26 #ifndef OPENEL_MOTOR_H_    27 #define OPENEL_MOTOR_H_    31 #define ELMOTOR_PROPERTY (0x0010)    37 #define ELMOTOR_CTL_NON         (0)     38 #define ELMOTOR_CTL_TORQUE      (1)     39 #define ELMOTOR_CTL_SPEED       (2)     40 #define ELMOTOR_CTL_POSITION    (3)     46 #define ELRETURN_OK             (0)    47 #define ELRETURN_ERR_NC         (-256 + 1)      48 #define ELRETURN_ERR_PORT       (-256 + 2)      49 #define ELRETURN_ERR_PRM        (-256 + 3)      50 #define ELRETURN_ERR_NM         (-256 + 4)      55 #define ELMOTOR_PRM_SW_INT_FL   (8)         56 #define ELMOTOR_PRM_SW_INC_ABS  (16)        57 #define ELMOTOR_PRM_RESO_BASE   (18)        58 #define ELMOTOR_PRM_N_MUL_GEAR  (20)        59 #define ELMOTOR_PRM_N_DIV_GEAR  (22)        60 #define ELMOTOR_PRM_ONE_TURN    (24)        61 #define ELMOTOR_PRM_K_MOVE      (28)        62 #define ELMOTOR_PRM_TORQUE_MAX_I32  (32)        63 #define ELMOTOR_PRM_TORQUE_MAX_F64  (36)        64 #define ELMOTOR_PRM_TORQUE_LIM      (40)        65 #define ELMOTOR_PRM_TORQUE_LIM_STOP (41)        68 #define ELMOTOR_EVENT_ARRIVE_POSITION   (0)    69 #define ELMOTOR_EVENT_PASSAGE_POSITION  (1)    70 #define ELMOTOR_EVENT_ARRIVE_SPEED      (2)    76 typedef struct elMotorSigIn_st {
    79     uint32_t _vender_specific:16;   
    86 typedef struct elMotorSigOut_st {
    89     uint32_t _not_use_0:6;  
    95     uint32_t _not_use_1:4;  
    97     uint32_t _vender_specific:16;   
   104 typedef void (*ELMOTOR_P_FNC_CALLBACK)(uint32_t portID,uint32_t eventID); 
   165 int32_t elMotorSetCtlMode(uint32_t portID,uint32_t mode);
   180 int32_t elMotorGetCtlMode(uint32_t portID,uint32_t *pMode);
   199 int32_t elMotorSetPosition_I32(uint32_t portID,int32_t position,int32_t speed,int32_t tmAcc);
   218 int32_t elMotorSetPosition_F64(uint32_t portID,
double position,
double speed,
double tmAcc);
   235 int32_t elMotorSetSpeed_I32(uint32_t portID,int32_t speed,int32_t tmAcc);
   253 int32_t elMotorSetSpeed_F64( uint32_t portID,
double speed,
double tmAcc);
   267 int32_t elMotorSetTorque_I32(uint32_t portID,int32_t torque);
   282 int32_t elMotorSetTorque_F64(uint32_t portID,
double torque);
   303 int32_t elMotorSetBrake_I32(uint32_t portID,uint32_t ctlAftBrk,int32_t tmDec);
   319 int32_t elMotorSetBrake_F64(uint32_t portID,uint32_t ctlAftBrk,
double tmDec);
   334 int32_t elMotorGetBrake(uint32_t portID,uint32_t *pFlagBrake);
   348 int32_t elMotorPreSetPosition_I32(uint32_t portID,int32_t pos);
   362 int32_t elMotorPreSetPosition_F64(uint32_t portID,
double pos);
   379 int32_t elMotorGetPosition_I32(uint32_t portID,uint32_t idx,int32_t *pPosition);
   395 int32_t elMotorGetPosition_F64(uint32_t portID,uint32_t idx,
double  *pPosition);
   412 int32_t elMotorGetSpeed_I32(uint32_t portID,int32_t idx,int32_t *pOutSpeed);
   428 int32_t elMotorGetSpeed_F64(uint32_t portID,int32_t idx,
double  *pOutSpeed);
   440 int32_t elMotorGoHome_I32(uint32_t portID,uint32_t idx,int32_t speed);
   441 int32_t elMotorGoHome_F64(uint32_t portID,uint32_t idx,
double speed);
   449 int32_t elMotorSetCallBack_I32(uint32_t portID,uint32_t eventID,ELMOTOR_P_FNC_CALLBACK pFncCB,int32_t val);
   450 int32_t elMotorSetCallBack_F64(uint32_t portID,uint32_t eventID,ELMOTOR_P_FNC_CALLBACK pFncCB,
double val);
   461 int32_t elMotorSetParam_U16(uint32_t portID,uint32_t prmID,uint16_t val);
   462 int32_t elMotorSetParam_I16(uint32_t portID,uint32_t prmID,int16_t  val);
   463 int32_t elMotorSetParam_U32(uint32_t portID,uint32_t prmID,uint32_t val);
   464 int32_t elMotorSetParam_I32(uint32_t portID,uint32_t prmID,uint32_t val);
   465 int32_t elMotorSetParam_I64(uint32_t portID,uint32_t prmID,uint64_t val);
   466 int32_t elMotorSetParam_U64(uint32_t portID,uint32_t prmID,uint64_t val);
   467 int32_t elMotorSetParam_F32(uint32_t portID,uint32_t prmID,
float    val);
   468 int32_t elMotorSetParam_F64(uint32_t portID,uint32_t prmID,
double   val);
   476 int32_t elMotorGetParam_U16(uint32_t portID,uint32_t prmID,uint16_t *pOutVal);
   477 int32_t elMotorGetParam_I16(uint32_t portID,uint32_t prmID,int16_t  *pOutVal);
   478 int32_t elMotorGetParam_U32(uint32_t portID,uint32_t prmID,uint32_t *pOutVal);
   479 int32_t elMotorGetParam_I32(uint32_t portID,uint32_t prmID,int32_t  *pOutVal);
   480 int32_t elMotorGetParam_U64(uint32_t portID,uint32_t prmID,uint64_t *pOutVal);
   481 int32_t elMotorGetParam_I64(uint32_t portID,uint32_t prmID,int64_t  *pOutVal);
   482 int32_t elMotorGetParam_F32(uint32_t portID,uint32_t prmID,
float    *pOutVal);
   483 int32_t elMotorGetParam_F64(uint32_t portID,uint32_t prmID,
double   *pOutVal);
 enum ReturnCode(* pFncDummy14)()
enum ReturnCode(* pFncDummy1A)()
enum ReturnCode(* pFncAddObserver)()
enum ReturnCode(* pFncInit)()
enum ReturnCode(* pFncDummy1B)()
OpenEL Common Header File  3.0.0. 
enum ReturnCode(* pFncDummy1F)()
enum ReturnCode(* pFncFinalize)()
enum ReturnCode(* pFncDummy10)()
enum ReturnCode(* pFncReInit)()
enum ReturnCode(* pFncDummy19)()
enum ReturnCode(* pFncDummy16)()
enum ReturnCode(* pFncDummy17)()
enum ReturnCode(* pFncDummy07)()
enum ReturnCode(* pFncDummy0F)()
enum ReturnCode(* pFncDummy1D)()
enum ReturnCode(* pFncGetTime)()
enum ReturnCode(* pFncDummy0E)()
enum ReturnCode(* pFncDummy1C)()
enum ReturnCode(* pFncDummy0A)()
enum ReturnCode(* pFncGetProperty)()
enum ReturnCode(* pFncDummy0C)()
enum ReturnCode(* pFncDummy1E)()
enum ReturnCode(* pFncRemoveObserver)()
struct elMotorFncTblSt ELMOTOR_FNC_TBL_T
enum ReturnCode(* pFncDummy12)()
enum ReturnCode(* pFncGetPosition)(HALCOMPONENT_T **halComponent, halfloat **position)
enum ReturnCode(* pFncDummy13)()
enum ReturnCode(* pFncDummy15)()
enum ReturnCode(* pFncDummy0D)()
enum ReturnCode(* pFncSetPosition)(HALCOMPONENT_T **halComponent, halfloat position)
enum ReturnCode(* pFncDummy18)()
enum ReturnCode(* pFncDummy0B)()
enum ReturnCode(* pFncDummy11)()