mDrive/libximc/libximc-3.1.1-all.tar.gz

 #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 3.1.1

 #define LIBXIMC_PROTOCOL_VERSION 20.15

 /*
  ------------------------------------------
    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            0x001
 #define ENGINE_CURRENT_AS_RMS     0x002
 #define ENGINE_MAX_SPEED          0x004
 #define ENGINE_ANTIPLAY           0x008
 #define ENGINE_ACCEL_ON           0x010
 #define ENGINE_LIMIT_VOLT         0x020
 #define ENGINE_LIMIT_CURR         0x040
 #define ENGINE_LIMIT_RPM          0x080
 #define ENGINE_USE_PEAK_CURRENT   0x100


 #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;
                 unsigned int PeakCurrent;
         } engine_settings_t;

         typedef struct
         {
                 unsigned int NomVoltage;
                 unsigned int NomCurrent;
                 float NomSpeed;
                 unsigned int EngineFlags;
                 float Antiplay;
                 unsigned int MicrostepMode;
                 unsigned int StepsPerRev;
                 unsigned int PeakCurrent;
         } 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

move_settings_t::AntiplaySpeed
unsigned int AntiplaySpeed
Speed in antiplay mode, full steps/s (stepper motor) or RPM (DC).
Definition: ximc.h:1397

engine_settings_calb_t::StepsPerRev
unsigned int StepsPerRev
Number of full steps per revolution (Used with stepper motor only).
Definition: ximc.h:1520

analog_data_t::FullCurrent_ADC
unsigned int FullCurrent_ADC
"Full current" raw data from ADC.
Definition: ximc.h:2366

home_settings_calb_t::FastHome
float FastHome
Speed used for first motion.
Definition: ximc.h:1374

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

ctp_settings_t
Control position settings (used with stepper motor only)
Definition: ximc.h:1930

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

globally_unique_identifier_t
Globally unique identifier.
Definition: ximc.h:2697

entype_settings_t::EngineType
unsigned int EngineType
Flags of engine type.
Definition: ximc.h:1542

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

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

get_position_calb_t
Position information.
Definition: ximc.h:2151

sync_in_settings_t::uSpeed
unsigned int uSpeed
Target speed in microsteps/s.
Definition: ximc.h:1685

edges_settings_calb_t::EnderFlags
unsigned int EnderFlags
Limit switches flags.
Definition: ximc.h:1632

motor_settings_t::MotorType
unsigned int MotorType
Motor Type flags.
Definition: ximc.h:2506

pid_settings_t::KiU
unsigned int KiU
Integral gain for voltage PID routine.
Definition: ximc.h:1657

secure_settings_t::LowUpwrOff
unsigned int LowUpwrOff
Lower voltage limit to turn off the motor, in tens of mV.
Definition: ximc.h:1579

analog_data_t::R
int R
Motor winding resistance in mOhms (is only used with stepper motors).
Definition: ximc.h:2385

home_settings_t::uFastHome
unsigned int uFastHome
Fractional part of the speed for first motion, microsteps.
Definition: ximc.h:1349

hallsensor_settings_t::PPR
unsigned int PPR
The number of counts per revolution.
Definition: ximc.h:2603

sync_out_settings_calb_t::SyncOutPulseSteps
unsigned int SyncOutPulseSteps
This value specifies the duration of output pulse.
Definition: ximc.h:1750

engine_settings_calb_t::NomVoltage
unsigned int NomVoltage
Rated voltage in tens of mV.
Definition: ximc.h:1514

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.

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.

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.).

debug_write_t
Debug data.
Definition: ximc.h:2416

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.

edges_settings_t::RightBorder
int RightBorder
Right border position, used if BORDER_IS_ENCODER flag is set.
Definition: ximc.h:1610

motor_settings_t::MaxCurrent
float MaxCurrent
The maximum current in the winding (A).
Definition: ximc.h:2525

analog_data_t
Analog data.
Definition: ximc.h:2357

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

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

calibration_settings_t::CSS2_B
float CSS2_B
Offset for the analog measurements of the B winding current.
Definition: ximc.h:2014

move_settings_t::uAntiplaySpeed
unsigned int uAntiplaySpeed
Speed in antiplay mode, microsteps/s.
Definition: ximc.h:1398

calibration_settings_t::CSS2_A
float CSS2_A
Scaling factor for the analog measurements of the B winding current.
Definition: ximc.h:2013

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

hallsensor_settings_t
Deprecated.
Definition: ximc.h:2597

status_t::Ipwr
int Ipwr
Engine current, mA.
Definition: ximc.h:2220

control_settings_t::uDeltaPosition
int uDeltaPosition
Fractional part of the shift in micro steps.
Definition: ximc.h:1833

device_information_t::Major
unsigned int Major
The major number of the hardware version.
Definition: ximc.h:2320

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.

gear_settings_t::ReductionIn
float ReductionIn
Input reduction coefficient.
Definition: ximc.h:2636

status_calb_t::Uusb
int Uusb
USB voltage, tens of mV.
Definition: ximc.h:2255

hallsensor_settings_t::SupplyVoltageMax
float SupplyVoltageMax
Maximum supply voltage (V).
Definition: ximc.h:2601

accessories_settings_t::MBRatedVoltage
float MBRatedVoltage
Rated voltage for controlling the magnetic brake (V).
Definition: ximc.h:2659

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.

calibration_t
struct calibration_t calibration_t
Calibration structure.

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

analog_data_t::A1Voltage
int A1Voltage
"Voltage on pin 1 winding A" calibrated data (in tens of mV).
Definition: ximc.h:2372

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.

sync_in_settings_t::ClutterTime
unsigned int ClutterTime
Input synchronization pulse dead time (us).
Definition: ximc.h:1681

status_calb_t::GPIOFlags
unsigned int GPIOFlags
Status flags of the GPIO outputs.
Definition: ximc.h:2258

accessories_settings_t::TSSettings
unsigned int TSSettings
Temperature sensor settings flags.
Definition: ximc.h:2667

status_t::PWRSts
unsigned int PWRSts
Flags of power state of stepper motor.
Definition: ximc.h:2212

uart_settings_t
UART settings.
Definition: ximc.h:1950

edges_settings_calb_t::LeftBorder
float LeftBorder
Left border position, used if BORDER_IS_ENCODER flag is set.
Definition: ximc.h:1633

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:1728

engine_settings_calb_t::MicrostepMode
unsigned int MicrostepMode
Flags of microstep mode.
Definition: ximc.h:1519

set_stage_name
result_t XIMC_API set_stage_name(device_t id, const stage_name_t *stage_name)
Write the user&#39;s stage name to EEPROM.

status_t::CurSpeed
int CurSpeed
Motor shaft speed in steps/s or rpm.
Definition: ximc.h:2218

analog_data_t::Enc_Check_ADC
unsigned int Enc_Check_ADC
Voltage on encoder check line, raw ADC data.
Definition: ximc.h:2370

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.

encoder_settings_t::SupplyVoltageMax
float SupplyVoltageMax
Maximum supply voltage (V).
Definition: ximc.h:2563

stage_settings_t::VerticalLoadCapacity
float VerticalLoadCapacity
Vertical load capacity (kg).
Definition: ximc.h:2473

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.

analog_data_t::BCurrent
int BCurrent
"Winding B current" calibrated data (in mA).
Definition: ximc.h:2378

stage_settings_t::HorizontalLoadCapacity
float HorizontalLoadCapacity
Horizontal load capacity (kg).
Definition: ximc.h:2472

status_t::Iusb
int Iusb
USB current, mA.
Definition: ximc.h:2222

analog_data_t::Joy
int Joy
Joystick, calibrated data.
Definition: ximc.h:2381

network_settings_t::DHCPEnabled
unsigned int DHCPEnabled
Indicates the method to get the IP-address.
Definition: ximc.h:1971

engine_advanced_setup_t::stepcloseloop_Kp_high
unsigned int stepcloseloop_Kp_high
Manufacturer only.
Definition: ximc.h:2094

motor_settings_t::NoLoadCurrent
float NoLoadCurrent
The current consumption in idle mode (A).
Definition: ximc.h:2527

edges_settings_t::uLeftBorder
int uLeftBorder
Left border position in microsteps (used with stepper motor only).
Definition: ximc.h:1609

engine_settings_calb_t
Movement limitations and settings, related to the motor.
Definition: ximc.h:1512

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

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

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

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:2296

sync_in_settings_t::Position
int Position
Desired position or shift (full steps)
Definition: ximc.h:1682

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

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:1730

status_calb_t::EncPosition
long_t EncPosition
Current encoder position.
Definition: ximc.h:2250

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

home_settings_t::HomeDelta
int HomeDelta
Distance from break point (full steps).
Definition: ximc.h:1352

sync_in_settings_calb_t::SyncInFlags
unsigned int SyncInFlags
Flags for synchronization input setup.
Definition: ximc.h:1704

gear_information_t
Deprecated.
Definition: ximc.h:2617

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

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.

sync_out_settings_calb_t::SyncOutFlags
unsigned int SyncOutFlags
Flags of synchronization output.
Definition: ximc.h:1749

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.

sync_in_settings_t::SyncInFlags
unsigned int SyncInFlags
Flags for synchronization input setup.
Definition: ximc.h:1680

status_t::WindSts
unsigned int WindSts
Winding state.
Definition: ximc.h:2214

status_t::Upwr
int Upwr
Power supply voltage, tens of mV.
Definition: ximc.h:2221

move_settings_calb_t::Decel
float Decel
Deceleration.
Definition: ximc.h:1439

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:2521

command_read_settings
result_t XIMC_API command_read_settings(device_t id)
Read all settings from the controller&#39;s flash memory to the controller&#39;s RAM, replacing previous data...

status_calb_t::MvCmdSts
unsigned int MvCmdSts
Move command state.
Definition: ximc.h:2245

set_position_t::Position
int Position
The position of the whole steps in the engine.
Definition: ximc.h:2171

status_t::uCurSpeed
int uCurSpeed
Fractional part of motor shaft speed in microsteps.
Definition: ximc.h:2219

device_network_information_t
struct device_network_information_t device_network_information_t
Device network information structure.

serial_number_t::SN
unsigned int SN
New board serial number.
Definition: ximc.h:2337

brake_settings_t::t1
unsigned int t1
Time in ms between turning on motor power and turning off the brake.
Definition: ximc.h:1793

encoder_settings_t::SupplyVoltageMin
float SupplyVoltageMin
Minimum supply voltage (V).
Definition: ximc.h:2562

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...

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

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

feedback_settings_t::CountsPerTurn
unsigned int CountsPerTurn
The number of encoder counts per shaft revolution.
Definition: ximc.h:1329

uart_settings_t::UARTSetupFlags
unsigned int UARTSetupFlags
UART parity flags.
Definition: ximc.h:1953

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:1487

feedback_settings_t
Feedback settings.
Definition: ximc.h:1324

status_t::GPIOFlags
unsigned int GPIOFlags
Status flags of the GPIO outputs.
Definition: ximc.h:2226

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

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

get_position_t
Position information.
Definition: ximc.h:2131

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:2508

accessories_settings_t::TSMin
float TSMin
The minimum measured temperature (degrees Celsius) Data type: float.
Definition: ximc.h:2664

engine_settings_t::NomVoltage
unsigned int NomVoltage
Rated voltage in tens of mV.
Definition: ximc.h:1484

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:1908

gear_settings_t::RatedInputSpeed
float RatedInputSpeed
Maximum speed on the input shaft (rpm).
Definition: ximc.h:2639

chart_data_t
Additional device state.
Definition: ximc.h:2292

status_t::CmdBufFreeSpace
unsigned int CmdBufFreeSpace
This field is a service field.
Definition: ximc.h:2227

stage_settings_t::SupplyVoltageMax
float SupplyVoltageMax
Maximum supply voltage (V).
Definition: ximc.h:2470

command_eesave_settings
result_t XIMC_API command_eesave_settings(device_t id)
Save settings from the controller&#39;s RAM to the stage&#39;s EEPROM.

logging_callback_t
void(XIMC_CALLCONV * logging_callback_t)(int loglevel, const wchar_t *message, void *user_data)
Logging callback prototype.
Definition: ximc.h:5440

sync_out_settings_calb_t
Synchronization settings which use user units.
Definition: ximc.h:1747

calibration_settings_t::FullCurrent_B
float FullCurrent_B
Offset for the analog measurements of the full current.
Definition: ximc.h:2016

pid_settings_t::KpU
unsigned int KpU
Proportional gain for voltage PID routine.
Definition: ximc.h:1656

engine_settings_t::NomCurrent
unsigned int NomCurrent
Rated current (in mA).
Definition: ximc.h:1485

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

status_t::CurPosition
int CurPosition
Current position.
Definition: ximc.h:2215

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:1751

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

engine_advanced_setup_t::stepcloseloop_Kp_low
unsigned int stepcloseloop_Kp_low
Manufacturer only.
Definition: ximc.h:2093

set_position_t
Position information.
Definition: ximc.h:2169

home_settings_t::FastHome
unsigned int FastHome
Speed used for first motion (full steps).
Definition: ximc.h:1348

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...

edges_settings_t::uRightBorder
int uRightBorder
Right border position in microsteps.
Definition: ximc.h:1611

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.

secure_settings_t::CriticalT
unsigned int CriticalT
Maximum temperature, which triggers ALARM state, in tenths of degrees Celsius.
Definition: ximc.h:1582

device_network_information_t
Device network information structure.
Definition: ximc.h:336

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)...

secure_settings_t::Flags
unsigned int Flags
Flags of secure settings.
Definition: ximc.h:1586

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.

secure_settings_t::MinimumUusb
unsigned int MinimumUusb
Deprecated.
Definition: ximc.h:1585

home_settings_t::uSlowHome
unsigned int uSlowHome
Part of the speed for second motion, microsteps.
Definition: ximc.h:1351

status_calb_t::CurSpeed
float CurSpeed
Motor shaft speed.
Definition: ximc.h:2251

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.).

home_settings_calb_t::SlowHome
float SlowHome
Speed used for second motion.
Definition: ximc.h:1375

calibration_settings_t::CSS1_B
float CSS1_B
Offset for the analog measurements of the A winding current.
Definition: ximc.h:2012

power_settings_t::CurrentSetTime
unsigned int CurrentSetTime
Time in ms to reach the nominal current.
Definition: ximc.h:1562

status_t::EncSts
unsigned int EncSts
Encoder state.
Definition: ximc.h:2213

chart_data_t::AveragedPowerRatio
int AveragedPowerRatio
The ratio of motor supplied power to nominal motor power, as a percentage.
Definition: ximc.h:2302

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

emf_settings_t::Km
float Km
Electromechanical ratio of the motor.
Definition: ximc.h:2070

edges_settings_t
Edges settings.
Definition: ximc.h:1604

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.

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.

entype_settings_t
Engine type and driver type settings.
Definition: ximc.h:1540

motor_settings_t::DetentTorque
float DetentTorque
Holding torque position with unpowered windings (mN * m).
Definition: ximc.h:2519

home_settings_t::SlowHome
unsigned int SlowHome
Speed used for second motion (full steps).
Definition: ximc.h:1350

command_reset
result_t XIMC_API command_reset(device_t id)
Reset controller.

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.

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

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.

joystick_settings_t::JoyHighEnd
unsigned int JoyHighEnd
Joystick upper end position.
Definition: ximc.h:1906

motor_settings_t::WindingInductance
float WindingInductance
Inductance of windings for DC engines, inductance of each of two windings for stepper motors...
Definition: ximc.h:2516

stage_settings_t::TravelRange
float TravelRange
Travel range (Units).
Definition: ximc.h:2468

edges_settings_calb_t::BorderFlags
unsigned int BorderFlags
Border flags.
Definition: ximc.h:1631

globally_unique_identifier_t::UniqueID1
unsigned int UniqueID1
Unique ID 1.
Definition: ximc.h:2700

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).

measurements_t::Length
unsigned int Length
Actual sequence length.
Definition: ximc.h:2276

sync_in_settings_calb_t::ClutterTime
unsigned int ClutterTime
Input synchronization pulse dead time (us).
Definition: ximc.h:1705

status_t::CurT
int CurT
Temperature, tenths of degrees Celsius.
Definition: ximc.h:2224

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:2295

XIMC_CALLCONV
#define XIMC_CALLCONV
Library calling convention macros.
Definition: ximc.h:46

analog_data_t::B2Voltage_ADC
unsigned int B2Voltage_ADC
"Voltage on pin 2 winding B" raw data from ADC.
Definition: ximc.h:2362

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.

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

emf_settings_t::R
float R
Motor winding resistance.
Definition: ximc.h:2069

motor_settings_t::NominalVoltage
float NominalVoltage
Nominal voltage on winding (B).
Definition: ximc.h:2510

emf_settings_t
EMF settings.
Definition: ximc.h:2066

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.

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:2294

brake_settings_t::t4
unsigned int t4
Time in ms between turning on the brake and turning off motor power.
Definition: ximc.h:1796

secure_settings_t
This structure contains protection parameters: critical electrical values, flags for protection algor...
Definition: ximc.h:1577

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

sync_out_settings_t::SyncOutFlags
unsigned int SyncOutFlags
Flags of synchronization output.
Definition: ximc.h:1726

network_settings_t
Network settings.
Definition: ximc.h:1969

control_settings_calb_t
User unit control settings.
Definition: ximc.h:1861

globally_unique_identifier_t::UniqueID3
unsigned int UniqueID3
Unique ID 3.
Definition: ximc.h:2702

edges_settings_t::LeftBorder
int LeftBorder
Left border position, used if BORDER_IS_ENCODER flag is set.
Definition: ximc.h:1608

analog_data_t::B1Voltage
int B1Voltage
"Voltage on pin 1 winding B" calibrated data (in tens of mV).
Definition: ximc.h:2374

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.

engine_settings_t::MicrostepMode
unsigned int MicrostepMode
Flags of microstep mode.
Definition: ximc.h:1490

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

serial_number_t::Release
unsigned int Release
Number of edits this release of hardware.
Definition: ximc.h:2341

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

get_stage_name
result_t XIMC_API get_stage_name(device_t id, stage_name_t *stage_name)
Read the user&#39;s stage name from the EEPROM.

calibration_settings_t
Calibration settings.
Definition: ximc.h:2009

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

entype_settings_t::DriverType
unsigned int DriverType
Flags of driver type.
Definition: ximc.h:1543

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.

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

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

set_position_calb_t::Position
float Position
The position in the engine.
Definition: ximc.h:2191

engine_settings_calb_t::NomSpeed
float NomSpeed
Nominal speed.
Definition: ximc.h:1516

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:1752

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

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

analog_data_t::ACurrent
int ACurrent
"Winding A current" calibrated data (in mA).
Definition: ximc.h:2377

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

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.

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

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...

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

extio_settings_t::EXTIOModeFlags
unsigned int EXTIOModeFlags
External IO mode flags.
Definition: ximc.h:1774

analog_data_t::L
int L
Motor winding pseudo inductance in uH (is only used with stepper motors).
Definition: ximc.h:2386

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

accessories_settings_t::MBTorque
float MBTorque
Retention moment (mN * m).
Definition: ximc.h:2661

engine_settings_calb_t::EngineFlags
unsigned int EngineFlags
Flags of engine settings.
Definition: ximc.h:1517

motor_settings_t::MaxCurrentTime
float MaxCurrentTime
Safe duration of overcurrent in the winding (ms).
Definition: ximc.h:2526

brake_settings_t::BrakeFlags
unsigned int BrakeFlags
Brake settings flags.
Definition: ximc.h:1797

analog_data_t::Joy_ADC
unsigned int Joy_ADC
Joystick raw data from ADC.
Definition: ximc.h:2368

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.

XIMC_API
#define XIMC_API
Library import macro.
Definition: ximc.h:31

status_calb_t::MoveSts
unsigned int MoveSts
Flags of move state.
Definition: ximc.h:2244

command_save_robust_settings
result_t XIMC_API command_save_robust_settings(device_t id)
Save important settings (calibration coefficients, etc.) from the controller&#39;s RAM to the controller&#39;...

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.

control_settings_calb_t::MaxClickTime
unsigned int MaxClickTime
Maximum click time (in ms).
Definition: ximc.h:1865

power_settings_t::HoldCurrent
unsigned int HoldCurrent
Holding current, as percent of the nominal current.
Definition: ximc.h:1559

engine_settings_t::StepsPerRev
unsigned int StepsPerRev
Number of full steps per revolution (Used with stepper motor only).
Definition: ximc.h:1491

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

status_calb_t::CurT
int CurT
Temperature, tenths of degrees Celsius.
Definition: ximc.h:2256

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

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

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

analog_data_t::A2Voltage_ADC
unsigned int A2Voltage_ADC
"Voltage on pin 2 winding A" raw data from ADC.
Definition: ximc.h:2360

hallsensor_settings_t::MaxCurrentConsumption
float MaxCurrentConsumption
Maximum current consumption (mA).
Definition: ximc.h:2602

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

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

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

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

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.

edges_settings_t::EnderFlags
unsigned int EnderFlags
Limit switches flags.
Definition: ximc.h:1607

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

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.

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

brake_settings_t::t3
unsigned int t3
Time in ms between motor stop and the brake turning on.
Definition: ximc.h:1795

analog_data_t::BCurrent_ADC
unsigned int BCurrent_ADC
"Winding B current" raw data from ADC.
Definition: ximc.h:2365

sync_in_settings_t::uPosition
int uPosition
The fractional part of a position or shift in microsteps.
Definition: ximc.h:1683

status_calb_t::Iusb
int Iusb
USB current, mA.
Definition: ximc.h:2254

stage_settings_t
Deprecated.
Definition: ximc.h:2463

control_settings_calb_t::DeltaPosition
float DeltaPosition
Position shift (delta)
Definition: ximc.h:1867

globally_unique_identifier_t::UniqueID0
unsigned int UniqueID0
Unique ID 0.
Definition: ximc.h:2699

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:2297

sync_out_settings_t::SyncOutPulseSteps
unsigned int SyncOutPulseSteps
This value specifies the duration of output pulse.
Definition: ximc.h:1727

home_settings_calb_t::HomeFlags
unsigned int HomeFlags
Home settings flags.
Definition: ximc.h:1377

move_settings_calb_t::Accel
float Accel
Acceleration:
Definition: ximc.h:1427

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

sync_in_settings_calb_t::Position
float Position
Desired position or shift.
Definition: ximc.h:1706

engine_settings_calb_t::NomCurrent
unsigned int NomCurrent
Rated current (in mA).
Definition: ximc.h:1515

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

motor_settings_t::TorqueConstant
float TorqueConstant
Torque constant that determines the proportionality constant between the maximum rotor torque and cur...
Definition: ximc.h:2520

analog_data_t::Enc_Check
int Enc_Check
Voltage on encoder check line, exponentially filtrated ADC codes.
Definition: ximc.h:2383

analog_data_t::B2Voltage
int B2Voltage
"Voltage on pin 2 winding B" calibrated data (in tens of mV).
Definition: ximc.h:2375

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

init_random_t
Random key.
Definition: ximc.h:2683

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

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

calibration_t
Calibration structure.
Definition: ximc.h:296

analog_data_t::A2Voltage
int A2Voltage
"Voltage on pin 2 winding A" calibrated data (in tens of mV).
Definition: ximc.h:2373

stage_settings_t::MaxCurrentConsumption
float MaxCurrentConsumption
Maximum current consumption (A).
Definition: ximc.h:2471

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

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

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

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

move_settings_t
Move settings.
Definition: ximc.h:1391

status_t::uCurPosition
int uCurPosition
Step motor shaft position in microsteps.
Definition: ximc.h:2216

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

device_information_t::Release
unsigned int Release
Release version.
Definition: ximc.h:2322

controller_name_t
Controller name and settings flags.
Definition: ximc.h:2028

stage_information_t
Deprecated.
Definition: ximc.h:2446

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.

device_information_t::Minor
unsigned int Minor
The minor number of the hardware version.
Definition: ximc.h:2321

home_settings_t::HomeFlags
unsigned int HomeFlags
Home settings flags.
Definition: ximc.h:1354

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

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...

calibration_settings_t::CSS1_A
float CSS1_A
Scaling factor for the analog measurements of the A winding current.
Definition: ximc.h:2011

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

set_position_calb_t::PosFlags
unsigned int PosFlags
Position setting flags.
Definition: ximc.h:2193

joystick_settings_t::JoyLowEnd
unsigned int JoyLowEnd
Joystick lower end position.
Definition: ximc.h:1904

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

hallsensor_settings_t::MaxOperatingFrequency
float MaxOperatingFrequency
Maximum operation frequency (kHz).
Definition: ximc.h:2599

pid_settings_t::Kdf
float Kdf
Differential gain for BLDC position PID routine.
Definition: ximc.h:1661

get_position_calb_t::EncPosition
long_t EncPosition
Encoder position.
Definition: ximc.h:2154

device_information_t
Controller information structure.
Definition: ximc.h:2315

brake_settings_t
Brake settings.
Definition: ximc.h:1791

power_settings_t::CurrReductDelay
unsigned int CurrReductDelay
Time in ms from going to STOP state to the end of current reduction.
Definition: ximc.h:1560

status_calb_t
User unit device&#39;s state.
Definition: ximc.h:2242

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

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

analog_data_t::ACurrent_ADC
unsigned int ACurrent_ADC
"Winding A current" raw data from ADC.
Definition: ximc.h:2364

move_settings_t::MoveFlags
unsigned int MoveFlags
Flags of the motion parameters.
Definition: ximc.h:1399

command_eeread_settings
result_t XIMC_API command_eeread_settings(device_t id)
Read settings from the stage&#39;s EEPROM to the controller&#39;s RAM.

status_calb_t::CurPosition
float CurPosition
Current position.
Definition: ximc.h:2249

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

engine_settings_t::EngineFlags
unsigned int EngineFlags
Flags of engine settings.
Definition: ximc.h:1488

motor_settings_t::MechanicalTimeConstant
float MechanicalTimeConstant
Mechanical time constant (ms).
Definition: ximc.h:2523

command_read_robust_settings
result_t XIMC_API command_read_robust_settings(device_t id)
Read important settings (calibration coefficients, etc.) from the controller&#39;s flash memory to the co...

encoder_settings_t::MaxCurrentConsumption
float MaxCurrentConsumption
Max current consumption (mA).
Definition: ximc.h:2564

motor_settings_t::WindingResistance
float WindingResistance
Resistance of windings for DC engines, of each of two windings for stepper motors, or of each of three windings for BLDC engines (Ohm).
Definition: ximc.h:2515

motor_settings_t::Phases
unsigned int Phases
Number of phases for BLDC motors.
Definition: ximc.h:2509

motor_settings_t::MaxSpeed
float MaxSpeed
The maximum speed for stepper motors (steps/s) or DC and BLDC motors (rmp).
Definition: ximc.h:2524

stage_settings_t::LeadScrewPitch
float LeadScrewPitch
Lead screw pitch (mm).
Definition: ximc.h:2465

accessories_settings_t
Deprecated.
Definition: ximc.h:2656

control_settings_calb_t::Flags
unsigned int Flags
Control flags.
Definition: ximc.h:1866

move_settings_t::Decel
unsigned int Decel
Motor shaft deceleration, steps/s^2 (stepper motor) or RPM/s (DC).
Definition: ximc.h:1396

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.

motor_settings_t::NoLoadSpeed
float NoLoadSpeed
Idle speed (rpm).
Definition: ximc.h:2528

status_t::EncPosition
long_t EncPosition
Current encoder position.
Definition: ximc.h:2217

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

measurements_t
The structure contains a sequence of measured axis motion parameters - velocities and position errors...
Definition: ximc.h:2272

ctp_settings_t::CTPFlags
unsigned int CTPFlags
Position control flags.
Definition: ximc.h:1933

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

encoder_settings_t
Deprecated.
Definition: ximc.h:2559

set_brake_settings
result_t XIMC_API set_brake_settings(device_t id, const brake_settings_t *brake_settings)
Set brake control 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&#39;s firmware version.

uart_settings_t::Speed
unsigned int Speed
UART baudrate (in bauds)
Definition: ximc.h:1952

pid_settings_t::Kpf
float Kpf
Proportional gain for BLDC position PID routine.
Definition: ximc.h:1659

feedback_settings_t::IPS
unsigned int IPS
The number of encoder counts per shaft revolution.
Definition: ximc.h:1326

analog_data_t::Temp_ADC
unsigned int Temp_ADC
Voltage from temperature sensor, raw data from ADC.
Definition: ximc.h:2367

feedback_settings_t::FeedbackType
unsigned int FeedbackType
Feedback type.
Definition: ximc.h:1327

home_settings_t::uHomeDelta
int uHomeDelta
Fractional part of the delta distance, microsteps.
Definition: ximc.h:1353

status_calb_t::WindSts
unsigned int WindSts
Winding state.
Definition: ximc.h:2248

move_settings_calb_t::MoveFlags
unsigned int MoveFlags
Flags of the motion parameters.
Definition: ximc.h:1463

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

edges_settings_t::BorderFlags
unsigned int BorderFlags
Border flags.
Definition: ximc.h:1606

calibration_settings_t::FullCurrent_A
float FullCurrent_A
Scaling factor for the analog measurements of the full current.
Definition: ximc.h:2015

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. ...

analog_data_t::FullCurrent
int FullCurrent
"Full current" calibrated data (in mA).
Definition: ximc.h:2379

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

set_position_t::EncPosition
long_t EncPosition
Encoder position.
Definition: ximc.h:2173

gear_settings_t
Deprecated.
Definition: ximc.h:2634

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

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

emf_settings_t::L
float L
Motor winding inductance.
Definition: ximc.h:2068

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.).

status_calb_t::Ipwr
int Ipwr
Engine current, mA.
Definition: ximc.h:2252

gear_settings_t::RatedInputTorque
float RatedInputTorque
Maximum continuous torque (N * m).
Definition: ximc.h:2638

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.

chart_data_t::Pot
unsigned int Pot
Analog input value, dimensionless.
Definition: ximc.h:2300

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&#39;s flash memory. ...

secure_settings_t::CriticalUusb
unsigned int CriticalUusb
Deprecated.
Definition: ximc.h:1584

feedback_settings_t::FeedbackFlags
unsigned int FeedbackFlags
Describes feedback flags.
Definition: ximc.h:1328

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

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

sync_in_settings_t::Speed
unsigned int Speed
Target speed (for stepper motor: steps/s, for DC: rpm).
Definition: ximc.h:1684

get_position_t::uPosition
int uPosition
Microstep position is only used with stepper motors.
Definition: ximc.h:2134

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

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.

debug_read_t
Debug data.
Definition: ximc.h:2400

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

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

joystick_settings_t::JoyFlags
unsigned int JoyFlags
Joystick flags.
Definition: ximc.h:1909

move_settings_calb_t::Speed
float Speed
Speed.
Definition: ximc.h:1415

motor_settings_t::SpeedTorqueGradient
float SpeedTorqueGradient
Speed torque gradient (rpm / mN * m).
Definition: ximc.h:2522

analog_data_t::SupVoltage
int SupVoltage
"Supply voltage on the top of H-bridge&#39;s MOSFETs" calibrated data (in tens of mV).
Definition: ximc.h:2376

stage_settings_t::SupplyVoltageMin
float SupplyVoltageMin
Minimum supply voltage (V).
Definition: ximc.h:2469

power_settings_t
Step motor power settings.
Definition: ximc.h:1557

stage_name_t
Stage username.
Definition: ximc.h:2430

motor_settings_t::NominalPower
float NominalPower
Nominal power (W).
Definition: ximc.h:2514

engine_settings_calb_t::PeakCurrent
unsigned int PeakCurrent
Rated peak current (in mA).
Definition: ximc.h:1521

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

sync_in_settings_calb_t
User unit synchronization settings.
Definition: ximc.h:1702

home_settings_t
Position calibration settings.
Definition: ximc.h:1346

status_t::Flags
unsigned int Flags
Status flags.
Definition: ximc.h:2225

pid_settings_t::KdU
unsigned int KdU
Differential gain for voltage PID routine.
Definition: ximc.h:1658

status_calb_t::EncSts
unsigned int EncSts
Encoder state.
Definition: ximc.h:2247

edges_settings_calb_t::RightBorder
float RightBorder
Right border position, used if BORDER_IS_ENCODER flag is set.
Definition: ximc.h:1634

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

command_save_settings
result_t XIMC_API command_save_settings(device_t id)
Save all settings from the controller&#39;s RAM to the controller&#39;s flash memory, replacing previous data...

status_t
Device state.
Definition: ximc.h:2208

extio_settings_t
EXTIO settings.
Definition: ximc.h:1771

nonvolatile_memory_t
Structure contains user data to save into the FRAM.
Definition: ximc.h:2043

joystick_settings_t::ExpFactor
unsigned int ExpFactor
Exponential nonlinearity factor.
Definition: ximc.h:1907

encoder_information_t
Deprecated.
Definition: ximc.h:2542

status_calb_t::CmdBufFreeSpace
unsigned int CmdBufFreeSpace
This field is a service field.
Definition: ximc.h:2259

joystick_settings_t::JoyCenter
unsigned int JoyCenter
Joystick center position.
Definition: ximc.h:1905

serial_number_t::Minor
unsigned int Minor
The minor number of the hardware version.
Definition: ximc.h:2340

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

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

emf_settings_t::BackEMFFlags
unsigned int BackEMFFlags
Flags of auto-detection of characteristics of windings of the engine.
Definition: ximc.h:2071

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:1486

control_settings_t::DeltaPosition
int DeltaPosition
Position Shift (delta) (full step)
Definition: ximc.h:1832

get_hallsensor_information
result_t XIMC_API get_hallsensor_information(device_t id, hallsensor_information_t *hallsensor_information)
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&#39;s bootloader version.

sync_in_settings_calb_t::Speed
float Speed
Target speed.
Definition: ximc.h:1707

motor_settings_t::ReservedField
unsigned int ReservedField
Reserved.
Definition: ximc.h:2507

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:2299

serial_number_t
The structure contains a new serial number, hardware version, and valid key.
Definition: ximc.h:2335

power_settings_t::PowerFlags
unsigned int PowerFlags
Flags of power settings of stepper motor.
Definition: ximc.h:1563

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.

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.).

accessories_settings_t::MBSettings
unsigned int MBSettings
Magnetic brake settings flags.
Definition: ximc.h:2662

home_settings_calb_t::HomeDelta
float HomeDelta
Distance from break point.
Definition: ximc.h:1376

encoder_settings_t::PPR
unsigned int PPR
The number of counts per revolution.
Definition: ximc.h:2565

motor_settings_t
Deprecated.
Definition: ximc.h:2504

status_calb_t::Flags
unsigned int Flags
Status flags.
Definition: ximc.h:2257

engine_settings_t::Antiplay
int Antiplay
Number of pulses or steps for backlash (play) compensation procedure.
Definition: ximc.h:1489

chart_data_t::Joy
unsigned int Joy
The joystick position, dimensionless.
Definition: ximc.h:2301

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

get_controller_name
result_t XIMC_API get_controller_name(device_t id, controller_name_t *controller_name)
Read user&#39;s controller name and internal settings from the FRAM.

secure_settings_t::CriticalIpwr
unsigned int CriticalIpwr
Maximum motor current which triggers ALARM state, in mA.
Definition: ximc.h:1580

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

set_position_t::PosFlags
unsigned int PosFlags
Position setting flags.
Definition: ximc.h:2174

encoder_settings_t::EncoderSettings
unsigned int EncoderSettings
Encoder settings flags.
Definition: ximc.h:2566

extended_settings_t
EST settings This data is stored in the controller&#39;s flash memory.
Definition: ximc.h:2112

analog_data_t::Temp
int Temp
Temperature, calibrated data (in tenths of degrees Celsius).
Definition: ximc.h:2380

motor_information_t
Deprecated.
Definition: ximc.h:2487

extio_settings_t::EXTIOSetupFlags
unsigned int EXTIOSetupFlags
External IO setup flags.
Definition: ximc.h:1773

hallsensor_information_t
Deprecated.
Definition: ximc.h:2580

move_settings_t::Speed
unsigned int Speed
Target speed (for stepper motor: steps/s, for DC: rpm).
Definition: ximc.h:1393

globally_unique_identifier_t::UniqueID2
unsigned int UniqueID2
Unique ID 2.
Definition: ximc.h:2701

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:2298

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

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

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

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

controller_name_t::CtrlFlags
unsigned int CtrlFlags
Flags of internal controller settings.
Definition: ximc.h:2031

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

accessories_settings_t::MBRatedCurrent
float MBRatedCurrent
Rated current for controlling the magnetic brake (A).
Definition: ximc.h:2660

status_t::MvCmdSts
unsigned int MvCmdSts
Move command state.
Definition: ximc.h:2211

motor_settings_t::NominalTorque
float NominalTorque
Nominal torque (mN * m).
Definition: ximc.h:2513

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

set_controller_name
result_t XIMC_API set_controller_name(device_t id, const controller_name_t *controller_name)
Write user&#39;s controller name and internal settings to the FRAM.

hallsensor_settings_t::SupplyVoltageMin
float SupplyVoltageMin
Minimum supply voltage (V).
Definition: ximc.h:2600

pid_settings_t::Kif
float Kif
Integral gain for BLDC position PID routine.
Definition: ximc.h:1660

move_settings_calb_t::AntiplaySpeed
float AntiplaySpeed
Antiplay speed.
Definition: ximc.h:1451

get_position_calb_t::Position
float Position
The position in the engine.
Definition: ximc.h:2153

get_position_t::EncPosition
long_t EncPosition
Encoder position.
Definition: ximc.h:2135

move_settings_t::uSpeed
unsigned int uSpeed
Target speed in microstep fractions/s.
Definition: ximc.h:1394

gear_settings_t::MaxOutputBacklash
float MaxOutputBacklash
Output backlash of the reduction gear (degree).
Definition: ximc.h:2640

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

engine_advanced_setup_t::stepcloseloop_Kw
unsigned int stepcloseloop_Kw
Manufacturer only.
Definition: ximc.h:2092

edges_settings_calb_t
User unit edges settings.
Definition: ximc.h:1629

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.

accessories_settings_t::LimitSwitchesSettings
unsigned int LimitSwitchesSettings
Temperature sensor settings flags.
Definition: ximc.h:2668

motor_settings_t::RotorInertia
float RotorInertia
Rotor inertia (g * cm2).
Definition: ximc.h:2517

control_settings_t
Control settings.
Definition: ximc.h:1825

encoder_settings_t::MaxOperatingFrequency
float MaxOperatingFrequency
Maximum operation frequency (kHz).
Definition: ximc.h:2561

status_calb_t::Upwr
int Upwr
Power supply voltage, tens of mV.
Definition: ximc.h:2253

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

accessories_settings_t::TSMax
float TSMax
The maximum measured temperature (degrees Celsius) Data type: float.
Definition: ximc.h:2665

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

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

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

analog_data_t::B1Voltage_ADC
unsigned int B1Voltage_ADC
"Voltage on pin 1 winding B" raw data from ADC.
Definition: ximc.h:2361

set_position_calb_t
User unit position information.
Definition: ximc.h:2189

secure_settings_t::CriticalUpwr
unsigned int CriticalUpwr
Maximum motor voltage which triggers ALARM state, in tens of mV.
Definition: ximc.h:1581

analog_data_t::Pot_ADC
unsigned int Pot_ADC
Voltage on analog input, raw data from ADC.
Definition: ximc.h:2369

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.

control_settings_t::MaxClickTime
unsigned int MaxClickTime
Maximum click time (in ms).
Definition: ximc.h:1830

password_settings_t
The web-page user password.
Definition: ximc.h:1990

analog_data_t::SupVoltage_ADC
unsigned int SupVoltage_ADC
"Supply voltage of H-bridge&#39;s MOSFETs" raw data from ADC.
Definition: ximc.h:2363

engine_settings_t::PeakCurrent
unsigned int PeakCurrent
Rated peak current (in mA).
Definition: ximc.h:1492

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.

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.

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

status_calb_t::PWRSts
unsigned int PWRSts
Flags of power state of stepper motor.
Definition: ximc.h:2246

gear_settings_t::InputInertia
float InputInertia
Equivalent input gear inertia (g * cm2).
Definition: ximc.h:2641

set_position_t::uPosition
int uPosition
Microstep position is only used with stepper motors.
Definition: ximc.h:2172

sync_out_settings_t
Synchronization settings.
Definition: ximc.h:1724

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.

accessories_settings_t::TSGrad
float TSGrad
The temperature gradient (V/degrees Celsius).
Definition: ximc.h:2666

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.

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

stage_settings_t::MaxSpeed
float MaxSpeed
Maximum speed (Units/c).
Definition: ximc.h:2467

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:2511

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:1729

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

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.

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:1932

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.

status_t::Uusb
int Uusb
USB voltage, tens of mV.
Definition: ximc.h:2223

power_settings_t::PowerOffDelay
unsigned int PowerOffDelay
Time in s from going to STOP state to turning power off.
Definition: ximc.h:1561

serial_number_t::Major
unsigned int Major
The major number of the hardware version.
Definition: ximc.h:2339

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

status_t::MoveSts
unsigned int MoveSts
Flags of move state.
Definition: ximc.h:2210

brake_settings_t::t2
unsigned int t2
Time in ms between the brake turning off and moving readiness.
Definition: ximc.h:1794

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.

motor_settings_t::NominalSpeed
float NominalSpeed
Not used.
Definition: ximc.h:2512

engine_settings_calb_t::Antiplay
float Antiplay
Number of pulses or steps for backlash (play) compensation procedure.
Definition: ximc.h:1518

gear_settings_t::Efficiency
float Efficiency
Reduction gear efficiency (%).
Definition: ximc.h:2642

pid_settings_t
PID settings.
Definition: ximc.h:1654

control_settings_t::Flags
unsigned int Flags
Control flags.
Definition: ximc.h:1831

sync_in_settings_t
Synchronization settings.
Definition: ximc.h:1678

analog_data_t::Pot
int Pot
Analog input, calibrated data.
Definition: ximc.h:2382

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

analog_data_t::A1Voltage_ADC
unsigned int A1Voltage_ADC
"Voltage on pin 1 winding A" raw data from ADC.
Definition: ximc.h:2359

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.

joystick_settings_t
Joystick settings.
Definition: ximc.h:1902

set_position_calb_t::EncPosition
long_t EncPosition
Encoder position.
Definition: ximc.h:2192

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

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.

gear_settings_t::ReductionOut
float ReductionOut
Output reduction coefficient.
Definition: ximc.h:2637

secure_settings_t::CriticalIusb
unsigned int CriticalIusb
Deprecated.
Definition: ximc.h:1583

pchar
char * pchar
Nevermind.
Definition: ximc.h:5287

engine_advanced_setup_t
EAS settings.
Definition: ximc.h:2090

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:2518

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.

get_position_t::Position
int Position
The position of the whole steps in the engine.
Definition: ximc.h:2133