eu_planet.h

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#ifndef PLANET_EU_PLANET_H
#define PLANET_EU_PLANET_H
 
#ifdef __cplusplus
extern "C"
{
#endif
 
#ifndef EXTERNFUNC
#ifdef WIN32
#define EXTERNFUNC __declspec(dllexport)
#else
#define EXTERNFUNC
#endif
#endif
 
#define PLANET_SUCCESS (0)                
#define PLANET_FAILED_ERRORDEVIECTYPE (1) 
#define PLANET_FAILED_DEVICEDISABLED (2)  
#define PLANET_FAILED_SETFAILED (3)       
#define PLANET_FAILED_MAXBYTESLIMIT (4)   
#define PLANET_FAILED_NORECEIVE (5)       
#define PLANET_FAILED_UNKNOW (100)        
    enum planet_DeviceType
    {
        planet_DeviceType_USBCAN2 = 4, 
        planet_DeviceType_Canable = 11 
    };
 
    enum planet_Baudrate
    {
        planet_Baudrate_500 = 500,  
        planet_Baudrate_1000 = 1000 
    };
 
    typedef void (*planet_SendCallFunc)(unsigned id, const unsigned char *data, unsigned size);
 
    typedef void (*planet_ReceiveCallFunc)(unsigned id, const unsigned char *data, unsigned size);
 
    EXTERNFUNC int planet_setSendCallFunction(planet_SendCallFunc callFunc);
 
    EXTERNFUNC int planet_setReceiveCallFunction(planet_ReceiveCallFunc callFunc);
 
    EXTERNFUNC int planet_initDLL(planet_DeviceType devType, unsigned devIndex, unsigned channel, planet_Baudrate baudrate);
 
    EXTERNFUNC int planet_freeDLL(unsigned devIndex);
 
    EXTERNFUNC int planet_getHeartbeat(unsigned devIndex, unsigned id, bool *heartbeat, unsigned timeout = 100);
 
    EXTERNFUNC int planet_getMotorType(unsigned devIndex, unsigned id, unsigned *type, unsigned timeout = 100);
 
    EXTERNFUNC int planet_getSerialNumber(unsigned devIndex, unsigned id, unsigned *serialNum, unsigned timeout = 100);
 
    EXTERNFUNC int planet_getHardwareVersion(unsigned devIndex, unsigned id, unsigned *hdVersion, unsigned timeout = 100);
 
    EXTERNFUNC int planet_getFirmwareVersion(unsigned devIndex, unsigned id, unsigned *fmVersion, unsigned timeout = 100);
 
    EXTERNFUNC int planet_getCurrent(unsigned devIndex, unsigned id, float *current, unsigned timeout = 100);
 
    EXTERNFUNC int planet_getVelocity(unsigned devIndex, unsigned id, float *velocity, unsigned timeout = 100);
 
    EXTERNFUNC int planet_getPosition(unsigned devIndex, unsigned id, float *position, unsigned timeout = 100);
 
    EXTERNFUNC int planet_getTargetCurrent(unsigned devIndex, unsigned id, float *current, unsigned timeout = 100);
 
    EXTERNFUNC int planet_setTargetCurrent(unsigned devIndex, unsigned id, float current, unsigned timeout = 100);
 
    EXTERNFUNC int planet_getTargetVelocity(unsigned devIndex, unsigned id, float *velocity, unsigned timeout = 100);
 
    EXTERNFUNC int planet_setTargetVelocity(unsigned devIndex, unsigned id, float velocity, unsigned timeout = 100);
 
    EXTERNFUNC int planet_getTargetPosition(unsigned devIndex, unsigned id, float *position, unsigned timeout = 100);
 
    EXTERNFUNC int planet_setTargetPosition(unsigned devIndex, unsigned id, float position, unsigned timeout = 100);
 
    EXTERNFUNC int planet_quick_setTargetPosition(unsigned devIndex, unsigned id, float position);
 
    EXTERNFUNC int planet_getTargetAcceleration(unsigned devIndex, unsigned id, float *acc, unsigned timeout = 100);
 
    EXTERNFUNC int planet_setTargetAcceleration(unsigned devIndex, unsigned id, float acc, unsigned timeout = 100);
 
    EXTERNFUNC int planet_getTargetDeceleration(unsigned devIndex, unsigned id, float *dec, unsigned timeout = 100);
 
    EXTERNFUNC int planet_setTargetDeceleration(unsigned devIndex, unsigned id, float dec, unsigned timeout = 100);
 
    EXTERNFUNC int planet_getMode(unsigned devIndex, unsigned id, unsigned *mode, unsigned timeout = 100);
 
    EXTERNFUNC int planet_setMode(unsigned devIndex, unsigned id, unsigned mode, unsigned timeout = 100);
 
    EXTERNFUNC int planet_getEnabled(unsigned devIndex, unsigned id, bool *enable, unsigned timeout = 100);
 
    EXTERNFUNC int planet_setEnabled(unsigned devIndex, unsigned id, bool enable, unsigned timeout = 100);
 
    EXTERNFUNC int planet_getStopRunState(unsigned devIndex, unsigned id, bool *state, unsigned timeout = 100);
 
    EXTERNFUNC int planet_setStopRunState(unsigned devIndex, unsigned id, bool state, unsigned timeout = 100);
 
    EXTERNFUNC int planet_getAlert(unsigned devIndex, unsigned id, unsigned *alert, unsigned timeout = 100);
 
    EXTERNFUNC int planet_getElectronicGearRatio(unsigned devIndex, unsigned id, float *ratio, unsigned timeout = 100);
 
    EXTERNFUNC int planet_getVoltage(unsigned devIndex, unsigned id, float *voltage, unsigned timeout = 100);
 
    EXTERNFUNC int planet_getProtectedVoltage(unsigned devIndex, unsigned id, float *voltage, unsigned timeout = 100);
 
    EXTERNFUNC int planet_setProtectedVoltage(unsigned devIndex, unsigned id, float voltage, unsigned timeout = 100);
 
    EXTERNFUNC int planet_getTemperature(unsigned devIndex, unsigned id, float *tem, unsigned timeout = 100);
 
    EXTERNFUNC int planet_getProtectedTemperature(unsigned devIndex, unsigned id, float *protectedTem, unsigned timeout = 100);
 
    EXTERNFUNC int planet_setProtectedTemperature(unsigned devIndex, unsigned id, float tem, unsigned timeout = 100);
 
    EXTERNFUNC int planet_getRecoveryTemperature(unsigned devIndex, unsigned id, float *recoveryTem, unsigned timeout = 100);
 
    EXTERNFUNC int planet_setRecoveryTemperature(unsigned devIndex, unsigned id, float tem, unsigned timeout = 100);
 
    EXTERNFUNC int planet_getPOfCurrentLoop(unsigned devIndex, unsigned id, unsigned *p, unsigned timeout = 100);
 
    EXTERNFUNC int planet_setPOfCurrentLoop(unsigned devIndex, unsigned id, unsigned p, unsigned timeout = 100);
 
    EXTERNFUNC int planet_getIOfCurrentLoop(unsigned devIndex, unsigned id, unsigned *i, unsigned timeout = 100);
 
    EXTERNFUNC int planet_setIOfCurrentLoop(unsigned devIndex, unsigned id, unsigned i, unsigned timeout = 100);
 
    EXTERNFUNC int planet_getPOfVelocityLoop(unsigned devIndex, unsigned id, unsigned *p, unsigned timeout = 100);
 
    EXTERNFUNC int planet_setPOfVelocityLoop(unsigned devIndex, unsigned id, unsigned p, unsigned timeout = 100);
 
    EXTERNFUNC int planet_getIOfVelocityLoop(unsigned devIndex, unsigned id, unsigned *i, unsigned timeout = 100);
 
    EXTERNFUNC int planet_setIOfVelocityLoop(unsigned devIndex, unsigned id, unsigned i, unsigned timeout = 100);
 
    EXTERNFUNC int planet_getPOfPositionLoop(unsigned devIndex, unsigned id, unsigned *p, unsigned timeout = 100);
 
    EXTERNFUNC int planet_setPOfPositionLoop(unsigned devIndex, unsigned id, unsigned p, unsigned timeout = 100);
 
    EXTERNFUNC int planet_getIOfPositionLoop(unsigned devIndex, unsigned id, unsigned *i, unsigned timeout = 100);
 
    EXTERNFUNC int planet_setIOfPositionLoop(unsigned devIndex, unsigned id, unsigned i, unsigned timeout = 100);
 
    EXTERNFUNC int planet_getIntegralLimit(unsigned devIndex, unsigned id, float *limit, unsigned timeout = 100);
 
    EXTERNFUNC int planet_setIntegralLimit(unsigned devIndex, unsigned id, float limit, unsigned timeout = 100);
 
    EXTERNFUNC int planet_getMaxCurrent(unsigned devIndex, unsigned id, float *current, unsigned timeout = 100);
 
    EXTERNFUNC int planet_setMaxCurrent(unsigned devIndex, unsigned id, float current, unsigned timeout = 100);
 
    EXTERNFUNC int planet_getMaxVelocity(unsigned devIndex, unsigned id, float *velocity, unsigned timeout = 100);
 
    EXTERNFUNC int planet_setMaxVelocity(unsigned devIndex, unsigned id, float velocity, unsigned timeout = 100);
 
    EXTERNFUNC int planet_getMaxVelocityOfVelocityLadderCurve(unsigned devIndex, unsigned id, float *velocity, unsigned timeout = 100);
 
    EXTERNFUNC int planet_setMaxVelocityOfVelocityLadderCurve(unsigned devIndex, unsigned id, float velocity, unsigned timeout = 100);
 
    EXTERNFUNC int planet_getMaxAccelerationOfVelocityLadderCurve(unsigned devIndex, unsigned id, float *acc, unsigned timeout = 100);
 
    EXTERNFUNC int planet_setMaxAccelerationOfVelocityLadderCurve(unsigned devIndex, unsigned id, float acc, unsigned timeout = 100);
 
    EXTERNFUNC int planet_getMaxDecelerationOfVelocityLadderCurve(unsigned devIndex, unsigned id, float *dec, unsigned timeout = 100);
 
    EXTERNFUNC int planet_setMaxDecelerationOfVelocityLadderCurve(unsigned devIndex, unsigned id, float dec, unsigned timeout = 100);
 
    EXTERNFUNC int planet_getMaxVelocityOfPositionLadderCurve(unsigned devIndex, unsigned id, float *dec, unsigned timeout = 100);
 
    EXTERNFUNC int planet_setMaxVelocityOfPositionLadderCurve(unsigned devIndex, unsigned id, float velocity, unsigned timeout = 100);
 
    EXTERNFUNC int planet_getMaxAccelerationOfPositionLadderCurve(unsigned devIndex, unsigned id, float *acc, unsigned timeout = 100);
 
    EXTERNFUNC int planet_setMaxAccelerationOfPositionLadderCurve(unsigned devIndex, unsigned id, float acc, unsigned timeout = 100);
 
    EXTERNFUNC int planet_getMaxDecelerationOfPositionLadderCurve(unsigned devIndex, unsigned id, float *dec, unsigned timeout = 100);
 
    EXTERNFUNC int planet_setMaxDecelerationOfPositionLadderCurve(unsigned devIndex, unsigned id, float dec, unsigned timeout = 100);
 
    EXTERNFUNC int planet_getLimitState(unsigned devIndex, unsigned id, bool *state, unsigned timeout = 100);
 
    EXTERNFUNC int planet_setLimitState(unsigned devIndex, unsigned id, bool state, unsigned timeout = 100);
 
    EXTERNFUNC int planet_getMaxPosition(unsigned devIndex, unsigned id, float *position, unsigned timeout = 100);
 
    EXTERNFUNC int planet_setMaxPosition(unsigned devIndex, unsigned id, float position, unsigned timeout = 100);
 
    EXTERNFUNC int planet_getMinPosition(unsigned devIndex, unsigned id, float *position, unsigned timeout = 100);
 
    EXTERNFUNC int planet_setMinPosition(unsigned devIndex, unsigned id, float position, unsigned timeout = 100);
 
    EXTERNFUNC int planet_getOriginPositionOffset(unsigned devIndex, unsigned id, float *offset, unsigned timeout = 100);
 
    EXTERNFUNC int planet_getPositionOffset(unsigned devIndex, unsigned id, float *offset, unsigned timeout = 100);
 
    EXTERNFUNC int planet_setPositionOffset(unsigned devIndex, unsigned id, float position, unsigned timeout = 100);
 
    EXTERNFUNC int planet_getSingleLapPositionRange(unsigned devIndex, unsigned id, int *range, unsigned timeout = 100);
 
    EXTERNFUNC int planet_setSingleLapPositionRange(unsigned devIndex, unsigned id, int range, unsigned timeout = 100);
 
    EXTERNFUNC int planet_getAntiCoggingTorqueEnabled(unsigned devIndex, unsigned id, bool *enable, unsigned timeout = 100);
 
    EXTERNFUNC int planet_setAntiCoggingTorqueEnabled(unsigned devIndex, unsigned id, bool enable, unsigned timeout = 100);
 
    EXTERNFUNC int planet_getBrakeEnabled(unsigned devIndex, unsigned id, bool *enable, unsigned timeout = 100);
 
    EXTERNFUNC int planet_setBrakeEnabled(unsigned devIndex, unsigned id, bool enable, unsigned timeout = 100);
 
    EXTERNFUNC int planet_getCanBaudrate(unsigned devIndex, unsigned id, int *baudrate, unsigned timeout = 100);
 
    EXTERNFUNC int planet_setCanBaudrate(unsigned devIndex, unsigned id, int baudrate, unsigned timeout = 100);
 
    EXTERNFUNC int planet_setID(unsigned devIndex, unsigned id, unsigned newId, unsigned timeout = 100);
 
    EXTERNFUNC int planet_saveParas(unsigned devIndex, unsigned id, unsigned timeout = 100);
 
    EXTERNFUNC int planet_getProductInfo(unsigned devIndex, unsigned id, unsigned *info, unsigned timeout = 100);
 
    EXTERNFUNC int planet_setProductInfo(unsigned devIndex, unsigned id, unsigned info, unsigned timeout = 100);
 
    EXTERNFUNC int planet_getProtectionSwitch(unsigned devIndex, unsigned id, unsigned *value, unsigned timeout = 100);
 
    EXTERNFUNC int planet_setProtectionSwitch(unsigned devIndex, unsigned id, unsigned value, unsigned timeout = 100);
 
    EXTERNFUNC int planet_getRatedTorque(unsigned devIndex, unsigned id, unsigned *torque, unsigned timeout = 100);
 
    EXTERNFUNC int planet_getDefaultTorqueFactor(unsigned devIndex, unsigned id, unsigned *factor, unsigned timeout = 100);
 
    EXTERNFUNC int planet_getTorqueFactor(unsigned devIndex, unsigned id, unsigned *factor, unsigned timeout = 100);
 
    EXTERNFUNC int planet_setTorqueFactor(unsigned devIndex, unsigned id, unsigned factor, unsigned timeout = 100);
 
    EXTERNFUNC int planet_getStallProtectionTime(unsigned devIndex, unsigned id, unsigned *time, unsigned timeout = 100);
 
    EXTERNFUNC int planet_setStallProtectionTime(unsigned devIndex, unsigned id, unsigned time, unsigned timeout = 100);
 
    EXTERNFUNC int planet_getFPGAErrorCount(unsigned devIndex, unsigned id, unsigned *count, unsigned timeout = 100);
 
    EXTERNFUNC int planet_getSecondEncoderAngle(unsigned devIndex, unsigned id, unsigned *angle, unsigned timeout = 100);
 
    EXTERNFUNC int planet_getSecondaryEncoderOffset(unsigned devIndex, unsigned id, unsigned *offset, unsigned timeout = 100);
 
    EXTERNFUNC int planet_setSecondaryEncoderOffset(unsigned devIndex, unsigned id, unsigned offset, unsigned timeout = 100);
 
    EXTERNFUNC int planet_getFirstEncoderAngle(unsigned devIndex, unsigned id, unsigned *offset, unsigned timeout = 100);
 
    EXTERNFUNC int planet_writeData(unsigned devIndex, unsigned id, unsigned char *sendData, int sendLength);
 
#ifdef __cplusplus
}
#endif
 
#endif // EU_PLANET_H