doc-en/ximc_8h_source.html

#ifndef INC_XIMC_H

#define INC_XIMC_H


#if defined(_WIN32) || defined(LABVIEW64_IMPORT) || defined(LABVIEW32_IMPORT) || defined(MATLAB_IMPORT)

        #define XIMC_API __stdcall

#else

        #ifdef LIBXIMC_EXPORTS

        #define XIMC_API __attribute__((visibility("default")))

        #else

        #define XIMC_API

        #endif

#endif


#if defined(_WIN32) || defined(LABVIEW64_IMPORT) || defined(LABVIEW32_IMPORT) || defined(MATLAB_IMPORT)

        #define XIMC_CALLCONV __stdcall

#else

        #define XIMC_CALLCONV

#endif


#if defined(_WIN32) || defined(LABVIEW64_IMPORT) || defined(LABVIEW32_IMPORT) || defined(MATLAB_IMPORT)

#define XIMC_RETTYPE unsigned int

#else

#define XIMC_RETTYPE void*

#endif


#if !defined(XIMC_NO_STDINT)


#if ( (defined(_MSC_VER) && (_MSC_VER < 1600)) || defined(LABVIEW64_IMPORT) || defined(LABVIEW32_IMPORT)) && !defined(MATLAB_IMPORT)

// msvc types burden

typedef __int8 int8_t;

typedef __int16 int16_t;

typedef __int32 int32_t;

typedef __int64 int64_t;

typedef unsigned __int8 uint8_t;

typedef unsigned __int16 uint16_t;

typedef unsigned __int32 uint32_t;

typedef unsigned __int64 uint64_t;

#else

#include <stdint.h>

#endif


/* labview doesn't speak C99 */

#if defined(LABVIEW64_IMPORT) || defined(LABVIEW32_IMPORT)

typedef unsigned __int64 ulong_t;

typedef __int64 long_t;

#else

typedef unsigned long long ulong_t;

typedef long long long_t;

#endif


#endif


#include <time.h>


#if defined(__cplusplus)

extern "C"

{

#endif


        typedef int device_t;


        typedef int result_t;


        #if defined(_WIN64) || defined(__LP64__) || defined(LABVIEW64_IMPORT)

        typedef uint64_t device_enumeration_t;

        #else

        typedef uint32_t device_enumeration_t;

        #endif

        //typedef device_enumeration_t* pdevice_enumeration_t;


#define device_undefined -1


#define result_ok 0


#define result_error -1


#define result_not_implemented -2


#define result_value_error -3


#define result_nodevice -4


#define LOGLEVEL_ERROR          0x01

#define LOGLEVEL_WARNING        0x02

#define LOGLEVEL_INFO           0x03

#define LOGLEVEL_DEBUG          0x04


        typedef struct calibration_t

        {

                double A;

                unsigned int MicrostepMode;

        } calibration_t;


        typedef struct device_network_information_t

        {

                uint32_t ipv4;

                char nodename[16];


                uint32_t axis_state;

                char locker_username[16];

                char locker_nodename[16];

                time_t locked_time;

        } device_network_information_t;


#define LIBXIMC_VERSION 3.0.2


#define LIBXIMC_PROTOCOL_VERSION 20.14


/*

 ------------------------------------------

   BEGIN OF GENERATED struct declarations

 ------------------------------------------

*/


#define ENUMERATE_PROBE     0x01

#define ENUMERATE_ALL_COM   0x02

#define ENUMERATE_NETWORK   0x04


#define MOVE_STATE_MOVING         0x01

#define MOVE_STATE_TARGET_SPEED   0x02

#define MOVE_STATE_ANTIPLAY       0x04


#define EEPROM_PRECEDENCE   0x01


#define PWR_STATE_UNKNOWN   0x00

#define PWR_STATE_OFF       0x01

#define PWR_STATE_NORM      0x03

#define PWR_STATE_REDUCT    0x04

#define PWR_STATE_MAX       0x05


#define STATE_CONTR                    0x000003F

#define STATE_ERRC                     0x0000001

#define STATE_ERRD                     0x0000002

#define STATE_ERRV                     0x0000004

#define STATE_EEPROM_CONNECTED         0x0000010

#define STATE_IS_HOMED                 0x0000020

#define STATE_SECUR                    0x1B3FFC0

#define STATE_ALARM                    0x0000040

#define STATE_CTP_ERROR                0x0000080

#define STATE_POWER_OVERHEAT           0x0000100

#define STATE_CONTROLLER_OVERHEAT      0x0000200

#define STATE_OVERLOAD_POWER_VOLTAGE   0x0000400

#define STATE_OVERLOAD_POWER_CURRENT   0x0000800

#define STATE_OVERLOAD_USB_VOLTAGE     0x0001000

#define STATE_LOW_USB_VOLTAGE          0x0002000

#define STATE_OVERLOAD_USB_CURRENT     0x0004000

#define STATE_BORDERS_SWAP_MISSET      0x0008000

#define STATE_LOW_POWER_VOLTAGE        0x0010000

#define STATE_H_BRIDGE_FAULT           0x0020000

#define STATE_WINDING_RES_MISMATCH     0x0100000

#define STATE_ENCODER_FAULT            0x0200000

#define STATE_ENGINE_RESPONSE_ERROR    0x0800000

#define STATE_EXTIO_ALARM              0x1000000


#define STATE_DIG_SIGNAL     0xFFFF

#define STATE_RIGHT_EDGE     0x0001

#define STATE_LEFT_EDGE      0x0002

#define STATE_BUTTON_RIGHT   0x0004

#define STATE_BUTTON_LEFT    0x0008

#define STATE_GPIO_PINOUT    0x0010

#define STATE_GPIO_LEVEL     0x0020

#define STATE_BRAKE          0x0200

#define STATE_REV_SENSOR     0x0400

#define STATE_SYNC_INPUT     0x0800

#define STATE_SYNC_OUTPUT    0x1000

#define STATE_ENC_A          0x2000

#define STATE_ENC_B          0x4000


#define ENC_STATE_ABSENT    0x00

#define ENC_STATE_UNKNOWN   0x01

#define ENC_STATE_MALFUNC   0x02

#define ENC_STATE_REVERS    0x03

#define ENC_STATE_OK        0x04


#define WIND_A_STATE_ABSENT    0x00

#define WIND_A_STATE_UNKNOWN   0x01

#define WIND_A_STATE_MALFUNC   0x02

#define WIND_A_STATE_OK        0x03

#define WIND_B_STATE_ABSENT    0x00

#define WIND_B_STATE_UNKNOWN   0x10

#define WIND_B_STATE_MALFUNC   0x20

#define WIND_B_STATE_OK        0x30


#define MVCMD_NAME_BITS   0x3F

#define MVCMD_UKNWN       0x00

#define MVCMD_MOVE        0x01

#define MVCMD_MOVR        0x02

#define MVCMD_LEFT        0x03

#define MVCMD_RIGHT       0x04

#define MVCMD_STOP        0x05

#define MVCMD_HOME        0x06

#define MVCMD_LOFT        0x07

#define MVCMD_SSTP        0x08

#define MVCMD_ERROR       0x40

#define MVCMD_RUNNING     0x80


#define RPM_DIV_1000   0x01


#define ENGINE_REVERSE          0x01

#define ENGINE_CURRENT_AS_RMS   0x02

#define ENGINE_MAX_SPEED        0x04

#define ENGINE_ANTIPLAY         0x08

#define ENGINE_ACCEL_ON         0x10

#define ENGINE_LIMIT_VOLT       0x20

#define ENGINE_LIMIT_CURR       0x40

#define ENGINE_LIMIT_RPM        0x80


#define MICROSTEP_MODE_FULL       0x01

#define MICROSTEP_MODE_FRAC_2     0x02

#define MICROSTEP_MODE_FRAC_4     0x03

#define MICROSTEP_MODE_FRAC_8     0x04

#define MICROSTEP_MODE_FRAC_16    0x05

#define MICROSTEP_MODE_FRAC_32    0x06

#define MICROSTEP_MODE_FRAC_64    0x07

#define MICROSTEP_MODE_FRAC_128   0x08

#define MICROSTEP_MODE_FRAC_256   0x09


#define ENGINE_TYPE_NONE        0x00

#define ENGINE_TYPE_DC          0x01

#define ENGINE_TYPE_2DC         0x02

#define ENGINE_TYPE_STEP        0x03

#define ENGINE_TYPE_TEST        0x04

#define ENGINE_TYPE_BRUSHLESS   0x05


#define DRIVER_TYPE_INTEGRATE   0x02

#define DRIVER_TYPE_EXTERNAL    0x03


#define POWER_REDUCT_ENABLED   0x01

#define POWER_OFF_ENABLED      0x02

#define POWER_SMOOTH_CURRENT   0x04


#define ALARM_ON_DRIVER_OVERHEATING      0x01

#define LOW_UPWR_PROTECTION              0x02

#define H_BRIDGE_ALERT                   0x04

#define ALARM_ON_BORDERS_SWAP_MISSET     0x08

#define ALARM_FLAGS_STICKING             0x10

#define BRAKING_OVERVOLTAGE_PROTECTION   0x20

#define ALARM_WINDING_MISMATCH           0x40

#define ALARM_ENGINE_RESPONSE            0x80


#define SETPOS_IGNORE_POSITION   0x01

#define SETPOS_IGNORE_ENCODER    0x02


#define FEEDBACK_ENCODER            0x01

#define FEEDBACK_EMF                0x04

#define FEEDBACK_NONE               0x05

#define FEEDBACK_ENCODER_MEDIATED   0x06


#define FEEDBACK_ENC_REVERSE             0x01

#define FEEDBACK_ENC_ADAPTIVE_HOLDING    0x02

#define FEEDBACK_ENC_FILTER_NONE         0x00

#define FEEDBACK_ENC_FILTER_WEAK         0x10

#define FEEDBACK_ENC_FILTER_MEDIUM       0x20

#define FEEDBACK_ENC_FILTER_STRONG       0x30

#define FEEDBACK_ENC_FILTER_BITS         0x30

#define FEEDBACK_ENC_TYPE_AUTO           0x00

#define FEEDBACK_ENC_TYPE_SINGLE_ENDED   0x40

#define FEEDBACK_ENC_TYPE_DIFFERENTIAL   0x80

#define FEEDBACK_ENC_TYPE_BITS           0xC0


#define SYNCIN_ENABLED        0x01

#define SYNCIN_INVERT         0x02

#define SYNCIN_GOTOPOSITION   0x04


#define SYNCOUT_ENABLED    0x01

#define SYNCOUT_STATE      0x02

#define SYNCOUT_INVERT     0x04

#define SYNCOUT_IN_STEPS   0x08

#define SYNCOUT_ONSTART    0x10

#define SYNCOUT_ONSTOP     0x20

#define SYNCOUT_ONPERIOD   0x40


#define EXTIO_SETUP_OUTPUT   0x01

#define EXTIO_SETUP_INVERT   0x02


#define EXTIO_SETUP_MODE_IN_BITS        0x0F

#define EXTIO_SETUP_MODE_IN_NOP         0x00

#define EXTIO_SETUP_MODE_IN_STOP        0x01

#define EXTIO_SETUP_MODE_IN_PWOF        0x02

#define EXTIO_SETUP_MODE_IN_MOVR        0x03

#define EXTIO_SETUP_MODE_IN_HOME        0x04

#define EXTIO_SETUP_MODE_IN_ALARM       0x05

#define EXTIO_SETUP_MODE_OUT_BITS       0xF0

#define EXTIO_SETUP_MODE_OUT_OFF        0x00

#define EXTIO_SETUP_MODE_OUT_ON         0x10

#define EXTIO_SETUP_MODE_OUT_MOVING     0x20

#define EXTIO_SETUP_MODE_OUT_ALARM      0x30

#define EXTIO_SETUP_MODE_OUT_MOTOR_ON   0x40


#define BORDER_IS_ENCODER               0x01

#define BORDER_STOP_LEFT                0x02

#define BORDER_STOP_RIGHT               0x04

#define BORDERS_SWAP_MISSET_DETECTION   0x08


#define ENDER_SWAP             0x01

#define ENDER_SW1_ACTIVE_LOW   0x02

#define ENDER_SW2_ACTIVE_LOW   0x04


#define BRAKE_ENABLED      0x01

#define BRAKE_ENG_PWROFF   0x02


#define CONTROL_MODE_BITS               0x03

#define CONTROL_MODE_OFF                0x00

#define CONTROL_MODE_JOY                0x01

#define CONTROL_MODE_LR                 0x02

#define CONTROL_BTN_LEFT_PUSHED_OPEN    0x04

#define CONTROL_BTN_RIGHT_PUSHED_OPEN   0x08


#define JOY_REVERSE   0x01


#define CTP_ENABLED            0x01

#define CTP_BASE               0x02

#define CTP_ALARM_ON_ERROR     0x04

#define REV_SENS_INV           0x08

#define CTP_ERROR_CORRECTION   0x10


#define HOME_DIR_FIRST          0x001

#define HOME_DIR_SECOND         0x002

#define HOME_MV_SEC_EN          0x004

#define HOME_HALF_MV            0x008

#define HOME_STOP_FIRST_BITS    0x030

#define HOME_STOP_FIRST_REV     0x010

#define HOME_STOP_FIRST_SYN     0x020

#define HOME_STOP_FIRST_LIM     0x030

#define HOME_STOP_SECOND_BITS   0x0C0

#define HOME_STOP_SECOND_REV    0x040

#define HOME_STOP_SECOND_SYN    0x080

#define HOME_STOP_SECOND_LIM    0x0C0

#define HOME_USE_FAST           0x100


#define UART_PARITY_BITS        0x03

#define UART_PARITY_BIT_EVEN    0x00

#define UART_PARITY_BIT_ODD     0x01

#define UART_PARITY_BIT_SPACE   0x02

#define UART_PARITY_BIT_MARK    0x03

#define UART_PARITY_BIT_USE     0x04

#define UART_STOP_BIT           0x08


#define MOTOR_TYPE_UNKNOWN   0x00

#define MOTOR_TYPE_STEP      0x01

#define MOTOR_TYPE_DC        0x02

#define MOTOR_TYPE_BLDC      0x03


#define ENCSET_DIFFERENTIAL_OUTPUT            0x001

#define ENCSET_PUSHPULL_OUTPUT                0x004

#define ENCSET_INDEXCHANNEL_PRESENT           0x010

#define ENCSET_REVOLUTIONSENSOR_PRESENT       0x040

#define ENCSET_REVOLUTIONSENSOR_ACTIVE_HIGH   0x100


#define MB_AVAILABLE      0x01

#define MB_POWERED_HOLD   0x02


#define TS_TYPE_BITS            0x07

#define TS_TYPE_UNKNOWN         0x00

#define TS_TYPE_THERMOCOUPLE    0x01

#define TS_TYPE_SEMICONDUCTOR   0x02

#define TS_AVAILABLE            0x08


#define LS_ON_SW1_AVAILABLE   0x01

#define LS_ON_SW2_AVAILABLE   0x02

#define LS_SW1_ACTIVE_LOW     0x04

#define LS_SW2_ACTIVE_LOW     0x08

#define LS_SHORTED            0x10


#define BACK_EMF_INDUCTANCE_AUTO   0x01

#define BACK_EMF_RESISTANCE_AUTO   0x02

#define BACK_EMF_KM_AUTO           0x04


        typedef struct

        {

                unsigned int IPS;

                unsigned int FeedbackType;

                unsigned int FeedbackFlags;

                unsigned int CountsPerTurn;

        } feedback_settings_t;


        typedef struct

        {

                unsigned int FastHome;

                unsigned int uFastHome;

                unsigned int SlowHome;

                unsigned int uSlowHome;

                int HomeDelta;

                int uHomeDelta;

                unsigned int HomeFlags;

        } home_settings_t;


        typedef struct

        {

                float FastHome;

                float SlowHome;

                float HomeDelta;

                unsigned int HomeFlags;

        } home_settings_calb_t;


        typedef struct

        {

                unsigned int Speed;

                unsigned int uSpeed;

                unsigned int Accel;

                unsigned int Decel;

                unsigned int AntiplaySpeed;

                unsigned int uAntiplaySpeed;

                unsigned int MoveFlags;

        } move_settings_t;


        typedef struct

        {

                float Speed;

                float Accel;

                float Decel;

                float AntiplaySpeed;

                unsigned int MoveFlags;

        } move_settings_calb_t;


        typedef struct

        {

                unsigned int NomVoltage;

                unsigned int NomCurrent;

                unsigned int NomSpeed;

                unsigned int uNomSpeed;

                unsigned int EngineFlags;

                int Antiplay;

                unsigned int MicrostepMode;

                unsigned int StepsPerRev;

        } engine_settings_t;


        typedef struct

        {

                unsigned int NomVoltage;

                unsigned int NomCurrent;

                float NomSpeed;

                unsigned int EngineFlags;

                float Antiplay;

                unsigned int MicrostepMode;

                unsigned int StepsPerRev;

        } engine_settings_calb_t;


        typedef struct

        {

                unsigned int EngineType;

                unsigned int DriverType;

        } entype_settings_t;


        typedef struct

        {

                unsigned int HoldCurrent;

                unsigned int CurrReductDelay;

                unsigned int PowerOffDelay;

                unsigned int CurrentSetTime;

                unsigned int PowerFlags;

        } power_settings_t;


        typedef struct

        {

                unsigned int LowUpwrOff;

                unsigned int CriticalIpwr;

                unsigned int CriticalUpwr;

                unsigned int CriticalT;

                unsigned int CriticalIusb;

                unsigned int CriticalUusb;

                unsigned int MinimumUusb;

                unsigned int Flags;

        } secure_settings_t;


        typedef struct

        {

                unsigned int BorderFlags;

                unsigned int EnderFlags;

                int LeftBorder;

                int uLeftBorder;

                int RightBorder;

                int uRightBorder;

        } edges_settings_t;


        typedef struct

        {

                unsigned int BorderFlags;

                unsigned int EnderFlags;

                float LeftBorder;

                float RightBorder;

        } edges_settings_calb_t;


        typedef struct

        {

                unsigned int KpU;

                unsigned int KiU;

                unsigned int KdU;

                float Kpf;

                float Kif;

                float Kdf;

        } pid_settings_t;


        typedef struct

        {

                unsigned int SyncInFlags;

                unsigned int ClutterTime;

                int Position;

                int uPosition;

                unsigned int Speed;

                unsigned int uSpeed;

                unsigned int reserved0;

        } sync_in_settings_t;


        typedef struct

        {

                unsigned int SyncInFlags;

                unsigned int ClutterTime;

                float Position;

                float Speed;

                unsigned int reserved0;

        } sync_in_settings_calb_t;


        typedef struct

        {

                unsigned int SyncOutFlags;

                unsigned int SyncOutPulseSteps;

                unsigned int SyncOutPeriod;

                unsigned int Accuracy;

                unsigned int uAccuracy;

        } sync_out_settings_t;


        typedef struct

        {

                unsigned int SyncOutFlags;

                unsigned int SyncOutPulseSteps;

                unsigned int SyncOutPeriod;

                float Accuracy;

        } sync_out_settings_calb_t;


        typedef struct

        {

                unsigned int EXTIOSetupFlags;

                unsigned int EXTIOModeFlags;

        } extio_settings_t;


        typedef struct

        {

                unsigned int t1;

                unsigned int t2;

                unsigned int t3;

                unsigned int t4;

                unsigned int BrakeFlags;

        } brake_settings_t;


        typedef struct

        {

                unsigned int MaxSpeed[10];

                unsigned int uMaxSpeed[10];

                unsigned int Timeout[9];

                unsigned int MaxClickTime;

                unsigned int Flags;

                int DeltaPosition;

                int uDeltaPosition;

        } control_settings_t;


        typedef struct

        {

                float MaxSpeed[10];

                unsigned int Timeout[9];

                unsigned int MaxClickTime;

                unsigned int Flags;

                float DeltaPosition;

        } control_settings_calb_t;


        typedef struct

        {

                unsigned int JoyLowEnd;

                unsigned int JoyCenter;

                unsigned int JoyHighEnd;

                unsigned int ExpFactor;

                unsigned int DeadZone;

                unsigned int JoyFlags;

        } joystick_settings_t;


        typedef struct

        {

                unsigned int CTPMinError;

                unsigned int CTPFlags;

        } ctp_settings_t;


        typedef struct

        {

                unsigned int Speed;

                unsigned int UARTSetupFlags;

        } uart_settings_t;


        typedef struct

        {

                unsigned int DHCPEnabled;

                unsigned int IPv4Address[4];

                unsigned int SubnetMask[4];

                unsigned int DefaultGateway[4];

        } network_settings_t;


        typedef struct

        {

                char UserPassword[21];

        } password_settings_t;


        typedef struct

        {

                float CSS1_A;

                float CSS1_B;

                float CSS2_A;

                float CSS2_B;

                float FullCurrent_A;

                float FullCurrent_B;

        } calibration_settings_t;


        typedef struct

        {

                char ControllerName[17];

                unsigned int CtrlFlags;

        } controller_name_t;


        typedef struct

        {

                unsigned int UserData[7];

        } nonvolatile_memory_t;


        typedef struct

        {

                float L;

                float R;

                float Km;

                unsigned int BackEMFFlags;

        } emf_settings_t;


        typedef struct

        {

                unsigned int stepcloseloop_Kw;

                unsigned int stepcloseloop_Kp_low;

                unsigned int stepcloseloop_Kp_high;

        } engine_advanced_setup_t;


        typedef struct

        {

                unsigned int Param1;

        } extended_settings_t;


        typedef struct

        {

                int Position;

                int uPosition;

                long_t EncPosition;

        } get_position_t;


        typedef struct

        {

                float Position;

                long_t EncPosition;

        } get_position_calb_t;


        typedef struct

        {

                int Position;

                int uPosition;

                long_t EncPosition;

                unsigned int PosFlags;

        } set_position_t;


        typedef struct

        {

                float Position;

                long_t EncPosition;

                unsigned int PosFlags;

        } set_position_calb_t;


        typedef struct

        {

                unsigned int MoveSts;

                unsigned int MvCmdSts;

                unsigned int PWRSts;

                unsigned int EncSts;

                unsigned int WindSts;

                int CurPosition;

                int uCurPosition;

                long_t EncPosition;

                int CurSpeed;

                int uCurSpeed;

                int Ipwr;

                int Upwr;

                int Iusb;

                int Uusb;

                int CurT;

                unsigned int Flags;

                unsigned int GPIOFlags;

                unsigned int CmdBufFreeSpace;

        } status_t;


        typedef struct

        {

                unsigned int MoveSts;

                unsigned int MvCmdSts;

                unsigned int PWRSts;

                unsigned int EncSts;

                unsigned int WindSts;

                float CurPosition;

                long_t EncPosition;

                float CurSpeed;

                int Ipwr;

                int Upwr;

                int Iusb;

                int Uusb;

                int CurT;

                unsigned int Flags;

                unsigned int GPIOFlags;

                unsigned int CmdBufFreeSpace;

        } status_calb_t;


        typedef struct

        {

                int Speed[25];

                int Error[25];

                unsigned int Length;

        } measurements_t;


        typedef struct

        {

                int WindingVoltageA;

                int WindingVoltageB;

                int WindingVoltageC;

                int WindingCurrentA;

                int WindingCurrentB;

                int WindingCurrentC;

                unsigned int Pot;

                unsigned int Joy;

                int AveragedPowerRatio;

        } chart_data_t;


        typedef struct

        {

                char Manufacturer[5];

                char ManufacturerId[3];

                char ProductDescription[9];

                unsigned int Major;

                unsigned int Minor;

                unsigned int Release;

        } device_information_t;


        typedef struct

        {

                unsigned int SN;

                uint8_t Key[32];

                unsigned int Major;

                unsigned int Minor;

                unsigned int Release;

        } serial_number_t;


        typedef struct

        {

                unsigned int A1Voltage_ADC;

                unsigned int A2Voltage_ADC;

                unsigned int B1Voltage_ADC;

                unsigned int B2Voltage_ADC;

                unsigned int SupVoltage_ADC;

                unsigned int ACurrent_ADC;

                unsigned int BCurrent_ADC;

                unsigned int FullCurrent_ADC;

                unsigned int Temp_ADC;

                unsigned int Joy_ADC;

                unsigned int Pot_ADC;

                unsigned int Enc_Check_ADC;

                unsigned int deprecated0;

                int A1Voltage;

                int A2Voltage;

                int B1Voltage;

                int B2Voltage;

                int SupVoltage;

                int ACurrent;

                int BCurrent;

                int FullCurrent;

                int Temp;

                int Joy;

                int Pot;

                int Enc_Check;

                unsigned int deprecated1[2];

                int R;

                int L;

        } analog_data_t;


        typedef struct

        {

                uint8_t DebugData[128];

        } debug_read_t;


        typedef struct

        {

                uint8_t DebugData[128];

        } debug_write_t;


        typedef struct

        {

                char PositionerName[17];

        } stage_name_t;


        typedef struct

        {

                char Manufacturer[17];

                char PartNumber[25];

        } stage_information_t;


        typedef struct

        {

                float LeadScrewPitch;

                char Units[9];

                float MaxSpeed;

                float TravelRange;

                float SupplyVoltageMin;

                float SupplyVoltageMax;

                float MaxCurrentConsumption;

                float HorizontalLoadCapacity;

                float VerticalLoadCapacity;

        } stage_settings_t;


        typedef struct

        {

                char Manufacturer[17];

                char PartNumber[25];

        } motor_information_t;


        typedef struct

        {

                unsigned int MotorType;

                unsigned int ReservedField;

                unsigned int Poles;

                unsigned int Phases;

                float NominalVoltage;

                float NominalCurrent;

                float NominalSpeed;

                float NominalTorque;

                float NominalPower;

                float WindingResistance;

                float WindingInductance;

                float RotorInertia;

                float StallTorque;

                float DetentTorque;

                float TorqueConstant;

                float SpeedConstant;

                float SpeedTorqueGradient;

                float MechanicalTimeConstant;

                float MaxSpeed;

                float MaxCurrent;

                float MaxCurrentTime;

                float NoLoadCurrent;

                float NoLoadSpeed;

        } motor_settings_t;


        typedef struct

        {

                char Manufacturer[17];

                char PartNumber[25];

        } encoder_information_t;


        typedef struct

        {

                float MaxOperatingFrequency;

                float SupplyVoltageMin;

                float SupplyVoltageMax;

                float MaxCurrentConsumption;

                unsigned int PPR;

                unsigned int EncoderSettings;

        } encoder_settings_t;


        typedef struct

        {

                char Manufacturer[17];

                char PartNumber[25];

        } hallsensor_information_t;


        typedef struct

        {

                float MaxOperatingFrequency;

                float SupplyVoltageMin;

                float SupplyVoltageMax;

                float MaxCurrentConsumption;

                unsigned int PPR;

        } hallsensor_settings_t;


        typedef struct

        {

                char Manufacturer[17];

                char PartNumber[25];

        } gear_information_t;


        typedef struct

        {

                float ReductionIn;

                float ReductionOut;

                float RatedInputTorque;

                float RatedInputSpeed;

                float MaxOutputBacklash;

                float InputInertia;

                float Efficiency;

        } gear_settings_t;


        typedef struct

        {

                char MagneticBrakeInfo[25];

                float MBRatedVoltage;

                float MBRatedCurrent;

                float MBTorque;

                unsigned int MBSettings;

                char TemperatureSensorInfo[25];

                float TSMin;

                float TSMax;

                float TSGrad;

                unsigned int TSSettings;

                unsigned int LimitSwitchesSettings;

        } accessories_settings_t;


        typedef struct

        {

                uint8_t key[16];

        } init_random_t;


        typedef struct

        {

                unsigned int UniqueID0;

                unsigned int UniqueID1;

                unsigned int UniqueID2;

                unsigned int UniqueID3;

        } globally_unique_identifier_t;


/*

 --------------------------------------------

   BEGIN OF GENERATED function declarations

 --------------------------------------------

*/


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


        result_t XIMC_API get_feedback_settings (device_t id, feedback_settings_t* feedback_settings);


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


        result_t XIMC_API get_home_settings (device_t id, home_settings_t* home_settings);


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


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


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


        result_t XIMC_API get_move_settings (device_t id, move_settings_t* move_settings);


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


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


        result_t XIMC_API get_engine_settings (device_t id, engine_settings_t* engine_settings);


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


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


        result_t XIMC_API get_entype_settings (device_t id, entype_settings_t* entype_settings);


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


        result_t XIMC_API get_power_settings (device_t id, power_settings_t* power_settings);


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


        result_t XIMC_API get_secure_settings (device_t id, secure_settings_t* secure_settings);


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


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


        result_t XIMC_API get_edges_settings (device_t id, edges_settings_t* edges_settings);


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


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


        result_t XIMC_API get_pid_settings (device_t id, pid_settings_t* pid_settings);


        result_t XIMC_API set_sync_in_settings (device_t id, const sync_in_settings_t* sync_in_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);


        result_t XIMC_API get_sync_in_settings (device_t id, sync_in_settings_t* sync_in_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);


        result_t XIMC_API set_sync_out_settings (device_t id, const sync_out_settings_t* sync_out_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);


        result_t XIMC_API get_sync_out_settings (device_t id, sync_out_settings_t* sync_out_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);


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


        result_t XIMC_API get_extio_settings (device_t id, extio_settings_t* extio_settings);


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


        result_t XIMC_API get_brake_settings (device_t id, brake_settings_t* brake_settings);


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


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


        result_t XIMC_API get_control_settings (device_t id, control_settings_t* control_settings);


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


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


        result_t XIMC_API get_joystick_settings (device_t id, joystick_settings_t* joystick_settings);


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


        result_t XIMC_API get_ctp_settings (device_t id, ctp_settings_t* ctp_settings);


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


        result_t XIMC_API get_uart_settings (device_t id, uart_settings_t* uart_settings);


        result_t XIMC_API set_network_settings (device_t id, const network_settings_t* network_settings);


        result_t XIMC_API get_network_settings (device_t id, network_settings_t* network_settings);


        result_t XIMC_API set_password_settings (device_t id, const password_settings_t* password_settings);


        result_t XIMC_API get_password_settings (device_t id, password_settings_t* password_settings);


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


        result_t XIMC_API get_calibration_settings (device_t id, calibration_settings_t* calibration_settings);


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


        result_t XIMC_API get_controller_name (device_t id, controller_name_t* controller_name);


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


        result_t XIMC_API get_nonvolatile_memory (device_t id, nonvolatile_memory_t* nonvolatile_memory);


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


        result_t XIMC_API get_emf_settings (device_t id, emf_settings_t* emf_settings);


        result_t XIMC_API set_engine_advanced_setup (device_t id, const engine_advanced_setup_t* engine_advanced_setup);


        result_t XIMC_API get_engine_advanced_setup (device_t id, engine_advanced_setup_t* engine_advanced_setup);


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


        result_t XIMC_API get_extended_settings (device_t id, extended_settings_t* extended_settings);


        result_t XIMC_API command_stop (device_t id);


        result_t XIMC_API command_power_off (device_t id);


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


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


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


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


        result_t XIMC_API command_home (device_t id);


        result_t XIMC_API command_left (device_t id);


        result_t XIMC_API command_right (device_t id);


        result_t XIMC_API command_loft (device_t id);


        result_t XIMC_API command_sstp (device_t id);


        result_t XIMC_API get_position (device_t id, get_position_t* the_get_position);


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


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


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


        result_t XIMC_API command_zero (device_t id);


        result_t XIMC_API command_save_settings (device_t id);


        result_t XIMC_API command_read_settings (device_t id);


        result_t XIMC_API command_save_robust_settings (device_t id);


        result_t XIMC_API command_read_robust_settings (device_t id);


        result_t XIMC_API command_eesave_settings (device_t id);


        result_t XIMC_API command_eeread_settings (device_t id);


        result_t XIMC_API command_start_measurements (device_t id);


        result_t XIMC_API get_measurements (device_t id, measurements_t* measurements);


        result_t XIMC_API get_chart_data (device_t id, chart_data_t* chart_data);


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


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


        result_t XIMC_API service_command_updf (device_t id);


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


        result_t XIMC_API get_analog_data (device_t id, analog_data_t* analog_data);


        result_t XIMC_API get_debug_read (device_t id, debug_read_t* debug_read);


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


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


        result_t XIMC_API get_stage_name (device_t id, stage_name_t* stage_name);


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


        result_t XIMC_API get_stage_information (device_t id, stage_information_t* stage_information);


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


        result_t XIMC_API get_stage_settings (device_t id, stage_settings_t* stage_settings);


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


        result_t XIMC_API get_motor_information (device_t id, motor_information_t* motor_information);


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


        result_t XIMC_API get_motor_settings (device_t id, motor_settings_t* motor_settings);


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


        result_t XIMC_API get_encoder_information (device_t id, encoder_information_t* encoder_information);


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


        result_t XIMC_API get_encoder_settings (device_t id, encoder_settings_t* encoder_settings);


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


        result_t XIMC_API get_hallsensor_information (device_t id, hallsensor_information_t* hallsensor_information);


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


        result_t XIMC_API get_hallsensor_settings (device_t id, hallsensor_settings_t* hallsensor_settings);


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


        result_t XIMC_API get_gear_information (device_t id, gear_information_t* gear_information);


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


        result_t XIMC_API get_gear_settings (device_t id, gear_settings_t* gear_settings);


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


        result_t XIMC_API get_accessories_settings (device_t id, accessories_settings_t* accessories_settings);


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


        result_t XIMC_API get_init_random (device_t id, init_random_t* init_random);


        result_t XIMC_API get_globally_unique_identifier (device_t id, globally_unique_identifier_t* globally_unique_identifier);


/*

 -------------------------

   END OF GENERATED CODE

 -------------------------

*/


/* hand-crafted functions begin */


        result_t XIMC_API goto_firmware(device_t id, uint8_t* ret);


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


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


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


        result_t XIMC_API command_reset(device_t id);


        result_t XIMC_API command_clear_fram(device_t id);


        // ------------------------------------


        device_t XIMC_API open_device (const char* uri);


        result_t XIMC_API close_device (device_t* id);


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


        result_t XIMC_API probe_device (const char* uri);


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


        result_t XIMC_API free_enumerate_devices(device_enumeration_t device_enumeration);


        int XIMC_API get_device_count(device_enumeration_t device_enumeration);


        typedef char* pchar;


        pchar XIMC_API get_device_name(device_enumeration_t device_enumeration, int device_index);


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


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


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


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


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


        result_t XIMC_API reset_locks ();


        void XIMC_API msec_sleep (unsigned int msec);


        void XIMC_API ximc_version (char* version);


#if !defined(MATLAB_IMPORT) && !defined(LABVIEW64_IMPORT) && !defined(LABVIEW32_IMPORT)


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


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


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


        void XIMC_API set_logging_callback(logging_callback_t logging_callback, void* user_data);


#endif


        result_t XIMC_API get_status (device_t id, status_t* status);


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


        result_t XIMC_API get_device_information (device_t id, device_information_t* device_information);


        result_t XIMC_API command_wait_for_stop(device_t id, uint32_t refresh_interval_ms);


        result_t XIMC_API command_homezero(device_t id);


#if defined(__cplusplus)

};

#endif


#endif


// vim: ts=4 shiftwidth=4


accessories_settings_t
Deprecated.
Definition ximc.h:2654

accessories_settings_t::MagneticBrakeInfo
char MagneticBrakeInfo[25]
The manufacturer and the part number of magnetic brake, the maximum string length is 24 characters.
Definition ximc.h:2655

accessories_settings_t::TemperatureSensorInfo
char TemperatureSensorInfo[25]
The manufacturer and the part number of the temperature sensor, the maximum string length: 24 charact...
Definition ximc.h:2660

accessories_settings_t::MBRatedCurrent
float MBRatedCurrent
Rated current for controlling the magnetic brake (A).
Definition ximc.h:2657

accessories_settings_t::TSSettings
unsigned int TSSettings
Temperature sensor settings flags.
Definition ximc.h:2664

accessories_settings_t::MBSettings
unsigned int MBSettings
Magnetic brake settings flags.
Definition ximc.h:2659

accessories_settings_t::TSMax
float TSMax
The maximum measured temperature (degrees Celsius) Data type: float.
Definition ximc.h:2662

accessories_settings_t::LimitSwitchesSettings
unsigned int LimitSwitchesSettings
Temperature sensor settings flags.
Definition ximc.h:2665

accessories_settings_t::MBRatedVoltage
float MBRatedVoltage
Rated voltage for controlling the magnetic brake (V).
Definition ximc.h:2656

accessories_settings_t::TSGrad
float TSGrad
The temperature gradient (V/degrees Celsius).
Definition ximc.h:2663

accessories_settings_t::TSMin
float TSMin
The minimum measured temperature (degrees Celsius) Data type: float.
Definition ximc.h:2661

accessories_settings_t::MBTorque
float MBTorque
Retention moment (mN * m).
Definition ximc.h:2658

analog_data_t
Analog data.
Definition ximc.h:2355

analog_data_t::Pot_ADC
unsigned int Pot_ADC
Voltage on analog input, raw data from ADC
Definition ximc.h:2366

analog_data_t::B1Voltage_ADC
unsigned int B1Voltage_ADC
"Voltage on pin 1 winding B" raw data from ADC.
Definition ximc.h:2358

analog_data_t::Pot
int Pot
Analog input, calibrated data.
Definition ximc.h:2379

analog_data_t::FullCurrent
int FullCurrent
"Full current" calibrated data (in mA).
Definition ximc.h:2376

analog_data_t::Enc_Check
int Enc_Check
Voltage on encoder check line, exponentially filtrated ADC codes.
Definition ximc.h:2380

analog_data_t::A2Voltage_ADC
unsigned int A2Voltage_ADC
"Voltage on pin 2 winding A" raw data from ADC.
Definition ximc.h:2357

analog_data_t::SupVoltage
int SupVoltage
"Supply voltage on the top of H-bridge's MOSFETs" calibrated data (in tens of mV).
Definition ximc.h:2373

analog_data_t::FullCurrent_ADC
unsigned int FullCurrent_ADC
"Full current" raw data from ADC.
Definition ximc.h:2363

analog_data_t::Joy_ADC
unsigned int Joy_ADC
Joystick raw data from ADC.
Definition ximc.h:2365

analog_data_t::R
int R
Motor winding resistance in mOhms (is only used with stepper motors).
Definition ximc.h:2382

analog_data_t::B2Voltage_ADC
unsigned int B2Voltage_ADC
"Voltage on pin 2 winding B" raw data from ADC.
Definition ximc.h:2359

analog_data_t::ACurrent
int ACurrent
"Winding A current" calibrated data (in mA).
Definition ximc.h:2374

analog_data_t::A1Voltage_ADC
unsigned int A1Voltage_ADC
"Voltage on pin 1 winding A" raw data from ADC.
Definition ximc.h:2356

analog_data_t::BCurrent_ADC
unsigned int BCurrent_ADC
"Winding B current" raw data from ADC.
Definition ximc.h:2362

analog_data_t::L
int L
Motor winding pseudo inductance in uH (is only used with stepper motors).
Definition ximc.h:2383

analog_data_t::Joy
int Joy
Joystick, calibrated data.
Definition ximc.h:2378

analog_data_t::Temp_ADC
unsigned int Temp_ADC
Voltage from temperature sensor, raw data from ADC.
Definition ximc.h:2364

analog_data_t::A2Voltage
int A2Voltage
"Voltage on pin 2 winding A" calibrated data (in tens of mV).
Definition ximc.h:2370

analog_data_t::B2Voltage
int B2Voltage
"Voltage on pin 2 winding B" calibrated data (in tens of mV).
Definition ximc.h:2372

analog_data_t::ACurrent_ADC
unsigned int ACurrent_ADC
"Winding A current" raw data from ADC.
Definition ximc.h:2361

analog_data_t::SupVoltage_ADC
unsigned int SupVoltage_ADC
"Supply voltage of H-bridge's MOSFETs" raw data from ADC.
Definition ximc.h:2360

analog_data_t::A1Voltage
int A1Voltage
"Voltage on pin 1 winding A" calibrated data (in tens of mV).
Definition ximc.h:2369

analog_data_t::BCurrent
int BCurrent
"Winding B current" calibrated data (in mA).
Definition ximc.h:2375

analog_data_t::B1Voltage
int B1Voltage
"Voltage on pin 1 winding B" calibrated data (in tens of mV).
Definition ximc.h:2371

analog_data_t::Temp
int Temp
Temperature, calibrated data (in tenths of degrees Celsius).
Definition ximc.h:2377

analog_data_t::Enc_Check_ADC
unsigned int Enc_Check_ADC
Voltage on encoder check line, raw ADC data.
Definition ximc.h:2367

brake_settings_t
Brake settings.
Definition ximc.h:1789

brake_settings_t::t1
unsigned int t1
Time in ms between turning on motor power and turning off the brake.
Definition ximc.h:1790

brake_settings_t::BrakeFlags
unsigned int BrakeFlags
Brake settings flags.
Definition ximc.h:1794

brake_settings_t::t4
unsigned int t4
Time in ms between turning on the brake and turning off motor power.
Definition ximc.h:1793

brake_settings_t::t2
unsigned int t2
Time in ms between the brake turning off and moving readiness.
Definition ximc.h:1791

brake_settings_t::t3
unsigned int t3
Time in ms between motor stop and the brake turning on.
Definition ximc.h:1792

calibration_settings_t
Calibration settings.
Definition ximc.h:2007

calibration_settings_t::CSS1_A
float CSS1_A
Scaling factor for the analog measurements of the A winding current.
Definition ximc.h:2008

calibration_settings_t::CSS2_B
float CSS2_B
Offset for the analog measurements of the B winding current.
Definition ximc.h:2011

calibration_settings_t::CSS2_A
float CSS2_A
Scaling factor for the analog measurements of the B winding current.
Definition ximc.h:2010

calibration_settings_t::FullCurrent_B
float FullCurrent_B
Offset for the analog measurements of the full current.
Definition ximc.h:2013

calibration_settings_t::CSS1_B
float CSS1_B
Offset for the analog measurements of the A winding current.
Definition ximc.h:2009

calibration_settings_t::FullCurrent_A
float FullCurrent_A
Scaling factor for the analog measurements of the full current.
Definition ximc.h:2012

calibration_t
Calibration structure
Definition ximc.h:297

calibration_t::A
double A
Conversion coefficient equal to the number of millimeters (or other user units) per one step.
Definition ximc.h:298

calibration_t::MicrostepMode
unsigned int MicrostepMode
Controller setting which is determine a step division mode
Definition ximc.h:326

chart_data_t
Additional device state.
Definition ximc.h:2290

chart_data_t::WindingCurrentA
int WindingCurrentA
In case of a step motor, it contains the current in the winding A (in mA); in case of a brushless mot...
Definition ximc.h:2294

chart_data_t::AveragedPowerRatio
int AveragedPowerRatio
The ratio of motor supplied power to nominal motor power, as a percentage.
Definition ximc.h:2299

chart_data_t::WindingCurrentB
int WindingCurrentB
In case of a step motor, it contains the current in the winding B (in mA); in case of a brushless mot...
Definition ximc.h:2295

chart_data_t::Pot
unsigned int Pot
Analog input value, dimensionless.
Definition ximc.h:2297

chart_data_t::Joy
unsigned int Joy
The joystick position, dimensionless.
Definition ximc.h:2298

chart_data_t::WindingVoltageC
int WindingVoltageC
In case of a brushless motor, it contains the voltage on the third winding (in tens of mV); in the ca...
Definition ximc.h:2293

chart_data_t::WindingCurrentC
int WindingCurrentC
In case of a brushless motor, it contains the current in the winding C (in mA); in case of a step mot...
Definition ximc.h:2296

chart_data_t::WindingVoltageB
int WindingVoltageB
In case of a step motor, it contains the voltage across the winding B (in tens of mV); in case of a b...
Definition ximc.h:2292

chart_data_t::WindingVoltageA
int WindingVoltageA
In case of a step motor, it contains the voltage across the winding A (in tens of mV); in case of a b...
Definition ximc.h:2291

control_settings_calb_t
User unit control settings.
Definition ximc.h:1859

control_settings_calb_t::DeltaPosition
float DeltaPosition
Position shift (delta)
Definition ximc.h:1864

control_settings_calb_t::Flags
unsigned int Flags
Control flags.
Definition ximc.h:1863

control_settings_calb_t::Timeout
unsigned int Timeout[9]
Timeout[i] is timeout in ms.
Definition ximc.h:1861

control_settings_calb_t::MaxSpeed
float MaxSpeed[10]
Array of speeds used with the joystick and the button control.
Definition ximc.h:1860

control_settings_calb_t::MaxClickTime
unsigned int MaxClickTime
Maximum click time (in ms).
Definition ximc.h:1862

control_settings_t
Control settings.
Definition ximc.h:1823

control_settings_t::uDeltaPosition
int uDeltaPosition
Fractional part of the shift in micro steps.
Definition ximc.h:1830

control_settings_t::DeltaPosition
int DeltaPosition
Position Shift (delta) (full step)
Definition ximc.h:1829

control_settings_t::MaxSpeed
unsigned int MaxSpeed[10]
Array of speeds (full step) used with the joystick and the button control.
Definition ximc.h:1824

control_settings_t::Flags
unsigned int Flags
Control flags.
Definition ximc.h:1828

control_settings_t::Timeout
unsigned int Timeout[9]
Timeout[i] is timeout in ms.
Definition ximc.h:1826

control_settings_t::uMaxSpeed
unsigned int uMaxSpeed[10]
Array of speeds (in microsteps) used with the joystick and the button control.
Definition ximc.h:1825

control_settings_t::MaxClickTime
unsigned int MaxClickTime
Maximum click time (in ms).
Definition ximc.h:1827

controller_name_t
Controller name and settings flags
Definition ximc.h:2026

controller_name_t::CtrlFlags
unsigned int CtrlFlags
Flags of internal controller settings.
Definition ximc.h:2028

controller_name_t::ControllerName
char ControllerName[17]
User controller name.
Definition ximc.h:2027

ctp_settings_t
Control position settings (used with stepper motor only)
Definition ximc.h:1928

ctp_settings_t::CTPMinError
unsigned int CTPMinError
The minimum difference between the SM position in steps and the encoder position that causes the sett...
Definition ximc.h:1929

ctp_settings_t::CTPFlags
unsigned int CTPFlags
Position control flags.
Definition ximc.h:1930

debug_read_t
Debug data.
Definition ximc.h:2398

debug_read_t::DebugData
uint8_t DebugData[128]
Arbitrary debug data.
Definition ximc.h:2399

debug_write_t
Debug data.
Definition ximc.h:2414

debug_write_t::DebugData
uint8_t DebugData[128]
Arbitrary debug data.
Definition ximc.h:2415

device_information_t
Controller information structure.
Definition ximc.h:2313

device_information_t::Release
unsigned int Release
Release version.
Definition ximc.h:2319

device_information_t::ProductDescription
char ProductDescription[9]
Product description
Definition ximc.h:2316

device_information_t::Manufacturer
char Manufacturer[5]
Manufacturer
Definition ximc.h:2314

device_information_t::Major
unsigned int Major
The major number of the hardware version.
Definition ximc.h:2317

device_information_t::Minor
unsigned int Minor
The minor number of the hardware version.
Definition ximc.h:2318

device_information_t::ManufacturerId
char ManufacturerId[3]
Manufacturer id
Definition ximc.h:2315

device_network_information_t
Device network information structure.
Definition ximc.h:337

device_network_information_t::locker_nodename
char locker_nodename[16]
Bindy node name, which was used to lock the device (if any)
Definition ximc.h:343

device_network_information_t::locker_username
char locker_username[16]
name of the user who locked the device (if any)
Definition ximc.h:342

device_network_information_t::nodename
char nodename[16]
name of the Bindy node which hosts the device
Definition ximc.h:339

device_network_information_t::locked_time
time_t locked_time
time the lock was acquired at (UTC, microseconds since the epoch)
Definition ximc.h:344

device_network_information_t::axis_state
uint32_t axis_state
flags representing device state
Definition ximc.h:341

device_network_information_t::ipv4
uint32_t ipv4
IPv4 address, passed in network byte order (big-endian byte order)
Definition ximc.h:338

edges_settings_calb_t
User unit edges settings.
Definition ximc.h:1627

edges_settings_calb_t::EnderFlags
unsigned int EnderFlags
Limit switches flags.
Definition ximc.h:1629

edges_settings_calb_t::BorderFlags
unsigned int BorderFlags
Border flags.
Definition ximc.h:1628

edges_settings_calb_t::LeftBorder
float LeftBorder
Left border position, used if BORDER_IS_ENCODER flag is set.
Definition ximc.h:1630

edges_settings_calb_t::RightBorder
float RightBorder
Right border position, used if BORDER_IS_ENCODER flag is set.
Definition ximc.h:1631

edges_settings_t
Edges settings.
Definition ximc.h:1602

edges_settings_t::EnderFlags
unsigned int EnderFlags
Limit switches flags.
Definition ximc.h:1604

edges_settings_t::BorderFlags
unsigned int BorderFlags
Border flags.
Definition ximc.h:1603

edges_settings_t::LeftBorder
int LeftBorder
Left border position, used if BORDER_IS_ENCODER flag is set.
Definition ximc.h:1605

edges_settings_t::uRightBorder
int uRightBorder
Right border position in microsteps.
Definition ximc.h:1608

edges_settings_t::uLeftBorder
int uLeftBorder
Left border position in microsteps (used with stepper motor only).
Definition ximc.h:1606

edges_settings_t::RightBorder
int RightBorder
Right border position, used if BORDER_IS_ENCODER flag is set.
Definition ximc.h:1607

emf_settings_t
EMF settings.
Definition ximc.h:2064

emf_settings_t::BackEMFFlags
unsigned int BackEMFFlags
Flags of auto-detection of characteristics of windings of the engine.
Definition ximc.h:2068

emf_settings_t::R
float R
Motor winding resistance.
Definition ximc.h:2066

emf_settings_t::Km
float Km
Electromechanical ratio of the motor.
Definition ximc.h:2067

emf_settings_t::L
float L
Motor winding inductance.
Definition ximc.h:2065

encoder_information_t
Deprecated.
Definition ximc.h:2540

encoder_information_t::Manufacturer
char Manufacturer[17]
Manufacturer.
Definition ximc.h:2541

encoder_information_t::PartNumber
char PartNumber[25]
Series and PartNumber.
Definition ximc.h:2542

encoder_settings_t
Deprecated.
Definition ximc.h:2557

encoder_settings_t::MaxOperatingFrequency
float MaxOperatingFrequency
Maximum operation frequency (kHz).
Definition ximc.h:2558

encoder_settings_t::MaxCurrentConsumption
float MaxCurrentConsumption
Max current consumption (mA).
Definition ximc.h:2561

encoder_settings_t::SupplyVoltageMax
float SupplyVoltageMax
Maximum supply voltage (V).
Definition ximc.h:2560

encoder_settings_t::PPR
unsigned int PPR
The number of counts per revolution
Definition ximc.h:2562

encoder_settings_t::SupplyVoltageMin
float SupplyVoltageMin
Minimum supply voltage (V).
Definition ximc.h:2559

encoder_settings_t::EncoderSettings
unsigned int EncoderSettings
Encoder settings flags.
Definition ximc.h:2563

engine_advanced_setup_t
EAS settings.
Definition ximc.h:2088

engine_advanced_setup_t::stepcloseloop_Kw
unsigned int stepcloseloop_Kw
Manufacturer only.
Definition ximc.h:2089

engine_advanced_setup_t::stepcloseloop_Kp_high
unsigned int stepcloseloop_Kp_high
Manufacturer only.
Definition ximc.h:2091

engine_advanced_setup_t::stepcloseloop_Kp_low
unsigned int stepcloseloop_Kp_low
Manufacturer only.
Definition ximc.h:2090

engine_settings_calb_t
Movement limitations and settings, related to the motor.
Definition ximc.h:1511

engine_settings_calb_t::Antiplay
float Antiplay
Number of pulses or steps for backlash (play) compensation procedure.
Definition ximc.h:1516

engine_settings_calb_t::EngineFlags
unsigned int EngineFlags
Flags of engine settings.
Definition ximc.h:1515

engine_settings_calb_t::MicrostepMode
unsigned int MicrostepMode
Flags of microstep mode.
Definition ximc.h:1517

engine_settings_calb_t::StepsPerRev
unsigned int StepsPerRev
Number of full steps per revolution (Used with stepper motor only).
Definition ximc.h:1518

engine_settings_calb_t::NomVoltage
unsigned int NomVoltage
Rated voltage in tens of mV.
Definition ximc.h:1512

engine_settings_calb_t::NomCurrent
unsigned int NomCurrent
Rated current (in mA).
Definition ximc.h:1513

engine_settings_calb_t::NomSpeed
float NomSpeed
Nominal speed.
Definition ximc.h:1514

engine_settings_t
Movement limitations and settings related to the motor.
Definition ximc.h:1482

engine_settings_t::NomSpeed
unsigned int NomSpeed
Nominal (maximum) speed (in whole steps/s or rpm for DC and stepper motor as a master encoder).
Definition ximc.h:1485

engine_settings_t::EngineFlags
unsigned int EngineFlags
Flags of engine settings.
Definition ximc.h:1487

engine_settings_t::MicrostepMode
unsigned int MicrostepMode
Flags of microstep mode.
Definition ximc.h:1489

engine_settings_t::StepsPerRev
unsigned int StepsPerRev
Number of full steps per revolution (Used with stepper motor only).
Definition ximc.h:1490

engine_settings_t::uNomSpeed
unsigned int uNomSpeed
The fractional part of a nominal speed in microsteps (is only used with stepper motor).
Definition ximc.h:1486

engine_settings_t::NomVoltage
unsigned int NomVoltage
Rated voltage in tens of mV.
Definition ximc.h:1483

engine_settings_t::NomCurrent
unsigned int NomCurrent
Rated current (in mA).
Definition ximc.h:1484

engine_settings_t::Antiplay
int Antiplay
Number of pulses or steps for backlash (play) compensation procedure.
Definition ximc.h:1488

entype_settings_t
Engine type and driver type settings.
Definition ximc.h:1538

entype_settings_t::EngineType
unsigned int EngineType
Flags of engine type.
Definition ximc.h:1539

entype_settings_t::DriverType
unsigned int DriverType
Flags of driver type.
Definition ximc.h:1540

extended_settings_t
EST settings This data is stored in the controller's flash memory.
Definition ximc.h:2110

extended_settings_t::Param1
unsigned int Param1
Definition ximc.h:2111

extio_settings_t
EXTIO settings.
Definition ximc.h:1769

extio_settings_t::EXTIOSetupFlags
unsigned int EXTIOSetupFlags
External IO setup flags.
Definition ximc.h:1770

extio_settings_t::EXTIOModeFlags
unsigned int EXTIOModeFlags
External IO mode flags.
Definition ximc.h:1771

feedback_settings_t
Feedback settings.
Definition ximc.h:1324

feedback_settings_t::IPS
unsigned int IPS
The number of encoder counts per shaft revolution.
Definition ximc.h:1325

feedback_settings_t::FeedbackType
unsigned int FeedbackType
Feedback type.
Definition ximc.h:1326

feedback_settings_t::FeedbackFlags
unsigned int FeedbackFlags
Describes feedback flags.
Definition ximc.h:1327

feedback_settings_t::CountsPerTurn
unsigned int CountsPerTurn
The number of encoder counts per shaft revolution.
Definition ximc.h:1328

gear_information_t
Deprecated.
Definition ximc.h:2615

gear_information_t::Manufacturer
char Manufacturer[17]
Manufacturer.
Definition ximc.h:2616

gear_information_t::PartNumber
char PartNumber[25]
Series and PartNumber.
Definition ximc.h:2617

gear_settings_t
Deprecated.
Definition ximc.h:2632

gear_settings_t::ReductionIn
float ReductionIn
Input reduction coefficient.
Definition ximc.h:2633

gear_settings_t::MaxOutputBacklash
float MaxOutputBacklash
Output backlash of the reduction gear (degree).
Definition ximc.h:2637

gear_settings_t::InputInertia
float InputInertia
Equivalent input gear inertia (g * cm2).
Definition ximc.h:2638

gear_settings_t::Efficiency
float Efficiency
Reduction gear efficiency (%).
Definition ximc.h:2639

gear_settings_t::RatedInputSpeed
float RatedInputSpeed
Maximum speed on the input shaft (rpm).
Definition ximc.h:2636

gear_settings_t::ReductionOut
float ReductionOut
Output reduction coefficient.
Definition ximc.h:2634

gear_settings_t::RatedInputTorque
float RatedInputTorque
Maximum continuous torque (N * m).
Definition ximc.h:2635

get_position_calb_t
Position information.
Definition ximc.h:2149

get_position_calb_t::Position
float Position
The position in the engine.
Definition ximc.h:2150

get_position_calb_t::EncPosition
long_t EncPosition
Encoder position.
Definition ximc.h:2151

get_position_t
Position information.
Definition ximc.h:2129

get_position_t::uPosition
int uPosition
Microstep position is only used with stepper motors.
Definition ximc.h:2131

get_position_t::Position
int Position
The position of the whole steps in the engine
Definition ximc.h:2130

get_position_t::EncPosition
long_t EncPosition
Encoder position.
Definition ximc.h:2132

globally_unique_identifier_t
Globally unique identifier.
Definition ximc.h:2695

globally_unique_identifier_t::UniqueID1
unsigned int UniqueID1
Unique ID 1.
Definition ximc.h:2697

globally_unique_identifier_t::UniqueID0
unsigned int UniqueID0
Unique ID 0.
Definition ximc.h:2696

globally_unique_identifier_t::UniqueID3
unsigned int UniqueID3
Unique ID 3.
Definition ximc.h:2699

globally_unique_identifier_t::UniqueID2
unsigned int UniqueID2
Unique ID 2.
Definition ximc.h:2698

hallsensor_information_t
Deprecated.
Definition ximc.h:2578

hallsensor_information_t::Manufacturer
char Manufacturer[17]
Manufacturer.
Definition ximc.h:2579

hallsensor_information_t::PartNumber
char PartNumber[25]
Series and PartNumber.
Definition ximc.h:2580

hallsensor_settings_t
Deprecated.
Definition ximc.h:2595

hallsensor_settings_t::MaxOperatingFrequency
float MaxOperatingFrequency
Maximum operation frequency (kHz).
Definition ximc.h:2596

hallsensor_settings_t::MaxCurrentConsumption
float MaxCurrentConsumption
Maximum current consumption (mA).
Definition ximc.h:2599

hallsensor_settings_t::SupplyVoltageMax
float SupplyVoltageMax
Maximum supply voltage (V).
Definition ximc.h:2598

hallsensor_settings_t::PPR
unsigned int PPR
The number of counts per revolution
Definition ximc.h:2600

hallsensor_settings_t::SupplyVoltageMin
float SupplyVoltageMin
Minimum supply voltage (V).
Definition ximc.h:2597

home_settings_calb_t
Position calibration settings which use user units.
Definition ximc.h:1372

home_settings_calb_t::HomeDelta
float HomeDelta
Distance from break point.
Definition ximc.h:1375

home_settings_calb_t::FastHome
float FastHome
Speed used for first motion.
Definition ximc.h:1373

home_settings_calb_t::HomeFlags
unsigned int HomeFlags
Home settings flags.
Definition ximc.h:1376

home_settings_calb_t::SlowHome
float SlowHome
Speed used for second motion.
Definition ximc.h:1374

home_settings_t
Position calibration settings.
Definition ximc.h:1346

home_settings_t::SlowHome
unsigned int SlowHome
Speed used for second motion (full steps).
Definition ximc.h:1349

home_settings_t::FastHome
unsigned int FastHome
Speed used for first motion (full steps).
Definition ximc.h:1347

home_settings_t::HomeFlags
unsigned int HomeFlags
Home settings flags.
Definition ximc.h:1353

home_settings_t::HomeDelta
int HomeDelta
Distance from break point (full steps).
Definition ximc.h:1351

home_settings_t::uHomeDelta
int uHomeDelta
Fractional part of the delta distance, microsteps.
Definition ximc.h:1352

home_settings_t::uFastHome
unsigned int uFastHome
Fractional part of the speed for first motion, microsteps.
Definition ximc.h:1348

home_settings_t::uSlowHome
unsigned int uSlowHome
Part of the speed for second motion, microsteps.
Definition ximc.h:1350

init_random_t
Random key.
Definition ximc.h:2681

init_random_t::key
uint8_t key[16]
Random key.
Definition ximc.h:2682

joystick_settings_t
Joystick settings.
Definition ximc.h:1900

joystick_settings_t::JoyCenter
unsigned int JoyCenter
Joystick center position.
Definition ximc.h:1902

joystick_settings_t::ExpFactor
unsigned int ExpFactor
Exponential nonlinearity factor.
Definition ximc.h:1904

joystick_settings_t::JoyFlags
unsigned int JoyFlags
Joystick flags.
Definition ximc.h:1906

joystick_settings_t::JoyHighEnd
unsigned int JoyHighEnd
Joystick upper end position.
Definition ximc.h:1903

joystick_settings_t::JoyLowEnd
unsigned int JoyLowEnd
Joystick lower end position.
Definition ximc.h:1901

joystick_settings_t::DeadZone
unsigned int DeadZone
Joystick deviation from the central position in 0.1% units that do not result in a start of motion.
Definition ximc.h:1905

measurements_t
The structure contains a sequence of measured axis motion parameters - velocities and position errors...
Definition ximc.h:2270

measurements_t::Error
int Error[25]
Position error in microsteps (whole steps are recalculated considering the current step division mode...
Definition ximc.h:2272

measurements_t::Length
unsigned int Length
Actual sequence length.
Definition ximc.h:2273

measurements_t::Speed
int Speed[25]
Sequence of measured speeds (in encoder counts/s or microsteps/sec, depending on the motor type and c...
Definition ximc.h:2271

motor_information_t
Deprecated.
Definition ximc.h:2485

motor_information_t::Manufacturer
char Manufacturer[17]
Manufacturer.
Definition ximc.h:2486

motor_information_t::PartNumber
char PartNumber[25]
Series and PartNumber.
Definition ximc.h:2487

motor_settings_t
Deprecated.
Definition ximc.h:2502

motor_settings_t::MechanicalTimeConstant
float MechanicalTimeConstant
Mechanical time constant (ms).
Definition ximc.h:2520

motor_settings_t::DetentTorque
float DetentTorque
Holding torque position with unpowered windings (mN * m).
Definition ximc.h:2516

motor_settings_t::WindingResistance
float WindingResistance
Resistance of windings for DC engines, of each of two windings for stepper motors,...
Definition ximc.h:2512

motor_settings_t::StallTorque
float StallTorque
Torque hold position for a stepper motor or torque at a motionless rotor for other types of engines (...
Definition ximc.h:2515

motor_settings_t::SpeedTorqueGradient
float SpeedTorqueGradient
Speed torque gradient (rpm / mN * m).
Definition ximc.h:2519

motor_settings_t::NominalVoltage
float NominalVoltage
Nominal voltage on winding (B).
Definition ximc.h:2507

motor_settings_t::Phases
unsigned int Phases
Number of phases for BLDC motors.
Definition ximc.h:2506

motor_settings_t::TorqueConstant
float TorqueConstant
Torque constant that determines the proportionality constant between the maximum rotor torque and cur...
Definition ximc.h:2517

motor_settings_t::MotorType
unsigned int MotorType
Motor Type flags.
Definition ximc.h:2503

motor_settings_t::NominalSpeed
float NominalSpeed
Not used.
Definition ximc.h:2509

motor_settings_t::NominalCurrent
float NominalCurrent
Maximum direct current in winding for DC and BLDC engines, nominal current in windings for stepper mo...
Definition ximc.h:2508

motor_settings_t::ReservedField
unsigned int ReservedField
Reserved
Definition ximc.h:2504

motor_settings_t::MaxSpeed
float MaxSpeed
The maximum speed for stepper motors (steps/s) or DC and BLDC motors (rmp).
Definition ximc.h:2521

motor_settings_t::SpeedConstant
float SpeedConstant
Velocity constant, which determines the value or the amplitude of the induced voltage on the motion o...
Definition ximc.h:2518

motor_settings_t::Poles
unsigned int Poles
Number of pole pairs for DC or BLDC motors or number of steps per rotation for stepper motors.
Definition ximc.h:2505

motor_settings_t::MaxCurrentTime
float MaxCurrentTime
Safe duration of overcurrent in the winding (ms).
Definition ximc.h:2523

motor_settings_t::WindingInductance
float WindingInductance
Inductance of windings for DC engines, inductance of each of two windings for stepper motors,...
Definition ximc.h:2513

motor_settings_t::NominalPower
float NominalPower
Nominal power (W).
Definition ximc.h:2511

motor_settings_t::NoLoadSpeed
float NoLoadSpeed
Idle speed (rpm).
Definition ximc.h:2525

motor_settings_t::NoLoadCurrent
float NoLoadCurrent
The current consumption in idle mode (A).
Definition ximc.h:2524

motor_settings_t::NominalTorque
float NominalTorque
Nominal torque (mN * m).
Definition ximc.h:2510

motor_settings_t::RotorInertia
float RotorInertia
Rotor inertia (g * cm2).
Definition ximc.h:2514

motor_settings_t::MaxCurrent
float MaxCurrent
The maximum current in the winding (A).
Definition ximc.h:2522

move_settings_calb_t
User units move settings.
Definition ximc.h:1413

move_settings_calb_t::MoveFlags
unsigned int MoveFlags
Flags of the motion parameters.
Definition ximc.h:1462

move_settings_calb_t::Decel
float Decel
Deceleration
Definition ximc.h:1438

move_settings_calb_t::Speed
float Speed
Speed
Definition ximc.h:1414

move_settings_calb_t::AntiplaySpeed
float AntiplaySpeed
Antiplay speed
Definition ximc.h:1450

move_settings_calb_t::Accel
float Accel
Acceleration:
Definition ximc.h:1426

move_settings_t
Move settings.
Definition ximc.h:1391

move_settings_t::Accel
unsigned int Accel
Motor shaft acceleration, steps/s^2 (stepper motor) or RPM/s (DC).
Definition ximc.h:1394

move_settings_t::uAntiplaySpeed
unsigned int uAntiplaySpeed
Speed in antiplay mode, microsteps/s.
Definition ximc.h:1397

move_settings_t::MoveFlags
unsigned int MoveFlags
Flags of the motion parameters.
Definition ximc.h:1398

move_settings_t::AntiplaySpeed
unsigned int AntiplaySpeed
Speed in antiplay mode, full steps/s (stepper motor) or RPM (DC).
Definition ximc.h:1396

move_settings_t::Speed
unsigned int Speed
Target speed (for stepper motor: steps/s, for DC: rpm).
Definition ximc.h:1392

move_settings_t::uSpeed
unsigned int uSpeed
Target speed in microstep fractions/s.
Definition ximc.h:1393

move_settings_t::Decel
unsigned int Decel
Motor shaft deceleration, steps/s^2 (stepper motor) or RPM/s (DC).
Definition ximc.h:1395

network_settings_t
Network settings.
Definition ximc.h:1967

network_settings_t::DefaultGateway
unsigned int DefaultGateway[4]
Default value of the gateway in format x.x.x.x.
Definition ximc.h:1971

network_settings_t::SubnetMask
unsigned int SubnetMask[4]
The mask of the subnet in format x.x.x.x.
Definition ximc.h:1970

network_settings_t::DHCPEnabled
unsigned int DHCPEnabled
Indicates the method to get the IP-address.
Definition ximc.h:1968

network_settings_t::IPv4Address
unsigned int IPv4Address[4]
IP-address of the device in format x.x.x.x.
Definition ximc.h:1969

nonvolatile_memory_t
Structure contains user data to save into the FRAM.
Definition ximc.h:2041

nonvolatile_memory_t::UserData
unsigned int UserData[7]
User data.
Definition ximc.h:2042

password_settings_t
The web-page user password.
Definition ximc.h:1988

password_settings_t::UserPassword
char UserPassword[21]
Password for the web-page that the user can change with a USB command or via web-page.
Definition ximc.h:1989

pid_settings_t
PID settings.
Definition ximc.h:1652

pid_settings_t::KdU
unsigned int KdU
Differential gain for voltage PID routine
Definition ximc.h:1655

pid_settings_t::Kpf
float Kpf
Proportional gain for BLDC position PID routine
Definition ximc.h:1656

pid_settings_t::Kdf
float Kdf
Differential gain for BLDC position PID routine
Definition ximc.h:1658

pid_settings_t::Kif
float Kif
Integral gain for BLDC position PID routine
Definition ximc.h:1657

pid_settings_t::KpU
unsigned int KpU
Proportional gain for voltage PID routine
Definition ximc.h:1653

pid_settings_t::KiU
unsigned int KiU
Integral gain for voltage PID routine
Definition ximc.h:1654

power_settings_t
Step motor power settings.
Definition ximc.h:1555

power_settings_t::HoldCurrent
unsigned int HoldCurrent
Holding current, as percent of the nominal current.
Definition ximc.h:1556

power_settings_t::CurrReductDelay
unsigned int CurrReductDelay
Time in ms from going to STOP state to the end of current reduction.
Definition ximc.h:1557

power_settings_t::PowerFlags
unsigned int PowerFlags
Flags of power settings of stepper motor.
Definition ximc.h:1560

power_settings_t::CurrentSetTime
unsigned int CurrentSetTime
Time in ms to reach the nominal current.
Definition ximc.h:1559

power_settings_t::PowerOffDelay
unsigned int PowerOffDelay
Time in s from going to STOP state to turning power off.
Definition ximc.h:1558

secure_settings_t
This structure contains protection parameters: critical electrical values, flags for protection algor...
Definition ximc.h:1575

secure_settings_t::CriticalT
unsigned int CriticalT
Maximum temperature, which triggers ALARM state, in tenths of degrees Celsius.
Definition ximc.h:1579

secure_settings_t::CriticalUusb
unsigned int CriticalUusb
Deprecated.
Definition ximc.h:1581

secure_settings_t::MinimumUusb
unsigned int MinimumUusb
Deprecated.
Definition ximc.h:1582

secure_settings_t::CriticalIusb
unsigned int CriticalIusb
Deprecated.
Definition ximc.h:1580

secure_settings_t::CriticalUpwr
unsigned int CriticalUpwr
Maximum motor voltage which triggers ALARM state, in tens of mV.
Definition ximc.h:1578

secure_settings_t::LowUpwrOff
unsigned int LowUpwrOff
Lower voltage limit to turn off the motor, in tens of mV.
Definition ximc.h:1576

secure_settings_t::Flags
unsigned int Flags
Flags of secure settings.
Definition ximc.h:1583

secure_settings_t::CriticalIpwr
unsigned int CriticalIpwr
Maximum motor current which triggers ALARM state, in mA.
Definition ximc.h:1577

serial_number_t
The structure contains a new serial number, hardware version, and valid key.
Definition ximc.h:2333

serial_number_t::Release
unsigned int Release
Number of edits this release of hardware.
Definition ximc.h:2338

serial_number_t::Key
uint8_t Key[32]
Protection key (256 bit).
Definition ximc.h:2335

serial_number_t::SN
unsigned int SN
New board serial number.
Definition ximc.h:2334

serial_number_t::Major
unsigned int Major
The major number of the hardware version.
Definition ximc.h:2336

serial_number_t::Minor
unsigned int Minor
The minor number of the hardware version.
Definition ximc.h:2337

set_position_calb_t
User unit position information.
Definition ximc.h:2187

set_position_calb_t::PosFlags
unsigned int PosFlags
Position setting flags.
Definition ximc.h:2190

set_position_calb_t::Position
float Position
The position in the engine.
Definition ximc.h:2188

set_position_calb_t::EncPosition
long_t EncPosition
Encoder position.
Definition ximc.h:2189

set_position_t
Position information.
Definition ximc.h:2167

set_position_t::uPosition
int uPosition
Microstep position is only used with stepper motors.
Definition ximc.h:2169

set_position_t::PosFlags
unsigned int PosFlags
Position setting flags.
Definition ximc.h:2171

set_position_t::Position
int Position
The position of the whole steps in the engine
Definition ximc.h:2168

set_position_t::EncPosition
long_t EncPosition
Encoder position.
Definition ximc.h:2170

stage_information_t
Deprecated.
Definition ximc.h:2444

stage_information_t::Manufacturer
char Manufacturer[17]
Manufacturer.
Definition ximc.h:2445

stage_information_t::PartNumber
char PartNumber[25]
Series and PartNumber.
Definition ximc.h:2446

stage_name_t
Stage username.
Definition ximc.h:2428

stage_name_t::PositionerName
char PositionerName[17]
User's positioner name.
Definition ximc.h:2429

stage_settings_t
Deprecated.
Definition ximc.h:2461

stage_settings_t::VerticalLoadCapacity
float VerticalLoadCapacity
Vertical load capacity (kg).
Definition ximc.h:2470

stage_settings_t::Units
char Units[9]
Units for MaxSpeed and TravelRange fields of the structure (steps, degrees, mm, .....
Definition ximc.h:2463

stage_settings_t::MaxCurrentConsumption
float MaxCurrentConsumption
Maximum current consumption (A).
Definition ximc.h:2468

stage_settings_t::MaxSpeed
float MaxSpeed
Maximum speed (Units/c).
Definition ximc.h:2464

stage_settings_t::TravelRange
float TravelRange
Travel range (Units).
Definition ximc.h:2465

stage_settings_t::SupplyVoltageMax
float SupplyVoltageMax
Maximum supply voltage (V).
Definition ximc.h:2467

stage_settings_t::HorizontalLoadCapacity
float HorizontalLoadCapacity
Horizontal load capacity (kg).
Definition ximc.h:2469

stage_settings_t::SupplyVoltageMin
float SupplyVoltageMin
Minimum supply voltage (V).
Definition ximc.h:2466

stage_settings_t::LeadScrewPitch
float LeadScrewPitch
Lead screw pitch (mm).
Definition ximc.h:2462

status_calb_t
User unit device's state.
Definition ximc.h:2240

status_calb_t::CurT
int CurT
Temperature, tenths of degrees Celsius.
Definition ximc.h:2253

status_calb_t::Iusb
int Iusb
USB current, mA.
Definition ximc.h:2251

status_calb_t::Ipwr
int Ipwr
Engine current, mA.
Definition ximc.h:2249

status_calb_t::CurPosition
float CurPosition
Current position.
Definition ximc.h:2246

status_calb_t::MvCmdSts
unsigned int MvCmdSts
Move command state.
Definition ximc.h:2242

status_calb_t::Upwr
int Upwr
Power supply voltage, tens of mV.
Definition ximc.h:2250

status_calb_t::PWRSts
unsigned int PWRSts
Flags of power state of stepper motor.
Definition ximc.h:2243

status_calb_t::MoveSts
unsigned int MoveSts
Flags of move state.
Definition ximc.h:2241

status_calb_t::CmdBufFreeSpace
unsigned int CmdBufFreeSpace
This field is a service field.
Definition ximc.h:2256

status_calb_t::Uusb
int Uusb
USB voltage, tens of mV.
Definition ximc.h:2252

status_calb_t::WindSts
unsigned int WindSts
Winding state.
Definition ximc.h:2245

status_calb_t::EncSts
unsigned int EncSts
Encoder state.
Definition ximc.h:2244

status_calb_t::Flags
unsigned int Flags
Status flags.
Definition ximc.h:2254

status_calb_t::EncPosition
long_t EncPosition
Current encoder position.
Definition ximc.h:2247

status_calb_t::GPIOFlags
unsigned int GPIOFlags
Status flags of the GPIO outputs.
Definition ximc.h:2255

status_calb_t::CurSpeed
float CurSpeed
Motor shaft speed.
Definition ximc.h:2248

status_t
Device state.
Definition ximc.h:2206

status_t::CurT
int CurT
Temperature, tenths of degrees Celsius.
Definition ximc.h:2221

status_t::Iusb
int Iusb
USB current, mA.
Definition ximc.h:2219

status_t::Ipwr
int Ipwr
Engine current, mA.
Definition ximc.h:2217

status_t::MvCmdSts
unsigned int MvCmdSts
Move command state.
Definition ximc.h:2208

status_t::CurSpeed
int CurSpeed
Motor shaft speed in steps/s or rpm.
Definition ximc.h:2215

status_t::Upwr
int Upwr
Power supply voltage, tens of mV.
Definition ximc.h:2218

status_t::PWRSts
unsigned int PWRSts
Flags of power state of stepper motor.
Definition ximc.h:2209

status_t::MoveSts
unsigned int MoveSts
Flags of move state.
Definition ximc.h:2207

status_t::CmdBufFreeSpace
unsigned int CmdBufFreeSpace
This field is a service field.
Definition ximc.h:2224

status_t::Uusb
int Uusb
USB voltage, tens of mV.
Definition ximc.h:2220

status_t::WindSts
unsigned int WindSts
Winding state.
Definition ximc.h:2211

status_t::EncSts
unsigned int EncSts
Encoder state.
Definition ximc.h:2210

status_t::Flags
unsigned int Flags
Status flags.
Definition ximc.h:2222

status_t::CurPosition
int CurPosition
Current position.
Definition ximc.h:2212

status_t::uCurSpeed
int uCurSpeed
Fractional part of motor shaft speed in microsteps.
Definition ximc.h:2216

status_t::EncPosition
long_t EncPosition
Current encoder position.
Definition ximc.h:2214

status_t::uCurPosition
int uCurPosition
Step motor shaft position in microsteps.
Definition ximc.h:2213

status_t::GPIOFlags
unsigned int GPIOFlags
Status flags of the GPIO outputs.
Definition ximc.h:2223

sync_in_settings_calb_t
User unit synchronization settings.
Definition ximc.h:1700

sync_in_settings_calb_t::ClutterTime
unsigned int ClutterTime
Input synchronization pulse dead time (us).
Definition ximc.h:1702

sync_in_settings_calb_t::Speed
float Speed
Target speed.
Definition ximc.h:1704

sync_in_settings_calb_t::SyncInFlags
unsigned int SyncInFlags
Flags for synchronization input setup.
Definition ximc.h:1701

sync_in_settings_calb_t::Position
float Position
Desired position or shift.
Definition ximc.h:1703

sync_in_settings_t
Synchronization settings.
Definition ximc.h:1676

sync_in_settings_t::uPosition
int uPosition
The fractional part of a position or shift in microsteps.
Definition ximc.h:1680

sync_in_settings_t::ClutterTime
unsigned int ClutterTime
Input synchronization pulse dead time (us).
Definition ximc.h:1678

sync_in_settings_t::Position
int Position
Desired position or shift (full steps)
Definition ximc.h:1679

sync_in_settings_t::Speed
unsigned int Speed
Target speed (for stepper motor: steps/s, for DC: rpm).
Definition ximc.h:1681

sync_in_settings_t::SyncInFlags
unsigned int SyncInFlags
Flags for synchronization input setup.
Definition ximc.h:1677

sync_in_settings_t::uSpeed
unsigned int uSpeed
Target speed in microsteps/s.
Definition ximc.h:1682

sync_out_settings_calb_t
Synchronization settings which use user units.
Definition ximc.h:1745

sync_out_settings_calb_t::Accuracy
float Accuracy
This is the neighborhood around the target coordinates, every point in which is treated as the target...
Definition ximc.h:1749

sync_out_settings_calb_t::SyncOutPeriod
unsigned int SyncOutPeriod
This value specifies the number of encoder pulses or steps between two output synchronization pulses ...
Definition ximc.h:1748

sync_out_settings_calb_t::SyncOutPulseSteps
unsigned int SyncOutPulseSteps
This value specifies the duration of output pulse.
Definition ximc.h:1747

sync_out_settings_calb_t::SyncOutFlags
unsigned int SyncOutFlags
Flags of synchronization output.
Definition ximc.h:1746

sync_out_settings_t
Synchronization settings.
Definition ximc.h:1722

sync_out_settings_t::uAccuracy
unsigned int uAccuracy
This is the neighborhood around the target coordinates in microsteps (used with a stepper motor only)...
Definition ximc.h:1727

sync_out_settings_t::Accuracy
unsigned int Accuracy
This is the neighborhood around the target coordinates, every point in which is treated as the target...
Definition ximc.h:1726

sync_out_settings_t::SyncOutPeriod
unsigned int SyncOutPeriod
This value specifies the number of encoder pulses or steps between two output synchronization pulses ...
Definition ximc.h:1725

sync_out_settings_t::SyncOutPulseSteps
unsigned int SyncOutPulseSteps
This value specifies the duration of output pulse.
Definition ximc.h:1724

sync_out_settings_t::SyncOutFlags
unsigned int SyncOutFlags
Flags of synchronization output.
Definition ximc.h:1723

uart_settings_t
UART settings.
Definition ximc.h:1948

uart_settings_t::Speed
unsigned int Speed
UART baudrate (in bauds)
Definition ximc.h:1949

uart_settings_t::UARTSetupFlags
unsigned int UARTSetupFlags
UART parity flags.
Definition ximc.h:1950

command_sstp
result_t XIMC_API command_sstp(device_t id)
Soft stop the engine.

get_accessories_settings
result_t XIMC_API get_accessories_settings(device_t id, accessories_settings_t *accessories_settings)
Deprecated.

close_device
result_t XIMC_API close_device(device_t *id)
Close specified device

set_logging_callback
void XIMC_API set_logging_callback(logging_callback_t logging_callback, void *user_data)
Sets a logging callback.

goto_firmware
result_t XIMC_API goto_firmware(device_t id, uint8_t *ret)
Reboot to firmware

get_gear_information
result_t XIMC_API get_gear_information(device_t id, gear_information_t *gear_information)
Deprecated.

set_engine_settings_calb
result_t XIMC_API set_engine_settings_calb(device_t id, const engine_settings_calb_t *engine_settings_calb, const calibration_t *calibration)
Set user unit engine settings.

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

set_network_settings
result_t XIMC_API set_network_settings(device_t id, const network_settings_t *network_settings)
Set network settings.

get_device_count
int XIMC_API get_device_count(device_enumeration_t device_enumeration)
Get device count.

service_command_updf
result_t XIMC_API service_command_updf(device_t id)
The command switches the controller to update the firmware state.

command_stop
result_t XIMC_API command_stop(device_t id)
Immediately stops the engine, moves it to the STOP state, and sets switches to BREAK mode (windings a...

get_move_settings
result_t XIMC_API get_move_settings(device_t id, move_settings_t *move_settings)
Movement settings read command (speed, acceleration, threshold, etc.).

command_eeread_settings
result_t XIMC_API command_eeread_settings(device_t id)
Read settings from the stage's EEPROM to the controller's RAM.

get_extio_settings
result_t XIMC_API get_extio_settings(device_t id, extio_settings_t *extio_settings)
Read EXTIO settings.

get_uart_settings
result_t XIMC_API get_uart_settings(device_t id, uart_settings_t *uart_settings)
Read UART settings.

get_status_calb
result_t XIMC_API get_status_calb(device_t id, status_calb_t *status, const calibration_t *calibration)
Return device state.

get_sync_out_settings_calb
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 user unit synchronization settings.

command_home
result_t XIMC_API command_home(device_t id)
Moving to home position.

set_sync_in_settings_calb
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 user unit synchronization settings.

set_move_settings_calb
result_t XIMC_API set_move_settings_calb(device_t id, const move_settings_calb_t *move_settings_calb, const calibration_t *calibration)
User unit movement settings set command (speed, acceleration, threshold, etc.).

get_calibration_settings
result_t XIMC_API get_calibration_settings(device_t id, calibration_settings_t *calibration_settings)
Read calibration settings.

get_edges_settings_calb
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 in user units.

set_edges_settings
result_t XIMC_API set_edges_settings(device_t id, const edges_settings_t *edges_settings)
Set border and limit switches settings.

command_read_robust_settings
result_t XIMC_API command_read_robust_settings(device_t id)
Read important settings (calibration coefficients, etc.) from the controller's flash memory to the co...

command_loft
result_t XIMC_API command_loft(device_t id)
Upon receiving the command "loft", the engine is shifted from the current position to a distance Anti...

command_start_measurements
result_t XIMC_API command_start_measurements(device_t id)
Start measurements and buffering of speed and the speed error (target speed minus real speed).

set_emf_settings
result_t XIMC_API set_emf_settings(device_t id, const emf_settings_t *emf_settings)
Set electromechanical coefficients.

set_edges_settings_calb
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 in user units.

get_debug_read
result_t XIMC_API get_debug_read(device_t id, debug_read_t *debug_read)
Read data from firmware for debug purpose.

set_stage_name
result_t XIMC_API set_stage_name(device_t id, const stage_name_t *stage_name)
Write the user's stage name to EEPROM.

get_sync_out_settings
result_t XIMC_API get_sync_out_settings(device_t id, sync_out_settings_t *sync_out_settings)
Read output synchronization settings.

get_home_settings_calb
result_t XIMC_API get_home_settings_calb(device_t id, home_settings_calb_t *home_settings_calb, const calibration_t *calibration)
Read user unit home settings.

get_sync_in_settings_calb
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 user unit synchronization settings.

get_analog_data
result_t XIMC_API get_analog_data(device_t id, analog_data_t *analog_data)
Read the analog data structure that contains raw analog data from the embedded ADC.

get_chart_data
result_t XIMC_API get_chart_data(device_t id, chart_data_t *chart_data)
Return device electrical parameters, useful for charts.

ximc_version
void XIMC_API ximc_version(char *version)
Returns a library version

get_engine_advanced_setup
result_t XIMC_API get_engine_advanced_setup(device_t id, engine_advanced_setup_t *engine_advanced_setup)
Read engine advanced settings.

command_reset
result_t XIMC_API command_reset(device_t id)
Reset controller.

device_enumeration_t
uint32_t device_enumeration_t
Type describes device enumeration structure
Definition ximc.h:130

device_t
int device_t
Type describes device identifier
Definition ximc.h:107

command_move_calb
result_t XIMC_API command_move_calb(device_t id, float Position, const calibration_t *calibration)
Move to position using user units.

set_debug_write
result_t XIMC_API set_debug_write(device_t id, const debug_write_t *debug_write)
Write data to firmware for debug purpose.

reset_locks
result_t XIMC_API reset_locks()
Resets the error of incorrect data transmission.

get_enumerate_device_stage_name
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.

set_extended_settings
result_t XIMC_API set_extended_settings(device_t id, const extended_settings_t *extended_settings)
Set extended settings.

set_sync_out_settings
result_t XIMC_API set_sync_out_settings(device_t id, const sync_out_settings_t *sync_out_settings)
Set output synchronization settings.

get_hallsensor_information
result_t XIMC_API get_hallsensor_information(device_t id, hallsensor_information_t *hallsensor_information)
Deprecated.

get_edges_settings
result_t XIMC_API get_edges_settings(device_t id, edges_settings_t *edges_settings)
Read border and limit switches settings.

get_engine_settings
result_t XIMC_API get_engine_settings(device_t id, engine_settings_t *engine_settings)
Read engine settings.

set_engine_settings
result_t XIMC_API set_engine_settings(device_t id, const engine_settings_t *engine_settings)
Set engine settings.

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

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

command_save_robust_settings
result_t XIMC_API command_save_robust_settings(device_t id)
Save important settings (calibration coefficients, etc.) from the controller's RAM to the controller'...

set_move_settings
result_t XIMC_API set_move_settings(device_t id, const move_settings_t *move_settings)
Movement settings set command (speed, acceleration, threshold, etc.).

pchar
char * pchar
Nevermind
Definition ximc.h:5286

get_enumerate_device_network_information
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.

command_clear_fram
result_t XIMC_API command_clear_fram(device_t id)
Clear controller FRAM.

set_power_settings
result_t XIMC_API set_power_settings(device_t id, const power_settings_t *power_settings)
Set settings of step motor power control.

set_position
result_t XIMC_API set_position(device_t id, const set_position_t *the_set_position)
Sets position in steps and microsteps for stepper motor.

set_entype_settings
result_t XIMC_API set_entype_settings(device_t id, const entype_settings_t *entype_settings)
Set engine type and driver type.

get_stage_information
result_t XIMC_API get_stage_information(device_t id, stage_information_t *stage_information)
Deprecated.

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

get_password_settings
result_t XIMC_API get_password_settings(device_t id, password_settings_t *password_settings)
Read the password.

set_control_settings_calb
result_t XIMC_API set_control_settings_calb(device_t id, const control_settings_calb_t *control_settings_calb, const calibration_t *calibration)
Set motor control settings with user units.

command_homezero
result_t XIMC_API command_homezero(device_t id)
Make home command, wait until it is finished and make zero command.

get_globally_unique_identifier
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 device, but is not a random value.

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

enumerate_devices
device_enumeration_t XIMC_API enumerate_devices(int enumerate_flags, const char *hints)
Search and list of available devices.

command_left
result_t XIMC_API command_left(device_t id)
Start continuous moving to the left.

get_device_information
result_t XIMC_API get_device_information(device_t id, device_information_t *device_information)
Return device information.

logging_callback_t
void(XIMC_CALLCONV * logging_callback_t)(int loglevel, const wchar_t *message, void *user_data)
Logging callback prototype
Definition ximc.h:5439

has_firmware
result_t XIMC_API has_firmware(const char *uri, uint8_t *ret)
Check for firmware on device

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

get_stage_settings
result_t XIMC_API get_stage_settings(device_t id, stage_settings_t *stage_settings)
Deprecated.

get_encoder_information
result_t XIMC_API get_encoder_information(device_t id, encoder_information_t *encoder_information)
Deprecated.

set_position_calb
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.

free_enumerate_devices
result_t XIMC_API free_enumerate_devices(device_enumeration_t device_enumeration)
Free memory returned by enumerate_devices.

open_device
device_t XIMC_API open_device(const char *uri)
Open a device with OS uri and return identifier of the device which can be used in calls.

get_nonvolatile_memory
result_t XIMC_API get_nonvolatile_memory(device_t id, nonvolatile_memory_t *nonvolatile_memory)
Read user data from FRAM.

set_ctp_settings
result_t XIMC_API set_ctp_settings(device_t id, const ctp_settings_t *ctp_settings)
Set control position settings (used with stepper motor only).

get_enumerate_device_serial
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.

get_gear_settings
result_t XIMC_API get_gear_settings(device_t id, gear_settings_t *gear_settings)
Deprecated.

get_move_settings_calb
result_t XIMC_API get_move_settings_calb(device_t id, move_settings_calb_t *move_settings_calb, const calibration_t *calibration)
User unit movement settings read command (speed, acceleration, threshold, etc.).

set_password_settings
result_t XIMC_API set_password_settings(device_t id, const password_settings_t *password_settings)
Sets the password.

set_secure_settings
result_t XIMC_API set_secure_settings(device_t id, const secure_settings_t *secure_settings)
Set protection settings.

get_firmware_version
result_t XIMC_API get_firmware_version(device_t id, unsigned int *Major, unsigned int *Minor, unsigned int *Release)
Read the controller's firmware version.

set_extio_settings
result_t XIMC_API set_extio_settings(device_t id, const extio_settings_t *extio_settings)
Set EXTIO settings.

command_right
result_t XIMC_API command_right(device_t id)
Start continuous moving to the right.

logging_callback_stderr_wide
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

get_status
result_t XIMC_API get_status(device_t id, status_t *status)
Return device state.

get_init_random
result_t XIMC_API get_init_random(device_t id, init_random_t *init_random)
Read a random number from the controller.

XIMC_CALLCONV
#define XIMC_CALLCONV
Definition ximc.h:46

get_device_name
pchar XIMC_API get_device_name(device_enumeration_t device_enumeration, int device_index)
Get device name from the device enumeration.

msec_sleep
void XIMC_API msec_sleep(unsigned int msec)
Sleeps for a specified amount of time

command_move
result_t XIMC_API command_move(device_t id, int Position, int uPosition)
Move to position.

get_secure_settings
result_t XIMC_API get_secure_settings(device_t id, secure_settings_t *secure_settings)
Read protection settings.

get_brake_settings
result_t XIMC_API get_brake_settings(device_t id, brake_settings_t *brake_settings)
Read break control settings.

get_motor_settings
result_t XIMC_API get_motor_settings(device_t id, motor_settings_t *motor_settings)
Deprecated.

get_bootloader_version
result_t XIMC_API get_bootloader_version(device_t id, unsigned int *Major, unsigned int *Minor, unsigned int *Release)
Read the controller's bootloader version.

set_sync_in_settings
result_t XIMC_API set_sync_in_settings(device_t id, const sync_in_settings_t *sync_in_settings)
Set input synchronization settings.

get_position_calb
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 for all engines.

command_zero
result_t XIMC_API command_zero(device_t id)
Sets the current position to 0.

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

set_pid_settings
result_t XIMC_API set_pid_settings(device_t id, const pid_settings_t *pid_settings)
Set PID settings.

get_measurements
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 speed error graph.

set_joystick_settings
result_t XIMC_API set_joystick_settings(device_t id, const joystick_settings_t *joystick_settings)
Set joystick position.

get_enumerate_device_information
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.

get_engine_settings_calb
result_t XIMC_API get_engine_settings_calb(device_t id, engine_settings_calb_t *engine_settings_calb, const calibration_t *calibration)
Read user unit engine settings.

get_controller_name
result_t XIMC_API get_controller_name(device_t id, controller_name_t *controller_name)
Read user's controller name and internal settings from the FRAM.

XIMC_API
#define XIMC_API
Definition ximc.h:31

set_controller_name
result_t XIMC_API set_controller_name(device_t id, const controller_name_t *controller_name)
Write user's controller name and internal settings to the FRAM.

get_encoder_settings
result_t XIMC_API get_encoder_settings(device_t id, encoder_settings_t *encoder_settings)
Deprecated.

command_eesave_settings
result_t XIMC_API command_eesave_settings(device_t id)
Save settings from the controller's RAM to the stage's EEPROM.

get_home_settings
result_t XIMC_API get_home_settings(device_t id, home_settings_t *home_settings)
Read home settings.

set_home_settings_calb
result_t XIMC_API set_home_settings_calb(device_t id, const home_settings_calb_t *home_settings_calb, const calibration_t *calibration)
Set user unit home settings.

get_joystick_settings
result_t XIMC_API get_joystick_settings(device_t id, joystick_settings_t *joystick_settings)
Read joystick settings.

set_engine_advanced_setup
result_t XIMC_API set_engine_advanced_setup(device_t id, const engine_advanced_setup_t *engine_advanced_setup)
Set engine advanced settings.

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

command_save_settings
result_t XIMC_API command_save_settings(device_t id)
Save all settings from the controller's RAM to the controller's flash memory, replacing previous data...

set_sync_out_settings_calb
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 user unit synchronization settings.

set_calibration_settings
result_t XIMC_API set_calibration_settings(device_t id, const calibration_settings_t *calibration_settings)
Set calibration settings.

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

get_emf_settings
result_t XIMC_API get_emf_settings(device_t id, emf_settings_t *emf_settings)
Read electromechanical settings.

get_position
result_t XIMC_API get_position(device_t id, get_position_t *the_get_position)
Reads the value position in steps and microsteps for stepper motor and encoder steps for all engines.

get_stage_name
result_t XIMC_API get_stage_name(device_t id, stage_name_t *stage_name)
Read the user's stage name from the EEPROM.

set_nonvolatile_memory
result_t XIMC_API set_nonvolatile_memory(device_t id, const nonvolatile_memory_t *nonvolatile_memory)
Write user data into the FRAM.

get_enumerate_device_controller_name
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.

command_movr_calb
result_t XIMC_API command_movr_calb(device_t id, float DeltaPosition, const calibration_t *calibration)
Shift by a set offset using user units.

result_t
int result_t
Type specifies result of any operation
Definition ximc.h:117

set_serial_number
result_t XIMC_API set_serial_number(device_t id, const serial_number_t *serial_number)
Write device serial number and hardware version to the controller's flash memory.

get_feedback_settings
result_t XIMC_API get_feedback_settings(device_t id, feedback_settings_t *feedback_settings)
Feedback settings.

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

set_uart_settings
result_t XIMC_API set_uart_settings(device_t id, const uart_settings_t *uart_settings)
Set UART settings.

probe_device
result_t XIMC_API probe_device(const char *uri)
Check if a device with OS uri uri is XIMC device.

command_wait_for_stop
result_t XIMC_API command_wait_for_stop(device_t id, uint32_t refresh_interval_ms)
Wait for stop

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

command_movr
result_t XIMC_API command_movr(device_t id, int DeltaPosition, int uDeltaPosition)
Shift by a set offset.

logging_callback_stderr_narrow
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

get_extended_settings
result_t XIMC_API get_extended_settings(device_t id, extended_settings_t *extended_settings)
Read extended settings.

get_serial_number
result_t XIMC_API get_serial_number(device_t id, unsigned int *SerialNumber)
Read device serial number.

get_network_settings
result_t XIMC_API get_network_settings(device_t id, network_settings_t *network_settings)
Read network settings.

command_read_settings
result_t XIMC_API command_read_settings(device_t id)
Read all settings from the controller's flash memory to the controller's RAM, replacing previous data...

command_power_off
result_t XIMC_API command_power_off(device_t id)
Immediately power off the motor regardless its state.

set_correction_table
result_t XIMC_API set_correction_table(device_t id, const char *namefile)
Command of loading a correction table from a text file.

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

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

get_entype_settings
result_t XIMC_API get_entype_settings(device_t id, entype_settings_t *entype_settings)
Return engine type and driver type.

get_control_settings
result_t XIMC_API get_control_settings(device_t id, control_settings_t *control_settings)
Read motor control settings.

get_pid_settings
result_t XIMC_API get_pid_settings(device_t id, pid_settings_t *pid_settings)
Read PID settings.

get_ctp_settings
result_t XIMC_API get_ctp_settings(device_t id, ctp_settings_t *ctp_settings)
Read control position settings (used with stepper motor only).

set_control_settings
result_t XIMC_API set_control_settings(device_t id, const control_settings_t *control_settings)
Set motor control settings.

get_hallsensor_settings
result_t XIMC_API get_hallsensor_settings(device_t id, hallsensor_settings_t *hallsensor_settings)
Deprecated.

get_motor_information
result_t XIMC_API get_motor_information(device_t id, motor_information_t *motor_information)
Deprecated.

get_control_settings_calb
result_t XIMC_API get_control_settings_calb(device_t id, control_settings_calb_t *control_settings_calb, const calibration_t *calibration)
Read motor control settings with user units.

get_sync_in_settings
result_t XIMC_API get_sync_in_settings(device_t id, sync_in_settings_t *sync_in_settings)
Read input synchronization settings.

get_power_settings
result_t XIMC_API get_power_settings(device_t id, power_settings_t *power_settings)
Read settings of step motor power control.

set_brake_settings
result_t XIMC_API set_brake_settings(device_t id, const brake_settings_t *brake_settings)
Set brake control settings.

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

set_home_settings
result_t XIMC_API set_home_settings(device_t id, const home_settings_t *home_settings)
Set home settings.