Performance Motion Devices PR8358120, Руководство пользователя

Страница: 59 / 103

Accessing Card Resources
Prodigy/CME PC/104 User’s Guide
59
3
3.1.2 PRP Resources
The Prodigy/CME PC/104 card supports five different resource types, each of which is identified by a specific
Resource ID. In addition each available resource has an Address. The following table summarizes these Resource IDs
and Addresses for the on-card Prodigy/CME PC/104 resources:
3.1.3 PRP Actions
The Prodigy/CME PC/104 card supports ten different actions, each of which is identified by a specific Action ID. In
addition, many actions have sub-actions associated with them that are loaded into the PRP message body. For more
information on actions, sub-actions, and the exact format by which the message body should be loaded, see the
Prodigy/CME Programmer’s Reference . The following table summarizes the Action IDs for the Prodigy/CME PC/104
cards:
3.2 Accessing the Communications
Ports
Figure 2-1 on page 32 shows an internal block diagram of the Prodigy/CME PC/104 card. Routing of
communications within the card is accomplished via a high-speed communications bus. This bus interconnects
resources within the card including the Magellan Motion Processor, the C-Motion Engine, and the Dual-ported RAM.
Resource
Name
Resource
ID Address Comments
Device 0 0 The Device resource indicates a Prodigy/CME card.
CMotionEngine 1 0 The CMotionEngine resource indicates a C-Motion Engine.
MotionProcessor 2 0 The MotionProcessor resource indicates a Magellan Motion Pro-
cessor.
Memory 3 0 The Memory resource indicates a dual-ported RAM (random
access memory).
Peripheral 4 0 The Peripheral resource indicates a communications connection.
A peripheral address of 0 indicates a ‘null’ peripheral. See Sec-
tion
3.2.1, “Peripheral Connections,” on page 60 for more infor-
mation.
Name Action ID
Used by
Resource Comments
NOP 0 All The No Operation (NOP) command is used to verify connec-
tion to a given resource.
Reset 1 Device, MotionProcessor Resets the specified resource.
Command 2 MotionProcessor,
CMotionEngine Sends a command to the specified resource.
Open 3 Peripheral, Device Creates a new addressable resource. Resource addresses cre-
ated using the Open
action are not fixed, they are assigned
automatically at the time a connection is requested.
Close 4 Peripheral, Device,
MotionProcessor Closes a resource created by Open, freeing the automatically-
assigned address. Used when a resource is no longer needed.
Send 5 Peripheral, C-Motion
Engine Sends a message to the specified resource.
Receive 6 Peripheral, C-Motion
Engine Receives a message from the specified resource
Write 7 Memory Writes a data word to a memory resource
Read 8 Memory Reads a data word from a memory resource
Set 9 Device, CMotionEngine Sets parameters for a specified resource
Get 10 Device, CMotionEngine Get parameters for a specified resource