📄 gt400sg.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
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_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_Close(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_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_GetIntr(unsigned short*);
GTDLL_API GT_GetIntrMsk(unsigned short*);
GTDLL_API GT_GetIntrTm(unsigned short*);
GTDLL_API GT_GetJerk(double*);
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_GetMtrLmt(unsigned short*);
GTDLL_API GT_GetPos(long*);
GTDLL_API GT_GetPrfPnt(double*);
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(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_SetIntrMsk(unsigned short);
GTDLL_API GT_SetIntrTm(unsigned short);
GTDLL_API GT_SetJerk(double);
GTDLL_API GT_SetMAcc(double);
GTDLL_API GT_SetMtrLmt(unsigned short);
GTDLL_API GT_SetPos(long);
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_StepDir(void);
GTDLL_API GT_StepPulse(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_EncPos(short,long*);
GTDLL_API GT_EncVel(short,double*);
GTDLL_API GT_GetAdc(short,short*);
GTDLL_API GT_CaptProb(void);
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 cCommand; //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);
//append
GTDLL_API GT_SwitchtoCardNo(short card_no);
GTDLL_API GT_GetCurrentCardNo();
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