📄 gtsvdll.h
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//#define GTDLL_API
/* return explain:
-2 硬/软件版本不合 GT_INTI_ERR
-1 通讯失败 GT_COM_ERR
0 OK GT_CMD_OK
1 命令出错 GT_CMD_ERR
2 半径=0或太大 GT_RADI_ERR
3 直线长度=0或太大 GT_LEN_ERR
4 （加）速度=0或太大 GT_ANV_ERR
5 参数矛盾 GT_PRM_ANTI
6 方程无解 GT_MAP_ERR
7 过程参数错误 GT_PRM_ERR
1024 无效的命令
1025 无效的版本
*/
#ifdef GTDLL_EXPORTS
#define GTDLL_API extern "C" __declspec(dllexport) short __stdcall
#define GTDLL_VARIABLE __declspec(dllexport)
#else
#define GTDLL_API extern "C" __declspec(dllimport) short __stdcall
#define GTDLL_VARIABLE __declspec(dllimport)
#endif
// The following ifdef block is the standard way of creating macros which make exporting
// from a DLL simpler. All files within this DLL are compiled with the GTSVDLL_EXPORTS
// symbol defined on the command line. this symbol should not be defined on any project
// that uses this DLL. This way any other project whose source files include this file see
// GTDLL_API functions as being imported from a DLL, wheras this DLL sees symbols
// defined with this macro as being exported.
/***************************************************************************
file name: GTSVDLL.H
contents:
This file contains various defines that is used with the GOOGOL TECH.
GT400 motion control board software source code. GTSVDLL.C will include
this file. If GTSVDLL.C is used in user file ,please include the file:
GTSVDLL.H
****************************************************************************/
GTDLL_API GT_AbptStp(void);
GTDLL_API GT_AddList(void);
GTDLL_API GT_ArcXY(double,double,double);
GTDLL_API GT_ArcXYP(double,double,double,short);
GTDLL_API GT_ArcYZ(double,double,double);
GTDLL_API GT_ArcYZP(double,double,double,short);
GTDLL_API GT_ArcZX(double,double,double);
GTDLL_API GT_ArcZXP(double,double,double,short);
GTDLL_API GT_AuStpOff(void);
GTDLL_API GT_AuStpOn(void);
GTDLL_API GT_AuUpdtOff(void);
GTDLL_API GT_AuUpdtOn(void);
GTDLL_API GT_Axis(unsigned short);
GTDLL_API GT_AxisI(void);
GTDLL_API GT_AxisOff(void);
GTDLL_API GT_AxisOn(void);
GTDLL_API GT_BrkOff(void);
GTDLL_API GT_CaptHome(void);
GTDLL_API GT_CaptIndex(void);
GTDLL_API GT_Close(void);
GTDLL_API GT_CloseLp(void);
GTDLL_API GT_ClrSts(void);
GTDLL_API GT_CrdAuStpOff(void);
GTDLL_API GT_CrdAuStpOn(void);
GTDLL_API GT_DrvRst(void);
GTDLL_API GT_EStpMtn(void);
GTDLL_API GT_EndList(void);
GTDLL_API GT_EvntIntr(void);
GTDLL_API GT_ExInpt(unsigned short*);
GTDLL_API GT_ExOpt(unsigned short);
GTDLL_API GT_ExtBrk(void);
GTDLL_API GT_GetAcc(double*);
GTDLL_API GT_GetAccLmt(unsigned long*);
GTDLL_API GT_GetAtlErr(short*);
GTDLL_API GT_GetAtlPos(long*);
GTDLL_API GT_GetBrkCn(long*);
GTDLL_API GT_GetBrkPnt(double *pnt);
GTDLL_API GT_GetCapt(long*);
GTDLL_API GT_GetCmdSts(unsigned short*);
GTDLL_API GT_GetCrdSts(unsigned short*);
GTDLL_API GT_GetILmt(unsigned short*);
GTDLL_API GT_GetIntgr(short*);
GTDLL_API GT_GetIntr(unsigned short*);
GTDLL_API GT_GetIntrMsk(unsigned short*);
GTDLL_API GT_GetIntrTm(unsigned short*);
GTDLL_API GT_GetJerk(double*);
GTDLL_API GT_GetKaff(unsigned short*);
GTDLL_API GT_GetKd(unsigned short*);
GTDLL_API GT_GetKi(unsigned short*);
GTDLL_API GT_GetKp(unsigned short*);
GTDLL_API GT_GetKvff(unsigned short*);
GTDLL_API GT_GetLmtSwt(unsigned short*);
GTDLL_API GT_GetMAcc(double*);
GTDLL_API GT_GetMode(unsigned short*);
GTDLL_API GT_GetMtnNm(unsigned short*);
GTDLL_API GT_GetMtrBias(short*);
GTDLL_API GT_GetMtrCmd(short*);
GTDLL_API GT_GetMtrLmt(unsigned short*);
GTDLL_API GT_GetPos(long*);
GTDLL_API GT_GetPosErr(unsigned short*);
GTDLL_API GT_GetPrfPnt(double* pnt);
GTDLL_API GT_GetRatio(double*);
GTDLL_API GT_GetSmplTm(double*);
GTDLL_API GT_GetSts(unsigned short*);
GTDLL_API GT_GetVel(double*);
GTDLL_API GT_HardRst(void);
GTDLL_API GT_LmtSns(unsigned short);
GTDLL_API GT_LmtsOff(void);
GTDLL_API GT_LmtsOn(void);
GTDLL_API GT_LnXY(double,double);
GTDLL_API GT_LnXYZ(double,double,double);
GTDLL_API GT_LnXYZA(double,double,double,double);
GTDLL_API GT_MapAxis(unsigned short,double*);
GTDLL_API GT_MltiUpdt(unsigned short);
GTDLL_API GT_MtnBrk(void);
GTDLL_API GT_MvXY(double,double,double,double);
GTDLL_API GT_MvXYZ(double,double,double,double,double);
GTDLL_API GT_MvXYZA(double,double,double,double,double,double);
GTDLL_API GT_NegBrk(void);
GTDLL_API GT_Open(unsigned long,unsigned long);
GTDLL_API GT_OpenLp(void);
GTDLL_API GT_PosBrk(void);
GTDLL_API GT_PrflG(unsigned short);
GTDLL_API GT_PrflS(void);
GTDLL_API GT_PrflT(void);
GTDLL_API GT_PrflV(void);
GTDLL_API GT_Reset(void);
GTDLL_API GT_RstIntr(unsigned short);
GTDLL_API GT_RstSts(unsigned short);
GTDLL_API GT_SetAcc(double);
GTDLL_API GT_SetAccLmt(double);
GTDLL_API GT_SetAtlPos(long);
GTDLL_API GT_SetBrkCn(long);
GTDLL_API GT_SetILmt(unsigned short);
GTDLL_API GT_SetIntrMsk(unsigned short);
GTDLL_API GT_SetIntrTm(unsigned short);
GTDLL_API GT_SetJerk(double);
GTDLL_API GT_SetKaff(unsigned short);
GTDLL_API GT_SetKd(unsigned short);
GTDLL_API GT_SetKi(unsigned short);
GTDLL_API GT_SetKp(unsigned short);
GTDLL_API GT_SetKvff(unsigned short);
GTDLL_API GT_SetMAcc(double);
GTDLL_API GT_SetMtrBias(short);
GTDLL_API GT_SetMtrCmd(short);
GTDLL_API GT_SetMtrLmt(unsigned short);
GTDLL_API GT_SetPos(long);
GTDLL_API GT_SetPosErr(unsigned short);
GTDLL_API GT_SetRatio(double);
GTDLL_API GT_SetSmplTm(double);
GTDLL_API GT_SetSynAcc(double);
GTDLL_API GT_SetSynVel(double);
GTDLL_API GT_SetVel(double);
GTDLL_API GT_SmthStp(void);
GTDLL_API GT_StpMtn(void);
GTDLL_API GT_StrtList(void);
GTDLL_API GT_StrtMtn(void);
GTDLL_API GT_SynchPos(void);
GTDLL_API GT_TmrIntr(void);
GTDLL_API GT_Update(void);
GTDLL_API GT_ZeroPos(void);
GTDLL_API GT_StepDir(void);
GTDLL_API GT_StepPulse(void);
GTDLL_API GT_CtrlMode(int);
GTDLL_API GT_EncPos(short,long*);
GTDLL_API GT_EncVel(short,double*);
GTDLL_API GT_GetAdc(short,short*);
GTDLL_API GT_CaptProb(void);
GTDLL_API GT_EncSns(unsigned short);
GTDLL_API GT_EncOn(void);
GTDLL_API GT_EncOff(void);
GTDLL_API GT_GetVrsn(unsigned long*);
//only for windows interrupt routine
/*******************FOR INTR*************/
/******please never changed this define,or it maybe shutdown your computer******/
#define Intr_GT_Axis1 0x30
#define Intr_GT_Axis2 0x31
#define Intr_GT_Axis3 0x32
#define Intr_GT_Axis4 0x33
#define Intr_GT_PrflT 0x1
#define Intr_GT_PrflS 0x2
#define Intr_GT_PrflV 0x4
#define Intr_GT_PrflG 0x5
#define Intr_GT_SetPos 0x41
#define Intr_GT_SetVel 0x42
#define Intr_GT_SetAcc 0x43
#define Intr_GT_SetMAcc 0x48
#define Intr_GT_SetJerk 0x44
#define Intr_GT_SetRatio 0x45
#define Intr_GT_SmthStp 0x11
#define Intr_GT_AbptStp 0x12
#define Intr_GT_ZeroPos 0x15
#define Intr_GT_SynchPos 0x14
#define Intr_GT_SetAtlPos 0x27
#define Intr_GT_GetPos 0xa1
#define Intr_GT_GetVel 0xa2
#define Intr_GT_GetAcc 0xa3
#define Intr_GT_GetMAcc 0xa8
#define Intr_GT_GetJerk 0xa4
#define Intr_GT_GetRatio 0xa5
#define Intr_GT_GetAtlPos 0xc2
#define Intr_GT_SetKp 0x4c
#define Intr_GT_SetKi 0x4d
#define Intr_GT_SetKd 0x4e
#define Intr_GT_SetKvff 0x4f
#define Intr_GT_SetKaff 0x50
#define Intr_GT_SetILmt 0x51
#define Intr_GT_SetMtrLmt 0x4a
#define Intr_GT_SetMtrBias 0x4b
#define Intr_GT_SetPosErr 0x52
#define Intr_GT_GetKp 0xac
#define Intr_GT_GetKi 0xad
#define Intr_GT_GetKd 0xae
#define Intr_GT_GetKvff 0xaf
#define Intr_GT_GetKaff 0xb0
#define Intr_GT_GetILmt 0xb1
#define Intr_GT_GetMtrLmt 0xaa
#define Intr_GT_GetMtrBias 0xab
#define Intr_GT_GetPosErr 0xb2
#define Intr_GT_GetAtlErr 0xc3
#define Intr_GT_Intgr 0xc5
#define Intr_GT_PosBrk 0x1b
#define Intr_GT_NegBrk 0x1c
#define Intr_GT_ExtBrk 0x1d
#define Intr_GT_MtnBrk 0x1e
#define Intr_GT_BrkOff 0x1a
#define Intr_GT_SetBrkCn 0x40
#define Intr_GT_Update 0x16
#define Intr_GT_AuUpdtOn 0x17
#define Intr_GT_AuUpdtOff 0x18
#define Intr_GT_GetBrkCn 0xa0
#define Intr_GT_ClrSts 0x6
#define Intr_GT_RstSts 0x23
#define Intr_GT_GetSts 0x36
#define Intr_GT_GetMode 0x37
#define Intr_GT_CaptIndex 0x7
#define Intr_GT_CaptHome 0x8
#define Intr_GT_GetCapt 0x3e
#define Intr_GT_GetCrdSts 0x90
#define Intr_GT_GetMtnNm 0x91
#define Intr_GT_MltiUpdt 0x20
#define Intr_GT_SetIntrTm 0x26
#define Intr_GT_GetIntrTm 0x3a
#define Intr_GT_ExOpt 0x28
#define Intr_GT_ExInpt 0x35
#define Intr_GT_GetCmdSts 0x3d
#define Intr_GT_GetLmtSwt 0x3c
#define Intr_GT_GetSmplTm 0x3b
typedef struct _GENERAL_COMMAND
{
USHORT usCommand; //command word
USHORT InputLength;
USHORT OutputLength;
USHORT usResult;
union
{
USHORT sData[2];
ULONG lData;
}in;
union
{
USHORT sData[2];
ULONG lData;
}out;
}GENERAL_COMMAND,*PGENERAL_COMMAND;
//background command. it is used to hold commands that was performanced in
// interrupt service routine or DPC
typedef struct _BACKGROUND_COMMAND{
USHORT InterruptMask;
USHORT CommandCount;
GENERAL_COMMAND GenCommand[1];
}BACKGROUND_COMMAND,*PBACKGROUND_COMMAND;
// a set of background command
typedef struct _BACKGROUND_COMMANDSET {
USHORT Count;
USHORT usReserve;
BACKGROUND_COMMAND BackgroundCommand[1];
}BGCOMMANDSET,*PBGCOMMANDSET;
/*-----------------------------------------------------------------------*/
GTDLL_API GT_SetBgCommandSet(PBGCOMMANDSET pBgCmdset,ULONG CmdsetSize);
GTDLL_API GT_GetBgCommandResult(PBGCOMMANDSET pBgCmdset,ULONG CmdsetSize);
GTDLL_API GT_SetIntSyncEvent(HANDLE hEvent);
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