pmdpar.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_Parallel
#define	PMD_Parallel

//  PMDpar.h -- parallel IO
//
//  Performance Motion Devices, Inc.
//

enum {PMDParallelIOMode_16_16=0, PMDParallelIOMode_8_16, PMDParallelIOMode_8_8};

typedef struct tagPMDParallelIOTransportData {

	PMDuint16 dataPort;
	PMDuint16 commandPort;
	PMDuint16 statusPort;

	PMDuint16 readyMask;
	PMDuint16 readyValue;
	PMDuint16 hostInterruptMask;
	PMDuint16 hostInterruptValue;
	PMDuint16 commandStatusMask;
	PMDuint16 commandStatusValue;

	PMDuint16 bVerifyChecksum;
	PMDuint16 bDiagnostics;

	void (*OutPData)(PMDuint16 port, PMDuint16 dataword);
	void (*OutPCmd)(PMDuint16 port, PMDuint16 dataword);
	PMDuint16 (*InPData)(PMDuint16 port);
	PMDuint16 (*InPStatus)(PMDuint16 port);

} PMDParallelIOTransportData;

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

// functions that can be called externally
void PMDParallel_Init(PMDIOTransport* transport);
void PMDParallel_InitData(PMDParallelIOTransportData* transport_data, int IOMode);
PMDuint16 PMDSetupAxisInterface_Parallel(PMDAxisHandle* axis_handle, PMDAxis axis_number, PMDuint16 board_address);

#endif