epos.h

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#ifndef _EPOS_H
#define _EPOS_H

#include <stdio.h>   /* Standard input/output definitions */
#include <string.h>  /* String function definitions */
#include <unistd.h>  /* UNIX standard function definitions */
#include <fcntl.h>   /* File control definitions */
#include <errno.h>   /* Error number definitions */
#include <termios.h> /* POSIX terminal control definitions */
#include <stdlib.h>
#include <stdint.h>  /* int types with given size */
#include <math.h>

/* added oct06 for openTCPEPOS() */
#include <sys/types.h>
#include <sys/socket.h>
#include <netinet/in.h>
#include <arpa/inet.h>

#define E_NOERR         0x00000000   ///< Error code: no error
#define E_ONOTEX        0x06020000   ///< Error code: object does not exist
#define E_SUBINEX       0x06090011   ///< Error code: subindex does not exist
#define E_OUTMEM        0x05040005   ///< Error code: out of memory
#define E_NOACCES       0x06010000   ///< Error code: Unsupported access to an object
#define E_WRITEONLY     0x06010001   ///< Error code: Attempt to read a write-only object
#define E_READONLY      0x06010002   ///< Error code: Attempt to write a read-only object
#define E_PARAMINCOMP   0x06040043   ///< Error code: general parameter incompatibility 
#define E_INTINCOMP     0x06040047   ///< Error code: general internal incompatibility in the device 
#define E_HWERR         0x06060000   ///< Error code: access failed due to an hardware error
#define E_PRAGNEX       0x06090030   ///< Error code: value range of parameter exeeded
#define E_PARHIGH       0x06090031   ///< Error code: value of parameter written is too high
#define E_PARLOW        0x06090032   ///< Error code: value of parameter written is too low
#define E_PARREL        0x06090036   ///< Error code: maximum value is less than minimum value
#define E_NMTSTATE      0x0f00ffc0   ///< Error code: wrong NMT state
#define E_RS232         0x0f00ffbf   ///< Error code: rs232 command illegeal
#define E_PASSWD        0x0f00ffbe   ///< Error code: password incorrect
#define E_NSERV         0x0f00ffbc   ///< Error code: device not in service mode
#define E_NODEID        0x0f00fb9    ///< Error code: error in Node-ID

//#include "eposlib.h" -> moved to epos.c

/* all EPOS data exchange is based on 16bit words, but other types are
   also used...*/
typedef unsigned long DWORD ; 
typedef unsigned short WORD ; 
#ifndef CPP
typedef char BYTE ; 
#endif

/* EPOS will reset communication after 500ms of inactivity */

#define NTRY      5

//#define TRYSLEEP  (unsigned int)1e5
#define TRYSLEEP  (unsigned int)4000





/* globals, defined in epos.c */

extern int sp; 
extern DWORD E_error; 

/* all high-level functions return <0 in case of error */

int openEPOS(char *device);
int openTCPEPOS(char *ip, short unsigned port);
int closeEPOS();
int checkEPOS();


int checkEPOSerror();

int checkEPOSstate();
int printEPOSstate();
int changeEPOSstate(int state);



int readSWversion();


int readDeviceName(char *name);


int readRS232timeout();

int readDInputPolarity(WORD* w);

int setHomePolarity(int pol);



int readStatusword(WORD *eposStatus);
int printEPOSstatusword(WORD statusword);



int readControlword(WORD *w);
int printEPOScontrolword(WORD controlword);


int setOpMode(int OpMode);

int readOpMode();


int readDemandPosition(long *val);
int readActualPosition(long *val);

int readPositionWindow(unsigned long int *value);
int writePositionWindow(unsigned long int value);

int readDemandVelocity(long *val);
int readActualVelocity(long *val);

int readActualCurrent(short *val);

int readTargetPosition(long *val);


int set_speed_profile( unsigned int max_velocity,        // rpm
                       unsigned int acceleration = 1000, // rpm/s
                       unsigned int deceleration = 1000, // rpm/s
                       bool trapezoidal = true );
  
int doHoming(int method, long int start);


int moveRelative(long int steps);
int moveAbsolute(long int steps);
int moveVelocity(int32_t steps);

int monitorStatus();
int monitorHomingStatus();

int waitForTarget(unsigned int t);


#endif