pmddrv.h

一个机器人的源代码.软件设计得超级好!是商业级代码.

#ifndef PMD_Drv
#define	PMD_Drv

#ifdef WIN32
// required because we are using the Win32 API
#include <windows.h>
#endif

#include <PMDtrans.h>

//  PMDdrv.h -- parallel IO via Windows driver
//
//  Performance Motion Devices, Inc.
//

enum {PMDDrvIOMode_16_16=0, PMDDrvIOMode_8_16, PMDDrvIOMode_8_8};

typedef struct tagPMDDrvIOTransportData {

	PMDuint16 bVerifyChecksum;
	PMDuint16 bDiagnostics;

	int OSNT;
	HANDLE hDrv;
	int GettingError;
	int busMode;

} PMDDrvIOTransportData;

// forward declaration
//typedef struct tagPMDIOTransport PMDIOTransport;
//typedef struct tagPMDAxisHandle PMDAxisHandle;

// functions that can be called externally
PMDuint16 PMDDrv_Init(void* handle);
void PMDDrv_InitData(PMDDrvIOTransportData* transport_data, int IOMode);
PMDuint16 PMDSetupAxisInterface_Driver(PMDAxisHandle* axis_handle, PMDAxis axis_number);

#endif