19 #if defined(_WIN32) || defined(LABVIEW64_IMPORT) || defined(LABVIEW32_IMPORT) || defined(MATLAB_IMPORT)
20 #define XIMC_API __stdcall
22 #ifdef LIBXIMC_EXPORTS
23 #define XIMC_API __attribute__((visibility("default")))
33 #if defined(_WIN32) || defined(LABVIEW64_IMPORT) || defined(LABVIEW32_IMPORT) || defined(MATLAB_IMPORT)
34 #define XIMC_CALLCONV __stdcall
43 #if defined(_WIN32) || defined(LABVIEW64_IMPORT) || defined(LABVIEW32_IMPORT) || defined(MATLAB_IMPORT)
44 #define XIMC_RETTYPE unsigned int
46 #define XIMC_RETTYPE void*
50 #if !defined(XIMC_NO_STDINT)
52 #if ( (defined(_MSC_VER) && (_MSC_VER < 1600)) || defined(LABVIEW64_IMPORT) || defined(LABVIEW32_IMPORT)) && !defined(MATLAB_IMPORT)
54 typedef __int8 int8_t;
55 typedef __int16 int16_t;
56 typedef __int32 int32_t;
57 typedef __int64 int64_t;
58 typedef unsigned __int8 uint8_t;
59 typedef unsigned __int16 uint16_t;
60 typedef unsigned __int32 uint32_t;
61 typedef unsigned __int64 uint64_t;
67 #if defined(LABVIEW64_IMPORT) || defined(LABVIEW32_IMPORT)
68 typedef unsigned __int64 ulong_t;
69 typedef __int64 long_t;
71 typedef unsigned long long ulong_t;
72 typedef long long long_t;
79 #if defined(__cplusplus)
113 #if defined(_WIN64) || defined(__LP64__) || defined(LABVIEW64_IMPORT)
128 #define device_undefined -1
157 #define result_error -1
167 #define result_not_implemented -2
177 #define result_value_error -3
187 #define result_nodevice -4
208 #define LOGLEVEL_ERROR 0x01
217 #define LOGLEVEL_WARNING 0x02
226 #define LOGLEVEL_INFO 0x03
235 #define LOGLEVEL_DEBUG 0x04
272 #define LIBXIMC_VERSION 2.9.12
277 #define LIBXIMC_PROTOCOL_VERSION 17.4
296 #define ENUMERATE_PROBE 0x01
297 #define ENUMERATE_ALL_COM 0x02
298 #define ENUMERATE_NETWORK 0x04
317 #define MOVE_STATE_MOVING 0x01
318 #define MOVE_STATE_TARGET_SPEED 0x02
319 #define MOVE_STATE_ANTIPLAY 0x04
336 #define EEPROM_PRECEDENCE 0x01
355 #define PWR_STATE_UNKNOWN 0x00
356 #define PWR_STATE_OFF 0x01
357 #define PWR_STATE_NORM 0x03
358 #define PWR_STATE_REDUCT 0x04
359 #define PWR_STATE_MAX 0x05
380 #define STATE_CONTR 0x00003F
381 #define STATE_ERRC 0x000001
382 #define STATE_ERRD 0x000002
383 #define STATE_ERRV 0x000004
384 #define STATE_EEPROM_CONNECTED 0x000010
385 #define STATE_IS_HOMED 0x000020
386 #define STATE_SECUR 0x73FFC0
387 #define STATE_ALARM 0x000040
388 #define STATE_CTP_ERROR 0x000080
389 #define STATE_POWER_OVERHEAT 0x000100
390 #define STATE_CONTROLLER_OVERHEAT 0x000200
391 #define STATE_OVERLOAD_POWER_VOLTAGE 0x000400
392 #define STATE_OVERLOAD_POWER_CURRENT 0x000800
393 #define STATE_OVERLOAD_USB_VOLTAGE 0x001000
394 #define STATE_LOW_USB_VOLTAGE 0x002000
395 #define STATE_OVERLOAD_USB_CURRENT 0x004000
396 #define STATE_BORDERS_SWAP_MISSET 0x008000
397 #define STATE_LOW_POWER_VOLTAGE 0x010000
398 #define STATE_H_BRIDGE_FAULT 0x020000
399 #define STATE_CURRENT_MOTOR_BITS 0x0C0000
400 #define STATE_CURRENT_MOTOR0 0x000000
401 #define STATE_CURRENT_MOTOR1 0x040000
402 #define STATE_CURRENT_MOTOR2 0x080000
403 #define STATE_CURRENT_MOTOR3 0x0C0000
404 #define STATE_WINDING_RES_MISMATCH 0x100000
405 #define STATE_ENCODER_FAULT 0x200000
406 #define STATE_MOTOR_CURRENT_LIMIT 0x400000
427 #define STATE_DIG_SIGNAL 0xFFFF
428 #define STATE_RIGHT_EDGE 0x0001
429 #define STATE_LEFT_EDGE 0x0002
430 #define STATE_BUTTON_RIGHT 0x0004
431 #define STATE_BUTTON_LEFT 0x0008
432 #define STATE_GPIO_PINOUT 0x0010
433 #define STATE_GPIO_LEVEL 0x0020
434 #define STATE_HALL_A 0x0040
435 #define STATE_HALL_B 0x0080
436 #define STATE_HALL_C 0x0100
437 #define STATE_BRAKE 0x0200
438 #define STATE_REV_SENSOR 0x0400
439 #define STATE_SYNC_INPUT 0x0800
440 #define STATE_SYNC_OUTPUT 0x1000
441 #define STATE_ENC_A 0x2000
442 #define STATE_ENC_B 0x4000
461 #define ENC_STATE_ABSENT 0x00
462 #define ENC_STATE_UNKNOWN 0x01
463 #define ENC_STATE_MALFUNC 0x02
464 #define ENC_STATE_REVERS 0x03
465 #define ENC_STATE_OK 0x04
484 #define WIND_A_STATE_ABSENT 0x00
485 #define WIND_A_STATE_UNKNOWN 0x01
486 #define WIND_A_STATE_MALFUNC 0x02
487 #define WIND_A_STATE_OK 0x03
488 #define WIND_B_STATE_ABSENT 0x00
489 #define WIND_B_STATE_UNKNOWN 0x10
490 #define WIND_B_STATE_MALFUNC 0x20
491 #define WIND_B_STATE_OK 0x30
512 #define MVCMD_NAME_BITS 0x3F
513 #define MVCMD_UKNWN 0x00
514 #define MVCMD_MOVE 0x01
515 #define MVCMD_MOVR 0x02
516 #define MVCMD_LEFT 0x03
517 #define MVCMD_RIGHT 0x04
518 #define MVCMD_STOP 0x05
519 #define MVCMD_HOME 0x06
520 #define MVCMD_LOFT 0x07
521 #define MVCMD_SSTP 0x08
522 #define MVCMD_ERROR 0x40
523 #define MVCMD_RUNNING 0x80
545 #define ENGINE_REVERSE 0x01
546 #define ENGINE_CURRENT_AS_RMS 0x02
547 #define ENGINE_MAX_SPEED 0x04
548 #define ENGINE_ANTIPLAY 0x08
549 #define ENGINE_ACCEL_ON 0x10
550 #define ENGINE_LIMIT_VOLT 0x20
551 #define ENGINE_LIMIT_CURR 0x40
552 #define ENGINE_LIMIT_RPM 0x80
574 #define MICROSTEP_MODE_FULL 0x01
575 #define MICROSTEP_MODE_FRAC_2 0x02
576 #define MICROSTEP_MODE_FRAC_4 0x03
577 #define MICROSTEP_MODE_FRAC_8 0x04
578 #define MICROSTEP_MODE_FRAC_16 0x05
579 #define MICROSTEP_MODE_FRAC_32 0x06
580 #define MICROSTEP_MODE_FRAC_64 0x07
581 #define MICROSTEP_MODE_FRAC_128 0x08
582 #define MICROSTEP_MODE_FRAC_256 0x09
604 #define ENGINE_TYPE_NONE 0x00
605 #define ENGINE_TYPE_DC 0x01
606 #define ENGINE_TYPE_2DC 0x02
607 #define ENGINE_TYPE_STEP 0x03
608 #define ENGINE_TYPE_TEST 0x04
609 #define ENGINE_TYPE_BRUSHLESS 0x05
631 #define DRIVER_TYPE_DISCRETE_FET 0x01
632 #define DRIVER_TYPE_INTEGRATE 0x02
633 #define DRIVER_TYPE_EXTERNAL 0x03
653 #define POWER_REDUCT_ENABLED 0x01
654 #define POWER_OFF_ENABLED 0x02
655 #define POWER_SMOOTH_CURRENT 0x04
675 #define ALARM_ON_DRIVER_OVERHEATING 0x01
676 #define LOW_UPWR_PROTECTION 0x02
677 #define H_BRIDGE_ALERT 0x04
678 #define ALARM_ON_BORDERS_SWAP_MISSET 0x08
679 #define ALARM_FLAGS_STICKING 0x10
680 #define USB_BREAK_RECONNECT 0x20
699 #define SETPOS_IGNORE_POSITION 0x01
700 #define SETPOS_IGNORE_ENCODER 0x02
717 #define FEEDBACK_ENCODER 0x01
718 #define FEEDBACK_ENCODERHALL 0x03
719 #define FEEDBACK_EMF 0x04
720 #define FEEDBACK_NONE 0x05
737 #define FEEDBACK_ENC_REVERSE 0x01
738 #define FEEDBACK_HALL_REVERSE 0x02
739 #define FEEDBACK_ENC_TYPE_BITS 0xC0
740 #define FEEDBACK_ENC_TYPE_AUTO 0x00
741 #define FEEDBACK_ENC_TYPE_SINGLE_ENDED 0x40
742 #define FEEDBACK_ENC_TYPE_DIFFERENTIAL 0x80
760 #define SYNCIN_ENABLED 0x01
761 #define SYNCIN_INVERT 0x02
762 #define SYNCIN_GOTOPOSITION 0x04
780 #define SYNCOUT_ENABLED 0x01
781 #define SYNCOUT_STATE 0x02
782 #define SYNCOUT_INVERT 0x04
783 #define SYNCOUT_IN_STEPS 0x08
784 #define SYNCOUT_ONSTART 0x10
785 #define SYNCOUT_ONSTOP 0x20
786 #define SYNCOUT_ONPERIOD 0x40
804 #define EXTIO_SETUP_OUTPUT 0x01
805 #define EXTIO_SETUP_INVERT 0x02
823 #define EXTIO_SETUP_MODE_IN_BITS 0x0F
824 #define EXTIO_SETUP_MODE_IN_NOP 0x00
825 #define EXTIO_SETUP_MODE_IN_STOP 0x01
826 #define EXTIO_SETUP_MODE_IN_PWOF 0x02
827 #define EXTIO_SETUP_MODE_IN_MOVR 0x03
828 #define EXTIO_SETUP_MODE_IN_HOME 0x04
829 #define EXTIO_SETUP_MODE_IN_ALARM 0x05
830 #define EXTIO_SETUP_MODE_OUT_BITS 0xF0
831 #define EXTIO_SETUP_MODE_OUT_OFF 0x00
832 #define EXTIO_SETUP_MODE_OUT_ON 0x10
833 #define EXTIO_SETUP_MODE_OUT_MOVING 0x20
834 #define EXTIO_SETUP_MODE_OUT_ALARM 0x30
835 #define EXTIO_SETUP_MODE_OUT_MOTOR_ON 0x40
836 #define EXTIO_SETUP_MODE_OUT_MOTOR_FOUND 0x50
857 #define BORDER_IS_ENCODER 0x01
858 #define BORDER_STOP_LEFT 0x02
859 #define BORDER_STOP_RIGHT 0x04
860 #define BORDERS_SWAP_MISSET_DETECTION 0x08
881 #define ENDER_SWAP 0x01
882 #define ENDER_SW1_ACTIVE_LOW 0x02
883 #define ENDER_SW2_ACTIVE_LOW 0x04
904 #define BRAKE_ENABLED 0x01
905 #define BRAKE_ENG_PWROFF 0x02
926 #define CONTROL_MODE_BITS 0x03
927 #define CONTROL_MODE_OFF 0x00
928 #define CONTROL_MODE_JOY 0x01
929 #define CONTROL_MODE_LR 0x02
930 #define CONTROL_BTN_LEFT_PUSHED_OPEN 0x04
931 #define CONTROL_BTN_RIGHT_PUSHED_OPEN 0x08
950 #define JOY_REVERSE 0x01
971 #define CTP_ENABLED 0x01
972 #define CTP_BASE 0x02
973 #define CTP_ALARM_ON_ERROR 0x04
974 #define REV_SENS_INV 0x08
975 #define CTP_ERROR_CORRECTION 0x10
997 #define HOME_DIR_FIRST 0x001
998 #define HOME_DIR_SECOND 0x002
999 #define HOME_MV_SEC_EN 0x004
1000 #define HOME_HALF_MV 0x008
1001 #define HOME_STOP_FIRST_BITS 0x030
1002 #define HOME_STOP_FIRST_REV 0x010
1003 #define HOME_STOP_FIRST_SYN 0x020
1004 #define HOME_STOP_FIRST_LIM 0x030
1005 #define HOME_STOP_SECOND_BITS 0x0C0
1006 #define HOME_STOP_SECOND_REV 0x040
1007 #define HOME_STOP_SECOND_SYN 0x080
1008 #define HOME_STOP_SECOND_LIM 0x0C0
1009 #define HOME_USE_FAST 0x100
1024 #define UART_PARITY_BITS 0x03
1025 #define UART_PARITY_BIT_EVEN 0x00
1026 #define UART_PARITY_BIT_ODD 0x01
1027 #define UART_PARITY_BIT_SPACE 0x02
1028 #define UART_PARITY_BIT_MARK 0x03
1029 #define UART_PARITY_BIT_USE 0x04
1030 #define UART_STOP_BIT 0x08
1045 #define MOTOR_TYPE_UNKNOWN 0x00
1046 #define MOTOR_TYPE_STEP 0x01
1047 #define MOTOR_TYPE_DC 0x02
1048 #define MOTOR_TYPE_BLDC 0x03
1063 #define ENCSET_DIFFERENTIAL_OUTPUT 0x001
1064 #define ENCSET_PUSHPULL_OUTPUT 0x004
1065 #define ENCSET_INDEXCHANNEL_PRESENT 0x010
1066 #define ENCSET_REVOLUTIONSENSOR_PRESENT 0x040
1067 #define ENCSET_REVOLUTIONSENSOR_ACTIVE_HIGH 0x100
1082 #define MB_AVAILABLE 0x01
1083 #define MB_POWERED_HOLD 0x02
1098 #define TS_TYPE_BITS 0x07
1099 #define TS_TYPE_UNKNOWN 0x00
1100 #define TS_TYPE_THERMOCOUPLE 0x01
1101 #define TS_TYPE_SEMICONDUCTOR 0x02
1102 #define TS_AVAILABLE 0x08
1117 #define LS_ON_SW1_AVAILABLE 0x01
1118 #define LS_ON_SW2_AVAILABLE 0x02
1119 #define LS_SW1_ACTIVE_LOW 0x04
1120 #define LS_SW2_ACTIVE_LOW 0x08
1121 #define LS_SHORTED 0x10
1526 unsigned int MaxSpeed[10];
1527 unsigned int uMaxSpeed[10];
1528 unsigned int Timeout[9];
1538 unsigned int Timeout[9];
1674 char ControllerName[17];
1689 unsigned int UserData[7];
1883 char Manufacturer[5];
1884 char ManufacturerId[3];
1885 char ProductDescription[9];
1957 unsigned int deprecated;
1975 uint8_t DebugData[128];
1991 uint8_t DebugData[128];
2005 char PositionerName[17];
2021 char Manufacturer[17];
2022 char PartNumber[25];
2062 char Manufacturer[17];
2063 char PartNumber[25];
2117 char Manufacturer[17];
2118 char PartNumber[25];
2155 char Manufacturer[17];
2156 char PartNumber[25];
2192 char Manufacturer[17];
2193 char PartNumber[25];
2231 char MagneticBrakeInfo[25];
2236 char TemperatureSensorInfo[25];
3229 result_t
XIMC_API command_move_calb (device_t
id,
float Position,
const calibration_t* calibration);
3254 result_t
XIMC_API command_movr_calb (device_t
id,
float DeltaPosition,
const calibration_t* calibration);
4512 #if !defined(MATLAB_IMPORT) && !defined(LABVIEW64_IMPORT) && !defined(LABVIEW32_IMPORT)
4669 #if defined(__cplusplus)