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#ifndef _USMCDLL_H
#define _USMCDLL_H
#include <stdlib.h>
#define USMC_ERROR_REF_DEV_DISCONNECTED 0x14141413
#define USMC_ERROR_NOT_INITIALIZED 0x14141414
#define USMC_ERROR_NO_DEVICES_CONNECTED 0x14141415
#define USMC_SUCCESS 0
#define TRUE 1
#define FALSE 0
typedef unsigned char BYTE;
typedef unsigned int DWORD;
typedef unsigned short WORD;
typedef unsigned int BOOL;
typedef void * PVOID;
typedef struct _USMC_Devices
{
DWORD NOD; // Number of devices connected to computer.
char ** Serial; // Array of pointers to 16√byte ASCII strings of length √ NOD.
char ** Version; // Array of pointers to 4√byte ASCII strings of length √ NOD.
} USMC_Devices, * PUSMC_Devices, * LPUSMC_Devices;
typedef struct _USMC_Parameters
{
float AccelT; // Acceleration time (in ms).
float DecelT; // Deceleration time (in ms).
float PTimeout; // Time (in ms) after which current will be reduced to 60% of normal.
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.
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.
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.
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.
float BTimeoutR; // Time (in ms) after which reset command will be performed.
float BTimeoutD; // This field is reserved for future use.
float MinP; // Speed (steps/sec) while performing reset operation.
float BTO1P; // Speed (steps/sec) after BTIMEOUT1 time has passed.
float BTO2P; // Speed (steps/sec) after BTIMEOUT2 time has passed.
float BTO3P; // Speed (steps/sec) after BTIMEOUT3 time has passed.
float BTO4P; // Speed (steps/sec) after BTIMEOUT4 time has passed.
WORD MaxLoft; // Value in full steps that will be used performing backlash operation.
DWORD StartPos; // Current Position saved to FLASH.
WORD RTDelta; // Revolution distance √ number of full steps per one full revolution.
WORD RTMinError; // Number of full steps missed to raise the error flag.
float MaxTemp; // Maximum allowed temperature (centigrade degrees).
BYTE SynOUTP; // Duration of the output synchronization pulse.
float LoftPeriod; // Speed (steps/sec) of the last phase of the backlash operation.
float EncMult; // Encoder step multiplier. Should be <Encoder Steps per Evolution> / <SM Steps per Evolution> and should be integer multiplied by 0.25.
} USMC_Parameters, * PUSMC_Parameters, * LPUSMC_Parameters;
typedef struct _USMC_StartParameters
{
BYTE SDivisor; // Step is divided by this factor (1,2,4,8).
BOOL DefDir; // Direction for backlash operation (relative).
BOOL LoftEn; // Enable automatic backlash operation (works if slow start/stop mode is off).
BOOL SlStart; // If TRUE slow start/stop mode enabled.
BOOL WSyncIN; // If TRUE controller will wait for input synchronization signal to start.
BOOL SyncOUTR; // If TRUE output synchronization counter will be reset.
BOOL ForceLoft; // If TRUE and destination position is equal to the current position backlash operation will be performed.
} USMC_StartParameters, * PUSMC_StartParameters, * LPUSMC_StartParameters;
typedef struct _USMC_Mode
{ // Masked Saved To Flash Description:
BOOL PMode; // √ YES Turn off buttons (TRUE - buttons disabled).
BOOL PReg; // √ YES Current reduction regime (TRUE - regime is on).
BOOL ResetD; // √ YES Turn power off and make a whole step (TRUE - apply).
BOOL EMReset; // √ √ Quick power off.
BOOL Tr1T; // √ YES Trailer 1 TRUE state (TRUE : +3/+5б; FALSE : 0б).
BOOL Tr2T; // √ YES Trailer 2 TRUE state (TRUE : +3/+5б; FALSE : 0б).
BOOL RotTrT; // √ YES Rotary Transducer TRUE state (TRUE : +3/+5б; FALSE : 0б).
BOOL TrSwap; // √ YES If TRUE, Trailers are treated to be swapped.
BOOL Tr1En; // √ YES If TRUE Trailer 1 Operation Enabled.
BOOL Tr2En; // √ YES If TRUE Trailer 2 Operation Enabled.
BOOL RotTeEn; // √ YES If TRUE Rotary Transducer Operation Enabled.
BOOL RotTrOp; // √ YES Rotary Transducer Operation Select (stop on error if TRUE).
BOOL Butt1T; // √ YES Button 1 TRUE state (TRUE : +3/+5б; FALSE : 0б).
BOOL Butt2T; // √ YES Button 2 TRUE state (TRUE : +3/+5б; FALSE : 0б).
BOOL ResetRT; // YES √ Reset Rotary Transducer Check Positions (need one full revolution before it can detect error).
BOOL SyncOUTEn; // √ YES If TRUE output synchronization enabled.
BOOL SyncOUTR; // YES √ If TRUE output synchronization counter will be reset.
BOOL SyncINOp; // √ YES Synchronization input mode:
// TRUE - Step motor will move one time to the DestPos
// FALSE - Step motor will move multiple times by DestPos microsteps as distance.
DWORD SyncCount; // √ YES Number of steps after which synchronization output signal occurs.
BOOL SyncInvert; // √ YES Set this bit to TRUE to invert output synchronization polarity.
BOOL EncoderEn; // √ YES Enable Encoder on pins {SYNCIN,ROTTR} - disables Synchronization input and Rotary Transducer.
BOOL EncoderInv; // √ YES Invert Encoder Counter Direction.
BOOL ResBEnc; // YES √ Reset <EncoderPos> and <ECurPos> to 0.
BOOL ResEnc; // YES √ Reset <ECurPos> to <EncoderPos>.
} USMC_Mode, * PUSMC_Mode, * LPUSMC_Mode;
typedef struct _USMC_State
{
int CurPos; // Current position (in 1/8 steps).
float Temp; // Current temperature of the power driver.
BYTE SDivisor; // Step is divided by this factor.
BOOL Loft; // Indicates backlash status.
BOOL FullPower; // Full power if TRUE.
BOOL CW_CCW; // Current direction of rotation (relatively to some direction √ dependent on step motor circuits connection and on its construction).
BOOL Power; // If TRUE then Step Motor power is ON.
BOOL FullSpeed; // If TRUE then full speed. Valid in "Slow Start" mode only.
BOOL AReset; // TRUE After Device reset, FALSE after "Set Position".
BOOL RUN; // TRUE if step motor is rotating.
BOOL SyncIN; // Logical state directly from input synchronization PIN (pulses treated as positive).
BOOL SyncOUT; // Logical state directly from output synchronization PIN (pulses are positive).
BOOL RotTr; // Indicates current rotary transducer logical press state.
BOOL RotTrErr; // Indicates rotary transducer error flag (reset by USMC_SetMode function with ResetRT bit √ TRUE).
BOOL EmReset; // Indicates state of emergency disable button (TRUE √ Step motor power off).
BOOL Trailer1; // Indicates trailer 1 logical press state.
BOOL Trailer2; // Indicates trailer 2 logical press state.
float Voltage; // Input power source voltage (6-39V) -= 24 version 0nly=-.
} USMC_State, * PUSMC_State, * LPUSMC_State;
typedef struct _USMC_EncoderState
{
int EncoderPos; // Current position measured by encoder.
int ECurPos; // Current position (in Encoder Steps) - Synchronized with request call.
} USMC_EncoderState, * PUSMC_EncoderState, * LPUSMC_EncoderState;
typedef USMC_Devices const * PCUSMC_Devices;
typedef USMC_Devices const * LPCUSMC_Devices;
typedef USMC_Parameters const * PCUSMC_Parameters;
typedef USMC_Parameters const * LPCUSMC_Parameters;
typedef USMC_StartParameters const * PCUSMC_StartParameters;
typedef USMC_StartParameters const * LPCUSMC_StartParameters;
typedef USMC_Mode const * PCUSMC_Mode;
typedef USMC_Mode const * LPCUSMC_Mode;
typedef USMC_State const * PCUSMC_State;
typedef USMC_State const * LPCUSMC_State;
typedef USMC_EncoderState const * PCUSMC_EncoderState;
typedef USMC_EncoderState const * LPCUSMC_EncoderState;
DWORD USMC_Init ( USMC_Devices * Str );
DWORD USMC_GetState ( DWORD Device, USMC_State * Str );
DWORD USMC_SaveParametersToFlash ( DWORD Device );
DWORD USMC_GetMode ( DWORD Device, USMC_Mode * Str );
DWORD USMC_SetMode ( DWORD Device, USMC_Mode * Str );
DWORD USMC_GetParameters ( DWORD Device, USMC_Parameters * Str );
DWORD USMC_SetParameters ( DWORD Device, USMC_Parameters * Str );
DWORD USMC_GetStartParameters ( DWORD Device, USMC_StartParameters * Str );
DWORD USMC_Start ( DWORD Device, int DestPos,
float * Speed,
USMC_StartParameters * Str );
DWORD USMC_Stop ( DWORD Device );
DWORD USMC_SetCurrentPosition ( DWORD Device, int Position );
DWORD USMC_GetEncoderState ( DWORD Device, USMC_EncoderState * Str );
void USMC_GetLastErr ( char * str, ssize_t len );
DWORD USMC_Close ( void );
#endif // _USMCDLL_H