WebSVN – f9daq – Blame – /8SMC1-USBhF/libusmc/libusmc.h

Rev	Author	Line No.	Line
8	f9daq	1	#ifndef _USMCDLL_H
		2	#define _USMCDLL_H
		3
		4
		5	#include <stdlib.h>
		6
		7
		8	#define USMC_ERROR_REF_DEV_DISCONNECTED 0x14141413
		9	#define USMC_ERROR_NOT_INITIALIZED 0x14141414
		10	#define USMC_ERROR_NO_DEVICES_CONNECTED 0x14141415
		11	#define USMC_SUCCESS 0
		12	#define TRUE 1
		13	#define FALSE 0
		14
		15
		16	typedef unsigned char BYTE;
		17	typedef unsigned int DWORD;
		18	typedef unsigned short WORD;
		19	typedef unsigned int BOOL;
		20	typedef void * PVOID;
		21
		22
		23	typedef struct _USMC_Devices
		24	{
		25	DWORD NOD; // Number of devices connected to computer.
		26	char ** Serial; // Array of pointers to 16√byte ASCII strings of length √ NOD.
		27	char ** Version; // Array of pointers to 4√byte ASCII strings of length √ NOD.
		28	} USMC_Devices, * PUSMC_Devices, * LPUSMC_Devices;
		29
		30
		31	typedef struct _USMC_Parameters
		32	{
		33	float AccelT; // Acceleration time (in ms).
		34	float DecelT; // Deceleration time (in ms).
		35	float PTimeout; // Time (in ms) after which current will be reduced to 60% of normal.
		36	float BTimeout1; // Time (in ms) after which speed of step motor rotation will be equal to the one specified at BTO1P field in this structure.
		37	float BTimeout2; // Time (in ms) after which speed of step motor rotation will be equal to the one specified at BTO2P field in this structure.
		38	float BTimeout3; // Time (in ms) after which speed of step motor rotation will be equal to the one specified at BTO3P field in this structure.
		39	float BTimeout4; // Time (in ms) after which speed of step motor rotation will be equal to the one specified at BTO4P field in this structure.
		40	float BTimeoutR; // Time (in ms) after which reset command will be performed.
		41	float BTimeoutD; // This field is reserved for future use.
		42	float MinP; // Speed (steps/sec) while performing reset operation.
		43	float BTO1P; // Speed (steps/sec) after BTIMEOUT1 time has passed.
		44	float BTO2P; // Speed (steps/sec) after BTIMEOUT2 time has passed.
		45	float BTO3P; // Speed (steps/sec) after BTIMEOUT3 time has passed.
		46	float BTO4P; // Speed (steps/sec) after BTIMEOUT4 time has passed.
		47	WORD MaxLoft; // Value in full steps that will be used performing backlash operation.
		48	DWORD StartPos; // Current Position saved to FLASH.
		49	WORD RTDelta; // Revolution distance √ number of full steps per one full revolution.
		50	WORD RTMinError; // Number of full steps missed to raise the error flag.
		51	float MaxTemp; // Maximum allowed temperature (centigrade degrees).
		52	BYTE SynOUTP; // Duration of the output synchronization pulse.
		53	float LoftPeriod; // Speed (steps/sec) of the last phase of the backlash operation.
		54	float EncMult; // Encoder step multiplier. Should be <Encoder Steps per Evolution> / <SM Steps per Evolution> and should be integer multiplied by 0.25.
		55	} USMC_Parameters, * PUSMC_Parameters, * LPUSMC_Parameters;
		56
		57
		58	typedef struct _USMC_StartParameters
		59	{
		60	BYTE SDivisor; // Step is divided by this factor (1,2,4,8).
		61	BOOL DefDir; // Direction for backlash operation (relative).
		62	BOOL LoftEn; // Enable automatic backlash operation (works if slow start/stop mode is off).
		63	BOOL SlStart; // If TRUE slow start/stop mode enabled.
		64	BOOL WSyncIN; // If TRUE controller will wait for input synchronization signal to start.
		65	BOOL SyncOUTR; // If TRUE output synchronization counter will be reset.
		66	BOOL ForceLoft; // If TRUE and destination position is equal to the current position backlash operation will be performed.
		67	} USMC_StartParameters, * PUSMC_StartParameters, * LPUSMC_StartParameters;
		68
		69
		70	typedef struct _USMC_Mode
		71	{ // Masked Saved To Flash Description:
		72	BOOL PMode; // √ YES Turn off buttons (TRUE - buttons disabled).
		73	BOOL PReg; // √ YES Current reduction regime (TRUE - regime is on).
		74	BOOL ResetD; // √ YES Turn power off and make a whole step (TRUE - apply).
		75	BOOL EMReset; // √ √ Quick power off.
		76	BOOL Tr1T; // √ YES Trailer 1 TRUE state (TRUE : +3/+5б; FALSE : 0б).
		77	BOOL Tr2T; // √ YES Trailer 2 TRUE state (TRUE : +3/+5б; FALSE : 0б).
		78	BOOL RotTrT; // √ YES Rotary Transducer TRUE state (TRUE : +3/+5б; FALSE : 0б).
		79	BOOL TrSwap; // √ YES If TRUE, Trailers are treated to be swapped.
		80	BOOL Tr1En; // √ YES If TRUE Trailer 1 Operation Enabled.
		81	BOOL Tr2En; // √ YES If TRUE Trailer 2 Operation Enabled.
		82	BOOL RotTeEn; // √ YES If TRUE Rotary Transducer Operation Enabled.
		83	BOOL RotTrOp; // √ YES Rotary Transducer Operation Select (stop on error if TRUE).
		84	BOOL Butt1T; // √ YES Button 1 TRUE state (TRUE : +3/+5б; FALSE : 0б).
		85	BOOL Butt2T; // √ YES Button 2 TRUE state (TRUE : +3/+5б; FALSE : 0б).
		86	BOOL ResetRT; // YES √ Reset Rotary Transducer Check Positions (need one full revolution before it can detect error).
		87	BOOL SyncOUTEn; // √ YES If TRUE output synchronization enabled.
		88	BOOL SyncOUTR; // YES √ If TRUE output synchronization counter will be reset.
		89	BOOL SyncINOp; // √ YES Synchronization input mode:
		90	// TRUE - Step motor will move one time to the DestPos
		91	// FALSE - Step motor will move multiple times by DestPos microsteps as distance.
		92	DWORD SyncCount; // √ YES Number of steps after which synchronization output signal occurs.
		93	BOOL SyncInvert; // √ YES Set this bit to TRUE to invert output synchronization polarity.
		94	BOOL EncoderEn; // √ YES Enable Encoder on pins {SYNCIN,ROTTR} - disables Synchronization input and Rotary Transducer.
		95	BOOL EncoderInv; // √ YES Invert Encoder Counter Direction.
		96	BOOL ResBEnc; // YES √ Reset <EncoderPos> and <ECurPos> to 0.
		97	BOOL ResEnc; // YES √ Reset <ECurPos> to <EncoderPos>.
		98	} USMC_Mode, * PUSMC_Mode, * LPUSMC_Mode;
		99
		100
		101	typedef struct _USMC_State
		102	{
		103	int CurPos; // Current position (in 1/8 steps).
		104	float Temp; // Current temperature of the power driver.
		105	BYTE SDivisor; // Step is divided by this factor.
		106	BOOL Loft; // Indicates backlash status.
		107	BOOL FullPower; // Full power if TRUE.
		108	BOOL CW_CCW; // Current direction of rotation (relatively to some direction √ dependent on step motor circuits connection and on its construction).
		109	BOOL Power; // If TRUE then Step Motor power is ON.
		110	BOOL FullSpeed; // If TRUE then full speed. Valid in "Slow Start" mode only.
		111	BOOL AReset; // TRUE After Device reset, FALSE after "Set Position".
		112	BOOL RUN; // TRUE if step motor is rotating.
		113	BOOL SyncIN; // Logical state directly from input synchronization PIN (pulses treated as positive).
		114	BOOL SyncOUT; // Logical state directly from output synchronization PIN (pulses are positive).
		115	BOOL RotTr; // Indicates current rotary transducer logical press state.
		116	BOOL RotTrErr; // Indicates rotary transducer error flag (reset by USMC_SetMode function with ResetRT bit √ TRUE).
		117	BOOL EmReset; // Indicates state of emergency disable button (TRUE √ Step motor power off).
		118	BOOL Trailer1; // Indicates trailer 1 logical press state.
		119	BOOL Trailer2; // Indicates trailer 2 logical press state.
		120	float Voltage; // Input power source voltage (6-39V) -= 24 version 0nly=-.
		121	} USMC_State, * PUSMC_State, * LPUSMC_State;
		122
		123
		124	typedef struct _USMC_EncoderState
		125	{
		126	int EncoderPos; // Current position measured by encoder.
		127	int ECurPos; // Current position (in Encoder Steps) - Synchronized with request call.
		128	} USMC_EncoderState, * PUSMC_EncoderState, * LPUSMC_EncoderState;
		129
		130
		131	typedef USMC_Devices const * PCUSMC_Devices;
		132	typedef USMC_Devices const * LPCUSMC_Devices;
		133	typedef USMC_Parameters const * PCUSMC_Parameters;
		134	typedef USMC_Parameters const * LPCUSMC_Parameters;
		135	typedef USMC_StartParameters const * PCUSMC_StartParameters;
		136	typedef USMC_StartParameters const * LPCUSMC_StartParameters;
		137	typedef USMC_Mode const * PCUSMC_Mode;
		138	typedef USMC_Mode const * LPCUSMC_Mode;
		139	typedef USMC_State const * PCUSMC_State;
		140	typedef USMC_State const * LPCUSMC_State;
		141	typedef USMC_EncoderState const * PCUSMC_EncoderState;
		142	typedef USMC_EncoderState const * LPCUSMC_EncoderState;
		143
		144
		145	DWORD USMC_Init ( USMC_Devices * Str );
		146	DWORD USMC_GetState ( DWORD Device, USMC_State * Str );
		147	DWORD USMC_SaveParametersToFlash ( DWORD Device );
		148	DWORD USMC_GetMode ( DWORD Device, USMC_Mode * Str );
		149	DWORD USMC_SetMode ( DWORD Device, USMC_Mode * Str );
		150	DWORD USMC_GetParameters ( DWORD Device, USMC_Parameters * Str );
		151	DWORD USMC_SetParameters ( DWORD Device, USMC_Parameters * Str );
		152	DWORD USMC_GetStartParameters ( DWORD Device, USMC_StartParameters * Str );
		153	DWORD USMC_Start ( DWORD Device, int DestPos,
		154	float * Speed,
		155	USMC_StartParameters * Str );
		156	DWORD USMC_Stop ( DWORD Device );
		157	DWORD USMC_SetCurrentPosition ( DWORD Device, int Position );
		158	DWORD USMC_GetEncoderState ( DWORD Device, USMC_EncoderState * Str );
		159	void USMC_GetLastErr ( char * str, ssize_t len );
		160	DWORD USMC_Close ( void );
		161	#endif // _USMCDLL_H

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(root)/8SMC1-USBhF/libusmc/libusmc.h – Rev 252