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using System;
using System.Text;
using System.Linq;
using System.Drawing;
using System.Diagnostics;
using System.Windows.Forms;
using System.Threading;
using System.Threading.Tasks;
using System.Collections.Generic;
using Tango.PMR.Stubs;
using Tango.Stubs;
//Reg Name Functionlity/Contents D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 D0
const Int32 F1_Moto_Driver_NBUSY1_Direct = 0x050;// Reads the direct values that are currently being sent to the fpga. rsv rsv rsv rsv rsv F1_MOTO_DH_CLEANHEAD_A1_NBUSY F1_MOTO_DH_CLEANMECH_A1_NBUSY F1_MOTO_DH_LID_A1_NBUSY F1_MOTO_DRYER_DRIVING_A1_NBUSY F1_MOTO_DRYER_LID_A1_NBUSY F1_MOTO_DRYER_LOADARM_A1_NBUSY F1_MOTO_LDANCER1_A1_NBUSY F1_MOTO_LDANCER2_A1_NBUSY F1_MOTO_LDRIVING_A1_NBUSY F1_MOTO_LLOADING_A1_NBUSY F1_MOTO_LPIVOT1_A1_NBUSY
const Int32 F1_Moto_Driver_NBUSY2_Direct = 0x060;// Reads the direct values that are currently being sent to the fpga. rsv rsv rsv rsv rsv rsv rsv rsv rsv rsv F1_MOTO_RDANCER_A1_NBUSY F1_MOTO_RDRIVING_A1_NBUSY F1_MOTO_RLOADARM_A1_NBUSY F1_MOTO_RLOADING_A1_NBUSY F1_MOTO_SCREW_A1_NBUSY F1_MOTO_WINDER_A1_NBUSY
const Int32 F2_Moto_Driver_NBUSY1_Direct = 0x050;// Reads the direct values that are currently being sent to the fpga. rsv rsv rsv rsv rsv rsv rsv rsv F2_MOTO_DISPENSER_A1_1_NBUSY F2_MOTO_DISPENSER_A1_2_NBUSY F2_MOTO_DISPENSER_A1_3_NBUSY F2_MOTO_DISPENSER_A1_4_NBUSY F2_MOTO_DISPENSER_A1_5_NBUSY F2_MOTO_DISPENSER_A1_6_NBUSY F2_MOTO_DISPENSER_A1_7_NBUSY F2_MOTO_DISPENSER_A1_8_NBUSY
const Int32 F3_Moto_Driver_NBUSY1_Direct = 0x060;// Reads the direct values that are currently being sent to the fpga. rsv rsv rsv rsv rsv rsv rsv rsv rsv rsv rsv F3_MOTO_SPARE3_1_A1_NBUSY F3_MOTO_SPARE2_2_A1_NBUSY F3_MOTO_SPARE2_1_A1_NBUSY F3_MOTO_SPARE1_2_A1_NBUSY F3_MOTO_SPARE1_1_A1_NBUSY
/*** Motor Driver Reset Signals ***/
//Reg Name Functionlity/Contents D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 D0
const Int32 F1_Moto_Driver_NSTBYRST1 = 0x0B2 ; // "F1_MOTO_LPIVOT1_A1_NSTBYRST", "F1_MOTO_LLOADING_A1_NSTBYRST", "F1_MOTO_LDRIVING_A1_NSTBYRST", "F1_MOTO_LDANCER2_A1_NSTBYRST", "F1_MOTO_LDANCER1_A1_NSTBYRST", "F1_MOTO_DRYER_LOADARM_A1_NSTBYRST", "F1_MOTO_DRYER_LID_A1_NSTBYRST", "F1_MOTO_DRYER_DRIVING_A1_NSTBYRST", "F1_MOTO_DH_LID_A1_NSTBYRST", "F1_MOTO_DH_CLEANMECH_A1_NSTBYRST", "F1_MOTO_DH_CLEANHEAD_A1_NSTBYRST", "rsv", "rsv", "rsv", "rsv", "rsv"
string[] F1_Moto_Driver_NSTBYRST1_Bits = {"F1_MOTO_LPIVOT1_A1_NSTBYRST", "F1_MOTO_LLOADING_A1_NSTBYRST", "F1_MOTO_LDRIVING_A1_NSTBYRST", "F1_MOTO_LDANCER2_A1_NSTBYRST", "F1_MOTO_LDANCER1_A1_NSTBYRST", "F1_MOTO_DRYER_LOADARM_A1_NSTBYRST", "F1_MOTO_DRYER_LID_A1_NSTBYRST", "F1_MOTO_DRYER_DRIVING_A1_NSTBYRST", "F1_MOTO_DH_LID_A1_NSTBYRST", "F1_MOTO_DH_CLEANMECH_A1_NSTBYRST", "F1_MOTO_DH_CLEANHEAD_A1_NSTBYRST", "rsv", "rsv", "rsv", "rsv", "rsv"};
const Int32 F1_Moto_Driver_NSTBYRST2 = 0x0C2 ; // "F1_MOTO_WINDER_A1_NSTBYRST", "F1_MOTO_SCREW_A1_NSTBYRST", "F1_MOTO_RLOADING_A1_NSTBYRST", "F1_MOTO_RLOADARM_A1_NSTBYRST", "F1_MOTO_RDRIVING_A1_NSTBYRST", "F1_MOTO_RDANCER_A1_NSTBYRST", "rsv", "rsv", "rsv", "rsv", "rsv", "rsv", "rsv", "rsv", "rsv", "rsv"
string[] F1_Moto_Driver_NSTBYRST2_Bits = {"F1_MOTO_WINDER_A1_NSTBYRST", "F1_MOTO_SCREW_A1_NSTBYRST", "F1_MOTO_RLOADING_A1_NSTBYRST", "F1_MOTO_RLOADARM_A1_NSTBYRST", "F1_MOTO_RDRIVING_A1_NSTBYRST", "F1_MOTO_RDANCER_A1_NSTBYRST", "rsv", "rsv", "rsv", "rsv", "rsv", "rsv", "rsv", "rsv", "rsv", "rsv"};
const Int32 F2_Moto_Driver_NSTBYRST1 = 0x0B2 ; // "F2_MOTO_DISPENSER_A1_8_NSTBYRST", "F2_MOTO_DISPENSER_A1_7_NSTBYRST", "F2_MOTO_DISPENSER_A1_6_NSTBYRST", "F2_MOTO_DISPENSER_A1_5_NSTBYRST", "F2_MOTO_DISPENSER_A1_4_NSTBYRST", "F2_MOTO_DISPENSER_A1_3_NSTBYRST", "F2_MOTO_DISPENSER_A1_2_NSTBYRST", "F2_MOTO_DISPENSER_A1_1_NSTBYRST", "rsv", "rsv", "rsv", "rsv", "rsv", "rsv", "rsv", "rsv"
string[] F2_Moto_Driver_NSTBYRST1_Bits = {"F2_MOTO_DISPENSER_A1_8_NSTBYRST", "F2_MOTO_DISPENSER_A1_7_NSTBYRST", "F2_MOTO_DISPENSER_A1_6_NSTBYRST", "F2_MOTO_DISPENSER_A1_5_NSTBYRST", "F2_MOTO_DISPENSER_A1_4_NSTBYRST", "F2_MOTO_DISPENSER_A1_3_NSTBYRST", "F2_MOTO_DISPENSER_A1_2_NSTBYRST", "F2_MOTO_DISPENSER_A1_1_NSTBYRST", "rsv", "rsv", "rsv", "rsv", "rsv", "rsv", "rsv", "rsv"};
const Int32 F3_Moto_Driver_NSTBYRST1 = 0x0B2 ; // "F3_MOTO_SPARE3_1_A1_NSTBYRST", "F3_MOTO_SPARE2_2_A1_NSTBYRST", "F3_MOTO_SPARE2_1_A1_NSTBYRST", "F3_MOTO_SPARE1_2_A1_NSTBYRST", "F3_MOTO_SPARE1_1_A1_NSTBYRST", "rsv", "rsv", "rsv", "rsv", "rsv", "rsv", "rsv", "rsv", "rsv", "rsv", "rsv"
string[] F3_Moto_Driver_NSTBYRST1_Bits = {"F3_MOTO_SPARE3_1_A1_NSTBYRST", "F3_MOTO_SPARE2_2_A1_NSTBYRST", "F3_MOTO_SPARE2_1_A1_NSTBYRST", "F3_MOTO_SPARE1_2_A1_NSTBYRST", "F3_MOTO_SPARE1_1_A1_NSTBYRST", "rsv", "rsv", "rsv", "rsv", "rsv", "rsv", "rsv", "rsv", "rsv", "rsv", "rsv"};
/*** SW signals ***/
const Int32 F1_Moto_Driver_SW1 = 0x0D2 ; // "F1_MOTO_LPIVOT1_A1_SW ", "F1_MOTO_LLOADING_A1_SW ", "F1_MOTO_LDRIVING_A1_SW ", "F1_MOTO_LDANCER2_A1_SW ", "F1_MOTO_LDANCER1_A1_SW ", "F1_MOTO_DRYER_LOADARM_A1_SW ", "F1_MOTO_DRYER_LID_A1_SW ", "F1_MOTO_DRYER_DRIVING_A1_SW ", "F1_MOTO_DH_LID_A1_SW ", "F1_MOTO_DH_CLEANMECH_A1_SW ", "F1_MOTO_DH_CLEANHEAD_A1_SW", "F1_GPO_TFEED_BREAK_1", "F1_GPO_TFEED_BREAK_2", "rsv", "rsv", "rsv"
string[] F1_Moto_Driver_SW1_Bits = {"F1_MOTO_LPIVOT1_A1_SW ", "F1_MOTO_LLOADING_A1_SW ", "F1_MOTO_LDRIVING_A1_SW ", "F1_MOTO_LDANCER2_A1_SW ", "F1_MOTO_LDANCER1_A1_SW ", "F1_MOTO_DRYER_LOADARM_A1_SW ", "F1_MOTO_DRYER_LID_A1_SW ", "F1_MOTO_DRYER_DRIVING_A1_SW ", "F1_MOTO_DH_LID_A1_SW ", "F1_MOTO_DH_CLEANMECH_A1_SW ", "F1_MOTO_DH_CLEANHEAD_A1_SW", "F1_GPO_TFEED_BREAK_1", "F1_GPO_TFEED_BREAK_2", "rsv", "rsv", "rsv"};
const Int32 F1_Moto_Driver_SW2 = 0x0E2 ; // "F1_MOTO_WINDER_A1_SW", "F1_MOTO_SCREW_A1_SW ", "F1_MOTO_RLOADING_A1_SW ", "F1_MOTO_RLOADARM_A1_SW ", "F1_MOTO_RDRIVING_A1_SW ", "F1_MOTO_RDANCER_A1_SW ", "rsv", "rsv", "rsv", "rsv", "rsv", "rsv", "rsv", "rsv", "rsv", "rsv"
const Int32 F2_Moto_Driver_SW1 = 0x0D2 ; // "F1_MOTO_LPIVOT1_A1_SW ", "F1_MOTO_LLOADING_A1_SW ", "F1_MOTO_LDRIVING_A1_SW ", "F1_MOTO_LDANCER2_A1_SW ", "F1_MOTO_LDANCER1_A1_SW ", "F1_MOTO_DRYER_LOADARM_A1_SW ", "F1_MOTO_DRYER_LID_A1_SW ", "F1_MOTO_DRYER_DRIVING_A1_SW ", "F1_MOTO_DH_LID_A1_SW ", "F1_MOTO_DH_CLEANMECH_A1_SW ", "F1_MOTO_DH_CLEANHEAD_A1_SW", "F1_GPO_TFEED_BREAK_1", "F1_GPO_TFEED_BREAK_2", "rsv", "rsv", "rsv"
const Int32 F3_Moto_Driver_SW1 = 0x0D2 ; // "F3_MOTO_SPARE1_1_A1_SW", "F3_MOTO_SPARE1_2_A1_SW", "F3_MOTO_SPARE2_1_A1_SW", "F3_MOTO_SPARE2_2_A1_SW", "F3_MOTO_SPARE3_1_A1_SW", "rsv", "rsv", "rsv", "rsv", "rsv", "rsv", "rsv", "rsv", "rsv", "rsv", "rsv"
/*** RTFU Motors ***/
const Int32 F1_MOTO_RLOADING_TX1 = 0x0202;
const Int32 F1_MOTO_RLOADING_TX0 = 0x0200;
const Int32 F1_MOTO_RLOADING_RX1 = 0x0206;
const Int32 F1_MOTO_RLOADING_RX0 = 0x0204;
const Int32 F1_MOTO_RDRIVING_TX1 = 0x0212;
const Int32 F1_MOTO_RDRIVING_TX0 = 0x0210;
const Int32 F1_MOTO_RDRIVING_RX1 = 0x0216;
const Int32 F1_MOTO_RDRIVING_RX0 = 0x0214;
const Int32 F1_MOTO_RLOADARM_TX1 = 0x02a2;
const Int32 F1_MOTO_RLOADARM_TX0 = 0x02a0;
const Int32 F1_MOTO_RDANCER_TX1 = 0x02b2;
const Int32 F1_MOTO_RDANCER_TX0 = 0x02b0;
/*** LTFU Motors ***/
const Int32 F1_MOTO_LDRIVING_TX1 = 0x0222;
const Int32 F1_MOTO_LDRIVING_TX0 = 0x0220;
const Int32 F1_MOTO_LDRIVING_RX1 = 0x0226;
const Int32 F1_MOTO_LDRIVING_RX0 = 0x0224;
const Int32 F1_MOTO_LLOADING_TX1 = 0x0232;
const Int32 F1_MOTO_LLOADING_TX0 = 0x0230;
const Int32 F1_MOTO_LDANCER1_TX1 = 0x02c2;
const Int32 F1_MOTO_LDANCER1_TX0 = 0x02c0;
const Int32 F1_MOTO_LDANCER2_TX1 = 0x02d2;
const Int32 F1_MOTO_LDANCER2_TX0 = 0x02d0;
const Int32 F1_MOTO_LDANCER2_A1_AMT_OF_WORDS = 0x02d8;
const Int32 F1_MOTO_LPIVOT1_TX1 = 0x0302;
const Int32 F1_MOTO_LPIVOT1_TX0 = 0x0300;
const Int32 F1_MOTO_LPIVOT1_A1_AMT_OF_WORDS = 0x0308;
/*** Dryer Motors ***/
const Int32 F1_MOTO_DRYER_LOADARM_A1_TX_00 = 0x240 ;
const Int32 F1_MOTO_DRYER_LOADARM_A1_TX_01 = 0x242 ;
const Int32 F1_MOTO_DRYER_LOADARM_A1_RX_00 = 0x244 ;
const Int32 F1_MOTO_DRYER_LOADARM_A1_RX_01 = 0x246 ;
const Int32 F1_MOTO_DRYER_DRIVING_A1_TX_00 = 0x250 ;
const Int32 F1_MOTO_DRYER_DRIVING_A1_TX_01 = 0x252 ;
const Int32 F1_MOTO_DRYER_DRIVING_A1_RX_00 = 0x254 ;
const Int32 F1_MOTO_DRYER_DRIVING_A1_RX_01 = 0x256 ;
const Int32 F1_MOTO_DRYER_LID_A1_TX_00 = 0x2E0 ;
const Int32 F1_MOTO_DRYER_LID_A1_TX_01 = 0x2E2 ;
const Int32 F1_MOTO_DRYER_LID_A1_RX_00 = 0x2E4 ;
const Int32 F1_MOTO_DRYER_LID_A1_RX_01 = 0x2E6 ;
/*** Dyeing Head Motors ***/
const Int32 F1_MOTO_DH_CLEANHEAD_A1_TX_00 = 0x260 ;
const Int32 F1_MOTO_DH_CLEANHEAD_A1_TX_01 = 0x262 ;
const Int32 F1_MOTO_DH_CLEANHEAD_A1_RX_00 = 0x264 ;
const Int32 F1_MOTO_DH_CLEANHEAD_A1_RX_01 = 0x266 ;
const Int32 F1_MOTO_DH_CLEANMECH_A1_TX_00 = 0x270 ;
const Int32 F1_MOTO_DH_CLEANMECH_A1_TX_01 = 0x272 ;
const Int32 F1_MOTO_DH_CLEANMECH_A1_RX_00 = 0x274 ;
const Int32 F1_MOTO_DH_CLEANMECH_A1_RX_01 = 0x276 ;
const Int32 F1_MOTO_DH_LID_A1_TX_00 = 0x2F0 ;
const Int32 F1_MOTO_DH_LID_A1_TX_01 = 0x2F2 ;
const Int32 F1_MOTO_DH_LID_A1_RX_00 = 0x2F4 ;
const Int32 F1_MOTO_DH_LID_A1_RX_01 = 0x2F6 ;
/*** Winder Motors ***/
const Int32 F1_MOTO_SCREW_A1_TX_00 = 0x280 ;
const Int32 F1_MOTO_SCREW_A1_TX_01 = 0x282 ;
const Int32 F1_MOTO_SCREW_A1_RX_00 = 0x284 ;
const Int32 F1_MOTO_SCREW_A1_RX_01 = 0x286 ;
const Int32 F1_MOTO_WINDER_A1_TX_00 = 0x290 ;
const Int32 F1_MOTO_WINDER_A1_TX_01 = 0x292 ;
const Int32 F1_MOTO_WINDER_A1_RX_00 = 0x294 ;
const Int32 F1_MOTO_WINDER_A1_RX_01 = 0x296 ;
/*** Dispenser Motors ***/
const Int32 F2_MOTO_DISPENSER_A1_1_TX_00 = 0x320 ; // The second register to be shifted out of the spi. The msb bit of this register is shifted out first.
const Int32 F2_MOTO_DISPENSER_A1_1_TX_01 = 0x322 ; // The first register to be shifted out of the spi. The msb bit of this register is shifted out first.
const Int32 F2_MOTO_DISPENSER_A1_1_RX_00 = 0x324 ; // The 8 msb bits of the shifted in bits. The 8 msb bits of this register are zeros.
const Int32 F2_MOTO_DISPENSER_A1_1_RX_01 = 0x326 ; // The 16 Lsb bits of the shifted in data.
const Int32 F2_MOTO_DISPENSER_A1_1_AMT_OF_WORDS = 0x328 ; // The amount of spi words (usually byte sized) per transmission.
const Int32 F2_MOTO_DISPENSER_A1_2_TX_00 = 0x330 ; // The second register to be shifted out of the spi. The msb bit of this register is shifted out first.
const Int32 F2_MOTO_DISPENSER_A1_2_TX_01 = 0x332 ; // The first register to be shifted out of the spi. The msb bit of this register is shifted out first.
const Int32 F2_MOTO_DISPENSER_A1_2_RX_00 = 0x334 ; // The 8 msb bits of the shifted in bits. The 8 msb bits of this register are zeros.
const Int32 F2_MOTO_DISPENSER_A1_2_RX_01 = 0x336 ; // The 16 Lsb bits of the shifted in data.
const Int32 F2_MOTO_DISPENSER_A1_2AMT_OF_WORDS = 0x338 ; // The amount of spi words (usually byte sized) per transmission.
const Int32 F2_MOTO_DISPENSER_A1_3_TX_00 = 0x340 ; // The second register to be shifted out of the spi. The msb bit of this register is shifted out first.
const Int32 F2_MOTO_DISPENSER_A1_3_TX_01 = 0x342 ; // The first register to be shifted out of the spi. The msb bit of this register is shifted out first.
const Int32 F2_MOTO_DISPENSER_A1_3_RX_00 = 0x344 ; // The 8 msb bits of the shifted in bits. The 8 msb bits of this register are zeros.
const Int32 F2_MOTO_DISPENSER_A1_3_RX_01 = 0x346 ; // The 16 Lsb bits of the shifted in data.
const Int32 F2_MOTO_DISPENSER_A1_3_AMT_OF_WORDS = 0x348 ; // The amount of spi words (usually byte sized) per transmission.
const Int32 F2_MOTO_DISPENSER_A1_4_TX_00 = 0x350 ; // The second register to be shifted out of the spi. The msb bit of this register is shifted out first.
const Int32 F2_MOTO_DISPENSER_A1_4_TX_01 = 0x352 ; // The first register to be shifted out of the spi. The msb bit of this register is shifted out first.
const Int32 F2_MOTO_DISPENSER_A1_4_RX_00 = 0x354 ; // The 8 msb bits of the shifted in bits. The 8 msb bits of this register are zeros.
const Int32 F2_MOTO_DISPENSER_A1_4_RX_01 = 0x356 ; // The 16 Lsb bits of the shifted in data.
const Int32 F2_MOTO_DISPENSER_A1_4_AMT_OF_WORDS = 0x358 ; // The amount of spi words (usually byte sized) per transmission.
const Int32 F2_MOTO_DISPENSER_A1_5_TX_00 = 0x360 ; // The second register to be shifted out of the spi. The msb bit of this register is shifted out first.
const Int32 F2_MOTO_DISPENSER_A1_5_TX_01 = 0x362 ; // The first register to be shifted out of the spi. The msb bit of this register is shifted out first.
const Int32 F2_MOTO_DISPENSER_A1_5_RX_00 = 0x364 ; // The 8 msb bits of the shifted in bits. The 8 msb bits of this register are zeros.
const Int32 F2_MOTO_DISPENSER_A1_5_RX_01 = 0x366 ; // The 16 Lsb bits of the shifted in data.
const Int32 F2_MOTO_DISPENSER_A1_5_AMT_OF_WORDS = 0x368 ; // The amount of spi words (usually byte sized) per transmission.
const Int32 F2_MOTO_DISPENSER_A1_6_TX_00 = 0x370 ; // The second register to be shifted out of the spi. The msb bit of this register is shifted out first.
const Int32 F2_MOTO_DISPENSER_A1_6_TX_01 = 0x372 ; // The first register to be shifted out of the spi. The msb bit of this register is shifted out first.
const Int32 F2_MOTO_DISPENSER_A1_6_RX_00 = 0x374 ; // The 8 msb bits of the shifted in bits. The 8 msb bits of this register are zeros.
const Int32 F2_MOTO_DISPENSER_A1_6_RX_01 = 0x376 ; // The 16 Lsb bits of the shifted in data.
const Int32 F2_MOTO_DISPENSER_A1_6_AMT_OF_WORDS = 0x378 ; // The amount of spi words (usually byte sized) per transmission.
const Int32 F2_MOTO_DISPENSER_A1_7_TX_00 = 0x380 ; // The second register to be shifted out of the spi. The msb bit of this register is shifted out first.
const Int32 F2_MOTO_DISPENSER_A1_7_TX_01 = 0x382 ; // The first register to be shifted out of the spi. The msb bit of this register is shifted out first.
const Int32 F2_MOTO_DISPENSER_A1_7_RX_00 = 0x384 ; // The 8 msb bits of the shifted in bits. The 8 msb bits of this register are zeros.
const Int32 F2_MOTO_DISPENSER_A1_7_RX_01 = 0x386 ; // The 16 Lsb bits of the shifted in data.
const Int32 F2_MOTO_DISPENSER_A1_7_AMT_OF_WORDS = 0x388 ; // The amount of spi words (usually byte sized) per transmission.
const Int32 F2_MOTO_DISPENSER_A1_8_TX_00 = 0x390 ; // The second register to be shifted out of the spi. The msb bit of this register is shifted out first.
const Int32 F2_MOTO_DISPENSER_A1_8_TX_01 = 0x392 ; // The first register to be shifted out of the spi. The msb bit of this register is shifted out first.
const Int32 F2_MOTO_DISPENSER_A1_8_RX_00 = 0x394 ; // The 8 msb bits of the shifted in bits. The 8 msb bits of this register are zeros.
const Int32 F2_MOTO_DISPENSER_A1_8_RX_01 = 0x396 ; // The 16 Lsb bits of the shifted in data.
const Int32 F2_MOTO_DISPENSER_A1_8_AMT_OF_WORDS = 0x398 ; // The amount of spi words (usually byte sized) per transmission.
const Int32 F3_MOTO_SPARE1_1_A1_TX_00 = 0x200 ;
const Int32 F3_MOTO_SPARE1_1_A1_TX_01 = 0x202 ;
const Int32 F3_MOTO_SPARE1_1_A1_RX_00 = 0x204 ;
const Int32 F3_MOTO_SPARE1_1_A1_RX_01 = 0x206 ;
const Int32 F3_MOTO_SPARE1_1_A1_AMT_OF_WORDS = 0x208 ;
const Int32 F3_MOTO_SPARE1_2_A1_TX_00 = 0x210 ;
const Int32 F3_MOTO_SPARE1_2_A1_TX_01 = 0x212 ;
const Int32 F3_MOTO_SPARE1_2_A1_RX_00 = 0x214 ;
const Int32 F3_MOTO_SPARE1_2_A1_RX_01 = 0x216 ;
const Int32 F3_MOTO_SPARE1_2_A1_AMT_OF_WORDS = 0x218 ;
const Int32 F3_MOTO_SPARE2_1_A1_TX_00 = 0x220 ;
const Int32 F3_MOTO_SPARE2_1_A1_TX_01 = 0x222 ;
const Int32 F3_MOTO_SPARE2_1_A1_RX_00 = 0x224 ;
const Int32 F3_MOTO_SPARE2_1_A1_RX_01 = 0x226 ;
const Int32 F3_MOTO_SPARE2_1_A1_AMT_OF_WORDS = 0x228 ;
const Int32 F3_MOTO_SPARE2_2_A1_TX_00 = 0x230 ;
const Int32 F3_MOTO_SPARE2_2_A1_TX_01 = 0x232 ;
const Int32 F3_MOTO_SPARE2_2_A1_RX_00 = 0x234 ;
const Int32 F3_MOTO_SPARE2_2_A1_RX_01 = 0x236 ;
const Int32 F3_MOTO_SPARE2_2_A1_AMT_OF_WORDS = 0x238 ;
/*** Spare Motor ***/
const Int32 F3_MOTO_SPARE3_1_A1_TX_00 = 0x240;
const Int32 F3_MOTO_SPARE3_1_A1_TX_01 = 0x242;
const Int32 F3_MOTO_SPARE3_1_A1_RX_00 = 0x244;
const Int32 F3_MOTO_SPARE3_1_A1_RX_01 = 0x246;
const Int32 F3_MOTO_SPARE3_1_A1_AMT_OF_WORDS = 0x248;
/*** Motor Driver Commands ***/
const Int32 MOTORDRIVER_HIGHZ_COMMAND_MSB = 0xa800;
const Int32 MOTORDRIVER_HIGHZ_COMMAND_LSB = 0x0000;
const Int32 MOTORDRIVER_RUN_COMMAND_MSB = 0x5000;
const Int32 MOTORDRIVER_RUN_COMMAND_LSB = 0x0000;
const Int32 MOTORDRIVER_MOVE_COMMAND_MSB = 0x4000;
const Int32 MOTORDRIVER_MOVE_COMMAND_LSB = 0x0000;
const Int32 MOTORDRIVER_RDCFG_COMMAND_MSB = 0x3800;
const Int32 MOTORDRIVER_RDCFG_COMMAND_LSB = 0x0000;
const Int32 MOTORDRIVER_RDSTATUS_COMMAND_MSB = 0x3900;
const Int32 MOTORDRIVER_RDSTATUS_COMMAND_LSB = 0x0000;
const Int32 MOTORDRIVER_RDSTEPREG_COMMAND_MSB = 0x3600;
const Int32 MOTORDRIVER_RDSTEPREG_COMMAND_LSB = 0x0000;
const Int32 MOTORDRIVER_WRSTEPREG_COMMAND_MSB = 0x1600;
const Int32 MOTORDRIVER_WRSTEPREG_COMMAND_LSB = 0x0000;
const Int32 MOTORDRIVER_GETSTATUS_COMMAND_MSB = 0xd000;
const Int32 MOTORDRIVER_GETSTATUS_COMMAND_LSB = 0x0000;
int Motor_OutOfReset()
{
//Pull all L6470 motor drivers out of reset
Fpga_Write_Reg(FPGA1, F1_Moto_Driver_NSTBYRST1, 0x07ff,0);
Fpga_Write_Reg(FPGA1, F1_Moto_Driver_NSTBYRST2, 0x003f,0);
Fpga_Write_Reg(FPGA2, F2_Moto_Driver_NSTBYRST1, 0x00ff,0);
Fpga_Write_Reg(FPGA3, F3_Moto_Driver_NSTBYRST1, 0x001f,0);
/*
Fpga_Read_Reg(FPGA1, F1_Moto_Driver_NSTBYRST1,0);
Fpga_Read_Reg(FPGA1, F1_Moto_Driver_NSTBYRST2,0);
Fpga_Read_Reg(FPGA2, F2_Moto_Driver_NSTBYRST1,0);
Fpga_Read_Reg(FPGA3, F3_Moto_Driver_NSTBYRST1,0);
*/
return 1;
}
int Motor_DriverReset()
{
Fpga_Write_Reg(FPGA1, F1_Moto_Driver_NSTBYRST1, 0x0000,0);
Fpga_Write_Reg(FPGA1, F1_Moto_Driver_NSTBYRST2, 0x0000,0);
Fpga_Write_Reg(FPGA2, F2_Moto_Driver_NSTBYRST1, 0x0000,0);
Fpga_Write_Reg(FPGA3, F3_Moto_Driver_NSTBYRST1, 0x0000,0);
return 1;
}
int Motor_HighZ(Int32 Fpga, Int32 HighAdr, Int32 LowAdr)
{
Fpga_Write_Reg(Fpga, HighAdr, MOTORDRIVER_HIGHZ_COMMAND_MSB,0);
Fpga_Write_Reg(Fpga, LowAdr, MOTORDRIVER_HIGHZ_COMMAND_LSB,0);
return 1;
}
int Motor_Run(Int32 Fpga, Int32 HighAdr, Int32 LowAdr, Int32 Speed, Int32 Direction)
{
var RunCmdHigh = ( ((MOTORDRIVER_RUN_COMMAND_MSB >> 8) + (Direction & 0x1)) << 8 ) + ( (Speed & 0x0fffff) >> 16);
var RunCmdLow = (Speed & 0xffff);
Fpga_Write_Reg(Fpga, HighAdr, RunCmdHigh, 0);
Fpga_Write_Reg(Fpga, LowAdr, RunCmdLow, 0);
return 1;
}
int Motor_Move(Int32 Fpga, Int32 HighAdr, Int32 LowAdr, Int32 NumOfSteps, Int32 Direction)
{
var MoveCmdHigh = ( ((MOTORDRIVER_MOVE_COMMAND_MSB >> 8) + (Direction & 0x1)) << 8 ) + ( (NumOfSteps & 0x3fffff) >> 16);
var MoveCmdLow = (NumOfSteps & 0xffff);
Fpga_Write_Reg(Fpga, HighAdr, MoveCmdHigh, 0);
Fpga_Write_Reg(Fpga, LowAdr, MoveCmdLow, 0);
return 1;
}
int Motor_Move_Loop(Int32 Fpga, Int32 HighAdr, Int32 LowAdr, Int32 NumOfSteps, Int32 Direction, Int32 NumOfLoops)
{
for (int i = 0; i < NumOfLoops; i++)
{
Motor_Move(Fpga, HighAdr, LowAdr, NumOfSteps, Direction);
Thread.Sleep(1000);
Motor_Move(Fpga, HighAdr, LowAdr, NumOfSteps, Direction^0x1);
Thread.Sleep(1000);
}
return 1;
}
int Motor_Move_Loop_Screw(Int32 Fpga, Int32 HighAdr, Int32 LowAdr, Int32 NumOfSteps, Int32 Direction, Int32 NumOfLoops)
{
Int32 Bit = 0;
for (int i = 0; i < NumOfLoops; i++)
{
Motor_Move(Fpga, HighAdr, LowAdr, NumOfSteps, Direction);
Bit = GetBit(FPGA1, F1_Moto_Driver_NBUSY2_Direct, 1);
while (Bit == 0x0)
{
Bit = GetBit(FPGA1, F1_Moto_Driver_NBUSY2_Direct, 1);
}
Motor_Move(Fpga, HighAdr, LowAdr, NumOfSteps, Direction^0x1);
Bit = GetBit(FPGA1, F1_Moto_Driver_NBUSY2_Direct, 1);
while (Bit == 0x0)
{
Bit = GetBit(FPGA1, F1_Moto_Driver_NBUSY2_Direct, 1);
}
}
return 1;
}
int Motor_ReadCfg(Int32 Fpga, Int32 HighAdr, Int32 LowAdr)
{
Fpga_Write_Reg(Fpga, HighAdr, MOTORDRIVER_RDCFG_COMMAND_MSB, 0);
Fpga_Write_Reg(Fpga, LowAdr, MOTORDRIVER_RDCFG_COMMAND_LSB, 0);
Fpga_Read_Reg(Fpga, HighAdr+4, 1);
Fpga_Read_Reg(Fpga, LowAdr+4, 1);
return 1;
}
int Motor_ReadStatus(Int32 Fpga, Int32 HighAdr, Int32 LowAdr)
{
Fpga_Write_Reg(Fpga, HighAdr, MOTORDRIVER_RDSTATUS_COMMAND_MSB, 0);
Fpga_Write_Reg(Fpga, LowAdr, MOTORDRIVER_RDSTATUS_COMMAND_LSB, 0);
Fpga_Read_Reg(Fpga, HighAdr+4, 1);
Fpga_Read_Reg(Fpga, LowAdr+4, 1);
return 1;
}
int Motor_GetStatus(Int32 Fpga, Int32 HighAdr, Int32 LowAdr)
{
Fpga_Write_Reg(Fpga, HighAdr, MOTORDRIVER_GETSTATUS_COMMAND_MSB, 0);
Fpga_Write_Reg(Fpga, LowAdr, MOTORDRIVER_GETSTATUS_COMMAND_LSB, 0);
Fpga_Read_Reg(Fpga, HighAdr+4, 1);
Fpga_Read_Reg(Fpga, LowAdr+4, 1);
return 1;
}
// ParaData1 shall be left justified i.e. <Byte1><Byte0><0x00><0x00>
int Motor_SetParam(Int32 Fpga, Int32 HighAdr, Int32 LowAdr, Int32 ParaAddr, uint ParaData1)
{
Int32 Temp = 0;
Temp = (ParaAddr << 8 ) + ( (Int32) ParaData1 >> 24);
Fpga_Write_Reg(Fpga, HighAdr, Temp, 0);
Temp = ((Int32)ParaData1 >> 8) & 0xffff;
Fpga_Write_Reg(Fpga, LowAdr, Temp, 0);
Thread.Sleep(50);
//Fpga_Read_Reg(Fpga, HighAdr+4, 1);
//Fpga_Read_Reg(Fpga, LowAdr+4, 1);
return 1;
}
int Motor_GetParam(Int32 Fpga, Int32 HighAdr, Int32 LowAdr, Int32 ParaAddr)
{
Int32 Temp = 0;
Temp = (ParaAddr + 0x20) << 8 ;
Fpga_Write_Reg(Fpga, HighAdr, Temp, 0);
Temp = 0x0;
Fpga_Write_Reg(Fpga, LowAdr, Temp, 0);
Fpga_Read_Reg(Fpga, HighAdr+4, 1);
Fpga_Read_Reg(Fpga, LowAdr+4, 1);
return 1;
}
/*
int Motor_IsBusy(Int32 Fpga, Int32 HighAdr, Int32 LowAdr, Int32 BusyRegister, Int32 BusyBitNo)
{
int temp1 = 0;
int tmp3 = 0;
tmp3 = (int) GetBit(Fpga, F2_SPI_Busy1_Direct, BusyBitNo);
while ( tmp3 == 1)
{
tmp3 = (int) GetBit(Fpga, F2_SPI_Busy1_Direct, BusyBitNo);
stubManager.Write("\n\nBUSY");
}
var RV_High = Fpga_Read_Reg(Fpga, HighAdr+4, 0);
var RV_Low = Fpga_Read_Reg(Fpga, LowAdr+4, 0);
temp = ( (int) RV_High.Value << 16) + (int) RV_Low.Value;
return temp;
}
*/
/*
int Motor_SetStep(Int32 Fpga, Int32 HighAdr, Int32 LowAdr, Int32 StepVal)
{
var RetVal = Fpga_Read_Reg(Fpga, HighAdr+4, 1);
Fpga_Read_Reg(Fpga, LowAdr+4, 1);
Fpga_Write_Reg(Fpga, HighAdr, MOTORDRIVER_RDCFG_COMMAND_MSB, 1);
Fpga_Write_Reg(Fpga, LowAdr, MOTORDRIVER_RDCFG_COMMAND_LSB, 1);
}
const Int32 MOTORDRIVER_RDSTEPREG_COMMAND_MSB = 0x3600;
const Int32 MOTORDRIVER_RDSTEPREG_COMMAND_LSB = 0x0000;
const Int32 MOTORDRIVER_WRSTEPREG_COMMAND_MSB = 0x1600;
const Int32 MOTORDRIVER_WRSTEPREG_COMMAND_LSB = 0x0000;
*/
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