DapiOpenModule

Description

This function opens a particular module.

Definition

ULONG DapiOpenModule(ULONG moduleID, ULONG nr);

Parameters

moduleID=Specifies the module, which is to be opened (see delib.h)
nr=Indicates No of module which is to be opened.
nr=0 -> 1. module
nr=1 -> 2. module

Return value

handle=handle to the corresponding module
handle=0 -> Module was not found

Remark

The handle returned by this function is needed to identify the module for all other functions.

Example program

// USB-Modul öffnen
handle = DapiOpenModule(RO_USB1, 0);
printf("handle = %x\n", handle);
if (handle==0)
{
// USB Modul wurde nicht gefunden
printf("Modul konnte nicht geöffnet werden\n");
return;
}

DapiCloseModule

Description

This command closes an opened module.

Definition

ULONG DapiCloseModule(ULONG handle);

Parameters

handle=This is the handle of an opened module

Return value

None

Example program

// Modul schliessen
DapiCloseModule(handle);

DapiGetLastError

Description

This function returns the last registered error. If an error has occurred, it must be deleted with DapiClearLastError(), otherwise any call of DapiGetLastError() will return the "old" error.
If multiple modules are used, the use of DapiGetLastErrorByHandle() is recommended.

Definition

ULONG DapiGetLastError(void);

Parameters

None

Return value

Error Code
0=no error. (see delib_error_codes.h)

Example program

BOOL IsError()
{
unsigned char msg[500];
unsigned long error_code = DapiGetLastError();

if (error_code != DAPI_ERR_NONE)
{
DapiGetLastErrorText((unsigned char*) msg, sizeof(msg));
printf("Error Code = 0x%x * Message = %s\n", error_code, msg);

DapiClearLastError();

return TRUE;
}

return FALSE;
}

DapiGetLastErrorByHandle

Description

This function returns the last registered error of a particular module (handle). If an error has occurred, it must be deleted with DapiClearLastErrorByHandle(), otherwise any call of DapiGetLastErrorByHandle() will return the "old" error.

Definition

ULONG DapiGetLastErrorByHandle(ULONG handle);

Parameters

handle=This is the handle of an opened module.

Return value

Error code
0=no error. (see delib_error_codes.h)

Example program

BOOL IsError(ULONG handle)
{
unsigned long error_code = DapiGetLastErrorByHandle(handle);

if (error_code != DAPI_ERR_NONE)
{
printf("Error detected on handle 0x%x - Error Code = 0x%x\n", handle, error_code);

DapiClearLastErrorByHandle(handle);

return TRUE;
}

return FALSE;
}

DapiGetLastErrorText

Description

This function reads the text of the last registered error. If an error has occurred, it must be cleared with DapiClearLastError(), otherwise every call of DapiGetLastErrorText() returns the "old" error.

Definition

ULONG DapiGetLastErrorText(unsigned char * msg, unsigned long msg_length);

Parameters

msg = text buffer
msg_length = length of the buffer

Example program

BOOL IsError()
{
unsigned char msg[500];
unsigned long error_code = DapiGetLastError();

if (error_code != DAPI_ERR_NONE)
{
DapiGetLastErrorText((unsigned char*) msg, sizeof(msg));
printf("Error Code = 0x%x * Message = %s\n", error_code, msg);

DapiClearLastError();

return TRUE;
}

return FALSE;
}

DapiClearLastError

Description

This function deletes the last error registered with DapiGetLastError().

Definition

void DapiGetLastError(void);

Parameters

None

Return value

None

Example program

BOOL IsError()
{
unsigned char msg[500];
unsigned long error_code = DapiGetLastError();

if (error_code != DAPI_ERR_NONE)
{
DapiGetLastErrorText((unsigned char*) msg, sizeof(msg));
printf("Error Code = 0x%x * Message = %s\n", error_code, msg);

DapiClearLastError();

return TRUE;
}

return FALSE;
}

DapiClearLastErrorByHandle

Description

This function deletes the last error of a particular module (handle), which was registered with DapiGetLastErrorByHandle().

Definition

void DapiClearLastErrorByHandle(ULONG handle);

Parameters

handle=This is the handle of an opened module.

Return value

None

Example program

BOOL IsError(ULONG handle)
{
unsigned long error_code = DapiGetLastErrorByHandle(handle);

if (error_code != DAPI_ERR_NONE)
{
printf("Error detected on handle 0x%x - Error Code = 0x%x\n", handle, error_code);

DapiClearLastErrorByHandle(handle);

return TRUE;
}

return FALSE;
}

DapiGetDELIBVersion

Description

This function returns the installed DELIB version.

Definition

ULONG DapiGetDELIBVersion(ULONG mode, ULONG par);

Parameters

mode=Mode, with which the version is readout (must be 0).
par=This parameter is not defined (must be 0).

Return value

version=Version number of the installed DELIB version [hex].

Example program

version = DapiGetDELIBVersion(0, 0);
//Bei installierter Version 1.32 ist version = 132(hex)

DapiSpecialCommand - DapiSpecialCMDGetModuleConfig

Description

This command returns the hardware equipment (number of in-/output channels) of the module.

Definition

ULONG DapiSpecialCommand(ULONG handle, DAPI_SPECIAL_CMD_GET_MODULE_CONFIG, par, 0, 0);

Parameters

handle=This is the handle of an open module.

Get number of digital input channels
par=DAPI_SPECIAL_GET_MODULE_CONFIG_PAR_DI

Get number of digital output channels
par=DAPI_SPECIAL_GET_MODULE_CONFIG_PAR_DO

Get number of digital in-/output channels
par=DAPI_SPECIAL_GET_MODULE_CONFIG_PAR_DX

Get number of analog input channels
par=DAPI_SPECIAL_GET_MODULE_CONFIG_PAR_AD

Get number of analog output channels
par=DAPI_SPECIAL_GET_MODULE_CONFIG_PAR_DA

Get number of stepper channels
par=DAPI_SPECIAL_GET_MODULE_CONFIG_PAR_STEPPER

Return value

Get number of digital input channels
return=Number of digital input channels

Get number of digital output channels
return=Number of digital output channels

Get number of digital in-/output channels
return=Number of digital in-/output channels

Get number of analog input channels
return=Number of analog input channels

Get number of analog output channels
return=Number of analog output channels

Get number of stepper channels
return=Number of stepper channels

Example program

ret=DapiSpecialCommand(handle, DAPI_SPECIAL_CMD_GET_MODULE_CONFIG, DAPI_SPECIAL_GET_MODULE_CONFIG_PAR_DI, 0, 0);
//Gibt die Anzahl der digitalen Eingangskanäle zurück
ret=DapiSpecialCommand(handle, DAPI_SPECIAL_CMD_GET_MODULE_CONFIG, DAPI_SPECIAL_GET_MODULE_CONFIG_PAR_DO, 0, 0);
//Gibt die Anzahl der digitalen Ausgangskanäle zurück
ret=DapiSpecialCommand(handle, DAPI_SPECIAL_CMD_GET_MODULE_CONFIG, DAPI_SPECIAL_GET_MODULE_CONFIG_PAR_DX, 0, 0);
//Gibt die Anzahl der digitalen Ein-/Ausgangskanäle zurück
ret=DapiSpecialCommand(handle, DAPI_SPECIAL_CMD_GET_MODULE_CONFIG, DAPI_SPECIAL_GET_MODULE_CONFIG_PAR_AD, 0, 0);
//Gibt die Anzahl der analogen Eingangskanäle zurück
ret=DapiSpecialCommand(handle, DAPI_SPECIAL_CMD_GET_MODULE_CONFIG, DAPI_SPECIAL_GET_MODULE_CONFIG_PAR_DA, 0, 0);
//Gibt die Anzahl der analogen Ausgangskanäle zurück
ret=DapiSpecialCommand(handle, DAPI_SPECIAL_CMD_GET_MODULE_CONFIG, DAPI_SPECIAL_GET_MODULE_CONFIG_PAR_STEPPER, 0, 0);
//Gibt die Anzahl der Stepperkanäle zurück

DapiDOSet1

Description

This is the command to set a single output.

Definition

void DapiDOSet1(ULONG handle, ULONG ch, ULONG data);

Parameters

handle=This is the handle of an opened module
ch=Specifies the number of the output to be set to (0 ..)
data=Specifies the data value that is to be written (0 / 1)

Return value

None

Requirements

The following SW-Feature-Bits have to be supported by the module:

DAPI_SW_FEATURE_BIT_CFG_DO

The following requirements for the parameters must be met:

maxCh = DapiSpecialCommand(handle, DAPI_SPECIAL_CMD_GET_MODULE_CONFIG, DAPI_SPECIAL_GET_MODULE_CONFIG_PAR_DO, 0, 0);
maxCh > ch

DapiDOSet8

Description

This command sets 8 digital outputs simultaneously.

Definition

void DapiDOSet8(ULONG handle, ULONG ch, ULONG data);

Parameters

handle=This is the handle of an opened module
ch=Specifies the number of the output, from which it begins to write to (0, 8, 16, 24, 32, ..)
data=Specifies the data values, to write to the outputs

Return value

None

DapiDOSet16

Description

This command sets 16 digital outputs simultaneously.

Definition

void DapiDOSet16(ULONG handle, ULONG ch, ULONG data);

Parameters

handle=This is the handle of an opened module
ch=Specifies the number of the output, from which it begins to write to (0, 16, 32, ..)
data=Specifies the data values, to write to the outputs

Return value

None

DapiDOSet32

Description

This command sets 32 digital outputs simultaneously.

Definition

void DapiDOSet32(ULONG handle, ULONG ch, ULONG data);

Parameters

handle=This is the handle of an opened module
ch=Specifies the number of the output, from which it begins to write to (0, 32, 64, ..)
data=Specifies the data values, to write to the outputs

Return value

None

Example program

// Einen Wert auf die Ausgänge schreiben
data = 0x0000ff00; // Ausgänge 9-16 werden auf 1 gesetzt
DapiDOSet32(handle, 0, data); // Chan Start = 0
printf("Schreibe auf Ausgänge Daten=0x%x\n", data);
printf("Taste für weiter\n");
getch();
// ----------------------------------------------------
// Einen Wert auf die Ausgänge schreiben
data = 0x80000000; // Ausgang 32 wird auf 1 gesetzt
DapiDOSet32(handle, 0, data); // Chan Start = 0
printf("Schreibe auf Ausgänge Daten=0x%x\n", data);
printf("Taste für weiter\n");
getch();
// ----------------------------------------------------
// Einen Wert auf die Ausgänge schreiben
data = 0x80000000; // Ausgang 64 wird auf 1 gesetzt
DapiDOSet32(handle, 32, data); // Chan Start = 32
printf("Schreibe auf Ausgänge Daten=0x%x\n", data);
printf("Taste für weiter\n");
getch();

DapiDOSet64

Description

This command is to set 64 digital outputs.

Definition

void DapiDOSet64(ULONG handle, ULONG ch, ULONGLONG data);

Parameters

handle=This is the handle of an opened module
ch=Specifies the number of the output, from which it begins to write to (0, 64, ..)
data=Specifies the data values, to write to the outputs

Return value

None

DapiDOClrBit32

Description

With this command you can change the states of outputs to 0 without changing the states of the neighboring outputs.

Definition

void DapiDOClrBit32(uint handle, uint ch, uint data);

Parameters

handle = handle of the corresponding module.
ch = Specifies the number of the output, from which it will begin to write
data = Specifies the data value which will be written to the outputs (32 Bit)

Return value

None

Remark

Only the bits with a value of 1 in the data parameter are taken into account by the command.

Example program

data = 0x1; // Output 0 would be changed to 0. The states of outputs 1-31 won't be changed
DapiDOSetBit32(handle, 0, data);

data = 0xf; // Outputs 0-3 would be changed to 0. The states of outputs 4-31 won't be changed
DapiDOSetBit32(handle, 0, data);

data = 0xff; // Outputs 0-7 would be changed to 0. The states of outputs 8-31 won't be changed
DapiDOSetBit32(handle, 0, data);

data = 0xff000000; // Outputs 23-31 would be changed to 0. The states of outputs 0-21 won't be changed
DapiDOSetBit32(handle, 0, data);

DapiDOSetBit32

Description

With this command you can change the states of outputs to 1 without changing the states of the neighboring outputs.

Definition

void DapiDOSetBit32(uint handle, uint ch, uint data);

Parameters

handle = handle of the corresponding module.
ch = Specifies the number of the output, from which it will begin to write
data = Specifies the data value which will be written to the outputs (32 Bit)

Return value

None

Remark

Only the bits with a value of 1 in the data parameter are taken into account by the command.

Example program

data = 0x1; // Output 0 would be changed to 1. The states of outputs 1-31 won't be changed
DapiDOSetBit32(handle, 0, data);

data = 0xf; // Outputs 0-3 would be changed to 1. The states of outputs 4-31 won't be changed
DapiDOSetBit32(handle, 0, data);

data = 0xff; // Outputs 0-7 would be changed to 1. The states of outputs 8-31 won't be changed
DapiDOSetBit32(handle, 0, data);

data = 0xff000000; // Outputs 23-31 would be changed to 1. The states of outputs 0-21 won't be changed
DapiDOSetBit32(handle, 0, data);

DapiDOReadback32

Description

This command reads back the 32 digital outputs.

Definition

ULONG DapiDOReadback32(ULONG handle, ULONG ch);

Parameters

handle=This is the handle of an opened module
ch=Specifies the number of the input, from which it begins to read from (0, 32, ..)

Return value

Status of 32 outputs.

DapiSpecialCommand - DapiSpecialCMDTimeout

Description

This command serves to set the timeout time

Definition

void DapiSpecialCommand(handle, DAPI_SPECIAL_CMD_TIMEOUT, cmd, par1, par2);

Parameters

handle=This is the handle of an opened module

Set timeout time
cmd=DAPI_SPECIAL_CMD_TIMEOUT_SET_VALUE_SEC
par1=Seconds [s]
par2=Milliseconds [100ms] (value 6 stands for 600ms)

Activate timeout
cmd=DAPI_SPECIAL_CMD_TIMEOUT_ACTIVATE

Deactivate timeout
cmd=DAPI_SPECIAL_CMD_TIMEOUT_DEACTIVATE

Example program

DapiSpecialCommand(handle, DAPI_SPECIAL_CMD_TIMEOUT, DAPI_SPECIAL_TIMEOUT_SET_VALUE_SEC, 3, 7);
//Die Zeit des Timeouts wird auf 3,7sek gesetzt.
DapiSpecialCommand(handle, DAPI_SPECIAL_CMD_TIMEOUT, DAPI_SPECIAL_TIMEOUT_ACTIVATE, 0, 0);
//Der Timeout wird aktiviert.
DapiSpecialCommand(handle, DAPI_SPECIAL_CMD_TIMEOUT, DAPI_SPECIAL_TIMEOUT_DEACTIVATE, 0, 0);
//Der Timeout wird deaktiviert.

DapiSpecialCommand - DapiSpecialCMDTimeoutGetStatus

Description

This command reads the timeout status.

Definition

ULONG DapiSpecialCommand(handle, DAPI_SPECIAL_CMD_TIMEOUT, DAPI_SPECIAL_TIMEOUT_GET_STATUS, 0, 0);

Parameters

handle=This is the handle of an opened module

Return value

Return=0 (timeout is deactivated)
Return=1 (timeout is activated)
Return=2 (timeout has occurred)

Example program

status = DapiSpecialCommand(handle, DAPI_SPECIAL_CMD_TIMEOUT, DAPI_SPECIAL_TIMEOUT_GET_STATUS, 0, 0); //Abfrage des Timeout-Status.

DapiSpecialCMDSoftwareFifo

Description

This command controls the configuration of the Software-FIFO of the RO-ETH-Modules.

Definition

ULONG DapiSpecialCommand(ULONG handle, DAPI_SPECIAL_CMD_SOFTWARE_FIFO, ULONG cmd, 0, 0);

Parameters

handle = This is the handle of an opened module

Software FIFO activate
cmd = DAPI_SPECIAL_SOFTWARE_FIFO_ACTIVATE

Software FIFO deactivate
cmd = DAPI_SPECIAL_SOFTWARE_FIFO_DEACTIVATE

Software FIFO Status request
cmd = DAPI_SPECIAL_SOFTWARE_FIFO_GET_STATUS

Return value

cmd=DAPI_SPECIAL_SOFTWARE_FIFO_ACTIVATE
no return value

cmd=DAPI_SPECIAL_SOFTWARE_FIFO_DEACTIVATE
no return value

cmd=DAPI_SPECIAL_SOFTWARE_FIFO_GET_STATUS
return=0 (Software FIFO deactivate)
return=1 (Software FIFO activate)

Example program

DapiSpecialCommand(handle, DAPI_SPECIAL_CMD_SOFTWARE_FIFO, DAPI_SPECIAL_SOFTWARE_FIFO_ACTIVATE, 0, 0);
// Activates the software FIFO

status = DapiSpecialCommand(handle, DAPI_SPECIAL_CMD_SOFTWARE_FIFO, DAPI_SPECIAL_SOFTWARE_FIFO_GET_STATUS, 0, 0);
// Reads the status of the software FIFO

DapiSpecialCommand(handle, DAPI_SPECIAL_CMD_SOFTWARE_FIFO, DAPI_SPECIAL_SOFTWARE_FIFO_DEACTIVATE, 0, 0);
// Deactivates the software FIFO