Tektronix 5312B User manual

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Software

Model 5312B

Software Developer’ s Guide V1.0

80370 Rev. B / 7-98

WARRANTY

Hardware

Keithley Instruments, Inc. warrants that, for a period of one (1) year from the date of shipment (3 years for Models 2000, 2001, 2002, and 2010), the Keithley Hardware product will be free from defects in materials or workmanship. This warranty will be honored provided the defect has not been caused by use of the Keithley Hardware not in accordance with the instructions for the product. This warranty shall be null and void upon: (1) any modiﬁcation of Keithley Hardware that is made by other than Keithley and not approved in writing by Keithley or (2) operation of the Keithley Hardware outside of the environmental speciﬁcations therefore.

Upon receiving notiﬁcation of a defect in the Keithley Hardware during the warranty period, Keithley will, at its option, either repair or replace such Keithley Hardware. During the ﬁrst ninety days of the warranty period, Keithley will, at its option, supply the necessary on site labor to return the product to the condition prior to the notiﬁcation of a defect. Failure to notify Keithley of a defect during the warranty shall relieve Keithley of its obligations and liabilities under this warranty.

Other Hardware

The portion of the product that is not manufactured by Keithley (Other Hardware) shall not be covered by this w arranty, and Keithley shall have no duty of obligation to enforce any manufacturers' warranties on behalf of the customer. On those other manufacturers’ products that Keithley purchases for resale, Keithley shall have no duty of obligation to enforce any manufacturers’ warranties on behalf of the customer.

Software

Keithley warrants that for a period of one (1) year from date of shipment, the Keithle y produced portion of the software or ﬁrmw are (Keithley Software) will conform in all material respects with the published speciﬁcations provided such Keithley Software is used on the product for which it is intended and otherwise in accordance with the instructions therefore. Keithley does not warrant that operation of the Keithley Softw are will be uninterrupted or error-free and/or that the Keithley Software will be adequate for the customer's intended application and/or use. This warranty shall be null and v oid upon an y modiﬁcation of the K eithle y Software that is made by other than Keithley and not approved in writing by Keithley.

If Keithley receiv es notiﬁcation of a K eithle y Software nonconformity that is co v ered by this warranty during the w arranty period, K eithle y will review the conditions described in such notice. Such notice must state the published speciﬁcation(s) to which the Keithley Software fails to conform and the manner in which the Keithley Software fails to conform to such published speciﬁcation(s) with sufﬁcient speciﬁcity to permit K eithle y to correct such nonconformity. If Keithley determines that the Keithley Software does not conform with the published speciﬁcations, Keithley will, at its option, provide either the programming services necessary to correct such nonconformity or develop a program change to bypass such nonconformity in the Keithley Software. Failure to notify Keithley of a nonconformity during the warranty shall relieve Keithley of its obligations and liabilities under this warranty.

Other Software

OEM software that is not produced by Keithley (Other Software) shall not be covered by this w arranty, and Keithley shall have no duty or obligation to enforce any OEM's warranties on behalf of the customer.

Other Items

Keithley warrants the following items for 90 days from the date of shipment: probes, cables, rechar geable batteries, diskettes, and documentation.

Items not Covered under Warranty

This warranty does not apply to fuses, non-rechargeable batteries, damage from battery leakage, or problems arising from normal wear or failure to follow instructions.

Limitation of Warranty

This warranty does not apply to defects resulting from product modiﬁcation made by Purchaser without Keithley's express written consent, or by misuse of any product or part.

Disclaimer of Warranties

EXCEPT FOR THE EXPRESS WARRANTIES ABOVE KEITHLEY DISCLAIMS ALL OTHER WARRANTIES, EXPRESS OR IMPLIED, INCLUDING WITHOUT LIMIT ATION, ALL IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE. KEITHLEY DISCLAIMS ALL WARRANTIES WITH RESPECT TO THE OTHER HARDWARE AND OTHER SOFTWARE.

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KEITHLEY INSTRUMENTS SHALL IN NO EVENT, REGARDLESS OF CAUSE, ASSUME RESPONSIBILITY FOR OR BE LIABLE FOR: (1) ECONOMICAL, INCIDENTAL, CONSEQUENTIAL, INDIRECT, SPECIAL, PUNITIVE OR EXEMPLARY DAMAGES, WHETHER CLAIMED UNDER CONTRACT, TORT OR ANY OTHER LEGAL THEORY, (2) LOSS OF OR DAMAGE TO THE CUSTOMER'S DATA OR PROGRAMMING, OR (3) PENAL TIES OR PENALTY CLAUSES OF ANY DESCRIPTION OR INDEMNIFICA TION OF THE CUST OMER OR OTHERS FOR COSTS, DAMAGES, OR EXPENSES RELATED TO THE GOODS OR SERVICES PROVIDED UNDER THIS WARRANTY.

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Model 5312B

Software Developer’s Guide

Cleveland, Ohio, U.S.A.

Second Printing, July 1998

Document Number: 80370 Rev. B

Manual Print History

The print history shown below lists the printing dates of all Revisions and Addenda created for this manual. The Revision Level letter increases alphabetically as the manual undergoes subsequent updates. Addenda, which are released between Revisions, contain important change information that the user should incorporate immediately into the manual. Addenda are numbered sequentially. When a new Revision is created, all Addenda associated with the previous Revision of the manual are incorporated into the new Revision of the manual. Each new Revision includes a revised copy of this print history page.

Revision A (Document Number 80370)...............................................................................................August 1996

Revision B (Document Number 80370)....................................................................................................July 1998

All Keithley product names are trademarks or registered trademarks of Keithley Instruments, Inc. Other brand and product names are trademarks or registered trademarks of their respective holders.

About this manual

Quality control

Keithley Instruments manufactures quality and versatile products, and we want our documentation to reﬂect that same quality. We take great pains to publish manuals that are informative and well organized. We also strive to make our documentation easy to understand for the novice as well as the expert.

If you have comments or suggestions about how to mak e this (or other) manuals easier to understand, or if you ﬁnd an error or an omission, please ﬁll out and mail the reader response card at the end of this manual (postage is prepaid).

Conventions

Procedural

Keithley Instruments uses various conventions throughout this manual. You should become familiar with these conventions as they are used to draw attention to items of importance and items that will generally assist you in understanding a particular area.

WARNING

CAUTION

NOTE

When referring to pin numbering, pin 1 is always associated with a square solder pad on the actual component footprint.

A warning is used to indicate that an action must be done with great care. Otherwise, personal injury may result.

A caution is used to indicate that an action may cause minor equipment damage or the loss of data if not performed carefully.

A note is used to indicate important information needed to perform an action or information that is nice-to-know.

Notational

A forward slash (/) preceding a signal name denotes an active LOW signal. This is a standard Intel convention.

Caret brackets (<>) denote keystrokes. For instance <Enter> represents carriage-return-withline-feed keystroke, and <Esc> represents an escape keystroke.

Driver routine declarations are shown for C and BASIC (where applicable). Hungarian notation is used for software parameters. In other words, the parameter type is

denoted by a one or two letter lower case preﬁx:

c character, signed or unsigned s short integer, signed

w short integer, unsigned

l long integer, signed

dw long integer, unsigned

For example, wBoardAddr would be an unsigned short integer parameter.

An additional p preﬁx before the type preﬁx indicates that the parameter is being passed by reference instead of by value. (A pointer to the variable is being passed instead of the variable itself).

For example, pwErr would be an unsigned short integer parameter passed by reference. This notation is also used in BASIC although no distinction between signed and unsigned vari-

ables exists. In BASIC, all parameters also have a type sufﬁx:

$ character, signed or unsigned % integer, signed or unsigned & long integer, signed or unsigned

Routine names are printed in bold font when they appear outside of function declarations, e.g., ReadStatus.

Parameter names are printed in italics when they appear outside of function declarations, e.g. sControls.

Constants are deﬁned with all caps, e.g., ALL_AXES. Underscores {_} must be replaced by periods {.} for use with BASIC.

Combinational logic and hexadecimal notation is in C convention in many cases. For example, the hexadecimal number 7Ch is shown as 0x7C.

C relational operators for OR and AND functions — “| |” and “&&” — are used to minimize the confusion associated with grammar.

Table of Contents

1 Programming Overview

Installing the 5312 software ............................................................................................................................... 1-2

Compiling and linking ....................................................................................................................................... 1-2

Microsoft C or Microsoft QuickC .............................................................................................................. 1-2

Borland or Turbo C/C++ ............................................................................................................................ 1-3

Microsoft QuickBASIC ............................................................................................................................. 1-3

Borland Turbo Pascal ................................................................................................................................. 1-4

Programming fundamentals ............................................................................................................................... 1-4

2 Example Programs

Program in C ...................................................................................................................................................... 2-2

Program in BASIC ............................................................................................................................................. 2-4

Program in Pascal ............................................................................................................................................... 2-5

3 Interrupt Handling

Introduction ........................................................................................................................................................ 3-2

Enabling interrupts ..................................................................................................................................... 3-2

Interrupts in C or Pascal ..................................................................................................................................... 3-2

Interrupts in BASIC ........................................................................................................................................... 3-2

General notes on using interrupts ....................................................................................................................... 3-3

4 Alphabetical Routine Summary

Introduction ........................................................................................................................................................ 4-2

Routines ............................................................................................................................................................. 4-2

A Driver Routine Descriptions

Notational conventions ...................................................................................................................................... A-3

te5312DisableIRQ ............................................................................................................................................. A-3

Disable interrupt request ............................................................................................................................ A-3

te5312EnableIRQ .............................................................................................................................................. A-4

Enable interrupt request ............................................................................................................................. A-4

te5312IndexAlertOff ......................................................................................................................................... A-4

Disable index interrupt .............................................................................................................................. A-4

te5312IndexAlertOn .......................................................................................................................................... A-5

Enable index interrupt ............................................................................................................................... A-5

te5312InitBoard ................................................................................................................................................. A-5

Initialize board ........................................................................................................................................... A-5

te5312InitEncoder ............................................................................................................................................. A-6

Initialize encoder ....................................................................................................................................... A-6

te5312InitSw ...................................................................................................................................................... A-8

Initialize software ...................................................................................................................................... A-8

te5312InterruptHooks ........................................................................................................................................ A-8

Install interrupt hooks ................................................................................................................................ A-8

te5312LoadCntr ................................................................................................................................................. A-9

Load counter .............................................................................................................................................. A-9

te5312LoadPr .................................................................................................................................................... A-9

Load preset register ................................................................................................................................... A-9

te5312ReadCntr ............................................................................................................................................... A-10

Read counter ............................................................................................................................................ A-10

te5312ReadOL ................................................................................................................................................. A-10

Read output latch ..................................................................................................................................... A-10

te5312ReadSts ................................................................................................................................................. A-10

Read status ............................................................................................................................................... A-10

te5312WrapAroundAlertOff ........................................................................................................................... A-11

Disable borrow/carry interrupt ................................................................................................................ A-11

te5312WrapAroundAlertOn ............................................................................................................................ A-12

Enable borrow/carry interrupt ................................................................................................................. A-12

te5312WriteCmd ............................................................................................................................................. A-12

Write command ....................................................................................................................................... A-12

B Demonstration Program C Visual BASIC Demonstration Program

Overview ........................................................................................................................................................... C-2

Software installation .......................................................................................................................................... C-2

Windows 3.1 .............................................................................................................................................. C-2

Windows 95 ............................................................................................................................................... C-2

User’s guide ....................................................................................................................................................... C-3

Demo modes .............................................................................................................................................. C-4

Developer’s guide .............................................................................................................................................. C-5

Form modules ............................................................................................................................................ C-6

Code modules ............................................................................................................................................ C-7

D LSI Chip Applications Note

Introduction ....................................................................................................................................................... D-2

Problem definition ..................................................................................................................................... D-2

Problem solution ........................................................................................................................................ D-2

List of Illustrations

A Driver Routine Descriptions

Figure A-1 Read status .............................................................................................................................................. A-11

B Demonstration Program

Figure B-1 Input parameters screen ............................................................................................................................. B-2

Figure B-2 Help screen ................................................................................................................................................ B-3

C Visual BASIC Demonstration Program

Figure C-1 Main user menu ......................................................................................................................................... C-3

Figure C-2 Main user menu with demo modes pulled down ...................................................................................... C-4

Figure C-3 Quadrature mode dialogue box ................................................................................................................. C-5

Figure C-4 Primary form module ................................................................................................................................ C-6

Figure C-5 Template for form modules enabling demo-mode dialogue boxes ........................................................... C-7

D LSI Chip Application Note

Figure D-1 LSI chipset counter problem ..................................................................................................................... D-2

iii

List of Tables

4 Alphabetical Routine Summary

Table 4-1 Notational conventions .............................................................................................................................. 4-2

Programming Overview

1-2 Programming Overview Model 5312B Software Developer’s Guide

Installing the 5312 software

The 5312 driver includes the batch ﬁle, INSTALL.BAT, to install the software. The batch ﬁle takes one argument, which is the path where you will install the software. For e xample, to install the software on the C drive into a subdirectory called 5312, enter on the command line:

install c:\5312

Use the same path for the installation of all drivers. This puts all include ﬁles, examples, etc., together. This is especially important when using QuickB ASIC, where you will ha ve to combine many libraries into a quick library.

A BASIC subdirectory, a C subdirectory, and a Pascal subdirectory will be created off of the directory you specify, and you may delete any unneeded subdirectories to save disk space.

Compiling and linking

The following paragraphs describe how to compile a program using the 5312 dri v er with the v ar ious supported compilers. It is assumed the source ﬁle is named DEMO.C for C, DEMO.BAS for BASIC, and DEMO.PAS for Pascal.

Microsoft C or Microsoft QuickC

To compile and link on the command line, enter the following:

cl /Ax /Gs demo.c te5312x.lib qcl /Ax /Gs demo.c te5312x.lib

where x is:

s small model, m medium model, c compact model, l large model

Turn stack checking off with the /Gs switch (option) if you use interrupts. For CodeView compatibility, include the /Zi switch.

To use the 5312 driver in the QuickC environment, perform the following steps:

1. In the Make menu, select the Set Program List option.

2. After naming the Make ﬁle, select Edit Program List, and enter the names of the source ﬁle (DEMO.C) and the appropriate library (e.g. te5312s.lib for small model).

3. In the Options/Make menu, select the Compiler Flags option and set the appropriate memory model (this model must match the library in the make list). If you use interrupts, turn stackchecking off.

Model 5312B Software Developer’s Guide Programming Overview 1-3

Borland or T urbo C/C++

To compile and link on the command line, enter the following:

tcc -m bcc -m

where x is:

s small model m medium model c compact model

l large model For Turbo Debugger compatibility, include the -v option. To use the 5312 driver in the Borland environment, perform the following steps:

1. In the Project/Open Project menu, type in the name of the project ﬁle you want to create.

2. In the Project/Add Item menu, enter the names of the source ﬁle (DEMO.C) and the appro-

priate library (e.g. te5312s.lib for small model).

3. In the Options/Compiler/Code Generation menu, set the appropriate memory model (this

model must match the library in the Make list). If you use interrupts, turn stack-checking off.

demo.c te5312

Microsoft QuickBASIC

If you use compiled BASIC exclusively and never program in the QuickBASIC environment, you can link the library te5312b.lib into your application.

bc demo.bas;

link demo.obj,,,te5312b.lib

.lib

(Turbo C) (Borland C)

To compile and link for CodeView compatibility, enter the following:

bc /Zi demo.bas;

link /CO demo.obj,,,te5312b.lib

If you use the QuickBASIC environment, you ﬁrst have to run the batch ﬁle QLB5312.BAT. This batch ﬁle will need modiﬁcation, depending on which QuickBASIC version you use. The necessary modiﬁcations are explained by the remarks in the batch ﬁle itself.

The batch ﬁle creates two ﬁles: te5312qb.qlb and te5312qb.lib. Library te5312qb.qlb is a quick library for use in the QuickBASIC environment and te5312qb.lib is the command line equivalent. Therefore, you will develop your program with te5312qb.qlb and then in the ﬁnal compilation, link with te5312qb.lib.

To use the 5312 driver in the QuickBASIC environment, enter the following:

qb demo.bas /lte5312qb.qlb

To compile on the command line:

bc demo.bas;

link demo.obj,,,te5312qb.lib

To compile and link for CodeView compatibility:

bc /Zi demo.bas;

link /CO demo.obj,,,te5312qb.lib

1-4 Programming Overview Model 5312B Software Developer’s Guide

The libraries te5312b.lib and te5312qb.lib are similar but not identical. Library te5312b.lib calls two routines not contained in the library itself: te5312IndexAlert and te5312WrapAroundAlert. These two routines must be included in your source code if you need to link te5312b.lib into application program. The ﬁle INTR5312.BAS contains stub versions of these routines that you can use as a guide, or you can compile and link the ﬁle itself into the application. Since te5312b.lib has unresolved references, it cannot be converted into a quick library.

The library te5312qb.lib is created by the batch ﬁle by compiling INTR5312.BAS and linking the resulting object ﬁle with te5312b.lib. It has no unresolved references and can be converted into the quick library te5312qb.qlb. A program developed in the QuickBASIC environment using te5312qb.qlb can be compiled on the command line and linked with te5312qb.lib without modifying the source code. See the information on using interrupts with BASIC.

Borland T urbo Pascal

To compile and link on the command line, enter the following:

tpc /$S- demo

If you use interrupts, be sure to turn stack-checking off. Turn off stack-checking by including /$S on the command line as shown or by including the line {$S-} in the program source code.

To compile for Turbo Debugger compatibility, include the /v option. To use the 5312 driver in the Turbo Pascal environment, enter the following:

turbo demo

The source ﬁle must include the line: uses te5312p;. If you use interrupts, be sure to turn stack checking off. Turn off stack-checking through the Options/Compiler menu or by including the line {$S-} in the program.

Programming fundamentals

To quickly write simple applications for the 5312, follow the structure of the example programs provided in section 2. For C, include the ﬁle te5312.h. For B ASIC, include the TE5312.B AS ﬁle. For Pascal, always specify the te5312p unit.

Call te5312InitSw ﬁrst to initialize the software. Then call te5312InitBoard once for ev ery 5312 board in the system. To use the other driver routines, you must be familiar with the concept of board, axis, and global numbers.

Each board in the system will be sequentially assigned a number from 0 to 5, called the board number, used to identify the board in calls to other routines. Each time te5312InitBoard is called, another board number is assigned. If only one board is installed in the system, calling te5312InitBoard once assigns a board number of zero.

Likewise, each axis in the system will be sequentially assigned an axis number from 0 to 23, used to identify a particular axis in calls to other routines. Each time te5312InitBoard is called, three more axis numbers are assigned.

Each board is also assigned a global number from –1 down to a possible –6. Global numbers can be used in place of axis numbers in routines that write to an encoder. In these cases all the encoders on the corresponding board will be written at the same time.

Example Programs

2-2 Example Programs Model 5312B Software Developer’s Guide

Program in C

#include "te5312.h" #include <stdio.h> #include <conio.h>

#define BOARD 0 #define AXIS_A 0 #define AXIS_B 1 #define GLOBAL -1

// interrupt hook prototypes static void te5312IndexAlert(short *psAxisNum); static void te5312WrapAroundAlert(short *psAxisNum);

// interrupt counters static unsigned short wCarryA, wCarryB; static unsigned short wIndexA, wIndexB;

void main() { unsigned short wBoardAddr; long lCntA, lCntB; short sStatA, sStatB; short sIRQNum;

// get the address printf("\nEnter the base address the 5312 is strapped " "at in hexadecimal - "); scanf("%x", &wBoardAddr);

// get the IRQ number do{ printf("\nEnter the interrupt request line used (2 to 7) - "); scanf("%u", &sIRQNum); }while((sIRQNum < 2) || (sIRQNum > 7));

// initialize the software te5312InitSw();

// initialize the board (assume the board has at least two axes) te5312InitBoard(wBoardAddr, 2);

// zero the counters te5312LoadCntr(GLOBAL, 0L);

// initialize interrupts te5312InterruptHooks(te5312WrapAroundAlert, te5312IndexAlert); te5312EnableIRQ(BOARD, sIRQNum); te5312IndexAlertOn(GLOBAL); te5312WrapAroundAlertOn(GLOBAL);

// print column headers printf("\nPress any key to exit\n\n" " Axis A "

Model 5312B Software Developer’s Guide Example Programs 2-3

" Axis B\n" " Index WrapAround " " Index WrapAround\n" " Count Status Interrupts Interrupts " " Count Status Interrupts Interrupts\n");

// display counter values and status until key pressed while(!kbhit()){ lCntA = te5312ReadCntr(AXIS_A); lCntB = te5312ReadCntr(AXIS_B); sStatA = te5312ReadSts(AXIS_A); sStatB = te5312ReadSts(AXIS_B); printf("\r%8ld %2X %5u %5u ", lCntA, sStatA, wIndexA, wCarryA); printf("%8ld %2X %5u %5u", lCntB, sStatB, wIndexB, wCarryB); } if (!getch()) (void)getch(); printf("\n"); // disable interrupts before exiting program te5312DisableIRQ(); }

void te5312WrapAroundAlert(short *psAxisNum) { switch(*psAxisNum){ case AXIS_A: wCarryA++; break; case AXIS_B: wCarryB++; break; } }

void te5312IndexAlert(short *psAxisNum) { switch(*psAxisNum){ case AXIS_A: wIndexA++; break; case AXIS_B: wIndexB++; break; } }

2-4 Example Programs Model 5312B Software Developer’s Guide

Program in BASIC

'$INCLUDE: 'TE5312.BAS'

CONST BOARD = 0 CONST GLOBAL = -1 CONST AXIS.A = 0 CONST AXIS.B = 1 CONST BOARD.ADDR = &H020A CONST NUM.AXES = 2 CONST IRQ.NUM = 2

'Declare Global Variables COMMON SHARED CarryA%, CarryB% COMMON SHARED IndexA%, IndexB%

REM initialize the software version% = te5312InitSw cls print "VERSION NUMBER = "; HEX$(version%)

REM initialize the board x% = te5312InitBoard(BOARD.ADDR, NUM.AXES)

REM zero the counters x% = te5312LoadCntr(-1, 0)

REM initialize interrupts x% = te5312EnableIRQ(BOARD, IRQ.NUM) x% = te5312IndexAlertOn(-1) x% = te5312WrapAroundAlertOn(-1) print print "Press any key to exit" print

REM display counter values and status until key pressed do locate 5, 1 CntA& = te5312ReadCntr(AXIS.A) CntB& = te5312ReadCntr(AXIS.B) StatA% = te5312ReadSts(AXIS.A) StatB% = te5312ReadSts(AXIS.B) print "Axis A" print " Count = "; CntA&; " " print " Status = "; HEX$(StatA%); " " print " Index Interrupts = "; IndexA% print " Wrap-Around Interrupts = "; CarryA% print print "Axis B" print " Count = "; CntB&; " " print " Status = "; HEX$(StatB%); " " print " Index Interrupts = "; IndexB% print " Wrap-Around Interrupts = "; CarryB% A$ = INKEY$ loop while LEN(A$) = 0

Model 5312B Software Developer’s Guide Example Programs 2-5

REM disable interrupts before exiting program x% = te5312DisableIRQ

REM If using this file in QuickBASIC, move the rest of this file REM to the file INTR5312.BAS and remove the remark notations from REM the beginning of the following two declaration lines. Then REM run the batch file QLB5312.BAT: REM '$INCLUDE: 'TE5312.BAS' REM DIM SHARED IndexA%, IndexB%, CarryA%, CarryB%

SUB te5312IndexAlert (AxisNum%) if (AxisNum% = AXIS.A) then IndexA% = IndexA% + 1 elseif (AxisNum% = AXIS.B) then IndexB% = IndexB% + 1 endif END SUB

Program in Pascal

SUB te5312WrapAroundAlert (AxisNum%) if (AxisNum% = AXIS.A) then CarryA% = CarryA% + 1 elseif (AxisNum% = AXIS.B) then CarryB% = CarryB% + 1 endif END SUB

Program example1;

uses te5312p, crt;

const { Define some initial constants } ADDR = $20A; { board address } NUM_AXES = 2; { number of axes on board } IRQ = 3; { IRQ number } BOARD = 0; { board number } GLOBAL = -1; { global number } AXIS_A = 0; { first axis number to be moved } AXIS_B = 1; { second axis number to be moved } CR = #13; { carriage return }

var { interrupt counters } wCarryA, wCarryB, wIndexA, wIndexB : word; wBoardAddr : word; lCntA, lCntB : longint; sStatA, sStatB : integer; sTemp : integer;

{$S-}{ turn stack checking off for interrupts }

2-6 Example Programs Model 5312B Software Developer’s Guide

procedure te5312WrapAroundAlert (var psAxisNum : integer); far; begin if (psAxisNum = AXIS_A) then wCarryA := wCarryA + 1; if (psAxisNum = AXIS_B) then wCarryB := wCarryB + 1; end;

procedure te5312IndexAlert (var psAxisNum : integer); far; begin if (psAxisNum = AXIS_A) then wIndexA := wIndexA + 1; if (psAxisNum = AXIS_B) then wIndexB := wIndexB + 1; end;

begin { initialize the software } sTemp := te5312InitSw;

{ initialize the board } sTemp := te5312InitBoard(ADDR, NUM_AXES);

{ zero the counters } sTemp := te5312LoadCntr(GLOBAL, 0);

{ initialize interrupts } wIndexA := 0; wIndexB := 0; wCarryA := 0; wCarryB := 0; InterruptHooks(te5312WrapAroundAlert, te5312IndexAlert); sTemp := te5312EnableIRQ(BOARD, IRQ); sTemp := te5312IndexAlertOn(GLOBAL); sTemp := te5312WrapAroundAlertOn(GLOBAL);

{ print column headers } Writeln('Press any key to exit'); Writeln; Write(' Axis A '); Writeln(' Axis B'); Write(' Index WrapAround '); Writeln(' Index WrapAround'); Write(' Count Status Interrupts Interrupts '); Writeln(' Count Status Interrupts Interrupts'); { display counter values and status until key pressed } while(not KeyPressed) do begin lCntA := te5312ReadCntr(AXIS_A); lCntB := te5312ReadCntr(AXIS_B); sStatA := te5312ReadSts(AXIS_A); sStatB := te5312ReadSts(AXIS_B); Write(CR); Write(lCntA : 8, sStatA : 5, wIndexA : 10, wCarryA : 11); Write(lCntB : 13, sStatB : 5, wIndexB : 10, wCarryB : 11); end; Writeln; { disable interrupts before exiting program } sTemp := te5312DisableIRQ; end.

Interrupt Handling

3-2 Interrupt Handling Model 5312B Software Developer’s Guide

Introduction

The 5312 driver simpliﬁes the use of interrupts. When an interrupt occurs, the driver handles all interrupt overhead and then calls your routines to act on the interrupts.

NOTE

Enabling interrupts

The ﬁrst routine you need to call is te5312EnableIRQ before interrupts can be used. At the end of the program, call te5312DisableIRQ to restore the interrupt vectors and interrupt masks to their original state. You need to supply two routines to handle the two interrupt sources: overﬂow/underﬂow and index valid. The two routines are described below.

For BASIC, the names given below are ﬁxed. The linker will expect to ﬁnd two routines with these names. For C or Pascal the routines can be named anything because the address rather than the name of each routine is passed to the te5312InterruptHooks routine.

te5312WrapAroundAlert

borrow or a carry. It will receive one argument by reference, the axis number of the encoder causing the interrupt.

te5312IndexAlert — This routine will be called when the index input goes activ e. It will receiv e

one argument by reference, the axis number corresponding to the index input causing the interrupt.

Interrupts in C or Pascal

The example programs in Section 2 show how interrupts are set up. Interrupt hook routines are installed by calling te5312InterruptHooks. A warning will be generated if you attempt to install improper routines (routines that do not accept the proper number and type of arguments). Turn off stack-checking for the interrupt hook functions and any routines they call.

Interrupt Request (IRQ) address variables must be declared GLOBAL.

—

This routine will be called when the encoder generates either a

Interrupts in BASIC

The example program given in Section 2 shows how interrupts are used. You must provide two routines: te5312WrapAroundAlert and te5312IndexAlert .

You can use interrupts in the QuickBASIC environment, but the interrupt handling routines must be in the Quick Library te5312qb.qlb . To do this, use the INTR5312.BAS ﬁle to write your interrupt hook routines. Run the batch ﬁle QLB5312.BAT to compile INTR5312.BAS and add it to the libraries, te5312qb.qlb and te5312qb.lib. The library te5312qb.lib is an alternative to using te5312b.lib and is supplied to provide a command line equivalent library to the Quick Library. You can develop a program in the environment with the Quick Library and then compile and link on the command line without modiﬁcation. If you use te5312b.lib, you will have to add your interrupt hook routines to the source ﬁle before compiling.

Model 5312B Software Developer’s Guide Interrupt Handling 3-3

General notes on using interrupts

There are some important points to be aware of when using interrupts:

1. DOS is not re-entrant. If an interrupt is generated while in a DOS call, the interrupt routine

can not call another DOS function. W ith Basic, C, and Pascal, DOS is usually used for screen

output, keyboard input, and disk and ﬁle I/O. Do not use DOS in your interrupt routines. One

method for avoiding this is to set a global ﬂag in your interrupt routine, and then have the

main routine check this ﬂag and call DOS when the ﬂag is set. For example, if you wanted to

print a message when an interrupt occurred, the interrupt routine sets a ﬂag. When the main

program sees the ﬂag set, it will print the message.

2. Turn off stack-checking when using interrupts with C. If you encounter a stack overﬂow,

stack-checking is not turned off. Check the compiler manual for instructions on how to do

this.

Alphabetical Routine

Summary

4-2 Alphabetical Routine Summary Model 5312B Software Developer’s Guide

Introduction

The 5312 driver software consists of the following routines. A more complete description of each is given in Appendix A.

Table 4-1

Notational conventions

Preﬁx Variable type

character, signed or unsigned

short integer, signed

short integer, unsigned

long integer, signed

long integer, unsigned

pointer

Routines

te5312DisableIRQ() Restores old interrupt vectors and disables PC

IRQ lines.

te5312EnableIRQ(wBoardNum, Sets up interrupt vector and enables PC IRQ line

sIRQLevel) on the bus.

te5312IndexAlertOff(sAxisNum) Disables index interrupts.

te5312IndexAlertOn(wAxisNum) Enables index interrupts.

te5312InitBoard(wBoardAddr, Initializes 5312 board.

wNumAxes)

te5312InitEncoder(sAxisNum, sMCR, Initializes encoder.

sICR, sOCCR, sQR)

te5312InitSw() Initializes software.

te5312InterruptHooks(*WrapAroundHook, Deﬁnes hooks to user functions called on

*IndexHook) interrupts (not usable in BASIC).

te5312LoadCntr(sAxisNum, lValue) Loads encoder counter.

te5312LoadPr(sAxisNum, lValue) Loads encoder preset register.

te5312ReadCntr(sAxisNum) Reads encoder counter.

te5312ReadOL(sAxisNum) Reads encoder output latch.

te5312ReadSts(sAxisNum) Reads encoder status.

te5312WrapAroundAlertOff(sAxisNum) Disables borrow/carry interrupt.

te5312WrapAroundAlertOn(sAxisNum) Enables borrow/carry interrupt.

te5312WriteCmd(sAxisNum, sCmd) Writes encoder command.

Driver Routine Descriptions

A-2 Driver Routine Descriptions Model 5312B Software Developer’s Guide

Appendix A

Driver Routine Descriptions

Notational conventions ........................................................... A-3

te5312DisableIRQ .................................................................. A-3

te5312EnableIRQ ................................................................... A-4

te5312IndexAlertOff .............................................................. A-4

te5312IndexAlertOn ............................................................... A-5

te5312InitBoard ...................................................................... A-5

te5312InitEncoder .................................................................. A-6

te5312InitSw ........................................................................... A-8

te5312InterruptHooks ............................................................. A-8

te5312LoadCntr ...................................................................... A-9

te5312LoadPr ......................................................................... A-9

te5312ReadCntr .................................................................... A-10

te5312ReadOL ...................................................................... A-10

te5312ReadSts ...................................................................... A-10

te5312WrapAroundAlertOff ................................................ A-11

te5312WrapAroundAlertOn ................................................. A-12

te5312WriteCmd .................................................................. A-12

Model 5312B Software Developer’s Guide Driver Routine Descriptions A-3

Notational conventions

The declarations for each routine is shown for C, BASIC, and Pascal. In C or Pascal, the type of a parameter is denoted by its one letter lower-case preﬁx:

Preﬁx Variable type

c s

For instance, sAxisNum indicates that this variable is an unsigned short integer. In BASIC, the type of a parameter is always explicitly indicated by a type sufﬁx:

Preﬁx Variable type

% &

character, signed or unsigned short integer, signed short integer, unsigned

long integer, signed long integer, unsigned pointer

short integer, signed or unsigned long integer, signed or unsigned character, signed or unsigned

For instance, AxisNum% indicates the this variable is a short integer. Routine names are printed in bold sans serif font, te5312InitSw. Parameter names are printed in italics, sAxisNum. Constants are deﬁned with all caps, TE5312CMD_QR. Underscores must be replaced by peri-

ods for use with BASIC.

te5312DisableIRQ

Disable interrupt request

Declarations:

Description:

Return Code:

short te5312DisableIRQ(void);

BASIC: Pascal:

This routine masks the IRQ lines selected with te5312EnableIRQ calls and restores the corresponding interrupt vectors to their original values. If te5312EnableIRQ has been called at least once, call te5312DisableIRQ before exiting from the program.

(0) No error.

DECLARE FUNCTION te5312DisableIRQ%() function te5312DisableIRQ : integer;

See Also:

te5312EnableIRQ

A-4 Driver Routine Descriptions Model 5312B Software Developer’s Guide

te5312EnableIRQ

Enable interrupt request

Declarations:

Description:

Parameters:

Return Code:

See Also:

te5312IndexAlertOff

short te5312EnableIRQ(unsigned short wBoardNum, short sIRQLevel);

BASIC:

Pascal:

This routine reassigns the selected interrupt vector to point to the driver interrupt handler for the speciﬁed board. It also saves the old vector and unmasks the interrupt on the PC.

Each board must use a different IRQ number. The old vectors can later be restored with the te5312DisableIRQ routine.

BoardNum Board number (0 to 5). IRQLevel IRQ number (2 to 7).

(0) No error. (–1) Invalid board number or IRQ number or the IRQ number

te5312DisableIRQ

DECLARE FUNCTION te5312EnableIRQ%(BYVAL BoardNum%, BYVAL IRQLevel%) function te5312EnableIRQ(wBoardNum : word; sIRQLevel : integer) : integer;

has previously been assigned to another board.

Disable index interrupt

Declarations:

Description:

Parameters: Return Code:

See Also:

short te5312IndexAlertOff(short sAxisNum);

BASIC:

Pascal:

This routine disables the index input for the speciﬁed axis from causing an interrupt when index goes active. The index input can be either active HIGH or active LO W depending on jumper settings: W13, W16, W50, and W51.

AxisNum Axis number (0 to 23) or global number (–1 to –6).

(0) No error. (–1) Invalid axis number.

te5312IndexAlertOn

DECLARE FUNCTION te5312IndexAlertOff%(BYVAL AxisNum%) function te5312IndexAlertOff(sAxisNum : integer) : integer;

Model 5312B Software Developer’s Guide Driver Routine Descriptions A-5

te5312IndexAlertOn

Enable index interrupt

te5312InitBoard

Initialize board

Declarations:

Description:

Parameters: Return Code:

See Also:

short te5312IndexAlertOn(short sAxisNum);

BASIC:

Pascal:

This routine enables the index input for the speciﬁed axis to cause an interrupt when the input goes active. The inde x input can be either activ e HIGH or active LOW depending on jumper settings: W13, W16, W50, and W51.

AxisNum Axis number (0 to 23) or global number (–1 to –6).

(0) No error. (–1) Invalid axis number.

te5312IndexAlertOff

DECLARE FUNCTION te5312IndexAlertOn%(BYVAL AxisNum%) function te5312IndexAlertOn(sAxisNum : integer) : integer;

Declarations:

Description:

short te5312InitBoard(unsigned short wBoardAddr, unsigned short wNumAxes);

BASIC:

Pascal:

This routine initializes a 5312 board jumpered to the given address. Call the routine te5312InitSw ﬁrst to initialize the software, then call te5312InitBoard once for every 5312 board in the system.

Each board in the system will be sequentially assigned a board number from 0 to 5 used to identify the board in calls to other routines.

Likewise, each encoder in the system will be sequentially assigned an axis number from 0 to 23. Each board will be assigned from 0 to 4 axis numbers depending on how many encoders are speciﬁed on the board.

Each board will also be assigned a global number from –1 to –6. You can use a global number in place of an axis number in routines that write to an encoder. In this case, all encoders on a corresponding board will be serviced at the same time.

DECLARE FUNCTION te5312InitBoard%(BYVAL BoardAddr%, BYVAL NumAxes%) function te5312InitBoard(wBoardAddr, wNumAxes : word) : integer;

A-6 Driver Routine Descriptions Model 5312B Software Developer’s Guide

te5312InitBoard initializes the board interrupt controller and each encoder. For each encoder, te5312InitBoard resets the Master Control Register (MCR) to:

The Input Control Register (ICR) is set to the constant TE5312ICR_ENABLE enabling the phase inputs.

The Output/Counter Control Register (OCCR) is cleared to zero. The Quadrature Register (QR) is set to the constant TE5312QR_X4 put-

ting the board into 4 x quadrature mode. Override this call by calling te5312InitEncoder.

Parameters:

Return Code:

te5312InitEncoder

Initialize encoder

Declarations:

BoardAddr Address of the 5312 board. NumAxes Number of encoders on the board.

(0) No error. (–1) Too many boards initialized, invalid board address, or

invalid number of axes.

(>0) One or more axes failed initialization. If bit zero is set, the

ﬁrst axis failed initialization; if bit one is set, the second axis failed initialization; etc. An axis is assigned an axis number even if it fails initialization.

short te5312InitEncoder(short sAxisNum, short sMCR, short sICR, short sOCCR, short sQR);

BASIC:

Pascal:

DECLARE FUNCTION te5312InitEncoder%(BYVAL AxisNum%, BYVAL MCR%, BYVAL ICR%, BYVAL OCCR%, BYVAL QR%) function te5312InitEncoder(sAxisNum, sMCR, sICR, sOCCR, sQR : integer) : integer;

Description:

Parameters:

This routine writes the speciﬁed commands to the four command registers of an axis.

AxisNum Axis number (0 to 23) or global number (–1 to –6). MCR Master Control Register command to be written. ICR Input Control Register command to be written. OCCR Output/Counter Control Register command to be written. QR Quadrature Register command to be written.

Model 5312B Software Developer’s Guide Driver Routine Descriptions A-7

For MCR, OR any of the following constants together: TE5312MCR_ADDR_RST Resets the address counters. TE5312MCR_CNT_OL Loads the Output Latch with the counter

value.

TE5312MCR_FLAG_RST Zeroes the counter, resets the borrow

and carry ﬂags, and sets the sign ﬂag.

TE5312MCR_PR_CNT Loads the counter with the value of the

Preset Register. TE5312MCR_CMP_RST Resets the compare ﬂag. TE5312MCR_MASTER_RST Does a master reset.

For ICR, OR any of the following constants together: TE5312ICR_DIR Phase inputs are pulse and direction. If

not speciﬁed, the inputs are pulse up and

pulse down. TE5312ICR_INC Counter is manually incremented. TE5312ICR_DEC Counter is manually decremented. TE5312ICR_ENABLE Phase inputs are enabled. TE5312ICR_GATE The ABGT/RCTR input (which can be

jumpered to the index input) is set up as

the phase input enable / disable gate. If

not speciﬁed, this input is set up as the

counter external reset input. TE5312ICR_LATCH The LCTR/LLTC input (which can be

jumpered to the index input) is set up as

the external load command input for the

Output Latch. If not speciﬁed, this input

is set up as the external load command

input for the counter. For OCCR, OR any of the following constants together:

TE5312OCCR_BCD If speciﬁed, the counter will be in BCD

mode. If not speciﬁed, the counter will

be in binary mode. TE5312OCCR_NOCYCLE If speciﬁed, the counter will not contin-

ually cycle. TE5312OCCR_DIVIDE Counter is set to divide-by- n mode. TE5312OCCR_CLOCK Sets counter to 24-hour clock mode. TE5312OCCR_ACTIVE_LOW Enables active LOW carry & borrow

pulses on Cy & By outputs. TE5312OCCR_TOGGLE Enables carry & borrow toggle ﬂip-ﬂops

on Cy & By outputs. TE5312OCCR_ACTIVE_HIGH Enables active HIGH carry & borrow

pulses on Cy & By outputs. TE5312OCCR_COMPARE Enables compare pulses on Cy output

and compare toggle ﬂip-ﬂop on By

output. The last four options are mutually exclusive.

Return Code:

For QR, one of the following constants can be speciﬁed: TE5312QR_X1 1 x Quadrature mode. TE5312QR_X2 2 x Quadrature mode. TE5312QR_X4 4 x Quadrature mode.

If zero is speciﬁed for QR, quadrature is disabled. (0) No error.

(–1) Invalid axis number.

A-8 Driver Routine Descriptions Model 5312B Software Developer’s Guide

te5312InitSw

Initialize software

Declarations:

Description:

Return Code: See Also:

te5312InterruptHooks

Install interrupt hooks

Declarations:

short te5312InitSw(void);

BASIC: Pascal:

This routine initializes the 5312 software. Call this routine before calling any other driver routine in your program.

The version number (4 hex digits) of the 5312 driver is returned.

te5312InitBoard

BASIC: (not available). Pascal:

DECLARE FUNCTION te5312InitSw%() function te5312InitSw : integer;

typedef void te5312HookType(short *psParm);void InterruptHooks (te5312HookType *WrapAroundHook, te5312HookType *IndexHook);

te5312HookType = procedure(var psParm : integer); procedure InterruptHooks (WrapAroundHook, IndexHook : te5312HookType);

Description:

Parameters:

Installs two routines as interrupt hooks to be called when the appropriate interrupt is generated. See the discussion in Section 3 for more on interrupt handling.

WrapAroundHook Routine to be called on a carry/borrow interrupt. IndexHook Routine to be called on an index interrupt.

Model 5312B Software Developer’s Guide Driver Routine Descriptions A-9

te5312LoadCntr

Load counter

te5312LoadPr

Load preset register

Declarations:

BASIC:

Pascal:

Description: This routine loads the speciﬁed value into the counter of the speciﬁed axis.

It does this by ﬁrst loading the value into the preset register and then commanding that the value of the preset register be transferred to the counter.

Parameters: AxisNum Axis number (0 to 23) or global number (–1 to –6).

Value Value to be loaded into the counter.

Return Code: (0) No error.

(–1) Invalid axis number.

See Also: te5312WrapAroundAlertOff

te5312WriteCmd

Write command

Declarations: C: short te5312WriteCmd(short sAxisNum,

short sCmd);

BASIC: DECLARE FUNCTION te5312WriteCmd%(BYVAL

AxisNum%, BYVAL Command%)

Pascal: function te5312WriteCmd(sAxisNum, sCmd

: integer) : integer;

Description: This routine writes the speciﬁed command to the speciﬁed axis. Parameters: AxisNum Axis number (0 to 23) or global number (–1 to –6).

Command Command to be written. Command is constructed by ORing several constants together. It should

always include one of the following four constants which identify the command register:

TE5312CMD_MCR Master Control Register. TE5312CMD_ICR Input Control Register. TE5312CMD_OCCR Output/Counter Control Register. TE5312CMD_QR Quadrature Register.

If TE5312CMD_MCR is included, any of the following constants can also be ORed together:

TE5312MCR_ADDR_RST Resets address counters. TE5312MCR_CNT_OL Loads Output Latch with counter value. TE5312MCR_FLAG_RST Zeroes counter, resets borrow/carry

ﬂags, sets sign ﬂag.

Model 5312B Software Developer’s Guide Driver Routine Descriptions A-13

TE5312MCR_PR_CNT Loads counter with value of Preset

If TE5312CMD_ICR is included, any of the following constants can also be ORed together:

TE5312ICR_DIR Phase inputs are pulse and direction. If

not speciﬁed, the inputs are pulse up/

down. TE5312ICR_INC Counter manually incremented. TE5312ICR_DEC Counter manually decremented. TE5312ICR_ENABLE Phase inputs enabled. TE5312ICR_GATE ABGT/RCTR input (which can be jum-

pered to the index input) set up as phase

input enable / disable gate. If not speci-

ﬁed, input is set up as counter external

reset input. TE5312ICR_LATCH The LCTR/LLTC input (which can be

jumpered to the index input) set up as

external load command input for Output

Latch. If not speciﬁed, input set up as

external load command input for

counter. If TE5312CMD_OCCR is included, any of the following constants can

also be ORed together: TE5312OCCR_BCD Counter in BCD mode. If not speciﬁed,

counter in binary mode. TE5312OCCR_NOCYCLE Counter not continual cycle. TE5312OCCR_DIVIDE Counter set to divide-by-n mode. TE5312OCCR_CLOCK Counter in 24-hour clock mode. TE5312OCCR_ACTIVE_LOW Enables active LOW carry/borrow

pulses on Cy and By outputs. TE5312OCCR_TOGGLE Enables carry/borrow toggle ﬂip-ﬂops

on Cy and By outputs. TE5312OCCR_ACTIVE_HIGH Enables active HIGH carry/borrow

pulses on Cy and By outputs. TE5312OCCR_COMPARE Enables compare pulses on Cy output

and compare toggle ﬂip-ﬂop on By

output. The last four options are mutually exclusive. If TE5312CMD_QR is included, one of the following constants can also

be ORed together: TE5312QR_X1 1x Quadrature mode

TE5312QR_X2 2x Quadrature mode TE5312QR_X4 4x Quadrature mode

If none of the last three options is speciﬁed, quadrature is disabled.

Return Code: (0) No error.

(–1) Invalid axis number.

Demonstration Program

B-2 Demonstration Program Model 5312B Software Developer’s Guide

The 5312 includes a demonstration program designed to support the actual operation and general capabilities of the card. Each axis in the program can operate independently in any of the 5312 operating modes: quadrature, pulse/direction, and up/down counting. To run the program, insert the software diskette into drive A (or B), and then at the prompt type:

A:\EXE\TEDEMO <Enter> or B:\EXE\TEDEMO <Enter>

After a moment, a brief message describing the program will appear on your screen. Pressing any key will continue the program, and the screen shown in Figure B-1 will be displayed:

Figure B-1

Input parameters screen

AXIS A AXIS B AXIS C AXIS D

Dec Dec Dec Dec Hex Hex Hex Hex

Direction Direction Direction Direction Sign Sign Sign Sign Compare Compare Compare Compare Carry Carry Carry Carry Borrow Borrow Borrow Borrow

Base Address in Hex

INPUT PARAMETERS

Number of Axis Index 1-2 Index 2-3 Mode of Operation PR Value Counter Preset Value

20a

The base address of card (200 to 3FF).

1 1

F1 - Parameter Input Help Toggle

‘E’ - Exit program

ESC - Aborts parameter input

Any other key - INPUT PARAMETERS

HELP

FUNCTIONS

The program will ask you to deﬁne input parameters. Parameter choices can be seen in the window labeled HELP which appears to the right of the INPUT PARAMETERS window. For example, when choosing the number of axes, the HELP box will read the message “1–4” denoting the number of axes that are possible to conﬁgure during the test.

Model 5312B Software Developer’s Guide Demonstration Program B-3

For an explanation of the parameter to be set, press <F1>. A help screen will appear containing a deﬁnition of the parameter. For example, pressing <F1> when the cursor is at the PR Value will bring up the screen shown in Figure B-2.

Figure B-2

Help screen

AXIS A AXIS B AXIS C AXIS D

Dec Dec Dec Dec Hex Hex Hex Hex

The value loaded into the PR (Preset Register) is the value used to toggle

Direction Direction Direction Direction

the Compare Toggle Flip-Flop shown as “Compare” in each axis window and is also loaded into the counter on a valid index pulse if selected.

Sign Sign Sign Sign

Use BACKSPACE to delete before editing or if the ‘ ‘

Compare Compare Compare Compare

overflow appears.

Carry Carry Carry Carry

Press F1 to exit.

Borrow Borrow Borrow Borrow

End

Base Address in Hex Number of Axis Index 1-2 Index 2-3 Mode of Operation PR Value Counter Preset Value

INPUT PARAMETERS

HELP SCREEN

20a

1 1

F1 - Parameter Input Help Toggle

‘E’ - Exit program

ESC - Aborts parameter input

Any other key - INPUT PARAMETERS

************

HELP

eg init vslue (0-16, 777, 215)

FUNCTIONS

After setting all the parameters and after setting the Counter Preset Value parameter, pressing <Enter> will cause values to be displayed in the boxes above. The actual number of boxes displaying data depends on the number of axes chosen.

The following is a brief description of each value:

Dec/Hex:

Represents the count values. Dec represents the Decimal count; Hex represents the Hexadecimal count.

Direction:

Direction to which the count is heading. The counter will either be heading up or down.

Sign:

Indicates whether the counter has overﬂowed/underﬂowed. It will read plus when overﬂowed and minus when underﬂo wed.

Compare/Carry/Borrow:

These are toggles. Each one will read either HIGH or LOW.

Compare changes state every time the count equals the PR Value. Carry changes state every time there is an overﬂow. Borrow changes state every time there is an underﬂow. Refer to section 2 of this manual for further value descriptions in the Input Parameters.

To escape out to a DOS prompt, press <Esc> to exit the parameter list, and press <E> to exit TEDEMO.

V isual BASIC

Demonstration Program

C-2 Visual BASIC Demonstration Program Model 5312B Software Developer’s Guide

Overview

The Model 5312 also includes a 16-bit Windows Visual BASIC program that demonstrates the operation and general capabilities of the card. Each axis in the program can operate independently in any of the Model 5312 operating modes: quadrature, pulse/direction, and up/down counting.

The following appendix takes users through installation and operation of this demo. It assumes that they have the proper hardware conﬁguration, including a properly conﬁgured 5312 plugged into the backplane of a Windows-equipped IBM compatible PC. Please see the Model 5312 Technical Reference for hardware installation procedures.

Software installation

The 5312 Visual BASIC demo runs under Windows 3.1 or Windows 95. The common procedure is to run the ﬁle setup.exe from your 3 environments depends on their respective user interfaces. The following is a detailed procedure for each environment.

” ﬂoppy drive (a:\ or b:\). Ho w you do this under the two

Windows 3.1

Insert your 3 gram Manager, pull down the File menu and select Run. You will get a dialogue box with one data ﬁeld. Type a:\setup , or b:\setup and press <enter> or click OK. Windows 3.1 will run the installation procedure. Follow the steps as prompted by this procedure.

Windows 95

Insert your 3 Start button at the lower left-hand part of your screen. Click on Run. Choose Browse and select Drive A: (or B: where appropriate). Click OK or press <enter> and Windows will run the installation procedure. Follow the steps as prompted by this procedure.

” 5312 Visual BASIC Demo diskette into your a: or b: ﬂoppy drive. In the Pro-

” 5312 Visual BASIC Demo diskette into your a: or b: ﬂoppy drive. Click on the

Model 5312B Software Developer’s Guide Visual BASIC Demonstration Program C-3

User’s guide

Double click on the VB5312 icon. The main user menu should appear as shown in Figure C-1.

Figure C-1

Main user menu

5312 16 Bit Visual Basic Demo

NOTE

File.

AXIS 0 AXIS 1 AXIS 2 AXIS 3

Dec Dec Dec Dec

000 0

Hex Hex Hex Hex

000 0

Direction Direction Direction Direction

Sign Sign Sign Sign

Compare Compare Compare Compare

Carry Carry Carry Carry

Borrow Borrow Borrow Borrow

Up Up Up Up

--- -

000 0

Reset All

Options.Demo Modes.

Demo Mode

Quadrature

If the board is not set at the correct address, you will get a “Hardware Initialization Error” during program startup. The default address is 300 hex. If another board in your backplane is conﬁgured at that address, you will have a conﬂict between that board and the Model 5312. To solve this conﬂict, use the following procedure.

1. Read the 5312 Technical Reference regarding changing board addresses. In this section, note how the switches on the board enable you to conﬁgure the board for a non-default address.

2. In the menu depicted in Figure C-1, pull down Options, choose Boar d Address and then select the address appropriate to the switch settings.

C-4 Visual BASIC Demonstration Program Model 5312B Software Developer’s Guide

Demo modes

The ﬁrst logical operation is to select the demo mode you wish to operate in. To do this, pull down Demo Modes as shown in Figure C-2.

Figure C-2

Main user menu with demo modes pulled down

5312 16 Bit Visual Basic Demo

Demo Modes

Demo 1. Quadrature Demo 2. Count/Direction Demo 3. Up Down

AXIS 0 AXIS 1 AXIS 2 AXIS 3

Dec Dec Dec Dec

Hex Hex Hex Hex

Direction Direction Direction Direction

Sign Sign Sign Sign

Compare Compare Compare Compare

Carry Carry Carry Carry

Borrow Borrow Borrow Borrow

Demo 4. Quadrature, reset @ index

Demo 5. Quadrature, load @ index

Reset All

Options.File.

When you select a mode, a model dialogue box will appear. For example, if you select quadrature mode, the dialogue box shown in Figure C-3 will appear.

Model 5312B Software Developer’s Guide Visual BASIC Demonstration Program C-5

Figure C-3

Quadrature mode dialogue box

QUADRATURE MODE

RELEVANT JUMPER SETTINGS: Jumpers W24, W17, W22 and W29 should be removed.

EXPECTED INPUTS: Pulse from Phase A and Phase B.

WHAT WILL HAPPEN: CCW rotation will count up. CW rotation will count down.

Developer’s guide

Cancel

Initial Count

Range 0 - 16777215

Don’t show dialog.

If you need to enter an initial count of other than 0, enter the desired count in the Initial Count data ﬁeld. Then click OK or press <enter> to start the demo. The Reset All command button on the main user menu will reset all counters to zero. This is the default value. Dialogue box es that appear when the user selects other modes are very similar to the above.

This demo was developed under Visual BASIC 4.0. For those unfamiliar with Visual BASIC, there are two primary types of modules developers create when they write a program: form, and code modules. Form modules specify the form that GUI windows will take. Code modules are the guts of the program. They do everything from driving the system to enabling certain operations to take place within the form modules when users specify appropriate values. The architecture of any Visual BASIC program consists of a project ﬁle with some code and form modules in it.

The 5312 program architecture consists of a project ﬁle (VB5312.VBP) of seven form modules and three code modules. The form modules enable the user to interact with the available GUI interfaces. The code modules run the board at a low level. We do not offer the source for these modules, so this section is for your information only.

C-6 Visual BASIC Demonstration Program Model 5312B Software Developer’s Guide

Form modules

The main form module is FORM12.FRM. It is comprised of menu items, text boxes, and a command button. See Figure C-4.

Figure C-4

Primary form module

FILE DEMO MODE OPTIONS

DEMO MODE

Dec Dec Dec Dec

Text 2.9 ValText 2.9 Val Text 8 ValText 8 Val Text 15 ValText 15 Val Text 22 ValText 22 Val

Hex Hex Hex Hex

Text 2 ValText 2 Val Text 9 ValText 9 Val Text 16 ValText 16 Val Text 23 ValText 23 Val

Direction Direction Direction Direction

Compare Compare Compare Compare

Text 3 ValText 3 Val Text 10 ValText 10 Val Text 17 ValText 17 Val Text 24 ValText 24 Val

Text 4 ValText 4 Val Text 11 ValText 11 Val Text 18 ValText 18 Val Text 25 ValText 25 Val

Sign Sign Sign Sign

Text 5 ValText 5 Val Text 12 ValText 12 Val Text 19 ValText 19 Val Text 26 ValText 26 Val

Carry Carry Carry Carry

Text 6 ValText 6 Val Text 13 ValText 13 Val Text 20 ValText 20 Val Text 27 ValText 27 Val

Text 7 ValText 7 Val Text 14 ValText 14 Val Text 21 ValText 21 Val Text 28 ValText 28 Val

Borrow Borrow Borrow Borrow

ReadCmd

Text 2.9 ValText 2.9 Val

The secondary form modules (DEMO1DLG.FRM through DEMO5DLG.FRM) are all quite similar. They comprise the dialogue boxes for the various demo modes. They consist of a large read-only text box that provides the information about the mode in question, a small changeable text box, two command buttons and a check box. See Figure C-5 for a template.

Model 5312B Software Developer’s Guide Visual BASIC Demonstration Program C-7

Figure C-5

Template for form modules enabling demo-mode dialogue boxes

TextDig1

Text1

The last form module (ADDR.FRM) enables the user to enter board address values. It is not pictured here.

Code modules

The three code modules in the 5312 demo (START.BAS, 5312H.BAS, and DECL.BAS) drive the program. They are described in more detail below.

START.BAS

This code module is called on program startup. It runs through all the board initialization routines, including the init software, init board, and init global variables.

5312H.BAS

This module contains board register constants, dynamic linking library (DLL) function declarations, and DLL prototypes.

Command1 Command2

Check1

DECL.BAS

This code module contains program constants, user-deﬁned types and global variables.

LSI Chip Applications Note

D-2 LSI Chip Applications Note Model 5312B Software Developer’s Guide

Introduction

The following is an application note for developers of products with Model 5312. Those who preset their counter values relatively high (thousands of counts, typical) possibly won’t notice this problem in most applications. In fact, with thousands of units in the ﬁeld, we just recently discovered the bug.

Problem deﬁnition

The LSI 7166 chipset onboard these models exhibits a minor logic anomaly. The problem is most noticeable on systems using relatively low preloaded count values in the 7166. For example, if you preset your counter a +5, the ﬁrst count loop is decremented as 5, 4, 3, 2, 1, 0 then carries as the count rolls on to ffffff. Thus, the count loop consists of 6 states. On the second and all subsequent count loops, as the counter is decremented through zero, a borrow or carry condition occurs. The counter is then reset and preloaded with a value equal to the original value minus 1, i.e. [preload - borrow] or [5 -1 = 4] ( see Figure D-1).

Figure D-1

LSI chipset counter problem

NOTE: This makes the problem associated with low

Problem solution

The solution to this problem is to preload the counter to ‘1’, load the preset register to ‘5’, do a manual decrement twice. This will cause the counter to be reloaded with the correct value [preload - borrow]. You can perform this before the main counter control loop. To solve the problem at the register level, perform the increment/decrement at bits 2 and 1 of the Input Control Register during the initialization and conﬁguration stage. (See the manual.) To do this with the software drivers, follow the source below (in C). In this example, it is assumed that the axis 0 and the desired counts per update cycle is 5. Of course, you will need to pass axis and desired counts per cycle parameters appropriate to your application.

5 4 3 2 1 0

counts per index manifest.

Preload Value

Preload Reset

F/F BORROW = PR - 1

/* LOW COUNTS PER INDEX INITIALIZATION ROUTINE */ te5312DisableIRQ(); //---Mask Interrupt te5312LoadPr(Axis0, 1); //---Preload Counter to 1 te5312WriteCmd(Axis0, TE5312CR_DEC); //--- Decrement Counter te5312WriteCmd(Axis0, TE5312CR_DEC); //--- Twice te5312LoadPr(Axis0, 5); //---Reload Desired Cycle Counter /* Ready to Go */

Index

Alphabetical routine summary 4-1

Borland or Turbo C/C++ 1-3 Borland Turbo Pascal 1-4

Code modules C-7 Compiling and linking 1-2

Demo modes C-4 Demonstration program B-1 Developer’s guide C-5 Disable borrow/carry interrupt A-11 Disable index interrupt A-4 Disable interrupt request A-3 Driver routine descriptions A-1

Enable borrow/carry interrupt A-12 Enable index interrupt A-5 Enable interrupt request A-4 Enabling interrupts 3-2 Example programs 2-1

Form modules C-6

General notes on using interrupts 3-3

Initialize board A-5 Initialize encoder A-6 Initialize software A-8 Install interrupt hooks A-8 Installing the 5312 software 1-2 Interrupt handling 3-1 Interrupts in BASIC 3-2 Interrupts in C or Pascal 3-2 Introduction 3-2, 4-2, D-2

Load counter A-9 Load preset register A-9 LSI chip applications note D-1

Microsoft C or Microsoft QuickC 1-2 Microsoft QuickBASIC 1-3

Notational conventions A-3

Overview C-2

Problem definition D-2 Problem solution D-2 Program in BASIC 2-4 Program in C 2-2 Program in Pascal 2-5 Programming fundamentals 1-4 Programming overview 1-1

i-1

Read counter A-10 Read output latch A-10 Read status A-10 Routines 4-2

Software installation C-2

te5312DisableIRQ A-3 te5312EnableIRQ A-4 te5312IndexAlertOff A-4 te5312IndexAlertOn A-5 te5312InitBoard A-5 te5312InitEncoder A-6 te5312InitSw A-8 te5312InterruptHooks A-8 te5312LoadCntr A-9 te5312LoadPr A-9 te5312ReadCntr A-10 te5312ReadOL A-10 te5312ReadSts A-10 te5312WrapAroundAlertOff A-11 te5312WrapAroundAlertOn A-12 te5312WriteCmd A-12

User’s guide C-3

Visual BASIC demonstration program C-1

Windows 3.1 C-2 Windows 95 C-2 Write command A-12

i-2

Keithley Instruments, Inc.

28775 Aurora Road Cleveland, Ohio 44139

Printed in the U.S.A.

Tektronix 5312B User manual

Specifications and Main Features

Frequently Asked Questions

User Manual