DELIB functions overview

ULONG DapiOpenModule(ULONG moduleID, ULONG nr);
This function opens a particular module.

ULONG DapiCloseModule(ULONG handle);
This command closes an opened module.

ULONG DapiGetLastError();
This function returns the last registered error.

ULONG DapiGetLastErrorText(unsigned char * msg, unsigned long msg_length);
This function reads the text of the last registered error.

ULONG DapiGetDELIBVersion(ULONG mode, ULONG par);
This function returns the installed DELIB version.

ULONG DapiSpecialCommand(ULONG handle, DAPI_SPECIAL_CMD_GET_MODULE_CONFIG, par, 0, 0);
This command returns the hardware equipment (number of in-/output channels) of the module.

ULONG DapiDIGet1(ULONG handle, ULONG ch);
This command reads a single digit input.

ULONG DapiDIGet8(ULONG handle, ULONG ch);
This command reads 8 digital inputs simultaneously.

ULONG DapiDIGet16(ULONG handle, ULONG ch);
This command reads 16 digital inputs simultaneously.

ULONG DapiDIGet32(ULONG handle, ULONG ch);
This command reads 32 digital inputs simultaneously.

ULONGLONG DapiDIGet64(ULONG handle, ULONG ch);
This command reads 64 digital inputs simultaneously.

ULONG DapiDIGetFF32(ULONG handle, ULONG ch);
This command reads the flip-flops from the inputs and resets them. (Input state change).

ULONG DapiDIGetCounter(ULONG handle, ULONG ch, ULONG mode);
This command reads the counter of a digital input.

void DapiSpecialCommand(ULONG handle, DAPI_SPECIAL_CMD_COUNTER, DAPI_SPECIAL_COUNTER_LATCH_ALL, 0, 0);
This command saves the counters of all digital inputs simultaneously into a temporary storage (latch). So, after that, the counter of the latch can be read successively. Here, the speciality is, that it is possible to "freeze" simultaneously the counter and the frozen counter (latch) can be read one by one.

void DapiSpecialCommand(ULONG handle, DAPI_SPECIAL_CMD_COUNTER, DAPI_SPECIAL_COUNTER_LATCH_ALL_WITH_RESET, 0, 0);
This command saves the counters of all digital inputs simultaneously into a temporary storage (latch). In addition, the counters of the digital inputs will be reset.

void DapiDOSet1(ULONG handle, ULONG ch, ULONG data);
This is the command to set a single output.

void DapiDOSet8(ULONG handle, ULONG ch, ULONG data);
This command sets 8 digital outputs simultaneously.

void DapiDOSet16(ULONG handle, ULONG ch, ULONG data);
This command sets 16 digital outputs simultaneously.

void DapiDOSet32(ULONG handle, ULONG ch, ULONG data);
This command sets 32 digital outputs simultaneously.

void DapiDOSet64(ULONG handle, ULONG ch, ULONGLONG data);
This command is to set 64 digital outputs.

void DapiDOSet1_WithTimer(ULONG handle, ULONG ch, ULONG data, ULONG time_ms);
This function sets a digital output (ch) to a value (data - 0 or 1) for a specified time in msec.

ULONG DapiDOReadback32(ULONG handle, ULONG ch);
This command reads back the 32 digital outputs.

ULONGLONG DapiDOReadback64(ULONG handle, ULONG ch);
This command reads back the 64 digital outputs.

void DapiSpecialCommand(handle, DAPI_SPECIAL_CMD_TIMEOUT, cmd, par1, par2);
This command serves to set the timeout time

ULONG DapiSpecialCommand(handle, DAPI_SPECIAL_CMD_TIMEOUT, DAPI_SPECIAL_TIMEOUT_GET_STATUS, 0, 0);
This command reads the timeout status.

void DapiADSetMode(ULONG handle, ULONG ch, ULONG mode);
This is the command to configure the input range of an A/D converter.

ULONG DapiADGetMode(ULONG handle, ULONG ch);
This command reads the set mode of an A/D converter . For mode description see DapiADSetMode.

ULONG DapiADGet(ULONG handle, ULONG ch);
This command reads a data value of one channel of an A/D converter

float DapiADGetVolt(ULONG handle, ULONG ch);
This command reads a data value of one channel of an A/D converter in volts.

float DapiADGetmA(ULONG handle, ULONG ch);
This command reads a data value of one channel of an A/D converter in mA.

float DapiTempGet(ULONG handle, ULONG ch);
Dieser Befehl liest einen Temperatur Kanal.

void DapiDASetMode(ULONG handle, ULONG ch, ULONG mode);
This command sets the mode for a D/A converter.

ULONG DapiDAGetMode(ULONG handle, ULONG ch);
This command reads back the chosen mode of a D/A converter.

void DapiDASet(ULONG handle, ULONG ch, ULONG data);
This command transfers a data value to a channel of a D/A converter.

void DapiDASetVolt(ULONG handle, ULONG ch, float data);
This command sets a voltage to a channel of a D/A converter.

void DapiDASetmA(ULONG handle, ULONG ch, float data);
This command sets a current to a channel of a D/A converter.

void DapiSpecialCommand(handle, DAPI_SPECIAL_CMD_DA, cmd, ch, 0);
This command sets the voltage/current value to a D/A channel at powering up or after a timeout. (EEPROM Configuration)

void DapiCnt48ModeSet(ULONG handle, ULONG ch, ULONG mode);
This command sets the count mode for a single input channel.

ULONG DapiCnt48Modeget(ULONG handle, ULONG ch);
This command returns the count mode of a single input channel.

ULONG DapiCnt48CounterGet32(ULONG handle, ULONG ch);
This command reads the first 32 bits of a 48 bit input counter.

ULONGLONG DapiCnt48CounterGet48(ULONG handle, ULONG ch);
This command reads a 48 bit counter of an input counter.

void DapiSpecialCommand(ULONG handle, DAPI_SPECIAL_CMD_SET_DIR_DX_1, ULONG ch, ULONG dir, 0);
This command sets the direction of the TTL-In/Outputs (1-Bit)

void DapiSpecialCommand(ULONG handle, DAPI_SPECIAL_CMD_SET_DIR_DX_8, ULONG ch, ULONG dir, 0);
This command sets the direction of the TTL-In/Outputs (8-Bit way)

void DapiWatchdogEnable(ULONG handle);
This function enables the watchdog.

void DapiWatchdogDisable(ULONG handle);
This function disables the watchdog.

void DapiWatchdogRetrigger(ULONG handle);
This function retriggers the watchdog timer.

ULONG DapiSpecialCommand(ULONG handle, DAPI_SPECIAL_CMD_WATCHDOG, cmd, par1, 0);
This command returns or sets different status information of the Watchdog Stick

ULONG DapiStepperCommandEx(ULONG handle, ULONG motor, ULONG cmd, ULONG par1, ULONG par2, ULONG par3, ULONG par4, ULONG par5, ULONG par6, ULONG par7);
This extended command controls stepper motors.

DapiStepperCommand(handle, motor, DAPI_STEPPER_CMD_STOP, 0, 0, 0, 0);
This command is used to stop the motor, the deceleration slope will be used.

DapiStepperCommand(handle, motor, DAPI_STEPPER_CMD_GO_POSITION, position, 0, 0, 0);
With this command the motor will drive to a position. This command can only be used when the motor is not disabled and Go_Position or Go_Reference are not executed.

void DapiStepperCommand(handle, motor, DAPI_STEPPER_CMD_GO_POSITION_RELATIVE, go_pos_rel_par, 0, 0, 0);
With this command the motor will go to a relative position. In contrast to the command GO_POSITION, which goes to an absolute position, this command considers the current position. This command can only be used when the motor is not disabled and Go_Position or Go_Reference are not executed.

DapiStepperCommand(handle, motor, DAPI_STEPPER_CMD_GO_REFSWITCH, par1, par2, par3, 0);
The motor goes to the referece position.

DapiStepperCommand(handle, motor, DAPI_STEPPER_CMD_FULLSTOP, 0, 0, 0, 0);
This command is used to stop the motors immediately without using the the deceleration slope. After this command the motor position might be ignorred because the motor has been stopped uncontrolled.

DapiStepperCommand(handle, motor, DAPI_STEPPER_CMD_DISABLE, par1, 0, 0, 0);
This command ist used to disable/enable the motor. The motor stops or starts driving. This command can be only used when the motor stopped.

DapiStepperCommand(handle, motor, DAPI_STEPPER_CMD_SET_POSITION, par1, 0, 0, 0);
This command ist used to set the motor position. The resolution ist 1/16 Full-step. This command may be used anytime.

DapiStepperCommand(handle, motor, DAPI_STEPPER_CMD_SET_FREQUENCY, par1, 0, 0, 0);
This command is used to set the motor reference frequency. The motor frequency regulation takes on the compliance of the acceleration and deceleration slope. Step losses do not occur. The motor reference frequency is related to the full-step-mode. The direction will be defined by the prefix. If the motor reference frequency is higher than the maximum frequency, the command is ignored. With closed Endswitch1 the motor can only drive in positive direction, with closed Endswitch2 the motor can only drive in negative direction, otherwise the command is ignored.

DapiStepperCommand(handle, motor, DAPI_STEPPER_CMD_SET_FREQUENCY_DIRECTLY, par1, 0 ,0 ,0);
This command is used to set the motor frequency. The motor frequency regulation takes no funktion on the compliance of the acceleration and deceleration slope. The user is responsible. Step losses can occur. The motor reference frequency is related to the full-step. The direction can be defined by the prefix. The motor frequency can't exceed the maximum frequency.

ULONG DapiStepperCommand(handle, motor, DAPI_STEPPER_CMD_GET_FREQUENCY, 0, 0 ,0 ,0);
This command is used to read the motor frequency. This command can be used everytime.

DapiStepperCommand(handle, motor, DAPI_STEPPER_CMD_SET_MOTORCHARACTERISTIC, par1, par2, 0, 0);
With this command, you can set motor characteristics.

ULONG DapiStepperCommand(handle, motor, DAPI_STEPPER_CMD_GET_MOTORCHARACTERISTIC, par1, 0, 0, 0);
With this command, motor specific parameter can be read. This command may be used everytime. It is splitted in sub commands, that are analog to the parameters of the DAPI_STEPPER_CMD_SET_MOTORCHARATERISTIC

DapiStepperCommand(handle, motor, DAPI_STEPPER_CMD_MOTORCHARACTERISTIC_LOAD_DEFAULT, 0, 0, 0, 0);
The characteristic of the motor is set back to default.

DapiStepperCommand(handle, motor, DAPI_STEPPER_CMD_MOTORCHARACTERISTIC_EEPROM_SAVE, 0, 0, 0, 0);
The current motor characteristic will be stored in the EEPROM.

DapiStepperCommand(handle, motor, DAPI_STEPPER_CMD_MOTORCHARACTERISTIC_EEPROM_LOAD, 0, 0, 0, 0);
The motor characteristic can be loaded from the EEPROM.

ULONG DapiStepperCommand(handle, motor, DAPI_STEPPER_CMD_GET_CPU_TEMP, 0, 0, 0, 0);
The temperature of the CPU can be read.

DapiStepperCommand(handle, motor, DAPI_STEPPER_CMD_GET_MOTOR_SUPPLY_VOLTAGE, 0, 0, 0, 0);
The voltage supply of the motor can be read.

ULONG DapiStepperGetStatus(handle, motor, cmd);
With this command the motor position can be read.

ULONG DapiStepperGetStatus(handle, motor, cmd);
With this command, the status of the switches can be read.

ULONG DapiStepperGetStatus(handle, motor, DAPI_STEPPER_STATUS_GET_ACTIVITY);
With this command, some status informations (e.g. activity of the motor phase current) can be read.

ULONG DapiPing(ULONG handle, ULONG value);
This command checks the connection of an opened module.

void DapiWriteByte(ULONG handle, ULONG adress, ULONG value);
This command performs a direct register write command to the module.

void DapiWriteWord(ULONG handle, ULONG adress, ULONG value);
This command performs a direct register write command to the module.

void DapiWriteLong(ULONG handle, ULONG adress, ULONG value);
This command performs a direct register write command to the module.

void DapiWriteLongLong(ULONG handle, ULONG adress, ULONGLONG value);
This command performs a direct register write command to the module.

ULONG DapiReadByte(ULONG handle, ULONG adress);
This command performs a direct register read command to the module.

ULONG DapiReadWord(ULONG handle, ULONG adress);
This command performs a direct register read command to the module.

ULONG DapiReadLong(ULONG handle, ULONG adress);
This command performs a direct register read command to the module.

ULONGLONG DapiReadLongLong(ULONG handle, ULONG adress);
This command performs a direct register read command to the module.