eu_canopen.h

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#ifndef CANOPEN_EU_CANOPEN_H
#define CANOPEN_EU_CANOPEN_H
 
#ifdef __cplusplus
extern "C"
{
#endif
 
#ifndef EXTERNFUNC
#ifdef _WIN32
#define EXTERNFUNC __declspec(dllexport)
#else
#define EXTERNFUNC
#endif
#endif
 
#ifdef _WIN32
    typedef char hint8;
    typedef short hint16;
    typedef long hint24;
    typedef long hint32;
    typedef long long hint40;
    typedef long long hint48;
    typedef long long hint56;
    typedef long long hint64;
    typedef unsigned char huint8;
    typedef unsigned short huint16;
    typedef unsigned long huint24;
    typedef unsigned long huint32;
    typedef unsigned long long huint40;
    typedef unsigned long long huint48;
    typedef unsigned long long huint56;
    typedef unsigned long long huint64;
    typedef float hreal32;
    // typedef double hreal64;
#else
typedef signed char hint8;
typedef signed short int hint16;
typedef signed int hint24;
typedef signed int hint32;
typedef signed long int hint40;
typedef signed long int hint48;
typedef signed long int hint56;
typedef signed long int hint64;
typedef unsigned int huint8 __attribute__((__mode__(__QI__)));
typedef unsigned int huint16 __attribute__((__mode__(__HI__)));
typedef unsigned int huint24 __attribute__((__mode__(__SI__)));
typedef unsigned int huint32 __attribute__((__mode__(__SI__)));
typedef unsigned int huint40 __attribute__((__mode__(__DI__)));
typedef unsigned int huint48 __attribute__((__mode__(__DI__)));
typedef unsigned int huint56 __attribute__((__mode__(__DI__)));
typedef unsigned int huint64 __attribute__((__mode__(__DI__)));
typedef float hreal32;
// typedef double hreal64;
#endif
 
#define CANOPEN_SUCCESS (0)               
#define CANOPEN_FAILED_DEVICEDISABLED (1) 
#define CANOPEN_FAILED_OPENFAILED (2)     
#define CANOPEN_FAILED_CANSEND (3)        
#define CANOPEN_FAILED_CANRECEIVE (4)     
#define CANOPEN_FAILED_ReadLocalDict (5)  
#define CANOPEN_FAILED_WriteLocalDict (6) 
#define CANOPEN_FAILED_NoRespondR (7)     
#define CANOPEN_FAILED_NoRespondW (8)     
#define CANOPEN_FAILED_UNKNOWN (100)      
    typedef enum
    {
        canopen_DeviceType_PCAN = 3,               
        canopen_DeviceType_USB2CAN = 4,            
        canopen_DeviceType_Canable = 11,           
        canopen_DeviceType_ZCAN_USBCANFD_100U = 42 
    } canopen_DeviceType;
 
    typedef enum
    {
        canopen_Baudrate_10 = 10,    
        canopen_Baudrate_20 = 20,    
        canopen_Baudrate_50 = 50,    
        canopen_Baudrate_100 = 100,  
        canopen_Baudrate_250 = 250,  
        canopen_Baudrate_500 = 500,  
        canopen_Baudrate_800 = 800,  
        canopen_Baudrate_1000 = 1000 
    } canopen_Baudrate;
 
    typedef enum
    {
        canopen_DBaudrate_1000 = 1000, 
        canopen_DBaudrate_2000 = 2000, 
        canopen_DBaudrate_4000 = 4000, 
        canopen_DBaudrate_5000 = 5000, 
        canopen_DBaudrate_8000 = 8000  
    } canopen_DBaudrate;
 
    typedef enum
    {
        canopen_NMTState_Start_Node = 0x01,
        canopen_NMTState_Stop_Node = 0x02,
        canopen_NMTState_Enter_PreOperational = 0x80,
        canopen_NMTState_Reset_Node = 0x81,
        canopen_NMTState_Reset_Comunication = 0x82
    } canopen_NMTState;
 
    typedef enum
    {
        canopen_NodeState_Initialisation = 0x00,  
        canopen_NodeState_Disconnected = 0x01,    
        canopen_NodeState_Connecting = 0x02,      
        canopen_NodeState_Preparing = 0x02,       
        canopen_NodeState_Stopped = 0x04,         
        canopen_NodeState_Operational = 0x05,     
        canopen_NodeState_Pre_operational = 0x7F, 
        canopen_NodeState_Unknown_state = 0x0F    
    } canopen_NodeState;
 
    typedef enum
    {
        //        canopen_DataType_boolean = 0x01, /**< 布尔类型 */
        canopen_DataType_int8 = 0x02,          
        canopen_DataType_int16 = 0x03,         
        canopen_DataType_int32 = 0x04,         
        canopen_DataType_uint8 = 0x05,         
        canopen_DataType_uint16 = 0x06,        
        canopen_DataType_uint32 = 0x07,        
        canopen_DataType_real32 = 0x08,        
        canopen_DataType_visible_string = 0x09 
    } canopen_DataType;
 
    typedef enum
    {
        canopen_QuickStopOption_Disable_Drive = 0,                                         
        canopen_QuickStopOption_Slow_Down_On_Slow_Down_Ramp = 1,                           
        canopen_QuickStopOption_Slow_Down_On_Quick_Stop_Ramp = 2,                          
        canopen_QuickStopOption_Slow_Down_On_the_Current_Limit = 3,                        
        canopen_QuickStopOption_Slow_Down_On_the_Voltag_Limit = 4,                         
        canopen_QuickStopOption_Slow_Down_On_Quick_Stop_Ramp_And_Stay_In_Quick_Stop = 5,   
        canopen_QuickStopOption_Slow_Down_On_Slow_Down_Ramp_And_Stay_In_Quick_Stop = 6,    
        canopen_QuickStopOption_Slow_Down_On_the_Current_Limit_And_Stay_In_Quick_Stop = 7, 
        canopen_QuickStopOption_Slow_Down_On_the_Voltag_Limit_And_Stay_In_Quick_Stop = 8   
    } canopen_QuickStopOption;
 
    typedef enum
    {
        canopen_ShutdownOption_Disable_Drive_Function = 0,   
        canopen_ShutdownOption_Slown_With_Slow_Down_Ramp = 1 
    } canopen_ShutdownOption;
 
    typedef enum
    {
        canopen_DisableOperationOption_Disable_Drive_Function = 0,       
        canopen_DisableOperationOption_Slow_Down_With_Slow_Down_Ramp = 1 
    } canopen_DisableOperationOption;
 
    typedef enum
    {
        canopen_HaltOption_Disable_Drive = 0,                  
        canopen_HaltOption_Slow_Down_On_Slow_Down_Ramp = 1,    
        canopen_HaltOption_Slow_Down_On_Quick_Stop_Ramp = 2,   
        canopen_HaltOption_Slow_Down_On_the_Current_Limit = 3, 
        canopen_HaltOption_Slow_Down_On_the_Voltag_Limit = 4   
    } canopen_HaltOption;
 
    typedef enum
    {
        canopen_FaultReactionOption_Disable_drive_function = 0,       
        canopen_FaultReactionOption_Slow_down_on_slow_down_ramp = 1,  
        canopen_FaultReactionOption_Slow_down_on_quick_stop_ramp = 2, 
        canopen_FaultReactionOption_Slow_down_on_current_limit = 3,   
        canopen_FaultReactionOption_Slow_down_on_voltage_limit = 4    
    } canopen_FaultReactionOption;
 
    typedef enum
    {
        canopen_OperateMode_AutoTuning = -4,
        canopen_OperateMode_INLCalibration = -3,
        canopen_OperateMode_RotorAligning = -2,
        canopen_OperateMode_Reserve = 0,              
        canopen_OperateMode_ProfilePosition = 1,      
        canopen_OperateMode_Velocity = 2,             
        canopen_OperateMode_ProfileVelocity = 3,      
        canopen_OperateMode_ProfileTorque = 4,        
        canopen_OperateMode_Homing = 6,               
        canopen_OperateMode_InterpolatedPosition = 7, 
        canopen_OperateMode_CyclicSyncPosition = 8,   
        canopen_OperateMode_CyclicSyncVelocity = 9,   
        canopen_OperateMode_CyclicSyncTorque = 10,    
        canopen_OperateMode_TorquePositionFixed = 11  
    } canopen_OperateMode;
 
    typedef struct
    {
        huint32 canId;   
        huint8 rtr;      
        huint8 extended; 
        huint8 len;      
        huint8 data[64]; 
    } canopen_CanMsg;
 
    typedef void (*canopen_SendDataCallBack)(huint8 devIndex, const canopen_CanMsg *msg);
 
    typedef void (*canopen_ReceiveDataCallBack)(huint8 devIndex, const canopen_CanMsg *msg);
 
    EXTERNFUNC int canopen_setSendDataCallBack(canopen_SendDataCallBack callFunc);
 
    EXTERNFUNC int canopen_setReceiveDataCallBack(canopen_ReceiveDataCallBack callFunc);
 
    EXTERNFUNC int canopen_configureCanNameMapping(unsigned *devIndexs, char **canNames, unsigned size);
 
    EXTERNFUNC int canopen_initDLL(canopen_DeviceType devType, huint8 devIndex, canopen_Baudrate baudrate, bool isCanFD = false, canopen_DBaudrate dbaudrate = canopen_DBaudrate::canopen_DBaudrate_5000);
 
    EXTERNFUNC int canopen_freeDLL(huint8 devIndex);
 
    EXTERNFUNC int canopen_getNodeState(huint8 devIndex, huint8 id, canopen_NodeState *state, huint32 timeout = 100);
 
    EXTERNFUNC int canopen_setLocalNodeState(canopen_NodeState state);
 
    EXTERNFUNC int canopen_setNodeState(huint8 devIndex, huint8 id, canopen_NMTState state);
 
    EXTERNFUNC int canopen_readLocalDirectory(huint16 index, huint8 subIndex, canopen_DataType dataType, void *readData);
 
    EXTERNFUNC int canopen_readDirectory(huint8 devIndex, huint8 id, huint16 index, huint8 subIndex, canopen_DataType dataType, void *readData, huint32 timeout = 100);
 
    EXTERNFUNC int canopen_writeLocalDirectory(huint16 index, huint8 subIndex, canopen_DataType dataType, void *writeData);
 
    EXTERNFUNC int canopen_writeDirectory(huint8 devIndex, huint8 id, huint16 index, huint8 subIndex, canopen_DataType dataType, void *writeData, huint32 timeout = 100);
 
    EXTERNFUNC int canopen_writeCanData(huint8 devIndex, huint16 cobId, const huint8 *const data, huint8 len);
 
    EXTERNFUNC int canopen_writeCanMsg(huint8 devIndex, const canopen_CanMsg *canMsg);
 
    EXTERNFUNC int canopen_getLocalSyncCOBID(huint32 *cobId);
 
    EXTERNFUNC int canopen_setLocalSyncCOBID(huint32 cobId);
 
    EXTERNFUNC int canopen_getLocalSyncCycle(huint32 *cycle);
 
    EXTERNFUNC int canopen_setLocalSyncCycle(huint32 cycle);
 
    EXTERNFUNC int canopen_getLocalSyncWindow(huint32 *sWindow);
 
    EXTERNFUNC int canopen_setLocalSyncWindow(huint32 sWindow);
 
    EXTERNFUNC int canopen_getLocalServerSDONumberOfEntries(huint16 sdoServerIndex, huint8 *num);
 
    EXTERNFUNC int canopen_setLocalServerSDONumberOfEntries(huint16 sdoServerIndex, huint8 num);
 
    EXTERNFUNC int canopen_getLocalServerSDOCobIdClientToServer(huint16 sdoServerIndex, huint32 *cobId);
 
    EXTERNFUNC int canopen_setLocalServerSDOCobIdClientToServer(huint16 sdoServerIndex, huint32 cobId);
 
    EXTERNFUNC int canopen_getLocalServerSDOCobIdServerToClient(huint16 sdoServerIndex, huint32 *cobId);
 
    EXTERNFUNC int canopen_setLocalServerSDOCobIdServerToClient(huint16 sdoServerIndex, huint32 cobId);
 
    EXTERNFUNC int canopen_getLocalServerSDONodeIdOfClient(huint16 sdoServerIndex, huint8 *nodeId);
 
    EXTERNFUNC int canopen_setLocalServerSDONodeIdOfClient(huint16 sdoServerIndex, huint8 nodeId);
 
    EXTERNFUNC int canopen_getLocalClientSDONumberOfEntries(huint16 sdoClientIndex, huint8 *number);
 
    EXTERNFUNC int canopen_setLocalClientSDONumberOfEntries(huint16 sdoClientIndex, huint8 number);
 
    EXTERNFUNC int canopen_getLocalClientSDOCobIdClientToServer(huint16 sdoClientIndex, huint32 *cobId);
 
    EXTERNFUNC int canopen_setLocalClientSDOCobIdClientToServer(huint16 sdoClientIndex, huint32 cobId);
 
    EXTERNFUNC int canopen_getLocalClientSDOCobIdServerToClient(huint16 sdoClientIndex, huint32 *cobId);
 
    EXTERNFUNC int canopen_setLocalClientSDOCobIdServerToClient(huint16 sdoClientIndex, huint32 cobId);
 
    EXTERNFUNC int canopen_getLocalClientSDONodeIdOfSDOServer(huint16 sdoClientIndex, huint8 *nodeId);
 
    EXTERNFUNC int canopen_setLocalClientSDONodeIdOfSDOServer(huint16 sdoClientIndex, huint8 nodeId);
 
    EXTERNFUNC int canopen_getLocalRPDOMaxParasCount(huint16 pdoIndex, huint8 *count);
 
    EXTERNFUNC int canopen_setLocalRPDOMaxParasCount(huint16 pdoIndex, huint8 count);
 
    EXTERNFUNC int canopen_getLocalRPDOCobId(huint16 pdoIndex, huint32 *cobId);
 
    EXTERNFUNC int canopen_setLocalRPDOCobId(huint16 pdoIndex, huint32 cobId);
 
    EXTERNFUNC int canopen_getLocalRPDOTransmitType(huint16 pdoIndex, huint8 *type);
 
    EXTERNFUNC int canopen_setLocalRPDOTransmitType(huint16 pdoIndex, huint8 type);
 
    EXTERNFUNC int canopen_getLocalRPDOInhibitTime(huint16 pdoIndex, huint16 *time);
 
    EXTERNFUNC int canopen_setLocalRPDOInhibitTime(huint16 pdoIndex, huint16 time);
 
    EXTERNFUNC int canopen_getLocalRPDOEventTimer(huint16 pdoIndex, huint16 *timer);
 
    EXTERNFUNC int canopen_setLocalRPDOEventTimer(huint16 pdoIndex, huint16 timer);
 
    EXTERNFUNC int canopen_getLocalRPDOSYNCStartValue(huint16 pdoIndex, huint8 *value);
 
    EXTERNFUNC int canopen_setLocalRPDOSYNCStartValue(huint16 pdoIndex, huint8 value);
 
    EXTERNFUNC int canopen_getLocalRPDOMaxMappedCount(huint16 pdoIndex, huint8 *count);
 
    EXTERNFUNC int canopen_setLocalRPDOMaxMappedCount(huint16 pdoIndex, huint8 count);
 
    EXTERNFUNC int canopen_getLocalRPDOMapped(huint16 pdoIndex, huint8 mapIndex, huint32 *value);
 
    EXTERNFUNC int canopen_setLocalRPDOMapped(huint16 pdoIndex, huint8 mapIndex, huint32 value);
 
    EXTERNFUNC int canopen_getLocalTPDOMaxParasCount(huint16 pdoIndex, huint8 *count);
 
    EXTERNFUNC int canopen_setLocalTPDOMaxParasCount(huint16 pdoIndex, huint8 count);
 
    EXTERNFUNC int canopen_getLocalTPDOCobId(huint16 pdoIndex, huint32 *cobId);
 
    EXTERNFUNC int canopen_setLocalTPDOCobId(huint16 pdoIndex, huint32 cobId);
 
    EXTERNFUNC int canopen_getLocalTPDOTransmitType(huint16 pdoIndex, huint8 *type);
 
    EXTERNFUNC int canopen_setLocalTPDOTransmitType(huint16 pdoIndex, huint8 type);
 
    EXTERNFUNC int canopen_getLocalTPDOInhibitTime(huint16 pdoIndex, huint16 *time);
 
    EXTERNFUNC int canopen_setLocalTPDOInhibitTime(huint16 pdoIndex, huint16 time);
 
    EXTERNFUNC int canopen_getLocalTPDOEventTimer(huint16 pdoIndex, huint16 *timer);
 
    EXTERNFUNC int canopen_setLocalTPDOEventTimer(huint16 pdoIndex, huint16 timer);
 
    EXTERNFUNC int canopen_getLocalTPDOSYNCStartValue(huint16 pdoIndex, huint8 *value);
 
    EXTERNFUNC int canopen_setLocalTPDOSYNCStartValue(huint16 pdoIndex, huint8 value);
 
    EXTERNFUNC int canopen_getLocalTPDOMaxMappedCount(huint16 pdoIndex, huint8 *count);
 
    EXTERNFUNC int canopen_setLocalTPDOMaxMappedCount(huint16 pdoIndex, huint8 count);
 
    EXTERNFUNC int canopen_getLocalTPDOMapped(huint16 pdoIndex, huint8 mapIndex, huint32 *value);
 
    EXTERNFUNC int canopen_setLocalTPDOMapped(huint16 pdoIndex, huint8 mapIndex, huint32 value);
 
    EXTERNFUNC int canopen_getLocalMutiMotorPos(huint16 motorIndex, hint32 *pos);
 
    EXTERNFUNC int canopen_getLocalMutiMotorVel(huint16 motorIndex, hint32 *vel);
 
    EXTERNFUNC int canopen_getLocalMutiMotorTorque(huint16 motorIndex, hint16 *tor);
 
    EXTERNFUNC int canopen_setLocalMutiMotorSetPos(huint16 motorIndex, hint32 pos);
 
    EXTERNFUNC int canopen_setLocalMutiMotorSetVel(huint16 motorIndex, hint32 vel);
 
    EXTERNFUNC int canopen_setLocalMutiMotorSetTorque(huint16 motorIndex, hint16 torque);
 
    EXTERNFUNC int canopen_getLocalMutiMotorStatusWord(huint16 motorIndex, huint16 *status);
 
    EXTERNFUNC int canopen_getLocalMutiMotorErrorCode(huint16 motorIndex, huint16 *error);
 
    EXTERNFUNC int canopen_getLocalMitMutiMotorGetPos(huint16 motorIndex, hreal32 *pos);
 
    EXTERNFUNC int canopen_setLocalMitMutiMotorGetPos(huint16 motorIndex, hreal32 pos);
 
    EXTERNFUNC int canopen_getLocalMitMutiMotorGetVel(huint16 motorIndex, hreal32 *vel);
 
    EXTERNFUNC int canopen_setLocalMitMutiMotorGetVel(huint16 motorIndex, hreal32 vel);
 
    EXTERNFUNC int canopen_getLocalMitMutiMotorGetTor(huint16 motorIndex, hreal32 *tor);
 
    EXTERNFUNC int canopen_setLocalMitMutiMotorGetTor(huint16 motorIndex, hreal32 tor);
 
    EXTERNFUNC int canopen_getLocalMitMutiMotorSetPos(huint16 motorIndex, hreal32 *pos);
 
    EXTERNFUNC int canopen_setLocalMitMutiMotorSetPos(huint16 motorIndex, hreal32 pos);
 
    EXTERNFUNC int canopen_getLocalMitMutiMotorSetVel(huint16 motorIndex, hreal32 *vel);
 
    EXTERNFUNC int canopen_setLocalMitMutiMotorSetVel(huint16 motorIndex, hreal32 vel);
 
    EXTERNFUNC int canopen_getLocalMitMutiMotorSetTor(huint16 motorIndex, hreal32 *tor);
 
    EXTERNFUNC int canopen_setLocalMitMutiMotorSetTor(huint16 motorIndex, hreal32 tor);
 
    EXTERNFUNC int canopen_getLocalServoErrorCode(huint16 *err);
 
    EXTERNFUNC int canopen_getLocalControlword(huint16 *word);
 
    EXTERNFUNC int canopen_setLocalControlword(huint16 word);
 
    EXTERNFUNC int canopen_getLocalStatusWord(huint16 *word);
 
    EXTERNFUNC int canopen_getLocalActualPos(hint32 *pos);
 
    EXTERNFUNC int canopen_getLocalActualVelocity(hint32 *velocity);
 
    EXTERNFUNC int canopen_getLocalTargetTorque(hint16 *torque);
 
    EXTERNFUNC int canopen_setLocalTargetTorque(hint16 torque);
 
    EXTERNFUNC int canopen_getLocalActualTorque(hint16 *torque);
 
    EXTERNFUNC int canopen_getLocalDCLinkCircuitVoltage(huint32 *voltage);
 
    EXTERNFUNC int canopen_getLocalTargetPos(hint32 *pos);
 
    EXTERNFUNC int canopen_setLocalTargetPos(hint32 pos);
 
    EXTERNFUNC int canopen_getLocalInterpolationDataRecord(hint32 *value);
 
    EXTERNFUNC int canopen_setLocalInterpolationDataRecord(hint32 value);
 
    EXTERNFUNC int canopen_getLocalInterpolationTimePeriodValue(huint8 *value);
 
    EXTERNFUNC int canopen_setLocalInterpolationTimePeriodValue(huint8 value);
 
    EXTERNFUNC int canopen_getLocalTargetVelocity(hint32 *vel);
 
    EXTERNFUNC int canopen_setLocalTargetVelocity(hint32 vel);
 
    EXTERNFUNC int canopen_getDeviceType(huint8 devIndex, huint8 id, huint32 *deviceType, huint32 timeout = 100);
 
    EXTERNFUNC int canopen_getErrorRegister(huint8 devIndex, huint8 id, huint8 *errReg, huint32 timeout = 100);
 
    EXTERNFUNC int canopen_getErrorFieldNumber(huint8 devIndex, huint8 id, huint8 *number, huint32 timeout = 100);
 
    EXTERNFUNC int canopen_setErrorFieldNumber(huint8 devIndex, huint8 id, huint8 number, huint32 timeout = 100); // 0x1003-0
 
    EXTERNFUNC int canopen_getErrorField(huint8 devIndex, huint8 id, huint8 subIndex, huint32 *err, huint32 timeout = 100);
 
    EXTERNFUNC int canopen_getSyncCobid(huint8 devIndex, huint8 id, huint32 *cobid, huint32 timeout = 100);
 
    EXTERNFUNC int canopen_setSyncCobid(huint8 devIndex, huint8 id, huint32 cobid, huint32 timeout = 100);
 
    EXTERNFUNC int canopen_getSyncCycle(huint8 devIndex, huint8 id, huint32 *syncCycle, huint32 timeout = 100);
 
    EXTERNFUNC int canopen_setSyncCycle(huint8 devIndex, huint8 id, huint32 syncCycle, huint32 timeout = 100);
 
    EXTERNFUNC int canopen_getSyncWindow(huint8 devIndex, huint8 id, huint32 *syncWindow, huint32 timeout = 100);
 
    EXTERNFUNC int canopen_setSyncWindow(huint8 devIndex, huint8 id, huint32 syncWindow, huint32 timeout = 100);
 
    EXTERNFUNC int canopen_getDeviceName(huint8 devIndex, huint8 id, char *devName, huint32 timeout = 100);
 
    EXTERNFUNC int canopen_getHardwareVersion(huint8 devIndex, huint8 id, char *version, huint32 timeout = 100);
 
    EXTERNFUNC int canopen_getSoftwareVersion(huint8 devIndex, huint8 id, char *version, huint32 timeout = 100);
 
    EXTERNFUNC int canopen_getGuardTime(huint8 devIndex, huint8 id, huint16 *time, huint32 timeout = 100);
 
    EXTERNFUNC int canopen_setGuardTime(huint8 devIndex, huint8 id, huint16 time, huint32 timeout = 100);
 
    EXTERNFUNC int canopen_getLifeTimeFactor(huint8 devIndex, huint8 id, huint8 *factor, huint32 timeout = 100);
 
    EXTERNFUNC int canopen_setLifeTimeFactor(huint8 devIndex, huint8 id, huint8 factor, huint32 timeout = 100);
 
    EXTERNFUNC int canopen_getStoreParametersNumber(huint8 devIndex, huint8 id, huint8 *number, huint32 timeout = 100);
 
    EXTERNFUNC int canopen_getStoreParameters(huint8 devIndex, huint8 id, huint32 *value, huint32 timeout = 100);
 
    EXTERNFUNC int canopen_setStoreParameters(huint8 devIndex, huint8 id, huint32 value, huint32 timeout = 100);
 
    EXTERNFUNC int canopen_getRestoreDefaultParametersNumber(huint8 devIndex, huint8 id, huint8 *number, huint32 timeout = 100);
 
    EXTERNFUNC int canopen_getRestoreDefaultParameters(huint8 devIndex, huint8 id, huint32 *value, huint32 timeout = 100);
 
    EXTERNFUNC int canopen_setRestoreDefaultParameters(huint8 devIndex, huint8 id, huint32 value, huint32 timeout = 100);
 
    EXTERNFUNC int canopen_getEmergencyCobid(huint8 devIndex, huint8 id, huint32 *cobid, huint32 timeout = 100);
 
    EXTERNFUNC int canopen_setEmergencyCobid(huint8 devIndex, huint8 id, huint32 cobid, huint32 timeout = 100);
 
    EXTERNFUNC int canopen_getEmergencyInhibitTime(huint8 devIndex, huint8 id, huint16 *time, huint32 timeout = 100);
 
    EXTERNFUNC int canopen_setEmergencyInhibitTime(huint8 devIndex, huint8 id, huint16 time, huint32 timeout = 100);
 
    EXTERNFUNC int canopen_getHearbeatConsumerTimeParasNum(huint8 devIndex, huint8 id, huint8 *number, huint32 timeout = 100);
 
    EXTERNFUNC int canopen_getHearbeatConsumerTime(huint8 devIndex, huint8 id, huint8 subIndex, huint32 *time, huint32 timeout = 100);
 
    EXTERNFUNC int canopen_setHearbeatConsumerTime(huint8 devIndex, huint8 id, huint8 subIndex, huint32 time, huint32 timeout = 100);
 
    EXTERNFUNC int canopen_getProducerHeartbeatTime(huint8 devIndex, huint8 id, huint16 *time, huint32 timeout = 100);
 
    EXTERNFUNC int canopen_setProducerHeartbeatTime(huint8 devIndex, huint8 id, huint16 time, huint32 timeout = 100);
 
    EXTERNFUNC int canopen_getIdentityObjectNumber(huint8 devIndex, huint8 id, huint8 *number, huint32 timeout = 100);
 
    EXTERNFUNC int canopen_getVendorID(huint8 devIndex, huint8 id, huint32 *vId, huint32 timeout = 100);
 
    EXTERNFUNC int canopen_getProductCode(huint8 devIndex, huint8 id, huint32 *pCode, huint32 timeout = 100);
 
    EXTERNFUNC int canopen_getIdentityObjectRevisionNumber(huint8 devIndex, huint8 id, huint32 *revisionNum, huint32 timeout = 100);
 
    EXTERNFUNC int canopen_getSerialNumber(huint8 devIndex, huint8 id, huint32 *serialNum, huint32 timeout = 100);
 
    EXTERNFUNC int canopen_getSyncCounter(huint8 devIndex, huint8 id, huint8 *counter, huint32 timeout = 100);
 
    EXTERNFUNC int canopen_setSyncCounter(huint8 devIndex, huint8 id, huint8 counter, huint32 timeout = 100);
 
    EXTERNFUNC int canopen_getServerSDONumberOfEntries(huint8 devIndex, huint8 id, huint16 sdoServerIndex, huint8 *num, huint32 timeout = 100);
 
    EXTERNFUNC int canopen_setServerSDONumberOfEntries(huint8 devIndex, huint8 id, huint16 sdoServerIndex, huint8 num, huint32 timeout = 100);
 
    EXTERNFUNC int canopen_getServerSDOCobIdClientToServer(huint8 devIndex, huint8 id, huint16 sdoServerIndex, huint32 *cobId, huint32 timeout = 100);
 
    EXTERNFUNC int canopen_setServerSDOCobIdClientToServer(huint8 devIndex, huint8 id, huint16 sdoServerIndex, huint32 cobId, huint32 timeout = 100);
 
    EXTERNFUNC int canopen_getServerSDOCobIdServerToClient(huint8 devIndex, huint8 id, huint16 sdoServerIndex, huint32 *cobId, huint32 timeout = 100);
 
    EXTERNFUNC int canopen_setServerSDOCobIdServerToClient(huint8 devIndex, huint8 id, huint16 sdoServerIndex, huint32 cobId, huint32 timeout = 100);
 
    EXTERNFUNC int canopen_getServerSDONodeIdOfClient(huint8 devIndex, huint8 id, huint16 sdoServerIndex, huint8 *nodeId, huint32 timeout = 100);
 
    EXTERNFUNC int canopen_setServerSDONodeIdOfClient(huint8 devIndex, huint8 id, huint16 sdoServerIndex, huint8 nodeId, huint32 timeout = 100);
 
    EXTERNFUNC int canopen_getClientSDONumberOfEntries(huint8 devIndex, huint8 id, huint16 sdoClientIndex, huint8 *number, huint32 timeout = 100);
 
    EXTERNFUNC int canopen_setClientSDONumberOfEntries(huint8 devIndex, huint8 id, huint16 sdoClientIndex, huint8 number, huint32 timeout = 100);
 
    EXTERNFUNC int canopen_getClientSDOCobIdClientToServer(huint8 devIndex, huint8 id, huint16 sdoClientIndex, huint32 *cobId, huint32 timeout = 100);
 
    EXTERNFUNC int canopen_setClientSDOCobIdClientToServer(huint8 devIndex, huint8 id, huint16 sdoClientIndex, huint32 cobId, huint32 timeout = 100);
 
    EXTERNFUNC int canopen_getClientSDOCobIdServerToClient(huint8 devIndex, huint8 id, huint16 sdoClientIndex, huint32 *cobId, huint32 timeout = 100);
 
    EXTERNFUNC int canopen_setClientSDOCobIdServerToClient(huint8 devIndex, huint8 id, huint16 sdoClientIndex, huint32 cobId, huint32 timeout = 100);
 
    EXTERNFUNC int canopen_getClientSDONodeIdOfSDOServer(huint8 devIndex, huint8 id, huint16 sdoClientIndex, huint8 *nodeId, huint32 timeout = 100);
 
    EXTERNFUNC int canopen_setClientSDONodeIdOfSDOServer(huint8 devIndex, huint8 id, huint16 sdoClientIndex, huint8 nodeId, huint32 timeout = 100);
 
    EXTERNFUNC int canopen_getRPDOMaxParasCount(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 *count, huint32 timeout = 100);
 
    EXTERNFUNC int canopen_setRPDOMaxParasCount(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 count, huint32 timeout = 100);
 
    EXTERNFUNC int canopen_getRPDOCobId(huint8 devIndex, huint8 id, huint16 pdoIndex, huint32 *cobId, huint32 timeout = 100);
 
    EXTERNFUNC int canopen_setRPDOCobId(huint8 devIndex, huint8 id, huint16 pdoIndex, huint32 cobId, huint32 timeout = 100);
 
    EXTERNFUNC int canopen_getRPDOTransmitType(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 *type, huint32 timeout = 100);
 
    EXTERNFUNC int canopen_setRPDOTransmitType(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 type, huint32 timeout = 100);
 
    EXTERNFUNC int canopen_getRPDOInhibitTime(huint8 devIndex, huint8 id, huint16 pdoIndex, huint16 *time, huint32 timeout = 100);
 
    EXTERNFUNC int canopen_setRPDOInhibitTime(huint8 devIndex, huint8 id, huint16 pdoIndex, huint16 time, huint32 timeout = 100);
 
    EXTERNFUNC int canopen_getRPDOEventTimer(huint8 devIndex, huint8 id, huint16 pdoIndex, huint16 *timer, huint32 timeout = 100);
 
    EXTERNFUNC int canopen_setRPDOEventTimer(huint8 devIndex, huint8 id, huint16 pdoIndex, huint16 timer, huint32 timeout = 100);
 
    EXTERNFUNC int canopen_getRPDOSYNCStartValue(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 *value, huint32 timeout = 100);
 
    EXTERNFUNC int canopen_setRPDOSYNCStartValue(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 value, huint32 timeout = 100); // 1400-6
 
    EXTERNFUNC int canopen_getRPDOMaxMappedCount(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 *count, huint32 timeout = 100);
 
    EXTERNFUNC int canopen_setRPDOMaxMappedCount(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 count, huint32 timeout = 100);
 
    EXTERNFUNC int canopen_getRPDOMapped(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 mapIndex, huint32 *value, huint32 timeout = 100);
 
    EXTERNFUNC int canopen_setRPDOMapped(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 mapIndex, huint32 value, huint32 timeout = 100);
 
    EXTERNFUNC int canopen_getTPDOMaxParasCount(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 *count, huint32 timeout = 100);
 
    EXTERNFUNC int canopen_setTPDOMaxParasCount(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 count, huint32 timeout = 100);
 
    EXTERNFUNC int canopen_getTPDOCobId(huint8 devIndex, huint8 id, huint16 pdoIndex, huint32 *cobId, huint32 timeout = 100);
 
    EXTERNFUNC int canopen_setTPDOCobId(huint8 devIndex, huint8 id, huint16 pdoIndex, huint32 cobId, huint32 timeout = 100);
 
    EXTERNFUNC int canopen_getTPDOTransmitType(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 *type, huint32 timeout = 100);
 
    EXTERNFUNC int canopen_setTPDOTransmitType(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 type, huint32 timeout = 100);
 
    EXTERNFUNC int canopen_getTPDOInhibitTime(huint8 devIndex, huint8 id, huint16 pdoIndex, huint16 *time, huint32 timeout = 100);
 
    EXTERNFUNC int canopen_setTPDOInhibitTime(huint8 devIndex, huint8 id, huint16 pdoIndex, huint16 time, huint32 timeout = 100);
 
    EXTERNFUNC int canopen_getTPDOEventTimer(huint8 devIndex, huint8 id, huint16 pdoIndex, huint16 *timer, huint32 timeout = 100);
 
    EXTERNFUNC int canopen_setTPDOEventTimer(huint8 devIndex, huint8 id, huint16 pdoIndex, huint16 timer, huint32 timeout = 100);
 
    EXTERNFUNC int canopen_getTPDOSYNCStartValue(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 *value, huint32 timeout = 100);
 
    EXTERNFUNC int canopen_setTPDOSYNCStartValue(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 value, huint32 timeout = 100);
 
    EXTERNFUNC int canopen_getTPDOMaxMappedCount(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 *count, huint32 timeout = 100);
 
    EXTERNFUNC int canopen_setTPDOMaxMappedCount(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 count, huint32 timeout = 100);
 
    EXTERNFUNC int canopen_getTPDOMapped(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 mapIndex, huint32 *value, huint32 timeout = 100);
 
    EXTERNFUNC int canopen_setTPDOMapped(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 mapIndex, huint32 value, huint32 timeout = 100); // 1A00-1
 
    EXTERNFUNC int canopen_getServoErrorCode(huint8 devIndex, huint8 id, huint16 *err, huint32 timeout = 100);
 
    EXTERNFUNC int canopen_getControlword(huint8 devIndex, huint8 id, huint16 *word, huint32 timeout = 100);
 
    EXTERNFUNC int canopen_setControlword(huint8 devIndex, huint8 id, huint16 word, huint32 timeout = 100);
 
    EXTERNFUNC int canopen_getStatusWord(huint8 devIndex, huint8 id, huint16 *word, huint32 timeout = 100);
 
    EXTERNFUNC int canopen_getQuickStopOption(huint8 devIndex, huint8 id, canopen_QuickStopOption *option, huint32 timeout = 100);
 
    EXTERNFUNC int canopen_setQuickStopOption(huint8 devIndex, huint8 id, canopen_QuickStopOption option, huint32 timeout = 100);
 
    EXTERNFUNC int canopen_getShutdownOptionCode(huint8 devIndex, huint8 id, canopen_ShutdownOption *code, huint32 timeout = 100);
 
    EXTERNFUNC int canopen_setShutdownOptionCode(huint8 devIndex, huint8 id, canopen_ShutdownOption code, huint32 timeout = 100);
 
    EXTERNFUNC int canopen_getDisableOperationOptionCode(huint8 devIndex, huint8 id, canopen_DisableOperationOption *code, huint32 timeout = 100);
 
    EXTERNFUNC int canopen_setDisableOperationOptionCode(huint8 devIndex, huint8 id, canopen_DisableOperationOption code, huint32 timeout = 100);
 
    EXTERNFUNC int canopen_getHaltOption(huint8 devIndex, huint8 id, canopen_HaltOption *option, huint32 timeout = 100);
 
    EXTERNFUNC int canopen_setHaltOption(huint8 devIndex, huint8 id, canopen_HaltOption option, huint32 timeout = 100);
 
    EXTERNFUNC int canopen_getFaultReactionOption(huint8 devIndex, huint8 id, canopen_FaultReactionOption *option, huint32 timeout = 100);
 
    EXTERNFUNC int canopen_setFaultReactionOption(huint8 devIndex, huint8 id, canopen_FaultReactionOption option, huint32 timeout = 100);
 
    EXTERNFUNC int canopen_getOperateMode(huint8 devIndex, huint8 id, canopen_OperateMode *mode, huint32 timeout = 100);
 
    EXTERNFUNC int canopen_setOperateMode(huint8 devIndex, huint8 id, canopen_OperateMode mode, huint32 timeout = 100);
 
    EXTERNFUNC int canopen_getDisplayOperateMode(huint8 devIndex, huint8 id, canopen_OperateMode *mode, huint32 timeout = 100);
 
    EXTERNFUNC int canopen_getDemandPos(huint8 devIndex, huint8 id, hint32 *pos, huint32 timeout = 100);
 
    EXTERNFUNC int canopen_setDemandPos(huint8 devIndex, huint8 id, hint32 pos, huint32 timeout = 100);
 
    EXTERNFUNC int canopen_getActualPos(huint8 devIndex, huint8 id, hint32 *pos, huint32 timeout = 100);
 
    EXTERNFUNC int canopen_getFollowingErrorWindow(huint8 devIndex, huint8 id, huint32 *eWindow, huint32 timeout = 100);
 
    EXTERNFUNC int canopen_setFollowingErrorWindow(huint8 devIndex, huint8 id, huint32 eWindow, huint32 timeout = 100);
 
    EXTERNFUNC int canopen_getPositionWindow(huint8 devIndex, huint8 id, huint32 *pWindow, huint32 timeout = 100);
 
    EXTERNFUNC int canopen_setPositionWindow(huint8 devIndex, huint8 id, huint32 pWindow, huint32 timeout = 100);
 
    EXTERNFUNC int canopen_getPositionWindowTime(huint8 devIndex, huint8 id, huint16 *pWindowTime, huint32 timeout = 100);
 
    EXTERNFUNC int canopen_setPositionWindowTime(huint8 devIndex, huint8 id, huint16 pWindowTime, huint32 timeout = 100);
 
    EXTERNFUNC int canopen_getDemandVelocity(huint8 devIndex, huint8 id, hint32 *dVel, huint32 timeout = 100);
 
    EXTERNFUNC int canopen_setDemandVelocity(huint8 devIndex, huint8 id, hint32 dvel, huint32 timeout = 100);
 
    EXTERNFUNC int canopen_getActualVelocity(huint8 devIndex, huint8 id, hint32 *vel, huint32 timeout = 100);
 
    EXTERNFUNC int canopen_getVelocityWindow(huint8 devIndex, huint8 id, huint16 *vWindow, huint32 timeout = 100);
 
    EXTERNFUNC int canopen_setVelocityWindow(huint8 devIndex, huint8 id, huint16 vWindow, huint32 timeout = 100);
 
    EXTERNFUNC int canopen_getVelocityWindowTime(huint8 devIndex, huint8 id, huint16 *wTime, huint32 timeout = 100);
 
    EXTERNFUNC int canopen_setVelocityWindowTime(huint8 devIndex, huint8 id, huint16 wTime, huint32 timeout = 100);
 
    EXTERNFUNC int canopen_getVelocityThreshold(huint8 devIndex, huint8 id, huint16 *thres, huint32 timeout = 100);
 
    EXTERNFUNC int canopen_setVelocityThreshold(huint8 devIndex, huint8 id, huint16 thres, huint32 timeout = 100);
 
    EXTERNFUNC int canopen_getVelocityThresholdTime(huint8 devIndex, huint8 id, huint16 *tTime, huint32 timeout = 100);
 
    EXTERNFUNC int canopen_setVelocityThresholdTime(huint8 devIndex, huint8 id, huint16 tTime, huint32 timeout = 100);
 
    EXTERNFUNC int canopen_getTargetTorque(huint8 devIndex, huint8 id, hint16 *torque, huint32 timeout = 100);
 
    EXTERNFUNC int canopen_setTargetTorque(huint8 devIndex, huint8 id, hint16 torque, huint32 timeout = 100);
 
    EXTERNFUNC int canopen_getTorqueLimit(huint8 devIndex, huint8 id, hint16 *torque, huint32 timeout = 100);
 
    EXTERNFUNC int canopen_setTorqueLimit(huint8 devIndex, huint8 id, hint16 torque, huint32 timeout = 100);
 
    EXTERNFUNC int canopen_getDemandTorque(huint8 devIndex, huint8 id, hint16 *torque, huint32 timeout = 100);
 
    EXTERNFUNC int canopen_setDemandTorque(huint8 devIndex, huint8 id, hint16 torque, huint32 timeout = 100);
 
    EXTERNFUNC int canopen_getRatedCurrent(huint8 devIndex, huint8 id, huint32 *current, huint32 timeout = 100);
 
    EXTERNFUNC int canopen_setRatedCurrent(huint8 devIndex, huint8 id, huint32 current, huint32 timeout = 100);
 
    EXTERNFUNC int canopen_getMotorRatedTorque(huint8 devIndex, huint8 id, huint32 *torque, huint32 timeout = 100);
 
    EXTERNFUNC int canopen_setMotorRatedTorque(huint8 devIndex, huint8 id, huint32 torque, huint32 timeout = 100);
 
    EXTERNFUNC int canopen_getActualTorque(huint8 devIndex, huint8 id, hint16 *torque, huint32 timeout = 100);
 
    EXTERNFUNC int canopen_getActualCurrent(huint8 devIndex, huint8 id, hint16 *current, huint32 timeout = 100);
 
    EXTERNFUNC int canopen_getDCLinkCircuitVoltage(huint8 devIndex, huint8 id, huint32 *voltage, huint32 timeout = 100);
 
    EXTERNFUNC int canopen_setDCLinkCircuitVoltage(huint8 devIndex, huint8 id, huint32 voltage, huint32 timeout = 100);
 
    EXTERNFUNC int canopen_getTargetPos(huint8 devIndex, huint8 id, hint32 *pos, huint32 timeout = 100);
 
    EXTERNFUNC int canopen_setTargetPos(huint8 devIndex, huint8 id, hint32 pos, huint32 timeout = 100);
 
    EXTERNFUNC int canopen_getHomeOffset(huint8 devIndex, huint8 id, hint32 *offSet, huint32 timeout = 100);
 
    EXTERNFUNC int canopen_setHomeOffset(huint8 devIndex, huint8 id, hint32 offSet, huint32 timeout = 100);
 
    EXTERNFUNC int canopen_getSoftwareMinimumPosition(huint8 devIndex, huint8 id, hint32 *pos, huint32 timeout = 100);
 
    EXTERNFUNC int canopen_setSoftwareMinimumPosition(huint8 devIndex, huint8 id, hint32 pos, huint32 timeout = 100);
 
    EXTERNFUNC int canopen_getSoftwareMaxmumPosition(huint8 devIndex, huint8 id, hint32 *pos, huint32 timeout = 100);
 
    EXTERNFUNC int canopen_setSoftwareMaxmumPosition(huint8 devIndex, huint8 id, hint32 pos, huint32 timeout = 100);
 
    EXTERNFUNC int canopen_getMaxProfileVelocity(huint8 devIndex, huint8 id, huint32 *vel, huint32 timeout = 100);
 
    EXTERNFUNC int canopen_setMaxProfileVelocity(huint8 devIndex, huint8 id, huint32 vel, huint32 timeout = 100);
 
    EXTERNFUNC int canopen_getProfileVelocity(huint8 devIndex, huint8 id, huint32 *vel, huint32 timeout = 100);
 
    EXTERNFUNC int canopen_setProfileVelocity(huint8 devIndex, huint8 id, huint32 vel, huint32 timeout = 100);
 
    EXTERNFUNC int canopen_getProfileAcceleration(huint8 devIndex, huint8 id, huint32 *acc, huint32 timeout = 100);
 
    EXTERNFUNC int canopen_setProfileAcceleration(huint8 devIndex, huint8 id, huint32 acc, huint32 timeout = 100);
 
    EXTERNFUNC int canopen_getProfileDeceleration(huint8 devIndex, huint8 id, huint32 *dec, huint32 timeout = 100);
 
    EXTERNFUNC int canopen_setProfileDeceleration(huint8 devIndex, huint8 id, huint32 dec, huint32 timeout = 100);
 
    EXTERNFUNC int canopen_getQuickStopDeceleration(huint8 devIndex, huint8 id, huint32 *dec, huint32 timeout = 100);
 
    EXTERNFUNC int canopen_setQuickStopDeceleration(huint8 devIndex, huint8 id, huint32 dec, huint32 timeout = 100);
 
    EXTERNFUNC int canopen_getTorqueSlope(huint8 devIndex, huint8 id, huint32 *slope, huint32 timeout = 100);
 
    EXTERNFUNC int canopen_setTorqueSlope(huint8 devIndex, huint8 id, huint32 slope, huint32 timeout = 100);
 
    EXTERNFUNC int canopen_getGearRatioMotorRevolutions(huint8 devIndex, huint8 id, huint32 *rev, huint32 timeout = 100);
 
    EXTERNFUNC int canopen_setGearRatioMotorRevolutions(huint8 devIndex, huint8 id, huint32 rev, huint32 timeout = 100);
 
    EXTERNFUNC int canopen_getGearRatioShaftRevolutions(huint8 devIndex, huint8 id, huint32 *rev, huint32 timeout = 100);
 
    EXTERNFUNC int canopen_setGearRatioShaftRevolutions(huint8 devIndex, huint8 id, huint32 rev, huint32 timeout = 100);
 
    EXTERNFUNC int canopen_getInterpolationDataRecord(huint8 devIndex, huint8 id, hint32 *value, huint32 timeout = 100);
 
    EXTERNFUNC int canopen_setInterpolationDataRecord(huint8 devIndex, huint8 id, hint32 value, huint32 timeout = 100);
 
    EXTERNFUNC int canopen_getInterpolationTimePeriodValue(huint8 devIndex, huint8 id, huint8 *value, huint32 timeout = 100);
 
    EXTERNFUNC int canopen_setInterpolationTimePeriodValue(huint8 devIndex, huint8 id, huint8 value, huint32 timeout = 100);
 
    EXTERNFUNC int canopen_getActualFollowingError(huint8 devIndex, huint8 id, hint32 *error, huint32 timeout = 100);
 
    EXTERNFUNC int canopen_setActualFollowingError(huint8 devIndex, huint8 id, hint32 error, huint32 timeout = 100);
 
    EXTERNFUNC int canopen_getTargetVelocity(huint8 devIndex, huint8 id, hint32 *targetVel, huint32 timeout = 100);
 
    EXTERNFUNC int canopen_setTargetVelocity(huint8 devIndex, huint8 id, hint32 targetVel, huint32 timeout = 100);
 
    EXTERNFUNC int canopen_getSupportedDriveModes(huint8 devIndex, huint8 id, huint32 *modes, huint32 timeout = 100);
 
#ifdef __cplusplus
}
#endif
 
#endif // EU_CANOPEN_H