Si Microstep Controller API: siutils.h Source File

00001 #ifndef SCLUTILS_H 00002 #define SCLUTILS_H 00003 00004 // 00005 // siutils.h - siutils header file 00006 // 00007 00018 // System header files 00019 00020 #include <stdio.h> 00021 #include <string.h> 00022 #include <stdlib.h> 00023 #include <ctype.h> 00024 #include <math.h> 00025 #include <unistd.h> 00026 #include <errno.h> 00027 #include <time.h> 00028 #include <sys/time.h> 00029 #include <sys/times.h> 00030 #include <sys/types.h> 00031 #include <sys/socket.h> 00032 #include <sys/file.h> 00033 #include <netdb.h> 00034 #include <netinet/in.h> 00035 #include <arpa/inet.h> 00036 #include <termios.h> 00037 #include <fcntl.h> 00038 00039 // Si microstep drive parameter limits 00040 00041 #define SI_RESOLUTION 20000 00042 #define SI_MAXMOVE 16000000 00043 #define SI_MINVEL 0.025 00044 #define SI_MAXVEL 50.0 00045 #define SI_MINVDOT 1 00046 #define SI_MAXVDOT 3000 00047 #define SI_MINWAIT 0.01 00048 #define SI_MAXWAIT 300 00049 #define SI_MAXINPUTS 8 00050 #define SI_MAXOUTPUTS 3 00051 #define SI_JA_DEFAULT 25 00052 #define SI_IMAX 7.0 00053 00054 // Request Status (RS) return values 00055 00056 #define SI_READY 0 00057 #define SI_MOVING 1 00058 #define SI_WIEXEC 2 00059 #define SI_WTEXEC 3 00060 #define SI_SFAULT -1 00061 00062 //--------------------------------------------------------------------------- 00063 // 00064 // si_drivepars struct and si_drivepars_t typedef 00065 // 00066 00091 typedef struct si_drivepars { 00092 int RS; 00093 int RV; 00094 int PM; 00095 double PC; 00096 double CC; 00097 double CI; 00098 double VE; 00099 double VC; 00100 int AC; 00101 int DE; 00102 int AM; 00103 int DI; 00104 int DC; 00105 int ID; 00106 int IP; 00107 char IS[9]; 00108 int MR; 00109 int BS; 00110 int DL; 00111 double JS; 00112 int JA; 00113 } si_drivepars_t; 00114 00115 //--------------------------------------------------------------------------- 00116 // 00117 // SiUtils API Function Prototypes 00118 // 00119 00120 int SCLOpenPort(char *); 00121 void SCLClosePort(int); 00122 int SCLReadPort(int, char *, long); 00123 int SCLSendCommand(int, char *, char *); 00124 int SCLSendQuery(int, char *, char *, long); 00125 int SCLReqStatus(int, char *, long); 00126 int SCLGetParams(int, si_drivepars_t *, char *, long); 00127 int SCLGetPos(int, char *, long); 00128 int SCLGetDist(int, char *, long); 00129 int SCLInStatus(int, char *, long); 00130 int SCLReadStatus(char *, int *, int, char *); 00131 void SCLAbort(int); 00132 00133 // API helper functions 00134 00135 void SCLUpper(char *); 00136 int SCLHexToInt(char *); 00137 char *SCLStatus(int ); 00138 int SCLSleep(long ); 00139 double SCLTimeStamp(void); 00140 00141 #endif // SCLUTILS_H