/************************************************************************************************************************************* ** maxon motor ag, CH-6072 Sachseln ************************************************************************************************************************************** ** ** FILE: Definitions.h ** ** Summary: Functions for Linux shared library ** ** Date: 11.2018 ** Target: x86, x86_64, arm (sf,hf,aarch64) ** Devices: EPOS, EPOS2, EPOS4 ** Written by: maxon motor ag, CH-6072 Sachseln ** *************************************************************************************************************************************/ #ifndef _H_LINUX_EPOSCMD_ #define _H_LINUX_EPOSCMD_ //Communication int CreateCommunication(); int DeleteCommunication(); // INITIALISATION FUNCTIONS #define Initialisation_DllExport extern "C" #define HelpFunctions_DllExport extern "C" // CONFIGURATION FUNCTIONS #define Configuration_DllExport extern "C" // OPERATION FUNCTIONS #define Status_DllExport extern "C" #define StateMachine_DllExport extern "C" #define ErrorHandling_DllExport extern "C" #define MotionInfo_DllExport extern "C" #define ProfilePositionMode_DllExport extern "C" #define ProfileVelocityMode_DllExport extern "C" #define HomingMode_DllExport extern "C" #define InterpolatedPositionMode_DllExport extern "C" #define PositionMode_DllExport extern "C" #define VelocityMode_DllExport extern "C" #define CurrentMode_DllExport extern "C" #define MasterEncoderMode_DllExport extern "C" #define StepDirectionMode_DllExport extern "C" #define InputsOutputs_DllExport extern "C" // LOW LAYER FUNCTIONS #define CanLayer_DllExport extern "C" /************************************************************************************************************************************* * INITIALISATION FUNCTIONS *************************************************************************************************************************************/ //Communication Initialisation_DllExport void* VCS_OpenDevice(char* DeviceName, char* ProtocolStackName, char* InterfaceName, char* PortName, unsigned int* pErrorCode); Initialisation_DllExport int VCS_SetProtocolStackSettings(void* KeyHandle, unsigned int Baudrate, unsigned int Timeout, unsigned int* pErrorCode); Initialisation_DllExport int VCS_GetProtocolStackSettings(void* KeyHandle, unsigned int* pBaudrate, unsigned int* pTimeout, unsigned int* pErrorCode); Initialisation_DllExport int VCS_CloseDevice(void* KeyHandle, unsigned int* pErrorCode); Initialisation_DllExport int VCS_CloseAllDevices(unsigned int* pErrorCode); //Gateway Initialisation_DllExport int VCS_SetGatewaySettings(void* KeyHandle, unsigned int Baudrate, unsigned int* pErrorCode); Initialisation_DllExport int VCS_GetGatewaySettings(void* KeyHandle, unsigned int* pBaudrate, unsigned int* pErrorCode); //Sub device Initialisation_DllExport void* VCS_OpenSubDevice(void* DeviceHandle, char* DeviceName, char* ProtocolStackName, unsigned int* pErrorCode); Initialisation_DllExport int VCS_CloseSubDevice(void* KeyHandle, unsigned int* pErrorCode); Initialisation_DllExport int VCS_CloseAllSubDevices(void* DeviceHandle, unsigned int* pErrorCode); //Info HelpFunctions_DllExport int VCS_GetDriverInfo(char* p_pszLibraryName, unsigned short p_usMaxLibraryNameStrSize,char* p_pszLibraryVersion, unsigned short p_usMaxLibraryVersionStrSize, unsigned int* p_pErrorCode); HelpFunctions_DllExport int VCS_GetVersion(void* KeyHandle, unsigned short NodeId, unsigned short* pHardwareVersion, unsigned short* pSoftwareVersion, unsigned short* pApplicationNumber, unsigned short* pApplicationVersion, unsigned int* pErrorCode); HelpFunctions_DllExport int VCS_GetErrorInfo(unsigned int ErrorCodeValue, char* pErrorInfo, unsigned short MaxStrSize); //Advanced Functions HelpFunctions_DllExport int VCS_GetDeviceNameSelection(int StartOfSelection, char* pDeviceNameSel, unsigned short MaxStrSize, int* pEndOfSelection, unsigned int* pErrorCode); HelpFunctions_DllExport int VCS_GetProtocolStackNameSelection(char* DeviceName, int StartOfSelection, char* pProtocolStackNameSel, unsigned short MaxStrSize, int* pEndOfSelection, unsigned int* pErrorCode); HelpFunctions_DllExport int VCS_GetInterfaceNameSelection(char* DeviceName, char* ProtocolStackName, int StartOfSelection, char* pInterfaceNameSel, unsigned short MaxStrSize, int* pEndOfSelection, unsigned int* pErrorCode); HelpFunctions_DllExport int VCS_GetPortNameSelection(char* DeviceName, char* ProtocolStackName, char* InterfaceName, int StartOfSelection, char* pPortSel, unsigned short MaxStrSize, int* pEndOfSelection, unsigned int* pErrorCode); HelpFunctions_DllExport int VCS_ResetPortNameSelection(char* DeviceName, char* ProtocolStackName, char* InterfaceName, unsigned int* pErrorCode); HelpFunctions_DllExport int VCS_GetBaudrateSelection(char* DeviceName, char* ProtocolStackName, char* InterfaceName, char* PortName, int StartOfSelection, unsigned int* pBaudrateSel, int* pEndOfSelection, unsigned int* pErrorCode); HelpFunctions_DllExport int VCS_GetKeyHandle(char* DeviceName, char* ProtocolStackName, char* InterfaceName, char* PortName, void** pKeyHandle, unsigned int* pErrorCode); HelpFunctions_DllExport int VCS_GetDeviceName(void* KeyHandle, char* pDeviceName, unsigned short MaxStrSize, unsigned int* pErrorCode); HelpFunctions_DllExport int VCS_GetProtocolStackName(void* KeyHandle, char* pProtocolStackName, unsigned short MaxStrSize, unsigned int* pErrorCode); HelpFunctions_DllExport int VCS_GetInterfaceName(void* KeyHandle, char* pInterfaceName, unsigned short MaxStrSize, unsigned int* pErrorCode); HelpFunctions_DllExport int VCS_GetPortName(void* KeyHandle, char* pPortName, unsigned short MaxStrSize, unsigned int* pErrorCode); /************************************************************************************************************************************* * CONFIGURATION FUNCTIONS *************************************************************************************************************************************/ //General Configuration_DllExport int VCS_SetObject(void* KeyHandle, unsigned short NodeId, unsigned short ObjectIndex, unsigned char ObjectSubIndex, void* pData, unsigned int NbOfBytesToWrite, unsigned int* pNbOfBytesWritten, unsigned int* pErrorCode); Configuration_DllExport int VCS_GetObject(void* KeyHandle, unsigned short NodeId, unsigned short ObjectIndex, unsigned char ObjectSubIndex, void* pData, unsigned int NbOfBytesToRead, unsigned int* pNbOfBytesRead, unsigned int* pErrorCode); Configuration_DllExport int VCS_Restore(void* KeyHandle, unsigned short NodeId, unsigned int* pErrorCode); Configuration_DllExport int VCS_Store(void* KeyHandle, unsigned short NodeId, unsigned int* pErrorCode); //Advanced Functions //Motor Configuration_DllExport int VCS_SetMotorType(void* KeyHandle, unsigned short NodeId, unsigned short MotorType, unsigned int* pErrorCode); Configuration_DllExport int VCS_SetDcMotorParameter(void* KeyHandle, unsigned short NodeId, unsigned short NominalCurrent, unsigned short MaxOutputCurrent, unsigned short ThermalTimeConstant, unsigned int* pErrorCode); Configuration_DllExport int VCS_SetDcMotorParameterEx(void* KeyHandle, unsigned short NodeId, unsigned int NominalCurrent, unsigned int MaxOutputCurrent, unsigned short ThermalTimeConstant, unsigned int* pErrorCode); Configuration_DllExport int VCS_SetEcMotorParameter(void* KeyHandle, unsigned short NodeId, unsigned short NominalCurrent, unsigned short MaxOutputCurrent, unsigned short ThermalTimeConstant, unsigned char NbOfPolePairs, unsigned int* pErrorCode); Configuration_DllExport int VCS_SetEcMotorParameterEx(void* KeyHandle, unsigned short NodeId, unsigned int NominalCurrent, unsigned int MaxOutputCurrent, unsigned short ThermalTimeConstant, unsigned char NbOfPolePairs, unsigned int* pErrorCode); Configuration_DllExport int VCS_GetMotorType(void* KeyHandle, unsigned short NodeId, unsigned short* pMotorType, unsigned int* pErrorCode); Configuration_DllExport int VCS_GetDcMotorParameter(void* KeyHandle, unsigned short NodeId, unsigned short* pNominalCurrent, unsigned short* pMaxOutputCurrent, unsigned short* pThermalTimeConstant, unsigned int* pErrorCode); Configuration_DllExport int VCS_GetDcMotorParameterEx(void* KeyHandle, unsigned short NodeId, unsigned int* pNominalCurrent, unsigned int* pMaxOutputCurrent, unsigned short* pThermalTimeConstant, unsigned int* pErrorCode); Configuration_DllExport int VCS_GetEcMotorParameter(void* KeyHandle, unsigned short NodeId, unsigned short* pNominalCurrent, unsigned short* pMaxOutputCurrent, unsigned short* pThermalTimeConstant, unsigned char* pNbOfPolePairs, unsigned int* pErrorCode); Configuration_DllExport int VCS_GetEcMotorParameterEx(void* KeyHandle, unsigned short NodeId, unsigned int* pNominalCurrent, unsigned int* pMaxOutputCurrent, unsigned short* pThermalTimeConstant, unsigned char* pNbOfPolePairs, unsigned int* pErrorCode); //Sensor Configuration_DllExport int VCS_SetSensorType(void* KeyHandle, unsigned short NodeId, unsigned short SensorType, unsigned int* pErrorCode); Configuration_DllExport int VCS_SetIncEncoderParameter(void* KeyHandle, unsigned short NodeId, unsigned int EncoderResolution, int InvertedPolarity, unsigned int* pErrorCode); Configuration_DllExport int VCS_SetHallSensorParameter(void* KeyHandle, unsigned short NodeId, int InvertedPolarity, unsigned int* pErrorCode); Configuration_DllExport int VCS_SetSsiAbsEncoderParameter(void* KeyHandle, unsigned short NodeId, unsigned short DataRate, unsigned short NbOfMultiTurnDataBits, unsigned short NbOfSingleTurnDataBits, int InvertedPolarity, unsigned int* pErrorCode); Configuration_DllExport int VCS_SetSsiAbsEncoderParameterEx(void* KeyHandle, unsigned short NodeId, unsigned short DataRate, unsigned short NbOfMultiTurnDataBits, unsigned short NbOfSingleTurnDataBits, unsigned short NbOfSpecialDataBits, int InvertedPolarity, unsigned short Timeout, unsigned short PowerupTime, unsigned int* pErrorCode); Configuration_DllExport int VCS_GetSensorType(void* KeyHandle, unsigned short NodeId, unsigned short* pSensorType, unsigned int* pErrorCode); Configuration_DllExport int VCS_GetIncEncoderParameter(void* KeyHandle, unsigned short NodeId, unsigned int* pEncoderResolution, int* pInvertedPolarity, unsigned int* pErrorCode); Configuration_DllExport int VCS_GetHallSensorParameter(void* KeyHandle, unsigned short NodeId, int* pInvertedPolarity, unsigned int* pErrorCode); Configuration_DllExport int VCS_GetSsiAbsEncoderParameter(void* KeyHandle, unsigned short NodeId, unsigned short* pDataRate, unsigned short* pNbOfMultiTurnDataBits, unsigned short* pNbOfSingleTurnDataBits, int* pInvertedPolarity, unsigned int* pErrorCode); Configuration_DllExport int VCS_GetSsiAbsEncoderParameterEx(void* KeyHandle, unsigned short NodeId, unsigned short* pDataRate, unsigned short* pNbOfMultiTurnDataBits, unsigned short* pNbOfSingleTurnDataBits, unsigned short* pNbOfSpecialDataBits, int* pInvertedPolarity, unsigned short* pTimeout, unsigned short* pPowerupTime, unsigned int* pErrorCode); //Safety Configuration_DllExport int VCS_SetMaxFollowingError(void* KeyHandle, unsigned short NodeId, unsigned int MaxFollowingError, unsigned int* pErrorCode); Configuration_DllExport int VCS_GetMaxFollowingError(void* KeyHandle, unsigned short NodeId, unsigned int* pMaxFollowingError, unsigned int* pErrorCode); Configuration_DllExport int VCS_SetMaxProfileVelocity(void* KeyHandle, unsigned short NodeId, unsigned int MaxProfileVelocity, unsigned int* pErrorCode); Configuration_DllExport int VCS_GetMaxProfileVelocity(void* KeyHandle, unsigned short NodeId, unsigned int* pMaxProfileVelocity, unsigned int* pErrorCode); Configuration_DllExport int VCS_SetMaxAcceleration(void* KeyHandle, unsigned short NodeId, unsigned int MaxAcceleration, unsigned int* pErrorCode); Configuration_DllExport int VCS_GetMaxAcceleration(void* KeyHandle, unsigned short NodeId, unsigned int* pMaxAcceleration, unsigned int* pErrorCode); //Controller Gains Configuration_DllExport int VCS_SetControllerGain(void* KeyHandle, unsigned short NodeId, unsigned short EController, unsigned short EGain, unsigned long long Value, unsigned int* pErrorCode); Configuration_DllExport int VCS_GetControllerGain(void* KeyHandle, unsigned short NodeId, unsigned short EController, unsigned short EGain, unsigned long long* pValue, unsigned int* pErrorCode); //Inputs/Outputs Configuration_DllExport int VCS_DigitalInputConfiguration(void* KeyHandle, unsigned short NodeId, unsigned short DigitalInputNb, unsigned short Configuration, int Mask, int Polarity, int ExecutionMask, unsigned int* pErrorCode); Configuration_DllExport int VCS_DigitalOutputConfiguration(void* KeyHandle, unsigned short NodeId, unsigned short DigitalOutputNb, unsigned short Configuration, int State, int Mask, int Polarity, unsigned int* pErrorCode); Configuration_DllExport int VCS_AnalogInputConfiguration(void* KeyHandle, unsigned short NodeId, unsigned short AnalogInputNb, unsigned short Configuration, int ExecutionMask, unsigned int* pErrorCode); Configuration_DllExport int VCS_AnalogOutputConfiguration(void* KeyHandle, unsigned short NodeId, unsigned short AnalogOutputNb, unsigned short Configuration, unsigned int* pErrorCode); //Units Configuration_DllExport int VCS_SetVelocityUnits(void* KeyHandle, unsigned short NodeId, unsigned char VelDimension, signed char VelNotation, unsigned int* pErrorCode); Configuration_DllExport int VCS_GetVelocityUnits(void* KeyHandle, unsigned short NodeId, unsigned char* pVelDimension, char* pVelNotation, unsigned int* pErrorCode); //Compatibility Functions (do not use) Configuration_DllExport int VCS_SetPositionRegulatorGain(void* KeyHandle, unsigned short NodeId, unsigned short P, unsigned short I, unsigned short D, unsigned int* pErrorCode); Configuration_DllExport int VCS_SetPositionRegulatorFeedForward(void* KeyHandle, unsigned short NodeId, unsigned short VelocityFeedForward, unsigned short AccelerationFeedForward, unsigned int* pErrorCode); Configuration_DllExport int VCS_GetPositionRegulatorGain(void* KeyHandle, unsigned short NodeId, unsigned short* pP, unsigned short* pI, unsigned short* pD, unsigned int* pErrorCode); Configuration_DllExport int VCS_GetPositionRegulatorFeedForward(void* KeyHandle, unsigned short NodeId, unsigned short* pVelocityFeedForward, unsigned short* pAccelerationFeedForward, unsigned int* pErrorCode); Configuration_DllExport int VCS_SetVelocityRegulatorGain(void* KeyHandle, unsigned short NodeId, unsigned short P, unsigned short I, unsigned int* pErrorCode); Configuration_DllExport int VCS_SetVelocityRegulatorFeedForward(void* KeyHandle, unsigned short NodeId, unsigned short VelocityFeedForward, unsigned short AccelerationFeedForward, unsigned int* pErrorCode); Configuration_DllExport int VCS_GetVelocityRegulatorGain(void* KeyHandle, unsigned short NodeId, unsigned short* pP, unsigned short* pI, unsigned int* pErrorCode); Configuration_DllExport int VCS_GetVelocityRegulatorFeedForward(void* KeyHandle, unsigned short NodeId, unsigned short* pVelocityFeedForward, unsigned short* pAccelerationFeedForward, unsigned int* pErrorCode); Configuration_DllExport int VCS_SetCurrentRegulatorGain(void* KeyHandle, unsigned short NodeId, unsigned short P, unsigned short I, unsigned int* pErrorCode); Configuration_DllExport int VCS_GetCurrentRegulatorGain(void* KeyHandle, unsigned short NodeId, unsigned short* pP, unsigned short* pI, unsigned int* pErrorCode); /************************************************************************************************************************************* * OPERATION FUNCTIONS *************************************************************************************************************************************/ //OperationMode Status_DllExport int VCS_SetOperationMode(void* KeyHandle, unsigned short NodeId, char OperationMode, unsigned int* pErrorCode); Status_DllExport int VCS_GetOperationMode(void* KeyHandle, unsigned short NodeId, char* pOperationMode, unsigned int* pErrorCode); //StateMachine StateMachine_DllExport int VCS_ResetDevice(void* KeyHandle, unsigned short NodeId, unsigned int* pErrorCode); StateMachine_DllExport int VCS_SetState(void* KeyHandle, unsigned short NodeId, unsigned short State, unsigned int* pErrorCode); StateMachine_DllExport int VCS_SetEnableState(void* KeyHandle, unsigned short NodeId, unsigned int* pErrorCode); StateMachine_DllExport int VCS_SetDisableState(void* KeyHandle, unsigned short NodeId, unsigned int* pErrorCode); StateMachine_DllExport int VCS_SetQuickStopState(void* KeyHandle, unsigned short NodeId, unsigned int* pErrorCode); StateMachine_DllExport int VCS_ClearFault(void* KeyHandle, unsigned short NodeId, unsigned int* pErrorCode); StateMachine_DllExport int VCS_GetState(void* KeyHandle, unsigned short NodeId, unsigned short* pState, unsigned int* pErrorCode); StateMachine_DllExport int VCS_GetEnableState(void* KeyHandle, unsigned short NodeId, int* pIsEnabled, unsigned int* pErrorCode); StateMachine_DllExport int VCS_GetDisableState(void* KeyHandle, unsigned short NodeId, int* pIsDisabled, unsigned int* pErrorCode); StateMachine_DllExport int VCS_GetQuickStopState(void* KeyHandle, unsigned short NodeId, int* pIsQuickStopped, unsigned int* pErrorCode); StateMachine_DllExport int VCS_GetFaultState(void* KeyHandle, unsigned short NodeId, int* pIsInFault, unsigned int* pErrorCode); //ErrorHandling ErrorHandling_DllExport int VCS_GetNbOfDeviceError(void* KeyHandle, unsigned short NodeId, unsigned char *pNbDeviceError, unsigned int *pErrorCode); ErrorHandling_DllExport int VCS_GetDeviceErrorCode(void* KeyHandle, unsigned short NodeId, unsigned char DeviceErrorNumber, unsigned int *pDeviceErrorCode, unsigned int *pErrorCode); //Motion Info MotionInfo_DllExport int VCS_GetMovementState(void* KeyHandle, unsigned short NodeId, int* pTargetReached, unsigned int* pErrorCode); MotionInfo_DllExport int VCS_GetPositionIs(void* KeyHandle, unsigned short NodeId, int* pPositionIs, unsigned int* pErrorCode); MotionInfo_DllExport int VCS_GetVelocityIs(void* KeyHandle, unsigned short NodeId, int* pVelocityIs, unsigned int* pErrorCode); MotionInfo_DllExport int VCS_GetVelocityIsAveraged(void* KeyHandle, unsigned short NodeId, int* pVelocityIsAveraged, unsigned int* pErrorCode); MotionInfo_DllExport int VCS_GetCurrentIs(void* KeyHandle, unsigned short NodeId, short* pCurrentIs, unsigned int* pErrorCode); MotionInfo_DllExport int VCS_GetCurrentIsEx(void* KeyHandle, unsigned short NodeId, int* pCurrentIs, unsigned int* pErrorCode); MotionInfo_DllExport int VCS_GetCurrentIsAveraged(void* KeyHandle, unsigned short NodeId, short* pCurrentIsAveraged, unsigned int* pErrorCode); MotionInfo_DllExport int VCS_GetCurrentIsAveragedEx(void* KeyHandle, unsigned short NodeId, int* pCurrentIsAveraged, unsigned int* pErrorCode); MotionInfo_DllExport int VCS_WaitForTargetReached(void* KeyHandle, unsigned short NodeId, unsigned int Timeout, unsigned int* pErrorCode); //Profile Position Mode ProfilePositionMode_DllExport int VCS_ActivateProfilePositionMode(void* KeyHandle, unsigned short NodeId, unsigned int* pErrorCode); ProfilePositionMode_DllExport int VCS_SetPositionProfile(void* KeyHandle, unsigned short NodeId, unsigned int ProfileVelocity, unsigned int ProfileAcceleration, unsigned int ProfileDeceleration, unsigned int* pErrorCode); ProfilePositionMode_DllExport int VCS_GetPositionProfile(void* KeyHandle, unsigned short NodeId, unsigned int* pProfileVelocity, unsigned int* pProfileAcceleration, unsigned int* pProfileDeceleration, unsigned int* pErrorCode); ProfilePositionMode_DllExport int VCS_MoveToPosition(void* KeyHandle, unsigned short NodeId, long TargetPosition, int Absolute, int Immediately, unsigned int* pErrorCode); ProfilePositionMode_DllExport int VCS_GetTargetPosition(void* KeyHandle, unsigned short NodeId, long* pTargetPosition, unsigned int* pErrorCode); ProfilePositionMode_DllExport int VCS_HaltPositionMovement(void* KeyHandle, unsigned short NodeId, unsigned int* pErrorCode); //Advanced Functions ProfilePositionMode_DllExport int VCS_EnablePositionWindow(void* KeyHandle, unsigned short NodeId, unsigned int PositionWindow, unsigned short PositionWindowTime, unsigned int* pErrorCode); ProfilePositionMode_DllExport int VCS_DisablePositionWindow(void* KeyHandle, unsigned short NodeId, unsigned int* pErrorCode); //Profile Velocity Mode ProfileVelocityMode_DllExport int VCS_ActivateProfileVelocityMode(void* KeyHandle, unsigned short NodeId, unsigned int* pErrorCode); ProfileVelocityMode_DllExport int VCS_SetVelocityProfile(void* KeyHandle, unsigned short NodeId, unsigned int ProfileAcceleration, unsigned int ProfileDeceleration, unsigned int* pErrorCode); ProfileVelocityMode_DllExport int VCS_GetVelocityProfile(void* KeyHandle, unsigned short NodeId, unsigned int* pProfileAcceleration, unsigned int* pProfileDeceleration, unsigned int* pErrorCode); ProfileVelocityMode_DllExport int VCS_MoveWithVelocity(void* KeyHandle, unsigned short NodeId, long TargetVelocity, unsigned int* pErrorCode); ProfileVelocityMode_DllExport int VCS_GetTargetVelocity(void* KeyHandle, unsigned short NodeId, long* pTargetVelocity, unsigned int* pErrorCode); ProfileVelocityMode_DllExport int VCS_HaltVelocityMovement(void* KeyHandle, unsigned short NodeId, unsigned int* pErrorCode); //Advanced Functions ProfileVelocityMode_DllExport int VCS_EnableVelocityWindow(void* KeyHandle, unsigned short NodeId, unsigned int VelocityWindow, unsigned short VelocityWindowTime, unsigned int* pErrorCode); ProfileVelocityMode_DllExport int VCS_DisableVelocityWindow(void* KeyHandle, unsigned short NodeId, unsigned int* pErrorCode); //Homing Mode HomingMode_DllExport int VCS_ActivateHomingMode(void* KeyHandle, unsigned short NodeId, unsigned int* pErrorCode); HomingMode_DllExport int VCS_SetHomingParameter(void* KeyHandle, unsigned short NodeId, unsigned int HomingAcceleration, unsigned int SpeedSwitch, unsigned int SpeedIndex, int HomeOffset, unsigned short CurrentThreshold, int HomePosition, unsigned int* pErrorCode); HomingMode_DllExport int VCS_GetHomingParameter(void* KeyHandle, unsigned short NodeId, unsigned int* pHomingAcceleration, unsigned int* pSpeedSwitch, unsigned int* pSpeedIndex, int* pHomeOffset, unsigned short* pCurrentThreshold, int* pHomePosition, unsigned int* pErrorCode); HomingMode_DllExport int VCS_FindHome(void* KeyHandle, unsigned short NodeId, signed char HomingMethod, unsigned int* pErrorCode); HomingMode_DllExport int VCS_StopHoming(void* KeyHandle, unsigned short NodeId, unsigned int* pErrorCode); HomingMode_DllExport int VCS_DefinePosition(void* KeyHandle, unsigned short NodeId, int HomePosition, unsigned int* pErrorCode); HomingMode_DllExport int VCS_WaitForHomingAttained(void* KeyHandle, unsigned short NodeId, int Timeout, unsigned int* pErrorCode); HomingMode_DllExport int VCS_GetHomingState(void* KeyHandle, unsigned short NodeId, int* pHomingAttained, int* pHomingError, unsigned int* pErrorCode); //Interpolated Position Mode InterpolatedPositionMode_DllExport int VCS_ActivateInterpolatedPositionMode(void* KeyHandle, unsigned short NodeId, unsigned int* pErrorCode); InterpolatedPositionMode_DllExport int VCS_SetIpmBufferParameter(void* KeyHandle, unsigned short NodeId, unsigned short UnderflowWarningLimit, unsigned short OverflowWarningLimit, unsigned int* pErrorCode); InterpolatedPositionMode_DllExport int VCS_GetIpmBufferParameter(void* KeyHandle, unsigned short NodeId, unsigned short* pUnderflowWarningLimit, unsigned short* pOverflowWarningLimit, unsigned int* pMaxBufferSize, unsigned int* pErrorCode); InterpolatedPositionMode_DllExport int VCS_ClearIpmBuffer(void* KeyHandle, unsigned short NodeId, unsigned int* pErrorCode); InterpolatedPositionMode_DllExport int VCS_GetFreeIpmBufferSize(void* KeyHandle, unsigned short NodeId, unsigned int* pBufferSize, unsigned int* pErrorCode); InterpolatedPositionMode_DllExport int VCS_AddPvtValueToIpmBuffer(void* KeyHandle, unsigned short NodeId, long Position, long Velocity, unsigned char Time, unsigned int* pErrorCode); InterpolatedPositionMode_DllExport int VCS_StartIpmTrajectory(void* KeyHandle, unsigned short NodeId, unsigned int* pErrorCode); InterpolatedPositionMode_DllExport int VCS_StopIpmTrajectory(void* KeyHandle, unsigned short NodeId, unsigned int* pErrorCode); InterpolatedPositionMode_DllExport int VCS_GetIpmStatus(void* KeyHandle, unsigned short NodeId, int* pTrajectoryRunning, int* pIsUnderflowWarning, int* pIsOverflowWarning, int* pIsVelocityWarning, int* pIsAccelerationWarning, int* pIsUnderflowError, int* pIsOverflowError, int* pIsVelocityError, int* pIsAccelerationError, unsigned int* pErrorCode); //Position Mode PositionMode_DllExport int VCS_ActivatePositionMode(void* KeyHandle, unsigned short NodeId, unsigned int* pErrorCode); PositionMode_DllExport int VCS_SetPositionMust(void* KeyHandle, unsigned short NodeId, long PositionMust, unsigned int* pErrorCode); PositionMode_DllExport int VCS_GetPositionMust(void* KeyHandle, unsigned short NodeId, long* pPositionMust, unsigned int* pErrorCode); //Advanced Functions PositionMode_DllExport int VCS_ActivateAnalogPositionSetpoint(void* KeyHandle, unsigned short NodeId, unsigned short AnalogInputNumber, float Scaling, long Offset, unsigned int* pErrorCode); PositionMode_DllExport int VCS_DeactivateAnalogPositionSetpoint(void* KeyHandle, unsigned short NodeId, unsigned short AnalogInputNumber, unsigned int* pErrorCode); PositionMode_DllExport int VCS_EnableAnalogPositionSetpoint(void* KeyHandle, unsigned short NodeId, unsigned int* pErrorCode); PositionMode_DllExport int VCS_DisableAnalogPositionSetpoint(void* KeyHandle, unsigned short NodeId, unsigned int* pErrorCode); //Velocity Mode VelocityMode_DllExport int VCS_ActivateVelocityMode(void* KeyHandle, unsigned short NodeId, unsigned int* pErrorCode); VelocityMode_DllExport int VCS_SetVelocityMust(void* KeyHandle, unsigned short NodeId, long VelocityMust, unsigned int* pErrorCode); VelocityMode_DllExport int VCS_GetVelocityMust(void* KeyHandle, unsigned short NodeId, long* pVelocityMust, unsigned int* pErrorCode); //Advanced Functions VelocityMode_DllExport int VCS_ActivateAnalogVelocitySetpoint(void* KeyHandle, unsigned short NodeId, unsigned short AnalogInputNumber, float Scaling, long Offset, unsigned int* pErrorCode); VelocityMode_DllExport int VCS_DeactivateAnalogVelocitySetpoint(void* KeyHandle, unsigned short NodeId, unsigned short AnalogInputNumber, unsigned int* pErrorCode); VelocityMode_DllExport int VCS_EnableAnalogVelocitySetpoint(void* KeyHandle, unsigned short NodeId, unsigned int* pErrorCode); VelocityMode_DllExport int VCS_DisableAnalogVelocitySetpoint(void* KeyHandle, unsigned short NodeId, unsigned int* pErrorCode); //Current Mode CurrentMode_DllExport int VCS_ActivateCurrentMode(void* KeyHandle, unsigned short NodeId, unsigned int* pErrorCode); CurrentMode_DllExport int VCS_SetCurrentMust(void* KeyHandle, unsigned short NodeId, short CurrentMust, unsigned int* pErrorCode); CurrentMode_DllExport int VCS_SetCurrentMustEx(void* KeyHandle, unsigned short NodeId, int CurrentMust, unsigned int* pErrorCode); CurrentMode_DllExport int VCS_GetCurrentMust(void* KeyHandle, unsigned short NodeId, short* pCurrentMust, unsigned int* pErrorCode); CurrentMode_DllExport int VCS_GetCurrentMustEx(void* KeyHandle, unsigned short NodeId, int* pCurrentMust, unsigned int* pErrorCode); //Advanced Functions CurrentMode_DllExport int VCS_ActivateAnalogCurrentSetpoint(void* KeyHandle, unsigned short NodeId, unsigned short AnalogInputNumber, float Scaling, short Offset, unsigned int* pErrorCode); CurrentMode_DllExport int VCS_DeactivateAnalogCurrentSetpoint(void* KeyHandle, unsigned short NodeId, unsigned short AnalogInputNumber, unsigned int* pErrorCode); CurrentMode_DllExport int VCS_EnableAnalogCurrentSetpoint(void* KeyHandle, unsigned short NodeId, unsigned int* pErrorCode); CurrentMode_DllExport int VCS_DisableAnalogCurrentSetpoint(void* KeyHandle, unsigned short NodeId, unsigned int* pErrorCode); //MasterEncoder Mode MasterEncoderMode_DllExport int VCS_ActivateMasterEncoderMode(void* KeyHandle, unsigned short NodeId, unsigned int* pErrorCode); MasterEncoderMode_DllExport int VCS_SetMasterEncoderParameter(void* KeyHandle, unsigned short NodeId, unsigned short ScalingNumerator, unsigned short ScalingDenominator, unsigned char Polarity, unsigned int MaxVelocity, unsigned int MaxAcceleration, unsigned int* pErrorCode); MasterEncoderMode_DllExport int VCS_GetMasterEncoderParameter(void* KeyHandle, unsigned short NodeId, unsigned short* pScalingNumerator, unsigned short* pScalingDenominator, unsigned char* pPolarity, unsigned int* pMaxVelocity, unsigned int* pMaxAcceleration, unsigned int* pErrorCode); //StepDirection Mode StepDirectionMode_DllExport int VCS_ActivateStepDirectionMode(void* KeyHandle, unsigned short NodeId, unsigned int* pErrorCode); StepDirectionMode_DllExport int VCS_SetStepDirectionParameter(void* KeyHandle, unsigned short NodeId, unsigned short ScalingNumerator, unsigned short ScalingDenominator, unsigned char Polarity, unsigned int MaxVelocity, unsigned int MaxAcceleration, unsigned int* pErrorCode); StepDirectionMode_DllExport int VCS_GetStepDirectionParameter(void* KeyHandle, unsigned short NodeId, unsigned short* pScalingNumerator, unsigned short* pScalingDenominator, unsigned char* pPolarity, unsigned int* pMaxVelocity, unsigned int* pMaxAcceleration, unsigned int* pErrorCode); //Inputs Outputs //General InputsOutputs_DllExport int VCS_GetAllDigitalInputs(void* KeyHandle, unsigned short NodeId, unsigned short* pInputs, unsigned int* pErrorCode); InputsOutputs_DllExport int VCS_GetAllDigitalOutputs(void* KeyHandle, unsigned short NodeId, unsigned short* pOutputs, unsigned int* pErrorCode); InputsOutputs_DllExport int VCS_SetAllDigitalOutputs(void* KeyHandle, unsigned short NodeId, unsigned short Outputs, unsigned int* pErrorCode); InputsOutputs_DllExport int VCS_GetAnalogInput(void* KeyHandle, unsigned short NodeId, unsigned short InputNumber, unsigned short* pAnalogValue, unsigned int* pErrorCode); InputsOutputs_DllExport int VCS_GetAnalogInputVoltage(void* KeyHandle, unsigned short NodeId, unsigned short InputNumber, long* pVoltageValue, unsigned int* pErrorCode); InputsOutputs_DllExport int VCS_GetAnalogInputState(void* KeyHandle, unsigned short NodeId, unsigned short Configuration, long* pStateValue, unsigned int* pErrorCode); InputsOutputs_DllExport int VCS_SetAnalogOutput(void* KeyHandle, unsigned short NodeId, unsigned short OutputNumber, unsigned short AnalogValue, unsigned int* pErrorCode); InputsOutputs_DllExport int VCS_SetAnalogOutputVoltage(void* KeyHandle, unsigned short NodeId, unsigned short OutputNumber, long VoltageValue, unsigned int* pErrorCode); InputsOutputs_DllExport int VCS_SetAnalogOutputState(void* KeyHandle, unsigned short NodeId, unsigned short Configuration, long StateValue, unsigned int* pErrorCode); //Position Compare InputsOutputs_DllExport int VCS_SetPositionCompareParameter(void* KeyHandle, unsigned short NodeId, unsigned char OperationalMode, unsigned char IntervalMode, unsigned char DirectionDependency, unsigned short IntervalWidth, unsigned short IntervalRepetitions, unsigned short PulseWidth, unsigned int* pErrorCode); InputsOutputs_DllExport int VCS_GetPositionCompareParameter(void* KeyHandle, unsigned short NodeId, unsigned char* pOperationalMode, unsigned char* pIntervalMode, unsigned char* pDirectionDependency, unsigned short* pIntervalWidth, unsigned short* pIntervalRepetitions, unsigned short* pPulseWidth, unsigned int* pErrorCode); InputsOutputs_DllExport int VCS_ActivatePositionCompare(void* KeyHandle, unsigned short NodeId, unsigned short DigitalOutputNumber, int Polarity, unsigned int* pErrorCode); InputsOutputs_DllExport int VCS_DeactivatePositionCompare(void* KeyHandle, unsigned short NodeId, unsigned short DigitalOutputNumber, unsigned int* pErrorCode); InputsOutputs_DllExport int VCS_EnablePositionCompare(void* KeyHandle, unsigned short NodeId, unsigned int* pErrorCode); InputsOutputs_DllExport int VCS_DisablePositionCompare(void* KeyHandle, unsigned short NodeId, unsigned int* pErrorCode); InputsOutputs_DllExport int VCS_SetPositionCompareReferencePosition(void* KeyHandle, unsigned short NodeId, long ReferencePosition, unsigned int* pErrorCode); //Position Marker InputsOutputs_DllExport int VCS_SetPositionMarkerParameter(void* KeyHandle, unsigned short NodeId, unsigned char PositionMarkerEdgeType, unsigned char PositionMarkerMode, unsigned int* pErrorCode); InputsOutputs_DllExport int VCS_GetPositionMarkerParameter(void* KeyHandle, unsigned short NodeId, unsigned char* pPositionMarkerEdgeType, unsigned char* pPositionMarkerMode, unsigned int* pErrorCode); InputsOutputs_DllExport int VCS_ActivatePositionMarker(void* KeyHandle, unsigned short NodeId, unsigned short DigitalInputNumber, int Polarity, unsigned int* pErrorCode); InputsOutputs_DllExport int VCS_DeactivatePositionMarker(void* KeyHandle, unsigned short NodeId, unsigned short DigitalInputNumber, unsigned int* pErrorCode); InputsOutputs_DllExport int VCS_ReadPositionMarkerCounter(void* KeyHandle, unsigned short NodeId, unsigned short* pCount, unsigned int* pErrorCode); InputsOutputs_DllExport int VCS_ReadPositionMarkerCapturedPosition(void* KeyHandle, unsigned short NodeId, unsigned short CounterIndex, long* pCapturedPosition, unsigned int* pErrorCode); InputsOutputs_DllExport int VCS_ResetPositionMarkerCounter(void* KeyHandle, unsigned short NodeId, unsigned int* pErrorCode); /************************************************************************************************************************************* * LOW LAYER FUNCTIONS *************************************************************************************************************************************/ //CanLayer Functions CanLayer_DllExport int VCS_SendCANFrame(void* KeyHandle, unsigned short CobID, unsigned short Length, void* pData, unsigned int* pErrorCode); CanLayer_DllExport int VCS_ReadCANFrame(void* KeyHandle, unsigned short CobID, unsigned short Length, void* pData, unsigned int Timeout, unsigned int* pErrorCode); CanLayer_DllExport int VCS_RequestCANFrame(void* KeyHandle, unsigned short CobID, unsigned short Length, void* pData, unsigned int* pErrorCode); CanLayer_DllExport int VCS_SendNMTService(void* KeyHandle, unsigned short NodeId, unsigned short CommandSpecifier, unsigned int* pErrorCode); /************************************************************************************************************************************* * TYPE DEFINITIONS *************************************************************************************************************************************/ //Communication //Dialog Mode const int DM_PROGRESS_DLG = 0; const int DM_PROGRESS_AND_CONFIRM_DLG = 1; const int DM_CONFIRM_DLG = 2; const int DM_NO_DLG = 3; //Configuration //MotorType const unsigned short MT_DC_MOTOR = 1; const unsigned short MT_EC_SINUS_COMMUTATED_MOTOR = 10; const unsigned short MT_EC_BLOCK_COMMUTATED_MOTOR = 11; //SensorType const unsigned short ST_UNKNOWN = 0; const unsigned short ST_INC_ENCODER_3CHANNEL = 1; const unsigned short ST_INC_ENCODER_2CHANNEL = 2; const unsigned short ST_HALL_SENSORS = 3; const unsigned short ST_SSI_ABS_ENCODER_BINARY = 4; const unsigned short ST_SSI_ABS_ENCODER_GREY = 5; const unsigned short ST_INC_ENCODER2_3CHANNEL = 6; const unsigned short ST_INC_ENCODER2_2CHANNEL = 7; const unsigned short ST_ANALOG_INC_ENCODER_3CHANNEL = 8; const unsigned short ST_ANALOG_INC_ENCODER_2CHANNEL = 9; //In- and outputs //Digital input configuration const unsigned short DIC_NEGATIVE_LIMIT_SWITCH = 0; const unsigned short DIC_POSITIVE_LIMIT_SWITCH = 1; const unsigned short DIC_HOME_SWITCH = 2; const unsigned short DIC_POSITION_MARKER = 3; const unsigned short DIC_DRIVE_ENABLE = 4; const unsigned short DIC_QUICK_STOP = 5; const unsigned short DIC_GENERAL_PURPOSE_J = 6; const unsigned short DIC_GENERAL_PURPOSE_I = 7; const unsigned short DIC_GENERAL_PURPOSE_H = 8; const unsigned short DIC_GENERAL_PURPOSE_G = 9; const unsigned short DIC_GENERAL_PURPOSE_F = 10; const unsigned short DIC_GENERAL_PURPOSE_E = 11; const unsigned short DIC_GENERAL_PURPOSE_D = 12; const unsigned short DIC_GENERAL_PURPOSE_C = 13; const unsigned short DIC_GENERAL_PURPOSE_B = 14; const unsigned short DIC_GENERAL_PURPOSE_A = 15; //Digital output configuration const unsigned short DOC_READY_FAULT = 0; const unsigned short DOC_POSITION_COMPARE = 1; const unsigned short DOC_GENERAL_PURPOSE_H = 8; const unsigned short DOC_GENERAL_PURPOSE_G = 9; const unsigned short DOC_GENERAL_PURPOSE_F = 10; const unsigned short DOC_GENERAL_PURPOSE_E = 11; const unsigned short DOC_GENERAL_PURPOSE_D = 12; const unsigned short DOC_GENERAL_PURPOSE_C = 13; const unsigned short DOC_GENERAL_PURPOSE_B = 14; const unsigned short DOC_GENERAL_PURPOSE_A = 15; //Analog input configuration const unsigned short AIC_ANALOG_CURRENT_SETPOINT = 0; const unsigned short AIC_ANALOG_VELOCITY_SETPOINT = 1; const unsigned short AIC_ANALOG_POSITION_SETPOINT = 2; const unsigned short AIC_GENERAL_PURPOSE_H = 8; const unsigned short AIC_GENERAL_PURPOSE_G = 9; const unsigned short AIC_GENERAL_PURPOSE_F = 10; const unsigned short AIC_GENERAL_PURPOSE_E = 11; const unsigned short AIC_GENERAL_PURPOSE_D = 12; const unsigned short AIC_GENERAL_PURPOSE_C = 13; const unsigned short AIC_GENERAL_PURPOSE_B = 14; const unsigned short AIC_GENERAL_PURPOSE_A = 15; //Analog output configuration const unsigned short AOC_GENERAL_PURPOSE_A = 0; const unsigned short AOC_GENERAL_PURPOSE_B = 1; //Units //VelocityDimension const unsigned char VD_RPM = 0xA4; //VelocityNotation const signed char VN_STANDARD = 0; const signed char VN_DECI = -1; const signed char VN_CENTI = -2; const signed char VN_MILLI = -3; //Operational mode const signed char OMD_PROFILE_POSITION_MODE = 1; const signed char OMD_PROFILE_VELOCITY_MODE = 3; const signed char OMD_HOMING_MODE = 6; const signed char OMD_INTERPOLATED_POSITION_MODE = 7; const signed char OMD_POSITION_MODE = -1; const signed char OMD_VELOCITY_MODE = -2; const signed char OMD_CURRENT_MODE = -3; const signed char OMD_MASTER_ENCODER_MODE = -5; const signed char OMD_STEP_DIRECTION_MODE = -6; //States const unsigned short ST_DISABLED = 0; const unsigned short ST_ENABLED = 1; const unsigned short ST_QUICKSTOP = 2; const unsigned short ST_FAULT = 3; //Homing mode //Homing method const char HM_ACTUAL_POSITION = 35; const char HM_NEGATIVE_LIMIT_SWITCH = 17; const char HM_NEGATIVE_LIMIT_SWITCH_AND_INDEX = 1; const char HM_POSITIVE_LIMIT_SWITCH = 18; const char HM_POSITIVE_LIMIT_SWITCH_AND_INDEX = 2; const char HM_HOME_SWITCH_POSITIVE_SPEED = 23; const char HM_HOME_SWITCH_POSITIVE_SPEED_AND_INDEX = 7; const char HM_HOME_SWITCH_NEGATIVE_SPEED = 27; const char HM_HOME_SWITCH_NEGATIVE_SPEED_AND_INDEX = 11; const char HM_CURRENT_THRESHOLD_POSITIVE_SPEED = -3; const char HM_CURRENT_THRESHOLD_POSITIVE_SPEED_AND_INDEX = -1; const char HM_CURRENT_THRESHOLD_NEGATIVE_SPEED = -4; const char HM_CURRENT_THRESHOLD_NEGATIVE_SPEED_AND_INDEX = -2; const char HM_INDEX_POSITIVE_SPEED = 34; const char HM_INDEX_NEGATIVE_SPEED = 33; //Input Output PositionMarker //PositionMarkerEdgeType const unsigned char PET_BOTH_EDGES = 0; const unsigned char PET_RISING_EDGE = 1; const unsigned char PET_FALLING_EDGE = 2; //PositionMarkerMode const unsigned char PM_CONTINUOUS = 0; const unsigned char PM_SINGLE = 1; const unsigned char PM_MULTIPLE = 2; //Input Output PositionCompare //PositionCompareOperationalMode const unsigned char PCO_SINGLE_POSITION_MODE = 0; const unsigned char PCO_POSITION_SEQUENCE_MODE = 1; //PositionCompareIntervalMode const unsigned char PCI_NEGATIVE_DIR_TO_REFPOS = 0; const unsigned char PCI_POSITIVE_DIR_TO_REFPOS = 1; const unsigned char PCI_BOTH_DIR_TO_REFPOS = 2; //PositionCompareDirectionDependency const unsigned char PCD_MOTOR_DIRECTION_NEGATIVE = 0; const unsigned char PCD_MOTOR_DIRECTION_POSITIVE = 1; const unsigned char PCD_MOTOR_DIRECTION_BOTH = 2; //Data recorder //Trigger type const unsigned short DR_MOVEMENT_START_TRIGGER = 1; //bit 1 const unsigned short DR_ERROR_TRIGGER = 2; //bit 2 const unsigned short DR_DIGITAL_INPUT_TRIGGER = 4; //bit 3 const unsigned short DR_MOVEMENT_END_TRIGGER = 8; //bit 4 //CanLayer Functions const unsigned short NCS_START_REMOTE_NODE = 1; const unsigned short NCS_STOP_REMOTE_NODE = 2; const unsigned short NCS_ENTER_PRE_OPERATIONAL = 128; const unsigned short NCS_RESET_NODE = 129; const unsigned short NCS_RESET_COMMUNICATION = 130; // Controller Gains // EController const unsigned short EC_PI_CURRENT_CONTROLLER = 1; const unsigned short EC_PI_VELOCITY_CONTROLLER = 10; const unsigned short EC_PI_VELOCITY_CONTROLLER_WITH_OBSERVER = 11; const unsigned short EC_PID_POSITION_CONTROLLER = 20; const unsigned short EC_DUAL_LOOP_POSITION_CONTROLLER = 21; // EGain (EC_PI_CURRENT_CONTROLLER) const unsigned short EG_PICC_P_GAIN = 1; const unsigned short EG_PICC_I_GAIN = 2; // EGain (EC_PI_VELOCITY_CONTROLLER) const unsigned short EG_PIVC_P_GAIN = 1; const unsigned short EG_PIVC_I_GAIN = 2; const unsigned short EG_PIVC_FEED_FORWARD_VELOCITY_GAIN = 10; const unsigned short EG_PIVC_FEED_FORWARD_ACCELERATION_GAIN = 11; // EGain (EC_PI_VELOCITY_CONTROLLER_WITH_OBSERVER) const unsigned short EG_PIVCWO_P_GAIN = 1; const unsigned short EG_PIVCWO_I_GAIN = 2; const unsigned short EG_PIVCWO_FEED_FORWARD_VELOCITY_GAIN = 10; const unsigned short EG_PIVCWO_FEED_FORWARD_ACCELERATION_GAIN = 11; const unsigned short EG_PIVCWO_OBSERVER_THETA_GAIN = 20; const unsigned short EG_PIVCWO_OBSERVER_OMEGA_GAIN = 21; const unsigned short EG_PIVCWO_OBSERVER_TAU_GAIN = 22; // EGain (EC_PID_POSITION_CONTROLLER) const unsigned short EG_PIDPC_P_GAIN = 1; const unsigned short EG_PIDPC_I_GAIN = 2; const unsigned short EG_PIDPC_D_GAIN = 3; const unsigned short EG_PIDPC_FEED_FORWARD_VELOCITY_GAIN = 10; const unsigned short EG_PIDPC_FEED_FORWARD_ACCELERATION_GAIN = 11; // EGain (EC_DUAL_LOOP_POSITION_CONTROLLER) const unsigned short EG_DLPC_AUXILIARY_LOOP_P_GAIN = 1; const unsigned short EG_DLPC_AUXILIARY_LOOP_I_GAIN = 2; const unsigned short EG_DLPC_AUXILIARY_LOOP_FEED_FORWARD_VELOCITY_GAIN = 10; const unsigned short EG_DLPC_AUXILIARY_LOOP_FEED_FORWARD_ACCELERATION_GAIN = 11; const unsigned short EG_DLPC_AUXILIARY_LOOP_OBSERVER_THETA_GAIN = 20; const unsigned short EG_DLPC_AUXILIARY_LOOP_OBSERVER_OMEGA_GAIN = 21; const unsigned short EG_DLPC_AUXILIARY_LOOP_OBSERVER_TAU_GAIN = 22; const unsigned short EG_DLPC_MAIN_LOOP_P_GAIN_LOW = 101; const unsigned short EG_DLPC_MAIN_LOOP_P_GAIN_HIGH = 102; const unsigned short EG_DLPC_MAIN_LOOP_GAIN_SCHEDULING_WEIGHT = 110; const unsigned short EG_DLPC_MAIN_LOOP_FILTER_COEFFICIENT_A = 120; const unsigned short EG_DLPC_MAIN_LOOP_FILTER_COEFFICIENT_B = 121; const unsigned short EG_DLPC_MAIN_LOOP_FILTER_COEFFICIENT_C = 122; const unsigned short EG_DLPC_MAIN_LOOP_FILTER_COEFFICIENT_D = 123; const unsigned short EG_DLPC_MAIN_LOOP_FILTER_COEFFICIENT_E = 124; #endif //_H_LINUX_EPOSCMD_