loadmpc2810.cpp

MPC2810是乐创自动化技术有限公司开发的一款高性能四轴运动控制器。 MPC2810基于PC机PCI总线

// LoadMpc2810.cpp: implementation of the CLoadMpc08ADll class.
//
//////////////////////////////////////////////////////////////////////

#include "stdafx.h"
#include "LoadMpc2810.h"

#ifdef _DEBUG
#undef THIS_FILE
static char THIS_FILE[]=__FILE__;
#define new DEBUG_NEW
#endif

//////////////////////////////////////////////////////////////////////
// Construction/Destruction
//////////////////////////////////////////////////////////////////////

CLoadMpc2810::CLoadMpc2810()
{
	LoadDllFun();			//加载DLL
}

CLoadMpc2810::~CLoadMpc2810()
{
	if (hDLL != NULL)
	{
		FreeLibrary(hDLL);	//释放DLL
	}
}

int CLoadMpc2810::LoadDllFun()
{
	hDLL = LoadLibrary("MPC2810");
	if (hDLL != NULL)
	{
		///////////////////////////////////////////////////////////
		//以下取得各个DLL函数指针
		auto_set = (LPFNDLL2810_auto_set)GetProcAddress(hDLL,"auto_set");
		init_board = (LPFNDLL2810_init_board)GetProcAddress(hDLL,"init_board");
		set_unit_flag = (LPFNDLL2810_set_unit_flag)GetProcAddress(hDLL,"set_unit_flag");
		set_outmode = (LPFNDLL2810_set_outmode)GetProcAddress(hDLL,"set_outmode");
		set_home_mode = (LPFNDLL2810_set_home_mode)GetProcAddress(hDLL,"set_home_mode");
		set_dir = (LPFNDLL2810_set_dir)GetProcAddress(hDLL,"set_dir");
		enable_sd = (LPFNDLL2810_enable_sd)GetProcAddress(hDLL,"enable_sd");
		enable_el = (LPFNDLL2810_enable_el)GetProcAddress(hDLL,"enable_el");
		enable_org = (LPFNDLL2810_enable_org)GetProcAddress(hDLL,"enable_org");
		enable_alm = (LPFNDLL2810_enable_alm)GetProcAddress(hDLL,"enable_alm");
		set_sd_logic = (LPFNDLL2810_set_sd_logic)GetProcAddress(hDLL,"set_sd_logic");
		set_el_logic = (LPFNDLL2810_set_el_logic)GetProcAddress(hDLL,"set_el_logic");
		set_org_logic = (LPFNDLL2810_set_org_logic)GetProcAddress(hDLL,"set_org_logic");
		set_alm_logic = (LPFNDLL2810_set_alm_logic)GetProcAddress(hDLL,"set_alm_logic");
		set_getpos_mode = (LPFNDLL2810_set_getpos_mode)GetProcAddress(hDLL,"set_getpos_mode");
		set_encoder_mode = (LPFNDLL2810_set_encoder_mode)GetProcAddress(hDLL,"set_encoder_mode");

		open_list = (LPFNDLL2810_open_list)GetProcAddress(hDLL,"open_list");
		close_list = (LPFNDLL2810_close_list)GetProcAddress(hDLL,"close_list");
		add_list = (LPFNDLL2810_add_list)GetProcAddress(hDLL,"add_list");
		start_lookahead = (LPFNDLL2810_start_lookahead)GetProcAddress(hDLL,"start_lookahead");
		end_lookahead = (LPFNDLL2810_end_lookahead)GetProcAddress(hDLL,"end_lookahead");

		//参数设置函数
		set_maxspeed = (LPFNDLL2810_set_maxspeed)GetProcAddress(hDLL,"set_maxspeed");
		set_conspeed = (LPFNDLL2810_set_conspeed)GetProcAddress(hDLL,"set_conspeed");
		set_vector_conspeed = (LPFNDLL2810_set_vector_conspeed)GetProcAddress(hDLL,"set_vector_conspeed");
		set_profile = (LPFNDLL2810_set_profile)GetProcAddress(hDLL,"set_profile");
		set_vector_profile = (LPFNDLL2810_set_vector_profile)GetProcAddress(hDLL,"set_vector_profile");
		c_set_vector_profile = (LPFNDLL2810_c_set_vector_profile)GetProcAddress(hDLL,"c_set_vector_profile");
		c_set_max_accel = (LPFNDLL2810_c_set_max_accel)GetProcAddress(hDLL,"c_set_max_accel");
		c_set_multiple = (LPFNDLL2810_c_set_multiple)GetProcAddress(hDLL,"c_set_multiple");
		set_ellipse_ratio = (LPFNDLL2810_set_ellipse_ratio)GetProcAddress(hDLL,"set_ellipse_ratio");
		set_s_curve = (LPFNDLL2810_set_s_curve)GetProcAddress(hDLL,"set_s_curve");
		set_s_section = (LPFNDLL2810_set_s_section)GetProcAddress(hDLL,"set_s_section");
		set_abs_pos = (LPFNDLL2810_set_abs_pos)GetProcAddress(hDLL,"set_abs_pos");
		reset_pos = (LPFNDLL2810_reset_pos)GetProcAddress(hDLL,"reset_pos");
		set_unit = (LPFNDLL2810_set_unit)GetProcAddress(hDLL,"set_unit");
		set_steps_pr = (LPFNDLL2810_set_steps_pr)GetProcAddress(hDLL,"set_steps_pr");
		set_enc_thread = (LPFNDLL2810_set_enc_thread)GetProcAddress(hDLL,"set_enc_thread");

		//运动函数
		con_pmove = (LPFNDLL2810_con_pmove)GetProcAddress(hDLL,"con_pmove");
		con_pmove2 = (LPFNDLL2810_con_pmove2)GetProcAddress(hDLL,"con_pmove2");
		con_pmove3 = (LPFNDLL2810_con_pmove3)GetProcAddress(hDLL,"con_pmove3");
		con_pmove4 = (LPFNDLL2810_con_pmove4)GetProcAddress(hDLL,"con_pmove4");
		con_pmove_to = (LPFNDLL2810_con_pmove_to)GetProcAddress(hDLL,"con_pmove_to");
		fast_pmove = (LPFNDLL2810_fast_pmove)GetProcAddress(hDLL,"fast_pmove");
		fast_pmove2 = (LPFNDLL2810_fast_pmove2)GetProcAddress(hDLL,"fast_pmove2");
		fast_pmove3 = (LPFNDLL2810_fast_pmove3)GetProcAddress(hDLL,"fast_pmove3");
		fast_pmove4 = (LPFNDLL2810_fast_pmove4)GetProcAddress(hDLL,"fast_pmove4");
		fast_pmove_to = (LPFNDLL2810_fast_pmove_to)GetProcAddress(hDLL,"fast_pmove_to");
		con_vmove = (LPFNDLL2810_con_vmove)GetProcAddress(hDLL,"con_vmove");
		con_vmove2 = (LPFNDLL2810_con_vmove2)GetProcAddress(hDLL,"con_vmove2");
		con_vmove3 = (LPFNDLL2810_con_vmove3)GetProcAddress(hDLL,"con_vmove3");
		con_vmove4 = (LPFNDLL2810_con_vmove4)GetProcAddress(hDLL,"con_vmove4");
		fast_vmove = (LPFNDLL2810_fast_vmove)GetProcAddress(hDLL,"fast_vmove");
		fast_vmove2 = (LPFNDLL2810_fast_vmove2)GetProcAddress(hDLL,"fast_vmove2");
		fast_vmove3 = (LPFNDLL2810_fast_vmove3)GetProcAddress(hDLL,"fast_vmove3");
		fast_vmove4 = (LPFNDLL2810_fast_vmove4)GetProcAddress(hDLL,"fast_vmove4");
		con_hmove = (LPFNDLL2810_con_hmove)GetProcAddress(hDLL,"con_hmove");
		con_hmove2 = (LPFNDLL2810_con_hmove2)GetProcAddress(hDLL,"con_hmove2");
		con_hmove3 = (LPFNDLL2810_con_hmove3)GetProcAddress(hDLL,"con_hmove3");
		con_hmove4 = (LPFNDLL2810_con_hmove4)GetProcAddress(hDLL,"con_hmove4");
		fast_hmove = (LPFNDLL2810_fast_hmove)GetProcAddress(hDLL,"fast_hmove");
		fast_hmove2 = (LPFNDLL2810_fast_hmove2)GetProcAddress(hDLL,"fast_hmove2");
		fast_hmove3 = (LPFNDLL2810_fast_hmove3)GetProcAddress(hDLL,"fast_hmove3");
		fast_hmove4 = (LPFNDLL2810_fast_hmove4)GetProcAddress(hDLL,"fast_hmove4");
		con_line2 = (LPFNDLL2810_con_line2)GetProcAddress(hDLL,"con_line2");
		con_line3 = (LPFNDLL2810_con_line3)GetProcAddress(hDLL,"con_line3");
		con_line4 = (LPFNDLL2810_con_line4)GetProcAddress(hDLL,"con_line4");
		con_linen_to = (LPFNDLL2810_con_linen_to)GetProcAddress(hDLL,"con_linen_to");
		fast_line2 = (LPFNDLL2810_fast_line2)GetProcAddress(hDLL,"fast_line2");
		fast_line3 = (LPFNDLL2810_fast_line3)GetProcAddress(hDLL,"fast_line3");
		fast_line4 = (LPFNDLL2810_fast_line4)GetProcAddress(hDLL,"fast_line4");
		fast_linen_to = (LPFNDLL2810_fast_linen_to)GetProcAddress(hDLL,"fast_linen_to");
		arc_center = (LPFNDLL2810_arc_center)GetProcAddress(hDLL,"arc_center");
		arc_final = (LPFNDLL2810_arc_final)GetProcAddress(hDLL,"arc_final");
		fast_arc_center = (LPFNDLL2810_fast_arc_center)GetProcAddress(hDLL,"fast_arc_center");
		helical_move = (LPFNDLL2810_helical_move)GetProcAddress(hDLL,"helical_move");

		//制动函数
		sudden_stop = (LPFNDLL2810_sudden_stop)GetProcAddress(hDLL,"sudden_stop");
		sudden_stop2 = (LPFNDLL2810_sudden_stop2)GetProcAddress(hDLL,"sudden_stop2");
		sudden_stop3 = (LPFNDLL2810_sudden_stop3)GetProcAddress(hDLL,"sudden_stop3");
		sudden_stop4 = (LPFNDLL2810_sudden_stop4)GetProcAddress(hDLL,"sudden_stop4");
		sudden_stop_list = (LPFNDLL2810_sudden_stop_list)GetProcAddress(hDLL,"sudden_stop_list");
		decel_stop = (LPFNDLL2810_decel_stop)GetProcAddress(hDLL,"decel_stop");
		decel_stop2 = (LPFNDLL2810_decel_stop2)GetProcAddress(hDLL,"decel_stop2");
		decel_stop3 = (LPFNDLL2810_decel_stop3)GetProcAddress(hDLL,"decel_stop3");
		decel_stop4 = (LPFNDLL2810_decel_stop4)GetProcAddress(hDLL,"decel_stop4");
		decel_stop_list = (LPFNDLL2810_decel_stop_list)GetProcAddress(hDLL,"decel_stop_list");
		move_pause = (LPFNDLL2810_move_pause)GetProcAddress(hDLL,"move_pause");
		move_pause_list = (LPFNDLL2810_move_pause_list)GetProcAddress(hDLL,"move_pause_list");
		move_resume = (LPFNDLL2810_move_resume)GetProcAddress(hDLL,"move_resume");
		move_resume_list = (LPFNDLL2810_move_resume_list)GetProcAddress(hDLL,"move_resume_list");
		delay_time = (LPFNDLL2810_delay_time)GetProcAddress(hDLL,"delay_time");

		//I/O口操作函数
		checkin_byte = (LPFNDLL2810_checkin_byte)GetProcAddress(hDLL,"checkin_byte");
		checkin_bit = (LPFNDLL2810_checkin_bit)GetProcAddress(hDLL,"checkin_bit");
		outport_bit = (LPFNDLL2810_outport_bit)GetProcAddress(hDLL,"outport_bit");
		outport_byte = (LPFNDLL2810_outport_byte)GetProcAddress(hDLL,"outport_byte");
		check_sfr = (LPFNDLL2810_check_sfr)GetProcAddress(hDLL,"check_sfr");
		check_sfr_bit = (LPFNDLL2810_check_sfr_bit)GetProcAddress(hDLL,"check_sfr_bit");
		Outport = (LPFNDLL2810_Outport)GetProcAddress(hDLL,"Outport");
		Inport = (LPFNDLL2810_Inport)GetProcAddress(hDLL,"Inport");

		//特殊功能
		set_backlash = (LPFNDLL2810_set_backlash)GetProcAddress(hDLL,"set_backlash");
		start_backlash = (LPFNDLL2810_start_backlash)GetProcAddress(hDLL,"start_backlash");
		end_backlash = (LPFNDLL2810_end_backlash)GetProcAddress(hDLL,"end_backlash");
		set_watchdog_time = (LPFNDLL2810_set_watchdog_time)GetProcAddress(hDLL,"set_watchdog_time");
		reset_watchdog = (LPFNDLL2810_reset_watchdog)GetProcAddress(hDLL,"reset_watchdog");
		start_watchdog = (LPFNDLL2810_start_watchdog)GetProcAddress(hDLL,"start_watchdog");
		stop_watchdog = (LPFNDLL2810_stop_watchdog)GetProcAddress(hDLL,"stop_watchdog");
		get_watchdog_status = (LPFNDLL2810_get_watchdog_status)GetProcAddress(hDLL,"get_watchdog_status");
		enable_io_pos = (LPFNDLL2810_enable_io_pos)GetProcAddress(hDLL,"enable_io_pos");
		set_poscmp_source = (LPFNDLL2810_set_poscmp_source)GetProcAddress(hDLL,"set_poscmp_source");
		set_io_pos = (LPFNDLL2810_set_io_pos)GetProcAddress(hDLL,"set_io_pos");
		enable_lock_enc = (LPFNDLL2810_enable_lock_enc)GetProcAddress(hDLL,"enable_lock_enc");
		reset_locked_flag = (LPFNDLL2810_reset_locked_flag)GetProcAddress(hDLL,"reset_locked_flag");
		get_locked_flag = (LPFNDLL2810_get_locked_flag)GetProcAddress(hDLL,"get_locked_flag");
		get_locked_encoder = (LPFNDLL2810_get_locked_encoder)GetProcAddress(hDLL,"get_locked_encoder");
		enable_gear = (LPFNDLL2810_enable_gear)GetProcAddress(hDLL,"enable_gear");
		enable_handwheel = (LPFNDLL2810_enable_handwheel)GetProcAddress(hDLL,"enable_handwheel");
		enable_softlimit = (LPFNDLL2810_enable_softlimit)GetProcAddress(hDLL,"enable_softlimit");
		set_softlimit = (LPFNDLL2810_set_softlimit)GetProcAddress(hDLL,"set_softlimit");
		set_softlimit_data = (LPFNDLL2810_set_softlimit_data)GetProcAddress(hDLL,"set_softlimit_data");
		check_softlimit = (LPFNDLL2810_check_softlimit)GetProcAddress(hDLL,"check_softlimit");
		enable_poserr_limit = (LPFNDLL2810_enable_poserr_limit)GetProcAddress(hDLL,"enable_poserr_limit");
		set_poserr_limit = (LPFNDLL2810_set_poserr_limit)GetProcAddress(hDLL,"set_poserr_limit");
		get_poserr_limit = (LPFNDLL2810_get_poserr_limit)GetProcAddress(hDLL,"get_poserr_limit");
		enable_input_mode = (LPFNDLL2810_enable_input_mode)GetProcAddress(hDLL,"enable_input_mode");
		set_im_deadband = (LPFNDLL2810_set_im_deadband)GetProcAddress(hDLL,"set_im_deadband");
		enable_isr = (LPFNDLL2810_enable_isr)GetProcAddress(hDLL,"enable_isr");
		set_isr_routine = (LPFNDLL2810_set_isr_routine)GetProcAddress(hDLL,"set_isr_routine");
		set_isr_factor = (LPFNDLL2810_set_isr_factor)GetProcAddress(hDLL,"set_isr_factor");
		get_isr_event = (LPFNDLL2810_get_isr_event)GetProcAddress(hDLL,"get_isr_event");
		set_ramp = (LPFNDLL2810_set_ramp)GetProcAddress(hDLL,"set_ramp");
		change_speed = (LPFNDLL2810_change_speed)GetProcAddress(hDLL,"change_speed");
		change_pos = (LPFNDLL2810_change_pos)GetProcAddress(hDLL,"change_pos");
		set_tan_flag = (LPFNDLL2810_set_tan_flag)GetProcAddress(hDLL,"set_tan_flag");
		set_tan_initpos = (LPFNDLL2810_set_tan_initpos)GetProcAddress(hDLL,"set_tan_initpos");
		set_tan_map = (LPFNDLL2810_set_tan_map)GetProcAddress(hDLL,"set_tan_map");
		set_tan_axis = (LPFNDLL2810_set_tan_axis)GetProcAddress(hDLL,"set_tan_axis");

		//位置和状态查询函数
		get_max_axe = (LPFNDLL2810_get_max_axe)GetProcAddress(hDLL,"get_max_axe");
		get_board_num = (LPFNDLL2810_get_board_num)GetProcAddress(hDLL,"get_board_num");
		get_axe = (LPFNDLL2810_get_axe)GetProcAddress(hDLL,"get_axe");
		get_unit = (LPFNDLL2810_get_unit)GetProcAddress(hDLL,"get_unit");
		check_IC = (LPFNDLL2810_check_IC)GetProcAddress(hDLL,"check_IC");
		get_abs_pos = (LPFNDLL2810_get_abs_pos)GetProcAddress(hDLL,"get_abs_pos");
		get_rel_pos = (LPFNDLL2810_get_rel_pos)GetProcAddress(hDLL,"get_rel_pos");
		get_encoder = (LPFNDLL2810_get_encoder)GetProcAddress(hDLL,"get_encoder");
		get_done_source = (LPFNDLL2810_get_done_source)GetProcAddress(hDLL,"get_done_source");
		get_cur_dir = (LPFNDLL2810_get_cur_dir)GetProcAddress(hDLL,"get_cur_dir");
		get_conspeed = (LPFNDLL2810_get_conspeed)GetProcAddress(hDLL,"get_conspeed");
		get_profile = (LPFNDLL2810_get_profile)GetProcAddress(hDLL,"get_profile");
		get_vector_conspeed = (LPFNDLL2810_get_vector_conspeed)GetProcAddress(hDLL,"get_vector_conspeed");
		get_vector_profile = (LPFNDLL2810_get_vector_profile)GetProcAddress(hDLL,"get_vector_profile");
		get_rate = (LPFNDLL2810_get_rate)GetProcAddress(hDLL,"get_rate");
		check_status = (LPFNDLL2810_check_status)GetProcAddress(hDLL,"check_status");
		check_done = (LPFNDLL2810_check_done)GetProcAddress(hDLL,"check_done");
		check_limit = (LPFNDLL2810_check_limit)GetProcAddress(hDLL,"check_limit");
		check_home = (LPFNDLL2810_check_home)GetProcAddress(hDLL,"check_home");
		check_SD = (LPFNDLL2810_check_SD)GetProcAddress(hDLL,"check_SD");
		check_alarm = (LPFNDLL2810_check_alarm)GetProcAddress(hDLL,"check_alarm");

		//V0.2.2增加
		check_delay_status = (LPFNDLL2810_check_delay_status)GetProcAddress(hDLL,"check_delay_status");
		get_cmd_counter = (LPFNDLL2810_get_cmd_counter)GetProcAddress(hDLL,"get_cmd_counter");
		reset_cmd_counter = (LPFNDLL2810_reset_cmd_counter)GetProcAddress(hDLL,"reset_cmd_counter");

		get_lib_ver = (LPFNDLL2810_get_lib_ver)GetProcAddress(hDLL,"get_lib_ver");
		get_sys_ver = (LPFNDLL2810_get_sys_ver)GetProcAddress(hDLL,"get_sys_ver");
		get_card_ver = (LPFNDLL2810_get_card_ver)GetProcAddress(hDLL,"get_card_ver");

		//错误代码处理
		get_err = (LPFNDLL2810_get_err)GetProcAddress(hDLL,"get_err");
		get_last_err = (LPFNDLL2810_get_last_err)GetProcAddress(hDLL,"get_last_err");
		reset_err = (LPFNDLL2810_reset_err)GetProcAddress(hDLL,"reset_err");

		////////////////////////////////////////////////////////////////////
		//若无法取得函数指针
		if (!auto_set||!init_board)
		{
			// handle the error
			FreeLibrary(hDLL);
			return -1;
		}
		else
		{
			return 0;
		}
	}
	else
	{
		return -1;
	}
}