eu_ethercat.h

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#ifndef EU_ETHERCAT_H
#define EU_ETHERCAT_H

#ifdef __cplusplus
extern "C"
{
#endif

#ifndef EXTERNFUNC
#ifdef _WIN32
#define EXTERNFUNC __declspec(dllexport)
#else
#define EXTERNFUNC
#endif
#endif

#define ETH_SUCCESS 0
#define ETH_FAILED_INIT 1
#define ETH_FAILED_NOSLAVE 2
#define ETH_FAILED_CHECKSTATE 3
#define ETH_FAILED_UNKNOWN 100

#ifdef _WIN32
    typedef char hint8;
    typedef short hint16;
    typedef long hint24;
    typedef long hint32;
    typedef long long hint40;
    typedef long long hint48;
    typedef long long hint56;
    typedef long long hint64;
    typedef unsigned char huint8;
    typedef unsigned short huint16;
    typedef unsigned long huint24;
    typedef unsigned long huint32;
    typedef unsigned long long huint40;
    typedef unsigned long long huint48;
    typedef unsigned long long huint56;
    typedef unsigned long long huint64;
    typedef float hreal32;
    typedef double hreal64;
#else
typedef signed char hint8;
typedef signed short int hint16;
typedef signed int hint24;
typedef signed int hint32;
typedef signed long int hint40;
typedef signed long int hint48;
typedef signed long int hint56;
typedef signed long int hint64;
typedef unsigned int huint8 __attribute__((__mode__(__QI__)));
typedef unsigned int huint16 __attribute__((__mode__(__HI__)));
typedef unsigned int huint24 __attribute__((__mode__(__SI__)));
typedef unsigned int huint32 __attribute__((__mode__(__SI__)));
typedef unsigned int huint40 __attribute__((__mode__(__DI__)));
typedef unsigned int huint48 __attribute__((__mode__(__DI__)));
typedef unsigned int huint56 __attribute__((__mode__(__DI__)));
typedef unsigned int huint64 __attribute__((__mode__(__DI__)));
typedef float hreal32;
typedef double hreal64;
#endif

    enum eth_DataType
    {
        //        eth_DataType_boolean = 0x01, /**< 布尔类型 */
        eth_DataType_int8 = 0x02,   
        eth_DataType_int16 = 0x03,  
        eth_DataType_int32 = 0x04,  
        eth_DataType_uint8 = 0x05,  
        eth_DataType_uint16 = 0x06, 
        eth_DataType_uint32 = 0x07, 
        eth_DataType_real32 = 0x08, 
        eth_DataType_real64 = 0x09  
    };

    enum eth_State
    {
        eth_State_None = 0x00,
        eth_State_Init = 0x01,
        eth_State_Pre_OP = 0x02,
        eth_State_Boot = 0x03,
        eth_State_Safe_OP = 0x04,
        eth_State_Operational = 0x08,
        eth_State_ACK = 0x10,
        eth_State_ERROR = 0x10
    };

    enum eth_OperateMode
    {
        eth_OperateMode_AutoTuning = -4,
        eth_OperateMode_INLCalibration = -3,
        eth_OperateMode_RotorAligning = -2,
        eth_OperateMode_Reserve = 0,              
        eth_OperateMode_ProfilePosition = 1,      
        eth_OperateMode_Velocity = 2,             
        eth_OperateMode_ProfileVelocity = 3,      
        eth_OperateMode_ProfileTorque = 4,        
        eth_OperateMode_Homing = 6,               
        eth_OperateMode_InterpolatedPosition = 7, 
        eth_OperateMode_CyclicSyncPosition = 8,   
        eth_OperateMode_CyclicSyncVelocity = 9,   
        eth_OperateMode_CyclicSyncTorque = 10,    
        eth_OperateMode_TorquePositionFixed = 11  
    };

    EXTERNFUNC int eth_initDLL(const char *ifName, int ms, int *slaveCnt);

    EXTERNFUNC int eth_freeDLL();

    EXTERNFUNC int eth_getSlaveState(huint16 slave, eth_State *state);

    EXTERNFUNC int eth_getOperateMode(huint16 slave, eth_OperateMode *mode);

    EXTERNFUNC int eth_setOperateMode(huint16 slave, eth_OperateMode mode);

    EXTERNFUNC int eth_setControlWord(huint16 slave, huint16 word);

    EXTERNFUNC int eth_getStatusWord(huint16 slave, huint16 *word);

    EXTERNFUNC int eth_enable(huint16 slave);

    EXTERNFUNC int eth_disable(huint16 slave);

    EXTERNFUNC int eth_faultReset(huint16 slave);

    EXTERNFUNC int eth_quickStop(huint16 slave);

    EXTERNFUNC int eth_getActualPosition(huint16 slave, hint32 *pos);

    EXTERNFUNC int eth_getActualVelocity(huint16 slave, hint32 *vel);

    EXTERNFUNC int eth_getActualTorque(huint16 slave, hint16 *tor);

    EXTERNFUNC int eth_setTargetPosition(huint16 slave, hint32 targetPos);

    EXTERNFUNC int eth_setTargetVelocity(huint16 slave, hint32 targetVel);

    EXTERNFUNC int eth_setProfileVelocity(huint16 slave, huint32 profileVel);

    EXTERNFUNC int eth_setProfileAcceleration(huint16 slave, huint32 profileAcc);

    EXTERNFUNC int eth_setProfileDeceleration(huint16 slave, huint32 profileDec);

    EXTERNFUNC int eth_setTargetTorque(huint16 slave, hint32 targetTor);

    EXTERNFUNC int eth_setTorqueSlope(huint16 slave, huint32 torSlope);

    EXTERNFUNC int eth_readSDO(huint16 slave, huint16 index, huint8 subIndex, void *value, eth_DataType dataType, int timeout);

    EXTERNFUNC int eth_writeSDO(huint16 slave, huint16 index, huint8 subIndex, void *value, eth_DataType dataType, int timeout);

#ifdef __cplusplus
}
#endif

#endif