#ifndef __CPMOTOR_H
#define __CPMOTOR_H

#ifdef __cplusplus
extern "C" {
#endif

#ifndef CPMOTOR_API
#ifdef CPMOTOR_API_EXPORTS
#define CPMOTOR_API extern "C" __declspec(dllexport)
#else
#define CPMOTOR_API extern "C" __declspec(dllimport)
#endif
#endif

// CANopen Master Error Code Define
#define CPM_NoError         0
#define CPM_DriverErr		1
#define CPM_ActiveError     2
#define CPM_OpenComErr		2
#define CPM_MasterIDErr		3
#define CPM_ComPortErr		3
#define CPM_MasterFull		4
#define CPM_ConfigErr       5
#define CPM_MasterInitErr   6
#define CPM_MasterNotInit   7
#define CPM_ListenMode      8
#define CPM_NodeErr         9
#define CPM_NodeExist       10

#define CPM_TxBusy          12
#define CPM_UnknowCmd       13
#define CPM_CmdReceErr      14
#define CPM_DataEmpty       15
#define CPM_MemAllocErr     16
#define CPM_SendCycMsgErr   17
#define CPM_StatusErr       18

#define CPM_SetGuardErr     20 
#define CPM_SetHbeatErr     21 
#define CPM_SegLenErr       22
#define CPM_SegToggleErr    23
#define CPM_SegWriteErr     24 
#define CPM_Abort           25
#define CPM_PDOLenErr       26 
#define CPM_COBIDErr        27
#define CPM_PDOInstErr      28
#define CPM_PDODynaErr      29
#define CPM_PDONumErr       30
#define CPM_PDOSetErr       31
#define CPM_PDOEntryErr     32
#define CPM_SetCobIdErr     33
#define CPM_CycFullErr      34
#define CPM_Timeout         35
#define CPM_DataLenErr		36

#define CPM_SendLose		38
#define CPM_SendCmdErr		39
#define CPM_Wait			40
#define CPM_Processing		41

#define CPM_LoadEDSErr		50
#define CPM_EDSFormatErr	51


/// CANopen Motion Error Code
#define CPM_MT_NoError					0
#define CPM_MT_Timeout					35
#define CPM_MT_CtrlNotSupport			101		// The control code is not supported
#define CPM_MT_GetOperateModeErr		102		// Get Operating Mode error (Position, Homing,...)
#define CPM_MT_SetOperateModeErr		103		// Set Operating Mode error (Position, Homing,...)
#define CPM_MT_OperateModeChkErr		104		// Operating Mode check error
#define CPM_MT_GetPositionErr		    105		// Get position error 
#define CPM_MT_SetPositionErr			106		// Set position error 
#define CPM_MT_GetVelocityErr		    107		// Get velocity error 
#define CPM_MT_SetVelocityErr			108		// Set velocity error
#define CPM_MT_GetTorqueErr			    109		// Get Torque error 
#define CPM_MT_SetTorqueErr				110		// Set Torque error 
#define CPM_MT_GetAccelerationErr	    111		// Get acceleration error 
#define CPM_MT_SetAccelerationErr		112		// Set acceleration error 
#define CPM_MT_GetDecelerationErr	    113		// Get deceleration error 
#define CPM_MT_SetDecelerationErr		114		// Set deceleration error 
#define CPM_MT_SetTorqueSlope			115		// Set Torque slope error 
#define CPM_MT_MethodSelectErr			116		// Motion method select error or not support
#define CPM_MT_GetStatusErr				117		// Get any status error
#define CPM_MT_SetStatusErr				118		// Set any status error
#define CPM_MT_GetParameterErr			119		// Read Parameter error 
#define CPM_MT_SetParameterErr			120		// Parameter set over range

#define CPM_MT_KeypadIndexErr           121
#define CPM_MT_KeypadSubIndexErr        122
#define CPM_MT_KeypadDataLenErr         123

#define CPM_MT_HeartbeatTimeout         124

#define CPM_MT_MotorNodeError           125


#define CPMotor_MasterModuleError      10000
#define CPMotor_LoadMasterDLLError     20000
#define CPMotor_ManufacturerNotSupport 30000
#define CPMotor_HSIP_StepNumError      30001


//for CPMotor_InitMaster() MasterModule parameter
#define MASTER_MODULE_I7565CPM     1
#define MASTER_MODULE_PISOCPM100U  2
#define MASTER_MODULE_I8123W	   3

//for CPMotor_InitMaster() CAN Baud Rate
#define CANBaud_10K		0
#define CANBaud_20K		1
#define CANBaud_50K		2
#define CANBaud_125K	3
#define CANBaud_250K	4
#define CANBaud_500K	5
#define CANBaud_800K	6
#define CANBaud_1M  	7

//for CPMotor_AddMotor() Motor_Manufacturer parameter
#define Manufact_GeneralMotor   0  //for General CiA 402 Motor
#define Manufact_Delta_A2_Motor 1  //for Delta ASDA-A2 Motor
#define Manufact_SANYO_R2_Motor 2  //for SANYO R2 Motor
#define Manufact_Schneider_LXM23A_Motor 3 //for Schneider LXM23A Motor
#define Manufact_Festo_Motor 4 //for FESTO CMMS-ST, CMMP-AS Motor


//=============================================================/
// Common Command                     
//=============================================================/
CPMOTOR_API WORD CALLBACK CPMotor_DLLVersion(WORD *Ver);
CPMOTOR_API WORD CALLBACK CPMotor_InitMaster(BYTE MasterModule, BYTE ModuleID, BYTE BaudRate);
CPMOTOR_API WORD CALLBACK CPMotor_ShutdownMaster(BYTE ModuleID);
CPMOTOR_API WORD CALLBACK CPMotor_AddMotor(BYTE ModuleID, BYTE Node, WORD DelayTime = 1, WORD ResTimeout = 200, WORD Motor_Manufacturer = Manufact_Delta_A2_Motor);
CPMOTOR_API WORD CALLBACK CPMotor_CloseMotor(BYTE ModuleID, BYTE Node);
CPMOTOR_API WORD CALLBACK CPMotor_InitMotor(BYTE ModuleID, BYTE Node, WORD PDOTimer = 10);
CPMOTOR_API WORD CALLBACK CPMotor_Servo_ON_OFF(BYTE ModuleID, BYTE Node, BYTE ServoFlag);
CPMOTOR_API WORD CALLBACK CPMotor_IsServoON(BYTE ModuleID, BYTE Node, BYTE *IsServoON);
CPMOTOR_API WORD CALLBACK CPMotor_Servo_Reset(BYTE ModuleID, BYTE Node, BYTE ResetType = 0);
CPMOTOR_API WORD CALLBACK CPMotor_MotorStatus(BYTE ModuleID, BYTE Node, BYTE *CurrMode, BYTE *IsServoReady, BYTE *IsFault, BYTE *IsWarning, BYTE *IsDone, WORD *Statusword);
CPMOTOR_API WORD CALLBACK CPMotor_MotionStop(BYTE ModuleID, BYTE Node, DWORD DecVal);
CPMOTOR_API WORD CALLBACK CPMotor_HM_HomeMove(BYTE ModuleID, BYTE Node, BYTE HomeMethod, DWORD MaxV, DWORD FinalV, DWORD Acceleration);


//=============================================================/
// Position Command                     
//=============================================================/
CPMOTOR_API WORD CALLBACK CPMotor_PP_CurrentPosition(BYTE ModuleID, BYTE Node, long *PositionVal);
CPMOTOR_API WORD CALLBACK CPMotor_PP_MotionMove(BYTE ModuleID, BYTE Node, BYTE IsChangeImmediately, BYTE IsAbsolute, long TargetPosition, DWORD AccVal, DWORD Velocity, DWORD DecVal);
CPMOTOR_API WORD CALLBACK CPMotor_PP_SetVelocity(BYTE ModuleID, BYTE Node, DWORD AccVal, DWORD Velocity, DWORD DecVal);
CPMOTOR_API WORD CALLBACK CPMotor_PP_JOGMove(BYTE ModuleID, BYTE Node, long JogPulse, DWORD ACCVal, DWORD JogVelocity, DWORD DECVal);
CPMOTOR_API WORD CALLBACK CPMotor_PV_JOGMove(BYTE ModuleID, BYTE Node, DWORD ACCVal, long JogVelocity, DWORD DECVal);

//=============================================================/
// Velocity Command                     
//=============================================================/
CPMOTOR_API WORD CALLBACK CPMotor_PV_CurrentVelocity(BYTE ModuleID, BYTE Node, long *VelocityVal);
CPMOTOR_API WORD CALLBACK CPMotor_PV_MotionMove(BYTE ModuleID, BYTE Node, DWORD AccVal, long TargetVelocity, DWORD DecVal);


//=============================================================/
// Torque Command                     
//=============================================================/
CPMOTOR_API WORD CALLBACK CPMotor_PT_CurrentTorque(BYTE ModuleID, BYTE Node, long *TorqueVal);
CPMOTOR_API WORD CALLBACK CPMotor_PT_MotionMove(BYTE ModuleID, BYTE Node, DWORD TorqueSlope, long TargetTorque);




//=============================================================/
// Synchronous Motion Command
//=============================================================/
CPMOTOR_API WORD CALLBACK CPMotor_SYNCInitial(BYTE ModuleID, BYTE Node);
//CPMOTOR_API WORD CALLBACK CPMotor_SYNCMove_Ex(BYTE ModuleID, BYTE NodeNum, BYTE* Node_IDs, long* TargetPositions, DWORD MaxVelocity, BYTE IsAbsolute);
CPMOTOR_API WORD CALLBACK CPMotor_SYNCMove_Ex(BYTE ModuleID, BYTE NodeNum, BYTE* Node_IDs, long* TargetPosition, DWORD AccVal, DWORD MaxVelocity, DWORD DecVal, BYTE IsAbsolute);
CPMOTOR_API WORD CALLBACK CPMotor_SYNCMove(BYTE ModuleID, BYTE NodeNum, BYTE* Node_IDs, long* TargetPositions, DWORD* AccVals, DWORD* Velocities, DWORD* DecVals, BYTE IsAbsolute);
CPMOTOR_API WORD CALLBACK CPMotor_SYNCStop(BYTE ModuleID, BYTE NodeNum, BYTE* Node_IDs);



//=============================================================/
// Command for Delta ASDA-A2 and Schneider LXM23A motor
//=============================================================/
CPMOTOR_API WORD CALLBACK CPMotor_ServoDOStatus(BYTE ModuleID, BYTE Node, DWORD *DO_Status);
CPMOTOR_API WORD CALLBACK CPMotor_GetServoAlarm(BYTE ModuleID, BYTE Node, DWORD *AlarmCode);
CPMOTOR_API WORD CALLBACK CPMotor_TorqueLimit(BYTE ModuleID, BYTE Node, WORD TorqueLimit);
CPMOTOR_API WORD CALLBACK CPMotor_SetKeypad(BYTE ModuleID, BYTE Node, BYTE ParamIndex, BYTE ParamSubIndex, BYTE DataLen, DWORD SetParamData);
CPMOTOR_API WORD CALLBACK CPMotor_GetKeypad(BYTE ModuleID, BYTE Node, BYTE ParamIndex, BYTE ParamSubIndex, BYTE *DataLen, DWORD *GetParamData);



//=============================================================/
// Linear interpolation Command
//=============================================================/
CPMOTOR_API WORD CALLBACK CPMotor_IPInitial(BYTE ModuleID, BYTE Node);
CPMOTOR_API WORD CALLBACK CPMotor_IP_LineMove(BYTE ModuleID, BYTE NodeNum, BYTE Node_IDs[], long Node_TargetPos[], BYTE Rel_Abs[], DWORD Velocity, DWORD AccTime, DWORD DecTime, BYTE IsWaitForPreviousMoving);
CPMOTOR_API WORD CALLBACK CPMotor_IP_PathMove(BYTE ModuleID, BYTE NodeNum, BYTE Node_IDs[], BYTE Rel_Abs[], long StepNum, long Node_PathSteps[], BYTE IsWaitForPreviousMoving);
//CPMOTOR_API WORD CALLBACK CPMotor_IP_PathMove(BYTE ModuleID, BYTE NodeNum, BYTE Node_IDs[], BYTE Rel_Abs[], long StepNum, long *Node_PathSteps[], BYTE IsWaitForPreviousMoving);
CPMOTOR_API WORD CALLBACK CPMotor_IP_Stop(BYTE ModuleID, DWORD DecTime);

CPMOTOR_API WORD CALLBACK CPMotor_IP_PositionCompare(BYTE ModuleID, BYTE Node, BYTE Position_Cnt, long* Position_Array, BYTE Target_Node, BYTE* Trigger_Bit);

CPMOTOR_API WORD CALLBACK CPMotor_SetUserObject_1(BYTE ModuleID, BYTE Node, BYTE Obj_Num, BYTE Obj_Len[], WORD Obj_Idx[], BYTE Obj_Subidx[]);
CPMOTOR_API WORD CALLBACK CPMotor_GetUserData_1(BYTE ModuleID, BYTE Node, BYTE* DLen, BYTE RData[]);
CPMOTOR_API WORD CALLBACK CPMotor_SetUserObject_2(BYTE ModuleID, BYTE Node, BYTE Obj_Num, BYTE Obj_Len[], WORD Obj_Idx[], BYTE Obj_Subidx[]);
CPMOTOR_API WORD CALLBACK CPMotor_GetUserData_2(BYTE ModuleID, BYTE Node, BYTE* DLen, BYTE RData[]);

#define CPMotor_IP_SetUserObject_1	CPMotor_SetUserObject_1
#define CPMotor_IP_GetUserData_1	CPMotor_GetUserData_1
#define CPMotor_IP_SetUserObject_2	CPMotor_SetUserObject_2
#define CPMotor_IP_GetUserData_2	CPMotor_GetUserData_2
//=============================================================/
// High Speed Interpolation Command
//=============================================================/
CPMOTOR_API WORD CALLBACK CPMotor_HSIP_Initial(BYTE ModuleID, BYTE NodeNum, BYTE Node_IDs[]);
CPMOTOR_API WORD CALLBACK CPMotor_HSIP_PathMove(BYTE ModuleID, BYTE NodeNum, BYTE Node_IDs[], long StepNum, long Node_PathSteps[]);
CPMOTOR_API WORD CALLBACK CPMotor_HSIP_Stop(BYTE ModuleID, BYTE NodeNum, BYTE Node_IDs[]);


//=============================================================/
// Misc. Command
//=============================================================/
CPMOTOR_API WORD CALLBACK CPMotor_ClearPulse(BYTE ModuleID, BYTE Node, long ZeroPosition);
CPMOTOR_API WORD CALLBACK CPMotor_ResetAlarm(BYTE ModuleID, BYTE Node);
CPMOTOR_API WORD CALLBACK CPMotor_SDOReadData(BYTE ModuleID, BYTE Node, WORD Index, BYTE SubIndex, DWORD *DataLen, BYTE bData[]);
CPMOTOR_API WORD CALLBACK CPMotor_SDOWriteData(BYTE ModuleID, BYTE Node, WORD Index, BYTE SubIndex, DWORD DataLen, BYTE bData[]);

#ifdef __cplusplus
}
#endif


#endif // __CPMOTOR_H