mechanism.h

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#ifndef MECHANISM_H
#define MECHANISM_H

//
// mechanism.h - mechanism parameter table header
//

// System header files 

#include <stdio.h>
#include <string.h>
#include <stdlib.h>
#include <unistd.h>
#include <errno.h>
#include <sys/time.h>
#include <sys/times.h>
#include <sys/types.h>
#include <sys/socket.h>
#include <sys/file.h>
#include <netdb.h>
#include <netinet/in.h>
#include <arpa/inet.h>
#include <time.h>
#include <termios.h>
#include <fcntl.h>
#include <signal.h>

#include "siutils.h"  // SiUtils API header file

//----------------------------------------------------------------
//
// si_mechanism: microstep drive configuration struct
//


typedef struct si_mechanism {

  // Mechanism info
  char   Name[64];    
  int    Topology;    
  int    Resolution;  

  // Serial Communications Parameters:
  char   Port[64];    
  int    FD;          
  long   Timeout;     
  long   Polltime;    

  // Mechanism Motion Profile:
  int    State;       
  int    Accel;       
  double Speed;       
  int    Distance;    
  int    Decel;       
  double Current;     
  double IdleCurrent; 
  int    Idle;        

  // Input sensor parameters
  char   Inputs[SI_MAXINPUTS+1];  
  char   ISmask[SI_MAXINPUTS+1];  

  // Indexed Position Encoding (inputs as position encoders)
  int    NPos;         
  int    Offset;       
  int    StepPos;      
  int    NData;        
  int    EncPos;       
  int    InPosAddr;    
  int    InPos;        
  int    OccupiedAddr; 
  int    Occupied;     

  // Absolute Mechanism Position (device step counts)
  int    HomeAddr;    
  int    AtHome;      
  int    Position;    
  int    StepsPerMM;  

  // Limit switch parameters
  int    Limits;      
  int    CWlimit;     
  int    CCWlimit;    

  // Motor Brake parameters
  int    BrakeAddr;   
  int    Brake;       

  // Other parameters
  int    Debug;       
  int    Abort;       

} si_mechanism_t;

// Drive Parameter definitions

#define MECH_ROTARY  1  
#define MECH_LINEAR  2  

// Limit switch settings

#define MECH_NOLIMITS        0 
#define MECH_NORMALLY_CLOSED 1 
#define MECH_NORMALLY_OPEN   2 

// Default parameter values

#define MECH_TIMEOUT  10L   
#define MECH_POLLTIME 50L   

// Return Code

#define MECH_OK   0   
#define MECH_ERR -1   

// Mechanism Brake State

#define MECH_SET_BRAKE      1  
#define MECH_RELEASE_BRAKE  0  

// Mechanism Function Prototypes

void MechInitTable(si_mechanism_t *);
int MechGetPos(si_mechanism_t *, char *);
int MechSetProfile(si_mechanism_t *, char *);
int MechMoveAbs(si_mechanism_t *, int, char *);
int MechMoveRel(si_mechanism_t *, int, char *);
int MechMoveTo(si_mechanism_t *, int, int, char *);
int MechFindPos(si_mechanism_t *, char *);
int MechBrake(si_mechanism_t *, int, char *);
// int MechHome(si_mechanism_t *, char *);
void MechAbort(si_mechanism_t *);

// Convenience Functions

int MechEncToDev(int, int, int, int);

#endif  // MECHANISM_H

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