Header file for libximc library. More...

Data Structures
struct	calibration_t
	Calibration companion structure. More...
struct	device_network_information_t
	Device network information structure. More...
struct	feedback_settings_t
	Feedback settings. More...
struct	home_settings_t
	Position calibration settings. More...
struct	home_settings_calb_t
	Position calibration settings which use user units. More...
struct	move_settings_t
	Move settings. More...
struct	move_settings_calb_t
	Move settings which use user units. More...
struct	engine_settings_t
	Movement limitations and settings, related to the motor. More...
struct	engine_settings_calb_t
	Movement limitations and settings, related to the motor, which use user units. More...
struct	entype_settings_t
	Engine type and driver type settings. More...
struct	power_settings_t
	Step motor power settings. More...
struct	secure_settings_t
	This structure contains raw analog data from ADC embedded on board. More...
struct	edges_settings_t
	Edges settings. More...
struct	edges_settings_calb_t
	Edges settings which use user units. More...
struct	pid_settings_t
	PID settings. More...
struct	sync_in_settings_t
	Synchronization settings. More...
struct	sync_in_settings_calb_t
	Synchronization settings which use user units. More...
struct	sync_out_settings_t
	Synchronization settings. More...
struct	sync_out_settings_calb_t
	Synchronization settings which use user units. More...
struct	extio_settings_t
	EXTIO settings. More...
struct	brake_settings_t
	Brake settings. More...
struct	control_settings_t
	Control settings. More...
struct	control_settings_calb_t
	Control settings which use user units. More...
struct	joystick_settings_t
	Joystick settings. More...
struct	ctp_settings_t
	Control position settings(is only used with stepper motor). More...
struct	uart_settings_t
	UART settings. More...
struct	calibration_settings_t
	Calibration settings. More...
struct	controller_name_t
	Controller user name and flags of setting. More...
struct	nonvolatile_memory_t
	Userdata for save into FRAM. More...
struct	emf_settings_t
	EMF settings. More...
struct	engine_advansed_setup_t
	EAS settings. More...
struct	extended_settings_t
	EST settings. More...
struct	get_position_t
	Position information. More...
struct	get_position_calb_t
	Position information. More...
struct	set_position_t
	Position information. More...
struct	set_position_calb_t
	Position information which use user units. More...
struct	status_t
	Device state. More...
struct	status_calb_t
	Device state which use user units. More...
struct	measurements_t
	The buffer holds no more than 25 points. More...
struct	chart_data_t
	Additional device state. More...
struct	device_information_t
	Read command controller information. More...
struct	serial_number_t
	Serial number structure and hardware version. More...
struct	analog_data_t
	Analog data. More...
struct	debug_read_t
	Debug data. More...
struct	debug_write_t
	Debug data. More...
struct	stage_name_t
	Stage user name. More...
struct	stage_information_t
	Stage information. More...
struct	stage_settings_t
	Stage settings. More...
struct	motor_information_t
	motor information. More...
struct	motor_settings_t
	Physical characteristics and limitations of the motor. More...
struct	encoder_information_t
	Encoder information. More...
struct	encoder_settings_t
	Encoder settings. More...
struct	hallsensor_information_t
	Hall sensor information. More...
struct	hallsensor_settings_t
	Hall sensor settings. More...
struct	gear_information_t
	Gear information. More...
struct	gear_settings_t
	Gear setings. More...
struct	accessories_settings_t
	Additional accessories information. More...
struct	init_random_t
	Random key. More...
struct	globally_unique_identifier_t
	Globally unique identifier. More...

Macros
#define	XIMC_API
	Library import macro Macros allows to automatically import function from shared library.
#define	XIMC_CALLCONV
	Library calling convention macros.
#define	XIMC_RETTYPE void*
	Thread return type.
#define	device_undefined -1
	Handle specified undefined device.
Result statuses
#define	result_ok 0
	success
#define	result_error -1
	generic error
#define	result_not_implemented -2
	function is not implemented
#define	result_value_error -3
	value error
#define	result_nodevice -4
	device is lost
Logging level
#define	LOGLEVEL_ERROR 0x01
	Logging level - error.
#define	LOGLEVEL_WARNING 0x02
	Logging level - warning.
#define	LOGLEVEL_INFO 0x03
	Logging level - info.
#define	LOGLEVEL_DEBUG 0x04
	Logging level - debug.
Enumerate devices flags

#define	ENUMERATE_PROBE 0x01
	Check if a device with OS name name is XIMC device.
#define	ENUMERATE_ALL_COM 0x02
	Check all COM devices.
#define	ENUMERATE_NETWORK 0x04
	Check network devices.
Flags of move state
Specify move states. See Also get_status status_t::MoveSts, get_status_impl
#define	MOVE_STATE_MOVING 0x01
	This flag indicates that controller is trying to move the motor.
#define	MOVE_STATE_TARGET_SPEED 0x02
	Target speed is reached, if flag set.
#define	MOVE_STATE_ANTIPLAY 0x04
	Motor is playing compensation, if flag set.
Flags of internal controller settings
See Also set_controller_name get_controller_name controller_name_t::CtrlFlags, get_controller_name, set_controller_name
#define	EEPROM_PRECEDENCE 0x01
	If the flag is set settings from external EEPROM override controller settings.
Flags of power state of stepper motor
Specify power states. See Also get_status status_t::PWRSts, get_status_impl
#define	PWR_STATE_UNKNOWN 0x00
	Unknown state, should never happen.
#define	PWR_STATE_OFF 0x01
	Motor windings are disconnected from the driver.
#define	PWR_STATE_NORM 0x03
	Motor windings are powered by nominal current.
#define	PWR_STATE_REDUCT 0x04
	Motor windings are powered by reduced current to lower power consumption.
#define	PWR_STATE_MAX 0x05
	Motor windings are powered by maximum current driver can provide at this voltage.
Status flags
Controller flags returned by device query. Contains boolean part of controller state. May be combined with bitwise OR. See Also get_status status_t::Flags, get_status_impl
#define	STATE_CONTR 0x000003F
	Flags of controller states.
#define	STATE_ERRC 0x0000001
	Command error encountered.
#define	STATE_ERRD 0x0000002
	Data integrity error encountered.
#define	STATE_ERRV 0x0000004
	Value error encountered.
#define	STATE_EEPROM_CONNECTED 0x0000010
	EEPROM with settings is connected.
#define	STATE_IS_HOMED 0x0000020
	Calibration performed.
#define	STATE_SECUR 0x1B3FFC0
	Flags of security.
#define	STATE_ALARM 0x0000040
	Controller is in alarm state indicating that something dangerous had happened.
#define	STATE_CTP_ERROR 0x0000080
	Control position error(is only used with stepper motor).
#define	STATE_POWER_OVERHEAT 0x0000100
	Power driver overheat.
#define	STATE_CONTROLLER_OVERHEAT 0x0000200
	Controller overheat.
#define	STATE_OVERLOAD_POWER_VOLTAGE 0x0000400
	Power voltage exceeds safe limit.
#define	STATE_OVERLOAD_POWER_CURRENT 0x0000800
	Power current exceeds safe limit.
#define	STATE_OVERLOAD_USB_VOLTAGE 0x0001000
	USB voltage exceeds safe limit.
#define	STATE_LOW_USB_VOLTAGE 0x0002000
	USB voltage is insufficient for normal operation.
#define	STATE_OVERLOAD_USB_CURRENT 0x0004000
	USB current exceeds safe limit.
#define	STATE_BORDERS_SWAP_MISSET 0x0008000
	Engine stuck at the wrong edge.
#define	STATE_LOW_POWER_VOLTAGE 0x0010000
	Power voltage is lower than Low Voltage Protection limit.
#define	STATE_H_BRIDGE_FAULT 0x0020000
	Signal from the driver that fault happened.
#define	STATE_WINDING_RES_MISMATCH 0x0100000
	The difference between winding resistances is too large.
#define	STATE_ENCODER_FAULT 0x0200000
	Signal from the encoder that fault happened.
#define	STATE_ENGINE_RESPONSE_ERROR 0x0800000
	Error response of the engine control action.
#define	STATE_EXTIO_ALARM 0x1000000
	The error is caused by the input signal.
Status flags of the GPIO outputs
GPIO state flags returned by device query. Contains boolean part of controller state. May be combined with bitwise OR. See Also get_status status_t::GPIOFlags, get_status_impl
#define	STATE_DIG_SIGNAL 0xFFFF
	Flags of digital signals.
#define	STATE_RIGHT_EDGE 0x0001
	Engine stuck at the right edge.
#define	STATE_LEFT_EDGE 0x0002
	Engine stuck at the left edge.
#define	STATE_BUTTON_RIGHT 0x0004
	Button "right" state (1 if pressed).
#define	STATE_BUTTON_LEFT 0x0008
	Button "left" state (1 if pressed).
#define	STATE_GPIO_PINOUT 0x0010
	External GPIO works as Out, if flag set; otherwise works as In.
#define	STATE_GPIO_LEVEL 0x0020
	State of external GPIO pin.
#define	STATE_BRAKE 0x0200
	State of Brake pin.
#define	STATE_REV_SENSOR 0x0400
	State of Revolution sensor pin.
#define	STATE_SYNC_INPUT 0x0800
	State of Sync input pin.
#define	STATE_SYNC_OUTPUT 0x1000
	State of Sync output pin.
#define	STATE_ENC_A 0x2000
	State of encoder A pin.
#define	STATE_ENC_B 0x4000
	State of encoder B pin.
Encoder state
Encoder state returned by device query. See Also get_status status_t::EncSts, get_status_impl
#define	ENC_STATE_ABSENT 0x00
	Encoder is absent.
#define	ENC_STATE_UNKNOWN 0x01
	Encoder state is unknown.
#define	ENC_STATE_MALFUNC 0x02
	Encoder is connected and malfunctioning.
#define	ENC_STATE_REVERS 0x03
	Encoder is connected and operational but counts in other direction.
#define	ENC_STATE_OK 0x04
	Encoder is connected and working properly.
Winding state
Motor winding state returned by device query. See Also get_status status_t::WindSts, get_status_impl
#define	WIND_A_STATE_ABSENT 0x00
	Winding A is disconnected.
#define	WIND_A_STATE_UNKNOWN 0x01
	Winding A state is unknown.
#define	WIND_A_STATE_MALFUNC 0x02
	Winding A is short-circuited.
#define	WIND_A_STATE_OK 0x03
	Winding A is connected and working properly.
#define	WIND_B_STATE_ABSENT 0x00
	Winding B is disconnected.
#define	WIND_B_STATE_UNKNOWN 0x10
	Winding B state is unknown.
#define	WIND_B_STATE_MALFUNC 0x20
	Winding B is short-circuited.
#define	WIND_B_STATE_OK 0x30
	Winding B is connected and working properly.
Move command state
Move command (command_move, command_movr, command_left, command_right, command_stop, command_home, command_loft, command_sstp) and its state (run, finished, error). See Also get_status status_t::MvCmdSts, get_status_impl
#define	MVCMD_NAME_BITS 0x3F
	Move command bit mask.
#define	MVCMD_UKNWN 0x00
	Unknown command.
#define	MVCMD_MOVE 0x01
	Command move.
#define	MVCMD_MOVR 0x02
	Command movr.
#define	MVCMD_LEFT 0x03
	Command left.
#define	MVCMD_RIGHT 0x04
	Command rigt.
#define	MVCMD_STOP 0x05
	Command stop.
#define	MVCMD_HOME 0x06
	Command home.
#define	MVCMD_LOFT 0x07
	Command loft.
#define	MVCMD_SSTP 0x08
	Command soft stop.
#define	MVCMD_ERROR 0x40
	Finish state (1 - move command have finished with an error, 0 - move command have finished correctly).
#define	MVCMD_RUNNING 0x80
	Move command state (0 - move command have finished, 1 - move command is being executed).
Flags of the motion parameters
Specify motor shaft movement algorithm and list of limitations. Flags returned by query of get_move_settings. See Also set_move_settings get_move_settings move_settings_t::MoveFlags, get_move_settings, set_move_settings
#define	RPM_DIV_1000 0x01
	This flag indicates that the operating speed specified in the command is set in milli rpm.
Flags of engine settings
Specify motor shaft movement algorithm and list of limitations. Flags returned by query of engine settings. May be combined with bitwise OR. See Also set_engine_settings get_engine_settings engine_settings_t::EngineFlags, get_engine_settings, set_engine_settings
#define	ENGINE_REVERSE 0x01
	Reverse flag.
#define	ENGINE_CURRENT_AS_RMS 0x02
	Engine current meaning flag.
#define	ENGINE_MAX_SPEED 0x04
	Max speed flag.
#define	ENGINE_ANTIPLAY 0x08
	Play compensation flag.
#define	ENGINE_ACCEL_ON 0x10
	Acceleration enable flag.
#define	ENGINE_LIMIT_VOLT 0x20
	Maximum motor voltage limit enable flag(is only used with DC motor).
#define	ENGINE_LIMIT_CURR 0x40
	Maximum motor current limit enable flag(is only used with DC motor).
#define	ENGINE_LIMIT_RPM 0x80
	Maximum motor speed limit enable flag.
Flags of microstep mode
Specify settings of microstep mode. Using with step motors. Flags returned by query of engine settings. May be combined with bitwise OR See Also engine_settings_t::flags set_engine_settings get_engine_settings engine_settings_t::MicrostepMode, get_engine_settings, set_engine_settings
#define	MICROSTEP_MODE_FULL 0x01
	Full step mode.
#define	MICROSTEP_MODE_FRAC_2 0x02
	1/2 step mode.
#define	MICROSTEP_MODE_FRAC_4 0x03
	1/4 step mode.
#define	MICROSTEP_MODE_FRAC_8 0x04
	1/8 step mode.
#define	MICROSTEP_MODE_FRAC_16 0x05
	1/16 step mode.
#define	MICROSTEP_MODE_FRAC_32 0x06
	1/32 step mode.
#define	MICROSTEP_MODE_FRAC_64 0x07
	1/64 step mode.
#define	MICROSTEP_MODE_FRAC_128 0x08
	1/128 step mode.
#define	MICROSTEP_MODE_FRAC_256 0x09
	1/256 step mode.
Flags of engine type
Specify motor type. Flags returned by query of engine settings. See Also engine_settings_t::flags set_entype_settings get_entype_settings entype_settings_t::EngineType, get_entype_settings, set_entype_settings
#define	ENGINE_TYPE_NONE 0x00
	A value that shouldn't be used.
#define	ENGINE_TYPE_DC 0x01
	DC motor.
#define	ENGINE_TYPE_2DC 0x02
	2 DC motors.
#define	ENGINE_TYPE_STEP 0x03
	Step motor.
#define	ENGINE_TYPE_TEST 0x04
	Duty cycle are fixed.
#define	ENGINE_TYPE_BRUSHLESS 0x05
	Brushless motor.
Flags of driver type
Specify driver type. Flags returned by query of engine settings. See Also engine_settings_t::flags set_entype_settings get_entype_settings entype_settings_t::DriverType, get_entype_settings, set_entype_settings
#define	DRIVER_TYPE_DISCRETE_FET 0x01
	Driver with discrete FET keys.
#define	DRIVER_TYPE_INTEGRATE 0x02
	Driver with integrated IC.
#define	DRIVER_TYPE_EXTERNAL 0x03
	External driver.
Flags of power settings of stepper motor
Specify power settings. Flags returned by query of power settings. See Also get_power_settings set_power_settings power_settings_t::PowerFlags, get_power_settings, set_power_settings
#define	POWER_REDUCT_ENABLED 0x01
	Current reduction enabled after CurrReductDelay, if this flag is set.
#define	POWER_OFF_ENABLED 0x02
	Power off enabled after PowerOffDelay, if this flag is set.
#define	POWER_SMOOTH_CURRENT 0x04
	Current ramp-up/down is performed smoothly during current_set_time, if this flag is set.
Flags of secure settings
Specify secure settings. Flags returned by query of secure settings. See Also get_secure_settings set_secure_settings secure_settings_t::Flags, get_secure_settings, set_secure_settings
#define	ALARM_ON_DRIVER_OVERHEATING 0x01
	If this flag is set enter Alarm state on driver overheat signal.
#define	LOW_UPWR_PROTECTION 0x02
	If this flag is set turn off motor when voltage is lower than LowUpwrOff.
#define	H_BRIDGE_ALERT 0x04
	If this flag is set then turn off the power unit with a signal problem in one of the transistor bridge.
#define	ALARM_ON_BORDERS_SWAP_MISSET 0x08
	If this flag is set enter Alarm state on borders swap misset.
#define	ALARM_FLAGS_STICKING 0x10
	If this flag is set only a STOP command can turn all alarms to 0.
#define	USB_BREAK_RECONNECT 0x20
	If this flag is set USB brake reconnect module will be enable.
#define	ALARM_WINDING_MISMATCH 0x40
	If this flag is set enter Alarm state when windings mismatch.
#define	ALARM_ENGINE_RESPONSE 0x80
	If this flag is set enter Alarm state on response of the engine control action.
Position setting flags
Flags used in setting of position. See Also get_position set_position set_position_t::PosFlags, set_position
#define	SETPOS_IGNORE_POSITION 0x01
	Will not reload position in steps/microsteps if this flag is set.
#define	SETPOS_IGNORE_ENCODER 0x02
	Will not reload encoder state if this flag is set.
Feedback type.
See Also set_feedback_settings get_feedback_settings feedback_settings_t::FeedbackType, get_feedback_settings, set_feedback_settings
#define	FEEDBACK_ENCODER 0x01
	Feedback by encoder.
#define	FEEDBACK_EMF 0x04
	Feedback by EMF.
#define	FEEDBACK_NONE 0x05
	Feedback is absent.
#define	FEEDBACK_ENCODER_MEDIATED 0x06
	Feedback by encoder mediated by mechanical transmission (for example leadscrew).
Describes feedback flags.
See Also set_feedback_settings get_feedback_settings feedback_settings_t::FeedbackFlags, get_feedback_settings, set_feedback_settings
#define	FEEDBACK_ENC_REVERSE 0x01
	Reverse count of encoder.
#define	FEEDBACK_ENC_TYPE_BITS 0xC0
	Bits of the encoder type.
#define	FEEDBACK_ENC_TYPE_AUTO 0x00
	Auto detect encoder type.
#define	FEEDBACK_ENC_TYPE_SINGLE_ENDED 0x40
	Single ended encoder.
#define	FEEDBACK_ENC_TYPE_DIFFERENTIAL 0x80
	Differential encoder.
Flags for synchronization input setup
See Also sync_in_settings_t::SyncInFlags, get_sync_in_settings, set_sync_in_settings
#define	SYNCIN_ENABLED 0x01
	Synchronization in mode is enabled, if this flag is set.
#define	SYNCIN_INVERT 0x02
	Trigger on falling edge if flag is set, on rising edge otherwise.
#define	SYNCIN_GOTOPOSITION 0x04
	The engine is go to position specified in Position and uPosition, if this flag is set.
Flags of synchronization output
See Also sync_out_settings_t::SyncOutFlags, get_sync_out_settings, set_sync_out_settings
#define	SYNCOUT_ENABLED 0x01
	Synchronization out pin follows the synchronization logic, if set.
#define	SYNCOUT_STATE 0x02
	When output state is fixed by negative SYNCOUT_ENABLED flag, the pin state is in accordance with this flag state.
#define	SYNCOUT_INVERT 0x04
	Low level is active, if set, and high level is active otherwise.
#define	SYNCOUT_IN_STEPS 0x08
	Use motor steps/encoder pulses instead of milliseconds for output pulse generation if the flag is set.
#define	SYNCOUT_ONSTART 0x10
	Generate synchronization pulse when movement starts.
#define	SYNCOUT_ONSTOP 0x20
	Generate synchronization pulse when movement stops.
#define	SYNCOUT_ONPERIOD 0x40
	Generate synchronization pulse every SyncOutPeriod encoder pulses.
External IO setup flags
See Also get_extio_settings set_extio_settings extio_settings_t::EXTIOSetupFlags, get_extio_settings, set_extio_settings
#define	EXTIO_SETUP_OUTPUT 0x01
	EXTIO works as output if flag is set, works as input otherwise.
#define	EXTIO_SETUP_INVERT 0x02
	Interpret EXTIO states and fronts inverted if flag is set.
External IO mode flags
See Also extio_settings_t::extio_mode_flags get_extio_settings set_extio_settings extio_settings_t::EXTIOModeFlags, get_extio_settings, set_extio_settings
#define	EXTIO_SETUP_MODE_IN_BITS 0x0F
	Bits of the behaviour selector when the signal on input goes to the active state.
#define	EXTIO_SETUP_MODE_IN_NOP 0x00
	Do nothing.
#define	EXTIO_SETUP_MODE_IN_STOP 0x01
	Issue STOP command, ceasing the engine movement.
#define	EXTIO_SETUP_MODE_IN_PWOF 0x02
	Issue PWOF command, powering off all engine windings.
#define	EXTIO_SETUP_MODE_IN_MOVR 0x03
	Issue MOVR command with last used settings.
#define	EXTIO_SETUP_MODE_IN_HOME 0x04
	Issue HOME command.
#define	EXTIO_SETUP_MODE_IN_ALARM 0x05
	Set Alarm when the signal goes to the active state.
#define	EXTIO_SETUP_MODE_OUT_BITS 0xF0
	Bits of the output behaviour selection.
#define	EXTIO_SETUP_MODE_OUT_OFF 0x00
	EXTIO pin always set in inactive state.
#define	EXTIO_SETUP_MODE_OUT_ON 0x10
	EXTIO pin always set in active state.
#define	EXTIO_SETUP_MODE_OUT_MOVING 0x20
	EXTIO pin stays active during moving state.
#define	EXTIO_SETUP_MODE_OUT_ALARM 0x30
	EXTIO pin stays active during Alarm state.
#define	EXTIO_SETUP_MODE_OUT_MOTOR_ON 0x40
	EXTIO pin stays active when windings are powered.
Border flags
Specify types of borders and motor behaviour on borders. May be combined with bitwise OR. See Also get_edges_settings set_edges_settings edges_settings_t::BorderFlags, get_edges_settings, set_edges_settings
#define	BORDER_IS_ENCODER 0x01
	Borders are fixed by predetermined encoder values, if set; borders position on limit switches, if not set.
#define	BORDER_STOP_LEFT 0x02
	Motor should stop on left border.
#define	BORDER_STOP_RIGHT 0x04
	Motor should stop on right border.
#define	BORDERS_SWAP_MISSET_DETECTION 0x08
	Motor should stop on both borders.
Limit switches flags
Specify electrical behaviour of limit switches like order and pulled positions. May be combined with bitwise OR. See Also get_edges_settings set_edges_settings edges_settings_t::EnderFlags, get_edges_settings, set_edges_settings
#define	ENDER_SWAP 0x01
	First limit switch on the right side, if set; otherwise on the left side.
#define	ENDER_SW1_ACTIVE_LOW 0x02
	1 - Limit switch connnected to pin SW1 is triggered by a low level on pin.
#define	ENDER_SW2_ACTIVE_LOW 0x04
	1 - Limit switch connnected to pin SW2 is triggered by a low level on pin.
Brake settings flags
Specify behaviour of brake. May be combined with bitwise OR. See Also get_brake_settings set_brake_settings brake_settings_t::BrakeFlags, get_brake_settings, set_brake_settings
#define	BRAKE_ENABLED 0x01
	Brake control is enabled, if this flag is set.
#define	BRAKE_ENG_PWROFF 0x02
	Brake turns off power of step motor, if this flag is set.
Control flags
Specify motor control settings by joystick or buttons. May be combined with bitwise OR. See Also get_control_settings set_control_settings control_settings_t::Flags, get_control_settings, set_control_settings
#define	CONTROL_MODE_BITS 0x03
	Bits to control engine by joystick or buttons.
#define	CONTROL_MODE_OFF 0x00
	Control is disabled.
#define	CONTROL_MODE_JOY 0x01
	Control by joystick.
#define	CONTROL_MODE_LR 0x02
	Control by left/right buttons.
#define	CONTROL_BTN_LEFT_PUSHED_OPEN 0x04
	Pushed left button corresponds to open contact, if this flag is set.
#define	CONTROL_BTN_RIGHT_PUSHED_OPEN 0x08
	Pushed right button corresponds to open contact, if this flag is set.
Joystick flags
Control joystick states. See Also set_joystick_settings get_joystick_settings joystick_settings_t::JoyFlags, get_joystick_settings, set_joystick_settings
#define	JOY_REVERSE 0x01
	Joystick action is reversed.
Position control flags
Specify settings of position control. May be combined with bitwise OR. See Also get_ctp_settings set_ctp_settings ctp_settings_t::CTPFlags, get_ctp_settings, set_ctp_settings
#define	CTP_ENABLED 0x01
	Position control is enabled, if flag set.
#define	CTP_BASE 0x02
	Position control is based on revolution sensor, if this flag is set; otherwise it is based on encoder.
#define	CTP_ALARM_ON_ERROR 0x04
	Set ALARM on mismatch, if flag set.
#define	REV_SENS_INV 0x08
	Sensor is active when it 0 and invert makes active level 1.
#define	CTP_ERROR_CORRECTION 0x10
	Correct errors which appear when slippage if the flag is set.
Home settings flags
Specify behaviour for home command. May be combined with bitwise OR. See Also get_home_settings set_home_settings command_home home_settings_t::HomeFlags, get_home_settings, set_home_settings
#define	HOME_DIR_FIRST 0x001
	Flag defines direction of 1st motion after execution of home command.
#define	HOME_DIR_SECOND 0x002
	Flag defines direction of 2nd motion.
#define	HOME_MV_SEC_EN 0x004
	Use the second phase of calibration to the home position, if set; otherwise the second phase is skipped.
#define	HOME_HALF_MV 0x008
	If the flag is set, the stop signals are ignored in start of second movement the first half-turn.
#define	HOME_STOP_FIRST_BITS 0x030
	Bits of the first stop selector.
#define	HOME_STOP_FIRST_REV 0x010
	First motion stops by revolution sensor.
#define	HOME_STOP_FIRST_SYN 0x020
	First motion stops by synchronization input.
#define	HOME_STOP_FIRST_LIM 0x030
	First motion stops by limit switch.
#define	HOME_STOP_SECOND_BITS 0x0C0
	Bits of the second stop selector.
#define	HOME_STOP_SECOND_REV 0x040
	Second motion stops by revolution sensor.
#define	HOME_STOP_SECOND_SYN 0x080
	Second motion stops by synchronization input.
#define	HOME_STOP_SECOND_LIM 0x0C0
	Second motion stops by limit switch.
#define	HOME_USE_FAST 0x100
	Use the fast algorithm of calibration to the home position, if set; otherwise the traditional algorithm.
UART parity flags
See Also uart_settings_t::UARTSetupFlags, get_uart_settings, set_uart_settings
#define	UART_PARITY_BITS 0x03
	Bits of the parity.
#define	UART_PARITY_BIT_EVEN 0x00
	Parity bit 1, if even.
#define	UART_PARITY_BIT_ODD 0x01
	Parity bit 1, if odd.
#define	UART_PARITY_BIT_SPACE 0x02
	Parity bit always 0.
#define	UART_PARITY_BIT_MARK 0x03
	Parity bit always 1.
#define	UART_PARITY_BIT_USE 0x04
	None parity.
#define	UART_STOP_BIT 0x08
	If set - one stop bit, else two stop bit.
Motor Type flags
See Also motor_settings_t::MotorType, get_motor_settings, set_motor_settings
#define	MOTOR_TYPE_UNKNOWN 0x00
	Unknown type of engine.
#define	MOTOR_TYPE_STEP 0x01
	Step engine.
#define	MOTOR_TYPE_DC 0x02
	DC engine.
#define	MOTOR_TYPE_BLDC 0x03
	BLDC engine.
Encoder settings flags
See Also encoder_settings_t::EncoderSettings, get_encoder_settings, set_encoder_settings
#define	ENCSET_DIFFERENTIAL_OUTPUT 0x001
	If flag is set the encoder has differential output, else single ended output.
#define	ENCSET_PUSHPULL_OUTPUT 0x004
	If flag is set the encoder has push-pull output, else open drain output.
#define	ENCSET_INDEXCHANNEL_PRESENT 0x010
	If flag is set the encoder has index channel, else encoder hasn`t it.
#define	ENCSET_REVOLUTIONSENSOR_PRESENT 0x040
	If flag is set the encoder has revolution sensor, else encoder hasn`t it.
#define	ENCSET_REVOLUTIONSENSOR_ACTIVE_HIGH 0x100
	If flag is set the revolution sensor active state is high logic state, else active state is low logic state.
Magnetic brake settings flags
See Also accessories_settings_t::MBSettings, get_accessories_settings, set_accessories_settings
#define	MB_AVAILABLE 0x01
	If flag is set the magnetic brake is available.
#define	MB_POWERED_HOLD 0x02
	If this flag is set the magnetic brake is on when powered.
Temperature sensor settings flags
See Also accessories_settings_t::LimitSwitchesSettings, get_accessories_settings, set_accessories_settings
#define	TS_TYPE_BITS 0x07
	Bits of the temperature sensor type.
#define	TS_TYPE_UNKNOWN 0x00
	Unknow type of sensor.
#define	TS_TYPE_THERMOCOUPLE 0x01
	Thermocouple.
#define	TS_TYPE_SEMICONDUCTOR 0x02
	The semiconductor temperature sensor.
#define	TS_AVAILABLE 0x08
	If flag is set the temperature sensor is available.
#define	LS_ON_SW1_AVAILABLE 0x01
	If flag is set the limit switch connnected to pin SW1 is available.
#define	LS_ON_SW2_AVAILABLE 0x02
	If flag is set the limit switch connnected to pin SW2 is available.
#define	LS_SW1_ACTIVE_LOW 0x04
	If flag is set the limit switch connnected to pin SW1 is triggered by a low level on pin.
#define	LS_SW2_ACTIVE_LOW 0x08
	If flag is set the limit switch connnected to pin SW2 is triggered by a low level on pin.
#define	LS_SHORTED 0x10
	If flag is set the Limit switches is shorted.
Flags of auto-detection of characteristics of windings of the engine.
See Also set_emf_settings get_emf_settings emf_settings_t::BackEMFFlags, get_emf_settings, set_emf_settings
#define	BACK_EMF_INDUCTANCE_AUTO 0x01
	Flag of auto-detection of inductance of windings of the engine.
#define	BACK_EMF_RESISTANCE_AUTO 0x02
	Flag of auto-detection of resistance of windings of the engine.
#define	BACK_EMF_KM_AUTO 0x04
	Flag of auto-detection of electromechanical coefficient of the engine.

Typedefs
typedef unsigned long long	ulong_t
typedef long long	long_t
typedef int	device_t
	Type describes device identifier.
typedef int	result_t
	Type specifies result of any operation.
typedef uint32_t	device_enumeration_t
	Type describes device enumeration structure.
typedef struct calibration_t	calibration_t
	Calibration companion structure.
typedef struct device_network_information_t	device_network_information_t
	Device network information structure.

Functions
Controller settings setup
Functions for adjusting engine read/write almost all controller settings.
result_t XIMC_API	set_feedback_settings (device_t id, const feedback_settings_t *feedback_settings)
	Feedback settings.
result_t XIMC_API	get_feedback_settings (device_t id, feedback_settings_t *feedback_settings)
	Feedback settings.
result_t XIMC_API	set_home_settings (device_t id, const home_settings_t *home_settings)
	Set home settings.
result_t XIMC_API	set_home_settings_calb (device_t id, const home_settings_calb_t home_settings_calb, const calibration_t calibration)
	Set home settings which use user units.
result_t XIMC_API	get_home_settings (device_t id, home_settings_t *home_settings)
	Read home settings.
result_t XIMC_API	get_home_settings_calb (device_t id, home_settings_calb_t home_settings_calb, const calibration_t calibration)
	Read home settings which use user units.
result_t XIMC_API	set_move_settings (device_t id, const move_settings_t *move_settings)
	Set command setup movement (speed, acceleration, threshold and etc).
result_t XIMC_API	set_move_settings_calb (device_t id, const move_settings_calb_t move_settings_calb, const calibration_t calibration)
	Set command setup movement which use user units (speed, acceleration, threshold and etc).
result_t XIMC_API	get_move_settings (device_t id, move_settings_t *move_settings)
	Read command setup movement (speed, acceleration, threshold and etc).
result_t XIMC_API	get_move_settings_calb (device_t id, move_settings_calb_t move_settings_calb, const calibration_t calibration)
	Read command setup movement which use user units (speed, acceleration, threshold and etc).
result_t XIMC_API	set_engine_settings (device_t id, const engine_settings_t *engine_settings)
	Set engine settings.
result_t XIMC_API	set_engine_settings_calb (device_t id, const engine_settings_calb_t engine_settings_calb, const calibration_t calibration)
	Set engine settings which use user units.
result_t XIMC_API	get_engine_settings (device_t id, engine_settings_t *engine_settings)
	Read engine settings.
result_t XIMC_API	get_engine_settings_calb (device_t id, engine_settings_calb_t engine_settings_calb, const calibration_t calibration)
	Read engine settings which use user units.
result_t XIMC_API	set_entype_settings (device_t id, const entype_settings_t *entype_settings)
	Set engine type and driver type.
result_t XIMC_API	get_entype_settings (device_t id, entype_settings_t *entype_settings)
	Return engine type and driver type.
result_t XIMC_API	set_power_settings (device_t id, const power_settings_t *power_settings)
	Set settings of step motor power control.
result_t XIMC_API	get_power_settings (device_t id, power_settings_t *power_settings)
	Read settings of step motor power control.
result_t XIMC_API	set_secure_settings (device_t id, const secure_settings_t *secure_settings)
	Set protection settings.
result_t XIMC_API	get_secure_settings (device_t id, secure_settings_t *secure_settings)
	Read protection settings.
result_t XIMC_API	set_edges_settings (device_t id, const edges_settings_t *edges_settings)
	Set border and limit switches settings.
result_t XIMC_API	set_edges_settings_calb (device_t id, const edges_settings_calb_t edges_settings_calb, const calibration_t calibration)
	Set border and limit switches settings which use user units.
result_t XIMC_API	get_edges_settings (device_t id, edges_settings_t *edges_settings)
	Read border and limit switches settings.
result_t XIMC_API	get_edges_settings_calb (device_t id, edges_settings_calb_t edges_settings_calb, const calibration_t calibration)
	Read border and limit switches settings which use user units.
result_t XIMC_API	set_pid_settings (device_t id, const pid_settings_t *pid_settings)
	Set PID settings.
result_t XIMC_API	get_pid_settings (device_t id, pid_settings_t *pid_settings)
	Read PID settings.
result_t XIMC_API	set_sync_in_settings (device_t id, const sync_in_settings_t *sync_in_settings)
	Set input synchronization settings.
result_t XIMC_API	set_sync_in_settings_calb (device_t id, const sync_in_settings_calb_t sync_in_settings_calb, const calibration_t calibration)
	Set input synchronization settings which use user units.
result_t XIMC_API	get_sync_in_settings (device_t id, sync_in_settings_t *sync_in_settings)
	Read input synchronization settings.
result_t XIMC_API	get_sync_in_settings_calb (device_t id, sync_in_settings_calb_t sync_in_settings_calb, const calibration_t calibration)
	Read input synchronization settings which use user units.
result_t XIMC_API	set_sync_out_settings (device_t id, const sync_out_settings_t *sync_out_settings)
	Set output synchronization settings.
result_t XIMC_API	set_sync_out_settings_calb (device_t id, const sync_out_settings_calb_t sync_out_settings_calb, const calibration_t calibration)
	Set output synchronization settings which use user units.
result_t XIMC_API	get_sync_out_settings (device_t id, sync_out_settings_t *sync_out_settings)
	Read output synchronization settings.
result_t XIMC_API	get_sync_out_settings_calb (device_t id, sync_out_settings_calb_t sync_out_settings_calb, const calibration_t calibration)
	Read output synchronization settings which use user units.
result_t XIMC_API	set_extio_settings (device_t id, const extio_settings_t *extio_settings)
	Set EXTIO settings.
result_t XIMC_API	get_extio_settings (device_t id, extio_settings_t *extio_settings)
	Read EXTIO settings.
result_t XIMC_API	set_brake_settings (device_t id, const brake_settings_t *brake_settings)
	Set settings of brake control.
result_t XIMC_API	get_brake_settings (device_t id, brake_settings_t *brake_settings)
	Read settings of brake control.
result_t XIMC_API	set_control_settings (device_t id, const control_settings_t *control_settings)
	Set settings of motor control.
result_t XIMC_API	set_control_settings_calb (device_t id, const control_settings_calb_t control_settings_calb, const calibration_t calibration)
	Set settings of motor control which use user units.
result_t XIMC_API	get_control_settings (device_t id, control_settings_t *control_settings)
	Read settings of motor control.
result_t XIMC_API	get_control_settings_calb (device_t id, control_settings_calb_t control_settings_calb, const calibration_t calibration)
	Read settings of motor control which use user units.
result_t XIMC_API	set_joystick_settings (device_t id, const joystick_settings_t *joystick_settings)
	Set settings of joystick.
result_t XIMC_API	get_joystick_settings (device_t id, joystick_settings_t *joystick_settings)
	Read settings of joystick.
result_t XIMC_API	set_ctp_settings (device_t id, const ctp_settings_t *ctp_settings)
	Set settings of control position(is only used with stepper motor).
result_t XIMC_API	get_ctp_settings (device_t id, ctp_settings_t *ctp_settings)
	Read settings of control position(is only used with stepper motor).
result_t XIMC_API	set_uart_settings (device_t id, const uart_settings_t *uart_settings)
	Set UART settings.
result_t XIMC_API	get_uart_settings (device_t id, uart_settings_t *uart_settings)
	Read UART settings.
result_t XIMC_API	set_calibration_settings (device_t id, const calibration_settings_t *calibration_settings)
	Set calibration settings.
result_t XIMC_API	get_calibration_settings (device_t id, calibration_settings_t *calibration_settings)
	Read calibration settings.
result_t XIMC_API	set_controller_name (device_t id, const controller_name_t *controller_name)
	Write user controller name and flags of setting from FRAM.
result_t XIMC_API	get_controller_name (device_t id, controller_name_t *controller_name)
	Read user controller name and flags of setting from FRAM.
result_t XIMC_API	set_nonvolatile_memory (device_t id, const nonvolatile_memory_t *nonvolatile_memory)
	Write userdata into FRAM.
result_t XIMC_API	get_nonvolatile_memory (device_t id, nonvolatile_memory_t *nonvolatile_memory)
	Read userdata from FRAM.
result_t XIMC_API	set_emf_settings (device_t id, const emf_settings_t *emf_settings)
	Set electromechanical coefficients.
result_t XIMC_API	get_emf_settings (device_t id, emf_settings_t *emf_settings)
	Read electromechanical settings.
result_t XIMC_API	set_engine_advansed_setup (device_t id, const engine_advansed_setup_t *engine_advansed_setup)
	Set engine advansed settings.
result_t XIMC_API	get_engine_advansed_setup (device_t id, engine_advansed_setup_t *engine_advansed_setup)
	Read engine advansed settings.
result_t XIMC_API	set_extended_settings (device_t id, const extended_settings_t *extended_settings)
	Set extended settings.
result_t XIMC_API	get_extended_settings (device_t id, extended_settings_t *extended_settings)
	Read extended settings.
Group of commands movement control
result_t XIMC_API	command_stop (device_t id)
	Immediately stop the engine, the transition to the STOP, mode key BREAK (winding short-circuited), the regime "retention" is deactivated for DC motors, keeping current in the windings for stepper motors (with Power management settings).
result_t XIMC_API	command_power_off (device_t id)
	Immediately power off motor regardless its state.
result_t XIMC_API	command_move (device_t id, int Position, int uPosition)
	Upon receiving the command "move" the engine starts to move with pre-set parameters (speed, acceleration, retention), to the point specified to the Position, uPosition.
result_t XIMC_API	command_move_calb (device_t id, float Position, const calibration_t *calibration)
	Move to position which use user units.
result_t XIMC_API	command_movr (device_t id, int DeltaPosition, int uDeltaPosition)
	Move to offset.
result_t XIMC_API	command_movr_calb (device_t id, float DeltaPosition, const calibration_t *calibration)
	Move to offset using user units.
result_t XIMC_API	command_home (device_t id)
	The positive direction is to the right.
result_t XIMC_API	command_left (device_t id)
	Start continous moving to the left.
result_t XIMC_API	command_right (device_t id)
	Start continous moving to the right.
result_t XIMC_API	command_loft (device_t id)
	Upon receiving the command "loft" the engine is shifted from the current point to a distance GENG :: Antiplay, then move to the same point.
result_t XIMC_API	command_sstp (device_t id)
	Soft stop engine.
result_t XIMC_API	get_position (device_t id, get_position_t *the_get_position)
	Reads the value position in steps and micro for stepper motor and encoder steps all engines.
result_t XIMC_API	get_position_calb (device_t id, get_position_calb_t the_get_position_calb, const calibration_t calibration)
	Reads position value in user units for stepper motor and encoder steps all engines.
result_t XIMC_API	set_position (device_t id, const set_position_t *the_set_position)
	Sets any position value in steps and micro for stepper motor and encoder steps of all engines.
result_t XIMC_API	set_position_calb (device_t id, const set_position_calb_t the_set_position_calb, const calibration_t calibration)
	Sets any position value and encoder value of all engines which use user units.
result_t XIMC_API	command_zero (device_t id)
	Sets the current position and the position in which the traffic moves by the move command and movr zero for all cases, except for movement to the target position.
Group of commands to save and load settings
result_t XIMC_API	command_save_settings (device_t id)
	Save all settings from controller's RAM to controller's flash memory, replacing previous data in controller's flash memory.
result_t XIMC_API	command_read_settings (device_t id)
	Read all settings from controller's flash memory to controller's RAM, replacing previous data in controller's RAM.
result_t XIMC_API	command_save_robust_settings (device_t id)
	Save important settings (calibration coefficients and etc.) from controller's RAM to controller's flash memory, replacing previous data in controller's flash memory.
result_t XIMC_API	command_read_robust_settings (device_t id)
	Read important settings (calibration coefficients and etc.) from controller's flash memory to controller's RAM, replacing previous data in controller's RAM.
result_t XIMC_API	command_eesave_settings (device_t id)
	Save settings from controller's RAM to stage's EEPROM memory, which spontaneity connected to stage and it isn`t change without it mechanical reconstruction.
result_t XIMC_API	command_eeread_settings (device_t id)
	Read settings from controller's RAM to stage's EEPROM memory, which spontaneity connected to stage and it isn`t change without it mechanical reconstruction.
result_t XIMC_API	command_start_measurements (device_t id)
	Start measurements and buffering of speed, following error.
result_t XIMC_API	get_measurements (device_t id, measurements_t *measurements)
	A command to read the data buffer to build a speed graph and a sequence error.
result_t XIMC_API	get_chart_data (device_t id, chart_data_t *chart_data)
	Return device electrical parameters, useful for charts.
result_t XIMC_API	get_serial_number (device_t id, unsigned int *SerialNumber)
	Read device serial number.
result_t XIMC_API	get_firmware_version (device_t id, unsigned int Major, unsigned int Minor, unsigned int *Release)
	Read controller's firmware version.
result_t XIMC_API	service_command_updf (device_t id)
	Command puts the controller to update the firmware.
Service commands
result_t XIMC_API	set_serial_number (device_t id, const serial_number_t *serial_number)
	Write device serial number and hardware version to controller's flash memory.
result_t XIMC_API	get_analog_data (device_t id, analog_data_t *analog_data)
	Read analog data structure that contains raw analog data from ADC embedded on board.
result_t XIMC_API	get_debug_read (device_t id, debug_read_t *debug_read)
	Read data from firmware for debug purpose.
result_t XIMC_API	set_debug_write (device_t id, const debug_write_t *debug_write)
	Write data to firmware for debug purpose.
Group of commands to work with EEPROM
result_t XIMC_API	set_stage_name (device_t id, const stage_name_t *stage_name)
	Write user stage name from EEPROM.
result_t XIMC_API	get_stage_name (device_t id, stage_name_t *stage_name)
	Read user stage name from EEPROM.
result_t XIMC_API	set_stage_information (device_t id, const stage_information_t *stage_information)
	Set stage information to EEPROM.
result_t XIMC_API	get_stage_information (device_t id, stage_information_t *stage_information)
	Read stage information from EEPROM.
result_t XIMC_API	set_stage_settings (device_t id, const stage_settings_t *stage_settings)
	Set stage settings to EEPROM.
result_t XIMC_API	get_stage_settings (device_t id, stage_settings_t *stage_settings)
	Read stage settings from EEPROM.
result_t XIMC_API	set_motor_information (device_t id, const motor_information_t *motor_information)
	Set motor information to EEPROM.
result_t XIMC_API	get_motor_information (device_t id, motor_information_t *motor_information)
	Read motor information from EEPROM.
result_t XIMC_API	set_motor_settings (device_t id, const motor_settings_t *motor_settings)
	Set motor settings to EEPROM.
result_t XIMC_API	get_motor_settings (device_t id, motor_settings_t *motor_settings)
	Read motor settings from EEPROM.
result_t XIMC_API	set_encoder_information (device_t id, const encoder_information_t *encoder_information)
	Set encoder information to EEPROM.
result_t XIMC_API	get_encoder_information (device_t id, encoder_information_t *encoder_information)
	Read encoder information from EEPROM.
result_t XIMC_API	set_encoder_settings (device_t id, const encoder_settings_t *encoder_settings)
	Set encoder settings to EEPROM.
result_t XIMC_API	get_encoder_settings (device_t id, encoder_settings_t *encoder_settings)
	Read encoder settings from EEPROM.
result_t XIMC_API	set_hallsensor_information (device_t id, const hallsensor_information_t *hallsensor_information)
	Set hall sensor information to EEPROM.
result_t XIMC_API	get_hallsensor_information (device_t id, hallsensor_information_t *hallsensor_information)
	Read hall sensor information from EEPROM.
result_t XIMC_API	set_hallsensor_settings (device_t id, const hallsensor_settings_t *hallsensor_settings)
	Set hall sensor settings to EEPROM.
result_t XIMC_API	get_hallsensor_settings (device_t id, hallsensor_settings_t *hallsensor_settings)
	Read hall sensor settings from EEPROM.
result_t XIMC_API	set_gear_information (device_t id, const gear_information_t *gear_information)
	Set gear information to EEPROM.
result_t XIMC_API	get_gear_information (device_t id, gear_information_t *gear_information)
	Read gear information from EEPROM.
result_t XIMC_API	set_gear_settings (device_t id, const gear_settings_t *gear_settings)
	Set gear settings to EEPROM.
result_t XIMC_API	get_gear_settings (device_t id, gear_settings_t *gear_settings)
	Read gear settings from EEPROM.
result_t XIMC_API	set_accessories_settings (device_t id, const accessories_settings_t *accessories_settings)
	Set additional accessories information to EEPROM.
result_t XIMC_API	get_accessories_settings (device_t id, accessories_settings_t *accessories_settings)
	Read additional accessories information from EEPROM.
result_t XIMC_API	get_bootloader_version (device_t id, unsigned int Major, unsigned int Minor, unsigned int *Release)
	Read controller's firmware version.
result_t XIMC_API	get_init_random (device_t id, init_random_t *init_random)
	Read random number from controller.
result_t XIMC_API	get_globally_unique_identifier (device_t id, globally_unique_identifier_t *globally_unique_identifier)
	This value is unique to each individual die but is not a random value.
result_t XIMC_API	goto_firmware (device_t id, uint8_t *ret)
	Reboot to firmware.
result_t XIMC_API	has_firmware (const char uri, uint8_t ret)
	Check for firmware on device.
result_t XIMC_API	command_update_firmware (const char uri, const uint8_t data, uint32_t data_size)
	Update firmware.
result_t XIMC_API	write_key (const char uri, uint8_t key)
	Write controller key.
result_t XIMC_API	command_reset (device_t id)
	Reset controller.
result_t XIMC_API	command_clear_fram (device_t id)
	Clear controller FRAM.

Boards and drivers control
Functions for searching and opening/closing devices
typedef char *	pchar
	Nevermind.
typedef void(XIMC_CALLCONV *	logging_callback_t )(int loglevel, const wchar_t message, void user_data)
	Logging callback prototype.
device_t XIMC_API	open_device (const char *uri)
	Open a device with OS uri uri and return identifier of the device which can be used in calls.
result_t XIMC_API	close_device (device_t *id)
	Close specified device.
result_t XIMC_API	load_correction_table (device_t id, const char namefile)
	Command of loading a correction table from a text file.
result_t XIMC_API	set_correction_table (device_t id, const char *namefile)
	Command of loading a correction table from a text file.
result_t XIMC_API	probe_device (const char *uri)
	Check if a device with OS uri uri is XIMC device.
result_t XIMC_API	set_bindy_key (const char *keyfilepath)
	Set network encryption layer (bindy) key.
device_enumeration_t XIMC_API	enumerate_devices (int enumerate_flags, const char *hints)
	Enumerate all devices that looks like valid.
result_t XIMC_API	free_enumerate_devices (device_enumeration_t device_enumeration)
	Free memory returned by enumerate_devices.
int XIMC_API	get_device_count (device_enumeration_t device_enumeration)
	Get device count.
pchar XIMC_API	get_device_name (device_enumeration_t device_enumeration, int device_index)
	Get device name from the device enumeration.
result_t XIMC_API	get_enumerate_device_serial (device_enumeration_t device_enumeration, int device_index, uint32_t *serial)
	Get device serial number from the device enumeration.
result_t XIMC_API	get_enumerate_device_information (device_enumeration_t device_enumeration, int device_index, device_information_t *device_information)
	Get device information from the device enumeration.
result_t XIMC_API	get_enumerate_device_controller_name (device_enumeration_t device_enumeration, int device_index, controller_name_t *controller_name)
	Get controller name from the device enumeration.
result_t XIMC_API	get_enumerate_device_stage_name (device_enumeration_t device_enumeration, int device_index, stage_name_t *stage_name)
	Get stage name from the device enumeration.
result_t XIMC_API	get_enumerate_device_network_information (device_enumeration_t device_enumeration, int device_index, device_network_information_t *device_network_information)
	Get device network information from the device enumeration.
result_t XIMC_API	reset_locks ()
	Reset library locks in a case of deadlock.
result_t XIMC_API	ximc_fix_usbser_sys (const char *device_uri)
	Fix for errors in Windows USB driver stack.
void XIMC_API	msec_sleep (unsigned int msec)
	Sleeps for a specified amount of time.
void XIMC_API	ximc_version (char *version)
	Returns a library version.
void XIMC_API	logging_callback_stderr_wide (int loglevel, const wchar_t message, void user_data)
	Simple callback for logging to stderr in wide chars.
void XIMC_API	logging_callback_stderr_narrow (int loglevel, const wchar_t message, void user_data)
	Simple callback for logging to stderr in narrow (single byte) chars.
void XIMC_API	set_logging_callback (logging_callback_t logging_callback, void *user_data)
	Sets a logging callback.
result_t XIMC_API	get_status (device_t id, status_t *status)
	Return device state.
result_t XIMC_API	get_status_calb (device_t id, status_calb_t status, const calibration_t calibration)
	Return device state.
result_t XIMC_API	get_device_information (device_t id, device_information_t *device_information)
	Return device information.
result_t XIMC_API	command_wait_for_stop (device_t id, uint32_t refresh_interval_ms)
	Wait for stop.
result_t XIMC_API	command_homezero (device_t id)
	Make home command, wait until it is finished and make zero command.

Detailed Description

Header file for libximc library.

Macro Definition Documentation

#define ALARM_ON_DRIVER_OVERHEATING 0x01

If this flag is set enter Alarm state on driver overheat signal.

#define BACK_EMF_INDUCTANCE_AUTO 0x01

Flag of auto-detection of inductance of windings of the engine.

#define BACK_EMF_KM_AUTO 0x04

Flag of auto-detection of electromechanical coefficient of the engine.

#define BACK_EMF_RESISTANCE_AUTO 0x02

Flag of auto-detection of resistance of windings of the engine.

#define BORDER_IS_ENCODER 0x01

Borders are fixed by predetermined encoder values, if set; borders position on limit switches, if not set.

#define BORDER_STOP_LEFT 0x02

Motor should stop on left border.

#define BORDER_STOP_RIGHT 0x04

Motor should stop on right border.

#define BORDERS_SWAP_MISSET_DETECTION 0x08

Motor should stop on both borders.

Need to save motor then wrong border settings is set

#define BRAKE_ENABLED 0x01

Brake control is enabled, if this flag is set.

#define BRAKE_ENG_PWROFF 0x02

Brake turns off power of step motor, if this flag is set.

#define CONTROL_BTN_LEFT_PUSHED_OPEN 0x04

Pushed left button corresponds to open contact, if this flag is set.

#define CONTROL_BTN_RIGHT_PUSHED_OPEN 0x08

Pushed right button corresponds to open contact, if this flag is set.

#define CONTROL_MODE_BITS 0x03

Bits to control engine by joystick or buttons.

#define CONTROL_MODE_JOY 0x01

Control by joystick.

#define CONTROL_MODE_LR 0x02

Control by left/right buttons.

#define CONTROL_MODE_OFF 0x00

Control is disabled.

#define CTP_ALARM_ON_ERROR 0x04

Set ALARM on mismatch, if flag set.

#define CTP_BASE 0x02

Position control is based on revolution sensor, if this flag is set; otherwise it is based on encoder.

#define CTP_ENABLED 0x01

Position control is enabled, if flag set.

#define CTP_ERROR_CORRECTION 0x10

Correct errors which appear when slippage if the flag is set.

It works only with the encoder. Incompatible with flag CTP_ALARM_ON_ERROR.

#define DRIVER_TYPE_DISCRETE_FET 0x01

Driver with discrete FET keys.

Default option.

#define DRIVER_TYPE_EXTERNAL 0x03

External driver.

#define DRIVER_TYPE_INTEGRATE 0x02

Driver with integrated IC.

#define EEPROM_PRECEDENCE 0x01

If the flag is set settings from external EEPROM override controller settings.

#define ENC_STATE_ABSENT 0x00

Encoder is absent.

#define ENC_STATE_MALFUNC 0x02

Encoder is connected and malfunctioning.

#define ENC_STATE_OK 0x04

Encoder is connected and working properly.

#define ENC_STATE_REVERS 0x03

Encoder is connected and operational but counts in other direction.

#define ENC_STATE_UNKNOWN 0x01

Encoder state is unknown.

#define ENDER_SW1_ACTIVE_LOW 0x02

1 - Limit switch connnected to pin SW1 is triggered by a low level on pin.

#define ENDER_SW2_ACTIVE_LOW 0x04

1 - Limit switch connnected to pin SW2 is triggered by a low level on pin.

#define ENDER_SWAP 0x01

First limit switch on the right side, if set; otherwise on the left side.

#define ENGINE_ACCEL_ON 0x10

Acceleration enable flag.

If it set, motion begins with acceleration and ends with deceleration.

#define ENGINE_ANTIPLAY 0x08

Play compensation flag.

If it set, engine makes backlash (play) compensation procedure and reach the predetermined position accurately on low speed.

#define ENGINE_CURRENT_AS_RMS 0x02

Engine current meaning flag.

If the flag is unset, then engine current value is interpreted as maximum amplitude value. If the flag is set, then engine current value is interpreted as root mean square current value (for stepper) or as the current value calculated from the maximum heat dissipation (bldc).

#define ENGINE_LIMIT_CURR 0x40

Maximum motor current limit enable flag(is only used with DC motor).

#define ENGINE_LIMIT_RPM 0x80

Maximum motor speed limit enable flag.

#define ENGINE_LIMIT_VOLT 0x20

Maximum motor voltage limit enable flag(is only used with DC motor).

#define ENGINE_MAX_SPEED 0x04

Max speed flag.

If it is set, engine uses maximum speed achievable with the present engine settings as nominal speed.

#define ENGINE_REVERSE 0x01

Reverse flag.

It determines motor shaft rotation direction that corresponds to feedback counts increasing. If not set (default), motor shaft rotation direction under positive voltage corresponds to feedback counts increasing and vice versa. Change it if you see that positive directions on motor and feedback are opposite.

#define ENGINE_TYPE_2DC 0x02

2 DC motors.

#define ENGINE_TYPE_BRUSHLESS 0x05

Brushless motor.

#define ENGINE_TYPE_DC 0x01

DC motor.

#define ENGINE_TYPE_NONE 0x00

A value that shouldn't be used.

#define ENGINE_TYPE_STEP 0x03

Step motor.

#define ENGINE_TYPE_TEST 0x04

Duty cycle are fixed.

Used only manufacturer.

#define ENUMERATE_PROBE 0x01

Check if a device with OS name name is XIMC device.

Be carefuly with this flag because it sends some data to the device.

#define EXTIO_SETUP_INVERT 0x02

Interpret EXTIO states and fronts inverted if flag is set.

Falling front as input event and low logic level as active state.

#define EXTIO_SETUP_MODE_IN_ALARM 0x05

Set Alarm when the signal goes to the active state.

#define EXTIO_SETUP_MODE_IN_BITS 0x0F

Bits of the behaviour selector when the signal on input goes to the active state.

#define EXTIO_SETUP_MODE_IN_HOME 0x04

Issue HOME command.

#define EXTIO_SETUP_MODE_IN_MOVR 0x03

Issue MOVR command with last used settings.

#define EXTIO_SETUP_MODE_IN_NOP 0x00

Do nothing.

#define EXTIO_SETUP_MODE_IN_PWOF 0x02

Issue PWOF command, powering off all engine windings.

#define EXTIO_SETUP_MODE_IN_STOP 0x01

Issue STOP command, ceasing the engine movement.

#define EXTIO_SETUP_MODE_OUT_ALARM 0x30

EXTIO pin stays active during Alarm state.

#define EXTIO_SETUP_MODE_OUT_BITS 0xF0

Bits of the output behaviour selection.

#define EXTIO_SETUP_MODE_OUT_MOTOR_ON 0x40

EXTIO pin stays active when windings are powered.

#define EXTIO_SETUP_MODE_OUT_MOVING 0x20

EXTIO pin stays active during moving state.

#define EXTIO_SETUP_MODE_OUT_OFF 0x00

EXTIO pin always set in inactive state.

#define EXTIO_SETUP_MODE_OUT_ON 0x10

EXTIO pin always set in active state.

#define EXTIO_SETUP_OUTPUT 0x01

EXTIO works as output if flag is set, works as input otherwise.

#define FEEDBACK_EMF 0x04

Feedback by EMF.

#define FEEDBACK_ENC_REVERSE 0x01

Reverse count of encoder.

#define FEEDBACK_ENC_TYPE_AUTO 0x00

Auto detect encoder type.

#define FEEDBACK_ENC_TYPE_BITS 0xC0

Bits of the encoder type.

#define FEEDBACK_ENC_TYPE_DIFFERENTIAL 0x80

Differential encoder.

#define FEEDBACK_ENC_TYPE_SINGLE_ENDED 0x40

Single ended encoder.

#define FEEDBACK_ENCODER 0x01

Feedback by encoder.

#define FEEDBACK_ENCODER_MEDIATED 0x06

Feedback by encoder mediated by mechanical transmission (for example leadscrew).

#define FEEDBACK_NONE 0x05

Feedback is absent.

#define H_BRIDGE_ALERT 0x04

If this flag is set then turn off the power unit with a signal problem in one of the transistor bridge.

#define HOME_DIR_FIRST 0x001

Flag defines direction of 1st motion after execution of home command.

Direction is right, if set; otherwise left.

#define HOME_DIR_SECOND 0x002

Flag defines direction of 2nd motion.

Direction is right, if set; otherwise left.

#define HOME_HALF_MV 0x008

If the flag is set, the stop signals are ignored in start of second movement the first half-turn.

#define HOME_MV_SEC_EN 0x004

Use the second phase of calibration to the home position, if set; otherwise the second phase is skipped.

#define HOME_STOP_FIRST_BITS 0x030

Bits of the first stop selector.

#define HOME_STOP_FIRST_LIM 0x030

First motion stops by limit switch.

#define HOME_STOP_FIRST_REV 0x010

First motion stops by revolution sensor.

#define HOME_STOP_FIRST_SYN 0x020

First motion stops by synchronization input.

#define HOME_STOP_SECOND_BITS 0x0C0

Bits of the second stop selector.

#define HOME_STOP_SECOND_LIM 0x0C0

Second motion stops by limit switch.

#define HOME_STOP_SECOND_REV 0x040

Second motion stops by revolution sensor.

#define HOME_STOP_SECOND_SYN 0x080

Second motion stops by synchronization input.

#define HOME_USE_FAST 0x100

Use the fast algorithm of calibration to the home position, if set; otherwise the traditional algorithm.

#define JOY_REVERSE 0x01

Joystick action is reversed.

Joystick deviation to the upper values correspond to negative speeds and vice versa.

#define LOW_UPWR_PROTECTION 0x02

If this flag is set turn off motor when voltage is lower than LowUpwrOff.

#define MICROSTEP_MODE_FRAC_128 0x08

1/128 step mode.

#define MICROSTEP_MODE_FRAC_16 0x05

1/16 step mode.

#define MICROSTEP_MODE_FRAC_2 0x02

1/2 step mode.

#define MICROSTEP_MODE_FRAC_256 0x09

1/256 step mode.

#define MICROSTEP_MODE_FRAC_32 0x06

1/32 step mode.

#define MICROSTEP_MODE_FRAC_4 0x03

1/4 step mode.

#define MICROSTEP_MODE_FRAC_64 0x07

1/64 step mode.

#define MICROSTEP_MODE_FRAC_8 0x04

1/8 step mode.

#define MICROSTEP_MODE_FULL 0x01

Full step mode.

#define MOVE_STATE_ANTIPLAY 0x04

Motor is playing compensation, if flag set.

#define MOVE_STATE_MOVING 0x01

This flag indicates that controller is trying to move the motor.

Don't use this flag for waiting of completion of the movement command. Use MVCMD_RUNNING flag from the MvCmdSts field instead.

#define MOVE_STATE_TARGET_SPEED 0x02

Target speed is reached, if flag set.

#define MVCMD_ERROR 0x40

Finish state (1 - move command have finished with an error, 0 - move command have finished correctly).

This flags is actual when MVCMD_RUNNING signals movement finish.

#define MVCMD_HOME 0x06

Command home.

#define MVCMD_LEFT 0x03

Command left.

#define MVCMD_LOFT 0x07

Command loft.

#define MVCMD_MOVE 0x01

Command move.

#define MVCMD_MOVR 0x02

Command movr.

#define MVCMD_NAME_BITS 0x3F

Move command bit mask.

#define MVCMD_RIGHT 0x04

Command rigt.

#define MVCMD_RUNNING 0x80

Move command state (0 - move command have finished, 1 - move command is being executed).

#define MVCMD_SSTP 0x08

Command soft stop.

#define MVCMD_STOP 0x05

Command stop.

#define MVCMD_UKNWN 0x00

Unknown command.

#define POWER_OFF_ENABLED 0x02

Power off enabled after PowerOffDelay, if this flag is set.

#define POWER_REDUCT_ENABLED 0x01

Current reduction enabled after CurrReductDelay, if this flag is set.

#define POWER_SMOOTH_CURRENT 0x04

Current ramp-up/down is performed smoothly during current_set_time, if this flag is set.

#define PWR_STATE_MAX 0x05

Motor windings are powered by maximum current driver can provide at this voltage.

#define PWR_STATE_NORM 0x03

Motor windings are powered by nominal current.

#define PWR_STATE_OFF 0x01

Motor windings are disconnected from the driver.

#define PWR_STATE_REDUCT 0x04

Motor windings are powered by reduced current to lower power consumption.

#define PWR_STATE_UNKNOWN 0x00

Unknown state, should never happen.

#define REV_SENS_INV 0x08

Sensor is active when it 0 and invert makes active level 1.

That is, if you do not invert, it is normal logic - 0 is the activation.

#define RPM_DIV_1000 0x01

This flag indicates that the operating speed specified in the command is set in milli rpm.

Applicable only for ENCODER feedback mode and only for BLDC motors.

#define SETPOS_IGNORE_ENCODER 0x02

Will not reload encoder state if this flag is set.

#define SETPOS_IGNORE_POSITION 0x01

Will not reload position in steps/microsteps if this flag is set.

#define STATE_ALARM 0x0000040

Controller is in alarm state indicating that something dangerous had happened.

Most commands are ignored in this state. To reset the flag a STOP command must be issued.

#define STATE_BORDERS_SWAP_MISSET 0x0008000

Engine stuck at the wrong edge.

#define STATE_BRAKE 0x0200

State of Brake pin.

Flag "1" - if the pin state brake is not powered(brake is clamped), "0" - if the pin state brake is powered(brake is unclamped).

#define STATE_BUTTON_LEFT 0x0008

Button "left" state (1 if pressed).

#define STATE_BUTTON_RIGHT 0x0004

Button "right" state (1 if pressed).

#define STATE_CONTR 0x000003F

Flags of controller states.

#define STATE_CONTROLLER_OVERHEAT 0x0000200

Controller overheat.

#define STATE_CTP_ERROR 0x0000080

Control position error(is only used with stepper motor).

#define STATE_DIG_SIGNAL 0xFFFF

Flags of digital signals.

#define STATE_EEPROM_CONNECTED 0x0000010

EEPROM with settings is connected.

#define STATE_ENC_A 0x2000

State of encoder A pin.

#define STATE_ENC_B 0x4000

State of encoder B pin.

#define STATE_ENGINE_RESPONSE_ERROR 0x0800000

Error response of the engine control action.

#define STATE_ERRC 0x0000001

Command error encountered.

#define STATE_ERRD 0x0000002

Data integrity error encountered.

#define STATE_ERRV 0x0000004

Value error encountered.

#define STATE_EXTIO_ALARM 0x1000000

The error is caused by the input signal.

#define STATE_GPIO_LEVEL 0x0020

State of external GPIO pin.

#define STATE_GPIO_PINOUT 0x0010

External GPIO works as Out, if flag set; otherwise works as In.

#define STATE_LEFT_EDGE 0x0002

Engine stuck at the left edge.

#define STATE_LOW_USB_VOLTAGE 0x0002000

USB voltage is insufficient for normal operation.

#define STATE_OVERLOAD_POWER_CURRENT 0x0000800

Power current exceeds safe limit.

#define STATE_OVERLOAD_POWER_VOLTAGE 0x0000400

Power voltage exceeds safe limit.

#define STATE_OVERLOAD_USB_CURRENT 0x0004000

USB current exceeds safe limit.

#define STATE_OVERLOAD_USB_VOLTAGE 0x0001000

USB voltage exceeds safe limit.

#define STATE_POWER_OVERHEAT 0x0000100

Power driver overheat.

#define STATE_REV_SENSOR 0x0400

State of Revolution sensor pin.

#define STATE_RIGHT_EDGE 0x0001

Engine stuck at the right edge.

#define STATE_SECUR 0x1B3FFC0

Flags of security.

#define STATE_SYNC_INPUT 0x0800

State of Sync input pin.

#define STATE_SYNC_OUTPUT 0x1000

State of Sync output pin.

#define SYNCIN_ENABLED 0x01

Synchronization in mode is enabled, if this flag is set.

#define SYNCIN_GOTOPOSITION 0x04

The engine is go to position specified in Position and uPosition, if this flag is set.

And it is shift on the Position and uPosition, if this flag is unset

#define SYNCIN_INVERT 0x02

Trigger on falling edge if flag is set, on rising edge otherwise.

#define SYNCOUT_ENABLED 0x01

Synchronization out pin follows the synchronization logic, if set.

It governed by SYNCOUT_STATE flag otherwise.

#define SYNCOUT_IN_STEPS 0x08

Use motor steps/encoder pulses instead of milliseconds for output pulse generation if the flag is set.

#define SYNCOUT_INVERT 0x04

Low level is active, if set, and high level is active otherwise.

#define SYNCOUT_ONPERIOD 0x40

Generate synchronization pulse every SyncOutPeriod encoder pulses.

#define SYNCOUT_ONSTART 0x10

Generate synchronization pulse when movement starts.

#define SYNCOUT_ONSTOP 0x20

Generate synchronization pulse when movement stops.

#define SYNCOUT_STATE 0x02

When output state is fixed by negative SYNCOUT_ENABLED flag, the pin state is in accordance with this flag state.

#define UART_PARITY_BITS 0x03

Bits of the parity.

#define WIND_A_STATE_ABSENT 0x00

Winding A is disconnected.

#define WIND_A_STATE_MALFUNC 0x02

Winding A is short-circuited.

#define WIND_A_STATE_OK 0x03

Winding A is connected and working properly.

#define WIND_A_STATE_UNKNOWN 0x01

Winding A state is unknown.

#define WIND_B_STATE_ABSENT 0x00

Winding B is disconnected.

#define WIND_B_STATE_MALFUNC 0x20

Winding B is short-circuited.

#define WIND_B_STATE_OK 0x30

Winding B is connected and working properly.

#define WIND_B_STATE_UNKNOWN 0x10

Winding B state is unknown.

#define XIMC_API

Library import macro Macros allows to automatically import function from shared library.

It automatically expands to dllimport on msvc when including header file

Typedef Documentation

typedef void(XIMC_CALLCONV * logging_callback_t)(int loglevel, const wchar_t *message, void *user_data)

Logging callback prototype.

Parameters

loglevel	a loglevel
message	a message

Function Documentation

result_t XIMC_API close_device ( device_t * id )

Close specified device.

Parameters

id	an identifier of device

Note: The id parameter in this function is a C pointer, unlike most library functions that use this parameter

result_t XIMC_API command_clear_fram ( device_t id )

Clear controller FRAM.

Can be used by manufacturer only

Parameters

id	an identifier of device

result_t XIMC_API command_eeread_settings ( device_t id )

Read settings from controller's RAM to stage's EEPROM memory, which spontaneity connected to stage and it isn`t change without it mechanical reconstruction.

Parameters

id	an identifier of device

result_t XIMC_API command_eesave_settings ( device_t id )

Save settings from controller's RAM to stage's EEPROM memory, which spontaneity connected to stage and it isn`t change without it mechanical reconstruction.

Can be used by manufacturer only.

Parameters

id	an identifier of device

result_t XIMC_API command_home ( device_t id )

The positive direction is to the right.

A value of zero reverses the direction of the direction of the flag, the set speed. Restriction imposed by the trailer, act the same, except that the limit switch contact does not stop. Limit the maximum speed, acceleration and deceleration function. 1) moves the motor according to the speed FastHome, uFastHome and flag HOME_DIR_FAST until limit switch, if the flag is set HOME_STOP_ENDS, until the signal from the input synchronization if the flag HOME_STOP_SYNC (as accurately as possible is important to catch the moment of operation limit switch) or until the signal is received from the speed sensor, if the flag HOME_STOP_REV_SN 2) then moves according to the speed SlowHome, uSlowHome and flag HOME_DIR_SLOW until signal from the clock input, if the flag HOME_MV_SEC. If the flag HOME_MV_SEC reset skip this paragraph. 3) then move the motor according to the speed FastHome, uFastHome and flag HOME_DIR_SLOW a distance HomeDelta, uHomeDelta. description of flags and variable see in description for commands GHOM/SHOM

Parameters

id	an identifier of device

See Also: home_settings_t; get_home_settings; set_home_settings

result_t XIMC_API command_homezero ( device_t id )

Make home command, wait until it is finished and make zero command.

This is a convinient way to calibrate zero position.

Parameters

	id	an identifier of device
[out]	ret	RESULT_OK if controller has finished home & zero correctly or result of first controller query that returned anything other than RESULT_OK.

result_t XIMC_API command_left ( device_t id )

Start continous moving to the left.

Parameters

id	an identifier of device

result_t XIMC_API command_loft ( device_t id )

Upon receiving the command "loft" the engine is shifted from the current point to a distance GENG :: Antiplay, then move to the same point.

Parameters

id	an identifier of device

result_t XIMC_API command_move	(	device_t	id,
		int	Position,
		int	uPosition
	)

Upon receiving the command "move" the engine starts to move with pre-set parameters (speed, acceleration, retention), to the point specified to the Position, uPosition.

For stepper motor uPosition sets the microstep, for DC motor this field is not used.

Parameters

id	an identifier of device
Position	position to move.
uPosition	part of the position to move, microsteps. Microstep size and the range of valid values for this field depend on selected step division mode (see MicrostepMode field in engine_settings).

result_t XIMC_API command_move_calb	(	device_t	id,
		float	Position,
		const calibration_t *	calibration
	)

Move to position which use user units.

Upon receiving the command "move" the engine starts to move with pre-set parameters (speed, acceleration, retention), to the point specified to the Position.

Parameters

id	an identifier of device
Position	position to move.
calibration	user unit settings

Note: The parameter Position is adjusted by the correction table.

result_t XIMC_API command_movr	(	device_t	id,
		int	DeltaPosition,
		int	uDeltaPosition
	)

Move to offset.

Upon receiving the command "movr" engine starts to move with pre-set parameters (speed, acceleration, hold), left or right (depending on the sign of DeltaPosition) by the number of pulses specified in the fields DeltaPosition, uDeltaPosition. For stepper motor uDeltaPosition sets the microstep, for DC motor this field is not used.

Parameters

DeltaPosition	shift from initial position.
uDeltaPosition	part of the offset shift, microsteps. Microstep size and the range of valid values for this field depend on selected step division mode (see MicrostepMode field in engine_settings).
id	an identifier of device

result_t XIMC_API command_movr_calb	(	device_t	id,
		float	DeltaPosition,
		const calibration_t *	calibration
	)

Move to offset using user units.

Upon receiving the command "movr" engine starts to move with pre-set parameters (speed, acceleration, hold), left or right (depending on the sign of DeltaPosition) the distance specified in the field DeltaPosition.

Parameters

DeltaPosition	shift from initial position.
id	an identifier of device
calibration	user unit settings

Note: The end coordinate is calculated using DeltaPosition, is adjusted by the correction table. To calculate coordinates correctly, when using a correction table, you do not need to execute movr commands in batches.

result_t XIMC_API command_power_off ( device_t id )

Immediately power off motor regardless its state.

Shouldn't be used during motion as the motor could be power on again automatically to continue movement. The command is designed for manual motor power off. When automatic power off after stop is required, use power management system.

Parameters

id	an identifier of device

See Also: get_power_settings; set_power_settings

result_t XIMC_API command_read_robust_settings ( device_t id )

Read important settings (calibration coefficients and etc.) from controller's flash memory to controller's RAM, replacing previous data in controller's RAM.

Parameters

id	an identifier of device

result_t XIMC_API command_read_settings ( device_t id )

Read all settings from controller's flash memory to controller's RAM, replacing previous data in controller's RAM.

Parameters

id	an identifier of device

result_t XIMC_API command_reset ( device_t id )

Reset controller.

Can be used by manufacturer only

Parameters

id	an identifier of device

result_t XIMC_API command_right ( device_t id )

Start continous moving to the right.

Parameters

id	an identifier of device

result_t XIMC_API command_save_robust_settings ( device_t id )

Save important settings (calibration coefficients and etc.) from controller's RAM to controller's flash memory, replacing previous data in controller's flash memory.

Parameters

id	an identifier of device

result_t XIMC_API command_save_settings ( device_t id )

Save all settings from controller's RAM to controller's flash memory, replacing previous data in controller's flash memory.

Parameters

id	an identifier of device

result_t XIMC_API command_sstp ( device_t id )

Soft stop engine.

The motor stops with deceleration speed.

Parameters

id	an identifier of device

result_t XIMC_API command_start_measurements ( device_t id )

Start measurements and buffering of speed, following error.

Parameters

id	an identifier of device

result_t XIMC_API command_stop ( device_t id )

Immediately stop the engine, the transition to the STOP, mode key BREAK (winding short-circuited), the regime "retention" is deactivated for DC motors, keeping current in the windings for stepper motors (with Power management settings).

Parameters

id	an identifier of device

result_t XIMC_API command_update_firmware	(	const char *	uri,
		const uint8_t *	data,
		uint32_t	data_size
	)

Update firmware.

Service command

Parameters

uri	a uri of device
data	firmware byte stream
data_size	size of byte stream

result_t XIMC_API command_wait_for_stop	(	device_t	id,
		uint32_t	refresh_interval_ms
	)

Wait for stop.

Parameters

	id	an identifier of device
	refresh_interval_ms	Status refresh interval. The function waits this number of milliseconds between get_status requests to the controller. Recommended value of this parameter is 10 ms. Use values of less than 3 ms only when necessary - small refresh interval values do not significantly increase response time of the function, but they create substantially more traffic in controller-computer data channel.
[out]	ret	RESULT_OK if controller has stopped and result of the first get_status command which returned anything other than RESULT_OK otherwise.

result_t XIMC_API command_zero ( device_t id )

Sets the current position and the position in which the traffic moves by the move command and movr zero for all cases, except for movement to the target position.

In the latter case, set the zero current position and the target position counted so that the absolute position of the destination is the same. That is, if we were at 400 and moved to 500, then the command Zero makes the current position of 0, and the position of the destination - 100. Does not change the mode of movement that is if the motion is carried, it continues, and if the engine is in the "hold", the type of retention remains.

Parameters

id	an identifier of device

device_enumeration_t XIMC_API enumerate_devices	(	int	enumerate_flags,
		const char *	hints
	)

Enumerate all devices that looks like valid.

Parameters

[in]	enumerate_flags	enumerate devices flags
[in]	hints	extended information hints is a string of form "key=value \n key2=value2". Unrecognized key-value pairs are ignored. Key list: addr - used together with ENUMERATE_NETWORK flag. Non-null value is a remote host name or a comma-separated list of host names which contain the devices to be found, absent value means broadcast discovery. adapter_addr - used together with ENUMERATE_NETWORK flag. Non-null value is a IP address of network adapter. Remote ximc device must be on the same local network as the adapter. When using the adapter_addr key, you must install the addr key. Example: "addr= \n adapter_addr=192.168.0.100". To enumerate network devices you must call set_bindy_key first.

result_t XIMC_API free_enumerate_devices ( device_enumeration_t device_enumeration )

Free memory returned by enumerate_devices.

Parameters

[in] device_enumeration opaque pointer to an enumeration device data

result_t XIMC_API get_accessories_settings	(	device_t	id,
		accessories_settings_t *	accessories_settings
	)

Read additional accessories information from EEPROM.

Parameters

	id	an identifier of device
[out]	accessories_settings	structure contains information about additional accessories

result_t XIMC_API get_analog_data	(	device_t	id,
		analog_data_t *	analog_data
	)

Read analog data structure that contains raw analog data from ADC embedded on board.

This function used for device testing and deep recalibraton by manufacturer only.

Parameters

	id	an identifier of device
[out]	analog_data	analog data coefficients

result_t XIMC_API get_bootloader_version	(	device_t	id,
		unsigned int *	Major,
		unsigned int *	Minor,
		unsigned int *	Release
	)

Read controller's firmware version.

Parameters

	id	an identifier of device
[out]	Major	major version
[out]	Minor	minor version
[out]	Release	release version

result_t XIMC_API get_brake_settings	(	device_t	id,
		brake_settings_t *	brake_settings
	)

Read settings of brake control.

Parameters

	id	an identifier of device
[out]	brake_settings	structure contains settings of brake control

result_t XIMC_API get_calibration_settings	(	device_t	id,
		calibration_settings_t *	calibration_settings
	)

Read calibration settings.

This function fill structure with calibration settings.

See Also: calibration_settings_t

Parameters

	id	an identifier of device
[out]	calibration_settings	calibration settings

result_t XIMC_API get_chart_data	(	device_t	id,
		chart_data_t *	chart_data
	)

Return device electrical parameters, useful for charts.

Useful function that fill structure with snapshot of controller voltages and currents.

See Also: chart_data_t

Parameters

	id	an identifier of device
[out]	chart_data	structure with snapshot of controller parameters.

result_t XIMC_API get_control_settings	(	device_t	id,
		control_settings_t *	control_settings
	)

Read settings of motor control.

When choosing CTL_MODE = 1 switches motor control with the joystick. In this mode, the joystick to the maximum engine tends Move at MaxSpeed [i], where i = 0 if the previous use This mode is not selected another i. Buttons switch the room rate i. When CTL_MODE = 2 is switched on motor control using the Left / right. When you click on the button motor starts to move in the appropriate direction at a speed MaxSpeed [0], at the end of time Timeout [i] motor move at a speed MaxSpeed [i+1]. at Transition from MaxSpeed [i] on MaxSpeed [i +1] to acceleration, as usual.

Parameters

	id	an identifier of device
[out]	control_settings	structure contains settings motor control by joystick or buttons left/right.

result_t XIMC_API get_control_settings_calb	(	device_t	id,
		control_settings_calb_t *	control_settings_calb,
		const calibration_t *	calibration
	)

Read settings of motor control which use user units.

When choosing CTL_MODE = 1 switches motor control with the joystick. In this mode, the joystick to the maximum engine tends Move at MaxSpeed [i], where i = 0 if the previous use This mode is not selected another i. Buttons switch the room rate i. When CTL_MODE = 2 is switched on motor control using the Left / right. When you click on the button motor starts to move in the appropriate direction at a speed MaxSpeed [0], at the end of time Timeout [i] motor move at a speed MaxSpeed [i+1]. at Transition from MaxSpeed [i] on MaxSpeed [i +1] to acceleration, as usual.

Parameters

	id	an identifier of device
[out]	control_settings_calb	structure contains settings motor control by joystick or buttons left/right.
	calibration	user unit settings

result_t XIMC_API get_controller_name	(	device_t	id,
		controller_name_t *	controller_name
	)

Read user controller name and flags of setting from FRAM.

Parameters

	id	an identifier of device
[out]	controller_name	structure contains previously set user controller name

result_t XIMC_API get_ctp_settings	(	device_t	id,
		ctp_settings_t *	ctp_settings
	)

Read settings of control position(is only used with stepper motor).

When controlling the step motor with encoder (CTP_BASE 0) it is possible to detect the loss of steps. The controller knows the number of steps per revolution (GENG :: StepsPerRev) and the encoder resolution (GFBS :: IPT). When the control (flag CTP_ENABLED), the controller stores the current position in the footsteps of SM and the current position of the encoder. Further, at each step of the position encoder is converted into steps and if the difference is greater CTPMinError, a flag STATE_CTP_ERROR. When controlling the step motor with speed sensor (CTP_BASE 1), the position is controlled by him. The active edge of input clock controller stores the current value of steps. Further, at each turn checks how many steps shifted. When a mismatch CTPMinError a flag STATE_CTP_ERROR.

Parameters

	id	an identifier of device
[out]	ctp_settings	structure contains settings of control position

result_t XIMC_API get_debug_read	(	device_t	id,
		debug_read_t *	debug_read
	)

Read data from firmware for debug purpose.

Its use depends on context, firmware version and previous history.

Parameters

	id	an identifier of device
[out]	debug_read	Debug data.

int XIMC_API get_device_count ( device_enumeration_t device_enumeration )

Get device count.

Parameters

[in] device_enumeration opaque pointer to an enumeration device data

result_t XIMC_API get_device_information	(	device_t	id,
		device_information_t *	device_information
	)

Return device information.

All fields must point to allocated string buffers with at least 10 bytes. Works with both raw or initialized device.

Parameters

	id	an identifier of device
[out]	device_information	device information Device information.

See Also: get_device_information

pchar XIMC_API get_device_name	(	device_enumeration_t	device_enumeration,
		int	device_index
	)

Get device name from the device enumeration.

Returns device_index device name.

Parameters

[in]	device_enumeration	opaque pointer to an enumeration device data
[in]	device_index	device index

result_t XIMC_API get_edges_settings	(	device_t	id,
		edges_settings_t *	edges_settings
	)

Read border and limit switches settings.

See Also: set_edges_settings

Parameters

	id	an identifier of device
[out]	edges_settings	edges settings, specify types of borders, motor behaviour and electrical behaviour of limit switches

result_t XIMC_API get_edges_settings_calb	(	device_t	id,
		edges_settings_calb_t *	edges_settings_calb,
		const calibration_t *	calibration
	)

Read border and limit switches settings which use user units.

See Also: set_edges_settings_calb

Parameters

	id	an identifier of device
[out]	edges_settings_calb	edges settings, specify types of borders, motor behaviour and electrical behaviour of limit switches
	calibration	user unit settings

Note: Attention! Some parameters of the edges_settings_calb structure are corrected by the coordinate correction table.

result_t XIMC_API get_emf_settings	(	device_t	id,
		emf_settings_t *	emf_settings
	)

Read electromechanical settings.

The settings are different for different stepper motors.

See Also: set_emf_settings

Parameters

	id	an identifier of device
[out]	emf_settings	EMF settings

result_t XIMC_API get_encoder_information	(	device_t	id,
		encoder_information_t *	encoder_information
	)

Read encoder information from EEPROM.

Parameters

	id	an identifier of device
[out]	encoder_information	structure contains information about encoder

result_t XIMC_API get_encoder_settings	(	device_t	id,
		encoder_settings_t *	encoder_settings
	)

Read encoder settings from EEPROM.

Parameters

	id	an identifier of device
[out]	encoder_settings	structure contains encoder settings

result_t XIMC_API get_engine_advansed_setup	(	device_t	id,
		engine_advansed_setup_t *	engine_advansed_setup
	)

Read engine advansed settings.

See Also: set_engine_advansed_setup

Parameters

	id	an identifier of device
[out]	engine_advansed_setup	EAS settings

result_t XIMC_API get_engine_settings	(	device_t	id,
		engine_settings_t *	engine_settings
	)

Read engine settings.

This function fill structure with set of useful motor settings stored in controller's memory. These settings specify motor shaft movement algorithm, list of limitations and rated characteristics.

See Also: set_engine_settings

Parameters

	id	an identifier of device
[out]	engine_settings	engine settings

result_t XIMC_API get_engine_settings_calb	(	device_t	id,
		engine_settings_calb_t *	engine_settings_calb,
		const calibration_t *	calibration
	)

Read engine settings which use user units.

This function fill structure with set of useful motor settings stored in controller's memory. These settings specify motor shaft movement algorithm, list of limitations and rated characteristics.

See Also: set_engine_settings

Parameters

	id	an identifier of device
[out]	engine_settings_calb	engine settings
	calibration	user unit settings

result_t XIMC_API get_entype_settings	(	device_t	id,
		entype_settings_t *	entype_settings
	)

Return engine type and driver type.

Parameters

	id	an identifier of device
[out]	entype_settings	structure contains settings motor type and power driver type

result_t XIMC_API get_enumerate_device_controller_name	(	device_enumeration_t	device_enumeration,
		int	device_index,
		controller_name_t *	controller_name
	)

Get controller name from the device enumeration.

Returns device_index device controller name.

Parameters

[in]	device_enumeration	opaque pointer to an enumeration device data
[in]	device_index	device index
[out]	controller_name	controller name

result_t XIMC_API get_enumerate_device_information	(	device_enumeration_t	device_enumeration,
		int	device_index,
		device_information_t *	device_information
	)

Get device information from the device enumeration.

Returns device_index device information.

Parameters

[in]	device_enumeration	opaque pointer to an enumeration device data
[in]	device_index	device index
[out]	device_information	device information data

result_t XIMC_API get_enumerate_device_network_information	(	device_enumeration_t	device_enumeration,
		int	device_index,
		device_network_information_t *	device_network_information
	)

Get device network information from the device enumeration.

Returns device_index device network information.

Parameters

[in]	device_enumeration	opaque pointer to an enumeration device data
[in]	device_index	device index
[out]	device_network_information	device network information data

result_t XIMC_API get_enumerate_device_serial	(	device_enumeration_t	device_enumeration,
		int	device_index,
		uint32_t *	serial
	)

Get device serial number from the device enumeration.

Returns device_index device serial number.

Parameters

[in]	device_enumeration	opaque pointer to an enumeration device data
[in]	device_index	device index
[out]	serial	device serial number

result_t XIMC_API get_enumerate_device_stage_name	(	device_enumeration_t	device_enumeration,
		int	device_index,
		stage_name_t *	stage_name
	)

Get stage name from the device enumeration.

Returns device_index device stage name.

Parameters

[in]	device_enumeration	opaque pointer to an enumeration device data
[in]	device_index	device index
[out]	stage_name	stage name

result_t XIMC_API get_extended_settings	(	device_t	id,
		extended_settings_t *	extended_settings
	)

Read extended settings.

See Also: set_extended_settings

Parameters

	id	an identifier of device
[out]	extended_settings	EST settings

result_t XIMC_API get_extio_settings	(	device_t	id,
		extio_settings_t *	extio_settings
	)

Read EXTIO settings.

This function reads a structure with a set of EXTIO settings from controller's memory.

See Also: set_extio_settings

Parameters

	id	an identifier of device
[out]	extio_settings	EXTIO settings

result_t XIMC_API get_feedback_settings	(	device_t	id,
		feedback_settings_t *	feedback_settings
	)

Feedback settings.

Parameters

	id	an identifier of device
[out]	IPS	number of encoder counts per shaft revolution. Range: 1..65535. The field is obsolete, it is recommended to write 0 to IPS and use the extended CountsPerTurn field. You may need to update the controller firmware to the latest version.
[out]	FeedbackType	type of feedback
[out]	FeedbackFlags	flags of feedback
[out]	CountsPerTurn	number of encoder counts per shaft revolution. Range: 1..4294967295. To use the CountsPerTurn field, write 0 in the IPS field, otherwise the value from the IPS field will be used.

result_t XIMC_API get_firmware_version	(	device_t	id,
		unsigned int *	Major,
		unsigned int *	Minor,
		unsigned int *	Release
	)

Read controller's firmware version.

Parameters

	id	an identifier of device
[out]	Major	major version
[out]	Minor	minor version
[out]	Release	release version

result_t XIMC_API get_gear_information	(	device_t	id,
		gear_information_t *	gear_information
	)

Read gear information from EEPROM.

Parameters

	id	an identifier of device
[out]	gear_information	structure contains information about step gearhead

result_t XIMC_API get_gear_settings	(	device_t	id,
		gear_settings_t *	gear_settings
	)

Read gear settings from EEPROM.

Parameters

	id	an identifier of device
[out]	gear_settings	structure contains step gearhead settings

result_t XIMC_API get_globally_unique_identifier	(	device_t	id,
		globally_unique_identifier_t *	globally_unique_identifier
	)

This value is unique to each individual die but is not a random value.

This unique device identifier can be used to initiate secure boot processes or as a serial number for USB or other end applications.

Parameters

	id	an identifier of device
[out]	globally_unique_identifier	the result of fields 0-3 concatenated defines the unique 128-bit device identifier.

result_t XIMC_API get_hallsensor_information	(	device_t	id,
		hallsensor_information_t *	hallsensor_information
	)

Read hall sensor information from EEPROM.

Parameters

	id	an identifier of device
[out]	hallsensor_information	structure contains information about hall sensor

result_t XIMC_API get_hallsensor_settings	(	device_t	id,
		hallsensor_settings_t *	hallsensor_settings
	)

Read hall sensor settings from EEPROM.

Parameters

	id	an identifier of device
[out]	hallsensor_settings	structure contains hall sensor settings

result_t XIMC_API get_home_settings	(	device_t	id,
		home_settings_t *	home_settings
	)

Read home settings.

This function fill structure with settings of calibrating position.

See Also: home_settings_t

Parameters

	id	an identifier of device
[out]	home_settings	calibrating position settings

result_t XIMC_API get_home_settings_calb	(	device_t	id,
		home_settings_calb_t *	home_settings_calb,
		const calibration_t *	calibration
	)

Read home settings which use user units.

This function fill structure with settings of calibrating position.

See Also: home_settings_calb_t

Parameters

	id	an identifier of device
[out]	home_settings_calb	calibrating position settings
	calibration	user unit settings

result_t XIMC_API get_init_random	(	device_t	id,
		init_random_t *	init_random
	)

Read random number from controller.

Parameters

	id	an identifier of device
[out]	init_random	random sequence generated by the controller

result_t XIMC_API get_joystick_settings	(	device_t	id,
		joystick_settings_t *	joystick_settings
	)

Read settings of joystick.

If joystick position is outside DeadZone limits from the central position a movement with speed, defined by the joystick DeadZone edge to 100% deviation, begins. Joystick positions inside DeadZone limits correspond to zero speed (soft stop of motion) and positions beyond Low and High limits correspond MaxSpeed [i] or -MaxSpeed [i] (see command SCTL), where i = 0 by default and can be changed with left/right buttons (see command SCTL). If next speed in list is zero (both integer and microstep parts), the button press is ignored. First speed in list shouldn't be zero. The DeadZone ranges are illustrated on the following picture. !/attachments/download/5563/range25p.png! The relationship between the deviation and the rate is exponential, allowing no switching speed combine high mobility and accuracy. The following picture illustrates this: !/attachments/download/3092/ExpJoystick.png! The nonlinearity parameter is adjustable. Setting it to zero makes deviation/speed relation linear.

Parameters

	id	an identifier of device
[out]	joystick_settings	structure contains joystick settings

result_t XIMC_API get_measurements	(	device_t	id,
		measurements_t *	measurements
	)

A command to read the data buffer to build a speed graph and a sequence error.

Filling the buffer starts with the command "start_measurements". The buffer holds 25 points, the points are taken with a period of 1 ms. To create a robust system, read data every 20 ms, if the buffer is completely full, then it is recommended to repeat the readings every 5 ms until the buffer again becomes filled with 20 points.

See Also: measurements_t

Parameters

	id	an identifier of device
[out]	measurements	structure with buffer and its length.

result_t XIMC_API get_motor_information	(	device_t	id,
		motor_information_t *	motor_information
	)

Read motor information from EEPROM.

Parameters

	id	an identifier of device
[out]	motor_information	structure contains motor information

result_t XIMC_API get_motor_settings	(	device_t	id,
		motor_settings_t *	motor_settings
	)

Read motor settings from EEPROM.

Parameters

	id	an identifier of device
[out]	motor_settings	structure contains motor settings

result_t XIMC_API get_move_settings	(	device_t	id,
		move_settings_t *	move_settings
	)

Read command setup movement (speed, acceleration, threshold and etc).

Parameters

	id	an identifier of device
[out]	move_settings	structure contains move settings: speed, acceleration, deceleration etc.

result_t XIMC_API get_move_settings_calb	(	device_t	id,
		move_settings_calb_t *	move_settings_calb,
		const calibration_t *	calibration
	)

Read command setup movement which use user units (speed, acceleration, threshold and etc).

Parameters

	id	an identifier of device
[out]	move_settings_calb	structure contains move settings: speed, acceleration, deceleration etc.
	calibration	user unit settings

result_t XIMC_API get_nonvolatile_memory	(	device_t	id,
		nonvolatile_memory_t *	nonvolatile_memory
	)

Read userdata from FRAM.

Parameters

	id	an identifier of device
[out]	nonvolatile_memory	structure contains previously set userdata

result_t XIMC_API get_pid_settings	(	device_t	id,
		pid_settings_t *	pid_settings
	)

Read PID settings.

This function fill structure with set of motor PID settings stored in controller's memory. These settings specify behaviour of PID routine for positioner. These factors are slightly different for different positioners. All boards are supplied with standard set of PID setting on controller's flash memory.

See Also: set_pid_settings

Parameters

	id	an identifier of device
[out]	pid_settings	pid settings

result_t XIMC_API get_position	(	device_t	id,
		get_position_t *	the_get_position
	)

Reads the value position in steps and micro for stepper motor and encoder steps all engines.

Parameters

	id	an identifier of device
[out]	the_get_position	structure contains move settings: speed, acceleration, deceleration etc.

result_t XIMC_API get_position_calb	(	device_t	id,
		get_position_calb_t *	the_get_position_calb,
		const calibration_t *	calibration
	)

Reads position value in user units for stepper motor and encoder steps all engines.

Parameters

	id	an identifier of device
[out]	the_get_position_calb	structure contains move settings: speed, acceleration, deceleration etc.
	calibration	user unit settings

Note: Attention! Some parameters of the the_get_position_calb structure are corrected by the coordinate correction table.

result_t XIMC_API get_power_settings	(	device_t	id,
		power_settings_t *	power_settings
	)

Read settings of step motor power control.

Used with stepper motor only.

Parameters

	id	an identifier of device
[out]	power_settings	structure contains settings of step motor power control

result_t XIMC_API get_secure_settings	(	device_t	id,
		secure_settings_t *	secure_settings
	)

Read protection settings.

Parameters

	id	an identifier of device
[out]	secure_settings	critical parameter settings to protect the hardware

See Also: status_t::flags

result_t XIMC_API get_serial_number	(	device_t	id,
		unsigned int *	SerialNumber
	)

Read device serial number.

Parameters

	id	an identifier of device
[out]	SerialNumber	serial number

result_t XIMC_API get_stage_information	(	device_t	id,
		stage_information_t *	stage_information
	)

Read stage information from EEPROM.

Parameters

	id	an identifier of device
[out]	stage_information	structure contains stage information

result_t XIMC_API get_stage_name	(	device_t	id,
		stage_name_t *	stage_name
	)

Read user stage name from EEPROM.

Parameters

	id	an identifier of device
[out]	stage_name	structure contains previously set user stage name

result_t XIMC_API get_stage_settings	(	device_t	id,
		stage_settings_t *	stage_settings
	)

Read stage settings from EEPROM.

Parameters

	id	an identifier of device
[out]	stage_settings	structure contains stage settings

result_t XIMC_API get_status	(	device_t	id,
		status_t *	status
	)

Return device state.

Parameters

	id	an identifier of device
[out]	status	structure with snapshot of controller status Device state. Useful structure that contains current controller status, including speed, position and boolean flags.

See Also: get_status

result_t XIMC_API get_status_calb	(	device_t	id,
		status_calb_t *	status,
		const calibration_t *	calibration
	)

Return device state.

Parameters

	id	an identifier of device
[out]	status	structure with snapshot of controller status
	calibration	user unit settings Calibrated device state. Useful structure that contains current controller status, including speed, position and boolean flags.

See Also: get_status

result_t XIMC_API get_sync_in_settings	(	device_t	id,
		sync_in_settings_t *	sync_in_settings
	)

Read input synchronization settings.

This function fill structure with set of input synchronization settings, modes, periods and flags, that specify behaviour of input synchronization. All boards are supplied with standard set of these settings.

See Also: set_sync_in_settings

Parameters

	id	an identifier of device
[out]	sync_in_settings	synchronization settings

result_t XIMC_API get_sync_in_settings_calb	(	device_t	id,
		sync_in_settings_calb_t *	sync_in_settings_calb,
		const calibration_t *	calibration
	)

Read input synchronization settings which use user units.

This function fill structure with set of input synchronization settings, modes, periods and flags, that specify behaviour of input synchronization. All boards are supplied with standard set of these settings.

See Also: set_sync_in_settings_calb

Parameters

	id	an identifier of device
[out]	sync_in_settings_calb	synchronization settings
	calibration	user unit settings

result_t XIMC_API get_sync_out_settings	(	device_t	id,
		sync_out_settings_t *	sync_out_settings
	)

Read output synchronization settings.

This function fill structure with set of output synchronization settings, modes, periods and flags, that specify behaviour of output synchronization. All boards are supplied with standard set of these settings.

See Also: set_sync_out_settings

Parameters

	id	an identifier of device
[out]	sync_out_settings	synchronization settings

result_t XIMC_API get_sync_out_settings_calb	(	device_t	id,
		sync_out_settings_calb_t *	sync_out_settings_calb,
		const calibration_t *	calibration
	)

Read output synchronization settings which use user units.

This function fill structure with set of output synchronization settings, modes, periods and flags, that specify behaviour of output synchronization. All boards are supplied with standard set of these settings.

See Also: set_sync_in_settings_calb

Parameters

	id	an identifier of device
[out]	sync_out_settings_calb	synchronization settings
	calibration	user unit settings

result_t XIMC_API get_uart_settings	(	device_t	id,
		uart_settings_t *	uart_settings
	)

Read UART settings.

This function fill structure with UART settings.

See Also: uart_settings_t

Parameters

	Speed	UART speed
[out]	uart_settings	UART settings

result_t XIMC_API goto_firmware	(	device_t	id,
		uint8_t *	ret
	)

Reboot to firmware.

Parameters

	id	an identifier of device
[out]	ret	RESULT_OK, if reboot to firmware is possible. Reboot is done after reply to this command. RESULT_NO_FIRMWARE, if firmware is not found. RESULT_ALREADY_IN_FIRMWARE, if this command was sent when controller is already in firmware.

result_t XIMC_API has_firmware	(	const char *	uri,
		uint8_t *	ret
	)

Check for firmware on device.

Parameters

	uri	a uri of device
[out]	ret	non-zero if firmware existed

result_t XIMC_API load_correction_table	(	device_t *	id,
		const char *	namefile
	)

Command of loading a correction table from a text file.

This function is deprecated. Use the function set_correction_table(device_t id, const char* namefile). The correction table is used for position correction in case of mechanical inaccuracies. It works for some parameters in _calb commands.

Parameters

	id	an identifier the device
[in]	namefile	- the file name must be fully qualified. If the short name is used, the file must be located in the application directory. If the file name is set to NULL, the correction table will be cleared. File format: two tab-separated columns. Column headers are string. Data is real, the point is a determiter. The first column is a coordinate. The second one is the deviation caused by a mechanical error. The maximum length of a table is 100 rows.

Note: The id parameter in this function is a C pointer, unlike most library functions that use this parameter

See Also: command_move; get_position_calb; get_position_calb_t; get_status_calb; status_calb_t; get_edges_settings_calb; set_edges_settings_calb; edges_settings_calb_t

void XIMC_API logging_callback_stderr_narrow	(	int	loglevel,
		const wchar_t *	message,
		void *	user_data
	)

Simple callback for logging to stderr in narrow (single byte) chars.

Parameters

loglevel	a loglevel
message	a message

void XIMC_API logging_callback_stderr_wide	(	int	loglevel,
		const wchar_t *	message,
		void *	user_data
	)

Simple callback for logging to stderr in wide chars.

Parameters

loglevel	a loglevel
message	a message

void XIMC_API msec_sleep ( unsigned int msec )

Sleeps for a specified amount of time.

Parameters

msec	time in milliseconds

device_t XIMC_API open_device ( const char * uri )

Open a device with OS uri uri and return identifier of the device which can be used in calls.

Parameters

[in] uri - a device uri. Device uri has form "xi-com:port" or "xi-net://host/serial" or "xi-emu:///file". In case of USB-COM port the "port" is the OS device uri. For example "xi-com:\\.\COM3" in Windows or "xi-com:/dev/tty.s123" in Linux/Mac. In case of network device the "host" is an IPv4 address or fully qualified domain uri (FQDN), "serial" is the device serial number in hexadecimal system. For example "xi-net://192.168.0.1/00001234" or "xi-net://hostname.com/89ABCDEF". Note: to open network device you must call set_bindy_key first. In case of virtual device the "file" is the full filename with device memory state, if it doesn't exist then it is initialized with default values. For example "xi-emu:///C:/dir/file.bin" in Windows or "xi-emu:///home/user/file.bin" in Linux/Mac.

result_t XIMC_API probe_device ( const char * uri )

Check if a device with OS uri uri is XIMC device.

Be carefuly with this call because it sends some data to the device.

Parameters

[in] uri - a device uri

result_t XIMC_API service_command_updf ( device_t id )

Command puts the controller to update the firmware.

After receiving this command, the firmware board sets a flag (for loader), sends echo reply and restarts the controller.

result_t XIMC_API set_accessories_settings	(	device_t	id,
		const accessories_settings_t *	accessories_settings
	)

Set additional accessories information to EEPROM.

Can be used by manufacturer only.

Parameters

	id	an identifier of device
[in]	accessories_settings	structure contains information about additional accessories

result_t XIMC_API set_bindy_key ( const char * keyfilepath )

Set network encryption layer (bindy) key.

Parameters

[in] keyfilepath full path to the bindy keyfile When using network-attached devices this function must be called before enumerate_devices and open_device functions.

result_t XIMC_API set_brake_settings	(	device_t	id,
		const brake_settings_t *	brake_settings
	)

Set settings of brake control.

Parameters

	id	an identifier of device
[in]	brake_settings	structure contains settings of brake control

result_t XIMC_API set_calibration_settings	(	device_t	id,
		const calibration_settings_t *	calibration_settings
	)

Set calibration settings.

This function send structure with calibration settings to controller's memory.

See Also: calibration_settings_t

Parameters

	id	an identifier of device
[in]	calibration_settings	calibration settings

result_t XIMC_API set_control_settings	(	device_t	id,
		const control_settings_t *	control_settings
	)

Set settings of motor control.

When choosing CTL_MODE = 1 switches motor control with the joystick. In this mode, the joystick to the maximum engine tends Move at MaxSpeed [i], where i = 0 if the previous use This mode is not selected another i. Buttons switch the room rate i. When CTL_MODE = 2 is switched on motor control using the Left / right. When you click on the button motor starts to move in the appropriate direction at a speed MaxSpeed [0], at the end of time Timeout [i] motor move at a speed MaxSpeed [i+1]. at Transition from MaxSpeed [i] on MaxSpeed [i +1] to acceleration, as usual.

Parameters

	id	an identifier of device
[in]	control_settings	structure contains settings motor control by joystick or buttons left/right.

result_t XIMC_API set_control_settings_calb	(	device_t	id,
		const control_settings_calb_t *	control_settings_calb,
		const calibration_t *	calibration
	)

Set settings of motor control which use user units.

When choosing CTL_MODE = 1 switches motor control with the joystick. In this mode, the joystick to the maximum engine tends Move at MaxSpeed [i], where i = 0 if the previous use This mode is not selected another i. Buttons switch the room rate i. When CTL_MODE = 2 is switched on motor control using the Left / right. When you click on the button motor starts to move in the appropriate direction at a speed MaxSpeed [0], at the end of time Timeout [i] motor move at a speed MaxSpeed [i+1]. at Transition from MaxSpeed [i] on MaxSpeed [i +1] to acceleration, as usual.

Parameters

	id	an identifier of device
[in]	control_settings_calb	structure contains settings motor control by joystick or buttons left/right.
	calibration	user unit settings

result_t XIMC_API set_controller_name	(	device_t	id,
		const controller_name_t *	controller_name
	)

Write user controller name and flags of setting from FRAM.

Parameters

	id	an identifier of device
[in]	controller_name	structure contains previously set user controller name

result_t XIMC_API set_correction_table	(	device_t	id,
		const char *	namefile
	)

Command of loading a correction table from a text file.

The correction table is used for position correction in case of mechanical inaccuracies. It works for some parameters in _calb commands.

Parameters

	id	an identifier the device
[in]	namefile	- the file name must be fully qualified. If the short name is used, the file must be located in the application directory. If the file name is set to NULL, the correction table will be cleared. File format: two tab-separated columns. Column headers are string. Data is real, the point is a determiter. The first column is a coordinate. The second one is the deviation caused by a mechanical error. The maximum length of a table is 100 rows.

See Also: command_move; get_position_calb; get_position_calb_t; get_status_calb; status_calb_t; get_edges_settings_calb; set_edges_settings_calb; edges_settings_calb_t

result_t XIMC_API set_ctp_settings	(	device_t	id,
		const ctp_settings_t *	ctp_settings
	)

Set settings of control position(is only used with stepper motor).

When controlling the step motor with encoder (CTP_BASE 0) it is possible to detect the loss of steps. The controller knows the number of steps per revolution (GENG :: StepsPerRev) and the encoder resolution (GFBS :: IPT). When the control (flag CTP_ENABLED), the controller stores the current position in the footsteps of SM and the current position of the encoder. Further, at each step of the position encoder is converted into steps and if the difference is greater CTPMinError, a flag STATE_CTP_ERROR. When controlling the step motor with speed sensor (CTP_BASE 1), the position is controlled by him. The active edge of input clock controller stores the current value of steps. Further, at each turn checks how many steps shifted. When a mismatch CTPMinError a flag STATE_CTP_ERROR.

Parameters

	id	an identifier of device
[in]	ctp_settings	structure contains settings of control position

result_t XIMC_API set_debug_write	(	device_t	id,
		const debug_write_t *	debug_write
	)

Write data to firmware for debug purpose.

Parameters

	id	an identifier of device
[in]	debug_write	Debug data.

result_t XIMC_API set_edges_settings	(	device_t	id,
		const edges_settings_t *	edges_settings
	)

Set border and limit switches settings.

See Also: get_edges_settings

Parameters

	id	an identifier of device
[in]	edges_settings	edges settings, specify types of borders, motor behaviour and electrical behaviour of limit switches

result_t XIMC_API set_edges_settings_calb	(	device_t	id,
		const edges_settings_calb_t *	edges_settings_calb,
		const calibration_t *	calibration
	)

Set border and limit switches settings which use user units.

See Also: get_edges_settings_calb

Parameters

	id	an identifier of device
[in]	edges_settings_calb	edges settings, specify types of borders, motor behaviour and electrical behaviour of limit switches
	calibration	user unit settings

Note: Attention! Some parameters of the edges_settings_calb structure are corrected by the coordinate correction table.

result_t XIMC_API set_emf_settings	(	device_t	id,
		const emf_settings_t *	emf_settings
	)

Set electromechanical coefficients.

The settings are different for different stepper motors. Please download the new settings when you change the motor.

See Also: get_emf_settings

Parameters

	id	an identifier of device
[in]	emf_settings	EMF settings

result_t XIMC_API set_encoder_information	(	device_t	id,
		const encoder_information_t *	encoder_information
	)

Set encoder information to EEPROM.

Can be used by manufacturer only.

Parameters

	id	an identifier of device
[in]	encoder_information	structure contains information about encoder

result_t XIMC_API set_encoder_settings	(	device_t	id,
		const encoder_settings_t *	encoder_settings
	)

Set encoder settings to EEPROM.

Can be used by manufacturer only.

Parameters

	id	an identifier of device
[in]	encoder_settings	structure contains encoder settings

result_t XIMC_API set_engine_advansed_setup	(	device_t	id,
		const engine_advansed_setup_t *	engine_advansed_setup
	)

Set engine advansed settings.

See Also: get_engine_advansed_setup

Parameters

	id	an identifier of device
[in]	engine_advansed_setup	EAS settings

result_t XIMC_API set_engine_settings	(	device_t	id,
		const engine_settings_t *	engine_settings
	)

Set engine settings.

This function send structure with set of engine settings to controller's memory. These settings specify motor shaft movement algorithm, list of limitations and rated characteristics. Use it when you change motor, encoder, positioner etc. Please note that wrong engine settings lead to device malfunction, can lead to irreversible damage of board.

See Also: get_engine_settings

Parameters

	id	an identifier of device
[in]	engine_settings	engine settings

result_t XIMC_API set_engine_settings_calb	(	device_t	id,
		const engine_settings_calb_t *	engine_settings_calb,
		const calibration_t *	calibration
	)

Set engine settings which use user units.

This function send structure with set of engine settings to controller's memory. These settings specify motor shaft movement algorithm, list of limitations and rated characteristics. Use it when you change motor, encoder, positioner etc. Please note that wrong engine settings lead to device malfunction, can lead to irreversible damage of board.

See Also: get_engine_settings

Parameters

	id	an identifier of device
[in]	engine_settings_calb	engine settings
	calibration	user unit settings

result_t XIMC_API set_entype_settings	(	device_t	id,
		const entype_settings_t *	entype_settings
	)

Set engine type and driver type.

Parameters

	id	an identifier of device
[in]	entype_settings	structure contains settings motor type and power driver type

result_t XIMC_API set_extended_settings	(	device_t	id,
		const extended_settings_t *	extended_settings
	)

Set extended settings.

See Also: get_extended_settings

Parameters

	id	an identifier of device
[in]	extended_settings	EST settings

result_t XIMC_API set_extio_settings	(	device_t	id,
		const extio_settings_t *	extio_settings
	)

Set EXTIO settings.

This function writes a structure with a set of EXTIO settings to controller's memory. By default input event are signalled through rising front and output states are signalled by high logic state.

See Also: get_extio_settings

Parameters

	id	an identifier of device
[in]	extio_settings	EXTIO settings

result_t XIMC_API set_feedback_settings	(	device_t	id,
		const feedback_settings_t *	feedback_settings
	)

Feedback settings.

Parameters

	id	an identifier of device
[in]	IPS	number of encoder counts per shaft revolution. Range: 1..65535. The field is obsolete, it is recommended to write 0 to IPS and use the extended CountsPerTurn field. You may need to update the controller firmware to the latest version.
[in]	FeedbackType	type of feedback
[in]	FeedbackFlags	flags of feedback
[in]	CountsPerTurn	number of encoder counts per shaft revolution. Range: 1..4294967295. To use the CountsPerTurn field, write 0 in the IPS field, otherwise the value from the IPS field will be used.

result_t XIMC_API set_gear_information	(	device_t	id,
		const gear_information_t *	gear_information
	)

Set gear information to EEPROM.

Can be used by manufacturer only.

Parameters

	id	an identifier of device
[in]	gear_information	structure contains information about step gearhead

result_t XIMC_API set_gear_settings	(	device_t	id,
		const gear_settings_t *	gear_settings
	)

Set gear settings to EEPROM.

Can be used by manufacturer only.

Parameters

	id	an identifier of device
[in]	gear_settings	structure contains step gearhead settings

result_t XIMC_API set_hallsensor_information	(	device_t	id,
		const hallsensor_information_t *	hallsensor_information
	)

Set hall sensor information to EEPROM.

Can be used by manufacturer only.

Parameters

	id	an identifier of device
[in]	hallsensor_information	structure contains information about hall sensor

result_t XIMC_API set_hallsensor_settings	(	device_t	id,
		const hallsensor_settings_t *	hallsensor_settings
	)

Set hall sensor settings to EEPROM.

Can be used by manufacturer only.

Parameters

	id	an identifier of device
[in]	hallsensor_settings	structure contains hall sensor settings

result_t XIMC_API set_home_settings	(	device_t	id,
		const home_settings_t *	home_settings
	)

Set home settings.

This function send structure with calibrating position settings to controller's memory.

See Also: home_settings_t

Parameters

	id	an identifier of device
[in]	home_settings	calibrating position settings

result_t XIMC_API set_home_settings_calb	(	device_t	id,
		const home_settings_calb_t *	home_settings_calb,
		const calibration_t *	calibration
	)

Set home settings which use user units.

This function send structure with calibrating position settings to controller's memory.

See Also: home_settings_calb_t

Parameters

	id	an identifier of device
[in]	home_settings_calb	calibrating position settings
	calibration	user unit settings

result_t XIMC_API set_joystick_settings	(	device_t	id,
		const joystick_settings_t *	joystick_settings
	)

Set settings of joystick.

If joystick position is outside DeadZone limits from the central position a movement with speed, defined by the joystick DeadZone edge to 100% deviation, begins. Joystick positions inside DeadZone limits correspond to zero speed (soft stop of motion) and positions beyond Low and High limits correspond MaxSpeed [i] or -MaxSpeed [i] (see command SCTL), where i = 0 by default and can be changed with left/right buttons (see command SCTL). If next speed in list is zero (both integer and microstep parts), the button press is ignored. First speed in list shouldn't be zero. The DeadZone ranges are illustrated on the following picture. !/attachments/download/5563/range25p.png! The relationship between the deviation and the rate is exponential, allowing no switching speed combine high mobility and accuracy. The following picture illustrates this: !/attachments/download/3092/ExpJoystick.png! The nonlinearity parameter is adjustable. Setting it to zero makes deviation/speed relation linear.

Parameters

	id	an identifier of device
[in]	joystick_settings	structure contains joystick settings

void XIMC_API set_logging_callback	(	logging_callback_t	logging_callback,
		void *	user_data
	)

Sets a logging callback.

Call resets a callback to default (stderr, syslog) if NULL passed.

Parameters

logging_callback a callback for log messages

result_t XIMC_API set_motor_information	(	device_t	id,
		const motor_information_t *	motor_information
	)

Set motor information to EEPROM.

Can be used by manufacturer only.

Parameters

	id	an identifier of device
[in]	motor_information	structure contains motor information

result_t XIMC_API set_motor_settings	(	device_t	id,
		const motor_settings_t *	motor_settings
	)

Set motor settings to EEPROM.

Can be used by manufacturer only.

Parameters

	id	an identifier of device
[in]	motor_settings	structure contains motor information

result_t XIMC_API set_move_settings	(	device_t	id,
		const move_settings_t *	move_settings
	)

Set command setup movement (speed, acceleration, threshold and etc).

Parameters

	id	an identifier of device
[in]	move_settings	structure contains move settings: speed, acceleration, deceleration etc.

result_t XIMC_API set_move_settings_calb	(	device_t	id,
		const move_settings_calb_t *	move_settings_calb,
		const calibration_t *	calibration
	)

Set command setup movement which use user units (speed, acceleration, threshold and etc).

Parameters

	id	an identifier of device
[in]	move_settings_calb	structure contains move settings: speed, acceleration, deceleration etc.
	calibration	user unit settings

result_t XIMC_API set_nonvolatile_memory	(	device_t	id,
		const nonvolatile_memory_t *	nonvolatile_memory
	)

Write userdata into FRAM.

Parameters

	id	an identifier of device
[in]	nonvolatile_memory	structure contains previously set userdata

result_t XIMC_API set_pid_settings	(	device_t	id,
		const pid_settings_t *	pid_settings
	)

Set PID settings.

This function send structure with set of PID factors to controller's memory. These settings specify behaviour of PID routine for positioner. These factors are slightly different for different positioners. All boards are supplied with standard set of PID setting on controller's flash memory. Please use it for loading new PID settings when you change positioner. Please note that wrong PID settings lead to device malfunction.

See Also: get_pid_settings

Parameters

	id	an identifier of device
[in]	pid_settings	pid settings

result_t XIMC_API set_position	(	device_t	id,
		const set_position_t *	the_set_position
	)

Sets any position value in steps and micro for stepper motor and encoder steps of all engines.

It means, that changing main indicator of position.

Parameters

	id	an identifier of device
[out]	the_set_position	structure contains move settings: speed, acceleration, deceleration etc.

result_t XIMC_API set_position_calb	(	device_t	id,
		const set_position_calb_t *	the_set_position_calb,
		const calibration_t *	calibration
	)

Sets any position value and encoder value of all engines which use user units.

It means, that changing main indicator of position.

Parameters

	id	an identifier of device
[out]	the_set_position_calb	structure contains move settings: speed, acceleration, deceleration etc.
	calibration	user unit settings

result_t XIMC_API set_power_settings	(	device_t	id,
		const power_settings_t *	power_settings
	)

Set settings of step motor power control.

Used with stepper motor only.

Parameters

	id	an identifier of device
[in]	power_settings	structure contains settings of step motor power control

result_t XIMC_API set_secure_settings	(	device_t	id,
		const secure_settings_t *	secure_settings
	)

Set protection settings.

Parameters

id	an identifier of device
secure_settings	structure with secure data

See Also: status_t::flags

result_t XIMC_API set_serial_number	(	device_t	id,
		const serial_number_t *	serial_number
	)

Write device serial number and hardware version to controller's flash memory.

Along with the new serial number and hardware version a "Key" is transmitted. The SN and hardware version are changed and saved when keys match. Can be used by manufacturer only.

Parameters

	id	an identifier of device
[in]	serial_number	structure contains new serial number and secret key.

result_t XIMC_API set_stage_information	(	device_t	id,
		const stage_information_t *	stage_information
	)

Set stage information to EEPROM.

Can be used by manufacturer only.

Parameters

	id	an identifier of device
[in]	stage_information	structure contains stage information

result_t XIMC_API set_stage_name	(	device_t	id,
		const stage_name_t *	stage_name
	)

Write user stage name from EEPROM.

Parameters

	id	an identifier of device
[in]	stage_name	structure contains previously set user stage name

result_t XIMC_API set_stage_settings	(	device_t	id,
		const stage_settings_t *	stage_settings
	)

Set stage settings to EEPROM.

Can be used by manufacturer only

Parameters

	id	an identifier of device
[in]	stage_settings	structure contains stage settings

result_t XIMC_API set_sync_in_settings	(	device_t	id,
		const sync_in_settings_t *	sync_in_settings
	)

Set input synchronization settings.

This function send structure with set of input synchronization settings, that specify behaviour of input synchronization, to controller's memory. All boards are supplied with standard set of these settings.

See Also: get_sync_in_settings

Parameters

	id	an identifier of device
[in]	sync_in_settings	synchronization settings

result_t XIMC_API set_sync_in_settings_calb	(	device_t	id,
		const sync_in_settings_calb_t *	sync_in_settings_calb,
		const calibration_t *	calibration
	)

Set input synchronization settings which use user units.

This function send structure with set of input synchronization settings, that specify behaviour of input synchronization, to controller's memory. All boards are supplied with standard set of these settings.

See Also: get_sync_in_settings_calb

Parameters

	id	an identifier of device
[in]	sync_in_settings_calb	synchronization settings
	calibration	user unit settings

result_t XIMC_API set_sync_out_settings	(	device_t	id,
		const sync_out_settings_t *	sync_out_settings
	)

Set output synchronization settings.

This function send structure with set of output synchronization settings, that specify behaviour of output synchronization, to controller's memory. All boards are supplied with standard set of these settings.

See Also: get_sync_out_settings

Parameters

	id	an identifier of device
[in]	sync_out_settings	synchronization settings

result_t XIMC_API set_sync_out_settings_calb	(	device_t	id,
		const sync_out_settings_calb_t *	sync_out_settings_calb,
		const calibration_t *	calibration
	)

Set output synchronization settings which use user units.

This function send structure with set of output synchronization settings, that specify behaviour of output synchronization, to controller's memory. All boards are supplied with standard set of these settings.

See Also: get_sync_in_settings_calb

Parameters

	id	an identifier of device
[in]	sync_out_settings_calb	synchronization settings
	calibration	user unit settings

result_t XIMC_API set_uart_settings	(	device_t	id,
		const uart_settings_t *	uart_settings
	)

Set UART settings.

This function send structure with UART settings to controller's memory.

See Also: uart_settings_t

Parameters

	Speed	UART speed
[in]	uart_settings	UART settings

result_t XIMC_API write_key	(	const char *	uri,
		uint8_t *	key
	)

Write controller key.

Can be used by manufacturer only

Parameters

	uri	a uri of device
[in]	key	protection key. Range: 0..4294967295

result_t XIMC_API ximc_fix_usbser_sys ( const char * device_uri )

Fix for errors in Windows USB driver stack.

USB subsystem on Windows does not always work correctly. The following bugs are possible: the device cannot be opened at all, or the device can be opened and written to, but it will not respond with data. These errors can be fixed by device reconnection or removal-rescan in device manager. ximc_fix_usbser_sys() is a shortcut function to do the remove-rescan process. You should call this function if libximc library cannot open the device which was not physically removed from the system or if the device does not respond.

void XIMC_API ximc_version ( char * version )

Returns a library version.

Parameters

version a buffer to hold a version string, 32 bytes is enough

Data Structures

Macros

Typedefs

Functions

Boards and drivers control

Detailed Description

Macro Definition Documentation

Typedef Documentation

Function Documentation