ximc.h

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#ifndef INC_XIMC_H
#define INC_XIMC_H

#if defined(_WIN32) || defined(LABVIEW64_IMPORT) || defined(LABVIEW32_IMPORT) || defined(MATLAB_IMPORT)
        #define XIMC_API __stdcall
#else
        #ifdef LIBXIMC_EXPORTS
        #define XIMC_API __attribute__((visibility("default")))
        #else
        #define XIMC_API
        #endif
#endif

#if defined(_WIN32) || defined(LABVIEW64_IMPORT) || defined(LABVIEW32_IMPORT) || defined(MATLAB_IMPORT)
        #define XIMC_CALLCONV __stdcall
#else
        #define XIMC_CALLCONV
#endif

#if defined(_WIN32) || defined(LABVIEW64_IMPORT) || defined(LABVIEW32_IMPORT) || defined(MATLAB_IMPORT)
#define XIMC_RETTYPE unsigned int
#else
#define XIMC_RETTYPE void*
#endif


#if !defined(XIMC_NO_STDINT)

#if ( (defined(_MSC_VER) && (_MSC_VER < 1600)) || defined(LABVIEW64_IMPORT) || defined(LABVIEW32_IMPORT)) && !defined(MATLAB_IMPORT)
// msvc types burden
typedef __int8 int8_t;
typedef __int16 int16_t;
typedef __int32 int32_t;
typedef __int64 int64_t;
typedef unsigned __int8 uint8_t;
typedef unsigned __int16 uint16_t;
typedef unsigned __int32 uint32_t;
typedef unsigned __int64 uint64_t;
#else
#include <stdint.h>
#endif

/* labview doesn't speak C99 */
#if defined(LABVIEW64_IMPORT) || defined(LABVIEW32_IMPORT)
typedef unsigned __int64 ulong_t;
typedef __int64 long_t;
#else
typedef unsigned long long ulong_t;
typedef long long long_t;
#endif

#endif

#include <time.h>

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


        typedef int device_t;

        typedef int result_t;

        #if defined(_WIN64) || defined(__LP64__) || defined(LABVIEW64_IMPORT)
        typedef uint64_t device_enumeration_t;
        #else
        typedef uint32_t device_enumeration_t;
        #endif
        //typedef device_enumeration_t* pdevice_enumeration_t;

#define device_undefined -1


#define result_ok 0

#define result_error -1

#define result_not_implemented -2

#define result_value_error -3

#define result_nodevice -4



#define LOGLEVEL_ERROR          0x01

#define LOGLEVEL_WARNING        0x02

#define LOGLEVEL_INFO           0x03

#define LOGLEVEL_DEBUG          0x04



        typedef struct calibration_t
        {
                double A; 
                unsigned int MicrostepMode;                     
        } calibration_t;

        typedef struct device_network_information_t
        {
                uint32_t ipv4;          
                char nodename[16];              
                uint32_t axis_state;            
                char locker_username[16];               
                char locker_nodename[16];               
                time_t locked_time;             
        } device_network_information_t;



#define LIBXIMC_VERSION 3.0.3

#define LIBXIMC_PROTOCOL_VERSION 20.14

/*
 ------------------------------------------
   BEGIN OF GENERATED struct declarations
 ------------------------------------------
*/

#define ENUMERATE_PROBE     0x01        
#define ENUMERATE_ALL_COM   0x02        
#define ENUMERATE_NETWORK   0x04        


#define MOVE_STATE_MOVING         0x01  
#define MOVE_STATE_TARGET_SPEED   0x02  
#define MOVE_STATE_ANTIPLAY       0x04  


#define EEPROM_PRECEDENCE   0x01        


#define PWR_STATE_UNKNOWN   0x00        
#define PWR_STATE_OFF       0x01        
#define PWR_STATE_NORM      0x03        
#define PWR_STATE_REDUCT    0x04        
#define PWR_STATE_MAX       0x05        


#define STATE_CONTR                    0x000003F        
#define STATE_ERRC                     0x0000001        
#define STATE_ERRD                     0x0000002        
#define STATE_ERRV                     0x0000004        
#define STATE_EEPROM_CONNECTED         0x0000010        
#define STATE_IS_HOMED                 0x0000020        
#define STATE_SECUR                    0x1B3FFC0        
#define STATE_ALARM                    0x0000040        
#define STATE_CTP_ERROR                0x0000080        
#define STATE_POWER_OVERHEAT           0x0000100        
#define STATE_CONTROLLER_OVERHEAT      0x0000200        
#define STATE_OVERLOAD_POWER_VOLTAGE   0x0000400        
#define STATE_OVERLOAD_POWER_CURRENT   0x0000800        
#define STATE_OVERLOAD_USB_VOLTAGE     0x0001000        
#define STATE_LOW_USB_VOLTAGE          0x0002000        
#define STATE_OVERLOAD_USB_CURRENT     0x0004000        
#define STATE_BORDERS_SWAP_MISSET      0x0008000        
#define STATE_LOW_POWER_VOLTAGE        0x0010000        
#define STATE_H_BRIDGE_FAULT           0x0020000        
#define STATE_WINDING_RES_MISMATCH     0x0100000        
#define STATE_ENCODER_FAULT            0x0200000        
#define STATE_ENGINE_RESPONSE_ERROR    0x0800000        
#define STATE_EXTIO_ALARM              0x1000000        


#define STATE_DIG_SIGNAL     0xFFFF     
#define STATE_RIGHT_EDGE     0x0001     
#define STATE_LEFT_EDGE      0x0002     
#define STATE_BUTTON_RIGHT   0x0004     
#define STATE_BUTTON_LEFT    0x0008     
#define STATE_GPIO_PINOUT    0x0010     
#define STATE_GPIO_LEVEL     0x0020     
#define STATE_BRAKE          0x0200     
#define STATE_REV_SENSOR     0x0400     
#define STATE_SYNC_INPUT     0x0800     
#define STATE_SYNC_OUTPUT    0x1000     
#define STATE_ENC_A          0x2000     
#define STATE_ENC_B          0x4000     


#define ENC_STATE_ABSENT    0x00        
#define ENC_STATE_UNKNOWN   0x01        
#define ENC_STATE_MALFUNC   0x02        
#define ENC_STATE_REVERS    0x03        
#define ENC_STATE_OK        0x04        


#define WIND_A_STATE_ABSENT    0x00     
#define WIND_A_STATE_UNKNOWN   0x01     
#define WIND_A_STATE_MALFUNC   0x02     
#define WIND_A_STATE_OK        0x03     
#define WIND_B_STATE_ABSENT    0x00     
#define WIND_B_STATE_UNKNOWN   0x10     
#define WIND_B_STATE_MALFUNC   0x20     
#define WIND_B_STATE_OK        0x30     


#define MVCMD_NAME_BITS   0x3F  
#define MVCMD_UKNWN       0x00  
#define MVCMD_MOVE        0x01  
#define MVCMD_MOVR        0x02  
#define MVCMD_LEFT        0x03  
#define MVCMD_RIGHT       0x04  
#define MVCMD_STOP        0x05  
#define MVCMD_HOME        0x06  
#define MVCMD_LOFT        0x07  
#define MVCMD_SSTP        0x08  
#define MVCMD_ERROR       0x40  
#define MVCMD_RUNNING     0x80  


#define RPM_DIV_1000   0x01     


#define ENGINE_REVERSE          0x01    
#define ENGINE_CURRENT_AS_RMS   0x02    
#define ENGINE_MAX_SPEED        0x04    
#define ENGINE_ANTIPLAY         0x08    
#define ENGINE_ACCEL_ON         0x10    
#define ENGINE_LIMIT_VOLT       0x20    
#define ENGINE_LIMIT_CURR       0x40    
#define ENGINE_LIMIT_RPM        0x80    


#define MICROSTEP_MODE_FULL       0x01  
#define MICROSTEP_MODE_FRAC_2     0x02  
#define MICROSTEP_MODE_FRAC_4     0x03  
#define MICROSTEP_MODE_FRAC_8     0x04  
#define MICROSTEP_MODE_FRAC_16    0x05  
#define MICROSTEP_MODE_FRAC_32    0x06  
#define MICROSTEP_MODE_FRAC_64    0x07  
#define MICROSTEP_MODE_FRAC_128   0x08  
#define MICROSTEP_MODE_FRAC_256   0x09  


#define ENGINE_TYPE_NONE        0x00    
#define ENGINE_TYPE_DC          0x01    
#define ENGINE_TYPE_2DC         0x02    
#define ENGINE_TYPE_STEP        0x03    
#define ENGINE_TYPE_TEST        0x04    
#define ENGINE_TYPE_BRUSHLESS   0x05    


#define DRIVER_TYPE_INTEGRATE   0x02    
#define DRIVER_TYPE_EXTERNAL    0x03    


#define POWER_REDUCT_ENABLED   0x01     
#define POWER_OFF_ENABLED      0x02     
#define POWER_SMOOTH_CURRENT   0x04     


#define ALARM_ON_DRIVER_OVERHEATING      0x01   
#define LOW_UPWR_PROTECTION              0x02   
#define H_BRIDGE_ALERT                   0x04   
#define ALARM_ON_BORDERS_SWAP_MISSET     0x08   
#define ALARM_FLAGS_STICKING             0x10   
#define BRAKING_OVERVOLTAGE_PROTECTION   0x20   
#define ALARM_WINDING_MISMATCH           0x40   
#define ALARM_ENGINE_RESPONSE            0x80   


#define SETPOS_IGNORE_POSITION   0x01   
#define SETPOS_IGNORE_ENCODER    0x02   


#define FEEDBACK_ENCODER            0x01        
#define FEEDBACK_EMF                0x04        
#define FEEDBACK_NONE               0x05        
#define FEEDBACK_ENCODER_MEDIATED   0x06        


#define FEEDBACK_ENC_REVERSE             0x01   
#define FEEDBACK_ENC_ADAPTIVE_HOLDING    0x02   
#define FEEDBACK_ENC_FILTER_NONE         0x00   
#define FEEDBACK_ENC_FILTER_WEAK         0x10   
#define FEEDBACK_ENC_FILTER_MEDIUM       0x20   
#define FEEDBACK_ENC_FILTER_STRONG       0x30   
#define FEEDBACK_ENC_FILTER_BITS         0x30   
#define FEEDBACK_ENC_TYPE_AUTO           0x00   
#define FEEDBACK_ENC_TYPE_SINGLE_ENDED   0x40   
#define FEEDBACK_ENC_TYPE_DIFFERENTIAL   0x80   
#define FEEDBACK_ENC_TYPE_BITS           0xC0   


#define SYNCIN_ENABLED        0x01      
#define SYNCIN_INVERT         0x02      
#define SYNCIN_GOTOPOSITION   0x04      


#define SYNCOUT_ENABLED    0x01         
#define SYNCOUT_STATE      0x02         
#define SYNCOUT_INVERT     0x04         
#define SYNCOUT_IN_STEPS   0x08         
#define SYNCOUT_ONSTART    0x10         
#define SYNCOUT_ONSTOP     0x20         
#define SYNCOUT_ONPERIOD   0x40         


#define EXTIO_SETUP_OUTPUT   0x01       
#define EXTIO_SETUP_INVERT   0x02       


#define EXTIO_SETUP_MODE_IN_BITS        0x0F    
#define EXTIO_SETUP_MODE_IN_NOP         0x00    
#define EXTIO_SETUP_MODE_IN_STOP        0x01    
#define EXTIO_SETUP_MODE_IN_PWOF        0x02    
#define EXTIO_SETUP_MODE_IN_MOVR        0x03    
#define EXTIO_SETUP_MODE_IN_HOME        0x04    
#define EXTIO_SETUP_MODE_IN_ALARM       0x05    
#define EXTIO_SETUP_MODE_OUT_BITS       0xF0    
#define EXTIO_SETUP_MODE_OUT_OFF        0x00    
#define EXTIO_SETUP_MODE_OUT_ON         0x10    
#define EXTIO_SETUP_MODE_OUT_MOVING     0x20    
#define EXTIO_SETUP_MODE_OUT_ALARM      0x30    
#define EXTIO_SETUP_MODE_OUT_MOTOR_ON   0x40    


#define BORDER_IS_ENCODER               0x01    
#define BORDER_STOP_LEFT                0x02    
#define BORDER_STOP_RIGHT               0x04    
#define BORDERS_SWAP_MISSET_DETECTION   0x08    


#define ENDER_SWAP             0x01     
#define ENDER_SW1_ACTIVE_LOW   0x02     
#define ENDER_SW2_ACTIVE_LOW   0x04     


#define BRAKE_ENABLED      0x01         
#define BRAKE_ENG_PWROFF   0x02         


#define CONTROL_MODE_BITS               0x03    
#define CONTROL_MODE_OFF                0x00    
#define CONTROL_MODE_JOY                0x01    
#define CONTROL_MODE_LR                 0x02    
#define CONTROL_BTN_LEFT_PUSHED_OPEN    0x04    
#define CONTROL_BTN_RIGHT_PUSHED_OPEN   0x08    


#define JOY_REVERSE   0x01      


#define CTP_ENABLED            0x01     
#define CTP_BASE               0x02     
#define CTP_ALARM_ON_ERROR     0x04     
#define REV_SENS_INV           0x08     
#define CTP_ERROR_CORRECTION   0x10     


#define HOME_DIR_FIRST          0x001   
#define HOME_DIR_SECOND         0x002   
#define HOME_MV_SEC_EN          0x004   
#define HOME_HALF_MV            0x008   
#define HOME_STOP_FIRST_BITS    0x030   
#define HOME_STOP_FIRST_REV     0x010   
#define HOME_STOP_FIRST_SYN     0x020   
#define HOME_STOP_FIRST_LIM     0x030   
#define HOME_STOP_SECOND_BITS   0x0C0   
#define HOME_STOP_SECOND_REV    0x040   
#define HOME_STOP_SECOND_SYN    0x080   
#define HOME_STOP_SECOND_LIM    0x0C0   
#define HOME_USE_FAST           0x100   


#define UART_PARITY_BITS        0x03    
#define UART_PARITY_BIT_EVEN    0x00    
#define UART_PARITY_BIT_ODD     0x01    
#define UART_PARITY_BIT_SPACE   0x02    
#define UART_PARITY_BIT_MARK    0x03    
#define UART_PARITY_BIT_USE     0x04    
#define UART_STOP_BIT           0x08    


#define MOTOR_TYPE_UNKNOWN   0x00       
#define MOTOR_TYPE_STEP      0x01       
#define MOTOR_TYPE_DC        0x02       
#define MOTOR_TYPE_BLDC      0x03       


#define ENCSET_DIFFERENTIAL_OUTPUT            0x001     
#define ENCSET_PUSHPULL_OUTPUT                0x004     
#define ENCSET_INDEXCHANNEL_PRESENT           0x010     
#define ENCSET_REVOLUTIONSENSOR_PRESENT       0x040     
#define ENCSET_REVOLUTIONSENSOR_ACTIVE_HIGH   0x100     


#define MB_AVAILABLE      0x01  
#define MB_POWERED_HOLD   0x02  


#define TS_TYPE_BITS            0x07    
#define TS_TYPE_UNKNOWN         0x00    
#define TS_TYPE_THERMOCOUPLE    0x01    
#define TS_TYPE_SEMICONDUCTOR   0x02    
#define TS_AVAILABLE            0x08    


#define LS_ON_SW1_AVAILABLE   0x01      
#define LS_ON_SW2_AVAILABLE   0x02      
#define LS_SW1_ACTIVE_LOW     0x04      
#define LS_SW2_ACTIVE_LOW     0x08      
#define LS_SHORTED            0x10      


#define BACK_EMF_INDUCTANCE_AUTO   0x01         
#define BACK_EMF_RESISTANCE_AUTO   0x02         
#define BACK_EMF_KM_AUTO           0x04         


        typedef struct
        {
                unsigned int IPS;       
                unsigned int FeedbackType;      
                unsigned int FeedbackFlags;     
                unsigned int CountsPerTurn;     
        } feedback_settings_t;

        typedef struct
        {
                unsigned int FastHome;  
                unsigned int uFastHome; 
                unsigned int SlowHome;  
                unsigned int uSlowHome; 
                int HomeDelta;  
                int uHomeDelta; 
                unsigned int HomeFlags; 
        } home_settings_t;

        typedef struct
        {
                float FastHome; 
                float SlowHome; 
                float HomeDelta;        
                unsigned int HomeFlags; 
        } home_settings_calb_t;

        typedef struct
        {
                unsigned int Speed;     
                unsigned int uSpeed;    
                unsigned int Accel;     
                unsigned int Decel;     
                unsigned int AntiplaySpeed;     
                unsigned int uAntiplaySpeed;    
                unsigned int MoveFlags; 
        } move_settings_t;

        typedef struct
        {
                float Speed;    
                float Accel;    
                float Decel;    
                float AntiplaySpeed;    
                unsigned int MoveFlags; 
        } move_settings_calb_t;

        typedef struct
        {
                unsigned int NomVoltage;        
                unsigned int NomCurrent;        
                unsigned int NomSpeed;  
                unsigned int uNomSpeed; 
                unsigned int EngineFlags;       
                int Antiplay;   
                unsigned int MicrostepMode;     
                unsigned int StepsPerRev;       
        } engine_settings_t;

        typedef struct
        {
                unsigned int NomVoltage;        
                unsigned int NomCurrent;        
                float NomSpeed; 
                unsigned int EngineFlags;       
                float Antiplay; 
                unsigned int MicrostepMode;     
                unsigned int StepsPerRev;       
        } engine_settings_calb_t;

        typedef struct
        {
                unsigned int EngineType;        
                unsigned int DriverType;        
        } entype_settings_t;

        typedef struct
        {
                unsigned int HoldCurrent;       
                unsigned int CurrReductDelay;   
                unsigned int PowerOffDelay;     
                unsigned int CurrentSetTime;    
                unsigned int PowerFlags;        
        } power_settings_t;

        typedef struct
        {
                unsigned int LowUpwrOff;        
                unsigned int CriticalIpwr;      
                unsigned int CriticalUpwr;      
                unsigned int CriticalT; 
                unsigned int CriticalIusb;      
                unsigned int CriticalUusb;      
                unsigned int MinimumUusb;       
                unsigned int Flags;     
        } secure_settings_t;

        typedef struct
        {
                unsigned int BorderFlags;       
                unsigned int EnderFlags;        
                int LeftBorder; 
                int uLeftBorder;        
                int RightBorder;        
                int uRightBorder;       
        } edges_settings_t;

        typedef struct
        {
                unsigned int BorderFlags;       
                unsigned int EnderFlags;        
                float LeftBorder;       
                float RightBorder;      
        } edges_settings_calb_t;

        typedef struct
        {
                unsigned int KpU;       
                unsigned int KiU;       
                unsigned int KdU;       
                float Kpf;      
                float Kif;      
                float Kdf;      
        } pid_settings_t;

        typedef struct
        {
                unsigned int SyncInFlags;       
                unsigned int ClutterTime;       
                int Position;   
                int uPosition;  
                unsigned int Speed;     
                unsigned int uSpeed;    
                unsigned int reserved0;
        } sync_in_settings_t;

        typedef struct
        {
                unsigned int SyncInFlags;       
                unsigned int ClutterTime;       
                float Position; 
                float Speed;    
                unsigned int reserved0;
        } sync_in_settings_calb_t;

        typedef struct
        {
                unsigned int SyncOutFlags;      
                unsigned int SyncOutPulseSteps; 
                unsigned int SyncOutPeriod;     
                unsigned int Accuracy;  
                unsigned int uAccuracy; 
        } sync_out_settings_t;

        typedef struct
        {
                unsigned int SyncOutFlags;      
                unsigned int SyncOutPulseSteps; 
                unsigned int SyncOutPeriod;     
                float Accuracy; 
        } sync_out_settings_calb_t;

        typedef struct
        {
                unsigned int EXTIOSetupFlags;   
                unsigned int EXTIOModeFlags;    
        } extio_settings_t;

        typedef struct
        {
                unsigned int t1;        
                unsigned int t2;        
                unsigned int t3;        
                unsigned int t4;        
                unsigned int BrakeFlags;        
        } brake_settings_t;

        typedef struct
        {
                unsigned int MaxSpeed[10];      
                unsigned int uMaxSpeed[10];     
                unsigned int Timeout[9];        
                unsigned int MaxClickTime;      
                unsigned int Flags;     
                int DeltaPosition;      
                int uDeltaPosition;     
        } control_settings_t;

        typedef struct
        {
                float MaxSpeed[10];     
                unsigned int Timeout[9];        
                unsigned int MaxClickTime;      
                unsigned int Flags;     
                float DeltaPosition;    
        } control_settings_calb_t;

        typedef struct
        {
                unsigned int JoyLowEnd; 
                unsigned int JoyCenter; 
                unsigned int JoyHighEnd;        
                unsigned int ExpFactor; 
                unsigned int DeadZone;  
                unsigned int JoyFlags;  
        } joystick_settings_t;

        typedef struct
        {
                unsigned int CTPMinError;       
                unsigned int CTPFlags;  
        } ctp_settings_t;

        typedef struct
        {
                unsigned int Speed;     
                unsigned int UARTSetupFlags;    
        } uart_settings_t;

        typedef struct
        {
                unsigned int DHCPEnabled;       
                unsigned int IPv4Address[4];    
                unsigned int SubnetMask[4];     
                unsigned int DefaultGateway[4]; 
        } network_settings_t;

        typedef struct
        {
                char UserPassword[21];  
        } password_settings_t;

        typedef struct
        {
                float CSS1_A;   
                float CSS1_B;   
                float CSS2_A;   
                float CSS2_B;   
                float FullCurrent_A;    
                float FullCurrent_B;    
        } calibration_settings_t;

        typedef struct
        {
                char ControllerName[17];        
                unsigned int CtrlFlags; 
        } controller_name_t;

        typedef struct
        {
                unsigned int UserData[7];       
        } nonvolatile_memory_t;

        typedef struct
        {
                float L;        
                float R;        
                float Km;       
                unsigned int BackEMFFlags;      
        } emf_settings_t;

        typedef struct
        {
                unsigned int stepcloseloop_Kw;  
                unsigned int stepcloseloop_Kp_low;      
                unsigned int stepcloseloop_Kp_high;     
        } engine_advanced_setup_t;

        typedef struct
        {
                unsigned int Param1;    
        } extended_settings_t;

        typedef struct
        {
                int Position;   
                int uPosition;  
                long_t EncPosition;     
        } get_position_t;

        typedef struct
        {
                float Position; 
                long_t EncPosition;     
        } get_position_calb_t;

        typedef struct
        {
                int Position;   
                int uPosition;  
                long_t EncPosition;     
                unsigned int PosFlags;  
        } set_position_t;

        typedef struct
        {
                float Position; 
                long_t EncPosition;     
                unsigned int PosFlags;  
        } set_position_calb_t;

        typedef struct
        {
                unsigned int MoveSts;   
                unsigned int MvCmdSts;  
                unsigned int PWRSts;    
                unsigned int EncSts;    
                unsigned int WindSts;   
                int CurPosition;        
                int uCurPosition;       
                long_t EncPosition;     
                int CurSpeed;   
                int uCurSpeed;  
                int Ipwr;       
                int Upwr;       
                int Iusb;       
                int Uusb;       
                int CurT;       
                unsigned int Flags;     
                unsigned int GPIOFlags; 
                unsigned int CmdBufFreeSpace;   
        } status_t;

        typedef struct
        {
                unsigned int MoveSts;   
                unsigned int MvCmdSts;  
                unsigned int PWRSts;    
                unsigned int EncSts;    
                unsigned int WindSts;   
                float CurPosition;      
                long_t EncPosition;     
                float CurSpeed; 
                int Ipwr;       
                int Upwr;       
                int Iusb;       
                int Uusb;       
                int CurT;       
                unsigned int Flags;     
                unsigned int GPIOFlags; 
                unsigned int CmdBufFreeSpace;   
        } status_calb_t;

        typedef struct
        {
                int Speed[25];  
                int Error[25];  
                unsigned int Length;    
        } measurements_t;

        typedef struct
        {
                int WindingVoltageA;    
                int WindingVoltageB;    
                int WindingVoltageC;    
                int WindingCurrentA;    
                int WindingCurrentB;    
                int WindingCurrentC;    
                unsigned int Pot;       
                unsigned int Joy;       
                int AveragedPowerRatio; 
        } chart_data_t;

        typedef struct
        {
                char Manufacturer[5];   
                char ManufacturerId[3]; 
                char ProductDescription[9];     
                unsigned int Major;     
                unsigned int Minor;     
                unsigned int Release;   
        } device_information_t;

        typedef struct
        {
                unsigned int SN;        
                uint8_t Key[32];        
                unsigned int Major;     
                unsigned int Minor;     
                unsigned int Release;   
        } serial_number_t;

        typedef struct
        {
                unsigned int A1Voltage_ADC;     
                unsigned int A2Voltage_ADC;     
                unsigned int B1Voltage_ADC;     
                unsigned int B2Voltage_ADC;     
                unsigned int SupVoltage_ADC;    
                unsigned int ACurrent_ADC;      
                unsigned int BCurrent_ADC;      
                unsigned int FullCurrent_ADC;   
                unsigned int Temp_ADC;  
                unsigned int Joy_ADC;   
                unsigned int Pot_ADC;   
                unsigned int Enc_Check_ADC;     
                unsigned int deprecated0;
                int A1Voltage;  
                int A2Voltage;  
                int B1Voltage;  
                int B2Voltage;  
                int SupVoltage; 
                int ACurrent;   
                int BCurrent;   
                int FullCurrent;        
                int Temp;       
                int Joy;        
                int Pot;        
                int Enc_Check;  
                unsigned int deprecated1[2];
                int R;  
                int L;  
        } analog_data_t;

        typedef struct
        {
                uint8_t DebugData[128]; 
        } debug_read_t;

        typedef struct
        {
                uint8_t DebugData[128]; 
        } debug_write_t;

        typedef struct
        {
                char PositionerName[17];        
        } stage_name_t;

        typedef struct
        {
                char Manufacturer[17];  
                char PartNumber[25];    
        } stage_information_t;

        typedef struct
        {
                float LeadScrewPitch;   
                char Units[9];  
                float MaxSpeed; 
                float TravelRange;      
                float SupplyVoltageMin; 
                float SupplyVoltageMax; 
                float MaxCurrentConsumption;    
                float HorizontalLoadCapacity;   
                float VerticalLoadCapacity;     
        } stage_settings_t;

        typedef struct
        {
                char Manufacturer[17];  
                char PartNumber[25];    
        } motor_information_t;

        typedef struct
        {
                unsigned int MotorType; 
                unsigned int ReservedField;     
                unsigned int Poles;     
                unsigned int Phases;    
                float NominalVoltage;   
                float NominalCurrent;   
                float NominalSpeed;     
                float NominalTorque;    
                float NominalPower;     
                float WindingResistance;        
                float WindingInductance;        
                float RotorInertia;     
                float StallTorque;      
                float DetentTorque;     
                float TorqueConstant;   
                float SpeedConstant;    
                float SpeedTorqueGradient;      
                float MechanicalTimeConstant;   
                float MaxSpeed; 
                float MaxCurrent;       
                float MaxCurrentTime;   
                float NoLoadCurrent;    
                float NoLoadSpeed;      
        } motor_settings_t;

        typedef struct
        {
                char Manufacturer[17];  
                char PartNumber[25];    
        } encoder_information_t;

        typedef struct
        {
                float MaxOperatingFrequency;    
                float SupplyVoltageMin; 
                float SupplyVoltageMax; 
                float MaxCurrentConsumption;    
                unsigned int PPR;       
                unsigned int EncoderSettings;   
        } encoder_settings_t;

        typedef struct
        {
                char Manufacturer[17];  
                char PartNumber[25];    
        } hallsensor_information_t;

        typedef struct
        {
                float MaxOperatingFrequency;    
                float SupplyVoltageMin; 
                float SupplyVoltageMax; 
                float MaxCurrentConsumption;    
                unsigned int PPR;       
        } hallsensor_settings_t;

        typedef struct
        {
                char Manufacturer[17];  
                char PartNumber[25];    
        } gear_information_t;

        typedef struct
        {
                float ReductionIn;      
                float ReductionOut;     
                float RatedInputTorque; 
                float RatedInputSpeed;  
                float MaxOutputBacklash;        
                float InputInertia;     
                float Efficiency;       
        } gear_settings_t;

        typedef struct
        {
                char MagneticBrakeInfo[25];     
                float MBRatedVoltage;   
                float MBRatedCurrent;   
                float MBTorque; 
                unsigned int MBSettings;        
                char TemperatureSensorInfo[25]; 
                float TSMin;    
                float TSMax;    
                float TSGrad;   
                unsigned int TSSettings;        
                unsigned int LimitSwitchesSettings;     
        } accessories_settings_t;

        typedef struct
        {
                uint8_t key[16];        
        } init_random_t;

        typedef struct
        {
                unsigned int UniqueID0; 
                unsigned int UniqueID1; 
                unsigned int UniqueID2; 
                unsigned int UniqueID3; 
        } globally_unique_identifier_t;

/*
 --------------------------------------------
   BEGIN OF GENERATED function declarations
 --------------------------------------------
*/


        result_t XIMC_API set_feedback_settings (device_t id, const feedback_settings_t* feedback_settings);

        result_t XIMC_API get_feedback_settings (device_t id, feedback_settings_t* feedback_settings);

        result_t XIMC_API set_home_settings (device_t id, const home_settings_t* home_settings);

        result_t XIMC_API set_home_settings_calb (device_t id, const home_settings_calb_t* home_settings_calb, const calibration_t* calibration);

        result_t XIMC_API get_home_settings (device_t id, home_settings_t* home_settings);

        result_t XIMC_API get_home_settings_calb (device_t id, home_settings_calb_t* home_settings_calb, const calibration_t* calibration);

        result_t XIMC_API set_move_settings (device_t id, const move_settings_t* move_settings);

        result_t XIMC_API set_move_settings_calb (device_t id, const move_settings_calb_t* move_settings_calb, const calibration_t* calibration);

        result_t XIMC_API get_move_settings (device_t id, move_settings_t* move_settings);

        result_t XIMC_API get_move_settings_calb (device_t id, move_settings_calb_t* move_settings_calb, const calibration_t* calibration);

        result_t XIMC_API set_engine_settings (device_t id, const engine_settings_t* engine_settings);

        result_t XIMC_API set_engine_settings_calb (device_t id, const engine_settings_calb_t* engine_settings_calb, const calibration_t* calibration);

        result_t XIMC_API get_engine_settings (device_t id, engine_settings_t* engine_settings);

        result_t XIMC_API get_engine_settings_calb (device_t id, engine_settings_calb_t* engine_settings_calb, const calibration_t* calibration);

        result_t XIMC_API set_entype_settings (device_t id, const entype_settings_t* entype_settings);

        result_t XIMC_API get_entype_settings (device_t id, entype_settings_t* entype_settings);

        result_t XIMC_API set_power_settings (device_t id, const power_settings_t* power_settings);

        result_t XIMC_API get_power_settings (device_t id, power_settings_t* power_settings);

        result_t XIMC_API set_secure_settings (device_t id, const secure_settings_t* secure_settings);

        result_t XIMC_API get_secure_settings (device_t id, secure_settings_t* secure_settings);

        result_t XIMC_API set_edges_settings (device_t id, const edges_settings_t* edges_settings);

        result_t XIMC_API set_edges_settings_calb (device_t id, const edges_settings_calb_t* edges_settings_calb, const calibration_t* calibration);

        result_t XIMC_API get_edges_settings (device_t id, edges_settings_t* edges_settings);

        result_t XIMC_API get_edges_settings_calb (device_t id, edges_settings_calb_t* edges_settings_calb, const calibration_t* calibration);

        result_t XIMC_API set_pid_settings (device_t id, const pid_settings_t* pid_settings);

        result_t XIMC_API get_pid_settings (device_t id, pid_settings_t* pid_settings);

        result_t XIMC_API set_sync_in_settings (device_t id, const sync_in_settings_t* sync_in_settings);

        result_t XIMC_API set_sync_in_settings_calb (device_t id, const sync_in_settings_calb_t* sync_in_settings_calb, const calibration_t* calibration);

        result_t XIMC_API get_sync_in_settings (device_t id, sync_in_settings_t* sync_in_settings);

        result_t XIMC_API get_sync_in_settings_calb (device_t id, sync_in_settings_calb_t* sync_in_settings_calb, const calibration_t* calibration);

        result_t XIMC_API set_sync_out_settings (device_t id, const sync_out_settings_t* sync_out_settings);

        result_t XIMC_API set_sync_out_settings_calb (device_t id, const sync_out_settings_calb_t* sync_out_settings_calb, const calibration_t* calibration);

        result_t XIMC_API get_sync_out_settings (device_t id, sync_out_settings_t* sync_out_settings);

        result_t XIMC_API get_sync_out_settings_calb (device_t id, sync_out_settings_calb_t* sync_out_settings_calb, const calibration_t* calibration);

        result_t XIMC_API set_extio_settings (device_t id, const extio_settings_t* extio_settings);

        result_t XIMC_API get_extio_settings (device_t id, extio_settings_t* extio_settings);

        result_t XIMC_API set_brake_settings (device_t id, const brake_settings_t* brake_settings);

        result_t XIMC_API get_brake_settings (device_t id, brake_settings_t* brake_settings);

        result_t XIMC_API set_control_settings (device_t id, const control_settings_t* control_settings);

        result_t XIMC_API set_control_settings_calb (device_t id, const control_settings_calb_t* control_settings_calb, const calibration_t* calibration);

        result_t XIMC_API get_control_settings (device_t id, control_settings_t* control_settings);

        result_t XIMC_API get_control_settings_calb (device_t id, control_settings_calb_t* control_settings_calb, const calibration_t* calibration);

        result_t XIMC_API set_joystick_settings (device_t id, const joystick_settings_t* joystick_settings);

        result_t XIMC_API get_joystick_settings (device_t id, joystick_settings_t* joystick_settings);

        result_t XIMC_API set_ctp_settings (device_t id, const ctp_settings_t* ctp_settings);

        result_t XIMC_API get_ctp_settings (device_t id, ctp_settings_t* ctp_settings);

        result_t XIMC_API set_uart_settings (device_t id, const uart_settings_t* uart_settings);

        result_t XIMC_API get_uart_settings (device_t id, uart_settings_t* uart_settings);

        result_t XIMC_API set_network_settings (device_t id, const network_settings_t* network_settings);

        result_t XIMC_API get_network_settings (device_t id, network_settings_t* network_settings);

        result_t XIMC_API set_password_settings (device_t id, const password_settings_t* password_settings);

        result_t XIMC_API get_password_settings (device_t id, password_settings_t* password_settings);

        result_t XIMC_API set_calibration_settings (device_t id, const calibration_settings_t* calibration_settings);

        result_t XIMC_API get_calibration_settings (device_t id, calibration_settings_t* calibration_settings);

        result_t XIMC_API set_controller_name (device_t id, const controller_name_t* controller_name);

        result_t XIMC_API get_controller_name (device_t id, controller_name_t* controller_name);

        result_t XIMC_API set_nonvolatile_memory (device_t id, const nonvolatile_memory_t* nonvolatile_memory);

        result_t XIMC_API get_nonvolatile_memory (device_t id, nonvolatile_memory_t* nonvolatile_memory);

        result_t XIMC_API set_emf_settings (device_t id, const emf_settings_t* emf_settings);

        result_t XIMC_API get_emf_settings (device_t id, emf_settings_t* emf_settings);

        result_t XIMC_API set_engine_advanced_setup (device_t id, const engine_advanced_setup_t* engine_advanced_setup);

        result_t XIMC_API get_engine_advanced_setup (device_t id, engine_advanced_setup_t* engine_advanced_setup);

        result_t XIMC_API set_extended_settings (device_t id, const extended_settings_t* extended_settings);

        result_t XIMC_API get_extended_settings (device_t id, extended_settings_t* extended_settings);




        result_t XIMC_API command_stop (device_t id);

        result_t XIMC_API command_power_off (device_t id);

        result_t XIMC_API command_move (device_t id, int Position, int uPosition);

        result_t XIMC_API command_move_calb (device_t id, float Position, const calibration_t* calibration);

        result_t XIMC_API command_movr (device_t id, int DeltaPosition, int uDeltaPosition);

        result_t XIMC_API command_movr_calb (device_t id, float DeltaPosition, const calibration_t* calibration);

        result_t XIMC_API command_home (device_t id);

        result_t XIMC_API command_left (device_t id);

        result_t XIMC_API command_right (device_t id);

        result_t XIMC_API command_loft (device_t id);

        result_t XIMC_API command_sstp (device_t id);

        result_t XIMC_API get_position (device_t id, get_position_t* the_get_position);

        result_t XIMC_API get_position_calb (device_t id, get_position_calb_t* the_get_position_calb, const calibration_t* calibration);

        result_t XIMC_API set_position (device_t id, const set_position_t* the_set_position);

        result_t XIMC_API set_position_calb (device_t id, const set_position_calb_t* the_set_position_calb, const calibration_t* calibration);

        result_t XIMC_API command_zero (device_t id);




        result_t XIMC_API command_save_settings (device_t id);

        result_t XIMC_API command_read_settings (device_t id);

        result_t XIMC_API command_save_robust_settings (device_t id);

        result_t XIMC_API command_read_robust_settings (device_t id);

        result_t XIMC_API command_eesave_settings (device_t id);

        result_t XIMC_API command_eeread_settings (device_t id);

        result_t XIMC_API command_start_measurements (device_t id);

        result_t XIMC_API get_measurements (device_t id, measurements_t* measurements);

        result_t XIMC_API get_chart_data (device_t id, chart_data_t* chart_data);

        result_t XIMC_API get_serial_number (device_t id, unsigned int* SerialNumber);

        result_t XIMC_API get_firmware_version (device_t id, unsigned int* Major, unsigned int* Minor, unsigned int* Release);

        result_t XIMC_API service_command_updf (device_t id);




        result_t XIMC_API set_serial_number (device_t id, const serial_number_t* serial_number);

        result_t XIMC_API get_analog_data (device_t id, analog_data_t* analog_data);

        result_t XIMC_API get_debug_read (device_t id, debug_read_t* debug_read);

        result_t XIMC_API set_debug_write (device_t id, const debug_write_t* debug_write);




        result_t XIMC_API set_stage_name (device_t id, const stage_name_t* stage_name);

        result_t XIMC_API get_stage_name (device_t id, stage_name_t* stage_name);

        result_t XIMC_API set_stage_information (device_t id, const stage_information_t* stage_information);

        result_t XIMC_API get_stage_information (device_t id, stage_information_t* stage_information);

        result_t XIMC_API set_stage_settings (device_t id, const stage_settings_t* stage_settings);

        result_t XIMC_API get_stage_settings (device_t id, stage_settings_t* stage_settings);

        result_t XIMC_API set_motor_information (device_t id, const motor_information_t* motor_information);

        result_t XIMC_API get_motor_information (device_t id, motor_information_t* motor_information);

        result_t XIMC_API set_motor_settings (device_t id, const motor_settings_t* motor_settings);

        result_t XIMC_API get_motor_settings (device_t id, motor_settings_t* motor_settings);

        result_t XIMC_API set_encoder_information (device_t id, const encoder_information_t* encoder_information);

        result_t XIMC_API get_encoder_information (device_t id, encoder_information_t* encoder_information);

        result_t XIMC_API set_encoder_settings (device_t id, const encoder_settings_t* encoder_settings);

        result_t XIMC_API get_encoder_settings (device_t id, encoder_settings_t* encoder_settings);

        result_t XIMC_API set_hallsensor_information (device_t id, const hallsensor_information_t* hallsensor_information);

        result_t XIMC_API get_hallsensor_information (device_t id, hallsensor_information_t* hallsensor_information);

        result_t XIMC_API set_hallsensor_settings (device_t id, const hallsensor_settings_t* hallsensor_settings);

        result_t XIMC_API get_hallsensor_settings (device_t id, hallsensor_settings_t* hallsensor_settings);

        result_t XIMC_API set_gear_information (device_t id, const gear_information_t* gear_information);

        result_t XIMC_API get_gear_information (device_t id, gear_information_t* gear_information);

        result_t XIMC_API set_gear_settings (device_t id, const gear_settings_t* gear_settings);

        result_t XIMC_API get_gear_settings (device_t id, gear_settings_t* gear_settings);

        result_t XIMC_API set_accessories_settings (device_t id, const accessories_settings_t* accessories_settings);

        result_t XIMC_API get_accessories_settings (device_t id, accessories_settings_t* accessories_settings);

        result_t XIMC_API get_bootloader_version (device_t id, unsigned int* Major, unsigned int* Minor, unsigned int* Release);

        result_t XIMC_API get_init_random (device_t id, init_random_t* init_random);

        result_t XIMC_API get_globally_unique_identifier (device_t id, globally_unique_identifier_t* globally_unique_identifier);


/*
 -------------------------
   END OF GENERATED CODE
 -------------------------
*/

/* hand-crafted functions begin */

        result_t XIMC_API goto_firmware(device_t id, uint8_t* ret);

        result_t XIMC_API has_firmware(const char* uri, uint8_t* ret);

        result_t XIMC_API command_update_firmware(const char* uri, const uint8_t* data, uint32_t data_size);

        result_t XIMC_API write_key (const char* uri, uint8_t* key);

        result_t XIMC_API command_reset(device_t id);

        result_t XIMC_API command_clear_fram(device_t id);


        // ------------------------------------


        device_t XIMC_API open_device (const char* uri);

        result_t XIMC_API close_device (device_t* id);

        result_t XIMC_API set_correction_table(device_t id, const char* namefile);

        result_t XIMC_API probe_device (const char* uri);

        device_enumeration_t XIMC_API enumerate_devices(int enumerate_flags, const char *hints);

        result_t XIMC_API free_enumerate_devices(device_enumeration_t device_enumeration);

        int XIMC_API get_device_count(device_enumeration_t device_enumeration);

        typedef char* pchar;

        pchar XIMC_API get_device_name(device_enumeration_t device_enumeration, int device_index);


        result_t XIMC_API get_enumerate_device_serial(device_enumeration_t device_enumeration, int device_index, uint32_t* serial);

        result_t XIMC_API get_enumerate_device_information(device_enumeration_t device_enumeration, int device_index, device_information_t* device_information);

        result_t XIMC_API get_enumerate_device_controller_name(device_enumeration_t device_enumeration, int device_index, controller_name_t* controller_name);

        result_t XIMC_API get_enumerate_device_stage_name(device_enumeration_t device_enumeration, int device_index, stage_name_t* stage_name);

        result_t XIMC_API get_enumerate_device_network_information(device_enumeration_t device_enumeration, int device_index, device_network_information_t* device_network_information);

        result_t XIMC_API reset_locks ();

        void XIMC_API msec_sleep (unsigned int msec);

        void XIMC_API ximc_version (char* version);

#if !defined(MATLAB_IMPORT) && !defined(LABVIEW64_IMPORT) && !defined(LABVIEW32_IMPORT)

        typedef void (XIMC_CALLCONV *logging_callback_t)(int loglevel, const wchar_t* message, void* user_data);

        void XIMC_API logging_callback_stderr_wide(int loglevel, const wchar_t* message, void* user_data);

        void XIMC_API logging_callback_stderr_narrow(int loglevel, const wchar_t* message, void* user_data);

        void XIMC_API set_logging_callback(logging_callback_t logging_callback, void* user_data);

#endif

        result_t XIMC_API get_status (device_t id, status_t* status);

        result_t XIMC_API get_status_calb (device_t id, status_calb_t* status, const calibration_t* calibration);

        result_t XIMC_API get_device_information (device_t id, device_information_t* device_information);

        result_t XIMC_API command_wait_for_stop(device_t id, uint32_t refresh_interval_ms);
        
        result_t XIMC_API command_homezero(device_t id);

#if defined(__cplusplus)
};
#endif

#endif

// vim: ts=4 shiftwidth=4