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//Global SimpleMotion functions & definitions
//Copyright (c) Granite Devices Oy
/*
This program is free software; you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation; version 2 of the License.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
*/
#ifndef SIMPLEMOTION_H
#define SIMPLEMOTION_H
#ifdef WIN32
//dll specs
#ifdef BUILD_DLL
#define LIB __declspec(dllexport)
#else
// #define LIB __declspec(dllimport)
#define LIB
#endif
#else
#define LIB
#endif
#include <stdio.h>
#include "simplemotion_defs.h"
#ifdef __cplusplus
extern "C"{
#endif
//possible return values (SM_STATUS type)
#define SM_NONE 0
#define SM_OK 1
#define SM_ERR_NODEVICE 2
#define SM_ERR_BUS 4
#define SM_ERR_COMMUNICATION 8
#define SM_ERR_PARAMETER 16
#define SM_ERR_LENGTH 32
#define SM_ERR_MODE 64
///////////////////////////////////////////////////////////////////////////////////////
//TYPES & VALUES //////////////////////////////////////////////////////////////////////
///////////////////////////////////////////////////////////////////////////////////////
//declare SM lib types
typedef long smbus;
typedef unsigned long smuint32;
typedef unsigned short smuint16;
typedef unsigned char smuint8;
typedef long smint32;
typedef short smint16;
typedef char smint8;
typedef char smbool;
#define smtrue 1
#define smfalse 0
typedef int SM_STATUS;
typedef smuint8 smaddr;
//comment out to disable, gives smaller & faster code
#define ENABLE_DEBUG_PRINTS
typedef enum _smVerbosityLevel {Off,Low,Mid,High,Trace} smVerbosityLevel;
//max number of simultaneously opened buses. change this and recompiple SMlib if
//necessary (to increase channels or reduce to save memory)
//#define SM_MAX_BUSES 5
///////////////////////////////////////////////////////////////////////////////////////
//FUNCTIONS////////////////////////////////////////////////////////////////////////////
///////////////////////////////////////////////////////////////////////////////////////
/** Open SM RS485 communication bus. Parameters:
-devicename: "USB2VSD" or com port as "COMx" where x=1-16
-return value: handle to be used with all other commands, -1 if fails
*/
LIB smbus smOpenBus( const char * devicename );
/** Set timeout of how long to wait reply packet from bus. Must be set before smOpenBus and cannot be changed afterwards
* max value 5000ms. In unix this is rounded to 100ms (rounding downwards), so 99 or less gives 0ms timeout.
*
*This is the only function that returns SM_STATUS which doesn't accumulate status bits to be read with getCumulativeStatus because it has no bus handle
*/
LIB SM_STATUS smSetTimeout( smuint16 millsecs );
/** Close connection to given bus handle number. This frees communication link therefore makes it available for other apps for opening.
-return value: a SM_STATUS value, i.e. SM_OK if command succeed
*/
LIB SM_STATUS smCloseBus( const smbus bushandle );
/** Return SM lib version number in hexadecimal format.
Ie V 2.5.1 would be 0x020501 and 1.2.33 0x010233 */
LIB smuint32 smGetVersion();
/** Set stream where debug output is written. By default nothing is written. */
LIB void smSetDebugOutput( smVerbosityLevel level, FILE *stream );
/** This function returns all occurred SM_STATUS bits after smOpenBus or resetCumulativeStatus call*/
LIB SM_STATUS getCumulativeStatus( const smbus handle );
/** Reset cululative status so getCumultiveStatus returns 0 after calling this until one of the other functions are called*/
LIB void resetCumulativeStatus( const smbus handle );
/** SMV2 Device communication functionss */
LIB SM_STATUS smAppendCommandToQueue( smbus handle, smuint8 cmdid, smuint16 param );
LIB SM_STATUS smExecuteCommandQueue( const smbus bushandle, const smaddr targetaddress );
LIB smuint16 smGetQueuedCommandReturnValue( const smbus bushandle, smuint16 cmdnumber );
LIB SM_STATUS smUploadCommandQueueToDeviceBuffer( const smbus bushandle, const smaddr targetaddress );
LIB SM_STATUS smBytesReceived( const smbus bushandle, smint32 *bytesinbuffer );
LIB SM_STATUS smAppendSMCommandToQueue( smbus handle, int smpCmdType, smint32 paramvalue );
LIB SM_STATUS smGetQueuedSMCommandReturnValue( const smbus bushandle, smint32 *retValue );
LIB SM_STATUS smAppendGetParamCommandToQueue( smbus handle, smint16 paramAddress );
LIB SM_STATUS smGetQueuedGetParamReturnValue( const smbus bushandle, smint32 *retValue );
LIB SM_STATUS smAppendSetParamCommandToQueue( smbus handle, smint16 paramAddress, smint32 paramValue );
LIB SM_STATUS smGetQueuedSetParamReturnValue( const smbus bushandle, smint32 *retValue );
/** Simple read & write of parameters with internal queueing, so only one call needed.
Use these for non-time critical operations. */
LIB SM_STATUS smRead1Parameter( const smbus handle, const smaddr nodeAddress, const smint16 paramId1, smint32 *paramVal1 );
LIB SM_STATUS smRead2Parameters( const smbus handle, const smaddr nodeAddress, const smint16 paramId1, smint32 *paramVal1,const smint16 paramId2, smint32 *paramVal2 );
LIB SM_STATUS smRead3Parameters( const smbus handle, const smaddr nodeAddress, const smint16 paramId1, smint32 *paramVal1,const smint16 paramId2, smint32 *paramVal2 ,const smint16 paramId3, smint32 *paramVal3 );
LIB SM_STATUS smSetParameter( const smbus handle, const smaddr nodeAddress, const smint16 paramId, smint32 paramVal );
//fast method for buffered motion stream, this provides limited return data and feeds all drives simultaneously
LIB SM_STATUS smTransmitAndReceiveFastBufferedCommand( const smbus handle, const smaddr nodeAddress, smint16 &clockOut, smint16 &bufferfreeOut );
LIB SM_STATUS smGetBufferClock( const smbus handle, const smaddr targetaddr, smuint16 *clock );
/** smFastUpdateCycle uses special SimpleMotion command to perform fast turaround communication. May be used with cyclic real time control. Parameter & return data
*content are application specific and defined . */
LIB SM_STATUS smFastUpdateCycle( smbus handle, smuint8 nodeAddress, smuint16 write1, smuint16 write2, smuint16 *read1, smuint16 *read2);
#ifdef __cplusplus
}
#endif
#endif // SIMPLEMOTION_H
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