dtv-scan-tables.git - dtv-scan-tables Debian packaging

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#ifndef __CPHIDGETSTEPPER #define __CPHIDGETSTEPPER #include "cphidget.h" /** \defgroup phidstepper Phidget Stepper * \ingroup phidgets * Calls specific to the Phidget Stepper. See the product manual for more specific API details, supported functionality, units, etc. * @{ */ DPHANDLE(Stepper) CHDRSTANDARD(Stepper) /** * Gets the number of digital inputs supported by this board. * @param phid An attached phidget stepper handle. * @param count The ditial input count. */ CHDRGET(Stepper,InputCount,int *count) /** * Gets the state of a digital input. * @param phid An attached phidget stepper handle. * @param index The input index. * @param inputState The input state. Possible values are \ref PTRUE and \ref PFALSE. */ CHDRGETINDEX(Stepper,InputState,int *inputState) /** * Set a digital input change handler. This is called when a digital input changes. * @param phid An attached phidget stepper handle. * @param fptr Callback function pointer. * @param userPtr A pointer for use by the user - this value is passed back into the callback function. */ CHDREVENTINDEX(Stepper,InputChange,int inputState) /** * Gets the number of motors supported by this controller * @param phid An attached phidget stepper handle. * @param count The motor count. */ CHDRGET(Stepper,MotorCount,int *count) /** * Gets the last set acceleration for a motor. * @param phid An attached phidget stepper handle * @param index The motor index. * @param acceleration The acceleration */ CHDRGETINDEX(Stepper,Acceleration,double *acceleration) /** * Sets the acceleration for a motor. * @param phid An attached phidget stepper handle * @param index The motor index. * @param acceleration The acceleration */ CHDRSETINDEX(Stepper,Acceleration,double acceleration) /** * Gets the maximum acceleration supported by a motor * @param phid An attached phidget stepper handle * @param index The motor index. * @param max The maximum acceleration. */ CHDRGETINDEX(Stepper,AccelerationMax,double *max) /** * Gets the minimum acceleration supported by a motor. * @param phid An attached phidget stepper handle * @param index The motor index. * @param min The minimum acceleration */ CHDRGETINDEX(Stepper,AccelerationMin,double *min) /** * Gets the last set velocity limit for a motor. * @param phid An attached phidget stepper handle * @param index The motor index. * @param limit The velocity limit. */ CHDRGETINDEX(Stepper,VelocityLimit,double *limit) /** * Sets the velocity limit for a motor. * @param phid An attached phidget stepper handle * @param index The motor index. * @param limit The velocity limit. */ CHDRSETINDEX(Stepper,VelocityLimit,double limit) /** * Gets the current velocity of a motor. * @param phid An attached phidget stepper handle * @param index The motor index. * @param velocity The current velocity. */ CHDRGETINDEX(Stepper,Velocity,double *velocity) /** * Gets the maximum velocity that can be set for a motor. * @param phid An attached phidget stepper handle * @param index The motor index. * @param max The maximum velocity */ CHDRGETINDEX(Stepper,VelocityMax,double *max) /** * Gets the minimum velocity that can be set for a motor. * @param phid An attached phidget stepper handle * @param index The motor index. * @param min The minimum velocity. */ CHDRGETINDEX(Stepper,VelocityMin,double *min) /** * Sets a velocity change event handler. This is called when the velocity changes. * @param phid An attached phidget stepper handle * @param fptr Callback function pointer. * @param userPtr A pointer for use by the user - this value is passed back into the callback function. */ CHDREVENTINDEX(Stepper,VelocityChange,double velocity) /** * Gets the last set target position of a motor. * @param phid An attached phidget stepper handle * @param index The motor index. * @param position The position. */ CHDRGETINDEX(Stepper,TargetPosition,__int64 *position) /** * Sets the target position of a motor. * @param phid An attached phidget stepper handle * @param index The motor index. * @param position The position. */ CHDRSETINDEX(Stepper,TargetPosition,__int64 position) /** * Gets the current position of a motor. * @param phid An attached phidget stepper handle * @param index The motor index. * @param position The position. */ CHDRGETINDEX(Stepper,CurrentPosition,__int64 *position) /** * Sets the current position of a motor. This will not move the motor, just update the position value. * @param phid An attached phidget stepper handle * @param index The motor index. * @param position The position. */ CHDRSETINDEX(Stepper,CurrentPosition,__int64 position) /** * Gets the maximum position that a motor can go to. * @param phid An attached phidget stepper handle * @param index The motor index. * @param max The maximum position. */ CHDRGETINDEX(Stepper,PositionMax,__int64 *max) /** * Gets the minimum position that a motor can go to. * @param phid An attached phidget stepper handle * @param index The motor index. * @param min The minimum position */ CHDRGETINDEX(Stepper,PositionMin,__int64 *min) /** * Sets a position change event handler. This is called when the position changes. * @param phid An attached phidget stepper handle * @param fptr Callback function pointer. * @param userPtr A pointer for use by the user - this value is passed back into the callback function. */ CHDREVENTINDEX(Stepper,PositionChange,__int64 position) /** * Gets the current limit for a motor. * @param phid An attached phidget stepper handle. * @param index The motor index. * @param limit The current limit. */ CHDRGETINDEX(Stepper,CurrentLimit,double *limit) /** * Sets the current limit for a motor. * @param phid An attached phidget stepper handle. * @param index The motor index. * @param limit The current limit. */ CHDRSETINDEX(Stepper,CurrentLimit,double limit) /** * Gets the current current draw for a motor. * @param phid An attached phidget stepper handle * @param index The motor index. * @param current The current. */ CHDRGETINDEX(Stepper,Current,double *current) /** * Gets the maximum current limit. * @param phid An attached phidget stepper handle * @param index The motor index. * @param max The maximum current limit. */ CHDRGETINDEX(Stepper,CurrentMax,double *max) /** * Gets the minimum current limit. * @param phid An attached phidget stepper handle * @param index The motor index. * @param min The minimum current limit. */ CHDRGETINDEX(Stepper,CurrentMin,double *min) /** * Sets a current change event handler. This is called when the current draw changes. * @param phid An attached phidget stepper handle * @param fptr Callback function pointer. * @param userPtr A pointer for use by the user - this value is passed back into the callback function. */ CHDREVENTINDEX(Stepper,CurrentChange,double current) /** * Gets the engaged state of a motor. This is whether the motor is powered or not. * @param phid An attached phidget stepper handle * @param index The motor index. * @param engagedState The engaged state. Possible values are \ref PTRUE and \ref PFALSE. */ CHDRGETINDEX(Stepper,Engaged,int *engagedState) /** * Sets the engaged state of a motor. This is whether the motor is powered or not. * @param phid An attached phidget stepper handle * @param index The motor index. * @param engagedState The engaged state. Possible values are \ref PTRUE and \ref PFALSE. */ CHDRSETINDEX(Stepper,Engaged,int engagedState) /** * Gets the stopped state of a motor. This is true when the motor is not moving and there are no outstanding commands. * @param phid An attached phidget stepper handle * @param index The motor index. * @param stoppedState The stopped state. Possible values are \ref PTRUE and \ref PFALSE. */ CHDRGETINDEX(Stepper,Stopped,int *stoppedState) #ifndef EXTERNALPROTO #define STEPPER_MAXSTEPPERS 8 #define STEPPER_MAXINPUTS 8 #define BIPOLAR_STEPPER_CURRENT_SENSE_GAIN 8.5 #define BIPOLAR_STEPPER_CURRENT_LIMIT_Rs 0.150 //flags - make sure these are in the upper 4 bits #define MOTOR_DONE_STEPPER 0x10 #define MOTOR_DISABLED_STEPPER 0x20 //packet types - room for one more #define STEPPER_POSITION_PACKET 0x00 #define STEPPER_VEL_ACCEL_PACKET 0x10 #define STEPPER_RESET_PACKET 0x20 struct _CPhidgetStepper{ CPhidget phid; int (CCONV *fptrPositionChange)(CPhidgetStepperHandle, void *, int, __int64); int (CCONV *fptrPositionChange32)(CPhidgetStepperHandle, void *, int, int); int (CCONV *fptrVelocityChange)(CPhidgetStepperHandle, void *, int, double); int (CCONV *fptrCurrentChange)(CPhidgetStepperHandle, void *, int, double); int (CCONV *fptrInputChange)(CPhidgetStepperHandle, void *, int, int); void *fptrPositionChangeptr; void *fptrPositionChange32ptr; void *fptrInputChangeptr; void *fptrCurrentChangeptr; void *fptrVelocityChangeptr; //data from the device unsigned char inputState[STEPPER_MAXINPUTS]; __int64 motorPositionEcho[STEPPER_MAXSTEPPERS]; double motorSpeedEcho[STEPPER_MAXSTEPPERS]; double motorSensedCurrent[STEPPER_MAXSTEPPERS]; unsigned char motorEngagedStateEcho[STEPPER_MAXSTEPPERS]; unsigned char motorStoppedState[STEPPER_MAXSTEPPERS]; int packetCounterEcho[STEPPER_MAXSTEPPERS]; //data from the user __int64 motorPosition[STEPPER_MAXSTEPPERS]; __int64 motorPositionReset[STEPPER_MAXSTEPPERS]; double motorAcceleration[STEPPER_MAXSTEPPERS]; double motorSpeed[STEPPER_MAXSTEPPERS]; double motorCurrentLimit[STEPPER_MAXSTEPPERS]; unsigned char motorEngagedState[STEPPER_MAXSTEPPERS]; int packetCounter[STEPPER_MAXSTEPPERS]; double motorSpeedMax, motorSpeedMin; double accelerationMax, accelerationMin; __int64 motorPositionMax, motorPositionMin; double currentMax, currentMin; int microSteps; unsigned char outputPacket[8]; unsigned int outputPacketLen; } typedef CPhidgetStepperInfo; #endif /** @} */ #endif


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