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PMD Resource Access Protocol Programmers Reference

1. Packet write 1 2 5 Structure 7 6 5 4 3 2 1 0 write 1 address 7 6 5 4 3 2 1 0 write timeout byte 0 7 6 5 4 3 2 1 0 write timeout byte 1 7 6 5 4 3 2 1 0 write send data byte 0 7 6 5 4 3 2 1 0 write send data byte 1 7 6 5 4 3 2 1 0 read 2 status reserved 7 6 5 4 3 2 1 0 Description The Send CMotionEngine action is used to send a user packet to a user program running on a C Motion Engine which may read them using the PMDPeriphReceive procedure applied to a peripheral opened with PMDPeriphOpenCME The user packet mechanism allows arbitrary user data to be sent to or received from user programs without opening dedicated peripheral channels the packets are encapsulated in PRP packets User packets are sent as discrete units and only one packet may be buffered before being read by a user program The timeout argument specifies how many milliseconds to wait for the user program to read the user packet A timeout value of 65535 Oxffff means no time limit The user packet mechanism is the simplest way to exchange data with running C Motion Engine user programs and has the advantage of working the same way regardless of the transport mechanism used to send packets but it is limited in performance and flexibility If user packets are not sufficient then peripheral channels specific to the user application should be opened and used The maximum size of a user packet is 250 bytes as given by USER_PACKET in the file PMDPerip
2. 1 C Motion dll is a dynamically loadable library of all documented procedures in the PMD host libraries including all C Motion procedures 2 PMDLibrary vb is Visual Basic source code containing definitions and declarations for DLL procedures enumerated types and data structures supporting the use of C Motion dll from Visual Basic PMDLibrary vb should be included in any Visual Basic project for PRP device control Both debug and release versions of C Motion dll are provided in directories CMESDK HostCode Debug and CMESDK HostCode Release respectively The library input file C Motion lib is also provided so that C Motion dll may be used with C C language programs When compiling C C programs to be linked against the DLL the preprocessor symbol PMD_IMPORTS must be defined C Motion dll must be in the executable path when using it either from a C or a Visual Basic program Frequently the easiest and safest way of doing this is to put it in the same directory as the executable file PMDLibrary vb is located in the directory CMESDK HostCode VisualBasic Please note that the version of VB Motion documented in the Magellan Motion Processor Programmer s Command Reference while similar in spirit to the one described here is not the same In particular the class structure and the method of instantiating an axis object is different and Sub methods containing the word Get or Set are not transposed The Visual Basic interface described
3. A PRP action is a particular operation specified by a 4 bit integer Pocked or command would have been reasonable names instead of action All the different variants of a given action are logically similar The behavior of an action depends on the resource type to which it is addressed the same action may take a different set of arguments return different data and have different effects depending on its resource type Many but not all actions are only fully specified by adding a sub action an 8 bit code qualifying the action to take Finally a few commands also accept a swb sub action another 8 bit qualifier of the action to take An action is fully specified by the action the resource and the sub action In the detailed PRP action reference section the action appears on the left side of the heading the resource in the middle and the sub action on the right The following table summarizes the action codes See Section 3 6 PRP Action Reference for more information Name Value Meaning Resources NOP 0 No operation All Reset l Perform a reset Device MotionProcessor Command 2 Motion Processor and miscellaneous actions MotionProcessor Open 3 Open an addressable resource Peripheral Device Close 4 Close a remote resource any remote resource Send 5 Send data to a stream like resource Peripheral CMotionEngine Receive 6 Receive data from a stream like resource Peripheral CMotionEng
4. C library procedures that accept pointers become methods operating on VB arrays This example reads 100 values from dual ported RAM Dim memvals 0 To 100 As Ulnt32 mem read memvals 100 memvals Length If the objects opened here are not explicitly closed they will be closed by the garbage collector End Sub End Class Several general points about the translation from C to Visual Basic are shown in the example e Argument type and order are the same except that the initial handle pointer argument is not needed The null device pointer used to indicate that a peripheral is opened on the local device is also not needed Get Set procedures returning a single argument become object properties with parameters if needed The property name does not contain Get or Set or the PMD prefix Procedures returning or setting multiple values are implemented as Sub methods returning values via ByRef parameters Get or Set is retained in the names but the PMD prefix is not Enumerated value names do not use the PMD prefix but the enumeration names do gt Procedures reading or writing array data through C pointers instead take Visual Basic arrays of the appropriate type 7 2 Using A Magellan Attached Device The following example illustrates how to obtain an object connected to a Magellan attached device in this case connected to a serial port Public Class Examples
5. break Related PRP Receive Peripheral Actions PMD Resource Access Protocol Programmer s Reference 109 PMDPeriphSend C Motion Engine Host Based Arguments C language syntax Visual Basic Syntax Description Related PRP Actions 110 name type hPeriph pointer to open PMDPeriphHandle data pointer to data to send nCount number of bytes to send timeout milliseconds to wait less than Oxffff PMDresult PMDPeriphSend PMDPeriphHandle hPeriph void data PMDuint32 nCount PMDuint32 timeout Dim data8 0 To MaxLength As Byte Dim nCount timeout As UInt32 periph receive data8 nCount timeout PMDPeriphSend is used to send bytes to a peripheral indicated by the hPeriph argument nCount bytes are sent from the buffer data If the data may not be sent in timeout milliseconds then PMDPeriphSend will stop trying and return PMD_ERR_ Timeout A timeout value of PMD_WAITFOREVER Oxffff means never stop trying If the peripheral connection has been closed by some external action for example a TCP connection that has been closed by a peer then PMD_ERR_NotConnected will be returned After such an error the peripheral handle must be closed using PMDPeriphClose In the case of a TCP connection after closing the unconnected peripheral a new peripheral with the same TCP port may be opened using PMDPeriphOpenTCP See PMDPeriphReceive p 107 for example code Send Peripheral PMD Resource Access Protocol Program
6. result PMDReset amp axis l hs Because the handles are allocated on the stack they closed before returning result PMDAxisClose amp axis result PMDDeviceClose amp dev result PMDPeriphClose amp periph Case 3 PRP device Magellan motion processor accessed from the CME void testAxis void PMDAxisHandle axis PMDresult result F This is the simplest case pass NULL for the device argument to indicate the local device result PMDAxisOpen amp axis 1 0 PMDAx is An example operation soft reset the motion processor result PMDReset amp axis ia Because the handles are allocated on the stack they are closed before returning result PMDAxisClose amp axis PMD Resource Access Protocol Programmer s Reference 131 VN C Motion This page intentionally left blank 132 PMD Resource Access Protocol Programmer s Reference 7 VB Motion WVB Motion is the interface from Microsoft Visual Basic NET to the PMD C Motion library for control of Magellan Motion Processors which is documented in the Magellan Motion Processor Programmers Command Reference The Visual Basic interface documented in that manual is similar to but not identical to that used for PRP devices Basic language programming is supported only for Microsoft Windows hosts C Motion Engine programming must be done in the C language There are two parts to the Visual Basic interface code
7. CME boards is a memory PMD Resource Access Protocol Programmer s Reference 21 4 PRP Reference Peripheral means an open connection to some off card object using a communications device This resource type applies to connections made using TCP UDP CANbus serial or PC 104 ISA bus as well as any similar transport mechanisms that may be supported in the future The address zero is reserved for the nu peripheral Data sent to the null peripheral will be discarded without error reading from the null peripheral will never produce any data and will eventually time out 3 2 PRP Addresses Every resource accessible using PRP is identified by a numeric address Addresses for resources local to a PRP device are fixed numbers beginning with zero addresses for resources on remote PRP devices that is devices not directly connected to the host are obtained by PRP actions and are dynamically assigned While these remote addresses may in practice be predictable it is important not to assume their values which may change depending on the state of the device assigning them Remote addresses are specific to the PRP device that assigned them they represent the beginning of a path to the remote resource not a global network address for it Although PRP supports general remote addressing it is useful even when restricted to local addresses and it is likely that many applications will use only local addressing 3 3 PRP Actions and Sub Actions
8. axis_number enumeration PMDAxis to PMDAxis4 PMDresult PMDAxisOpen PMDAxisHandle hAxis PMDDeviceHandle hDevice PMDAxis axis number Dim axis As New device PMDAxisNumber Axis PMDAxisOpen is used to obtain a handle to a single control axis of a Magellan Motion Processor which will be used for all C Motion procedures The hAxis argument should point to an uninitialized PMDAxisHandle struct which should not be freed or written to as long as the handle is required The device argument should point to an open PMDDeviceHandle handle which may represent either a PMD device or a Magellan attached device In a C Motion engine user program device may be null in which case the Magellan processor on the local device will be opened For example to open the first axis on the local Magellan processor from a CME user program PMDAxisHandle axisl PMDresult result result PMDAxisOpen amp axisl 0 PMDAxis1l And to open the second axis on a Magellan attached device accessible by CANBus PMDPeriphHandle periph PMDDeviceHandle dev PMDAxisHandle axis2 PMDresult result First open the peripheral connection CAN _ TX CAN RX and CAN EVENT depend on how the attached device is configured result PMDPeriphOpenCAN amp periph 0 CAN TX CAN RX CAN_EVENT Now open an MP Device on the peripheral if PMD NOERROR result status PMDMPDeviceOpen amp dev amp periph Now we re r
9. 0 write 0 address 7 6 5 4 3 2 1 0 The Reset Device action may be used to soft reset a PRP device No return packet will be sent after this command The return packet for the next action will be a Reset error Ox8001 error reply regardless of the action requested A Reset error in reply to an action indicates that the command was not processed and should be re sent PMDresult PMDDeviceReset PMDDeviceHandle hDevice PMD Resource Access Protocol Programmer s Reference Reset MotionProcessor Coding Arguments Return Data Packet Structure Description C language syntax action sub action resource l 2 none none write 1 2 1 7 6 5 4 3 2 1 0 write 2 address 7 6 5 4 3 2 1 0 read 2 status reserved 7 6 5 4 3 2 1 0 The Reset MotionProcessor action may be used to hard reset a Magellan Motion Processor that is part of a PRP device In order to soft reset a motion processor the Command action with a Magellan reset command may be used It is an error to direct this action to a motion processor that is not part of a PRP device for example an ION module PMDresult PMDDeviceReset PMDDeviceHandle hDevice PMD Resource Access Protocol Programmer s Reference 67 Send CMotionEngine Coding action sub action resource 5 Arguments name type range units timeout unsigned l6 bit 0 Oxffff msec Returned Data none
10. 0 write resource address 7 6 5 4 3 2 1 0 read 2 status reserved 7 6 5 4 3 2 1 0 Description The Close action may be used to free any resource that was originally returned by an Open action After closing such a resource no longer exists and will signal an error if an action is addressed to it Close will close an open TCP connection if applied to a TCP peripheral For reasonably sized networks that are static it may never be necessary to use Close It is an error to send a Close action to a resource that was not returned by Open C language PMDresult PMDPeriphClose PMDPeriph periph syntax PMDresult PMDDeviceClose PMDDevice device PMDresult PMDMemoryClose PMDMemory ram PMD Resource Access Protocol Programmer s Reference 33 l Commandejach CMotionEngine Coding action sub action resource 2 2 l Arguments name instance encoding FlashCmd FlashStart l FlashData 2 FlashEnd 3 Returned Data none Packet write 1 2 2 Structure 7 6 5 4 3 2 1 0 write 1 address 7 6 5 4 3 2 1 0 write 2 7 6 5 4 3 2 1 0 write FlashCmd 7 6 5 4 3 2 1 0 write body byte 0 7 6 5 4 3 2 1 0 write body byte 1 7 6 5 4 3 2 1 0 read 2 status reserved 7 6 5 4 3 2 1 0 Description The Command Flash CMotionEngine action is used to install a user program in a C Motion Engine The flash process proceeds in three steps each with a separate value of the FlashCmd argument In addition to Fla
11. 104 Card Ethernet TCP C Motion i Magellan i ee 4 Engine 9 Figure 2 5 Host Controller amp Magellan attached i Devices rA PC 104 Bus Prodigy Card y In this bridge configuration the host controller or the PRP device s C Motion Engine can access the PC 104 connected Prodigy card very similarly to the way in which the on card Magellan is addressed To accomplish this however a different method is used to create access to the Magellan compared to the method described for on card Magellan access in see Section 2 3 Accessing On Card Resources for details Rather than sending PRP messages to the on card MotionProcessor resource first a raw peripheral connection is opened and then the Open action with a sub action of MotionProcessor is used to open a new MotionProcessor resource The following PRP code sequence illustrates NewPeriphID PRP Device Addr 0 Open Open an ISA peripheral connection to connect to the slave Prodigy PC 104 card NewMtnProclD PRP Peripheral Addr NewPeriphID Open Use the opened peripheral connection to create a new MotionProcessor resource using the Open action with sub action specifying MotionProcessor A new MotionProcessor resource address is loaded into the message body PRP MotionProcessor Addr NewMtnProcID Command Send Magellan command packet to the slave Prodigy PC 104 s Magellan
12. 3 2 1 0 write Receiveldentifier least significant byte 7 6 5 4 3 2 1 0 write Receiveldentifier byte 1 7 6 5 4 3 2 1 0 write Receiveldentifier byte 2 7 6 5 4 3 2 1 0 write Receiveldentifier byte 3 7 6 5 4 3 2 1 0 write Eventldentifier byte 0 7 6 5 4 3 2 1 0 PMD Resource Access Protocol Programmer s Reference 43 l Open ay Device cont write Eventldentifier byte 1 7 6 5 4 3 2 1 0 write Eventldentifier byte 2 7 6 5 4 3 2 1 0 write Eventldentifier byte 3 7 6 5 4 3 2 1 0 read 2 status reserved 7 6 5 4 3 2 1 0 read PeriphAddress 7 6 5 4 3 2 1 0 Description The Open CAN Device action is a request to a PRP device to return a PRP peripheral address associated with a CAN controller and two CAN identifiers on the device CANController is the local physical CAN controller for all current PRP devices there is at most one CAN controller so this argument should be zero Transmitldentifier and Receiveldentifier are CAN identifiers used for sending and receiving messages The point of view is the device so Transmitldentifier is used for sending messages from the PRP device to the peripheral CAN device and Receiveldentifier should be used by the peripheral device to send messages to the PRP device If either Transmitldentifier or Receiveldentifier is zero than it will be ignored and either transmit or receive disabled for the resulting peripheral Eventidentifer is a CAN identifier used for rec
13. 4 3 2 1 0 read 2 status reserved 7 6 5 4 3 2 1 0 read RemoteAddress 7 6 5 4 3 2 1 0 Description The Open Device Peripheral action is used to allocate a PRP address for a Device resource that may be used to communicate with a PRP device accessible using an existing peripheral connection for example a TCP or serial connection The RemoteAddress returned may be used for any PRP action that may be addressed to a Device resource it is typically used to obtain addresses for remote motion processors dual ported RAM and C Motion engines C lan uage PMDresult PMDRPDeviceOpen PMDDeviceHandle hDevice p syntax PMDPeriphHandle hPeriph 56 PMD Resource Access Protocol Programmer s Reference Open MotionProcessor Peripheral Coding action sub action resource 3 0 4 Arguments none Returned Data name type range RemoteAddress unsigned 8 bit 1 31 Packet write 1 2 3 Structure 7 6 5 4 3 2 1 0 write 4 address 7 6 5 4 3 2 1 0 write 0 7 6 5 4 3 2 1 0 write 0 7 6 5 4 3 2 1 0 read 2 status reserved 7 6 5 4 3 2 1 0 read RemoteAddress 7 6 5 4 3 2 1 0 Description The Open MotionProcessor Peripheral action is used to allocate a PRP address to a Magellan Motion Processor that is accessible using an existing PRP peripheral resource using a serial port CAN bus ot PC 104 ISA bus The PRP RemoteAddress returned may be used to command the motion processor using the Command action The PR
14. Motion Processor using the standard method of communicating with MotionProcessor resources Note that as the command sequence above shows after the new MotionProcessor resource addresses are created using the Open action subsequent Magellan commands to the slave Prodigy PC 104 are identical in format to commands to the on card Magellan This illustrates a very powerful feature of the PRP system which is that it allows resources to be addressed transparently by the host controller or C Motion Engine module making it easy to create and access networks of PMD products Note also that the Open action can be used with different resource types In Section 2 2 1 Peripheral Connections it was used with a resource type of Device to open a peripheral connection In the above example it was used with a resource type of Peripheral to open a connection to a Magellan Motion Processor PMD Resource Access Protocol Programmer s Reference 17 2 PMID Resource Access Protocol PRP Tutorial 2 5 PRP Communication Formats The following sections discuss how PRP messages should be formatted on the Serial CANbus and Ethernet networks so that they can be properly interpreted by the PRP device Note that PRP messages from a host are not sent over the PC 104 bus because the only PC 104 PRP device the Prodigy CME PC 104 card acts as the bus master Communication via PRP from a host to the PRP device occurs via serial CANbus or Ethernet 2 5 1 P
15. Motion Processors is called C Motion and is fully documented in the Magellan Motion Processor Programmers Command Reference and the Magellan Motion Processor Users Guide 4 1 Naming Conventions Procedures and data type names in the CME library are prefixed with PMD This prefix is omitted in the binary protocol documentation below but must be included in C programs C Motion is the PMD library for Magellan Motion Processor control and is a subset of the CME libraries C Motion procedures and data type names are also prefixed with PMD 4 2 Data Types PRP resources are represented by opaque C types Opaque means that reading and writing members of the data structures without using the library procedures is not supported All of these structures must be allocated by the calling program are passed to library procedures by using a pointer argument and must not be freed or otherwise written to until explicitly closed These data types include e PMDDeviceHandle There are two types of device an RP device is a device that communicates using the PRP that is a Prodigy CME card or an ION CME module an MP device is a device that communicates using the Magellan protocol that is a non CME ION module non CME prodigy card or other Magellan attached device e PMDAxisHandle A control axis of a Magellan Motion Processor which may be part of a Magellan attached device or of a PRP device e PMDPeriphHand
16. Protocol Programmer s Reference PMDDeviceGetVersion C Motion Engine Host Based Arguments C language syntax Visual Basic Syntax Description Related PRP Actions name type hDevice pointer to PMDDeviceHandle major unsigned version number minor unsigned version number PMDresult PMDDeviceGetVersion PMDDeviceHandle hDevice PMDuint32 major PMDuint32 minor Dim major minor As UInteger device GetVersion major minor PMDDeviceGetVersion is used to retrieve version information for a PRP device If hDevice is a handle to a Magellan attached device then PMD_ERR_NOT SUPPORTED will be returned and the version information not written hDevice may be null for calls made by C Motion Engine user programs needing the version number of the device on which they are running Get Device Version PMD Resource Access Protocol Programmer s Reference 89 PMDTaskGetAbortCode C Motion Engine C language unsigned PMDTaskGetAbortCode syntax Description PMDTaskGetAbortCode is used to retrieve the code left by a previous call to PMDTaskAbort and may be used for communication from one instance of a C Motion Engine user program to the next The abort code is not non volatile and does not survive a reset or power cycle After reading the abort code is cleared and subsequent reads will return zero Zero is also returned if PMDTaskAbort was not called by the previous program PMDTaskGetAbortCode is only availabl
17. Public Sub Example2 Dim periph As PMDPeripheral Dim MPDev As PMDDevice Dim axis2 As PMDAxis PMD Resource Access Protocol Programmer s Reference 135 ha VB Motion Open the connection on COMI using appropriate serial port parameters periph New PMDPeripheralCOM 1I PMDSerialBaud Baud57600 _ PMDSerialParity None PMDSerialStopBits Bits l Obtain a device object using the peripheral Device type MotionProcessor means Magellan attached MPDev New PMDDevice periph PMD DeviceT ype MotionProcessor Finally instantiate an axis object specifying the desired axis number 2 axis2 New PMDAxis MPDev PMDAxisNumber Axis2 Example VB Motion operation Get the event status Dim status As Ulntl6 status axis2 EventStatus End Sub End Class 7 3 Error Handling Almost all of the PMD C language library procedures return an error code to indicate success or failure The Visual Basic versions of these procedures instead throw an exception if the wrapped DLL procedures return an error code The exception message will contain the error number and a short description of the error The Data member of the exception will contain the error number as an enumeration of type PMDresulkt associated with the key PMDresult so that structured exception handling may be used to appropriately handle errors The following example commands a PRP device to reset and then ignores the expected error return on the next command d
18. Reference 115 PMDputch C Motion Engine Host Based Arguments name type ch 8 bit integer C language void PMD putch int ch syntax Description PMDputch is used to print a single character to the console See also PMDprintf p 111 for more description of the console Related PRP Set Console Actions Set Device Default Default DebugIntfType Set Device Default Default_DebugIntfAddr Set Device Default Default_DebugIntfPort 116 PMD Resource Access Protocol Programmer s Reference PMDputs C Motion Engine Host Based Arguments name type str string C language void PMDputs const char str syntax Description PMDputs is used to print a constant string to the console See also PMDprintf p 111 for more description of the console Related PRP Set Console Actions Set Device Default Default DebugIntfType Set Device Default Default_DebugIntfAddr Set Device Default Default_DebugIntfPort PMD Resource Access Protocol Programmer s Reference 117 PMDRPDeviceOpen C Motion Engine Host Based Arguments C language syntax Visual Basic Syntax Description Related PRP Actions name type hDevice pointer to uninitialized PMDDeviceHandle hPeriph pointer to open PMDPeriphHandle PMDresult PMDRPDeviceOpen PMDDeviceHandle hDevice PMDPeriphHandle hPeriph Dim dev As New PMDDevice periph PMDDeviceType ResourceProtocol PMDRPDeviceOpen is used to open a handle to a device t
19. and is unavoidably subject to fragmentation it is suggested that dynamic allocation be used sparingly preferably only during initialization The heap in current CME devices is approximately 7 kilobytes 5 2 Procedures Specific to the C Motion Engine Most of the Procedures used for controlling aCME device use identical calling sequences whether executed on the host or the C Motion Engine making it easy to move parts of an application from the host to the C Motion engine or vice versa See Section 4 5 PMD Library Procedures for the internals of the data structures used and other details of implementation are of course different Procedures specific to the C Motion engine C language procedures dealing with an entire PRP device for example to open a handle to a card resource use a device handle a pointer to the PMDDevice type For host based programs this type must be initialized by a call to PMDRPDeviceOpen to establish a connection to a PRP device over an open peripheral connection For C Motion engine user programs accessing the local device a null pointer should be passed as the device handle An example is shown below Host based program PMDDeviceHandle dev Statically allocate space for a PRP device handle PMDAxisHandle axis Allocate space for a handle to a Magellan axis PMDPeriphHandle periph Allocate space for a handle to a peripheral connection PMD Resource Access Protocol Programmer s Referenc
20. and complete electrical and mechanical specifications ION CME Digital Drive User s Manual Complete description of the ION CME Digital Drive including getting starting section operational over view detailed connector information and complete electrical and mechanical specifications ION B Digital Drive User s Manual Complete description of the ION B Digital Drive including getting starting section operational overview detailed connector information and complete electrical and mechanical specifications PMID Resource Access Protocol Programmer s Reference Table of Contents Chapter 1 Introduction cece cece cece cece cece cece cece eee recess csscseees 7 1 1 PMD Resource Access Protocol Overview ccc cece ccc n cence nen e nen e een ene eneenees 7 1 2 SCOPE dinero eerie Says ntactatin guannel dara tad oitneue ae Manatee os a a a PG ads 7 Chapter 2 PMD Resource Access Protocol PRP Tutorial eeeececccecees 9 2 1 Resource Addressing ais tras seeks Oh SA Ae dain ae ed SAR aes Mee eae 9 2 2 Accessing the Communications Ports cece cece eee cece e nen n eee n enn encase 11 2 3 Accessing On Card R SOUICES 6c cece cece een n cnet nent n cnet ene en een en enes 15 2 4 Accessing Magellan Attached Devices 0c cc cece e ccc en eee een n cnet eee nen en encase 16 2 5 PRP Communication Formats iiir meone nna ai ec eee eee eee E E A E E E a 18 Chapter 3 PRP Reference oc o
21. are sent to the same port and in the same way as response packets Serial connections do not support event notification PCI bus PRP connections use an interrupt and a separate memory buffer for event notification For details on a specific transport mechanism see Section 3 5 PRP Transport Layers The version field as for other packet types must contain 1 The status field value of 3 identifies the packet type as event notification The eventType field identifies the sort of event signaled currently only one type is supported 2 meaning a Magellan Motion Processor event notification All other values through 15 are reserved for future expansion and it is expected that some will be used for PRP CME specific events The resource and address fields identify the specific resource that was responsible for signaling an event In the case of a motion processor event resource will be MotionProcessor 2 In the most common case of an event raised by a PRP device motion processor address will be zero however for the case of a PRP device controlling a Magellan attached device address will be the value assigned during the Open Device OpenMotionProcessor action The number and meaning of the body bytes will depend in general on the event type but because only one event type is supported at this time its body layout is illustrated Axis indicates the motion processor axis signaling the event zero meaning axis 1 one axis 2 and so forth EventS
22. bus mastering there is no way of opening an outgoing PCI bus peripheral on the Prodigy CME cardNo is a small integer denoting the particular Prodigy CME card to connect to If only one Prodigy CME card is present then cardNo is always zero Mutiple cards are numbered sequentially in an order that must be determined by experiment Related PRP none this procedure is supported only on a PC host Actions 104 PMD Resource Access Protocol Programmer s Reference PMDPeriphOpenTCP C Motion Engine Host Based Arguments C language syntax Visual Basic Syntax Description Related PRP Actions name type hPeriph pointer to uninitialized PMDPeriphHandle hDevice pointer to open PMDDeviceHandle IPAddress 32 bit IP address port 16 bit TCP IP port PMDresult PMDPeriphOpenTCP PMDPeriphHandle hPeriph PMDDeviceHandle hDevice PMDuint32 IPAddress PMDuint1l6 port Dim address As System Net IPAddress Dim portnum timeout As UInt32 Dim periph As New PMDPeripheralTCP address portnum timeout PMDPeriphOpenTCP is used to open a TCP IP peripheral on the PRP device indicated by hDevice If hDevice is a null pointer then the local device either the host or the PRP device on which a CME user program is running If IPAddress is nonzero then it is the IP address of a remote Ethernet device to which a connection should be opened If IPAddress is nonzero then the device will listen on the indicated TCP port for incoming conn
23. here does not use the Component Object Model COM but is instead supplied as Visual Basic source code The VB Motion described here uses C Motion 4 x See Section 6 1 C Motion Versions for a discussion of the two threads of C Motion development 7 1 Visual Basic Classes The file PMDLibrary vb defines a Visual Basic class for each of the opaque data types used in the PMD library PMDPeripheral PMDDevice PMDAxis and PMDMemory PMDPeripheral is inherited by a set of derived classes for each peripheral type PMDPeripheralCOM PMDPeripheralMultiDrop PMDPeripheralCME PMDPeripheralPCl and PMDPeripheralTCP Each class takes care of allocating and freeing the memory used for the handle structures used in the C language interface The first pointer argument to for example a PMDPeriphHandle in a C language procedure call is not needed because a method call for a particular PMDPe ripheral object is used instead and each object manages its own PMDPeriphHandle PMD Resource Access Protocol Programmer s Reference 133 ha VB Motion 134 The Open procedures used in the C language interface are replaced in Visual Basic with constructor methods that take the same arguments in the same order with the exception that the first pointer argument is not needed Close methods are provided that call the C language Close procedures however these procedures may also be called automatically as part of the finalization process w
24. is determined depends on the transport mechanism in use PMDresult PMDPeriphOpenCME E U DPeriphHandle hPeriph PMDDeviceHandle hDevice PMDresult PMDPeriphReceive PMDPeriphHandle hPeriph void buffer PMDuint32 nReceived PMDuint32 nExpected PMDuint32 timeout PMD Resource Access Protocol Programmer s Reference 63 Receive Peripheral Coding action sub action resource 6 4 Arguments name type range units timeout unsigned l6 bit 0 Oxffff msec nExpected unsigned 16 bit 0 Oxffff bytes Returned Data none Packet write 1 2 6 Structure 7 6 5 4 3 2 1 0 write 4 address 7 6 5 4 3 2 1 0 write timeout byte 0 7 6 5 4 3 2 1 0 write timeout byte 7 7 6 5 4 3 2 1 0 write nExpected byte 0 7 6 5 4 3 2 1 0 write nExpected byte 1 7 6 5 4 3 2 1 0 read 2 status reserved 7 6 5 4 3 2 1 0 read received data byte 0 7 6 5 4 3 2 al 0 read received data byte 1 7 6 5 4 3 2 1 0 Description The Receive Peripheral action is used to receive data from some remote device using the communication channel specified by the Peripheral resource to which it is addressed The timeout argument specifies the maximum number of milliseconds to wait for data before failing with a PRP timeout error A timeout value of 65535 Oxffff means no time limit In case of a time out no bytes will be returned The nExpected argument specifies the maximu
25. message to the new peripheral connection a timeout parameter and the desired message is loaded into the PRP message body and the Send action is specified To retrieve messages from that peripheral connection the Receive action is used The Receive action requires that an amount of time the communication timeout be loaded into the message body If a message is not received in the specified amount of time an error is returned 12 PMD Resource Access Protocol Programmer s Reference PMID Resource Access Protocol PRP Tutorial 2 Example Figure 2 2 shows a network configuration The host controller needs to initiate send and receive a message to from a specific device connected on the CANbus port Host Controller Prodigy CME PC 104 Card Ethernet TCP C Motion AE eee es Engine Magellan Figure 2 2 i Example CANbus Network CANbus Configuration device CANbus device This sequence will be accomplished in three steps PRP messages will be assembled that comprise the Open action and then in turn the Send and Receive actions As for all PRP messages the resource ID the address and the Action ID must be specified In this example to start the sequence the Resoutce is a 4 specifying a Peripheral the Action ID for Open is 2 and the PRP address will be loaded with a 0 The message body is loaded with a code for the sub action OpenCAN as well as the detailed
26. motion processor signaling them so that user programs may check for them using the PMDWaitForEvent procedure without the network latency required for a Magellan command read of the event status register Asynchronous event notification is optional In order for the event mechanism to work an appropriate event channel must be specified when opening each peripheral used for motion processor or PRP device communication The event mechanism is supported by TCP IP see the OpenTCP action PCI see the PMDPeriphOpenPCl 7 procedure PC PMID Resource Access Protocol Programmer s Reference PRP Reference 4y 104 see the OpenlSA action and CANBus see the OpenCAN action Serial peripherals do not support event no tification The table below indicates the structure of an asynchronous event notification packet Event Notification PRP Packet header byte 0 version l status 3 eventType 7 6 5 4 3 2 1 0 header byte 1 resource address 7 6 5 4 3 2 1 0 body byte 0 Axis 7 6 5 4 3 2 1 0 body byte 1 EventStatus byte 0 7 6 5 4 3 2 1 0 body byte 2 EventStatus byte 7 6 5 4 3 2 1 0 An asynchronous event notification may be sent by a PRP device to a host at any time so software to deal with PRP connections must be prepared to handle either an event notification packet or a response packet The details of event packet transmission depend on the transport mechanism Over TCP IP connections event packets
27. prefix Dim axis As New PMDAxis DevCME PMDAxisNumber Axis Open an object representing the dual ported RAM on the PRP device Currently only 32 bit memory devices are supported but other devices may be supported in the future Dim mem As New PMDMemory DevCME PMDDataSize Size32Bit Start the user program on the C Motion Engine DevCME TaskStart C Motion procedures returning a single value become class properties and may be retrieved or set by using an assignment The Get or Set part of the name is dropped Dim pos As Int32 pos axis ActualPosition The following line sets the actual position of the axis to zero axis ActualPosition 0 PMD Resource Access Protocol Programmer s Reference VB Motion 4a Properties may accept parameters for example the CurrentLoop parameter is used to set control gains for the current loops and takes two parameters This example sets the proportional gain for phaseA to 1000 axis CurrentLloop PMDCurrentLoopNumber PhaseA _ PMDCurrentLoopParameter ProportionalGain 1000 C Motion procedures returning multiple values become Sub methods and return their values using ByRef parameters The Get and Set parts of the names are the same as in the C language binding Dim MPmajor MPminor NumberAxes special custom family As Ulnt 6 Dim MotorType As PMDMotorTypeVersion axis GetVersion family MotorType NumberAxes special custom MPmajor MPminor
28. specifies the device containing the memory and may have been opened using PMDMPDeviceOpen for non CME cards or PMDRPDeviceOpen for CME cards In the case of C Motion Engine user programs needing to read or write the local memory hDevice should be a null pointer The width argument indicates the size of the data that are read or written to the memory device All currently supported memory devices support only 32 bit access so width must be PMD_DataSize_32bit All accesses to the memory must use addresses dword aligned ie divisible by four and use buffer lengths that are also divisble by four For all current products memorytype is one of PMD memoryType DPRAM PMD memoryType DVRAM Open Device Memory PMD Resource Access Protocol Programmer s Reference PMDMemoryRead C Motion Engine Host Based Arguments C language syntax Visual Basic Syntax Description Related PRP Actions name type hMemory pointer to open PMDMemoryHandle data pointer to data read offset memory byte address length memory byte length PMDresult PMDMemoryRead PMDMemoryHandle hMemory void data PMDuint32 index PMDuint32 length Dim offset length As UInt32 Dim values 0 To MaxLength memory Read values offset length PMDMemoryRead is used to read a sequence of bytes from the memory object indicated by the hMemory argument The data argument is a pointer to a data buffer for the values read The offset argument is the me
29. until closed Axis handles may be initialized in several ways depending on the kind of motion processor with which they are associated 1 A Magellan attached device for example a non PRP ION or non CME prodigy card accessed either from a host or from a C Motion Engine In this case a peripheral connected to the Magellan is opened a device handle initializes using the PMDMPDeviceOpen procedure and the PMDAxisOpen procedure is used to initialize an axis handle PMD Resource Access Protocol Programmer s Reference 129 La C Motion 2 A PRP device motion processor accessed from a host PC In this case a peripheral connected to a PRP 3 device must be opened a device handle initialized using the PMDRPDeviceOpen procedure and an axis handle initialized using the PMDAxisOpen procedure A PRP device motion processor accessed from the C Motion engine of the same device In this case the PMDAxisOpen call is used with a null pointer as the device argument The following code examples illustrate the three options Case Magellan attached device void testAxis void PMDPeriphHandle periph PMDDeviceHandle device PMDAxisHandle axis PMDresult result fe Open a peripheral connection to a Magellan processor connected to a CAN bus CAN_TX and CAN _ RX are CAN identifiers used for sending commands to and receiving responses from the processor CAN EVENT is a CAN identifier used for receiving asynchronous event not
30. used to open a peripheral handle representing a parallel channel on the indicated device The nature of the parallel channel is specific to the device being addressed Currently ION CME supports parallel channels used for digital input and output and for analog input The address argument indicates the specific parallel channel to be opened and is device specific The datasize argument indicates the data width of the peripheral to be opened that is the number of 8 bit bytes read or written with each operation Only one data width is normally supported for each type of parallel channel The EventIRQ argument indicates the interrupt used for parallel communication and is device specific Currently only the ION CME digital drive supports parallel peripherals which are used for digital input output and for analog input Consult the ION CME Digital Drive Users Manual for details Related PRP Open Device PAR Actions PMD Resource Access Protocol Programmer s Reference 103 PMDPeriphOpenPCl Host Based name type hPeriph pointer to uninitialized PMDPeriphHandle cardNo integer PMDresult PMDPeriphOpenPCI PMDPeriphHandle hPeriph C language i i i syntax int cardNo Visual Basic Dim boardnum As UInt32 Syntax Dim periph As New PMDPeripheralPCI boardnum Description PMDPeriphOpenPCI is used on a host PC to open a peripheral connection to a Prodigy CME PCI card installed in the host computer Because Prodigy CME PCI does not support
31. void value unsigned valueSize Dim valuel6 As UInt16 device SetDefault PMDDefault code valuel Dim value32 As UInt32 device SetDefault PMDDefault code value32 PMDDeviceSetDefault is used to change the value of a device default Device defaults are various non volatile properties of the PRP device for example the IP address or whether to run a user program immediately after power up hDevice is a pointer to a handle associated with the PRP device being interrogated in C Motion Engine user programs hDevice may be a null pointer meaning the local device default is a numeric default code please see the description of the Set DefaultDevice action in section 2 6 for a table of supported default codes and their meaning value is a pointer to a data area in which to store the default code and valueSize is the size in bytes of the area The size of a default depends on the particular data type and is encoded in the upper byte of the default code a value of zero means one byte one means two bytes and 7 means n 1 bytes valueSize is required as a sanity check an error code will be returned if valueSize is not large enough to contain the default value Two byte default values are generally 16 bit integers and four byte values 32 bit integers The value pointer must be properly aligned to hold these values It is safe in all cases to make value to be double word aligned Set Device Default PMD Resource Access
32. word aligned one way of accomplishing this is to use a C union type to receive the default value union defaultValue PMDuint16 as_ word PMDuint32 as_dword char as_string 32 Get Device Default PMD Resource Access Protocol Programmer s Reference PMDDeviceReset C Motion Engine Host Based Arguments C language syntax Visual Basic Syntax Description Related PRP Actions name type hDevice pointer to PMDDeviceHandle PMDresult PMDDeviceReset PMDDeviceHandle hDevice device Reset PMDDeviceReset is used to hard reset the device either a d to retrieve the value of a device default Device defaults are various non volatile properties of the PRP device or a Magellan attached device associated with its argument If it is not possible to hard reset the device then PMD_ERR_NOT SUPPORTED will be returned For example Magellan attached devices controlled using CANBus or a serial line may not be hard reset Reset Device Reset CMotionEngine PMD Resource Access Protocol Programmer s Reference 87 PMDDeviceSetDefault C Motion Engine Host Based Arguments C language syntax Visual Basic Syntax Description Related PRP Actions 88 name type hDevice pointer to open RP device handle defaultcode enumerated default code value pointer to new default value valueSize size of default value PMDresult PMDDeviceSetDefault PMDDeviceHandle hDevice PMDDefault defaultcode
33. 0 7 6 5 4 3 2 1 0 PRP packet byte 7 6 5 4 3 2 1 0 Multi Drop Serial Packet MultiDropAddress 7 6 5 4 3 2 1 0 checksum 7 6 5 4 3 2 1 0 length 7 6 5 4 3 2 1 0 PRP packet byte 0 7 6 5 4 3 2 1 0 PRP packet byte 7 6 5 4 3 2 1 0 The MultiDropAddress field is used to address a particular PMD serial device and each device must be configured to use a different address The length field is the unsigned number of bytes in the PRP packet put another way for point to point packets there are length 2 bytes in a serial packet and for multi drop packets there are length 3 The checksum field is a simple additive checksum modulo 256 over the bytes in the PRP packet exclusive of the serial header A checksum over all bytes in the serial packet excluding the MultiDropAddress and length bytes should be Zero Both outgoing and response packets are formatted in the same way Asynchronous event notification is not supported using serial transport An error free Serial PRP communication sequence from the host controller to the PRP device consists of a full outgoing packet transmission with the correct checksum and specified number of bytes sent to the card and a full 26 PMD Resource Access Protocol Programmer s Reference PRP Reference 4 packet response with correct checksum and length received at the host controller The return message must be received within a fixed amount of time determined by the host controller Corr
34. 1 0 Description The Open COM Device action is a request to a PRP device to return a PRP peripheral address associated with a serial port on the device SerialPort is the local physical serial port on the device itself 0 for COM1 and 1 for COM2 SerialMode is a 16 bit word encoding serial parameters as shown in the table below The return value PeriphAddress is a PRP address that may be used with the resource type Peripheral for addressing the newly opened serial peripheral until it is closed In order to open a peripheral that uses the PRP multi drop serial protocol it is necessary to first open a COM peripheral using the Open Device OpenCOM action and then to use the Open Peripheral OpenMultiDrop action SerialMode Encoding Bit Number Name Instance Encoding 0 3 transmission rate 1200 baud 2400 baud 9600 baud 19200 baud 57600 baud 115200 baud 230400 baud 460800 baud NYO a BR wl N o PMD Resource Access Protocol Programmer s Reference 49 l Opencom Device cont SerialMode Encoding Bit Number Name Instance Encoding 4 5 parity none 0 odd l even 2 6 stop bits l 0 2 l 7 8 protocol point to point 0 multi drop 3 9 10 reserved 0 10 15 multi drop 0 0 address 63 63 C language PMDresult PMDPeriphOpenCOM PMDPeriphHandle hPeriph syntax PMDDeviceHandl hDevic PMDSerialPort port PMDSerialBaud baud PMDSerialParity parity PMDSerial
35. 18 communications ports 11 description 9 Ethernet 19 N magellan attached device 16 on card resources 15 peripheral connections 12 E event notification packet 24 exceptions C Motion 127 naming conventions 77 O resources 11 outgoing PRP packet 23 serial 18 overview devices 7 R P resources PRP 21 packet response packets 23 event notification 24 return values 78 outgoing PRP 23 s response 23 scope 7 structure 23 PCI bus transport 27 PMD library procedures 79 serial transport 26 sub actions 22 PMD Resource Access Protocol Programmer s Reference 137 r Index T TCP IP transport 27 transport layers 25 U user packets 127 V VB Motion 133 error handling 136 Magellan atttched device 135 Visual Basic classes 133 versions C Motion 129 138 PMD Resource Access Protocol Programmer s Reference For additional information or for technical assistance please contact PMD at 978 266 1210 You may also e mail your request to support pmdcorp com Visit our website at http www pmdcorp com gt PM D Performance Motion Devices 80 Central Street Boxborough MA 01719 PMD Resource Access Protocol Programmer s Reference 131
36. 2 Send Send a test string to Ethernet device 2 PRP Peripheral PeriphID2 Close II Close peripheral connection for Ethernet device 2 PRP Peripheral PeriphIDI Close Close peripheral connection for Ethernet device For complete information on the format and function of these and other PRP commands refer to Chapter 3 PRP Reference PMD Resource Access Protocol Programmer s Reference PMID Resource Access Protocol PRP Tutorial 2 3 Accessing On Card Resources The most common use of any PRP device is to process commands to resources located on the device itself Typically this means communicating with the on card Magellan Motion Processor but it can also mean communicating with other device resources such as the dual ported RAM Figure 2 4 shows this configuration PRP Device Ethernet TCP C Motion Magellan Host Controller Engine ee a Accessing on card resources is straightforward using the PRP system The on card resource and the address are looked up using the table in Section 2 1 2 PRP Resources and then a PRP message corresponding to the desired action is sent using those on card resource and address values The following example illustrates Example 1 A Host Controller wants to set the position of Axis 3 of the PRP device s on card Magellan Motion Processor to a value of 0x123456 From the table in Section 2 1 2 PRP Resources to communicate with the on card Magellan Motion P
37. 2 5 1 1 Serial Packet Processing An error free Serial PRP communication sequence from the host controller to the PRP device consists of a full outgoing packet transmission with the correct checksum and specified number of bytes received by the PRP device and a full packet response with correct checksum and length received at the host controller The return message must be received within a fixed amount of time determined by the host controller Correctly setting this timeout window may depend on factors such as baud rate but 100 msec is a typical safe value If the host controller receives a response packet with an incorrect checksum or does not receive the complete response communications timeout then the original message should be resent If the PRP device receives a packet with an incorrect checksum then a packet with an error code indicating this is returned to the host controller If the PRP device does not receive the specified number of bytes within 100 msec the PRP device timeout value of beginning of packet reception the incoming message is ignored and no message is sent to the host controller 18 PMD Resource Access Protocol Programmer s Reference PMID Resource Access Protocol PRP Tutorial 2 2 5 2 PRP Messages Over CANbus If the PRP device is set up to process PRP command messages from a host controller over CANbus a specific format for the packets must be followed This section describes the format of how PRP me
38. 32 eventRX PMDPeriphOpenCAN is used to open a peripheral connection to a device on a CANBus that uses two or three CAN identifiers for communication for example a Magellan attached device or a Prodigy CME card hPeriph should point to an uninitialized PMDPeriphHandle data structure hDevice should point to an open device handle corresponding to a PRP device hDevice may be a null pointer which means the local device either the host or for C Motion Engine user programs the local PRP device addressT X is a CAN identifier that will be used for sending outgoing packets addressRX is a CAN identifier that will be used to listen for incoming packets Currently only 11 bit CAN identifiers are supported eventRX is an optional CAN identifier used for receiving asynchronous event notification packets from a PRP device or a Magellan attached device If no such event notification is needed then zero eventRX should be zero Open Device CAN PMD Resource Access Protocol Programmer s Reference PMDPeriphOpenCME C Motion Engine Host Based Arguments C language syntax Description Related PRP Actions name type hPeriph pointer to uninitialized PMDPeriphHandle hDevice pointer to open RP device handle PMDresult PMDPeriphOpenCME PMDPeriphHandle hPeriph PMDDeviceHandle hDevice PMDPeriphOpenCME is used to open a connection to a virtual peripheral using PRP wser packers User packets may contain data for user app
39. 6 device GetDefault PMDDefault code valuel Dim value32 As UInt32 device GetDefault PMDDefault code value32 PMDDeviceGetDefault is used to retrieve the value of a device default Device defaults are various non volatile properties of the PRP device for example the IP address or whether to run a user program immediately after power up hDevice is a pointer to a handle associated with the d to retrieve the value of a device default Device defaults are various non volatile properties of the PRP device being interrogated in C Motion Engine user programs hDevice may be a null pointer meaning the local device default is a numeric default code please see the description of the Set DefaultDevice action in section 2 6 for a table of supported default codes and their meaning value is a pointer to a data area in which to store the default code and valueSize is the size in bytes of the area The size of a default depends on the particular data type and is encoded in the upper byte of the default code a value of zero means one byte one means two bytes and 7 means n 1 bytes valueSize is required in order to prevent buffer overruns an error code will be returned if valueSize is not large enough to contain the default value Two byte default values are generally 16 bit integers and four byte values 32 bit integers The value pointer must be properly aligned to hold these values It is safe in all cases to require value to be double
40. 7 7 6 5 4 3 2 1 0 write 5 address 7 6 5 4 3 2 1 0 write 2 7 6 5 4 3 2 1 0 write lOtype 7 6 5 4 3 2 1 0 write Mask byte 0 7 6 5 4 3 2 1 0 write Mask byte 1 7 6 5 4 3 2 1 0 write data word 0 byte 0 7 6 5 4 3 2 1 0 write data word 0 byte 1 7 6 5 4 3 2 1 0 read 2 status reserved 7 6 5 4 3 2 1 0 The Write Word IO action is used to write a value to a general purpose IO port digital or analog on an ION CME module If the IO port type being addressed is a digital IO port the mask field is used to specify which bits will be affected by the write PMDresult PMDIOWrite PMDIOHandle hIO PMDuint1l6 data PMDuint16 mask PMD Resource Access Protocol Programmer s Reference 76 4 PMD C Language Library Procedures PRP device products include C language libraries for control and communication Library versions ate provided for host PCs and for the C Motion Engine included in Prodigy CME and ION CME TheCME libraries provide the following features e Resource virtualization Local and remote resources for example motion processors Prodigy CME catds and ION CME modules are controlled in the same way e Procedure call syntax is the same for host programs as for C Motion Engine programs There are a few procedures only applicable to one environment e Host libraries can be easily linked with any C or C program sources are provided e C Motion Engine programs can use standard C libraries The PMD C library for controlling Magellan
41. 7 6 5 4 3 2 1 0 Description The Read Byte Peripheral action is used to read a sequence of data bytes from a peripheral associated with a PC 104 ISA bus The Offset argument is an offset from the base address that was specified when the peripheral was opened The Length argument specifies the number of bytes to read all bytes are read from the same addresses The data read is returned as the message body of the response packet This action is not applicable to other types of peripheral and an InvalidResource error will be returned if another peripheral type is specified C language PMDresult PMDPeriphRead PMDPeriphHandle hPeriph syntax void data PMDuint32 offset PMDuint32 length PMD Resource Access Protocol Programmer s Reference 59 l ReadDworg Memory Coding action sub action resource 8 4 3 Arguments name type range units Offset unsigned 32 bit 0 Oxffffffff bytes Length unsigned 16 bit 0 Oxffff double words Returned Data data bytes Packet write 1 2 8 Structure 7 6 5 4 3 2 1 0 write 3 address 7 6 5 4 3 2 1 0 write 4 7 6 5 4 3 2 1 0 write 0 7 6 5 4 3 2 1 0 write Offset byte 0 7 6 5 4 3 2 1 0 write Offset byte 1 7 6 5 4 3 2 1 0 write Offset byte 2 7 6 5 4 3 2 1 0 write Offset byte 3 7 6 5 4 3 2 1 0 write Length byte 0 7 6 5 4 3 2 1 0 write Length byte 1 7 6 5 4 3 2 1 0 read 2 status reserved 7 6 5 4 3 2 1 0 read d
42. A base address eventIRQ ISA interrupt line width enumerated data size C language PMDresult PMDPeriphOpenISA PMDPeriphHandle hPeriph syntax PMDDeviceHandle hDevice PMDuintl6 address PMDuint8 eventIRQ PMDDataSize width Description PMDPeriphOpenISA is used to open a peripheral representing a device on the PC 104 ISA bus at a specified base address hPeriph should point to an uninitialized PMDPeriphHandle and hDevice should be a pointer to an open RP device handle that is a PRP device If called from a C Motion Engine user program then hDevice may be a null pointer meaning the local device The PMDPeriphReadBytes and PMDPeriphWriteBytes procedures may be used to read or write to the ISA bus at specified offsets from the base address In case the peripheral is connected to a non CME Prodigy card then eventIRQ may be used to specify the interrupt used for asynchronous event notification The width argument specifies the size of the data that are read or written to the peripheral Non CME Prodigy ISA cards require 16 bit data access so width should be PMD_DataSize_ 6bits when opening such a device ISA devices requiring 8 bit access are also supported and use the value PMD_DataSize_8bits for width All reads or writes to a 16 bit ISA peripheral must be properly aligned that is all address values data lengths must be even Related PRP Open Device ISA Actions PMID Resource Access Protocol Programmer s Reference 101 PMD
43. CANbus communications parameters to establish the connection such as baud rate send address and receive address For the exact message body of this and all PRP actions refer to Chapter 3 PRP Reference To simplify the nomenclature for PRP messages a shorthand will be used which contains the mnemonic PRP the Resource ID the string Addr the resource address and the PRP action Any additional information pertaining to the error code or message body will be contained in the comment for the message i NewPeriphID PRP Device Addr 0 Open Send a request to open a connection to the device being addressed via the CANbus port The Message body contains the detailed CANbus parameters Il for that connection The Address of the new Peripheral connection is contained in the body of the return message PRP Peripheral Addr NewPeriphiD Send Send a message contained in the message body to the CAN bus connection created using the Open command Note that the Peripheral address provided in the previous command is used to identify which Peripheral connection the message should be sent to PRP Peripheral Addr NewPeriphlD Receive Receive a message The string will be contained in the message body of the return message from the CANbus Peripheral connection PMD Resource Access Protocol Programmer s Reference 13 PMID Resource Access Protocol PRP Tutorial Figure 2 3 Example PRP
44. Device Architecture with Ethernet Device Testers 14 Sending a message to the Peripheral resource at address 0 has special meaning as the null peripheral This peripheral address indicates no peripheral and may be useful in certain situations for disabling console messages or disabling the Magellan s event output mechanism 2 2 2 Managing Automatically Assigned Addresses Although most network configurations are created once and left in place while the machine is operating there may be circumstances where peripheral connections are made and are then no longer needed If this is the case these connections should be closed thereby freeing that automatically assigned Peripheral address This is accomplished via the PRP action Close Figure 2 3 shows a PRP device being used as a production Ethernet device exerciser PRP Device C Motion Magellan Engine Host Controller Ethernet Device 1 Ethernet Device 2 In this example the ION CME module sends messages to two different Ethernet TCP addresses and then closes those peripheral connections to allow the process to be repeated indefinitely PeriphID PRP Device Addr 0 Open Open a peripheral connection to Ethernet device PRP Peripheral Addr PeriphID1 Send Send a test string to Ethernet device PeriphID2 PRP Device Addr 0 Open Open a peripheral connection to Ethernet device 2 PRP Peripheral Addr PeriphID
45. Handle data pointer to incoming data buffer nReceived pointer to actual bytes received nExpected maximum bytes to receive timeout milliseconds less than Oxffff PMDresult PMDPeriphReceive PMDPeriphHandle periph void buffer PMDuint32 nReceived PMDuint32 nExpected PMDuint32 timeout Dim data8 0 To MaxLength As Byte Dim nReceived nExpected timeout As UInt32 periph receive data8 nReceived nExpected timeout PMDPeriphReceive is used to read bytes from a peripheral hPeriph should be a pointer to an open peripheral handle data a pointer to a memory buffer for incoming data and nExpected the maximum number of bytes to accept typically the size of the data buffer For peripherals that receive data in packets such as CANBus TCP IP and UDP IP PMDPeriphReceive will return after receiving one packet writing to the data buffer and writing the actual number of bytes received to nReceived Note that the number of bytes received may be greater than nExpected but at most nExpected bytes will be written in the buffer For peripherals that do not receive data in packets such as serial ports PMDPeriphReceive will return after receiving exactly nExpected bytes PMDPeriphReceive will return PMD_RP_Timeout if timeout milliseconds elapsed waiting for data Some ports may timeout before receiving nExpected bytes The nReceived parameter will contain the number of bytes received before the timeout A timeout value of PMD_WAI
46. ION CME Digital Drive Users Manual for details PMDresult PMDPeriphOpenPAR PMDPeriphHandle hPeriph PMDDeviceHandle hDevice WORD address BYTE E ventIRQ PMDDataSize datasize PMD Resource Access Protocol Programmer s Reference 51 52 l Openycp Device Coding Arguments Returned Data Packet Structure Description action sub action resource 3 22 0 name type range Ethernetlnterface unsigned 8 bit 0 IPAddress unsigned 32 bit 0 Oxffffffff TCPPort unsigned 16 bit 0 Oxffff name type range PeriphAddress unsigned 8 bit 1 31 write 1 2 3 7 6 5 4 3 2 1 0 write 0 address 7 6 5 4 3 2 1 0 write 22 7 6 5 4 3 2 1 0 write Ethernetinterface 7 6 5 4 3 2 1 0 write IPAddress east significant byte 7 6 5 4 3 2 1 0 write IPAddress byte 1 7 6 5 4 3 2 1 0 write IPAddress byte 2 7 6 5 4 3 2 1 0 write IPAddress byte 3 7 6 5 4 3 2 1 0 write TCPPort byte 0 7 6 5 4 3 2 1 0 write TCPPort byte 1 7 6 5 4 3 2 1 0 read 2 status reserved 7 6 5 4 3 2 1 0 read PeriphAddress 7 6 5 4 3 2 1 0 The Open TCP action is a request to a PRP device to return a PRP peripheral address associated with an Ethernet TCP connection Ethernetlnterface is the local physical Ethernet interface for all current PRP devices there is one Ethernet interface so this argument should be zero IPAddress is the remote address to w
47. Mode device default see Set Device ValueDefault in Section 3 3 PRP Actions and Sub Actions for more information When a CME device restarts after a system watchdog reset information on any previous exception will be printed to the console including register values and stack contents With the aid of the program memory map this may be useful in debugging the exception PMD Resource Access Protocol Programmer s Reference 127 75N C Motion Engine This page intentionally left blank 128 PMD Resource Access Protocol Programmer s Reference 6 C Motion A C Motion is the PMD library for control of Magellan Motion Processors and is documented in the Magellan Motion Processor Programmers Command Reference A version of C Motion is provided for controlling the motion processor included in a CME device from a host computer There is also a C Motion library with the same callable procedures that runs in the C Motion Engine 6 1 C Mlotion Versions To provide more efficient compiled code for the environments in which different C Motion based programs are likely to be used two separate implementations of C Motion are provided Version 4 x for host programs that communicate with PRP devices and for C Motion Engine programs Version 3 x for all other PMD Magellan products including non PRP ION modules non CME Prodigy cards and Magellan Motion Processors Both of these C Motion versions share the same calling sequences for
48. P device to which this action is directed will perform the translation from the PRP protocol for Magellan motion processor commands to the native Magellan protocol For example to use a Prodigy CME card to control an ION module on a CAN bus one would 1 Open a CAN peripheral with the CAN identifiers used by the module for command send and receive using OpenCAN directed to the Prodigy CME Device 2 Use Open MotionProcessor to get an address for the remote ION using the peripherals opened in step 1 3 Send commands to the remote ION using the MotionProcessor address returned in step 2 C language PMDresult PMDMPDeviceOpen PMDDeviceHandle hDevice syntax PMDPeriph hPeriph PMD Resource Access Protocol Programmer s Reference 57 l OpenMultiDrop Peripheral Coding action sub action resource 3 25 4 Arguments name type range MultiDropAddress unsigned 8 bit 0 31 Returned Data name type range RemoteAddress unsigned 8 bit 1 31 Packet write 1 2 3 Structure 7 6 5 4 3 2 1 0 write 4 address 7 6 5 4 3 2 1 0 write 25 7 6 5 4 3 2 1 0 write MultiDropAddress 7 6 5 4 3 2 1 0 read 2 status reserved 7 6 5 4 3 2 1 0 read RemoteAddress 7 6 5 4 3 2 1 0 Description The Open MultiDrop Peripheral action is used to obtain a peripheral that uses the PMD multi drop serial protocol used for communicating with Magellan attached devices such as non CME ION modules or with other PRP devic
49. PMD Resource Access Protocol Programmer s Reference gt PMD Performance Motion Devices Inc 80 Central Street Boxborough MA 01719 Revision 1 1 April 18 2012 NOTICE his document contains proprietary and confidential information of Performance Motion Devices Inc and is protect ed by federal copyright law The contents of this document may not be disclosed to third parties translated copied or duplicated in any form in whole or in part without the express written permission of PMD The information contained in this document is subject to change without notice No part of this document may be reproduced or transmitted in any form by any means electronic or mechanical for any purpose without the express written permission of PMD Copyright 2009 2012 by Performance Motion Devices Inc Prodigy Magellan ION Magellan ION Pro Motion C Motion and VB Motion are registered trademarks of Performance Motion Devices Inc PMD Resource Access Protocol Programmer s Reference Warranty PMD warrants performance of its products to the specifications applicable at the time of sale in accordance with PMD s standard warranty Testing and other quality control techniques are utilized to the extent PMD deems necessary to support this warranty Specific testing of all parameters of each device is not necessarily performed except those mandated by government requirements Performance Motion Devices Inc PMD reserves the
50. PeriphOpenMultiDrop C Motion Engine Host Based Arguments C language syntax Visual Basic Syntax Description Related PRP Actions 102 name type hPeriph pointer to uninitialized PMDPeriphHandle hParent pointer to open handle to serial port peripheral address 5 bit PMD multi drop address PMDresult PMDPeriphOpenMultiDrop PMDPeriphHandle periph PMDPeriphHandle parent unsigned address Dim parent As PMDPeripheralCOM Dim address As UInt32 Dim periph As New PMDPeripheralMultiDrop parent address PMDPeriphOpenMultiDrop is used to open a peripheral representing a connection on a serial line to a device using the PMD multi drop serial protocol either a Magellan attached device or a PRP device hParent must be a pointer to a previously opened peripheral representing the serial line and address is the multi drop address Open Peripheral MultiDrop PMD Resource Access Protocol Programmer s Reference PMDPeriphOpenPAR C Motion Engine Host Based Arguments name type hPeriph pointer to uninitialized peripheral handle hDevice pointer to a valid device handle address 16 bit address indicating peripheral channel to open EventIRQ Device specific interrupt channel datasize Data width of the peripheral in bytes C language PMDresult PMDPeriphOpenPAR syntax PMDPeriphHandle hPeriph PMDDeviceHandle hDevice WORD address BYTE EventIRQ PMDDataSize datasize Description PMDPeriphOpenPAR is
51. Protocol Programmer s Reference 7 rN Introduction This page intentionally left blank 8 PMD Resource Access Protocol Programmer s Reference 2 PMD Resource Access Protocol PRP Tutorial A ee ee In This Chapter Resource Addressing Accessing the Communications Ports Accessing On Card Resources Accessing Magellan Attached Devices PRP Communication Formats 2 1 Resource Addressing Host access to any of the Prodigy CME cards or Ethernet capable ION digital drives is provided by a protocol called the PMD Resource Access Protocol PRP This easy to use yet powerful system utilizes actions resources and addresses to access any of the functions of the card or digital drive PRP is used for host communications using serial CANbus or Ethernet Various PRP device functions ate organized into resources resource process actions sent to them Actions can send information request information or command specific events to occur Addresses allow access to a specific resource on the card or connected to the card via the PC 104 bus serial CANbus or Ethernet connections A basic communication to a PRP device consists of a 16 bit PRP header and an optional message body The message body contains data associated with the specified PRP action some actions do not require a message body After a PRP communication is sent to a device a return communication is sent by the PRP device which consists of a PRP header and an optional retu
52. RP Messages Over Serial PRP devices can receive PRP command messages from a host controller on one or more serial ports This section describes the format of these packets which transfer PRP messages over a serial protocol Figure 2 6 shows the Serial packet protocol that must be used for all PRP messages This serial header is 32 bits and is broken into three fields as follows Address the first byte is an address field used only with RS485 communications For RS232 communications this byte is not included in the packet Checksum The second byte is a simple 8 bit additive checksum of all bytes in the packet payload excluding the serial header i e the address checksum and length fields From Figure 2 6 this means only the PRP header and message body contribute to this checksum value Length The third byte is an 8 bit length field The length indicates the number of bytes in the packet payload The packet payload is defined as everything in the serial packet after the length field That is the 2 byte PRP header plus however many bytes are contained in the PRP message body For example if the PRP message body is 6 bytes in size the value filled into the length field should be 8 2 bytes for PRP header 6 bytes for the PRP message body Figure 2 6 Address Checksum Length PRP Message PRP Message RS485 only EE over Serial Format AE LORA ANE EMA DOA Return PRP messages should be formatted in the same way
53. RP device is to be installed The default value is chosen to be part of a reserved IP class and is not routable on the Internet Note that IP addresses are typically written in dotted quad notation where each byte is written in decimal separated by a dot In order to convert from dotted quad notation to hexadecimal write convert each dot separated field to hexadecimal and concatenate DefaultNetMask is a bitmask defining which IP addresses are directly accessible in the local subnet the default is for a class C network and must typically be changed to suit the network in which the PRP device is installed DefaultGateway is the IP address of the router to be used for all non local IP addresses PRP devices does not support more general routing tables because it is expected that they will usually deal with hosts on the local network DefaultGateway must be changed to enable routing to any non local IP addresses but that such routing may not be necessary for many applications DefaultTCPPort is the base TCP port used for accepting host commands In most cases there is no reason to change the default value of 40100 DefaultCOMI Mode and DefaultCOM2Mode are serial port modes with the same meaning as SerialMode in the OpenSerial action and are applied to the two serial ports immediately after coming out of reset Serial port modes may be changed later by using the OpenSerial action DefaultRS485 Duplex controls whether duplex mode is used i
54. Reserved 0x10 PCI _CMD_REG read write Command Register contains the type of PCI transaction to be initiated A write to this register initiates a PCI transac tion Bits 15 1 Not used Bit 0 set means PCI read card to host clear means PCI write host to card 0x12 PCI_STATUS REG Status Register contains the status of the last PCI transac read only tion Bits 15 1 Not used Bit 0 set means PCI transaction complete This nbit is cel ared by a write to PC CMD_REG 0x14 PCI_IRQ OUT ENABLE Interrupt Enable Register enables the corresponding indi read write vidual PCI local bus interrupt requests BAR 5 Offset PRP Message Buffer 0 3 PRP message length 4 Ox3FF PRP packet data 0x400 0x600 Reserved 0x600 0x7FF Console message data In order to send a PRP message over the PCI bus the following sequence should be followed 1 Write the length to PCI BAR 5 offset 0 and the packet data beginning at PCI BAR 5 offset 4 2 Set bit 0 in PCILCMD_REG BAR 2 offset 0x10 to inform the Prodigy CME card that a PRP message is waiting 3 Poll bit 0 in PCI_STATUS_REG BAR 2 offset 0x12 until set by the card to indicate that a PRP response is ready 4 Clear bit 0 in PCILSTATUS_REG 5 Read the response length from PCI BAR 5 offset 0 and the response data beginning at PCI BAR 5 offset 4 3 5 4 PRP CANbus Transport PRP over CANbus uses the concept of a node identifier a concept borrowed from CANOpen T
55. StopBits stopbits 50 PMD Resource Access Protocol Programmer s Reference Openpap Device Coding Arguments Returned Data Packet Structure Description C language interface a ee e action sub action resource 3 18 0 name type range Address unsigned 16 bit 0 Oxffff EventIRQ unsigned 8 bit 0 Oxff MemoryWidth unsigned 8 bit 1 2 4 name type range PeriphAddress unsigned 8 bit 0 Oxff write 2 3 7 6 5 4 3 2 1 0 write 0 address 7 6 5 4 3 2 1 0 write 18 7 6 5 4 3 2 1 0 write Address low byte 7 6 5 4 3 2 1 0 write Address high byte 7 6 5 4 3 2 1 0 write EventIRQ 7 6 5 4 3 2 1 0 write MemoryWidth 7 6 5 4 3 2 1 0 read status reserved 7 6 5 4 3 2 1 0 read RemoteAddress 7 6 5 4 3 2 1 0 The Open PAR Device action is a request to open a connection to a parallel peripheral channel on a PRP device Once such a peripheral is open the peripheral read or write actions may be used with it Address is used to specify the channel to open MemoryWidth to specify the size in bytes of data transfers and EventIRQ to specify the interrupt in connection with the channel The return value RemoteAddress is a PRP address that may be used with resource type Peripheral for addressing the opened channel Currently only the ION CME digital drive supports parallel peripherals which are used for digital input output and for analog input Consult the
56. TFOREVER Oxffff disables the time out If the peripheral connection has been closed by some external action for example a TCP connection that has been closed by a peer then PMD_ERR_NotConnected will be returned After such an error the peripheral handle must be closed using PMDPeriphClose In the case of a TCP connection after closing the unconnected peripheral a new peripheral with the same TCP port may be opened using PMDPeriphOpenTCP The following example shows how to implement a TCP server that handles a single connection at a time and reads data until the connection is closed by the peer PMDresult status PMDPeriphHandle hPeriphT CP PMDuint32 nReceived unsigned char buffer PACKETSIZE int open while 0 status PMDPeriphOpenTCP amp hPeriphT CP NULL 0 TCPPORT timeout open PMD Resource Access Protocol Programmer s Reference PMDPeriphReceive cont C Motion Engine Host Based while open status PMDPeriphReceive amp hPeriphT CP buffer amp nReceived sizeof buffer timeout As a simple example we just read data For a more complicated protocol each send and II receive operation should include a check of the return value as shown switch status default Handle the error case PMD_ERR_NotConnected The peripheral handle must be closed It will be re opened in the outer loop PMDPeriphClose amp hPeriphT CP open 0 break case PMD_ERR_OK Do something useful with the data
57. acket that may not be complied with A 16 bit error code is included to indicate the nature of the problem Status 3 An asynchronous event packet is sent from a PRP device to a host in response to a Magellan motion processor event that has been selected using the Magellan SetInterruptMask command documented in the Host Interrupts section of the Magellan Motion Processor Users Guide Event notifications from Prodigy CME Magellan Motion Processors or from Magellan attached devices may be propagated back to a host computer if all of the peripheral connections were opened with appropriate settings for handling events 3 4 1 Outgoing PRP Packet The table below shows the structure of an outgoing PRP packet Outgoing PRP Packet header byte 0 version l status 2 action 7 6 5 4 3 2 1 0 header byte 1 resource address 7 6 5 4 3 2 1 0 body byte 0 7 6 5 4 3 2 1 0 The action resource and address fields are explained in the previous sections Shading is used for the version and status fields to indicate that their values are fixed The version field is used for sanity checking and possible future protocol changes for all current PRP devices the version field must contain 1 The status field is used in the response packet to indicate success or failure and to distinguish outgoing from incoming packets For all outgoing headers the status field must contain 2 3 4 2 PRP Response Packets A PRP device
58. ad status reserved 7 6 5 4 3 2 1 0 read PeriphAddress 7 6 5 4 3 2 1 0 Description The Open UDP Device action is a request to a PRP device to return a PRP peripheral address associated with an Ethernet UDP port and remote IP address EthernetInterface is the local physical Ethernet interface for all current PRP devices there is one Ethernet interface so this argument should be zero IPAddress is the remote address to which UDP packets should be sent If IPAddress is zero then the a port will be opened that will accept incoming UDP packets UDPPort is the UDP port to connect to or to listen on 54 PMD Resource Access Protocol Programmer s Reference Open ypp Device cont s The return value PeriphAddress is a PRP address that may be used with the resource type Peripheral for addressing the newly opened Ethernet peripheral until it is closed C language PMDresult PMDPeriphOpenUDP PMDPeriphHandle hPeriph interface PMDDeviceHandl hDevice PMDuint32 IPAddress PMDuint1l6 UDPPort PMD Resource Access Protocol Programmer s Reference 55 l Openpeyjce Peripheral Coding action sub action resource 3 4 Arguments name type range PeripheralAddress unsigned 8 bit 0 31 Returned Data name type range RemoteAddress unsigned 8 bit 1 31 Packet write 1 2 3 Structure 7 6 5 4 3 2 1 0 write 4 address 7 6 5 4 3 2 1 0 write 1 7 6 5 4 3 2 1 0 write PeriphAddress 7 6 5
59. al action is used to read a sequence of 16 bit data words from a peripheral associated with a PC 104 ISA bus The Offset argument is an offset from the base address that was specified when the peripheral was opened Offset must be even The Length argument specifies the number of bytes to read Length must also be even The data read is returned as the message body of the response packet The data read is returned as the message body of the response packet This action is not applicable to other types of peripheral and an InvalidResource error will be returned if another peripheral type is specified C language PMDresult PMDPeriphRead PMDPeriphHandle hPeriph syntax void data PMDuint32 offset PMDuint32 length PMD Resource Access Protocol Programmer s Reference 61 s Read Word 10 Coding action sub action resource 8 2 5 Arguments name type range units lOtype unsigned 8 bit Ol PMDIOtype Returned Data data word Packet write 2 2 8 Structure 7 6 5 4 3 2 1 0 write 5 address 7 6 5 4 3 2 1 0 write 2 7 6 5 4 3 2 1 0 write lOtype 7 6 5 4 3 2 1 0 read 2 status reserved 7 6 5 4 3 2 1 0 read data word 0 byte 0 7 6 5 4 3 2 1 0 read data word 0 byte 1 7 6 5 4 3 2 1 0 Description The Read Word IO action is used to read the value at an IO port of an ION CME module c language PMDresult PMDIORead PMDIOHandle hIO syntax PMDuint16 data 62 PMD Resource Access Protocol Pr
60. all Magellan commands however they may not be mixed in the same program and they do not share the same mechanisms for opening a connection to a Motion Processor discussed for Version 4 x in section 5 2 Axis Handles C Motion 3 x requires the communication interface PCI ISA serial or CAN to be specified at compile time This allows a smaller program and in the case of a port to a microprocessor host means that code for interfaces that are not used need not be ported C Motion 3 x uses only the Magellan protocols and does not support PRP C Motion 4 x allows the communications interface PCI TCP serial or CAN to be specified at run time and supports multiple connections using different interfaces at the same time A larger and more complex library is therefore required C Motion 4 x supports both the Magellan protocols which are used to communicate with Magellan attached Motion Processors and also PRP which is used to communicate with Prodigy CME cards and ION CME and ION D digital drives A port of C Motion 4 x to a microprocessor host could certainly omit some interfaces but source code changes in various parts of the library would be required 6 2 Axis Handles All C Motion procedures operate on an axis handle which represents a single motor control axis of a motion processor C Motion axis handles are objects of type PMDAxisHandle they should be allocated by the caller of the initialization procedure and must not be overwritten
61. asize of PMD_DataSize_32Bit have a data width of 4 bytes or 32 words If the data offset or length arguments are not aligned to the memory data width then a PMD_ERR_ALIGNMENT error code will be returned Prodigy CME supports only dword addressable dual ported RAMs and word addressable NVRAM Write Memory Dword PMD Resource Access Protocol Programmer s Reference PMDPeriphClose C Motion Engine Host Based Arguments C language syntax Visual Basic Syntax Description Related PRP Actions name type hPeriph pointer to open PMDPeriphHandle PMDresult PMDPeriphClose PMDPeriphHandle hPeriph peripheral Close PMDPeriphClose is used to free resources associated with an open peripheral handle The communication channel will be closed and no input will be accepted on it Memory used for the peripheral handle may be freed or used for another purpose Close Peripheral PMD Resource Access Protocol Programmer s Reference 97 PMDPeriphOpenCAN C Motion Engine Host Based Arguments C language syntax Description Related PRP Actions name type hPeriph pointer to uninitialized PMDPeriphHandle hDevice pointer to open device handle addressTx CAN identifier for transmit addressRx CAN identifier for receive eventRX CAN identifier for event notification receive PMDresult PMDPeriphOpenCAN PMDPeriphHandle hPeriph PMDDeviceHandle hDevice PMDuint32 addressTX PMDuint32 addressRX PMDuint
62. ata word 0 byte 0 7 6 5 4 3 2 1 0 read data word 0 byte 7 7 6 5 4 3 2 1 0 Description The Read DWord Memory action is used to read a sequence of 32 bit double words from a random access memory The Offset argument is an address in the memory typically an address in a dual ported RAM Offset should be divisble by four the results of reading from a non aligned address are unpredictable The Length argument is the number of double words to read exactly this number of double words are returned as the message body of the response packet C language PMDresult PMDMemoryRead PMDMemory ram syntax void data PMDuint32 offset PMDuint32 length 60 PMD Resource Access Protocol Programmer s Reference Read Word Peripheral gt Coding action sub action resource 8 4 Arguments name type range units Offset unsigned 32 bit 0 Oxffffffff bytes Length unsigned 16 bit 0 Oxffff bytes Returned Data data bytes Packet write 1 2 8 Structure 7 6 5 4 3 2 1 0 write 4 address 7 6 5 4 3 2 1 0 write 1 7 6 5 4 3 2 1 0 write 0 7 6 5 4 3 2 1 0 write Offset byte 0 7 6 5 4 3 2 1 0 write Offset byte 1 7 6 5 4 3 2 1 0 write Offset byte 2 7 6 5 4 3 2 1 0 write Offset byte 3 7 6 5 4 3 2 1 0 write Length byte 0 7 6 5 4 3 2 1 0 write Length byte 1 7 6 5 4 3 2 1 0 read 2 status reserved 7 6 5 4 3 2 1 0 read data byte 0 7 6 5 4 3 2 1 0 Description The Read Word Peripher
63. ation This bus interconnects resources within the device such as the Magellan Motion Processor the C Motion Engine and the Dual ported RAM External communications use this same bus to access communication ports such as serial CANbus or Ethernet This means that commands to device resources may originate from outside the device via the serial CANbus or Ethernet ports or internally via the C Motion Engine 11 PMD Resource Access Protocol Programmer s Reference 2 PMID Resource Access Protocol PRP Tutorial A powerful feature of the PRP device s communication bus is that it can process multiple communication requests simultaneously For example the C Motion Engine can be used to send motion commands to the on card Magellan Motion Processor while an external host controller can communicate to the same Magellan via the Ethernet port to monitor progress of the moves and display results on a remote capture analysis program such as PMD s Pro Motion software While it is allowed to have more than one communications channel send motion commands to the PRP device s Magellan Motion Processor and another channel send monitoring related requests it is not advisable to have mul tiple communication channels send motion commands to the Magellan at the same time This may result in unex pected or unsafe motion 2 2 1 Peripheral Connections PRP supports four different programmable network connection types PC 104 bus Ser
64. bjects are grouped together whenever they may be used in the same fashion for example all connections to remote devices over any sort of communication channel are grouped together as peripheral resources Resources may be oca that is provided by a PRP device that is directly accessible from a host program or remote that is accessible only through another PRP device Local resources have fixed addresses beginning with zero while remote resources have addresses that are assigned by a PRP request to a Prodigy CME device The following table summarizes the various resource types and their numeric codes Name Code Description Device 0 A Prodigy CME card or ION CME module CMotionEngine l A C Motion Engine MotionProcessor 2 A Magellan Motion Processor Memory 3 A random access memory Peripheral 4 A connection to a remote device over a communications channel Reserved 5 7 Device means a Prodigy CME board ION CME module or a future device that understands the same protocol CMotionEngine means the C Motion engine of a device a functional unit capable of running user specified C Motion programs MotionProcessor means a Magellan Motion Processor which may be part of a Prodigy CME card a non CME Prodigy card an ION CME module a non CME ION module or a user designed device including a Magellan Motion Processor Memory means a memory unit capable of being randomly addressed The dual ported RAM available on Prodigy
65. code For PRP commands being sent out this 2 bit field should contain the value 2 When received a return value of 0 indicates that this message is a normal response to an outgoing PRP command a return value of 1 indicates that an error occurred during PRP command processing and a value of 3 indicates that this is an asynchronous event message originated by the PRP device or by a device attached to the card Each of these different response status codes may have information loaded in the PRP message body See the PMD Resource Access Protocol Programmer s Reference for more information Action This 4 bit field contains an action identifier that is used to process PRP messages See Section 2 1 3 PRP Actions for a summary of the PRP actions supported by the PRP device This field is not used in the return PRP header Resource This 3 bit field encodes the specific resource being addressed See the table in Section 2 1 2 PRP Resources for the complete resource map of the PRP device This field is not used in the return PRP header Address This 5 bit field encodes the address of the particular resource being communicated to Fixed addresses are used for resources that are local to the PRP device See the table in Section 2 1 2 PRP Resources for a resource map of these addresses Automatically assigned addresses are used to access attached devices and are also used to create peripheral connections which are communicatio
66. cription of Set Default Device on page 70 for a ta ble of supported default codes and their meaning C language PMDresult PMDDeviceGetDefault PMDDeviceHandle hDevice syntax PMDDefault defaultcode void value unsigned valueSize Note At most value Size bytes will be written to the location pointed to by value 38 PMD Resource Access Protocol Programmer s Reference GetResetCause Device N Coding action sub action resource 10 3 0 Arguments none Returned Data name type instance encoding ResetCause unsigned 16 bit 0x0800 System Watchdog 0x 1000 hard reset 0x2000 under voltage 0x4000 external 0x8000 watchdog Packet write 2 10 Structure 7 6 5 4 3 2 1 0 write 0 address 7 6 5 4 3 2 1 0 write 3 7 6 5 4 3 2 1 0 read 2 status reserved 7 6 5 4 3 2 1 0 read ResetCause byte 0 7 6 5 4 3 2 1 0 read ResetCause byte 1 7 6 5 4 3 2 1 0 Description The Get ResetCause Device action retrieves the cause of the last device reset C language PMDuint16 PMDMBGetResetCause PMDAxisHandle axis handle syntax PMDuintl6 resetcause see Please see the Magellan Motion Processor Programmer Reference for procedure documentation PMD Resource Access Protocol Programmer s Reference 39 l GetTaskState CMotionEngine Coding action sub action resource 10 5 Arguments none Returned Data name type instance encoding TaskS
67. debugging and routine progress monitoring The Console argument is the address of a peripheral to be used for console output If Console is zero then all console output will be suppressed If Console is nonzero it must be the address of a peripheral that was opened on the same device as the C Motion engine being addressed if it is an inappropriate peripheral address then an error will be returned C language None this action is not currently supported by the C library Pro Motion may be used to change syntax the current console 70 PMD Resource Access Protocol Programmer s Reference SetDefault Device s Coding action sub action resource 9 2 0 Arguments name type meaning DefaultCode unsigned 32 bit default identifier DefaultValue varies Returned Data none Packet write 1 2 9 Structure 7 6 5 4 3 2 1 0 write 0 address 7 6 5 4 3 2 1 0 write 2 7 6 5 4 3 2 1 0 write 0 7 6 5 4 3 2 1 0 write DefaultCode byte 0 7 6 5 4 3 2 1 0 write DefaultCode byte 1 7 6 5 4 3 2 1 0 write DefaultCode byte 2 7 6 5 4 3 2 1 0 write DefaultCode byte 3 7 6 5 4 3 2 1 0 write DefaultValue byte 0 7 6 5 4 3 2 1 0 write DefaultValue byte 7 7 6 5 4 3 2 1 0 read 2 status reserved 7 6 5 4 3 2 1 0 Description The Set Default Device action is used to change various non volatile properties of a PRP device for example the IP address or whether to run a user program immediate
68. diagnostic messages by C Motion user programs The result of this action may not be meaningful if the console output was initially Set from a different device than the Get is issued from None this action is not supported by the C library PMD Resource Access Protocol Programmer s Reference 37 l GetDefault Device Coding action sub action resource 10 2 0 Arguments name type meaning DefaultCode unsigned 32 bit default identifier Returned Data name type meaning DefaultValue varies varies see Set ValueDefault Packet write 1 2 10 Structure 7 6 5 4 3 2 1 0 write 0 address 7 6 5 4 3 2 1 0 write 2 7 6 5 4 3 2 1 0 write 0 7 6 5 4 3 2 1 0 write DefaultCode byte 0 7 6 5 4 3 2 1 0 write DefaultCode byte 1 7 6 5 4 3 2 1 0 write DefaultCode byte 2 7 6 5 4 3 2 1 0 write DefaultCode byte 3 7 6 5 4 3 2 1 0 read 2 status reserved 7 6 5 4 3 2 1 0 read DefaultValue byte 0 7 6 5 4 3 2 1 0 read DefaultValue byte 7 7 6 5 4 3 2 1 0 Description The Get Default Device action is used to retrieve the value of a device default Device defaults are various non volatile properties of the PRP device for example the IP address or whether to run a uset program immediately after power up The length of DefaultValue depends on the particular data type and is encoded in the upper byte of DefaultCode A length value of zero means two bytes one means four bytes Please see the des
69. e PMDSerialPort port PMDSerialBaud baud PMDSerialParity parity PMDSerialStopBits stopbits Dim periph As New PMDPeripheralCOM portnum PMDSerialBaud baud PMDSerialParity parity PMDSerialStopBits bits PMDPeriphOpenCOM is used to open a peripheral handle representing an open serial line hPeriph should point to an uninitialized PMDPeriphHandle data structure hDevice is a device handle which should be associated with a PRP device hDevice may be a null pointer in which case it means the local device either the host or for a C Motion Engine user program the local PRP device port is the serial port to use one of PMDSerialPort or PMDSerialPort2 baud is the serial port speed to set one of _PMDSerialBaud 200 PMDSerialBaud2400 PMDSerialBaud9600 PMDSerialBaud 9200 PMDSerialBaud57600 PMDSerialBaud 15200 PMDSerialBaud230400 or PMDSerialBaud460800 parity is the parity to use one of PMDSerialParityNone PMDSerialParityOdd or PMDSerialParityEven stopbits is the number of stopbits to use either PMDSerialStopBits or PMDSerialStopBits2 Hight data bits are always used In order to open a PMD serial protocol multi drop peripheral PMDPeriphOpenMultiDrop should be applied to the peripheral handle opened by PMDPeriphOpenCOM Open Device COM PMDPeriphOpenlSA C Motion Engine Host Based Arguments name type hPeriph pointer to uninitialized peripheral handle hDevice pointer to open RP device handle address IS
70. e 123 4 C Motion Engine 124 int main int argc char argv PMDresult result PMDDeviceHandle hdev amp dev Open a TCP IP peripheral the second argument is the device handle which is zero because the peripheral connection is to the host result PMDPeriphOpenTCP amp periph 0 IP_ADDRESS TCP_PORT 0 if result Handle the error f Establish a connection to a PRP device over the opened peripheral result PMDRPDeviceOpen hdev amp periph if result Handle the error result PMDAxisOpen amp axis l hdev PMDAx is if result Handle the error Now do something useful with the Magellan axis just opened C Motion Engine program PMDDeviceHandle dev Statically allocate space for a Prodigy CME device handle PMDAxisHandle axisl Allocate space for a handle to a Magellan axis USER_CODE_TASK myTask PMDresult result PMDDeviceHandle hdev 0 Use a null pointer for the local device handle Open a handle to a Magellan axis on the local device result PMDAxisOpen amp axis hdev PMDAx is if result Handle the error Now do something useful with the Magellan axis just opened C Motion Engine Programming In many ways the C Motion engine environment is more restrictive than a PC host environment code size data size and stack size are all more limited see the User s Guide for your product The processor running the C Mot
71. e to CME user programs Related PRP none Actions 90 PMD Resource Access Protocol Programmer s Reference PMDDeviceGetTickCount C Motion Engine Host Based C language PMDuint32 PMDDeviceGetTickCount syntax Description PMDDeviceGetTickCount returns the number of milliseconds from the time the C Motion Engine from which it is called has been running The count is maintained with a granularity of 8 milliseconds and will overflow to zero after 2 milliseconds PMDDeviceGetTickCount is only available to CME user programs Related PRP none Actions 91 PMD Resource Access Protocol Programmer s Reference PMDMPDeviceOpen C Motion Engine Host Based Arguments C language syntax Visual Basic Syntax Description Related PRP Actions 92 name type hDevice pointer to uninitialized PMDDeviceHandle hPeriph pointer to PMDPeriphHandle PMDresult PMDMPDeviceOpen PMDDeviceHandle hDevice PMDPeriphHandle hPeriph Dim device As New PMDDevice peripheral PMDDeviceType MotionProcessor PMDMPDeviceOpen is used to obtain a handle to a Magellan attached device for example a non CME ION module or a non CME prodigy card A Magellan attached device communicates using the Magellan protocol and not PRP The device argument should point to an uninitialized PMDDeviceHandle data type which may not be freed or written to as long as the device handle is in use hPeriph should point to an open pe
72. eady to obtain the axis handle if PMD NOERROR result result PMDAxisOpen amp axis2 amp dev PMDAxis2 Open Peripheral MotionProcessor PMD Resource Access Protocol Programmer s Reference 81 PMDTaskGetState C Motion Engine Host Based i Qn ae Arguments name type hDevice pointer to PMDDeviceHandle state pointer to PMDTaskState enum C language PMDresult PMDTaskGetState PMDDeviceHandle hDevice syntax PMDTaskState state Visual Basic Dim state As PMDTaskState Syntax state device TaskStat Description The PMDTaskGetState procedure queries a C Motion Engine for the state of any user program that might be installed in it The hDevice argument should be associated with an RP device that is a device containing a C Motion Engine If hDevice is not appropriate then PMD_ERR_NOT SUPPORTED will be returned The value pointed to by the state argument will be written to indicate the result PMDTaskState instance encoding No program installed Program not started 2 Program running 3 4 Program aborted Related PRP Get CMotionEngine TaskState Actions 82 PMD Resource Access Protocol Programmer s Reference PMDTaskStart C Motion Engine Host Based Arguments C language syntax Visual Basic Syntax Description Related PRP Actions name type hDevice pointer to PMDDeviceHandle PMDresult PMDTaskStart PMDDeviceHandle hDevice device TaskStart PMDTa
73. econds then a PRP timeout error will be returned In which case some of the data may have been sent it is not possible to tell A timeout value of 65535 Oxffff means no time limit If the peripheral connection has been closed by some external action for example a TCP connection that has been closed by a peer then a status of PMD_ERR_NotConnected will be returned Such a peripheral must be closed using the Close action In the case of a TCP connection after closing the unconnected peripheral a new peripheral with the same TCP port may be opened using the OpenTCP action C language PMDresult PMDPeriphSend PMDPeriphHandle hPeriph syntax void buffer PMDuint32 nCount PMDuint32 timeout PMD Resource Access Protocol Programmer s Reference 69 s SetConsole CMotionEngine Coding action sub action resource 9 4 3 Arguments name type meaning Console unsigned 8 bit peripheral address Returned Data none Packet write 1 2 9 Structure 7 6 5 4 3 2 1 0 write 3 address 7 6 5 4 3 2 1 0 write 4 7 6 5 4 3 2 1 0 write Console 7 6 5 4 3 2 1 0 read 2 status reserved 7 6 5 4 3 2 1 0 Description The Set Console CMotionEngine action is used to change the destination of console messages from a user program running in the C Motion Engine to which the action is addressed User programs can emit console messages using the C library procedure PMDprintf Console messages are primarily intended for
74. ections from any device handle one connection at a time and resume listening after a remote device closes the connection In either case a connection may be closed using PMDPeriphClose IPAddress must be numeric PRP devices do not support any kind of name service An IP address in the familiar dotted quad notation A B C D is equivalent to the 32 bit number A lt lt 24 B lt lt 16 C lt lt 8 D this conversion may be done using the macro PMD_IP4_ADDR for example the numeric value of the IP address 192 168 13 42 could be obtained by writing PMD_IP4 ADDR 192 168 13 42 port is the TCP port number to use for sending or receiving TCP ports are divided into three ranges 1 The well known ports from 0 to 1023 are used for standard services which are not likely to be hosted by user C Motion Engine applications 2 The registered ports from 1024 to 49151 are used ad hoc and are most likely to be used for user motion control applications 3 The dynamic ports from 49152 to 65535 are used for temporary applications and may be use ful for user applications that dynamically assign UDP ports Open Device TCP PMD Resource Access Protocol Programmer s Reference 105 PMDPeriphOpenUDP C Motion Engine Host Based Arguments name type hPeriph pointer to uninitialized PMDPeriphHandle hDevice pointer to open PMDDeviceHandle IPAddress 32 bit IP address port 16 bit UDP port C language PMDresult PMDPeriphOpenUDP PMDPerip
75. ectly setting this timeout window may depend on factors such as baud rate but 100 milliseconds is a typical safe value If the host controller receives a response packet with an incorrect checksum or does not receive a complete packet communications timeout then the original message should be resent If a PRP device receives a packet with an incorrect checksum then it will respond with an error response packet with an error code of PMD_ ERR RP Checksum If the PRP device does not receive the specified number of bytes within 100 milliseconds of beginning of packet reception the incoming message is ignored and no message is sent to the host controller 3 5 2 PRP TCP IP Transport PRP packets are realized as TCP IP packets except that three bytes of padding must be added before each outgoing host to PRP device packet The padding bytes are ignored The length of each PRP packet is determined from the IP header In order to initiate a PRP connection a host should establish a TCP connection to a PRP device using the port specified by the device default DefaultTCPPort The factory default for this port is 40100 but it may be changed using Set Device SetDefault The Prodigy CME and ION CME module support asynchronous event notification over TCP IP by sending event packets to DefaultT CPPort 1 The packet format is the same as the CAN event notification packet Word 1 Event axis Word 2 Event status PRP over TCP IP supports async
76. edure call may involve multiple PRP actions or none and whether PRP is used may depend on whether the procedure call is executed on the host or in a C Motion Engine user program and on whether it is directed at a remote device or the device on which the program itself is running There are a few conventions common to many procedutes e When opening a handle to some object a pointer to an uninitialized instance of the appropriate data type is passed first and the open procedure will write to it The initialized data type should not be written to as long as it is in use e Most procedures return an integer status code of type PMDresult A zero indicates success and a non zeto value failure or error e Many procedures that accept a pointer to a PMDDeviceHandle as an argument should be passed a null pointer to indicate the local device For C Motion Engine user programs the local device is the device hosting the C Motion Engine For hosted programs for example when opening a peripheral the local device is the host itself PMD Resource Access Protocol Programmer s Reference 79 PMID C Language Library Procedures This page intentionally left blank 80 PMD Resource Access Protocol Programmer s Reference PMDAxisOpen C Motion Engine Host Based Arguments C language syntax Visual Basic Syntax Description Related PRP Actions name type hAxis pointer to PMDAxisHandle hDevice pointer to PMDDeviceHandle
77. eiving asynchronous event notifications from a PRP device or Magellan Motion Processor If the requested peripheral is associated with some other device then Eventldentifier should be zero The return value PeriphAddress is a PRP address that may be used with the resource type Peripheral for addressing the newly opened CAN peripheral until it is closed C language PMDresult PMDPeriphOpenCAN PMDPeriph periph interface PMDDevice device PMDuint32 TransmitIdentifier PMDuint32 Receiveldentifier PMDuint32 EventIdentifier 44 PMD Resource Access Protocol Programmer s Reference OpencMotionEngine Device Coding action sub action resource 3 3 0 Arguments name type range CMEAddress unsigned 8 bit 0 Returned Data name type range RemoteAddress unsigned 8 bit 1 31 Packet write 1 2 3 Structure 7 6 5 4 3 2 1 0 write 0 address 7 6 5 4 3 2 1 0 write 3 7 6 5 4 3 2 1 0 write CMEAddress 7 6 5 4 3 2 1 0 read 2 status reserved 7 6 5 4 3 2 1 0 read RemoteAddress 7 6 5 4 3 2 1 0 Description The Open CMotionEngine Device action is used to request a connection to a C Motion Engine ona remote PRP device The CMEAddress argument indicates which CMotionEngine resource on the remote device is to be used for current PRP devices there is only one so its address is always zero The returned RemoteAddress may be used as the address for for example CommandStartTask actions to start a
78. erved See Section 2 5 PRP Communication Formats for this network specific serial CANbus or Ethernet in formation 2 4 Accessing Magellan Attached Devices Section 2 2 1 Peripheral Connections provided information on how general purpose messages can be sent to or received from any of the PRP device s network ports This level of low level access can be useful to communicate with a wide variety of custom created or off the shelf products that are capable of communicating on that bus If the attached device is a PMD device however such as a non CME ION or non CME Prodigy PCI card PR825xx20 family and PR925xx20 family then it is possible to integrate these devices into the PRP access network so that they can be communicated to without using low level peripheral send and receive commands l IONs and non CME Prodigy PCI cards are referred to as Magellan Attached devices because the network di rectly connects to the Magellan Motion Processor and utilizes the Magellan s own communication protocols for receiving commands and returning data along the communication link Figure 2 5 provides an example of a setup where a Prodigy CME PC 104 card is connected via Ethernet to a host controller and where a second non CME Prodigy PC 104 card is attached to the PC 104 bus 16 PMD Resource Access Protocol Programmer s Reference PMID Resource Access Protocol PRP Tutorial 2 Host Controller Prodigy CME PC
79. es The peripheral resource to which this action is directed must have been obtained using the Open COM Device action the parent peripheral must not be closed before the multi drop peripheral returned by Open MultiDrop but should not be used for transmitting data on the serial line The RemoteAddress returned by the Open MultiDrop action will typically be used as a target for Open MotionProcessor or Open Device For more information on the multi drop protocol see Chapter 2 PMD Resource Access Protocol PRP Tutorial and the Magellan Motion Processor Users Guide C language PMDresult PMDPeriphOpenMultiDrop PMDPeriphHandle hPeriph syntax PMDPeriphHandle hParent unsigned MultiDropAddress 58 PMD Resource Access Protocol Programmer s Reference ReadByte Peripheral gt Coding action sub action resource 8 4 Arguments name type range units Offset unsigned 32 bit 0 Oxffffffff bytes Length unsigned 16 bit 0 Oxffff bytes Returned Data data bytes Packet write 1 2 8 Structure 7 6 5 4 3 2 1 0 write 4 address 7 6 5 4 3 2 1 0 write 1 7 6 5 4 3 2 1 0 write 0 7 6 5 4 3 2 1 0 write Offset byte 0 7 6 5 4 3 2 1 0 write Offset byte 1 7 6 5 4 3 2 1 0 write Offset byte 2 7 6 5 4 3 2 1 0 write Offset byte 3 7 6 5 4 3 2 1 0 write Length byte 0 7 6 5 4 3 2 1 0 write Length byte 1 7 6 5 4 3 2 1 0 read 2 status reserved 7 6 5 4 3 2 1 0 read data byte 0
80. es version information in a section of the binary that will be used by the C Motion Engine runtime code It should be put once in the main source file at top level outside of any function definition MAJOR and MINOR are user program version numbers 16 bit constants that will be reported by Pro Motion USER_CODE_VERSION must be present even if you don t care to maintain a version number USER_CODE_TASK should be used to define the main function of the user code program its argument is the name of the function which should accept no arguments and should never return A user program skeleton follows include c motion h include usermain h include PMDsys h this macro is required at the beginning of a CME user application USER_CODE_VERSION 1 0 UserTCP is the name of the main task function USER_CODE_TASK UserTCP while I Handle task events Note do not return 78 PMD Resource Access Protocol Programmer s Reference PMD C Language Library Procedures ay 4 5 PMD Library Procedures This section documents the PMD C language interface to the library procedures for programming aCME PRP device both in hosted programs and C Motion Engine user programs Most procedure calls are syntactically the same in both environments but their implementation is of course quite different In many cases a PRP action corresponds closely to the action of a library procedure but this is not invariable One proc
81. ess is always zero The returned RemoteAddress may be used as the address when accessing the rersoutce for example Read and Write actions to read and write values from a remote dual ported RAM It is not necessary to use Open Memory32 to gain access to a dual ported RAM on a local PRP device that is one that is directly connected to a host For a local device one may simply use PRP address zero to address the memory Open Memory32 will however return the correct address for a local device PMDresult PMDMemoryOpen32 PMDMemoryHandle hMemory PMDDeviceHandle hDevice PMDMemoryld id PMD Resource Access Protocol Programmer s Reference 47 a OpenviotionProcessor Device Coding action sub action resource 3 0 0 Arguments name type range LocalAddress unsigned 8 bit 0 31 Returned Data name type range RemoteAddress unsigned 8 bit 1 31 Packet write 1 2 3 Structure 7 6 5 4 3 2 1 0 write 0 address 7 6 5 4 3 2 1 0 write 0 7 6 5 4 3 2 1 0 write LocalAddress 7 6 5 4 3 2 1 0 read 2 status reserved 7 6 5 4 3 2 1 0 read RemoteAddress 7 6 5 4 3 2 1 0 Description The Open MotionProcessor Device action is used to request a connection to a Magellan Motion Processor that is part of a remote PRP device that is a device that is accessible only through another PRP device and not directly via a TCP connection or other communication channel To access a motion processor on a
82. ev Reset Try Dim major minor As Ulnt32 dev Version major minor Catch ex As Exception When ex Data PMDresult Equals PMDresult ERR_RP_Reset Ignore the expected error End Try Any errors that are not caught will cause the application to display a popup window displaying an error message including the error number and description and a stack trace with file names and line numbers The popup window allows a user to continue ignoring the error or to abort the application While popup windows are useful for debugging any application controlling motors should be designed to recover gracefully and safely from any foreseeable error condition and it is recommended to use Try blocks liberally to make applications more robust 136 PMD Resource Access Protocol Programmer s Reference Index i A PRP action reference 29 action reference 29 actions 22 actions 22 addresses 22 addresses 22 axis handles 129 CANbus transport 28 devices overview 7 C outgoing packet 23 C language library procedure 77 packet structure 23 CANbus transport 28 PCI bus transport 27 C Motion 123 resources 21 Axis handles 129 response packets 23 Engine 123 serial transport 26 Engine macros 78 sub actions 22 Engine Procedures 123 TCP IP transport 27 Engine programming 124 transport layers 25 libraries 123 tutorial 9 versions 129 PRP Tutorial 9 console 127 actions 11 addressing 9 D auto assigned addresses 14 data types 77 CANbus 19 communications formats
83. f lastTime incrTime lt thisTime amp amp lastTime incrTime gt lastTime Report time budget exceeded lastTime this Time PMDTaskWaitUntil amp lastTime incrTime 126 PMD Resource Access Protocol Programmer s Reference C Motion Engine rx 5 4 The Console The C Motion Engine console is a primary tool for reporting progress and error messages during development By default the console is attached to serial port 2 but it may be redirected to a UDP IP port or disabled by redirecting it to the null peripheral The most convenient way of doing this during development is by using Pro Motion as described in the Pro Motion Users Guide PMDprintf PMDputs and PMDputch may be used to send formatted messages to the console See Section 4 5 PMD Library Procedures for procedure documentation 5 5 User Packets User packets are a convenient method of encapsulating arbitrary data in the control stream used by PMD procedures for communication from the host to a CME device User packets are likely to be most useful for prototypes applications but if performance requirements are modest they may be useful for deployed applications Each end of the user packet stream is represented by a peripheral handle obtained using the PMDPeriphOpenCME procedure see Section 4 5 PMD Library Procedures This procedure is available both on the host and the C Motion Engine and in each case returns one end of the stream A host program m
84. ference 9 2 PMID Resource Access Protocol PRP Tutorial 2 1 1 PMD Resource Access Protocol PRP The core of the PMD Resource Access Protocol is a header that accompanies all PRP communications Figure 2 1 shows the format of the resource access protocol header The PRP header is a single 16 bit word divided into five fields Normally the PRP header is immediately followed by a message body but there are certain communications that do not require a message body PRP headers are used in both the outgoing and the response packet The returned PRP header is 1 byte in length consisting of the version field the status code field and 4 reserved bits Version Status code Action Resource Address Figure 2 1 2 bits 2 bits 4 bits 3 bits 5 bits Outgoing and Returning PRP header formats Return PRP Header Version Status code Reserved 2 bits 2 bits 4 bits The majority of communications to from the host controller and the PRP device use the PRP header Exceptions are low level communications sent or received directly from the Serial CANbus or Ethernet ports See Section 2 2 Accessing the Communications Ports for more information PRP header field descriptions Version This two bit field encodes the version of PRP being used The value of this field for all PRP devices should always be 1 binary 01 unless documentation included with your PRP device indicates otherwise Status
85. grammer s Reference PMDprintf C Motion Engine Host Based Arguments name type fmt string arguments to format C language int PMDprintf const char fmt syntax Description PMDprintf is the primary procedure used for console output a feature used for progress reporting during development and debugging The console may be attached to any of the available communication devices at startup using the default settings Default_DebuglntfType Default_DebuglntfAddr and Default_DebuglntfPort The console may be changed at run time to a specified peripheral by using the PRP action Set Console Pro Motion can also be used conveniently to set the current or default console The arguments to PMDprintf are the same as to the C standard library printf and the return value is the number of characters printed Because there is only one console and no file system there is no equivalent to fprintf In order to send formatted data through a peripheral sprintf should be used to format to a user supplied buffer and the buffer sent PMDprintf does not correctly format floating point arguments In order to print floating point numbers it is necessary to format them using sprintf and then to print the formatted string using PMDprintf or PMDputs Related PRP Set Console Actions Set Device Default Default DebugIntfType Set Device Default Default_DebugIntfAddr Set Device Default Default_DebugIntfPort PMID Resource Access Protocol Programmer s
86. h h The actual size of the user packet sent is implicitly given by the size of the outgoing PRP packet How the PRP packet size is determined depends on the transport mechanism in use C language PMDresult PMDPeriphOpenCME PMDPeriphHandle hPeriph syntax PMDDeviceHandle hDevice PMDresult PMDPeriphSend PMDPeriphHandle hPeriph oid buffer Duint32 nCount Duint32 timeout U lt AS 68 PMD Resource Access Protocol Programmer s Reference Send Peripheral Coding action sub action resource 5 5 Arguments name type range units timeout unsigned 16 bit 0 Oxffff msec Returned Data none Packet write 1 2 5 Structure 7 6 5 4 3 2 1 0 write 4 address 7 6 5 4 3 2 1 0 write timeout byte 0 7 6 5 4 3 2 1 0 write timeout byte 1 7 6 5 4 3 2 1 0 write send data byte 0 7 6 5 4 3 2 1 0 write send data byte 7 7 6 5 4 3 2 1 0 read 2 status reserved 7 6 5 4 3 2 1 0 Description The Send Peripheral action is used to transmit data to some remote device using the communication channel specified by the Peripheral resource to which it is addressed The peripheral might be a TCP Ethernet connection a serial port pair of CAN bus identifiers or any other peripheral type The number of bytes to send is implicit in the size of the PRP packet how this is determined depends on the transport mechanism in use If all of the data cannot be sent within timeout millis
87. hHandle hPeriph syntax PMDDeviceHandle hDevice PMDuint32 IPAddress PMDuint1l6 port Description PMDPeriphOpenUDP is used to open a UDP IP peripheral on the PRP device indicated by hDevice If hDevice is a null pointer then the local device either the host or the PRP device on which a CME user program is running If IPAddress is nonzero then it is the IP address of a remote Ethernet device to which packets will be sent the peripheral will be write only If IPAddress is zero then a UDP port will be opened for listening the peripheral will be read only IPAddress must be numeric PRP devices do not support any kind of name service An IP address in the familiar dotted quad notation A B C D is equivalent to the 32 bit number A lt lt 24 B lt lt 16 C lt lt 8 D this conversion may be done using the macro PMD_IP4_ADDR for example the numeric value of the IP address 192 168 13 42 could be obtained by writing PMD_IP4_ADDR 192 168 13 42 port is the UDP port number to use for sending or receiving UDP ports are divided into three ranges 1 The well known ports from 0 to 1023 are used for standard services which are not likely to be hosted by user C Motion Engine applications 2 The registered ports from 1024 to 49151 are used ad hoc and are most likely to be used for user motion control applications 3 The dynamic ports from 49152 to 65535 are used for temporary applications and may be use ful for user applications t
88. habetical Order 3 6 2 Action Resource Sub action C Procedure Close CMotionEngine PMDDeviceClose Device PMDDeviceClose Memory PMDMemoryClose MotionProcessor PMDDeviceClose Peripheral PMDPeriphClose Command CMotionEngine Flash Task PMDCMETaskStart PMDCMETaskStop MotionProcessor Any C Motion Commands Get CMotionEngine Console TaskState PMDCMEGetTaskState Device Default PMDDeviceGetDefault ResetCause PMDMBGetResetCause Version PMDDeviceGetVersion NOP any Open Device CAN PMDPeriphOpenCAN CMotionEngine PMDRPDeviceOpen ISA PMDPeriphOpenlSA Memory32 PMDMemoryOpen32 MotionProcessor PMDAxisOpen COM PMDPeriphOpenCOM Parallel PMDPeriphOpenPAR TCP PMDPeriphOpenT CP UDP PMDPeriphOpenUDP Peripheral Device PMDRPDeviceOpen MotionProcessor PMDMPDeviceOpen MultiDrop PMDPeriphOpenMultiDrop Read Memory Dword PMDMemoryRead Peripheral Byte PMDPeriphRead Word PMDPeriphRead Receive CMotionEngine PMDPeriphReceive Peripheral PMDPeriphReceive Reset Device PMDDeviceReset MotionProcessor PMDDeviceReset Send CMotionEngine PMDPeriphSend Peripheral PMDPeriphSend Set CMotionEngine Console Device Default PMDDeviceSetDefault Write Memory Dword PMDMemoryWrite Peripheral Byte PMDPeriphWrite Word PMDPeriphWrite 32 PMD Resource Access Protocol Programmer s Reference Close various Coding action sub action resource 4 various Arguments none Return Data none Packet Structure write 1 2 4 7 6 5 4 3 2 1
89. hat communicates using PRP that is a Prodigy CME card or PRP ION module hPeriph should be a handle to an open peripheral that is physically connected to a PRP device The device handle opened by this procedure may be used for opening motion processor axes see PMDAxisOpen p 81 or dual ported RAM devices see PMDMemoryOpen32 p 94 peripherals on the device see PMDPeriphOpenCOM p 100 PMDPeriphOpenTCP p 104 PMDPeriphOpenUDP p 105 PMDPeriphOpenlISA p 101 and PMDPeriphOpenCAN p 98 The device handle is also used to access the C Motion Engine on the device for example using PMDCMETaskStart or PMDCMETaskStop Open Peripheral Device PMD Resource Access Protocol Programmer s Reference PMDTaskAbort C Motion Engine Host Based Arguments name type UserAbortCode 8 bit integer C language void PMDTaskAbort int UserAbortCode syntax Description PMDTaskAbort is used to halt user code execution in case of a fatal error it does not return The argument is a nonzero code that can be used to communicate the cause of failure to the next invocation of the user program and should be checked using PMDTaskGetAbortCode at the beginning of the user program PMDTaskAbort does not perform any cleanup actions nor does it perform a reset Any cleanup required to put the device in a safe state must be done by the user program before calling PMDTaskAbort Related PRP none This procedure may be called o
90. hat dynamically assign UDP ports Related PRP Open Device UDP Actions 106 PMD Resource Access Protocol Programmer s Reference PMDPeriphRead C Motion Engine Host Based Arguments C language syntax Visual Basic Syntax Description Related PRP Actions name type hPeriph pointer to open PMDPeriphHandle data buffer for incoming data offset byte offset from base address length number of data units to read PMDresult PMDPeriphRead PMDPeriphHandle hPeriph void data PMDuint32 offset PMDuint32 length Dim datal6 0 To MaxLength As UInt1l6 Dim data8 0 To MaxLength As Byte Dim offset length As UInt32 periph read datal6 offset length periph read data8 offset length PMDPeriphRead is used to read a stream of bytes from a peripheral with a specified base address specifically PC 104 ISA bus and PCI bus peripherals hPeriph should point to an open handle to such a peripheral for peripherals without an address concept an error code of PMD_ERR_NOT_ SUPPORTED will be returned data is a pointer to a buffer for incoming data offset is an increment to add to the base address to give the address to read from and length is the number of bytes to read Read Periph Byte PMID Resource Access Protocol Programmer s Reference 107 PMDPeriphReceive C Motion Engine Host Based Arguments C language syntax Visual Basic Syntax Description 108 name type hPeriph pointer to open PMDPeriph
91. he PRP packet The same protocol is used for sending PRP actions responses and event notification packets The header byte of each initial message has the form 1 NContinued 7 6 5 4 3 2 1 0 NContinued is the number of continued messages that will follow and may be zero Each continued header byte has this form 0 Sequence 7 6 5 4 3 2 1 0 The first continued message has a Sequence value of one the second two and so forth Each message has a Sequence value one greater than that of the previous message The final message has a Sequence value of NContinued If a message is received with an unexpected Sequence value or an Initial message is received when expecting a Continued message then the receiver should immediately send a PRP error packet with the error code CANMessageOutOfSequence NB value and perhaps name TBD The exact length of a PRP packet may not be determined after reading just the initial message with a nonzero NContinued value because the length of the last message is not known The length is at least 7 NContinued 1 and at most 7 NContinued 1 No PRP packet checksum is required because the integrity of each CAN message is protected by a CRC naturally including the segment header bytes Reception of the expected sequence numbers is very good evidence that a packet has been correctly received 3 6 PRP Action Reference This section describes each action and sub action with the bina
92. he node identifier is a user chosen integer between 1 and 127 inclusive and is the least significant seven bits of any CAN identifier used for PRP communication As long as their node identifiers are different PRP devices should coexist but not communicate with CANOpen devices on the same CANbus PRP uses three CAN identifiers for communication e 0x600 Nodeldentifier is used for sending messages from the host to a PRP device This identifier is used by default for SDO transmit by CANOpen devices e 0x580 Nodeldentifier is used for sending responses from a PRP device to a host This identifier is used by default for SDO receive by CANOpen devices 28 PMD Resource Access Protocol Programmer s Reference PRP Reference e 0x180 Nodeldentifier is used for sending asynchronous event notification packets from a PRP device to a host CAN messages are limited to eight bytes of data which means that many PRP packets require several CAN messages for transport In order to support PRP over CANbus a segment de segment protocol is used The first byte of each CAN message is used for segment information all of the remaining bytes are used for the PRP header or body Each CAN message used for PRP is either an zitial message or a continued message An initial message is the first message used for a PRP packet and may be the only message in the packet An initial message may be followed by zero or more continued messages which complete t
93. hen objects are garbage collected The following example demonstrates how to open a peripheral connection to a PRP device accessible by TCP IP and to access the resources of that device Public Class Examples Public Sub Example Allocate and open a peripheral connection to a PRP device using TCP IP Note that the arguments for the PMDPeripheralT CP object are the same as for the C language call PMDPeriphOpenTCP except that the first argument for the peripheral struct pointer and the second argument for the device are not used The standard NET class for IP addresses is used instead of a numeric IP address DEFAULT ETHERNET PORT is a constant defined in PMDLibrary vb for the default TCP port used for commands by the PRP device 1000 is a timeout value in milliseconds Dim periph As New PMDPeripheralT CP System Net IPAddress Parse 192 168 0 27 _ DEFAULT ETHERNET PORT _ 1000 Now allocate and connect a device object using the newly opened peripheral Instead of using two different names the second argument specifies whether a PRP device or attached Magellan device is expected Dim DevCME As New PMDDevice periph PMDDeviceType ResourceProtocol Once the PRP device is open we can obtain an axis object which may be used for any C Motion commands Notice that the enumerated value used to specify the axis is called Axis instead of PMDAxis because the enumeration name already includes the PMD
94. hich a connection should be opened If IPAddress is zero then the a port will be opened that will accept incoming connections one incoming connection at a time may be handled by such a port TCPPort is the TCP port to connect to or to listen on The return value PeriphAddress is a PRP address that may be used with the resource type Peripheral for addressing the newly opened Ethernet peripheral until it is closed PMD Resource Access Protocol Programmer s Reference Openycp Device cont l C language PMDresult PMDPeriphOpenTCP PMDPeriphHandle hPeriph interface PMDDeviceHandle hDevice PMDuint32 IPAddress PMDuintl6 TCPPort PMD Resource Access Protocol Programmer s Reference 53 l Openypp Device Coding action sub action resource 3 0 Arguments name type range Ethernetlnterface unsigned 8 bit 0 IPAddress unsigned 32 bit 0 Oxffffffff UDPPort unsigned l6 bit 0 Oxffff Returned Data name type range PeriphAddress unsigned 8 bit 1 31 Packet write 2 3 Structure 7 6 5 4 3 2 1 0 write 0 address 7 6 5 4 3 2 1 0 write 23 7 6 5 4 3 2 1 0 write EthernetInterface 7 6 5 4 3 2 1 0 write IPAddress east significant byte 7 6 5 4 3 2 1 0 write IPAddress byte 1 7 6 5 4 3 2 1 0 write IPAddress byte 2 7 6 5 4 3 2 1 0 write IPAddress byte 3 7 6 5 4 3 2 1 0 write UDPPort least significant byte 7 6 5 4 3 2 1 0 write UDPPort byte 1 7 6 5 4 3 2 1 0 re
95. hronous event notification by sending event packets over the same TCP connection as response packets so the host must be prepared to read a packet at any time and to distinguish event from response packets 3 5 3 PRP PCI Bus Transport The Prodigy CME PCI card uses the PCI 9030 interface chip from PLX technology For information on the operation of this device or on developing driver software please refer to the PLX documentation available from www plxtech com The PCI PRP transport uses an on card buffer mapped into PCI memory space for exchanging PRP packets Two base address registers BARs found in the PCI configuration space for the card are used BAR 2 is used for some control and status bits and BAR 5 is used for reading and writing the PRP messages There are six base address registers in total the actual base addresses are obtained from the host operating system or from the PLX driver BAR 0 and BAR 1 are reserved by PLX e BAR 2 is used for command and status registers to control the flow of PRP messages and console data including the registers illustrated in the table below All registers are 16 bits wide e BAR 3 is used for resetting the card e BAR 4 is reserved PMD Resource Access Protocol Programmer s Reference 27 4 PRP Reference e BAR 5 contains a 2048 byte on card buffer for exchanging PRP packets and console data illustrated in the table below BAR 2 Offset Register Description 0 0x000F
96. ial CANbus and Ethernet Every PRP device provides one or more of these interfaces These communication resources are represented in PRP by a construct called a peripheral connection A peripheral is a resource resource ID 4 and is provided or utilized by various PRP actions to send and receive messages to network connections Obtaining access to either the PC 104 bus serial CANbus or Ethernet port is accomplished via the PRP Open action This action opens a peripheral by specifying a sub action of OpenlSA OpenSerial OpenCAN OpenTCP or OpenUDP as well as the detailed connection parameters that will be used during communications with that specific peripheral connection Each newly opened peripheral connection receives an automatically assigned address The application code that requests the new peripheral connection must record that provided address for future use and it is this address that is used within the PRP message to reference the newly created peripheral connection i Automatically assigned addresses generally increment by one each time they are assigned however this should not be assumed The exact return address value should be stored and only that value should be used to reference that specific peripheral Each Peripheral Open action is specific to the type of connection being requested For example there is an open peripheral command for CANbus communications one for Serial communications and so on To send a
97. iated with them that are loaded into the PRP message body For more information on actions sub actions and the exact format by which the message body should be loaded see Chapter 3 PRP Reference The following table summarizes the action IDs for the PRP devices Used by Name Action ID Resource Comments NOP 0 All The No Operation NOP command is used to verify connec tion to a given resource Reset l Device MotionProcessor Resets the specified resource Command 2 MotionProcessor Sends a command to the specified resource CMotionEngine Open 3 Peripheral Device Creates a new addressable resource Resource addresses cre ated using the Open action are not fixed they are assigned automatically at the time a connection is requested Close 4 Peripheral Device Closes a resource created by Open freeing the automatically MotionProcessor assigned address Used when a resource is no longer needed Send 5 Peripheral C Motion Sends a message to the specified resource Engine Receive 6 Peripheral C Motion Receives a message from the specified resource Engine Write 7 Memory Writes a data word to a memory resource Read 8 Memory Reads a data word from a memory resource Set 9 Device CMotionEngine Sets parameters for a specified resource Get 10 Device CMotionEngine Get parameters for a specified resource 2 2 Accessing the Communications Ports Every PRP device uses a high speed bus for internal communic
98. ification The device argument is NULL because no remote device is used result PMDPeriphOpenCAN amp periph 0 CAN_TX CAN _RX CAN EVENT result PMDMPDeviceOpen amp device amp periph result PMDAxisOpen amp axis amp device PMDAxis An example operation soft reset the motion processor result PMDReset amp axis l fe Because the handles are allocated on the stack they closed before returning result PMDAxisClose amp axis result PMDDeviceClose amp device result PMDPeriphClose amp periph Case 2 External PRP device Magellan motion processor void testAxis void 130 PMDDeviceHandle dev PMDPeriphHandle periph PMDAxisHandle axis PMD Resource Access Protocol Programmer s Reference C Motion 4 PMDresult result ia Open a peripheral connection to a PRP device using TCP IP IP_ADDRESS is the IP address of the PRP device CMD_PORT is the TCP port used for sending commands to and receiving responses from the card EVENT PORT is the TCP port used for receiving asynchronous events result PMDPeriphOpenTCP amp periph 0 IP_ADDRESS CMD_PORT EVENT PORT Open a connection to the device on the peripheral result PMDMPDeviceOpen amp dev amp periph Now open a connection to the motion processor on the device result PMDAxisOpen amp axis l amp dev PMDAxis An example operation soft reset the motion processor
99. ight send application commands as user packets in any desired format and the C Motion Engine user program could reply with user packets representing status information It is important to remember that user packets are delivered as discrete packets with a maximum size of 250 bytes and that only one incoming and one outgoing user packet may be buffered in the C Motion Engine at any time if several user packets are sent without waiting for receipt then all but the first may be overwritten 5 6 Exceptions In case of an unrecoverable error a C Motion user program may call the PMDTaskAbort procedure which will result in the user program exiting The user program must leave the CME device and any attached hardware in a safe state before calling this procedure The user program may be restarted using Pro Motion and may during startup check for an error code left by PMDTaskAbort using the PMDTaskGetAbortCode procedure The error code is not non volatile it does not survive a reset or power cycle An error in a C Motion user program may cause a processor exception for example by reading or writing from an invalid address or attempting to execute an invalid instruction typically because of stack corruption or an invalid function pointer After an exception the microprocessor hosting the C Motion Engine will be reset by the system watchdog and execution of the user program will be suppressed regardless of the value of the DefaultAutoStart
100. iiicciicccccccescveesicesecsecs sees beecseesiesetecdieaceces 21 3 1 PRP R sourceS iae eane ea e eaa Ea EEE ENA A OA E A ATOE E ARa E ies 21 3 2 PRP Addr sse Sae eno a a a aa a a a N E Ea A ee E dee NS 22 3 3 PRP Actions and Sub Actions 2 0 0 cece cece cece eee ee enn en ene eee ene n ene e teen eneeeanes 22 3 4 PRP Packet Stru Ceure er here reren i tne a E ane din acgin na Wide ana Wat baton ele A A ties ach 23 3 5 PRP Transport Layers ies cacsscctercists o cctecteersrelste oe teeta sind diene a eceleesrafe alge nehines erddte wo beens ere end beard 25 3 6 PRP Action Reference a e Se Ah a hese Mak Ae EAS A in RE 29 Chapter 4 PMD C Language Library Procedures cccscccccccccecvecccees 77 4 1 Naming Conventions scorn ar A E A E edad ai R E EEE T E 77 4 2 DataType Sannaa anana E A E E T E E A E AE ET a Bare Reba ach eRe 77 4 3 Return V lUes ooien oiie AE a EEA eee E eae getsaenbavee comnenbaeweee S 78 4 4 CMoti n Engine MACOS sarane panei mone E aA EER EAA EEE a E RE 78 4 5 PMD Library Procedures 0 cece cece cece eee enn nent nen ene a EOE E aS 79 Chapter 5 C Motion Engine id iqseeWeciaddendie ine ieee cei dededanteeeie 123 5 1 C2MOtion LIDTAN eS ei ve Givin er he cal gina aan de ecntee envulnin beste ya nalem be heed deen hee 123 5 2 Procedures Specific to the C Motion Engine 6 ccc e cece e cece cee ene ee ee enenenes 123 5 3 C Motion Engine ProgramMMing ccc cece cece een e eee ene eee
101. increment in milliseconds C language void PMDTaskWaitUntil PMDuint32 pPreviousTime PMDuint32 incrms syntax Description The PMDTaskWaitUntil procedure is used to wait until a particular specified time and may be used to arrange a periodic task loop The argument pPreviousTime should point to a timer count previously returned by PMDDeviceGetTickCount or modified by PMDTaskWaitUntil PMDTaskWaitUntil will return after the timer tick computed by adding incrms to the tick value in pPreviousTime The value in pPreviousTime will be updated to the current time If the time computed by adding incrms to pPreviousTime is in the past then PMDTaskWaitUntil will return immediately and will not update pPreviousTime If this case is likely it must be checked explicitly using PMDDeviceGetTickCount For example PMDuint32 lastTime thisTime PMDuint32 incrTime 32 lastTime PMDDeviceGetTickCount while 0 Do some useful job thisTime PMDDeviceGetTickCount if lastTime incrTime lt thisTime amp amp lastTime incrTime gt lastTime Report a time budget overrun lastTime thisTime PMDTaskWaitUntil lastTime incrTime wait for up to 32 milliseconds Related PRP none Actions PMD Resource Access Protocol Programmer s Reference 122 5 C Motion Engine The C Motion Engine is a special purpose computer included in the Prodigy CME card and the ION CME digital drive and connected by a high speed inter
102. ine Write 7 Write data to an indexed resource Memory Peripheral ISA Read 8 Read data from an indexed resource Memory Peripheral ISA Set 9 Change a setting or operating state Device CMotionEngine Get 10 Get a setting or operating state Device CMotionEngine Reserved 11 15 PMD Resource Access Protocol Programmer s Reference PRP Reference 3 4 PRP Packet Structure Every PRP command is sent as a data packet and how the packet is structured depends on the transport mechanism used In every case however the receiver of the packet can determine its length For serial and CANbus ports a PMD protocol is used to encode the length For other transport mechanisms standard means are used to determine length Every command packet begins with a two byte 16 bit header followed by a message body the length of the message body depends on the particular action some actions do not require a body some a fixed length body and some a variable length body There are four PRP packet types each of which has a unique value of the status field in the PRP header Status 2 Outgoing command packets are used to request information or command a PRP device to do something Status 0 A success response packet is returned after an outgoing packet that may be complied with The response packet may include one or more data bytes depending on the particular action that was requested e Status 1 A failure response packet is returned after an outgoing p
103. ion Engine is slower than a typical PC processor but because of the lack of competing processes it can be much more predictable and quicker to respond The programming model of the C Motion Engine has been deliberately kept simple A C Motion Engine user program has a single thread of control and must not exit except for fatal error processing using the PMDTaskAbort PMD Resource Access Protocol Programmer s Reference C Motion Engine rx procedure There is no support for user interrupt handling multithreading or other asynchronous processing so user programs are generally structured as event loops that poll for every type of event that they must handle Typically the heart of a user program is a state machine which depending on the current state initiates particular actions and checks for specific input in order to determine the next state The following provides illustrates a typical example a function that handles one state transition and returns the next state int nextState PMDPeriphHandle hCmdPeriph enum myStates state PMDResult result PMDuint32 n if General error condition return STATE ERROR switch state default return STATE_ERROR Should not happen case STATE_WAIT_FOR_COMMAND result PMDPeriphReceive hCmdPeriph buf amp n sizeof buf 0 if 0 result We got a message parse it and return the next state What parseCommand does depends on the command language we re using
104. l pointer to indicate the local device If an asynchronous event notification is recetved for any of the Magellan axes of the motion processor attached to the device then PMD_ERR_RP_EVENT will be returned and the axis and event status register written to members of the hEvent struct This struct has at least these members PMDAxis axis PMDuint16 eventStatus which indicate the axis and events responsible for the notification If no event notifications have been received within timeout milliseconds then zero success is returned and hEvent is not written A timeout value of PMD_WAITFOREVER Oxffff disables the time out Asynchronous event notification is an optional Magellan feature described in the Magellan Motion Processor Users Guide The conditions causing an event notification are programmable using commands described in the Magellan Motion Processor Programmers Reference Not all peripheral types support event notification in particular serial communication does not All peripherals in the chain used to communicate with a given motion processor must have been opened with the appropriate event channel data in order for event notification to work Related PRP See the description of the Event Notification Packet section 2 4 3 Actions PMID Resource Access Protocol Programmer s Reference 121 PMDTaskWaitUntil C Motion Engine Host Based Arguments name type pPreviousTime pointer to time in milliseconds incrms
105. le A connection to a peripheral device over a particular communication channel The peripheral data type specifies both the communication channel and any addressing information specific to a remote device for example a TCP IP port number or a PC 104 ISA bus base address e PMDMemoryHandle A dual ported RAM on a PRP device or a non CME Prodigy card 77 PMD Resource Access Protocol Programmer s Reference AN PMID C Language Library Procedures The include file PMDtypes h defines typedefs for specific integral types that will be used in the prototypes in this manual e PMDuint32 PMDint32 unsigned and signed 32 bit integers e PMDuintl6 PMDint16 unsigned and signed 16 bit integers e PMDuint8 PMDint8 unsigned and signed 8 bit integers Many bitmask and enumerated types are also defined in this file 4 3 Return Values Almost all of the PMD library procedures return an integer of type PMDresult indicating success zero or failure nonzero The error values of PMDresult are the same as the PRP error values documented in this manual and are all declared in the PMDecode h file A partial list of these error codes is in for more information 4 4 C Motion Engine Macros A number of C preprocessor macros are required as part of a C Motion Engine user code program These macros are defined in the UserMain h file USER_CODE_VERSION MAJOR MINOR USER_CODE TASK UserTCP USER_CODE_VERSION encod
106. le hDevice PMDIOType iotype PMDIOOpen is used to obtain a handle to an IO resource on an ION CME module hDevice specifies the device containing the IO resource In the case of C Motion Engine user programs needing to read or write to the local IO hDevice should be null For all current products iotype can be of PMDIOType DIO 0 PMDIOType AI 1 PMD Resource Access Protocol Programmer s Reference PMDIORead C Motion Engine Host Based Arguments name type hlO pointer to an open PMDIOHandle data pointer to data C language PMDresult PMDIORead PMDIO IO syntax PMDuint1l6 data VisuaDescriptio PMD1IORead is used is used to read the value at an IO port indicated by the hlO argument The n data argument is a pointer to a 16 bit value to receive value read Related PRP Read IO Word Actions PMD Resource Access Protocol Programmer s Reference 113 PMDIOWrite C Motion Engine Host Based Arguments C language syntax VisuaDescriptio n Related PRP Actions 114 name type hlO pointer to an open PMDIOHandle data 16 bit data to be written mask digital IO mask PMDresult PMDIOWrite PMDIO hIO PMDuint1l6 data PMDuint16 mask PMDIOWrite is used to write a value to a general purpose IO port digital or analog If the IO port type being addressed is a digital IO port the mask field is used to specify which bits will be affected by the write Write IO Word PMD Resource Access Protocol Pro
107. lication control and monitoring in any format but are limited in size to USER_PACKET_ LENGTH 250 bytes User packets are sent as discrete units they do not constitute a stream User packets are transported in PRP packets that is they are tunneled through PRP and are a very simple way to establish communication between host programs and C Motion engine user programs because they do not require opening a separate communication channel nor implementing a low level protocol over it PMDPeriphOpenCME is used to open both sides of the user packet channel On the host side an opened device handle associated with a PRP device must be passed using the hDevice argument On the C Motion engine side a user program should pass a null pointer as hDevice The peripheral handle opened by PMDPeriphOpenCME may be used in the same way as other peripheral handles using PMDPeriphSend PMDPeriphReceive and PMDPeriphClose When considering the timeout parameter for peripheral send and receive commands for user packets it is useful to know that the C Motion Engine can buffer one user packet on the incoming side and one on the outgoing side The timeout period is not determined by when something actually reads a user packet but rather by when it is copied into the appropriate buffer There are four cases to consider 1 A host sending user packets to a CME can always send one packet without a timeout but the second packet will time out if a CME user prog
108. local PRP device it is sufficient to use the local PRP address of the motion processor Since all current PRP cards have one on card motion processor that address is always zero LocalAddress is the local PRP address of the motion processor as discussed above this address is always zero for current PRP devices The returned value RemoteAddress is a PRP address that may be used to send commands to the newly contacted motion processor Once opened the motion processor may be commanded in exactly the same way as a motion processor on a local device C language PMDresult PMDAxisOpen PMDAxisHandle hAxis syntax PMDDeviceHandle hDevice PMDAxis axisNumber axisNumber is the motion processor axis to associate with the axis handle LocalAddress in the C library case is always zero 48 PMD Resource Access Protocol Programmer s Reference Opencom Device s Coding action sub action resource 3 20 0 Arguments name type range SerialPort unsigned 8 bit 0 SerialMode unsigned 16 bit see below Returned Data name type range PeriphAddress unsigned 8 bit 1 31 Packet write 1 2 3 Structure 7 6 5 4 3 2 1 0 write 0 address 7 6 5 4 3 2 1 0 write 20 7 6 5 4 3 2 1 0 write SerialPort 7 6 5 4 3 2 1 0 write multidrop address 0 protocol 7 6 5 4 3 2 1 0 write protocol stop bits parity transmission rate 7 6 5 4 3 2 1 0 read 2 status reserved 7 6 5 4 3 2 1 0 read PeriphAddress 7 6 5 4 3 2
109. ly after power up The length of DefaultValue depends on the particular data type and is encoded in the upper byte of DefaultCode The length in bytes is the field value minus one a length value of zero means one byte one means two bytes Most default values are either two or four bytes long but some are longer The table below summarizes the set of default values and their codes Prodigy CME Defaults length name code bytes factory default DefaultCPMotorType 0x0102 2 0x7777 All axes set to brushed DefaultlIPAddress 0x0303 4 0xC0A80202 192 168 2 2 DefaultNetMask 0x0304 4 OxFFFFFFOO 255 255 255 0 PMID Resource Access Protocol Programmer s Reference 71 l SetDefault Device cont Prodigy CME Defaults length name code bytes factory default DefaultGateway 0x0305 4 0x00000000 0 0 0 0 DefaultTCPPort 0x0106 2 40100 DefaultCOMI Mode Ox010E 2 0x0004 57600 n 8 DefaultCOM2Mode 0x01 OF 2 0x0005 1 15200 n 8 1 DefaultRS485Duplex 0x01 10 2 0 Full duplex DefaultCANMode Ox0111 2 0x0000 1000 kbs DefaultAutoStartMode 0x0114 2 0 DefaultConsolelntfType 0x01 18 2 4 Serial DefaultConsolelntfAddr 0x0119 2 PMDSerialPort2 DefaultConsolelntfPort 0x01 1A 2 5 PMDSerialBaud 15200 All other values reserved DefaultIPAddress is the IP address of the Ethernet controller It is typically necessary to set this default using the serial interface to suit the network in which a P
110. m number of bytes to receive For data that are naturally arranged in packets for example TCP and UDP only one packet will be received so the actual number of bytes returned may be less than nExpected For data that are not arranged in packets for example data received on a serial port peripheral exactly nExpected bytes must be received or a timeout results and no data are returned The number of bytes of data actually returned is encoded in the size of the packet how that size is transmitted depends on the transport mechanism If the peripheral connection has been closed by some external action for example a TCP connection that has been closed by a peer then a status of PMD_ERR_NotConnected will be returned Such a peripheral must be closed using the Close action In the case of a TCP connection after closing the unconnected peripheral a new peripheral with the same TCP port may be opened using the OpenTCP action 64 PMD Resource Access Protocol Programmer s Reference Receive Peripheral cont C language PMDresult PMDPeriphReceive PMDPeriphHandle hPeriph syntax void buffer PMDuint32 nReceived PMDuint32 nExpected PMDuint32 timeout PMD Resource Access Protocol Programmer s Reference 65 Reset Device 66 Coding Arguments Return Data Packet Structure Description C language syntax action sub action resource l 0 none none write 2 2 1 7 6 5 4 3 2 1
111. mer s Reference PMDPeriphWrite C Motion Engine Host Based Arguments C language syntax Visual Basic Syntax Description Related PRP Actions name type hPeriph pointer to an open peripheral handle data pointer to data to write offset offset from base address length number of data units to write PMDresult PMDPeriphWrite PMDPeriphHandle hPeriph void data PMDuint32 offset PMDuint32 length Dim datal6 0 To MaxLength As UInt1l6 Dim data8 0 To MaxLength As Byte Dim offset length As UInt32 periph read datal6 offset length periph read data8 offset length PMDPeriphWrite is used to write a stream of bytes to a peripheral with a specified base address specifically PC 104 ISA bus and PCI bus peripherals hPeriph should point to an open handle to such a peripheral for peripherals without an address concept an error code of PMD_ERR_NOT SUPPORTED will be returned data is a pointer to a buffer containing the data to write offset is an increment to add to the base address to give the address for writing and length is the number of bytes to write Write Periph Byte PMID Resource Access Protocol Programmer s Reference 111 PMDIOOpen C Motion Engine Host Based Arguments C language syntax VisuaDescriptio n 112 name type hlO pointer to uninitialized PMDIOHandle hDevise pointer to PMDDeviceHandle iotype iotype identifier PMDresult PMDIOOpen PMDIOHandle hIO PMDDeviceHand
112. mory address at which to start reading The length argument is the number of bytes to read Each memory device has a data width for example memory handles opened with A DATASIZE OF pmd dATASIZE 32bIT have a data width of 4 bytes or 32 words If the data offset or length arguments are not aligned to the memory data width then a PMD_ERR_ALIGNMENT error code will be returned Currently Prodigy CME supports only dword addressable dual ported RAMs and word addressable NVRAM Read Memory Dword PMD Resource Access Protocol Programmer s Reference 95 96 PMDMemoryWrite C Motion Engine Host Based Arguments C language syntax Visual Basic Syntax Description Related PRP Actions name type ram pointer to open PMDMemoryHandle data pointer to data to write offset memory byte address length number of bytes to write PMDresult PMDMemoryWrite PMDMemoryHandle hMemory void data PMDuint32 offset PMDuint32 length Dim offset length As UInt32 Dim values 0 To MaxLength memory Write values offset length PMDMemoryWrite is used to write a sequence of consecutive of bytes to the dual ported RAM indicated by the ram argument The data argument is a pointer to the data to write The offset argument is the memory address at which to start writing The length argument is the number of data units to write depending on the data size Each memory device has a data width For example memory handles opened with a dat
113. must respond with a response packet which has at least a one byte 8 bit header followed by a message body The length of the message body depends on the particular action in some cases no body is required in some cases a fixed length body is required and in some cases a variable length body is used In the case of a variable length body information on packet length external to PRP must be used to determine the length PMD Resource Access Protocol Programmer s Reference 23 4 PRP Reference 24 The table below shows the structure of PRP response packets for success and for failure PRP Success Response Packet header byte 0 version 1 status 0 reserved 7 6 5 4 3 2 1 0 body byte 0 7 6 5 4 3 2 1 0 PRP Failure Response Packet header byte 0 version 1 status 1 reserved 7 6 5 4 3 2 1 0 error byte 0 7 6 5 4 3 2 1 0 error byte 7 6 5 4 3 2 1 0 The version field as for the outgoing packet must contain 1 The bits marked reserved may have any value may be unpredictable and should be ignored The status field is used to indicate success or failure a value of zero indicates success and a message body may follow as specified by the documentation for the particular action to which the PRP device is responding A status value of 1 indicates that an error occurred processing the requested action and a two byte 16 bit message body follows specifying the particular e
114. n The Command Task CMotionEngine action is used to start or stop a C Motion Engine user program The two cases are distinguished by the argument option If option is start then if a user program is currently running or if no user program is installed this action will return an error code If option is stop then any running user program will be stopped If no user program is currently running in the C Motion Engine then this action will return an error code It is the user s responsibility to ensure safety when starting or stopping a user program that controls motors It is not possible to predict the state of the PRP device or of its motion processor at the instant that the user program is stopped PMD strongly recommends that a task be stopped only to correct unrecoverable errors and that the PRP device and any devices that it controls be put immediately into a known safe state using host commands Because the card resources and the dynamic heap are not in a known state it is not safe to restart a task after stopping it without first resetting the entire device C language PMDresult PMDCMETaskStart PMDDeviceHandle pDevice syntax PMDresult PMDCMETaskStop PMDDeviceHandle pDevice PMD Resource Access Protocol Programmer s Reference 35 Command MotionProcessor Coding action sub action resource 2 none 2 Arguments Magellan command and arguments rxCount 2 bit count of words returned Return Data Magellan return data Packe
115. n conversations between the PRP device and another device This field is not used in the return PRP header The following sections provide general information on the PRP system For a detailed description of the PRP header resources and supported actions see Chapter 3 PRP Reference 10 PMD Resource Access Protocol Programmer s Reference PMID Resource Access Protocol PRP Tutorial 2 2 1 2 PRP Resources PRP devices may support five different resource types each of which is identified by a specific resource ID In addition each available resource has an address The following table summarizes these resource IDs and addresses for the on card PRP device resources Resource Resource Name ID Address Comments Device 0 0 The Device resource indicates the PRP device itself CMotionEngine l 0 The CMotionEngine resource indicates a C Motion Engine MotionProcessor 2 0 The MotionProcessor resource indicates a Magellan Motion Pro cessor Memory 3 0 The Memory resource indicates a dual ported random access memory RAM or non volatile RAM NVRAM Peripheral 4 0 The Peripheral resource indicates a communications connection A peripheral address of 0 indicates a null peripheral See Section 2 2 1 Peripheral Connections for more information 2 1 3 PRP Actions The PRP device supports ten different actions each of which is identified by a specific Action ID In addition many actions have sub actions assoc
116. n case serial port COM1 is configured as for RS 485 One means full duplex zero means half duplex DefaultCANMode is an encoding of CAN bus parameters similar to that used by Magellan as described in the Magellan Motion Processor Programmers Command Reference and are summarized below The CAN mode cannot be changed except by using DefaultCANMode it cannot be changed on the fly DefaultCANMode fields Bits Name Instance Encoding 0 6 CAN NodelD NodeO 0 Nodel 1 Nodel27 127 7 12 reserved 0 72 PMD Resource Access Protocol Programmer s Reference Setp efault Device cont DefaultCANMode fields Bits Name Instance Encoding 13 15 Transmission Rate 1 000 000 baud 800 000 baud 500 000 baud 250 000 baud 125 000 baud 50 000 baud 20 000 baud 10 000 baud NN OQ oy BR oI N oO All CAN devices on the same bus must use the same transmission rate in order to communicate properly The CAN NodelD encodes a set of CAN identifiers to be used for accepting host commands and returning responses and uses the same scheme as do Magellan Motion Processors All PRP devices and all Magellan Motion Processors on the same CAN bus must have distinct NodeIDs Messages with a CAN identifier of 0x600 NodeID will be accepted as PRP host commands and will be responded to using CAN identifier 0x580 NodeID Asynchronous event notification messages will be sent using CAN identifier 0
117. n eee e nee eee 124 5 4 ThE Console t s jade mates grat vatadiet ene rh diet E a tet hasta yah eda TA OOS 127 5 5 USERPACKEIS 0 05 aal etter wee enon oat E oat anak oot ela te Sati bee 127 5 6 EXGEDTIONSic we nan vba a aibeb a a i dale ak Beta e a a a noe sa tae ied 127 Chapter 6 C Motion E EE ERTA LETEN EOE a en a 129 6 1 C Motion Versions esena a a eel E ele ETEA EE AS 129 6 2 AXIS HaNdl S nenad rin a E E EEEE E ATE E E O E 129 Chapter 7 VB Motion cccccc reta a a aa a E T Ee a 133 7 1 Visual Basic Classes nule ea a ra tee ad weed r ae 133 7 2 Using A Magellan Attached Device 0 ccc cece cece cece nee n enn nen eneneenenens 135 7 3 Eror Handlingerne A A ee Mais ok Eb es Vana aed Ba Ve ahawe gaa Gage dees be acta 136 NON esssesesossssses PRERE dieieve cain A S A ete cue iaieicclee a 137 PMD Resource Access Protocol Programmer s Reference Vv vi This page intentionally left blank PMD Resource Access Protocol Programmer s Reference 1 Introduction 1 1 PMD Resource Access Protocol Overview The PMD Resoutce access Protocol PRP is used to communicate with PMD products incorporating a C Motion En gine CME as well as products with Ethernet interfaces These products include the Prodigy CME family of motion conttol cards the ION CME digital drive and the Ethernet Serial ION digital drive PRP provides several key features in the devices where it is used e Awide range of hardware res
118. n of information regarding any third party s products or services does not constitute PMD s approval warranty or endorsement thereof PMD Resource Access Protocol Programmer s Reference My Related Documents Prodigy CME Stand Alone Users Guide Prodigy CME PCI Users Guide Prodigy CME PC 104 Users Guide Complete description of the Prodigy CME motion cards including getting starting section operational over view detailed connector information and complete electrical and mechanical specifications Magellan Motion Processor User s Guide Complete description of the Magellan Motion Processor features and functions with detailed theory of its operation Magellan Motion Processor Programmer s Command Reference Descriptions of all Magellan Motion Processor commands with coding syntax and examples listed alpha betically for quick reference C Motion Engine Development Tools Description of the C Motion Engine development environment and software tools Pro Motion User s Guide User s guide to Pro Motion the easy to use motion system development tool and performance optimizer Pro Motion is a sophisticated easy to use program which allows all motion parameters to be set and or viewed and allows all features to be exercised ION Digital Drive User s Manual Complete description of the ION Digital Drive including getting starting section operational overview de tailed connector information
119. nal bus to the on card Magellan Motion Processor dual ported RAM and various communication devices The firmware libraries required for motion control and a framework for application support are already included in the CME device only the logic specific to a particular application need be programmed into the C Motion Engine making development a much quicker task than it would be for a ground up embedded application Most of the instruction cycles in the microprocessor hosting the C Motion Engine are normally available for running the user program but processing of messages sent and received on communication peripherals is done by the same processor Heavy message traffic particularly heavy Ethernet traffic may therefore reduce the time available for running the user program 5 1 C Mlotion Libraries The C Motion Engine is programmed in ANSI C89 and supports the applicable parts of the standard C library and the math library Standard I O is limited to the pre opened stderr and stdout file handles which are connected to the console because there are no available devices supporting files Floating point is available but is implemented in software There is a significant performance penalty compared to integer arithmetic so fixed point computation should be considered in applications for which speed is important Dynamic memory allocation is supported using malloc and free Because the dynamic heap is of limited size
120. nly from a C Motion Engine user program Actions PMD Resource Access Protocol Programmer s Reference 119 PMDTaskWait C Motion Engine Host Based Arguments name type msec milliseconds C language void PMDTaskWait PMDuint32 msec syntax Description The PMDTaskWait procedure is used to delay execution of a C Motion Engine user program for a specified number of milliseconds The delay is relative to the time the procedure is called and has a granularity of 8 milliseconds For a way to arrange a periodic task see PMDTaskWaitUntil p 118 Related PRP none Actions 120 PMD Resource Access Protocol Programmer s Reference PMDTaskWaitF orEvent C Motion Engine Host Based Arguments name type hDevice pointer to PMDDeviceHandle hEvent pointer to event struct timeout milliseconds up to Oxfffe C language PMDresult PMDWaitForEvent PMDDeviceHandle hDevice syntax PMDEvent hEvent PMDuint32 timeout Visual Basic Dim EventStruct As PMDEvent Syntax Dim timeout As UInt32 device WaitForEvent EventStruct timeout Dim axis As PMDAxis Dim EventMask As UInt16 axis EventStruct axis EventMask EventStruct EventMask Description PMDWaitForEvent is used to check for any reported asynchronous events raised by the device indicated by hDevice The device may be a Magellan attached device a PRP device or for C Motion Engine user programs the nul
121. nt byte 32 bit words are sent in order of significance starting with the most significant byte and ending with the least significant If the status field of the return packet PRP header is zero then the return data of the Magellan command follow If the Magellan motion processor reports an error then the status field of the return header will be 1 error and the Magellan error code will follow Magellan error codes are documented in the Magellan Motion Processor Programmer s Reference Guide and do not overlap with any PRP or PMD C library error codes The error code will not be encoded as a big endian value C language All C Motion command procedures use this action See the Magellan Motion Processor Programmer syntax Guide for documentation of C Motion commands and C language syntax 36 PMD Resource Access Protocol Programmer s Reference GetConsole CMotionEngine l Coding Arguments Returned Data Packet Structure Description C language syntax action sub action resource 10 4 l none name type meaning Console unsigned 8 bit Peripheral address for console output write 1 2 10 7 6 5 4 3 2 1 0 write 1 address 7 6 5 4 3 2 1 0 write 4 7 6 5 4 3 2 1 0 read 2 status reserved 7 6 5 4 3 2 1 0 read Console 7 6 5 4 3 2 1 0 The Get Console CMotionEngine action retrieves a peripheral address corresponding to a communications channel used for output of debugging and
122. nts of memory location 0x100 in the message body Note that the PRP message to send a Magellan command packet did not use a sub action code in the message body while the Read command sent to the dual ported RAM did Whether or not a sub action is required and what the codes are for various sub actions is action specific and sometimes resource specific Chapter 3 PRP Reference provides exact message body information for each PRP action and if applicable sub action Note also that in this discussion of sending PRP messages to the PRP device the specific communications channel to the card serial CANbus Ethernet was not discussed That is because the PRP header and message body are the same PMD Resource Access Protocol Programmer s Reference Figure 2 4 Host Controller amp On card Resources 15 2 PMID Resource Access Protocol PRP Tutorial regardless of how transmission occurs Depending on the network type used those varying communication links will send receive and process errors for packet communications in different ways but from the perspective of the PRP system those message transmission details are handled automatically This is a very powerful characteristic of the PRP system and we will see additional examples of similar access virtualization as we discuss more advanced network topologies i To actually send a PRP command over a serial CANbus or Ethernet network specific protocols must be ob s
123. ogrammer s Reference Receive CMotionEngine Coding Arguments Returned Data Packet Structure Description C language syntax action sub action resource 6 l name type range units timeout unsigned l6 bit 0 Oxffff msec nExpected unsigned 16 bit 0 Oxffff bytes none write 1 2 6 7 6 5 4 3 2 1 0 write 1 address 7 6 5 4 3 2 1 0 write timeout byte 0 7 6 5 4 3 2 1 0 write timeout byte 7 7 6 5 4 3 2 1 0 read 2 status reserved 7 6 5 4 3 2 1 0 read received data byte 0 7 6 5 4 3 2 1 0 read received data byte 1 7 6 5 4 3 2 1 0 The Receive CMotionEngine action is used to receive user packet data sent by a user program running on a C Motion Engine See the description of Send CMotionEngine p 68 for a description of the user packet mechanism C Motion user programs send user packets by calling PMDPeriphSend using a peripheral opened with the PMDPeriphOpenCME procedure The meout argument specifies the maximum number of milliseconds to wait for data before failing with a PRP timeout error A meout value of 65535 Oxffff means no time limit In case of a timeout no bytes will be returned The C Motion Engine buffers only one outgoing user packet at a time so if no host is waiting to receive a user packet it may be overwritten by a newer user packet The size of the message received is given implicitly by the size of the return packet How the size of the return packet
124. or PRP communications to from the PRP device 2 5 3 1 Ethernet Packet Processing Unlike the serial protocols Ethernet TCP packets have a robust error checking and retransmission mechanism built in that corrects for garbled or otherwise unusable transmissions PMD Resource Access Protocol Programmer s Reference 19 PMD Resource Access Protocol PRP Tutorial This page intentionally left blank 20 PMD Resource Access Protocol Programmer s Reference 3 PRP Reference In This Chapter The PMD Resoutce access Protocol PRP is used for sending commands to and receiving status information from a PRP device such as an ION CME module or Prodigy CME card The protocol may be transported using a serial line RS232 485 Ethernet TCP IP CANbus or PCI bus The central idea of the PRP is that of commanding an action to a specific resource identified by an address on a PRP device The table in Section 3 4 1 Outgoing PRP Packet illustrates how these data are encoded in an outgoing packet In addition to commands made directly to a PRP device PRP may be used to send commands to Magellan Motion Processors for example non CME ION modules and non CME Prodigy cards that are accessible through a Prodigy CME card These will be called Magellan attached devices Finally PRP may be used to route commands to a PRP device via another PRP device 3 1 PRP Resources A PRP resource is a category of object to which commands may be sent O
125. ources may be addressed for example multiple on card communication peripherals and C Motion Engines The PRP addressing scheme allows general networking for example it allows PRP devices to act as network bridges e Allows extension to new classes of devices and device resources and allows easy interfacing with user written C Motion Engine programs 1 2 Scope This manual documents the software interfaces and binary protocols used for control of all PRP based devices includ ing Prodigy CME and ION CME as well as all PMD Ethernet devices Collectively these will be called PRP devices The procedures and data types documented here are used both for programs running on host computers and user pro grams running in the C Motion Engine Software libraries in source form are provided to implement PRP communication on Windows host computers Li brary code is also provided for control of Magellan Motion Processors either as part of a PRP device or separately for example non CME ION modules or non CME Prodigy cards This library code is called C Motion and its use is doc umented in the Magellan Motion Processor Programmer s Command Reference In many cases there is a close correspondence between the C language library procedures and PRP messages that may make the PRP documentation useful for under standing how to control PRP devices even for PRP device users who ate not implementing a PRP interface library PMD Resource Access
126. ram has not read the first packet in the specified time 2 A host receiving user packets from a CME will time out if a CME user program has not written a packet to the outgoing buffer by the specified time 3 ACME sending user packets to a host can always send one packet without a timeout but the second packet will time out if a host program has not read the first packet in the specified time 4 ACME receiving user packets will time out if a host program has not written a user packet to the incoming buffer in the specified time While it is possible for multiple host processes or multiple hosts to read and write user packets to the same PRP device but it is not a good idea There is no way to determine which host sent a given packet nor any way to unread or peek at an incoming user packet Open Device CMotionEngine Send CMotionEngine Receive CMotionEngine PMD Resource Access Protocol Programmer s Reference 99 PMDPeriphOpenCOM C Motion Engine Host Based Arguments C language syntax Visual Basic Syntax Description Related PRP Actions 100 PMD Resource Access Protocol Programmer s Reference name type hPeriph pointer to uninitialized PMDPeriphHandle hDevice pointer to RP device handle port enumerated serial port baud enumerated baud rate parity enumerated parity stopbits enumerated number of stop bits PMDresult PMDPeriphOpenCOM PMDPeriphHandle periph PMDDeviceHandle devic
127. rence 41 NOP any Coding action sub action resource 0 none any Arguments none Return Data none Packet write 1 2 0 Structure 7 6 5 4 3 2 1 0 write resource address 7 6 5 4 3 2 1 0 read 2 status reserved 7 6 5 4 3 2 1 0 Description The NOP action does not result in any action on the part of the resource addressed but may be used to verify that a resource with the given address exists If the status field of the reply header is nonzero then an error of InvalidAddress indicates that no resource with the supplied address exists C language None but C language libraries may use the NOP action internally syntax 42 PMD Resource Access Protocol Programmer s Reference Openc ay Device s Coding action sub action resource 3 21 0 Arguments name type range CANController unsigned 8 bit 0 Transmitldentifier unsigned 32 bit 0 2047 Receiveldentifier unsigned 32 bit 0 2047 Eventidentifier unsigned 32 bit 0 2047 Returned Data name type range PeriphAddress unsigned 8 bit 1 31 Packet write 1 2 3 Structure 7 6 5 4 3 2 1 0 write 0 address 7 6 5 4 3 2 1 0 write 21 7 6 5 4 3 2 1 0 write CANCortroller 7 6 5 4 3 2 1 0 write Transmitldentifier least significant byte 7 6 5 4 3 2 1 0 write Transmitldentifier byte 1 7 6 5 4 3 2 1 0 write Transmitldentifier byte 2 7 6 5 4 3 2 1 0 write Transmitldentifier byte 3 7 6 5 4
128. return parseCommand buf n else if PMD_ERR_RP_Timeout result F No message keep waiting return state else We got an error report it and move on return state case STATE _ EXTEND ARM 0 Start step return STATE EXTEND _ARM _ case STATE _ EXTEND ARM _ if Step done Start step 2 return STATE EXTEND_ARM 2 else return state case STATE _ EXTEND _ARM 2 if Step 2 done return STATE_WAIT_FOR_COMMAND PMD Resource Access Protocol Programmer s Reference 125 4 C Mtion Engine else return state case In practice nextState would be called in a non terminating loop Exactly how this is done depends partly on the time constraints of the user task One approach is just to run as fast as possible USER_CODE_TASK myTask enum myState state STATE WAIT FOR_COMMAND Initialization code while I state nextState state Another approach is to schedule the state transitions at a regular interval which has the advantage of allowing one to find out during testing and debugging that the expected time budget has been exceeded USER_CODE_TASK myTask enum myState state STATE WAIT FOR_COMMAND PMDresult result PMDuint32 lastTime thisTime PMDuint32 incrTime 50 Allow 50 milliseconds for each state transition Initialization code lastTime PMDGetTickCount while I state nextState state thisTime PMDDeviceGetTickCount i
129. right to make changes to its products or to discontinue any product or service without notice and advises customers to obtain the latest version of relevant information to verify before placing orders that information being relied on is current and complete All products are sold subject to the terms and conditions of sale supplied at the time of order acknowledgement including those pertaining to warranty patent infringement and limitation of liability Safety Notice Certain applications using semiconductor products may involve potential risks of death personal injury or severe property or environmental damage Products are not designed authorized or warranted to be suitable for use in life support devices or systems or other critical applications Inclusion of PMD products in such applications is under stood to be fully at the customer s risk In order to minimize risks associated with the customer s applications adequate design and operating safeguards must be provided by the customer to minimize inherent procedural hazards Disclaimer PMD assumes no liability for applications assistance or customer product design PMD does not warrant or represent that any license either express or implied is granted under any patent right copyright mask work right or other in tellectual property right of PMD covering or relating to any combination machine or process in which such products or services might be or are used PMD s publicatio
130. ripheral connection to the Magellan attached device The device handle obtained using this procedure is useful for opening motion processor axis handles using the PMDAxisOpen procedure Open Periph MotionProcessor PMD Resource Access Protocol Programmer s Reference PMDMemoryClose C Motion Engine Host Based Arguments C language syntax Visual Basic Syntax Description Related PRP Actions name type hMemory pointer to open PMDMemoryHandle PMDresult PMDMemoryClose PMDMemoryHandle hMemory memory Close PMDMemoryClose is used to free any resources used in maintaining a handle to a memory resource such as dual ported RAM After closing the memory used for the PMDMemoryHandle data type may be freed or re used Close Memory PMD Resource Access Protocol Programmer s Reference 93 PMDMemoryOpen C Motion Engine Host Based Arguments C language syntax Visual Basic Syntax Description Related PRP Actions 94 name type hMemory pointer to uninitialized PMDMemoryHandle hDevice pointer to PMDDeviceHandle datasize PMDDataType memorytype PMDMemoryType PMDresult PMDMemoryOpen32 PMDMemoryHandle hMemory PMDDeviceHandle hDevice PMDDataSize datasize PMDMemoryType memorytype Dim mem As New PMDMemory RPDevice PMDDataSize Size32Bit PMDMemoryOpen is used to obtain a handle to a memory resource such as dual ported RAM on a Prodigy CME or non CME Prodigy card hDevice
131. rn message body The return message body may contain information associated with the requested PRP action or it may contain error information if there was a problem processing the requested action There are five different resource types supported by PRP devices The Device resource indicates functionality that is addressed to the entire card or digital drive the MotionProcessor resoutce indicates a Magellan Motion Processor the CMotionEngine resource indicates the C Motion Engine the Memory resource indicates the dual ported RAM or the non volatile RAM Random Access Memory and the Peripheral resource indicates a communications connection There are ten different PRP actions including Command which is used to send commands to resources such as the Magellan Motion Processor Send and Receive which are used to communicate using the serial CANbus and Ethernet ports Read and Write which are used to access memory type devices such as the on card dual ported RAM and the non volatile RAM and Set and Get which are used to load or read parameters The remainder of this chapter and Chapter 3 PRP Reference describe all of these constructs in more detail More specific information on using the functions of a particular device is available in the ION Digital Drive User s Manual the Prodigy CME PC 104 User s Guide the Prodigy CME PCI User s Guide and the Prodigy CME Stand Alone Card User s Guide PMD Resource Access Protocol Programmer s Re
132. rocessor a PRP message is sent to Resource ID 2 corresponding to the MotionProcessor resource to address 0 corresponding to the PRP device s on card Magellan with an action ID of 2 corresponding to the Command action The message body is loaded with the Magellan packet corresponding to Set Position 3 0x123456 which is the 3 word sequence 0x210 0x0012 0x3456 PRP MotionProcessor Addr 0 Command Send a command to the on card Magellan Motion Processor Message II body contains Magellan Command SetPosition 3 0x123456 Upon processing of this command the host would receive a PRP message back A zero in the status field would indi cate that no error occurred If this is the case the message body will be empty If an error did occur then the PRP sta tus field would contain a 1 and the message body would contain the specific error code that occurred Example 2 The Host Controller reads the 32 bit word value of address 0x100 from the PRP device s dual ported RAM Here is the command that would be sent PRP Memory Addr 0 Read Send a Read action ID 7 to the PRP Memory Resource ID 3 l address 0 the address of the PRP device on card dual ported RAM The PRP message body contains a sub action of 0 Il specifying a 32 bit word read followed by 0x100 the address of the 32 bit word to read from the dual ported RAM Upon successfully processing this command the host would receive the 32 bit conte
133. rror that occurred The table below summarizes the values that the error code may take When used in the C language interface these names should be prefixed by PMD_ERR_RP_ for example PMD_ERR_RP_InvalidAddress Name Value Description Reset 0x2001 The previous command reset the device action was not pro cessed InvalidVersion 0x2002 The version field was incorrect InvalidResource 0x2003 No such resource type InvalidAddress 0x2004 The address for the specified resource type is not valid InvalidAction 0x2005 No such action or resource not appropriate to specified action InvalidSubAction 0x2006 Sub Action field not valid or resource not appropriate for sub action InvalidCommand 0x2007 An enumerated option argument is not correct InvalidParameter 0x2008 An argument value is not legal or not supplied InvalidPacket 0x2009 A PRP packet was corrupted Reserved 0x200A 0x200D Checksum 0x200E Bad packet checksum value Reserved 0x200F OxFFFF Magellan error codes 1 18 Magellan Motion Processor error codes documented in the Magel lan Motion Processor User s Guide 3 4 3 Event Notification Packet Asynchronous events may be signaled by a Magellan Motion Processor either a Magellan attached device such as an ION module or a motion processor that is part of a PRP device News of asynchronous events is propagated as promptly as possible to all devices with an open connection to the
134. rrors and that the card and any devices that it controls be put immediately into a known safe state using host commands Because the card resources and the dynamic heap are not in a known state it is not safe to restart a task after stopping it without first resetting the entire device Command CMotionEngine CommandTask TaskStop PMD Resource Access Protocol Programmer s Reference PMDDeviceClose C Motion Engine Host Based Arguments C language syntax Visual Basic Syntax Description Related PRP Actions name type hDevice pointer to PMDDeviceHandle PMDresult PMDDeviceClose PMDDeviceHandle hDevice device Close PMDDeviceClose is used to free any resources used in maintaining the device handle passed as a J gs pointer argument After closing the memory used for the PMDDeviceHandle type may be freed or re used for another device Close Device Close CMotionEngine PMD Resource Access Protocol Programmer s Reference 85 PMDDeviceGetDefault C Motion Engine Host Based Arguments C language syntax Visual Basic Syntax Description Related PRP Actions 86 name type hDevice pointer to open RP device handle defaultcode enumerated default code value pointer to memory area to receive default value valueSize maximum size of value area PMDresult PMDDeviceGetDefault PMDDeviceHandle hDevice PMDDefault defaultcode void value unsigned valueSize Dim valuel6 As UInt1
135. ry encoding of all arguments The following tables summarize the available actions and where applicable related C language procedures The first table is arranged in alphabetical order the second table is arranged in action code order Some aspects of action processing are common to all commands e Many PRP actions require a svb action in addition to the action and resource this is an 8 bit unsigned quantity that immediately follows the PRP outgoing header Not all actions use a sub action The status field of a response packet is zero in case of successful command processing and has the value 1 Error otherwise In the error case the described returned data are not sent instead a single 16 bit error code is sent in the response body The reserved bits of a PRP response packet header may have any value they are not guaranteed to be zero The address field of a command header should hold a valid PRP address for the resource type sent The address field of the response header will have the same value PMD Resource Access Protocol Programmer s Reference 29 4 PRP Reference e A resource field that may have any of several values is indicated by the word resource and the legal values specified in the resources section All multi byte argument values are encoded in little endian order The least significant byte is sent first and the most significant last A 32 bit quantity is sent as bytes 0 1 2 and then 3 the most significan
136. s Offset unsigned 32 bit 0 Oxffffffff bytes Returned Data none Packet write 1 2 7 Structure 7 6 5 4 3 2 1 0 write 3 address 7 6 5 4 3 2 1 0 write 4 7 6 5 4 3 2 1 0 write 0 7 6 5 4 3 2 1 0 write Offset byte 0 7 6 5 4 3 2 1 0 write Offset byte 1 7 6 5 4 3 2 1 0 write Offset byte 2 7 6 5 4 3 2 1 0 write Offset byte 3 7 6 5 4 3 2 1 0 write data dword 0 byte 0 7 6 5 4 3 2 1 0 write data dword 0 byte 1 7 6 5 4 3 2 1 0 write data dword 0 byte 2 7 6 5 4 3 2 1 0 write data dword 0 byte 3 7 6 5 4 3 2 1 0 read 2 status reserved 7 6 5 4 3 2 1 0 Description The Write DWord Me mory action is used to write a sequence of four byte 32 bit double words to a random access memory The Offset argument is an index or address into the mem ory typically an address in a dual ported RAM Offset should be divisible by four the result of a non aligned write is not predictable As many double words as are supplied in the packet are written to memory if the number of bytes supplied is not divisible by four the results are unpredictable C language PMDresult PMDMemoryWrite PMDMemoryHandle hRam syntax void data PMDuint32 offset PMDuint32 length Coding 74 PMD Resource Access Protocol Programmer s Reference Write vte Peripheral Coding Arguments Returned Data Packet Structure Description C language syntax action sub action reso
137. shCmd this action may include many bytes of message body depending on the step If any step of the flash procedure gives an error response then the procedure must be restarted from the beginning No actions may be sent between flash procedure actions The steps in order of execution are 1 FlashStart The body bytes are a four byte length of the flash image least significant byte first If this step is successful the user program flash is erased The length may be specified as zero in which case no new user program is installed and no further steps need be taken 2 FlashData The body bytes are sequential parts of the entire flash image in order 3 FlashEnd There are no body bytes This action verifies the checksum of the program image received If it finishes successfully then a new user program has been installed and may be run using the Command Task CMotionEngine action C language The PMD C library does not support this operation Pro Motion may be used to flash user code syntax images 34 PMD Resource Access Protocol Programmer s Reference Commandy CMotionEngine s Coding action sub action resource 2 l l Arguments name instance encoding option start 2 stop Returned Data none Packet write 1 2 2 Structure T 6 5 4 3 2 1 E write 1 address 7 6 5 4 3 2 1 0 write 1 7 6 5 4 3 2 1 0 write option 7 6 5 4 3 2 1 0 read 2 status reserved 7 6 5 4 3 2 1 0 Descriptio
138. skStart is used to start a user program installed in the C Motion Engine that is part of the CME device associated with the hDevice argument If hDevice is not a PRP device then PMD_ERR_Not Supported will be returned If no runnable program is installed then PMD_ERR_UC NotProgrammed will be returned If a program is already running then PMD_ERR_UC TaskAlreadyRunning will be returned Command CMotionEngine Task PMD Resource Access Protocol Programmer s Reference 83 84 PMDTaskStop C Motion Engine Arguments C language syntax Visual Basic Syntax Description Related PRP Actions name type hDevice pointer to PMDDeviceHandle PMDresult PMDTaskStop PMDDeviceHandle hDevice device TaskStop PMDTaskStop is used to stop any user program currently running in the C Motion Engine that is part of the PRP device associated with the hDevice argument If device is not a CME PRP device then PMD_ERR_NOT_ SUPPORTED will be returned If no program is currently running then PMD_ERR_UC_TaskNotCreated will be returned If no program is installed then PMD_ERR_UC_NotProgrammed will be returned It is the user s responsibility to ensure safety when starting or stopping a user program that controls motors It is not possible to predict the state of the PRP device or of it s motion processor at the instant that the user program is stopped PMD strongly recommends that a task be stopped only to correct unrecoverable e
139. ssages are carried over CANbus Since native CANbus communications can not be larger than 8 bytes hosting the PRP system which can support shorter as well as longer messages requires additional layers to manage data segmentation and desegmentation The protocol that is used by the PRP devices to accomplish this is very similar to the Service Data Object SDO protocol of the CANopen standard The details of this protocol are extensive enough that they are not described here but are available in the Chapter 3 PRP Reference 2 5 2 1 CANbus Packet Processing Unlike the serial protocols the SDO based CANbus protocol has a robust error checking and retransmission mech anism built in that corrects for garbled or otherwise unusable transmissions Nevertheless if a host controller does not receive the complete response packet within a specific time window com munications timeout then the original message should be resent 2 5 3 PRP Messages over Ethernet The existence of ports and the broad range of packet lengths that are supported with the Ethernet TCP IP protocol makes sending PRP messages very simple For both sent and received messages the PRP message is simply loaded as the payload of the Ethernet message The only convention that must be observed is that the host controller s destination TCP port must be equal to the PRP device s TCP default value set using the SetDefault command Note that the UDP protocol may not be used f
140. t Structure write 1 2 2 write 2 address 7 6 5 4 3 2 1 0 write rxCount Magellan axis 7 6 5 4 3 2 1 0 write Magellan command code 7 6 5 4 3 2 1 0 write Magellan arguments 7 6 5 4 3 2 1 0 read 2 status reserved 7 6 5 4 3 2 1 0 read Magellan data 7 6 5 4 3 2 1 0 Description The Command action directed to a MotionProcessor resource sends a Magellan protocol command to the motion processor indicated by the address field A sub action field is not used instead a Magellan protocol command packet follows the header immediately Magellan commands are documented in the Magellan Motion Processor Programmer s Reference Guide with the addition of the rxCount parameter A Magellan protocol packet consists of at least one 16 bit command word followed by zero to three argument words The first byte of command word comprises two fields bits 6 and 7 are the rxCount field the number of words that are expected as returned values from the command The remaining bits 0 5 are the Magellan axis addressed The second byte of the command word is an opcode for the Magellan command Each command takes a fixed number of arguments and returns a fixed number of return data The arguments and data are encoded as big endian quantities in contrast to other PRP multi byte arguments and data 16 bit words are sent most significant byte first followed by least significa
141. t byte Signed arguments are sent as twos complement integers 30 PMD Resource Access Protocol Programmer s Reference PRP Reference 3 6 1 Action Table Code Order Action Resource Sub action C Procedure NOP any Reset Device PMDDeviceReset MotionProcessor PMDDeviceReset Command CMotionEngine Flash Task PMDCMETaskStart PMDCMETaskStop MotionProcessor Any C Motion Commands Open Device MotionProcessor PMDAxisOpen CMotionEngine PMDRPDeviceOpen Memory32 PMDMemoryOpen32 Parallel PMDPeriphOpenPAR ISA PMDPeriphOpenlSA COM PMDPeriphOpenCOM CAN PMDPeriphOpenCAN TCP PMDPeriphOpenT CP UDP PMDPeriphOpenUDP Peripheral Device PMDRPDeviceOpen MotionProcessor PMDMPDeviceOpen MultiDrop PMDPeriphOpenMultiDrop Close Peripheral PMDPeriphClose Device PMDDeviceClose MotionProcessor PMDDeviceClose CMotionEngine PMDDeviceClose Memory PMDMemoryClose Send CMotionEngine PMDPeriphSend Peripheral PMDPeriphSend Receive CMotionEngine PMDPeriphReceive Peripheral PMDPeriphReceive Write Memory Dword PMDMemoryWrite Peripheral Byte PMDPeriphWrite Word PMDPeriphWrite Read Memory Dword PMDMemoryRead Peripheral Byte PMDPeriphRead Word PMDPeriphRead Set CMotionEngine Console Device Default PMDSetDefault Get CMotionEngine Console TaskState PMDCMEGetTaskState Device Default PMDGetDefault ResetCause PMDMBGetResetCause Version PMDDeviceGetVersion PMD Resource Access Protocol Programmer s Reference 31 4 PRP Reference Action Table Alp
142. t from the base address of the newly returned peripheral or Send and Receive may be used for output and input at the base address EventIRQ is used to specify the interrupt channel used for signaling Magellan or Prodigy CME asynchronous events EventIRQ is not meaningful for peripherals that are not connected to a Magellan or Prodigy CME device and if not used should be set to zero C language PMDresult PMDPeriphOpenISA PMDPeriphHandle hPeriph syntax PMDDeviceHandl hDevice PMDuint16 boardAddress PMDuintl6 eventIRQ 46 PMD Resource Access Protocol Programmer s Reference OpenMemory32 Device Coding Arguments Returned Data Packet Structure Description C language syntax action sub action resource 3 2 0 name type range MemoryAddress unsigned 8 bit 0 31 name type range RemoteAddress unsigned 8 bit 1 31 write 2 3 7 6 5 4 3 2 1 0 write 0 address 7 6 5 4 3 2 1 0 write 2 7 6 5 4 3 2 1 0 write MemoryAddress 7 6 5 4 3 2 1 0 read status reserved 7 6 5 4 3 2 1 0 read RemoteAddress 7 6 5 4 3 2 1 0 The Open Memory32 Device action is used to request a connection to a Memory resource for 32 bit wide access on a remote PRP device For current PRP devices the only Memory resoutce is the dual ported RAM The MemoryAddress argument indicates which Memory resource on the remote device is to be used for current PRP devices there is only one so its addr
143. tate unsigned 8 bit 0 no program not started 2 running Packet write 1 2 10 Structure 7 6 5 4 3 2 1 0 write 1 address 7 6 5 4 3 2 1 0 write 5 7 6 5 4 3 2 1 0 read 2 status reserved 7 6 5 4 3 2 1 0 read TaskState 7 6 5 4 3 2 1 0 Description The Get TaskState CMotionEngine action retrieves the current state of the user program in the C Motion Engine addressed Task states may be changed by using the Command Task CMotionEngine action C language PMDresult PMDCMEGetTaskState PMDDeviceHandle pDevice syntax PMDuint32 state 40 PMD Resource Access Protocol Programmer s Reference GetVersion Device s Coding action sub action resource 10 l 0 Arguments none Returned Data name type range MajorVersion unsigned l6 bit 0 Oxffff MinorVersion unsigned l6 bit 0 Oxffff Packet write 1 2 10 Structure 7 6 5 4 3 2 1 0 write 0 address 7 6 5 4 3 2 1 0 write 1 7 6 5 4 3 2 1 0 write 0 7 6 5 4 3 2 1 0 read 2 status reserved 7 6 5 4 3 2 1 0 read MinorVersion byte 0 7 6 5 4 3 2 1 0 read MinorVersion byte 1 7 6 5 4 3 2 1 0 read MajorVersion byte 0 7 6 5 4 3 2 1 0 read MajorVersion byte 1 7 6 5 4 3 2 1 0 Description The Get Version Device action retrieves version information for the PRP device addressed C language PMDresult PMDDeviceGetVersion PMDDeviceHandle hDevice syntax PMDuint16 major PMDuint16 minor PMID Resource Access Protocol Programmer s Refe
144. tatus is the value of the 16 bit event status register at the time the event was signaled The Host Interrupts section of Magellan Motion Processor User s Guide documents the meaning of the bits of this register 3 5 PRP Transport Layers This section discusses the communication device specific aspects of sending and receiving PRP packets PRP may be sent using a serial PCI CANbus or TCP IP communication channel PRP is not currently supported ovet PC 104 because the only PC 104 PRP device Prodigy CME may only be a PC 104 bus master PMD Resource Access Protocol Programmer s Reference 25 4 PRP Reference 3 5 1 PRP Serial Transport A PMD protocol header is used to specify the length of PRP packets sent over a serial line and to detect most cases of packet corruption The Prodigy CME card and ION CME module ate set up to receive serial PRP command messages from a host controller on Serial port 1 There are two cases of the serial protocol 1 Point to point serial communication using either RS232 or RS485 only one PRP device and one host may be connected to the serial line 2 Multi drop serial communication using RS485 multiple PRP devices may share the same serial bus but each must be configured to use a separate multi drop address The figures below illustrate the two cases Point to Point Serial Packet checksum T 6 5 4 3 2 1 0 length 7 6 5 4 3 2 1 0 PRP packet byte
145. urce 7 l 4 name type range units Offset unsigned 32 bit 0 Oxffffffff bytes none write Z Z 7 7 6 5 4 3 2 T 0 write 4 address 7 6 5 4 3 Z T U write 1 7 6 5 4 3 Z T 0 write U 7 6 5 4 3 Z T 0 write Offfset byte O 7 6 5 4 3 Z T U write Offset byte 7 7 6 5 4 3 Z T U write Offset byte Z 7 6 5 4 3 Z T U write Offset byte 3 to COA S a SC a COC write data byte 0 7 6 5 4 3 2 1 0 read Z status reserved 7 6 5 4 3 Z T 0 The Write Byte Peripheral action is used to write a sequence of data bytes to a peripheral associated with a PC 104 ISA bus The Offset argument is an offset from the base address that was specified when the peripheral was opened As many bytes as are supplied in the packet are written to the ISA bus from the address given by the base address plus Offset This action is not applicable to other types of peripheral and an InvalidResoutce error will be returned if another peripheral type is specified PMDresult PMDPeriphWrite PMDPeriphHandle hPeriph void data PMDuint32 address PMDuint32 length PMD Resource Access Protocol Programmer s Reference 75 Write Word I0 Coding Arguments Returned Data Packet Structure Description C language syntax action sub action resource 7 2 5 name type range units lOtype unsigned 8 bit 0 PMD1IOtype Mask unsigned 16 bit 0 Oxffff bit mask unsigned 16 bit 0 Oxffff IO dependent none write 2 2
146. user program Send and Receive actions to read and write user packets to a user program and so forth It is not necessary to use OpenCMotionEngine to gain access to a C Motion Engine on a local PRP device that is one that is directly connected to a host For a local device one should simply use PRP address zero to address the C Motion Engine C language This call is performed as needed when opening a PRP device using the PMDRPDeviceOpen call syntax In the C interface separate handles to CMotionEngine resources are not required PMD Resource Access Protocol Programmer s Reference 45 l Openjg Device Coding action sub action resource 3 19 0 Arguments name type range ISAAddress unsigned 16 bit 0 Oxfff EventIRQ unsigned 8 bit 1 15 Returned Data name type range PeriphAddress unsigned 8 bit 1 31 Packet write 1 2 3 Structure 7 6 5 4 3 2 1 0 write 0 address 7 6 5 4 3 2 1 0 write 19 7 6 5 3 2 1 0 write 0 7 6 5 4 3 2 1 0 write ISAAddress Byte 0 7 6 5 4 3 2 1 0 write ISAAddress Byte 1 7 6 5 4 3 2 1 0 write EventIRQ 7 6 5 4 3 2 1 0 read 2 status reserved 7 6 5 4 3 2 1 0 read PeriphAddress 7 6 5 4 3 2 1 0 Description The Open ISA Device action is a request to a Prodigy CME device to return a PRP address for a peripheral for input and output to the ISA bus using the base address ISAAdress The Write and Read actions may be used for output and input using addresses offse
147. x180 NodeID DefaultAutoStartMode controls whether a user program in the C Motion Engine will be run automatically after coming out of reset A value of one means that any user program present will be automatically run zero means that a user program will not be run until a CommandTaskStart action is received Automatic starting of user programs will be inhibited if a user program has caused a previous reset for example by causing an exception DefaultConsolelntfType DefaultConsolelntfAddr and DefaultConsolelntfPort determine the communications channel that will be used for console user program output messages The channel used may be changed at run time by using the Set ValueConsole action The encoding of these default values is explained in the table below Console Output Defaults DefaultConsolelntfType peripheral DefaultConsolelIntfAddr DefaultConsolelntfPort value type meaning meaning 0 none ignored ignored reserved 2 PCI ignored ignored 3 reserved 4 serial 0 COMI COM2 port settings 5 reserved 6 reserved 7 UDP IP address UDP port gt 7 reserved C language PMDresult PMDSetDefault PMDDeviceHandle hDevice syntax PMDDefault default void value unsigned valueSize PMD Resource Access Protocol Programmer s Reference 73 s WriteDWorg Memory Coding action sub action resource 7 4 3 Arguments name type range unit

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