m5apiw32.h

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/******************************************************************************
 * 
 * Copyright (c) 2012 
 * 
 * SCHUNK GmbH & Co. KG
 *  
 * ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ 
 * 
 * Project name: Drivers for "Amtec M5 Protocol" Electronics V4
 *                                                                        
 * ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ 
 * 
 * Email:robotics@schunk.com
 * 
 * ToDo: 
 * 
 * ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ 
 * 
 * Redistribution and use in source and binary forms, with or without 
 * modification, are permitted provided that the following conditions are met: 
 * 
 *  * Redistributions of source code must retain the above copyright 
 *    notice, this list of conditions and the following disclaimer. 
 *  * Redistributions in binary form must reproduce the above copyright 
 *    notice, this list of conditions and the following disclaimer in the 
 *    documentation and/or other materials provided with the distribution. 
 *  * Neither the name of SCHUNK GmbH & Co. KG nor the names of its 
 *    contributors may be used to endorse or promote products derived from 
 *    this software without specific prior written permission. 
 * 
 * This program is free software: you can redistribute it and/or modify 
 * it under the terms of the GNU Lesser General Public License LGPL as 
 * published by the Free Software Foundation, either version 3 of the 
 * License, or (at your option) any later version. 
 * 
 * This program is distributed in the hope that it will be useful, 
 * but WITHOUT ANY WARRANTY; without even the implied warranty of 
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the 
 * GNU Lesser General Public License LGPL for more details. 
 * 
 * You should have received a copy of the GNU Lesser General Public 
 * License LGPL along with this program. 
 * If not, see <http://www.gnu.org/licenses/>.
 * 
 ******************************************************************************/


#define __LINUX__ 
#ifndef M5APIW32_H
#define M5APIW32_H


 
#define M5DLLVERSION 0x5060
#define MAX_MODULES 31

#if defined (_WIN32)
#ifndef WINAPI
        #define WINAPI __stdcall
#endif

#ifdef M5APIW32_EXPORTS
        #define M5DLL_API __declspec(dllexport)
#else
        #define M5DLL_API __declspec(dllimport)
#endif
#endif
#if defined(__LINUX__)
        #define WINAPI
        #define M5DLL_API
#endif
#if defined (__QNX__)
        #define WINAPI
        #define M5DLL_API
#endif

extern M5DLL_API int g_iM5DebugLevel;
extern M5DLL_API int g_iM5DebugFile;
extern M5DLL_API int g_iM5Debug;

//-----------------------------------------------------------------------
// new PCube Module States
//-----------------------------------------------------------------------
#define STATEID_MOD_ERROR                                                               0x00000001L
#define STATEID_MOD_HOME                                                                0x00000002L
#define STATEID_MOD_HALT                                                                0x00000004L
#define STATEID_MOD_POWERFAULT                                  0x00000008L
#define STATEID_MOD_TOW_ERROR                                           0x00000010L
#define STATEID_MOD_COMM_ERROR                                  0x00000020L
#define STATEID_MOD_SWR                                                                 0x00000040L
#define STATEID_MOD_SW1                                                                 0x00000080L
#define STATEID_MOD_SW2                                                                 0x00000100L
#define STATEID_MOD_BRAKEACTIVE                                 0x00000200L
#define STATEID_MOD_CURLIMIT                                            0x00000400L
#define STATEID_MOD_MOTION                                                      0x00000800L
#define STATEID_MOD_RAMP_ACC                                            0x00001000L
#define STATEID_MOD_RAMP_STEADY                                 0x00002000L
#define STATEID_MOD_RAMP_DEC                                            0x00004000L
#define STATEID_MOD_RAMP_END                                            0x00008000L
#define STATEID_MOD_INPROGRESS                                  0x00010000L
#define STATEID_MOD_FULLBUFFER                                  0x00020000L
#define STATEID_MOD_POW_VOLT_ERR                                0x00040000L
#define STATEID_MOD_POW_FET_TEMP                                0x00080000L
#define STATEID_MOD_POW_WDG_TEMP                                0x00100000L
#define STATEID_MOD_POW_SHORTCUR                                0x00200000L
#define STATEID_MOD_POW_HALLERR                                 0x00400000L
#define STATEID_MOD_POW_INTEGRALERR                     0x00800000L
#define STATEID_MOD_CPU_OVERLOAD                                0x01000000L
#define STATEID_MOD_BEYOND_HARD                           0x02000000L
#define STATEID_MOD_BEYOND_SOFT                                 0x04000000L
#define STATEID_MOD_LOGIC_VOLT                                  0x08000000L

//-----------------------------------------------------------------------
// new PCube Module Config
//-----------------------------------------------------------------------
#define CONFIGID_MOD_ENCODER_FEEDBACK                   0x00000001L //OS: 25xx from 35xx in SETUP
#define CONFIGID_MOD_RESOLVER_FEEDBACK                  0x00000002L //OS: 25xx from 35xx in SETUP
#define CONFIGID_MOD_ABSOLUTE_FEEDBACK                  0x00000004L //OS: 25xx from 35xx in SETUP
#define CONFIGID_MOD_BRAKE_PRESENT                              0x00000008L
#define CONFIGID_MOD_BRAKE_AT_POWERON                   0x00000010L
#define CONFIGID_MOD_SWR_WITH_ENCODERZERO               0x00000020L
#define CONFIGID_MOD_SWR_AT_FALLING_EDGE                0x00000040L
#define CONFIGID_MOD_CHANGE_SWR_TO_LIMIT                0x00000080L
#define CONFIGID_MOD_SWR_ENABLED                        0x00000100L
#define CONFIGID_MOD_SWR_LOW_ACTIVE                             0x00000200L
#define CONFIGID_MOD_SWR_EQ_POSLIMIT                    0x00000400L //OS: 25xx
#define CONFIGID_MOD_SWR_USE_EXTERNAL                   0x00000400L //OS: 35xx
#define CONFIGID_MOD_SW1_ENABLED                                0x00000800L
#define CONFIGID_MOD_SW1_LOW_ACTIVE                             0x00001000L
#define CONFIGID_MOD_SW1_EQ_POSLIMIT                    0x00002000L //OS: 25xx
#define CONFIGID_MOD_SW1_USE_EXTERNAL                   0x00002000L //OS: 35xx
#define CONFIGID_MOD_SW2_ENABLED                                0x00004000L
#define CONFIGID_MOD_SW2_LOW_ACTIVE                             0x00008000L
#define CONFIGID_MOD_SW2_EQ_POSLIMIT                    0x00010000L //OS: 25xx
#define CONFIGID_MOD_SW2_USE_EXTERNAL                   0x00010000L //OS: 35xx
#define CONFIGID_MOD_LINEAR                                             0x00020000L
#define CONFIGID_MOD_OPENBRAKE_ON_SW2                   0x00040000L     //OS: 25xx but not in 2512 from 35xx in SETUP
#define CONFIGID_MOD_ALLOW_FULL_CUR                             0x00080000L
#define CONFIGID_MOD_M3_COMPATIBLE                              0x00100000L
#define CONFIGID_MOD_LINEAR_SCREW                               0x00200000L
#define CONFIGID_MOD_DISABLE_ON_HALT                    0x00800000L
#define CONFIGID_MOD_WATCHDOG_ENABLE                    0x01000000L
#define CONFIGID_MOD_ZERO_MOVE_AFTER_HOK                0x02000000L //OS: 35xx
#define CONFIGID_MOD_DISABLE_ACK                                0x04000000L
#define CONFIGID_MOD_SYNC_MOTION                                0x08000000L
#define CONFIGID_MOD_SYNC_TRANSMIT                              0x10000000L //OS: 36xx
#define CONFIGID_MOD_CAN_RS232_COMM                             0x40000000L //OS: 25xx
#define CONFIGID_MOD_PROFI_RS485_COMM                   0x80000000L //OS: 25xx

//-----------------------------------------------------------------------
// new PCube Module Setup
//-----------------------------------------------------------------------
// ---- FEEDBACK SETUP -----------
#define SETUPID_MOD_ENCODER_FEEDBACK                    0x00000001L
#define SETUPID_MOD_RESOLVER_FEEDBACK                   0x00000002L
#define SETUPID_MOD_ABSOLUTE_FEEDBACK                   0x00000004L
// ---- DIGITAL IO SETUP ---------
#define SETUPID_MOD_4IN_4OUT                                    0x00000008L
#define SETUPID_MOD_3IN_ENCODER_IN                              0x00000010L
#define SETUPID_MOD_3IN_ENCODER_OUT                             0x00000020L
// ---- COMM INTERFACE -----------
#define SETUPID_MOD_RS232                                               0x00000040L
#define SETUPID_MOD_CAN                                                 0x00000200L
#define SETUPID_MOD_PROFIBUS                                    0x00000400L
// ---- CAN ID SETUP -------------
#define SETUPID_MOD_USE_M3ID                                    0x00000800L
#define SETUPID_MOD_USE_M4ID                                    0x00001000L
#define SETUPID_MOD_USE_CANOPEN                                 0x00002000L
// ---- MOTOR SETUP --------------
#define SETUPID_MOD_INVERT_MOTORDIR                             0x00004000L
// ---- INPUT USAGE --------------
#define SETUPID_MOD_USE_SW2_AS_ENABLE                   0x00008000L
#define SETUPID_MOD_USE_SW2_AS_BRAKE                    0x00010000L
// ---- OUTPUT USAGE -------------
#define SETUPID_MOD_ERROR_TO_OUT0                               0x00020000L
// ---- IN/OUTPUT USAGE -------------
#define SETUPID_MOD_IO_GRIPPER_CONTROL                  0x00080000L

//-----------------------------------------------------------------------
// new PCube Module Types
//-----------------------------------------------------------------------
#define TYPEID_MOD_ROTARY                                               0x0f
#define TYPEID_MOD_LINEAR                                               0xf0

//-----------------------------------------------------------------------
// new PCube Module DIO's
//-----------------------------------------------------------------------
#define DIOID_MOD_INBIT0                                                0x00000001L
#define DIOID_MOD_INBIT1                                                0x00000002L
#define DIOID_MOD_INBIT2                                                0x00000004L
#define DIOID_MOD_INBIT3                                                0x00000008L
 
#define DIOID_MOD_OUTBIT0                                               0x00000010L
#define DIOID_MOD_OUTBIT1                                               0x00000020L
#define DIOID_MOD_OUTBIT2                                               0x00000040L
#define DIOID_MOD_OUTBIT3                                               0x00000080L
 
#define DIOID_MOD_INSWR                                                 0x00000100L
#define DIOID_MOD_INSW1                                                 0x00000200L
#define DIOID_MOD_INSW2                                                 0x00000400L

//-----------------------------------------------------------------------
// new EMS Module Types
//-----------------------------------------------------------------------
#define TYPEID_EMS_DIG24V_OUT                                   10
#define TYPEID_EMS_DIG24V_IN                                    11
#define TYPEID_EMS_ANA10V_OUT                                   12
#define TYPEID_EMS_ANA10V_IN                                    13
#define TYPEID_EMS_ANA25MA_OUT                                  14
#define TYPEID_EMS_ANA25MA_IN                                   15

//-----------------------------------------------------------------------
// new PCube Module Baudrates
//-----------------------------------------------------------------------
#define BAUDRATEID_MOD_CAN_125K                                 0
#define BAUDRATEID_MOD_CAN_250K                                 1
#define BAUDRATEID_MOD_CAN_500K                                 2
#define BAUDRATEID_MOD_CAN_1000K                                3

#define BAUDRATEID_MOD_RS232_1200                               0
#define BAUDRATEID_MOD_RS232_2400                               1
#define BAUDRATEID_MOD_RS232_4800                               2
#define BAUDRATEID_MOD_RS232_9600                               3
#define BAUDRATEID_MOD_RS232_19200                      4
#define BAUDRATEID_MOD_RS232_38400                      5
#define BAUDRATEID_MOD_RS232_57600                      6
#define BAUDRATEID_MOD_RS232_115200                     7

//-----------------------------------------------------------------------
// new PCube Device Error Codes
//-----------------------------------------------------------------------
#define ERRID_DEV                                                       (-200L)         // device error
#define ERRID_DEV_FUNCTIONNOTAVAILABLE          (ERRID_DEV - 1) 
#define ERRID_DEV_NOINITSTRING                          (ERRID_DEV - 2)
#define ERRID_DEV_NODEVICENAME                          (ERRID_DEV - 3)
#define ERRID_DEV_BADINITSTRING                         (ERRID_DEV - 4)
#define ERRID_DEV_INITERROR                                     (ERRID_DEV - 5)
#define ERRID_DEV_NOTINITIALIZED                        (ERRID_DEV - 6)
#define ERRID_DEV_WRITEERROR                            (ERRID_DEV - 7)
#define ERRID_DEV_READERROR                                     (ERRID_DEV - 8)
#define ERRID_DEV_WRITETIMEOUT                          (ERRID_DEV - 9)
#define ERRID_DEV_READTIMEOUT                           (ERRID_DEV - 10)
#define ERRID_DEV_WRONGMESSAGEID                        (ERRID_DEV - 11)
#define ERRID_DEV_WRONGCOMMANDID                        (ERRID_DEV - 12)
#define ERRID_DEV_WRONGPARAMETERID                      (ERRID_DEV - 13)
#define ERRID_DEV_EXITERROR                                     (ERRID_DEV - 14)
#define ERRID_DEV_NOMODULES                                     (ERRID_DEV - 15)
#define ERRID_DEV_WRONGDEVICEID                         (ERRID_DEV - 16)
#define ERRID_DEV_NOLIBRARY                                     (ERRID_DEV - 17)
#define ERRID_DEV_ISINITIALIZED                         (ERRID_DEV - 18)
#define ERRID_DEV_WRONGEMSMODULEID                      (ERRID_DEV - 19)
#define ERRID_DEV_EMSNOTINITIALIZED                     (ERRID_DEV - 20)
#define ERRID_DEV_EMSMAXNUMBER                          (ERRID_DEV - 21)
#define ERRID_DEV_EMSINITERROR                          (ERRID_DEV - 22)
#define ERRID_DEV_WRONGEMSTYPE                          (ERRID_DEV - 23)
#define ERRID_DEV_WRONGEMSCHANNELID                     (ERRID_DEV - 24)
#define ERRID_DEV_WRONGMP55MODULEID                     (ERRID_DEV - 25)
#define ERRID_DEV_WRONGSCHUNKMODULEID           (ERRID_DEV - 26)
#define ERRID_DEV_WRONGMODULEID                         (ERRID_DEV - 27)
#define ERRID_DEV_MODULEERROR                           (ERRID_DEV - 28)
#define ERRID_DEV_WAITTIMEOUT                           (ERRID_DEV - 29)
#define ERRID_DEV_OPENINIFILE                           (ERRID_DEV - 30)

//-----------------------------------------------------------------------
// old PCube Device Error Codes
//-----------------------------------------------------------------------
#define CLD_OK                                                  0
#define CLD_ERR                                                 -1
#define CLDERR_ERROR                                    (-200)
#define CLERR_FUNCTIONNOTAVAILABLE      (CLDERR_ERROR - 1)      
#define CLERR_NOINITSTRING                              (CLDERR_ERROR - 2)
#define CLERR_NODEVICENAME                              (CLDERR_ERROR - 3)
#define CLERR_BADDEVICEINITSTRING               (CLDERR_ERROR - 4)
#define CLDERR_INITIALIZATIONERROR              (CLDERR_ERROR - 5)      
#define CLERR_DEVICENOTOPEN                             (CLDERR_ERROR - 6)
#define CLDERR_TRANSMISSIONERROR                (CLDERR_ERROR - 7)
#define CLDERR_RECEIVEERROR                             (CLDERR_ERROR - 8)
#define CLERR_COMM_SENDTIMEOUT                  (CLDERR_ERROR - 9)
#define CLERR_COMM_RECVTIMEOUT                  (CLDERR_ERROR - 10)
#define CLDERR_DRIVE_NOMODULEFOUND              (CLDERR_ERROR - 15)
#define CLERR_WRONGHANDLE                               (CLDERR_ERROR - 16)
#define CLDERR_LIBRARYNOTFOUND                  (CLDERR_ERROR - 17)     

//-----------------------------------------------------------------------
// old PCube Module States
//-----------------------------------------------------------------------
#define STATE_ERROR                                                     0x00000001L
#define STATE_HOME_OK                                           0x00000002L
#define STATE_HALTED                                            0x00000004L
#define STATE_POWERFAULT                                        0x00000008L
#define STATE_TOW_ERROR                                         0x00000010L
#define STATE_COMM_ERROR                                        0x00000020L
#define STATE_SWR                                                       0x00000040L
#define STATE_SW1                                                       0x00000080L
#define STATE_SW2                                                       0x00000100L
#define STATE_BRAKEACTIVE                                       0x00000200L
#define STATE_CURLIMIT                                          0x00000400L
#define STATE_MOTION                                            0x00000800L
#define STATE_RAMP_ACC                                          0x00001000L
#define STATE_RAMP_STEADY                                       0x00002000L
#define STATE_RAMP_DEC                                          0x00004000L
#define STATE_RAMP_END                                          0x00008000L
#define STATE_INPROGRESS                                        0x00010000L
#define STATE_FULLBUFFER                                        0x00020000L
#define STATE_POW_VOLT_ERR                                      0x00040000L
#define STATE_POW_FET_TEMP                                      0x00080000L
#define STATE_POW_WDG_TEMP                                      0x00100000L
#define STATE_POW_SHORTCUR                                      0x00200000L
#define STATE_POW_HALLERR                                       0x00400000L
#define STATE_POW_INTEGRALERR                           0x00800000L
#define STATE_CPU_OVERLOAD                                      0x01000000L
#define STATE_BEYOND_HARD                                       0x02000000L
#define STATE_BEYOND_SOFT                                       0x04000000L

//-----------------------------------------------------------------------
// old PCube Module Types
//-----------------------------------------------------------------------
#define ROTARY_DRIVE                                            TYPEID_MOD_ROTARY
#define LINEAR_DRIVE                                            TYPEID_MOD_LINEAR

//-----------------------------------------------------------------------
// old EMS Module Types
//-----------------------------------------------------------------------
#define TW_DIG24V_OUT                                           TYPEID_EMS_DIG24V_OUT
#define TW_DIG24V_IN                                            TYPEID_EMS_DIG24V_IN
#define TW_ANA10V_OUT                                           TYPEID_EMS_ANA10V_OUT
#define TW_ANA10V_IN                                            TYPEID_EMS_ANA10V_IN
#define TW_ANA25MA_OUT                                          TYPEID_EMS_ANA25MA_OUT
#define TW_ANA25MA_IN                                           TYPEID_EMS_ANA25MA_IN

//-----------------------------------------------------------------------
// old PCube Module Config
//-----------------------------------------------------------------------

#define CONFIG_ENCODER_FEEDBACK                         0x00000001L
#define CONFIG_RESOLVER_FEEDBACK                        0x00000002L
#define CONFIG_ABSOLUTE_FEEDBACK                        0x00000004L
#define CONFIG_BRAKE_PRESENT                            0x00000008L
#define CONFIG_BRAKE_AT_POWERON                         0x00000010L
#define CONFIG_SWR_WITH_ENCODERZERO                     0x00000020L
#define CONFIG_SWR_AT_FALLING_EDGE                      0x00000040L
#define CONFIG_CHANGE_SWR_TO_LIMIT                      0x00000080L
#define CONFIG_SWR_ENABLED                              0x00000100L
#define CONFIG_SWR_LOW_ACTIVE                           0x00000200L
#define CONFIG_SWR_EQ_POSLIMIT                          0x00000400L
#define CONFIG_SW1_ENABLED                                      0x00000800L
#define CONFIG_SW1_LOW_ACTIVE                           0x00001000L
#define CONFIG_SW1_EQ_POSLIMIT                          0x00002000L
#define CONFIG_SW2_ENABLED                                      0x00004000L
#define CONFIG_SW2_LOW_ACTIVE                           0x00008000L
#define CONFIG_SW2_EQ_POSLIMIT                          0x00010000L
#define CONFIG_LINEAR_DRIVE                                     0x00020000L
#define CONFIG_OPENBRAKE_ON_SW2                         0x00040000L
#define CONFIG_ALLOW_FULL_CUR                           0x00080000L
#define CONFIG_M3_COMPATIBLE                            0x00100000L
#define CONFIG_LINEAR_SCREW                                     0x00200000L
#define CONFIG_SYNC_MOTION                                      0x08000000L
#define CONFIG_CAN_RS232_COMM                           0x40000000L
#define CONFIG_PROFI_RS485_COMM                         0x80000000L

#define P3502_CONFIG_BRAKE_PRESENT          0x00000008L
#define P3502_CONFIG_BRAKE_AT_POWERON       0x00000010L
#define P3502_CONFIG_SWR_WITH_ENCODERZERO   0x00000020L
#define P3502_CONFIG_SWR_AT_FALLING_EDGE    0x00000040L
#define P3502_CONFIG_CHANGE_SWR_TO_LIMIT    0x00000080L
#define P3502_CONFIG_SWR_ENABLED                0x00000100L
#define P3502_CONFIG_SWR_LOW_ACTIVE         0x00000200L
#define P3502_CONFIG_SWR_USE_EXTERNAL       0x00000400L
#define P3502_CONFIG_SW1_ENABLED            0x00000800L
#define P3502_CONFIG_SW1_LOW_ACTIVE         0x00001000L
#define P3502_CONFIG_SW1_USE_EXTERNAL       0x00002000L
#define P3502_CONFIG_SW2_ENABLED                        0x00004000L
#define P3502_CONFIG_SW2_LOW_ACTIVE         0x00008000L
#define P3502_CONFIG_SW2_USE_EXTERNAL           0x00010000L
#define P3502_CONFIG_LINEAR_DRIVE                       0x00020000L
#define P3502_CONFIG_ALLOW_FULL_CUR                     0x00080000L
#define P3502_CONFIG_M3_COMPATIBLE                      0x00100000L
#define P3502_CONFIG_LINEAR_SCREW                       0x00200000L
#define P3502_CONFIG_DISABLE_ON_HALT            0x00800000L
#define P3502_CONFIG_WATCHDOG_ENABLE            0x01000000L
#define P3502_CONFIG_ZERO_MOVE_AFTER_HOK        0x02000000L
#define P3502_CONFIG_DISABLE_ACK                        0x04000000L

//-----------------------------------------------------------------------
// old PCube Module Setup
//-----------------------------------------------------------------------

// ---- FEEDBACK SETUP -----------
#define P3502_SETUP_ENCODER_FEEDBACK            0x00000001L
#define P3502_SETUP_RESOLVER_FEEDBACK           0x00000002L
#define P3502_SETUP_ABSOLUTE_FEEDBACK           0x00000004L
// ---- DIGITAL IO SETUP ---------
#define P3502_SETUP_4IN_4OUT                0x00000008L
#define P3502_SETUP_3IN_ENCODER_IN                      0x00000010L
#define P3502_SETUP_3IN_ENCODER_OUT                     0x00000020L
// ---- COMM INTERFACE -----------
#define P3502_SETUP_RS232                                       0x00000040L
#define P3502_SETUP_RS485HD                                     0x00000080L
#define P3502_SETUP_RS485FD                                     0x00000100L
#define P3502_SETUP_CAN                                         0x00000200L
#define P3502_SETUP_PROFIBUS                            0x00000400L
// ---- CAN ID SETUP -------------
#define P3502_SETUP_USE_M3ID                            0x00000800L
#define P3502_SETUP_USE_M4ID                            0x00001000L
#define P3502_SETUP_USE_CANOPEN                         0x00002000L
// ---- MOTOR SETUP --------------
#define P3502_SETUP_INVERT_MOTORDIR         0x00004000L
// ---- INPUT USAGE --------------
#define P3502_SETUP_USE_SW2_AS_ENABLE           0x00008000L
#define P3502_SETUP_USE_SW2_AS_BRAKE            0x00010000L
// ---- OUTPUT USAGE -------------
#define P3502_SETUP_ERROR_TO_OUT0                       0x00020000L
// ---- COUNTER SETUP ------------
#define P3502_SETUP_INVERT_COUNTER                      0x00040000L

//-----------------------------------------------------------------------
// old PCube Functionnames
//-----------------------------------------------------------------------

#define PCube_getCubeState                      PCube_getModuleState
#define PCube_getDefCubeVersion         PCube_getModuleVersion
#define PCube_getModulesIdMap           PCube_getModuleIdMap
#define PCube_getDefBurncount           PCube_getDefBurnCount
#define PCube_getDefSerialNo            PCube_getModuleSerialNo
#define PCube_getDefPulsesPerTurn       PCube_getDefIncPerTurn
#define PCube_getDefDioSetup            PCube_getDefDioData
#define PCube_getActPos                         PCube_getPos
#define PCube_getActVel                         PCube_getVel
#define PCube_getActPosInc                      PCube_getPosInc
#define PCube_syncModule                        PCube_homeModule
#define PCube_moveCurrent                       PCube_moveCur
#define PCube_moveCurrentInc            PCube_moveCurInc
#define PCube_moveCurrentExtended       PCube_moveCurExtended
#define DLR_FTSInit                                     PCube_initDLR_FTS
#define DLR_FTSGetData                          PCube_getDataDLR_FTS
#define PCube_getStatusInternal         PCube_getStateInternal
#define PCube_ConfigFromFile            PCube_configFromFile
#define PCube_getInitString                     PCube_getDeviceInitString
#define PCube_getName                           PCube_getDeviceName
#define PCube_getRevision                       PCube_getDeviceRevision
#define PCube_setTargetVel                      PCube_setRampVel
#define PCube_setTargetAcc                      PCube_setRampAcc

//-----------------------------------------------------------------------
// new PCube Functionnames
//-----------------------------------------------------------------------
#ifdef __cplusplus
extern "C" {
#endif

M5DLL_API int WINAPI PCube_getDllVersion( void );
M5DLL_API int WINAPI PCube_setDllDebug( int iDebug, int iDebugLevel, int iDebugFile );

M5DLL_API int WINAPI PCube_configFromFile( const char* acFileName );
M5DLL_API int WINAPI PCube_openDevice( int* piDeviceId, const char* acInitString );
M5DLL_API int WINAPI PCube_closeDevice( int iDeviceId );
M5DLL_API int WINAPI PCube_closeDevices( void );
M5DLL_API int WINAPI PCube_getDeviceCount( void );
M5DLL_API int WINAPI PCube_getDeviceIdMap( int* aiIdMap );
M5DLL_API const char* WINAPI PCube_getDeviceRevision( int iDeviceId );
M5DLL_API const char* WINAPI PCube_getDeviceInitString( int iDeviceId );
M5DLL_API const char* WINAPI PCube_getDeviceName( int iDeviceId );
M5DLL_API int WINAPI PCube_setDeviceName( int iDeviceId, const char* acDeviceName );
M5DLL_API int WINAPI PCube_setDeviceDebug( int iDeviceId, int iDebug, int iDebugLevel, int iDebugFile );

M5DLL_API int WINAPI PCube_getModuleCount( int iDeviceId );
M5DLL_API int WINAPI PCube_getModuleIdMap( int iDeviceId, int* aiIdMap );
M5DLL_API int WINAPI PCube_getModuleState( int iDeviceId, int iModuleId, unsigned long* puiState );
M5DLL_API int WINAPI PCube_getModuleType( int iDeviceId, int iModuleId, unsigned char* pucValue );
M5DLL_API int WINAPI PCube_getModuleVersion( int iDeviceId, int iModuleId, unsigned short* puiValue );
M5DLL_API int WINAPI PCube_getModuleSerialNo( int iDeviceId, int iModuleId, unsigned long* puiValue );

M5DLL_API int WINAPI PCube_getDefConfig( int iDeviceId, int iModuleId, unsigned long* puiValue );
M5DLL_API int WINAPI PCube_getDefSetup( int iDeviceId, int iModuleId, unsigned long* puiValue );        //OS: available from 35xx 
M5DLL_API int WINAPI PCube_getDefBaudRate( int iDeviceId, int iModuleId, unsigned char* pucValue );
M5DLL_API int WINAPI PCube_getDefBurnCount( int iDeviceId, int iModuleId, unsigned char* pucValue );
M5DLL_API int WINAPI PCube_getDefGearRatio( int iDeviceId, int iModuleId, float* pfValue );
M5DLL_API int WINAPI PCube_getDefLinearRatio( int iDeviceId, int iModuleId, float* pfValue );
M5DLL_API int WINAPI PCube_getDefCurRatio( int iDeviceId, int iModuleId, float* pfValue );
M5DLL_API int WINAPI PCube_getDefBrakeTimeOut( int iDeviceId, int iModuleId, unsigned short* puiValue );
M5DLL_API int WINAPI PCube_getDefIncPerTurn( int iDeviceId, int iModuleId, unsigned long* puiValue );
M5DLL_API int WINAPI PCube_getDefDioData( int iDeviceId, int iModuleId, unsigned long* puiValue );      //OS: not available from 35xx 
M5DLL_API int WINAPI PCube_getDefA0( int iDeviceId, int iModuleId, short* piValue );
M5DLL_API int WINAPI PCube_getDefC0( int iDeviceId, int iModuleId, short* piValue );
M5DLL_API int WINAPI PCube_getDefDamp( int iDeviceId, int iModuleId, short* piValue );
M5DLL_API int WINAPI PCube_getDefHomeOffset( int iDeviceId, int iModuleId, float* pfValue );
M5DLL_API int WINAPI PCube_getDefHomeVel( int iDeviceId, int iModuleId, float* pfValue );
M5DLL_API int WINAPI PCube_getDefMinPos( int iDeviceId, int iModuleId, float* pfValue );
M5DLL_API int WINAPI PCube_getDefMaxPos( int iDeviceId, int iModuleId, float* pfValue );
M5DLL_API int WINAPI PCube_getDefMaxVel( int iDeviceId, int iModuleId, float* pfValue );
M5DLL_API int WINAPI PCube_getDefMaxAcc( int iDeviceId, int iModuleId, float* pfValue );
M5DLL_API int WINAPI PCube_getDefMaxCur( int iDeviceId, int iModuleId, float* pfValue );
M5DLL_API int WINAPI PCube_getDefMaxDeltaPos( int iDeviceId, int iModuleId, float* pfValue );

M5DLL_API int WINAPI PCube_getConfig( int iDeviceId, int iModuleId, unsigned long* puiValue );
M5DLL_API int WINAPI PCube_getIncRatio( int iDeviceId, int iModuleId, float* pValue );
M5DLL_API int WINAPI PCube_getStateDioPos( int iDeviceId, int iModuleId, unsigned long* puiShortState, unsigned char* pucDio, float* pfPos );   //OS: available from 2518 and 3518
M5DLL_API int WINAPI PCube_getDioData( int iDeviceId, int iModuleId, unsigned long* puiValue );
M5DLL_API int WINAPI PCube_getA0( int iDeviceId, int iModuleId, short* piValue );
M5DLL_API int WINAPI PCube_getC0( int iDeviceId, int iModuleId, short* piValue );
M5DLL_API int WINAPI PCube_getDamp( int iDeviceId, int iModuleId, short* piValue );
M5DLL_API int WINAPI PCube_getHomeOffset( int iDeviceId, int iModuleId, float* pValue );
M5DLL_API int WINAPI PCube_getHomeOffsetInc( int iDeviceId, int iModuleId, long* piValue );
M5DLL_API int WINAPI PCube_getHomeVel( int iDeviceId, int iModuleId, float* pfValue );          //OS: available from 2518 and 3518
M5DLL_API int WINAPI PCube_getHomeVelInc( int iDeviceId, int iModuleId, long* piValue );        //OS: available from 2518 and 3518
M5DLL_API int WINAPI PCube_getPos( int iDeviceId, int iModuleId, float* pfPos );
M5DLL_API int WINAPI PCube_getPosInc( int iDeviceId, int iModuleId, long* piValue );
M5DLL_API int WINAPI PCube_getPosCountInc( int iDeviceId, int iModuleId, long* piValue );
M5DLL_API int WINAPI PCube_getVel( int iDeviceId, int iModuleId, float* pfVel );
M5DLL_API int WINAPI PCube_getVelInc( int iDeviceId, int iModuleId, long* piValue );
M5DLL_API int WINAPI PCube_getIPolVel( int iDeviceId, int iModuleId, float* pValue );
M5DLL_API int WINAPI PCube_getCur( int iDeviceId, int iModuleId, float* pfCur );
M5DLL_API int WINAPI PCube_getCurInc( int iDeviceId, int iModuleId, short* piValue );
M5DLL_API int WINAPI PCube_getMinPos( int iDeviceId, int iModuleId, float* pfValue );
M5DLL_API int WINAPI PCube_getMinPosInc( int iDeviceId, int iModuleId, long* piValue );
M5DLL_API int WINAPI PCube_getMaxPos( int iDeviceId, int iModuleId, float* pfValue );
M5DLL_API int WINAPI PCube_getMaxPosInc( int iDeviceId, int iModuleId, long* piValue );
M5DLL_API int WINAPI PCube_getMaxVel( int iDeviceId, int iModuleId, float* pfValue );
M5DLL_API int WINAPI PCube_getMaxVelInc( int iDeviceId, int iModuleId, long* piValue );
M5DLL_API int WINAPI PCube_getMaxAcc( int iDeviceId, int iModuleId, float* pfValue );
M5DLL_API int WINAPI PCube_getMaxAccInc( int iDeviceId, int iModuleId, long* piValue );
M5DLL_API int WINAPI PCube_getMaxCur( int iDeviceId, int iModuleId, float* pfValue );
M5DLL_API int WINAPI PCube_getDeltaPos( int iDeviceId, int iModuleId, float* pfValue );
M5DLL_API int WINAPI PCube_getDeltaPosInc( int iDeviceId, int iModuleId, long* piValue );
M5DLL_API int WINAPI PCube_getMaxDeltaPos( int iDeviceId, int iModuleId, float* pfValue );
M5DLL_API int WINAPI PCube_getMaxDeltaPosInc( int iDeviceId, int iModuleId, long* piValue );
M5DLL_API int WINAPI PCube_getSavePos( int iDeviceId, int iModuleId, float* pfValue );  //OS: available from 2518 and 3518
M5DLL_API int WINAPI PCube_getSyncTime( int iDeviceId, int iModuleId, short* piValue ); //OS: available from 3602

M5DLL_API int WINAPI PCube_setConfig( int iDeviceId, int iModuleId, unsigned long uiValue );
M5DLL_API int WINAPI PCube_setDioData( int iDeviceId, int iModuleId, unsigned long uiValue );
M5DLL_API int WINAPI PCube_setA0( int iDeviceId, int iModuleId, short iValue );
M5DLL_API int WINAPI PCube_setC0( int iDeviceId, int iModuleId, short iValue );
M5DLL_API int WINAPI PCube_setDamp( int iDeviceId, int iModuleId, short iValue );
M5DLL_API int WINAPI PCube_setHomeOffset( int iDeviceId, int iModuleId, float fValue );
M5DLL_API int WINAPI PCube_setHomeOffsetInc( int iDeviceId, int iModuleId, long iValue );
M5DLL_API int WINAPI PCube_setHomeVel( int iDeviceId, int iModuleId, float fValue );    //OS: available from 2518 and 3518
M5DLL_API int WINAPI PCube_setHomeVelInc( int iDeviceId, int iModuleId, long iValue );  //OS: available from 2518 and 3518
M5DLL_API int WINAPI PCube_setRampVel( int iDeviceId, int iModuleId, float fValue );                    
M5DLL_API int WINAPI PCube_setRampVelInc( int iDeviceId, int iModuleId, long iValue );
M5DLL_API int WINAPI PCube_setRampAcc( int iDeviceId, int iModuleId, float fValue );                    
M5DLL_API int WINAPI PCube_setRampAccInc( int iDeviceId, int iModuleId, long iValue );
M5DLL_API int WINAPI PCube_setMinPos( int iDeviceId, int iModuleId, float fValue );
M5DLL_API int WINAPI PCube_setMinPosInc( int iDeviceId, int iModuleId, long iValue );
M5DLL_API int WINAPI PCube_setMaxPos( int iDeviceId, int iModuleId, float fValue );
M5DLL_API int WINAPI PCube_setMaxPosInc( int iDeviceId, int iModuleId, long iValue );
M5DLL_API int WINAPI PCube_setMaxVel( int iDeviceId, int iModuleId, float fValue );
M5DLL_API int WINAPI PCube_setMaxVelInc( int iDeviceId, int iModuleId, long iValue );
M5DLL_API int WINAPI PCube_setMaxAcc( int iDeviceId, int iModuleId, float fValue );
M5DLL_API int WINAPI PCube_setMaxAccInc( int iDeviceId, int iModuleId, long iValue );
M5DLL_API int WINAPI PCube_setMaxCur( int iDeviceId, int iModuleId, float fValue );
M5DLL_API int WINAPI PCube_setMaxDeltaPos( int iDeviceId, int iModuleId, float fValue );
M5DLL_API int WINAPI PCube_setMaxDeltaPosInc( int iDeviceId, int iModuleId, long iValue );
M5DLL_API int WINAPI PCube_setSyncTime( int iDeviceId, int iModuleId, short iValue );   //OS: available from 3602

M5DLL_API int WINAPI PCube_homeModule( int iDeviceId, int iModuleId );
M5DLL_API int WINAPI PCube_haltModule( int iDeviceId, int iModuleId );
M5DLL_API int WINAPI PCube_resetModule( int iDeviceId, int iModuleId );
M5DLL_API int WINAPI PCube_recalcPIDParams( int iDeviceId, int iModuleId );

M5DLL_API int WINAPI PCube_movePos( int iDeviceId, int iModuleId, float fPos );
M5DLL_API int WINAPI PCube_movePosInc( int iDeviceId, int iModuleId, long iPos );
M5DLL_API int WINAPI PCube_movePosExtended( int iDeviceId, int iModuleId, float fPos, unsigned long* puiShortState, unsigned char* pucDio, float* pfPos );
M5DLL_API int WINAPI PCube_moveRamp( int iDeviceId, int iModuleId, float fPos, float fVel, float fAcc );
M5DLL_API int WINAPI PCube_moveRampInc( int iDeviceId, int iModuleId, long iPos, long iVel, long iAcc );
M5DLL_API int WINAPI PCube_moveRampExtended( int iDeviceId, int iModuleId, float fPos, float fVel, float fAcc, unsigned long* puiState, unsigned char* pucDio, float* pfPos );
M5DLL_API int WINAPI PCube_moveVel( int iDeviceId, int iModuleId, float fVel );
M5DLL_API int WINAPI PCube_moveVelInc( int iDeviceId, int iModuleId, long iVel );
M5DLL_API int WINAPI PCube_moveVelExtended( int iDeviceId, int iModuleId, float fCur, unsigned long* puiShortState, unsigned char* pucDio, float* pfPos );
M5DLL_API int WINAPI PCube_moveCur( int iDeviceId, int iModuleId, float fCur );
M5DLL_API int WINAPI PCube_moveCurInc( int iDeviceId, int iModuleId, long iCur );
M5DLL_API int WINAPI PCube_moveCurExtended( int iDeviceId, int iModuleId, float fCur, unsigned long* puiShortState, unsigned char* pucDio, float* pfPos );
M5DLL_API int WINAPI PCube_moveStep( int iDeviceId, int iModuleId, float fPos, unsigned short uiTime );
M5DLL_API int WINAPI PCube_moveStepInc( int iDeviceId, int iModuleId, long iPos, unsigned short uiTime );
M5DLL_API int WINAPI PCube_moveStepExtended( int iDeviceId, int iModuleId, float fPos, unsigned short uiTime, unsigned long* puiShortState, unsigned char* pucDio, float* pfPos );

M5DLL_API int WINAPI PCube_homeAll( int iDeviceId );
M5DLL_API int WINAPI PCube_resetAll( int iDeviceId );
M5DLL_API int WINAPI PCube_haltAll( int iDeviceId );
M5DLL_API int WINAPI PCube_serveWatchdogAll( int iDeviceId );
M5DLL_API int WINAPI PCube_setBaudRateAll( int iDeviceId, unsigned char pucValue );
M5DLL_API int WINAPI PCube_startMotionAll( int iDeviceId );
M5DLL_API int WINAPI PCube_savePosAll( int iDeviceId );

M5DLL_API int WINAPI PCube_waitForHomeEnd( int iDeviceId, int iModuleId, unsigned long uiTime );
M5DLL_API int WINAPI PCube_waitForMotionEnd( int iDeviceId, int iModuleId, unsigned long uiTime );
M5DLL_API int WINAPI PCube_waitForRampEnd( int iDeviceId, int iModuleId, unsigned long uiTime );
M5DLL_API int WINAPI PCube_waitForRampDec( int iDeviceId, int iModuleId, unsigned long uiTime );
M5DLL_API int WINAPI PCube_waitForRampSteady( int iDeviceId, int iModuleId, unsigned long uiTime );
M5DLL_API int WINAPI PCube_waitForHomeEndAll( int iDeviceId, unsigned long uiTime );
M5DLL_API int WINAPI PCube_waitForMotionEndAll( int iDeviceId, unsigned long uiTime );
M5DLL_API int WINAPI PCube_waitForRampEndAll( int iDeviceId, unsigned long uiTime );
M5DLL_API int WINAPI PCube_waitForStartMotionAll( int iDeviceId );

M5DLL_API int WINAPI PCube_xmit8Bytes( int iDeviceId, int iModuleId, void* pBytes );
M5DLL_API int WINAPI PCube_xack8Bytes( int iDeviceId, int iModuleId, void* pBytes );
M5DLL_API int WINAPI PCube_doInternal( int iDeviceId, int iModuleId, void* pBytes );
M5DLL_API int WINAPI PCube_getStateInternal( int iDeviceId, int iModuleId, unsigned long* puiState );
M5DLL_API int WINAPI PCube_updateModuleIdMap( int iDeviceId );

M5DLL_API int WINAPI PCube_initEMS_IO( int iDeviceId, unsigned char ucType, unsigned long uiSerialNo );
M5DLL_API int WINAPI PCube_getDataEMS_DIO( int iDeviceId, int iModuleId, int iChannelId, int* piData );
M5DLL_API int WINAPI PCube_getDataEMS_AIO( int iDeviceId, int iModuleId, int iChannelId, float* pfData );
M5DLL_API int WINAPI PCube_setDataEMS_DIO( int iDeviceId, int iModuleId, int iChannelId, int iData );
M5DLL_API int WINAPI PCube_setDataEMS_AIO( int iDeviceId, int iModuleId, int iChannelId, float fData );

M5DLL_API int WINAPI PCube_initDLR_FTS( int iDeviceId );
M5DLL_API int WINAPI PCube_getDataDLR_FTS( int iDeviceId, float* pfDataFX, float* pfDataFY, float* pfDataFZ, float* pfDataTX, float* pfDataTY, float* pfDataTZ, long* piState );

M5DLL_API int WINAPI PCube_getDataSCHUNK_FTC( int iDeviceId, int iModulId, int iChannelTypeId, float* pfDataFX, float* pfDataFY, float* pfDataFZ, float* pfDataTX, float* pfDataTY, float* pfDataTZ, short* piState );
M5DLL_API int WINAPI PCube_setNullSCHUNK_FTC( int iDeviceId, int iModulId, short* piState );

M5DLL_API int WINAPI PCube_getDataMP55_IO( int iDeviceId, int iModuleId, float* pfData );
M5DLL_API int WINAPI PCube_setTaraMP55_IO( int iDeviceId, int iModuleId, float fData );

M5DLL_API int WINAPI PCube_getDefCurOffset( int iDeviceId, int iModuleId, float* pfValue );

M5DLL_API int WINAPI PCube_getDataMP55_IO_fast( int iDeviceId, int iModuleId, float* pfData );
M5DLL_API int WINAPI PCube_setInitMP55_IO_fast( int iDeviceId, int iModuleId );

M5DLL_API int WINAPI PCube_getRawMotorCurrent( int iDeviceId, int iModuleId, short* piValue );
M5DLL_API int WINAPI PCube_getRawMotorSupply( int iDeviceId, int iModuleId, short* piValue );
M5DLL_API int WINAPI PCube_getRawTemperature( int iDeviceId, int iModuleId, short* piValue );
M5DLL_API int WINAPI PCube_getRawLogicSupply( int iDeviceId, int iModuleId, short* piValue );

M5DLL_API int WINAPI PCube_getCanOpenRawAbsEnc( int iDeviceId, int iModuleId, short* piValue );

M5DLL_API int WINAPI PCube_getLoadLimit( int iDeviceId, int iModuleId, long* piValue );
M5DLL_API int WINAPI PCube_getMaxLoadGradient( int iDeviceId, int iModuleId, long* piValue );
M5DLL_API int WINAPI PCube_getLoadDeltaTime( int iDeviceId, int iModuleId, unsigned short* piValue );
M5DLL_API int WINAPI PCube_setLoadLimit( int iDeviceId, int iModuleId, long iValue );
M5DLL_API int WINAPI PCube_setMaxLoadGradient( int iDeviceId, int iModuleId, long iValue );
M5DLL_API int WINAPI PCube_setLoadDeltaTime( int iDeviceId, int iModuleId, unsigned short iValue );

M5DLL_API int WINAPI PCube_saveParameters( int iDeviceId, int iModuleId );

M5DLL_API int WINAPI PCube_getDefCANBaudRate( int iDeviceId, int iModuleId, unsigned char* pucValue );
M5DLL_API int WINAPI PCube_getDefRSBaudRate( int iDeviceId, int iModuleId, unsigned char* pucValue );
M5DLL_API int WINAPI PCube_setDefGearRatio( int iDeviceId, int iModuleId, float fValue );
M5DLL_API int WINAPI PCube_setDefLinRatio( int iDeviceId, int iModuleId, float fValue );
M5DLL_API int WINAPI PCube_setDefCurRatio( int iDeviceId, int iModuleId, float fValue );
M5DLL_API int WINAPI PCube_setDefHomeAcc( int iDeviceId, int iModuleId, float fValue );
M5DLL_API int WINAPI PCube_setModuleSerialNo( int iDeviceId, int iModuleId, unsigned long uiValue );
M5DLL_API int WINAPI PCube_setDefIncPerTurn( int iDeviceId, int iModuleId, unsigned long uiValue );
M5DLL_API int WINAPI PCube_setDefBrakeTimeOut( int iDeviceId, int iModuleId, unsigned short uiValue );
M5DLL_API int WINAPI PCube_setDefAddress( int iDeviceId, int iModuleId, unsigned char uiValue );
M5DLL_API int WINAPI PCube_setDefCANBaudRate( int iDeviceId, int iModuleId, unsigned char uiValue );
M5DLL_API int WINAPI PCube_setDefRSBaudRate( int iDeviceId, int iModuleId, unsigned char uiValue );
M5DLL_API int WINAPI PCube_setDefSetup( int iDeviceId, int iModuleId, unsigned long uiValue );

M5DLL_API int WINAPI PCube_getMotorCurrent( int iDeviceId, int iModuleId, float* pfValue );
M5DLL_API int WINAPI PCube_getMotorSupply( int iDeviceId, int iModuleId, float* pfValue );
M5DLL_API int WINAPI PCube_getTemperature( int iDeviceId, int iModuleId, float* pfValue );
M5DLL_API int WINAPI PCube_getLogicSupply( int iDeviceId, int iModuleId, float* pfValue );
M5DLL_API int WINAPI PCube_getMinLogicVoltage( int iDeviceId, int iModuleId, float* pfValue );
M5DLL_API int WINAPI PCube_getMaxLogicVoltage( int iDeviceId, int iModuleId, float* pfValue );
M5DLL_API int WINAPI PCube_getMinMotorVoltage( int iDeviceId, int iModuleId, float* pfValue );
M5DLL_API int WINAPI PCube_getMaxMotorVoltage( int iDeviceId, int iModuleId, float* pfValue );
M5DLL_API int WINAPI PCube_getNominalMotorCurrent( int iDeviceId, int iModuleId, float* pfValue );
M5DLL_API int WINAPI PCube_getMaximumMotorCurrent( int iDeviceId, int iModuleId, float* pfValue );
M5DLL_API int WINAPI PCube_getLogicUndershootTime( int iDeviceId, int iModuleId, long* piValue );
M5DLL_API int WINAPI PCube_getLogicOvershootTime( int iDeviceId, int iModuleId, long* piValue );
M5DLL_API int WINAPI PCube_getMotorUndershootTime( int iDeviceId, int iModuleId, long* piValue );
M5DLL_API int WINAPI PCube_getMotorOvershootTime( int iDeviceId, int iModuleId, long* piValue );
M5DLL_API int WINAPI PCube_getNomCurOvershootTime( int iDeviceId, int iModuleId, long* piValue );
M5DLL_API int WINAPI PCube_getHMaxCurOvershootTime( int iDeviceId, int iModuleId, long* piValue );
M5DLL_API int WINAPI PCube_setMinLogicVoltage( int iDeviceId, int iModuleId, float fValue );
M5DLL_API int WINAPI PCube_setMaxLogicVoltage( int iDeviceId, int iModuleId, float fValue );
M5DLL_API int WINAPI PCube_setMinMotorVoltage( int iDeviceId, int iModuleId, float fValue );
M5DLL_API int WINAPI PCube_setMaxMotorVoltage( int iDeviceId, int iModuleId, float fValue );
M5DLL_API int WINAPI PCube_setNominalMotorCurrent( int iDeviceId, int iModuleId, float fValue );
M5DLL_API int WINAPI PCube_setMaximumMotorCurrent( int iDeviceId, int iModuleId, float fValue );
M5DLL_API int WINAPI PCube_setLogicUndershootTime( int iDeviceId, int iModuleId, long iValue );
M5DLL_API int WINAPI PCube_setLogicOvershootTime( int iDeviceId, int iModuleId, long iValue );
M5DLL_API int WINAPI PCube_setMotorUndershootTime( int iDeviceId, int iModuleId, long iValue );
M5DLL_API int WINAPI PCube_setMotorOvershootTime( int iDeviceId, int iModuleId, long iValue );
M5DLL_API int WINAPI PCube_setNomCurOvershootTime( int iDeviceId, int iModuleId, long iValue );
M5DLL_API int WINAPI PCube_setHMaxCurOvershootTime( int iDeviceId, int iModuleId, long iValue );

M5DLL_API int WINAPI PCube_getKpPWMLimit( int iDeviceId, int iModuleId, long* piValue );
M5DLL_API int WINAPI PCube_getCurrentLimit( int iDeviceId, int iModuleId, float* pfValue );
M5DLL_API int WINAPI PCube_getMaxPWMOutput( int iDeviceId, int iModuleId, long* piValue );
M5DLL_API int WINAPI PCube_setKpPWMLimit( int iDeviceId, int iModuleId, long iValue );
M5DLL_API int WINAPI PCube_setCurrentLimit( int iDeviceId, int iModuleId, float fValue );

#ifdef __cplusplus
        }
#endif

#endif