//  **************************************************************  //
//
//  UMAC.H
//
//  Seva Kaplounenko, Stanford Linear Accelerator Center  
//  6/28/2006
// 

#ifndef __UMAC_HEADER
#define __UMAC_HEADER

#define TRUE 1 //added 02/28/2014
#define FALSE 0 //added 02/28/2014 


#if defined(__cplusplus) || defined(__cplusplus__)
extern "C" {
#endif

///////////////////////////////////////////////////////////////////////////
//////////////////////// axis parameters structure ////////////////////////
///////////////////////////////////////////////////////////////////////////
#define UMAC_NUM_AXIS 9 
typedef struct tag_UMAC_PARAM_STRUCT
{
	//UMAC settings
	int 	cs_counts_per_mm ;   	//coordinate system setting
	unsigned int 	position_scale_factor;  //ix08 * 32 take at init
    int 	axis_on;              	//enrgize drive (1 -enable 0-disable drive 
    double 	velocity;				//m/s
    double 	acceleration;			//m/s*s
    
    //curently are not supported, use PWIN software instead
    double 	home_velocity;
    double 	home_acceleration;
    int    	home_direction;
    double  init_offset; //needed to X and Y axes to proper initialize fpga
    //end of not implemented variables
    
} UMAC_PARAM_STRUCT;

typedef UMAC_PARAM_STRUCT  *LPUMAC_PARAM_STRUCT;

//axes definitions for UMAC controller
//#define umac_z 1
//#define umac_x 2 
//#define umac_y 3 
//#define umac_w 4	

/*#define umac_z 1
#define umac_x 3 
#define umac_y 2 
#define umac_w 4*/	

#define umac_z 1
#define umac_y 2
#define umac_x 3 
#define umac_zp 4 
#define umac_a 5
#define umac_v 6 
#define umac_w 7   
#define umac_b 8  
#define umac_c 9		 //Modified on 03/28/2014

//  **************************************************************  

//  PUBLIC FUNCTION DECLARATIONS  

void   umac_set_soft_positive_limit( DWORD id, int motor, double limit);
DWORD  umac_init               (DWORD dev_id, int *ID, UMAC_PARAM_STRUCT pParam[]);
void   umac_exit               (DWORD dev_ID);
BOOL   umac_command            (DWORD id,char * result , int rlength, char * command );
int    umac_get_axis           ( DWORD id);
void   umac_set_axis           ( DWORD id , int axis);
double umac_get_velocity       ( DWORD id, int motor);
void   umac_set_velocity       ( DWORD id, int motor, double velocity);
double umac_get_acceleration   ( DWORD id, int motor);
void   umac_set_acceleration   ( DWORD id, int motor, double acceleration);
double umac_get_distance       ( DWORD id, int motor);
void   umac_set_distance       ( DWORD id, int motor, double distance);
BOOL   umac_get_mot_position   ( DWORD dev_ID, int axis, double* pos);
BOOL   umac_get_mot_status     ( DWORD dev_ID, int axis, unsigned long * status_x, unsigned long * status_y);
BOOL   umac_get_cs_status      ( DWORD dev_ID, int cs, unsigned long * status_x, unsigned long * status_y1, unsigned long * status_y2);
BOOL   umac_set_controller_zero( DWORD dev_ID, int axis,double position);
BOOL   umac_rel_move           ( DWORD dev_ID, int axis, double acc, double vel, double dis);
BOOL   umac_abs_move           ( DWORD dev_ID, int axis, double acc, double vel, double pos);
void   umac_go_home            ( DWORD dev_ID, int axis, double acc, double vel);
BOOL   umac_get_mot_position   ( DWORD dev_ID, int axis, double* pos);
BOOL   umac_zero               ( DWORD dev_ID, int axis);
BOOL   umac_AxisIsMoving       ( DWORD dev_ID, int axis);
BOOL   umac_set_z_break_manual ( DWORD id, BOOL state);
int    umac_LimitSwitchesStatus( DWORD dev_ID, int axis);
int    umac_homing             ( DWORD dev_ID, int axis,int homing_direction);
int    umac_moveToLimit        ( DWORD dev_ID, int axis,int moving_direction, double acc, double vel, double step, double offset);
void   umac_set_position       ( DWORD dev_ID, int axis, double position);
void   umac_getParameters      ( LPUMAC_PARAM_STRUCT pParam , int axis); 
void   umac_setParameters      ( LPUMAC_PARAM_STRUCT pParam , int axis);
int    umac_is_dev_open        ( DWORD dev_id                      );
void   umac_add_log				(char buf[], BOOL newline		   );

//Motor status definitions
#define MOTOR_INPOSITION_Y			0
#define MOTOR_HOME_COMPLETE_Y		10
#define MOTOR_STOP_POS_LIMIT_Y		11

#define MOTOR_DESIRED_VELOCITY0_X	13
#define MOTOR_MOVE_TIMER_ACTIVE_X	17
#define MOTOR_OPEN_LOOP_X			18
#define MOTOR_AMPLIFIER_ENABLED_X	19
#define MOTOR_POSITIVE_LIMIT_SET_X	21 
#define MOTOR_NEGATIVE_LIMIT_SET_X	22  
#define MOTOR_ACTIVATED_X			23 

//Coordinate system status definitions
#define CS_INPOSITION_Y1			17 

#define CS_RUNPROGRAM_X				0


/*  **************************************************************  */

/*  SEMI-PERMANENT PARAMETERS  */
#define UMAC_MAX_NUM_DEV   1   //to increase redo global parameters structure
#define UMAC_MAX_CMD 256

/*  **************************************************************  */

/*  DONE  */
#if defined(__cplusplus) || defined(__cplusplus__)
}
#endif

#endif