using the Driver Functions Returns The Send function returns a zero on success On error it returns 1 and errno is set Errors EAGAIN No more Process Manager to Network Manager queue packets available EFAULT In order to complete the message
12. ult priority of 19 if you want to use an other priority you have to specify this when starting the process with the flag P lt prio gt TIP114 SW 95 QNX4 Device Driver page 5 3 Calling Driver Functions Your application must use the Send function to communicate with the device driver process Before you can use the Send function you have to locate the process ID of the driver process this will be done with the qnx_name_locate function 3 1 qnx_name_locate Synopsis pid_t qnx_name_locate nid_t nid char name unsigned size unsigned copies Description The gnx_name_locate function locates a process that has registered itself under the given name using the qnx_name_attach function The argument nid should always be 0 name specifies the process name of the driver process size shall be set to 0 and the number of copies shall be set NULL The first thing the application has to do is to locate the name of the device driver process because we need the process ID to make the Send calls The TIP114 driver processes will be installed as tip114 lt index gt lt index gt specifies the index number of the TIP114 see Start the driver process For example the process ID of the 3 TIP114 will be tipT14 2 Returns The gqnx_name_locate function returns a process id if successful otherwise it returns 1 and errno is set Errors ESRCH There is no process that has at
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TIP114 SW 95