m5.h

模块化机器人远程控制客户端

/*******************************************************************************

  $Log: m5.h,v $
  Revision 1.38  2000/07/04 08:09:51  mir
  New commands included:
  PCube_moveXXXExtended. They delivers the actual position, state and DIO
  back.
  The state is a reduced one and is mapped to the well known 32bit state.
  The HOME-Flag is not present so check it seperately.

  Revision 1.37  2000/04/27 13:14:05  spe
  New Functions in m5.h for cubeversions from 3.5.08 and 2.5.13:
  Get- and set-functions for incremental values;
  define constants ACT_POS 0x5a to ACT_DELTAPOSINC 0x61.

  Revision 1.36  2000/04/05 06:14:28  jae
  nothing

  Revision 1.35  2000/02/14 12:58:16  mir
  Smal corrections to support UNIX/LINUX

  Revision 1.34  2000/02/09 14:43:54  mir
  Minor corrections to adapt to QNX

  Revision 1.33  1999/11/25 15:40:26  jae
  new TW-functions

  Revision 1.32  1999/10/27 05:58:02  jae
  New Function for HW3.5xx
  PCube_get/sethomeoffset (for all devices)
  PCube_moveRampInc,PCube_moveVelInc,PCube_moveStepInc,PCube_moveCurInc
  New Parameter-IDs: IRAMP_MODE (0x09),ISTEP_MODE (0x0a),IVEL_MODE (0x0b),ITORQUE_MODE (0x0c)

  Revision 1.31  1999/09/17 17:18:57  jae
  new function PCube_getBurncount
  new function PCube_getSetup

  Revision 1.30  1999/09/07 11:10:57  jae
  changing parameter-type in function TW_setIO/TW_getIO (val from UInt8 to float)
  adding parameter in function assign_CobID
  define TW-Moduls (0 to 5)

  Revision 1.29  1999/09/01 11:58:55  mir
  Device Forwarding implemented

  Revision 1.28  1999/08/19 08:58:52  jae
  Add new define MAXIO 51	Max account for TW-Modules

  Revision 1.27  1999/08/11 05:26:52  jae
  implement new drives IO_OUTPUT (0x1000) and IO_INPUT(0x2000) for later implementing of IO-units into moduls

  Revision 1.26  1999/08/09 12:20:24  jae
  *** empty log message ***

  Revision 1.25  1999/08/05 07:39:51  mir
  New Function added:
  M5dll_AddError(device, level, Errorstring)
  The showed debuglevel in the file and debugoutput is set by level=xx in the
  initstring.
  If you add a debuglevel via the AddError function and set it to 3 then you
  are able to see this message only if you set the level=3 in the initstring
  (of course you see debugoutput from level 1 and 2 too).

  Some minor corrections in the typedefs. Byte is now removed and substituted
  by BYTE.
  Some Borland-specific corrections added.

  Revision 1.24  1999/08/03 14:03:55  jae
  add several return-values in prototyps

  Revision 1.23  1999/08/03 10:34:23  mir
  Commands to change the controller settings

  Revision 1.22  1999/07/22 06:46:05  mir
  New Command:
  PCube_setAckMode(dev, mode): mode=0 normal
  mode=1 disabled wait for acknowledge in all set commands

  Revision 1.21  1999/07/21 07:12:38  mir
  Vector ACPCI Support added

  Revision 1.20  1999/07/16 13:14:45  mir
  Returncodes added for wrong DeviceHandle and for
  IM180 driver

  Revision 1.19  1999/07/14 09:10:16  jae
  Correction syntax-error

  Revision 1.18  1999/07/14 04:53:59  jae
  adding new errors (CLERR_STEPMODEUNKNOWN, CLERR_TIMEREVENTNOTCREATED)

  Revision 1.17  1999/06/29 12:51:44  mir
  GetRevision function added

  Revision 1.16  1999/06/29 08:41:37  jae
  add network errors (301-303)
  describe no used Errors

  Revision 1.15  1999/05/20 14:52:48  mir
  *** empty log message ***

  Revision 1.14  1999/05/12 13:21:51  mir
  Changes in m5.h for usability in Visual Basic

  Revision 1.13  1999/03/31 09:11:53  mir
  Minor changes

  Revision 1.12  1999/03/16 10:41:22  mir
  *** empty log message ***

  Revision 1.11  1999/03/02 07:15:26  mie
  PCUBE Status ERR_BEYOND_SOFT ERR_BEYOND_HARD added

  Revision 1.10  1999/03/01 10:03:09  mie
  *** empty log message ***

  Revision 1.9  1999/02/16 08:41:57  mir
  *** empty log message ***

  Revision 1.8  1999/02/11 15:13:26  mir
  Nothing changed

  Revision 1.7  1999/01/12 16:48:08  mir
  M3 Compatibilty Functions included

  Revision 1.6  1999/01/06 16:11:05  mir
  *** empty log message ***

  Revision 1.5  1999/01/05 16:03:43  mir
  *** empty log message ***

  Revision 1.4  1999/01/04 08:20:58  mir
  Low-Level-Remote implemented

  Revision 1.3  1998/12/16 12:39:57  mir
  STATE_CPU_OVERLOAD added.

  Revision 1.2  1998/12/14 10:45:15  cvs
  First real import


   (C)opyright 1999 by AMTEC GmbH
	All rights reserved.



********************************************************************************/
#ifndef M5header
#define M5header

#ifdef M5DLL_EXPORTS	// Only for DLL-generation
#define M5DLL_API __declspec(dllexport)	
#else

#ifdef _MSC_VER			// dll-import specifications
	#if _MSC_VER>=1200	// Visual C++ 6.0
		#define M5DLL_API __declspec(dllimport) 
	#else
		#define M5DLL_API extern	// Older compilers
	#endif
#else
	#define M5DLL_API		// Older compilers
#endif
#endif

//***************************************************************************
//
//  some convinient declarations
//
/*
typedef unsigned char UInt8;
typedef unsigned char Byte;
typedef signed short int Int16;
typedef unsigned short int UInt16;
typedef long Int32;
typedef unsigned long	UInt32;
typedef float Float;
typedef signed short int CLDDriveID;
typedef signed short int CLDXtrnlID;
typedef char Bool;
typedef Int16	CLDRet;
*/
#ifndef TRUE
#	define TRUE 1
#endif

#ifndef FALSE
#	define FALSE 0
#endif

#ifdef __BORLANDC__

//typedef void *HANDLE;
#define WINAPI      __stdcall

#ifndef BYTE
typedef unsigned char BYTE;
#endif

#endif

#ifndef BYTE
typedef unsigned char BYTE;
#endif

#ifndef WINAPI
#define WINAPI      __stdcall
#endif

/*
#ifndef HANDLE
typedef void *HANDLE;
#endif
*/

typedef void Void;
//typedef char Char;
//typedef unsigned char Byte;
typedef unsigned char UInt8;
typedef signed short int Int16;
typedef unsigned short int UInt16;
typedef long int Int32;
typedef unsigned long	UInt32;
typedef float	Float;
typedef char Bool;
typedef UInt16 CLDRet;
typedef Int16 CLDID;
typedef CLDID CLDDriveID;
typedef CLDID CLDXtrnlID;
typedef unsigned long Systime;

#ifdef LINUX
typedef unsigned char BYTE;
#define WINAPI
#define M5DLL_API
typedef long HANDLE;
#endif


typedef union
{ 
	float f;
	BYTE byte[4];
	unsigned long l;
	long			sl;
	//signed short int ss;
	unsigned int i[2];
	int			si[2];
} XVal;

typedef struct					// Just for Backward Compatibility
{ UInt16 romVersion;			/* version of CronoCom ROM code */
	char pDate[ 9 ];				/* date of compilation */
	char pVersion[ 7 ];			/* CronoCom ROM version string */
	char pSerNum[ 16 ];			/* CronoCom serial number */
} XtrnlSpec;

#define DIGPOWAMP 500

//***************************************************************************
//
//  Movemodes of the modules
//
//enum { RAMP_MODE, POS_MODE, STEP_MODE, VEL_MODE, FRAMP_MODE, FPOS_MODE, FSTEP_MODE, FVEL_MODE,
//		FTORQUE_MODE, IRAMP_MODE, IPOS_MODE, ISTEP_MODE, IVEL_MODE,ICUR_MODE };

#define RAMP_MODE		0x00
#define POS_MODE		0x01
#define STEP_MODE		0x02
#define VEL_MODE		0x03
#define FRAMP_MODE		0x04
#define FPOS_MODE		0x05
#define FSTEP_MODE		0x06
#define FVEL_MODE		0x07
#define FTORQUE_MODE	0x08
#define IRAMP_MODE		0x09
#define IPOS_MODE		0x0a
#define ISTEP_MODE		0x0b
#define IVEL_MODE		0x0c
#define ITORQUE_MODE	0x0d
#define FRAMP_ACK		0x0e
#define FPOS_ACK		0x0f
#define FSTEP_ACK		0x10
#define FVEL_ACK		0x11
#define FCUR_ACK		0x12
//***************************************************************************
//
// Function Prototypes
//
#ifdef __cplusplus
extern "C" {
#endif

//M5DLL_API int fnM5dll(void);
M5DLL_API int WINAPI PCube_openDevice( int* pDev, const char* pInitString );
M5DLL_API int WINAPI PCube_closeDevice( int dev);

M5DLL_API int WINAPI PCube_syncModule( int dev,int cube);
M5DLL_API int WINAPI PCube_haltModule( int dev,int cube);
M5DLL_API int WINAPI PCube_resetModule( int dev,int cube);

M5DLL_API int WINAPI PCube_getModulesCount(int dev, int *count);
M5DLL_API int WINAPI PCube_getModulesIdMap(int dev, int *idMap);

M5DLL_API int WINAPI PCube_getDefHomeOffset( int dev, int cube, float* pValue );
M5DLL_API int WINAPI PCube_getDefGearRatio( int dev, int cube, float* pValue );
M5DLL_API int WINAPI PCube_getDefLinearRatio( int dev, int cube, float* pValue );
M5DLL_API int WINAPI PCube_getDefMinPos( int dev, int cube, float* pValue ); 
M5DLL_API int WINAPI PCube_getDefMaxPos( int dev, int cube, float* pValue ); 
M5DLL_API int WINAPI PCube_getDefMaxDeltaPos( int dev, int cube, float* pValue );
M5DLL_API int WINAPI PCube_getDefMaxDeltaVel( int dev, int cube, float* pValue );
M5DLL_API int WINAPI PCube_getDefTorqueRatio( int dev, int cube, float* pValue );
M5DLL_API int WINAPI PCube_getDefCurRatio( int dev, int cube, float* pValue );
M5DLL_API int WINAPI PCube_getDefMinVel( int dev, int cube, float* pValue );
M5DLL_API int WINAPI PCube_getDefMaxVel( int dev, int cube, float* pValue );
M5DLL_API int WINAPI PCube_getDefMinAcc( int dev, int cube, float* pValue );
M5DLL_API int WINAPI PCube_getDefMaxAcc( int dev, int cube, float* pValue );
M5DLL_API int WINAPI PCube_getDefMinCur( int dev, int cube, float* pValue );
M5DLL_API int WINAPI PCube_getDefMaxCur( int dev, int cube, float* pValue );
M5DLL_API int WINAPI PCube_getDefHomeVel( int dev, int cube, float* pValue );
M5DLL_API int WINAPI PCube_getDefHomeAcc( int dev, int cube, float* pValue );
M5DLL_API int WINAPI PCube_getDefKpPosControl( int dev, int cube, float* pValue );
M5DLL_API int WINAPI PCube_getDefTnPosControl( int dev, int cube, float* pValue );
M5DLL_API int WINAPI PCube_getDefTvPosControl( int dev, int cube, float* pValue );
M5DLL_API int WINAPI PCube_getDefT1PosControl( int dev, int cube, float* pValue );
M5DLL_API int WINAPI PCube_getDefKpVelControl( int dev, int cube, float* pValue );
M5DLL_API int WINAPI PCube_getDefTnVelControl( int dev, int cube, float* pValue );
M5DLL_API int WINAPI PCube_getDefTvVelControl( int dev, int cube, float* pValue );
M5DLL_API int WINAPI PCube_getDefT1VelControl( int dev, int cube, float* pValue );
M5DLL_API int WINAPI PCube_getDefDioSetup( int dev, int cube, UInt32* pValue );
M5DLL_API int WINAPI PCube_getDefSerialNo( int dev, int cube, UInt32* pValue );
M5DLL_API int WINAPI PCube_getDefConfig( int dev, int cube, UInt32* pValue );
M5DLL_API int WINAPI PCube_getDefPulsesPerTurn( int dev, int cube, UInt32* pValue );
M5DLL_API int WINAPI PCube_getDefCubeVersion( int dev, int cube, UInt16* pValue );
M5DLL_API int WINAPI PCube_getDefServiceInterval( int dev, int cube, UInt16* pValue );
M5DLL_API int WINAPI PCube_getDefBrakeTimeOut( int dev, int cube, UInt16* pValue );
M5DLL_API int WINAPI PCube_getDefAddress( int dev, int cube, UInt8* pValue );
M5DLL_API int WINAPI PCube_getDefMoveMode( int dev, int cube, UInt8* pValue );
M5DLL_API int WINAPI PCube_getDefPrimaryBaudrate( int dev, int cube, UInt8* pValue );
M5DLL_API int WINAPI PCube_getDefSecondaryBaudrate( int dev, int cube, UInt8* pValue );
M5DLL_API int WINAPI PCube_getPosCountInc( int dev, int cube, Int32* pValue );
M5DLL_API int WINAPI PCube_getRefPosCountInc( int dev, int cube, Int32* pValue );
M5DLL_API int WINAPI PCube_getDioSetup( int dev, int cube, UInt32* pValue );
M5DLL_API int WINAPI PCube_getDioData( int dev, int cube, UInt32* pValue );
M5DLL_API int WINAPI PCube_getCubeState( int dev, int cube, UInt32* pValue );
M5DLL_API int WINAPI PCube_getTargetPos( int dev, int cube, float* pValue );
M5DLL_API int WINAPI PCube_getTargetVel( int dev, int cube, float* pValue );
M5DLL_API int WINAPI PCube_getTargetAcc( int dev, int cube, float* pValue );
M5DLL_API int WINAPI PCube_getStepInc( int dev, int cube, Int32* pValue );
M5DLL_API int WINAPI PCube_getHomeOffsetInc( int dev, int cube, Int32* pValue );
M5DLL_API int WINAPI PCube_getKpPosControl( int dev, int cube, float* pValue );
M5DLL_API int WINAPI PCube_getTnPosControl( int dev, int cube, float* pValue );
M5DLL_API int WINAPI PCube_getTvPosControl( int dev, int cube, float* pValue );
M5DLL_API int WINAPI PCube_getT1PosControl( int dev, int cube, float* pValue );
M5DLL_API int WINAPI PCube_getKpVelControl( int dev, int cube, float* pValue );
M5DLL_API int WINAPI PCube_getTnVelControl( int dev, int cube, float* pValue );
M5DLL_API int WINAPI PCube_getTvVelControl( int dev, int cube, float* pValue );
M5DLL_API int WINAPI PCube_getT1VelControl( int dev, int cube, float* pValue );
M5DLL_API int WINAPI PCube_getRawCurrent( int dev, int cube, Int16* pValue );
M5DLL_API int WINAPI PCube_getHomeToZeroInc( int dev, int cube, Int32* pValue );
M5DLL_API int WINAPI PCube_getHourCount( int dev, int cube, UInt16* pValue );
M5DLL_API int WINAPI PCube_getAdeRawDAC( int dev, int cube, Int16* pValue );
M5DLL_API int WINAPI PCube_getConfig( int dev, int cube, UInt32* pValue );
M5DLL_API int WINAPI PCube_getMoveMode( int dev, int cube, UInt8* pValue );
M5DLL_API int WINAPI PCube_getIncRatio( int dev, int cube, float* pValue );
M5DLL_API int WINAPI PCube_getActPos( int dev, int cube, float* pValue );
M5DLL_API int WINAPI PCube_getActPos_( int dev, int cube, float* pValue );
M5DLL_API int WINAPI PCube_getIPolPos( int dev, int cube, float* pValue );