Constants:

FALSE 0
TRUE 1

PI 3.14159265358979323846264
PI_F 3.1415926535f
TWO_PI (2.0 * PI)
TWO_PI_F (2.0f * PI_F )
PI_2F (PI_F * 0.5f)

TRAJECTORY_OFF 0
TRAJECTORY_INDEPENDENT 1
TRAJECTORY_LINEAR 2
TRAJECTORY_CIRCULAR 3
TRAJECTORY_SPECIAL 4

Axis Input Modes

ENCODER_MODE 1
ADC_MODE 2
RESOLVER 3
USER_INPUT_MODE 4

Axis Output Modes

MICROSTEP_MODE 1
DC_SERVO_MODE 2
BRUSHLESS_3PH_MODE 3
BRUSHLESS_4PH_MODE 4
DAC_SERVO_MODE 4

Data Gather/Plot Functions:

void SetupGatherAllOnAxis(int c, int n_Samples);
void TriggerGather();
int CheckDoneGather();

Analog I/O Functions:

ADC(ch);
DAC(ch, value);

Power Amp Functions:

void WritePWMR(int ch, int v);
void WritePWM(int ch, int v);
void Write3PH(int ch, float v, double angle_in_cycles);
void Write4PH(int ch, float v, double angle_in_cycles);

Timer Functions:

double Time_sec();
void WaitUntil(double time_sec);
void Delay_sec(double sec);
double WaitNextTimeSlice(void);>

Axis Move Functions:

void DisableAxis(int ch);
void EnableAxisDest(int ch, double Dest);
void EnableAxis(int ch);
void Zero(int ch);
void Move(int ch, double x);
void MoveRel(int ch, double dx);
int CheckDone(int ch);
void MoveXYZ(double x, double y, double z);
int CheckDoneXYZ();
void DefineCoordSystem(int axisx, int axisy, int axisz, int axis a);

Digitial I/O Functions:

void SetBitDirection(int bit, int dir);
int GetBitDirection(int bit);
void SetBit(int bit);
void ClearBit(int bit);
void SetStateBit(int bit, int state);
int ReadBit(int bit);

Print to Console Screen Functions:

int printf(const char *format, ...);

Print to Windows File Functions:

FILE *fopen(const char*, const char*);
int fprintf(FILE *f, const char * format, ...);
int fclose(FILE *f);

Thread Functions:

void StartThread(int thread);
void PauseThread(int thread);
void ThreadDone();
int ResumeThread(int thread);

Math Functions:

double sqrt(double x);
double exp(double x);
double log(double x);
double log10(double x);
double pow(double x, double y);
double sin(double x);
double cos(double x);
double tan(double x);
double asin(double x);
double acos(double x);
double atan(double x);
double atan2(double y, double x);

float sqrtf (float x);
float expf (float x);
float logf (float x);
float log10f(float x);
float powf (float x, float y);
float sinf (float x);
float cosf (float x);
float tanf (float x);
float asinf (float x);
float acosf (float x);
float atanf (float x);
float atan2f(float y, float x);