TGM.h

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/*
+-----------------------------------------------------------------------------+
| ******************************** TGM.h ************************************ |
+-----------------------------------------------------------------------------+
|                      Copyright 2007 by TG Drives s.r.o.                     |
|                                                                             |
|                      TG Drives s.r.o.                                       |
|                      Jeneweinova 37                                         |
|                      CZ-617 00 Brno                                         |
|                      Czech republic                                         |
|                                                                             |
+-----------------------------------------------------------------------------+
|Description:                                                                 |
|                                                                             |
|                                                                             |
|                                                                             |
|                                                                             |
+-----------------------------------------------------------------------------+
|Author: Antonin SAUER, started at: Jul, 20 th, 2011                          |
+-----------------------------------------------------------------------------+
*/

//#################################################################################################

#ifndef TGM_H_INCLUDED
#define TGM_H_INCLUDED

// standard data types
#include <stdint.h>

#if defined _MSC_VER && !defined __GNUC__
# if _MSC_VER < 1800 // below Visual Studio 2013
#  pragma warning(push)
#  pragma warning(disable: 4480) // Visual Studio 2010 emits warning for enum with type specified
# endif
#endif

//################################### Constants definitions #######################################

#define TGM_VERSION                                 421

#define ID_COMPATIBILITY                            4033

#define ID_MEMORY_COMPATIBILITY                     904

#define ID_CNC_COMPATIBILITY                        121
// note: must be the same as the last number of DLL version, file src/Qt/common/WIN32_versions.rc

#ifndef MAX_SERVO
#define MAX_SERVO                                   256
#endif

#ifndef MAX_DIO
#define MAX_DIO                                     256
#endif

#ifndef MAX_INTERPOLATOR
#define MAX_INTERPOLATOR                            3
#endif

#ifndef MAX_CORES
# ifdef ZYNQ
#  define MAX_CORES                                   1
# else
#  define MAX_CORES                                   3
# endif
#endif

#if MAX_CORES > MAX_INTERPOLATOR
#error "MAX_CORES must be equal or less than MAX_INTERPOLATOR"
#endif

#define _MAX_INTERPOLATOR                           16

#define MAX_INTERPOLATOR_BUFFER_SIZE                50000

#define MIN_INTERPOLATOR_BUFFER_SIZE                500

#define MAX_INTERPOLATOR_AXES                       10

#define MAX_TIMER_UP                                64

#define MAX_TIMER_DOWN                              64

// Indentification of communcation
#define CAN                                         1
#define ETHERCAT                                    2

enum TGM_LOG_XXX : uint32_t {
  TGM_LOG_MAIN                                = 0x0001,  
  TGM_LOG_INTEPOLATOR                         = 0x0002,  
  TGM_LOG_CAN                                 = 0x0004,  
  TGM_LOG_CAN1_SDO                            = 0x0008,  
  TGM_LOG_CAN2_SDO                            = 0x0010,  
  TGM_LOG_PG                                  = 0x0020,  
  TGM_LOG_GEAR                                = 0x0040,  
  TGM_LOG_ETHERNET                            = 0x0080,  
  TGM_LOG_ETHERCAT                            = 0x0100,  
  TGM_LOG_ETHERCAT_SDO                        = 0x0200,  
  TGM_LOG_ETHERCAT_STATUS                     = 0x0400,  
  TGM_LOG_ETHERCAT_DC                         = 0x0800,  
  TGM_LOG_ETHERCAT_FSM_STATE                  = 0x1000,  
  TGM_LOG_VERBOSE_PE                          = 0x2000,  
  TGM_LOG_VERBOSE_RELOC                       = 0x4000,  
  TGM_LOG_VERBOSE_EXPORTS                     = 0x8000,  
};

// Names of shared memories
#define NAME_SYSTEM_MEMORY                          TEXT("TGM_System")
#define NAME_DATA_MEMORY                            TEXT("TGM_Data") 
#define NAME_CAM_PROFILE_MEMORY                     TEXT("TGM_Cam_Profile") 
#define NAME_OSCILLOSCOPE_MEMORY                    TEXT("TGM_Oscilloscope") 
#define NAME_SERVO_MEMORY                           TEXT("TGM_Servo") 
#define NAME_DIO_MEMORY                             TEXT("TGM_Dio") 
#define NAME_INTERPOLATOR_MEMORY                    TEXT("TGM_Interpolator") 
#define NAME_INTERPOLATOR_WRITE_MEMORY              TEXT("InterpolatorWriteMemory") 
#define NAME_INTERPOLATOR_READ_MEMORY               TEXT("InterpolatorReadMemory") 
#define NAME_ODS_MEMORY                             TEXT("TGM_ODS") 
#define NAME_CNCEX_MEMORY                           TEXT("TGM_CNCEX") 
#define NAME_GCODE_MEMORY                           TEXT("TGM_GCODE") 
#define NAME_CNCINI_MEMORY                          TEXT("TGM_CNCINI")
#define NAME_UNIVERSAL_MEMORY                       TEXT("TGM_Universal")

// Maximal sizes of shared memories [ bytes ]
// always read actual sizes in HEADER structure below!
#define SIZE_SYSTEM_MEMORY                          65536
#define SIZE_DATA_MEMORY                            524288
#define SIZE_CAM_PROFILE_MEMORY                     1048576
#ifndef SIZE_OSCILLOSCOPE_MEMORY
#define SIZE_OSCILLOSCOPE_MEMORY                    (32*1048576) // 32MB (TGM420 on PC upwards, otherwise 1MB)
#endif
#define SIZE_SERVO_MEMORY                           524288
#define SIZE_DIO_MEMORY                             524288
#define SIZE_INTEROPLATOR_MEMORY                    65536
#define SIZE_INTERPOLATOR_WRITE_MEMORY              65536
#define SIZE_INTERPOLATOR_READ_MEMORY               65536
#define SIZE_ODS_MEMORY                             1048576
#define SIZE_CNCEX_MEMORY                           65536
#define SIZE_GCODE_MEMORY_MINIMAL                   1048576
#define SIZE_CNCINI_MEMORY                          65536
#define SIZE_UNIVERSAL_MEMORY                       1048576

enum SERVO_TYPES_XXX : int32_t {
  SERVOSTAR_400_600                         =  1,   
  TGA                                       =  2,   
  TGA_21                                    = 21,   
  SERVOSTAR_300_700                         =  3,   
  POWER_STAGE_CW32                          =  4,   
  POWER_STAGE_CW32_EXTPOS                   = 41,   
  POWER_STAGE_CW16                          = 42,   
  POWER_STAGE_CW16_EXTPOS                   = 43,   
  AKD                                       =  5,   
  TGA220                                    =  6,   
  SERVO_PIERCE                              =  7,   
  SERVO_DCM                                 =  8,   
  SERVO_TGZ                                 =  9,   
};

// CAN DIO types (CAN only, EtherCAT dio types are found automatically)
#define CAN_DIO_VIRTUAL                           0
#define CAN_DIO_TG                                1
#define CAN_DIO_BK1120                            3
#define CAN_DIO_BR                                4

#define TG_IO_TYPE_BASIC          0x0000 
#define TG_IO_TENZOMETER          0x0008 
#define TG_IO_TYPE_NEW            0x0014 
#define TG_IO_TYPE_BASIC_LITE     0x00E0 
#define TG_IO_TYPE_NEW_LITE       0x00F4 
#define PIERCE_IO_TYPE_149D       0x0007
#define PIERCE_IO_TYPE_147D       0x000F
#define PIERCE_IO_TYPE_149E       0x0017
#define PIERCE_IO_TYPE_147E       0x001F
#define BECKHOF_IO_TYPE_BK1120    0x0100
#define BECKHOF_IO_TYPE_EK1100    0x0101
#define BR_IO_TYPE                0x0200
#define FESTO_IO_TYPE             0x0400  
#define TENZO_IO_TYPE             0x0800
#define TGM_MINI_DIO_TYPE         0x1000  
#define DFC_IO_TYPE               0x7B90  

#define USER_DIO_PDO_SIZE         256

enum OSC_MEMORY_TYPES : uint32_t {
  OSC_SYSTEM_MEMORY             = 0, 
  OSC_DATA_MEMORY               = 1, 
  OSC_CAM_PROFILE_MEMORY        = 2, 
  OSC_OSCILLOSCOPE_MEMORY       = 3, 
  OSC_SERVO_MEMORY              = 4, 
  OSC_DIO_MEMORY                = 5, 
  OSC_INTEROPLATOR_MEMORY       = 6, 
  OSC_INTERPOLATOR_WRITE_MEMORY = 7, 
  OSC_INTERPOLATOR_READ_MEMORY  = 8, 
  OSC_ODS_MEMORY                = 9, 
  OSC_CNCEX_MEMORY              = 10, 
  OSC_GCODE_MEMORY              = 11, 
  OSC_CNCEX_LOCAL_MEMORY        = 12, 
  OSC_CNCINI_MEMORY             = 13, 
  OSC_UNIVERSAL_MEMORY          = 14, 
  OSC_LAST_MEMORY_IDX           = 15, 
};

enum OSC_DATA_TYPES : uint32_t {
  OSC_DATA_TYPE_I32_DEC         = 0,  
  OSC_DATA_TYPE_I32_HEX         = 1,  
  OSC_DATA_TYPE_I32_BIN         = 2,  
  OSC_DATA_TYPE_UI32_DEC        = 3,  
  OSC_DATA_TYPE_I64_DEC         = 4,  
  OSC_DATA_TYPE_I64_HEX         = 5,  
  OSC_DATA_TYPE_I64_BIN         = 6,  
  OSC_DATA_TYPE_UI64_DEC        = 7,  
  OSC_DATA_TYPE_DOUBLE          = 8,  
  OSC_DATA_TYPE_FLOAT           = 9,  
  OSC_DATA_TYPE_ASTRING         = 10, 
  OSC_DATA_TYPE_WSTRING         = 11, 
  OSC_DATA_TYPE_I32_BIN_EX      = 12, 
  OSC_DATA_TYPE_I64_BIN_EX      = 13, 
};

// Interpolator definitions
#define MFUNC_NUMBER_PAR                            26

enum INTERPOLATOR_COMMANDS : int32_t {
  INTERPOLATOR_CMD_NONE                    = 0,

  INTERPOLATOR_CMD_SET_AXIS_RATIO          = 1024,

  INTERPOLATOR_CMD_SET_COORDS_ON_TRAJ      = 2048,

  INTERPOLATOR_CMD_SET_COORDS_OUT_TRAJ     = 2049,

  INTERPOLATOR_CMD_EMERGENCY_STOP  = 4,

  INTERPOLATOR_CMD_EMERGENCY_STOP_OUT_TRAJ = 5,

  INTERPOLATOR_CMD_NORMAL_STOP     = 8,

  INTERPOLATOR_CMD_NORMAL_STOP_OUT_TRAJ    = 9,

  INTERPOLATOR_CMD_SET_FILTER_PARAMETERS   = -1,

  INTERPOLATOR_CMD_SET_SPLINE_PARAMETERS   = -2,
};

//#################################################################################################
// ******************************** Header - fixed size 128 byte **********************************
struct HEADER
{
  uint32_t Life_Tick;                  
  int32_t  Compatibility_Id;           
  int32_t  CompatibilityMem_Id;        
  uint32_t Mem_Number;                 
  uint32_t Mem_Size_System;            
  uint32_t Mem_Size_Data;              
  uint32_t Mem_Size_Cam;               
  uint32_t Mem_Size_Osc;               
  uint32_t Mem_Size_Servo;             
  uint32_t Mem_Size_Dio;               
  uint32_t Mem_Size_Interpolator;      
  uint32_t Mem_Size_InterpolatorWrite; 
  uint32_t Mem_Size_InterpolatorRead;  
  uint32_t Mem_Size_Ods;               
  uint32_t Mem_Size_CncEx;             
  uint32_t Mem_Size_GCode;             
  uint32_t Mem_Size_CncIni;            
  uint32_t Mem_Size_Universal;         
  int32_t  Reserve7;                   
  int32_t  Reserve8;                   
  int32_t  Reserve9;                   
  int32_t  CompatibilityCnc_Id;        
  int32_t  Internal_Reg0;              
  int32_t  Internal_Reg1;              
  int32_t  Internal_Reg2;              
  int32_t  Internal_Reg3;              
  int32_t  Internal_Reg4;              
  int32_t  Internal_Reg5;              
  int32_t  Internal_Reg6;              
  int32_t  Internal_Reg7;              
  int32_t  Internal_Reg8;              
  int32_t  Internal_Reg9;              
};

// string sizes
#define MAX_PLC_FILE_NAME_SIZE         512
#define MAX_ECAT_DRIVER_FILE_NAME_SIZE 512

// PLC control values
#define PLC_CTRL_LOAD_BIT              0x01
#define PLC_CTRL_RESET_BIT             0x02
#define PLC_CTRL_PAUSE_BIT             0x04
#define PLC_CTRL_ERROR_BIT             0x08
#define PLC_CTRL_DISABLE_DIO_BIT       0x10


// *************************** Main memory area - fixed sizes 4096 bytes **************************
struct MAIN
{
  int32_t TGMotion_Version;                
  int32_t TGMathDll_Version;               
  int32_t TGM_TgMotionKill;                
  volatile uint32_t Log_Ctrl;              
  volatile uint32_t LogInterpolator_Ctrl;  

  uint32_t Servo_Tick;                     
  uint32_t Servo_SetCycleTime;             
  uint32_t Servo_CycleTime;                
  uint32_t PLC_SetCycleTime_Prg1;          
  uint32_t PLC_CycleTime_Prg1;             
  uint32_t PLC_SetCycleTime_Prg2;          
  uint32_t PLC_CycleTime_Prg2;             
  uint32_t PLC_SetCycleTime_Prg3;          
  uint32_t PLC_CycleTime_Prg3;             
  uint32_t PLC_SetCycleTime_Prg4;          
  uint32_t PLC_CycleTime_Prg4;             
  uint32_t PLC_SetCycleTime_Prg5;          
  uint32_t PLC_CycleTime_Prg5;             
  uint32_t Number_Servos;                  
  uint32_t Number_Dios;                    
  uint32_t Number_Interpolators;           
  uint32_t Interpolator_SetCycleTime;      
  uint32_t Interpolator_CycleTime[3];      
  uint32_t Max_Servo_Cycle_Time;           
  uint32_t Max_Interpolator_Cycle_Time[3]; 
  uint32_t Number_Universal_Devices;       
  uint32_t Found_Total_Number_Of_ECAT_Devices;  
  int32_t  Reserve[7];                     
  uint32_t Servo_CAN_BaudRate;             
  uint32_t Dio_CAN_BaudRate;               
  uint32_t Servo_Bus;                      
  uint32_t Dio_Bus;                        

  uint16_t PLC_Name[MAX_PLC_FILE_NAME_SIZE]; 
  volatile uint32_t PLC_Ctrl;              

  uint16_t EtherCatDriver[MAX_ECAT_DRIVER_FILE_NAME_SIZE];

  uint32_t SystemTimeDifferenceSum;        
  uint32_t EthPacketErrorCounter;          
  uint32_t EthMaxPacketLenght;             
  int64_t  MasterClock;                    
  int64_t  ReferenceClock;                 
  int64_t  MasterClockToReferenceClockDifference; 
  int32_t  Distributed_Clock;              
  int32_t  StateDistributedClock;          
  uint32_t Act_Timer_CycleTime;            
  uint32_t Min_Timer_CycleTime;            
  uint32_t Max_Timer_CycleTime;            
  uint32_t Max_Timer_Latency;              
  uint32_t Size_EEPROM_Memory;             
  uint32_t CAN_Sync_Act_Time;              
  uint32_t TGMmini_CPU_Temperature;        

  uint32_t PLC_MaxCycleTime_Prg1;          
  uint32_t PLC_MaxCycleTime_Prg2;          
  uint32_t PLC_MaxCycleTime_Prg3;          
  uint32_t PLC_MaxCycleTime_Prg4;          
  uint32_t PLC_MaxCycleTime_Prg5;          
  uint32_t CAN_Transmit_Buffer_Fullness;   
};

struct RESERVE_MAIN
{
  unsigned char RESERVE[4096 - sizeof(struct MAIN)];
};

// *************************** Timer  memory area - fixed sizes 512 bytes *************************
struct TIMERS
{
  uint32_t Timer_Up[MAX_TIMER_UP];     
  uint32_t Timer_Down[MAX_TIMER_DOWN]; 
};

// ************************************ Osciloscope control area  *********************************
struct CHANNEL
{
  uint32_t         Offset;            
  OSC_MEMORY_TYPES Memory_Type_Value; 
  uint32_t         Offset_Value;      
  OSC_DATA_TYPES   Type_Value;        
};

#define N_OSC_CHANNELS 32

struct OSC
{
  volatile int32_t Control;     
  volatile int32_t Status;      
  uint32_t Number_Periods;      
  uint32_t Number_Chanels;      
  uint32_t Memory_Type_Trigger; 
  uint32_t Offset_Trigger;      
  uint32_t Mode_Trigger;        
  uint32_t Type_Trigger;        
  double Level_Trigger;         
  struct CHANNEL Channel[N_OSC_CHANNELS]; 

  uint32_t Number_Samples; 
  uint32_t Actual_Samples; 
  uint32_t Sample_Time;    
  uint32_t Dummy;          
};

//**************************************** EEprom area ********************************************

struct ECAT_DRIVER
{
  // values set by config
  uint32_t bus_id;
  uint32_t device_id;
  uint32_t function_id;
  uint32_t reserve_id;
  // values set by TGM
  uint32_t nPacketsSent;
  uint32_t nPacketsRecv;
  // extended (v3) driver errors
  uint32_t errRcv;
  uint32_t errIgnoringPackets;
  uint32_t errSplitPackets;
  uint32_t errFrame;
  uint32_t errLength;
  uint32_t errTimeStamp;
  uint32_t errReserve[4];
};

#define SIZE_EEPROM_MEMORY                          (8192 - sizeof(TIMERS) - sizeof(OSC) - 2 * sizeof(ECAT_DRIVER) - 2* sizeof(int32_t) - sizeof(RESERVE_MAIN) - sizeof(MAIN) - sizeof(HEADER))

struct EEPROM
{
  int32_t Control;    
  int32_t Status;     
  int32_t Data[SIZE_EEPROM_MEMORY / sizeof(int32_t)]; 
};

// ########################### Organisation of shared memory "TGM_System" #########################

struct SYSTEM
{
  struct HEADER Header;              
  struct MAIN Main;                  
  struct RESERVE_MAIN Reserve_Main;  
  struct TIMERS Timers;              
  struct OSC Osc;                    
  struct ECAT_DRIVER Ecat_Driver[2]; 
  struct EEPROM Eeprom;              
};

//#################################################################################################

//************************************** Profile generator ****************************************
struct PG
{
  double Acc;           
  double Dec;           
  double APos;          
  double DPos;          
  double ASpeed;        
  double PosSpeed;      
  double Speed;         
  double DReserve[10];  

  int32_t Mode;         
  int32_t Rdy;          
  int32_t Type;         
  int32_t IReserve[13]; 
};

//*************************************** Gear generator ******************************************
struct GEAR
{
  double Position;       
  double CamPosition;    
  double Offset;         
  double Shift;          
  double ActualShift;    
  double IncShift;       
  double IncIn;          
  double CamIncPosition; 
  double CamScale;       
  double DReserve[8];    

  int32_t SourceNumber;   
  int32_t SourcePosition; 
  int32_t Mode;           
  int32_t In;             
  int32_t Out;            
  int32_t ActualIn;       
  int32_t CamLine;        
  int32_t CamLen;         
  int32_t CamType;        
  int32_t CamTab;         
  int32_t CamExpControl;  
  int32_t CamExpLine1;    
  int32_t CamExpLine2;    
  int32_t CamExpAddress1; 
  int32_t CamExpAddress2; 
  int32_t IReserve[15];   
};

//********************************************** Capture ******************************************
struct CAPTURE
{
  volatile int32_t Control;
  int32_t Typ_ExtCapture;
  int32_t Offset;
  int32_t IData;
  int32_t IReserve[4];
  double PPosition;
  double NPosition;
  double PExt_Position;
  double NExt_Position;
  double Write_Position;
  double DData;
  double Zero_Position;
  double DReserve[5];
};

//******************************************** CNC map ********************************************

struct MAP_CNC
{
  int32_t IntNumber;  
  int32_t AxisIndex;  
  int32_t Reserve1;   
  int32_t Reserve2;   
};

#define SDO_CONTROL_FINISHED 0
#define SDO_CONTROL_WRITE 1
#define SDO_CONTROL_READ  2

#define SDO_STATUS_OK   0
#define SDO_STATUS_BUSY 1
#define SDO_STATUS_ERR  -1

//********************************** SDO object communication *************************************
struct SDO
{
  volatile int32_t Control; 
  volatile int32_t Status;  
  int32_t NumberByte;       
  int32_t Index;            
  int32_t SubIndex;         
  int32_t Data;             
};

enum EXT_SDO_CONTROL : int32_t {
  EXT_SDO_CONTROL_FINISHED = SDO_CONTROL_FINISHED, 
  EXT_SDO_CONTROL_WRITE = SDO_CONTROL_WRITE, 
  EXT_SDO_CONTROL_READ  = SDO_CONTROL_READ,   
};

enum EXT_SDO_STATUS : int32_t {
  EXT_SDO_STATUS_OK = SDO_STATUS_OK,     
  EXT_SDO_STATUS_BUSY = SDO_STATUS_BUSY, 
  EXT_SDO_STATUS_ERR = SDO_STATUS_ERR,   
};

struct EXT_SDO {
  // extended SDO control:
  volatile EXT_SDO_CONTROL Control;    
  volatile EXT_SDO_STATUS  Status;     
  int32_t                  NumberByte; 
  int32_t                  Index;      
  int32_t                  SubIndex;   
  uint32_t                 Data[32];   
};

//********************************** EtherCAT registers communication *************************************
struct ECAT_REGISTER
{
  volatile uint32_t Control; 
  uint32_t NumberByte;       
  uint32_t Index;            
  int32_t  Data;             
};

//************************************** Servo command ********************************************
struct COMMAND
{
  volatile int32_t Control; 
  int32_t Reserve;          
  double Par[15];           
};

//********************************************** Servo ********************************************

struct SERVO
{
  int32_t  Number;              
  int32_t  Node;                
  int32_t  Axis;                
  int32_t  Type;                
  uint32_t Resolution;          
  int32_t  SerialNumber;        
  volatile int32_t Control;
  volatile int32_t Status;     
  int32_t Mode;                
  int32_t Error;               
  int32_t EtherCATState;       
  int32_t DigitalIn;           
  int32_t DigitalOut;          
  int32_t TorqueFeedForward;   
  int32_t ControlWord;         
  int32_t StatusWord;          
  int32_t SysTimeDifference;   
  struct  ECAT_REGISTER ecatRegister; 
  uint32_t ECATBusPosition;       
  int32_t IReserve[94];        

  double WritePosition;        
  double Position;             
  double RefPosition;          
  double ExtPosition;          
  double Offset;               
  double Correction;           
  double PositionError;        
  double WriteSpeed;           
  double Speed;                
  double LimitCurrent;         
  double Current;              
  double MaxCurrent;           
  double AnalogIn;             
  double WriteAcc;             
  double AccMaxTorqueFeedForward; 
  double TransformedPosition;     
  double DReserve[88];            

  struct PG Pg;            
  struct SDO Sdo;          
  struct GEAR Gear;        
  struct MAP_CNC Cnc;      
  struct CAPTURE Capture;  
  struct COMMAND Command;  
};

//********************************************** Dio ********************************************

#define MAX_TX_RX_BUFFER_SIZE 32

struct DIO
{
  int32_t Number;           
  int32_t Node;             
  int32_t Type;             

  volatile int32_t Control; 
  volatile int32_t Status;  

  int32_t Error; 

  int32_t NumberIn; 
  int32_t In0;      
  int32_t In1;      
  int32_t In2;      
  int32_t In3;      
  int32_t In4;      
  int32_t In5;      
  int32_t In6;      
  int32_t In7;      

  int32_t Ext_In0;  
  int32_t Ext_In1;  
  int32_t Ext_In2;  
  int32_t Ext_In3;  
  int32_t Ext_In4;  
  int32_t Ext_In5;  
  int32_t Ext_In6;  
  int32_t Ext_In7;  

  int32_t NumberOut; 
  int32_t Out0;     
  int32_t Out1;     
  int32_t Out2;     
  int32_t Out3;     
  int32_t Out4;     
  int32_t Out5;     
  int32_t Out6;     
  int32_t Out7;     

  int32_t Ext_Out0; 
  int32_t Ext_Out1; 
  int32_t Ext_Out2; 
  int32_t Ext_Out3; 
  int32_t Ext_Out4; 
  int32_t Ext_Out5; 
  int32_t Ext_Out6; 
  int32_t Ext_Out7; 

  int32_t NumberAI; 
  int32_t AI0;      
  int32_t AI1;      
  int32_t AI2;      
  int32_t AI3;      

  int32_t Ext_AI0;  
  int32_t Ext_AI1;  
  int32_t Ext_AI2;  
  int32_t Ext_AI3;  

  int32_t NumberAO; 
  int32_t AO0;      
  int32_t AO1;      
  int32_t AO2;      
  int32_t AO3;      

  int32_t Ext_AO0;  
  int32_t Ext_AO1;  
  int32_t Ext_AO2;  
  int32_t Ext_AO3;  

  int32_t Number_MeasureAmpl; 
  int32_t Ext_MeasureAmpl0;   
  int32_t Ext_MeasureAmpl1;   
  int32_t Ext_MeasureAmpl2;   
  int32_t Ext_MeasureAmpl3;   
  int32_t Ext_MeasureAmpl4;   
  int32_t Ext_MeasureAmpl5;   
  int32_t Ext_MeasureAmpl6;   
  int32_t Ext_MeasureAmpl7;   

  int32_t EtherCATState; 

  struct SDO Sdo; 
  int32_t sdoResponseTries;   

  uint8_t RxBuffer[MAX_TX_RX_BUFFER_SIZE]; 
  uint8_t TxBuffer[MAX_TX_RX_BUFFER_SIZE]; 

  int32_t TS_Data[8];         

  uint32_t SysTimeDifference; 

  struct ECAT_REGISTER ecatRegister; 
  uint32_t ECATBusPosition;       

  volatile uint32_t RxPointerWrite;

  volatile uint32_t RxPointerRead;

  volatile uint32_t TxPointerWrite;

  volatile uint32_t TxPointerRead;

  int32_t IReserve1[403];      
};


struct UNIVERSAL_DEVICE
{
  // values copied from .INI file
  uint32_t VendorID;    
  uint32_t ProductID;   
  uint32_t TX_PDO;      
  uint32_t RX_PDO;      
  uint32_t SetECATBusPosition;       
  
  // actual values
  int32_t  EtherCATState; 
  struct SDO Sdo; 
  int32_t sdoResponseTries;   
  ECAT_REGISTER ecatRegister;     
  uint32_t ECATBusPosition;       

  uint32_t IReserve[108];  

  uint32_t User_PDO_Output_Size; 
  uint8_t User_PDO_Output[USER_DIO_PDO_SIZE];  

  uint32_t User_PDO_Input_Size;  
  uint8_t User_PDO_Input[USER_DIO_PDO_SIZE];   
};

#define MAX_UNIVERSAL_DEVICES 32

struct GENERAL_DEVICE
{
  uint32_t VendorID;    
  uint32_t ProductID;   
  uint32_t reserved1;   

  // actual values
  int32_t  EtherCATState;    

  volatile uint32_t Control; 
  uint32_t NumberByte;       
  uint32_t RegisterIndex;    
  uint32_t Data[64];         

  uint32_t ECATBusPosition;  
  uint32_t bUseLRW;          
  uint32_t logicalReadWriteAddress;  
  uint32_t logicalReadAddress;       
  uint32_t logicalWriteAddress;      

  uint32_t mailBoxSize;             
  uint32_t mailBoxOutAddress;       
  uint32_t mailBoxInAddress;        
  uint32_t smOutputsAddress;        
  uint32_t smInputsAddress;         

  EXT_SDO  CompleteSDO;             

  uint32_t reserved2[8]; 

  uint32_t User_PDO_Output_Size; 
  uint8_t User_PDO_Output[USER_DIO_PDO_SIZE];  

  uint32_t User_PDO_Input_Size;  
  uint8_t User_PDO_Input[USER_DIO_PDO_SIZE];   
};

#define MAX_GENERAL_DEVICES 16

struct UNIVERSAL_MEMORY
{
  UNIVERSAL_DEVICE universal_devices[MAX_UNIVERSAL_DEVICES];  
  GENERAL_DEVICE  general_devices[MAX_GENERAL_DEVICES];       

};

//******************************************* Interpolator  ***************************************

#define _N_INTERPOLATOR_AXES  10

#define _MAX_LOOKHEAD_BUFFER_SIZE  8    // maximal lookahead array size
#define _MAX_M_PARAMS             26    // number of letters on english alphabet

struct INTERPOLATOR_LOOK_AHEAD_ENTRY
{  
  double  allParams[_MAX_M_PARAMS];                             // offset 0

  double  tangens;                                              // offset 26 * 8 = 208

  int32_t movementType;                                         // offset 216

  int32_t movementCode;                                         // offset 220

  int32_t plane;                                                // offset 224

  int32_t tool;                                                 // offset 228

  double endPos[_N_INTERPOLATOR_AXES];                         // offset 232

  double startAngle;                                           // offset 312 (232 + 10*8)

  double endAngle;                                             // offset 320

  double radius;                                               // offset 328

  double partLength;                                           // offset 336

  int32_t gCodeIndex;

  uint32_t editorLine;

  uint32_t fileIdx;

  uint32_t correction;

  // actual size 360 bytes
  // follows reserved values (see INTERPOLATOR_LOOK_AHEAD_BUFFER::allReserves below)
};



// 16384 = desired size of complete INTERPOLATOR struct
// 2048  = previous size of INTERPOLATOR struct (TGM 414 and below)
#define _DESIRED_INTERPOLATOR_STRUCT_SIZE                16384
#define _PREVIOUS_INTERPOLATOR_STRUCT_SIZE                2048
#define _TOTAL_SIZE_FOR_LOOKAHEAD_BUFFER_IN_BYTES ((_DESIRED_INTERPOLATOR_STRUCT_SIZE-_PREVIOUS_INTERPOLATOR_STRUCT_SIZE))
#define _SIZE_FOR_ONE_LOOKAHEAD_BUFFER_IN_BYTES (_TOTAL_SIZE_FOR_LOOKAHEAD_BUFFER_IN_BYTES/_MAX_LOOKHEAD_BUFFER_SIZE)
#define _RESERVE_SIZE_IN_BYTES (_SIZE_FOR_ONE_LOOKAHEAD_BUFFER_IN_BYTES - sizeof(INTERPOLATOR_LOOK_AHEAD_ENTRY))
#define _RESERVE_SIZE_IN_DOUBLES (_RESERVE_SIZE_IN_BYTES/sizeof(double))

struct INTERPOLATOR_LOOK_AHEAD_BUFFER
{
  static_assert(_SIZE_FOR_ONE_LOOKAHEAD_BUFFER_IN_BYTES > sizeof(INTERPOLATOR_LOOK_AHEAD_ENTRY), "Invalid size of INTERPOLATOR_LOOK_AHEAD_ENTRY structure");
  INTERPOLATOR_LOOK_AHEAD_ENTRY buf; 
  double allReserves[_RESERVE_SIZE_IN_DOUBLES]; 
};

// one INTERPOLATOR_LOOK_AHEAD_BUFFER has 1792 bytes

#define CONT_MFUNC_HISTORY_SIZE 8

struct CONT_MFUNC_HISTORY
{
  uint32_t lastValidEntry; 
  uint32_t mFuncs[CONT_MFUNC_HISTORY_SIZE];
};

// original size 2048 bytes, expanded by INTERPOLATOR_LOOK_AHEAD_BUFFER to 16384 bytes
struct INTERPOLATOR
{
  uint32_t Number;             
  uint32_t Number_Axes;        
  uint32_t Bufer_Size;         
  volatile INTERPOLATOR_COMMANDS Command; 
  int32_t Command_Parametr[12];           
  int32_t Command_Status;
  volatile int32_t Status;
  volatile int32_t Act_Part; 
  uint32_t Adrress_External_Position; 
  volatile int32_t M_Func; 
  int32_t Act_GFunc;      
  int32_t Act_MFunc;      
  int32_t Last_ContMFunc; 
  int32_t Run_Flag;
  int32_t Tool_Number;                        
  CONT_MFUNC_HISTORY Cont_MFunc_History;      
  uint32_t editorLine;                        
  uint32_t fileIdx;                           
  uint32_t correction;                        
  int32_t IReserve[65 - (sizeof(CONT_MFUNC_HISTORY)/sizeof(int32_t))]; 
  double Orig_Position[_N_INTERPOLATOR_AXES]; 
  double Position[_N_INTERPOLATOR_AXES];      
  double PositionInc[_N_INTERPOLATOR_AXES];   
  double Backlash[_N_INTERPOLATOR_AXES];      
  double Offset[_N_INTERPOLATOR_AXES];        
  double Speed[_N_INTERPOLATOR_AXES];         
  double Ratio[_N_INTERPOLATOR_AXES];  
  double M_Funkce_Parametr[26];
  double M_Func_Params_Reserved[6]; 
  double Rel_Speed;                 
  double Set_Speed;                 
  double Act_Speed;                 
  double Move_Distance;             
  double DReserve[32 + 70];         
  uint32_t LookAheadBufferValidStart; 
  uint32_t LookAheadBufferValidEnd;   
  INTERPOLATOR_LOOK_AHEAD_BUFFER LookAheadBuffer[_MAX_LOOKHEAD_BUFFER_SIZE];
};

struct INTERNAL_INTERPOLATOR_CHECK_SIZE
{
  static_assert(sizeof(INTERPOLATOR) == _DESIRED_INTERPOLATOR_STRUCT_SIZE, "Invalid size of INTERPOLATOR structure");
};

//*************************************************************************************************
// structures for communicating with PLC
// import functions table

#ifdef __GNUC__
# define PLC_FUNC_CDECL
#else
# define PLC_FUNC_CDECL __cdecl
#endif

// portable parameters definitions
// Win32 - UNICODE strings
// Linux - ANSI strings

#ifdef WIN32

# if !defined(_UNICODE)
# error "_UNICODE must be defined for WIN32"
# endif

typedef const wchar_t * PLC_CONST_STRING;
typedef wchar_t       * PLC_STRING;

#else // WIN32

#include <stdlib.h>

typedef const char * PLC_CONST_STRING;
typedef char       * PLC_STRING;

// mark text as ANSI/UNICODE compatible
#ifndef _T
# define _T(a)    (a)
#endif

#endif

typedef union _PLC_LARGE_INTEGER {
  struct {
    uint32_t LowPart;
    int32_t  HighPart;
  } u;
  int64_t QuadPart;
} PLC_LARGE_INTEGER;
typedef PLC_LARGE_INTEGER * PLC_PLARGE_INTEGER;

// useful _countof macro
// determine number of elements in an array (not bytes)
#ifndef _countof
#define _countof(array) (sizeof(array)/sizeof(array[0]))
#endif

// useful offsetof macro
// get offset of structure (s) member (m)
#ifndef x_offsetof
# ifdef WIN64
#  define x_offsetof(s,m)   (reinterpret_cast<size_t>(&reinterpret_cast<const volatile char&>(((reinterpret_cast<s *>(0))->m))))
# else
#  define x_offsetof(s,m)   (reinterpret_cast<uint32_t>(&reinterpret_cast<const volatile char&>(((reinterpret_cast<s *>(0))->m))))
# endif // WIN64
#endif

#ifdef EMULATE_RTSS
typedef HMODULE HPE_MODULE;
#else
typedef struct _PE_INFO {
  void *            pBase;        // pointer to executable memory
  void *            pImage;       // original file image
  void *            entryPoint;   // DLL or EXE entry point
} PE_INFO, *HPE_MODULE;
#endif

#ifdef __cplusplus
extern "C" {
#endif
  typedef int32_t    PLC_FUNC_CDECL RTWPRINTF_STRING(PLC_CONST_STRING strText);
  typedef int32_t    PLC_FUNC_CDECL RTWPRINTF_LONG(PLC_CONST_STRING strFormat, int32_t lVal);
  typedef int32_t    PLC_FUNC_CDECL SWPRINTF(PLC_STRING buffer, size_t sizeOfBuffer, PLC_CONST_STRING strFormat, ...);
  typedef void       PLC_FUNC_CDECL SLEEPFT(PLC_PLARGE_INTEGER Pause);
  typedef int32_t    PLC_FUNC_CDECL CAN_TRANSMIT(uint32_t Number, uint32_t Id, uint32_t Dlc, unsigned char * Tx_Data);
  typedef int32_t    PLC_FUNC_CDECL CAN_TRANSMITREMOTE(uint32_t Number, uint32_t Id, uint32_t Dlc, unsigned char * Tx_Data);
  typedef int32_t    PLC_FUNC_CDECL RTWPRINTF_EX(int32_t severity, PLC_CONST_STRING strFormat, ...);
  typedef HPE_MODULE PLC_FUNC_CDECL LOADPEIMAGE(PLC_CONST_STRING fileNameWithFullPath);
  typedef void *     PLC_FUNC_CDECL GETPEADDRESS(HPE_MODULE hModule, const char *funcName); // func name is ANSI!!
#ifdef __cplusplus
}
#endif

typedef struct _PLC_IMPORT_FUNCTIONS
{
  RTWPRINTF_STRING    *pRtWprintf_String;     
  RTWPRINTF_LONG      *pRtWprintf_Long;       
  SWPRINTF            *pswprintf;             
  SLEEPFT             *pSleepFt;              
  CAN_TRANSMIT        *pCAN_Transmit;         
  CAN_TRANSMITREMOTE  *pCAN_TransmitRemote;   
  RTWPRINTF_EX        *pRtWprintf_Ex;         
  LOADPEIMAGE         *pLoadPEImage;          
  GETPEADDRESS        *pGetPEAddress;         
} PLC_IMPORT_FUNCTIONS;

#pragma pack(push)
#pragma pack(1)
struct RECEIVE_DATA_CAN
{
  uint8_t  Byte0; 
  uint8_t  Byte1; 
  uint8_t  Byte2; 
  uint8_t  Byte3; 
  uint8_t  Byte4; 
  uint8_t  Byte5; 
  uint8_t  Byte6; 
  uint8_t  Byte7; 
  uint32_t Dlc;     
  uint32_t NewData; 
};
#pragma pack(pop)

#define CAN_RECIEVE_DATA_BUFFER_SIZE 2048

typedef struct _PLC_DATA
{
  size_t structSize;                        
  SYSTEM *PSystem_Memory;                   
  void   *PData_Memory;                     
  void   *POsc_Memory;                      
  void   *PCam_Memory;                      
  SERVO  *PServo_Memory;                    
  DIO    *PDio_Memory;                      
  INTERPOLATOR *PInterpolator_Memory;       
  void *Pointer_interpolator_params;        
  void *Pointer_interpolator_get_position;  
  void *PCNCEx;                             
  void *PGCode;                             
  char *PCNCIni;                            
  UNIVERSAL_MEMORY *PUniversalMemory;       
  void *PReserve5_Memory;                   
  volatile RECEIVE_DATA_CAN *PReciveDataCan1;    
  volatile RECEIVE_DATA_CAN *PReciveDataCan2;    

  PLC_IMPORT_FUNCTIONS functions;       
} PLC_DATA, *PPLC_DATA;

//*************************************************************************************************
// Output Debug String (ODS) definitions
//*************************************************************************************************

// reflects number of threads/timers for separate output debug string (ODS) areas
enum ods_threads : uint32_t {
  ods_thread_MAIN = 0,
  ods_thread_SERVO_TIMER,
  ods_thread_CAN_DIO_TIMER,
  ods_thread_CAN_RECIEVE_TIMER,
  ods_thread_PROGRAM_01,
  ods_thread_PROGRAM_02,
  ods_thread_PROGRAM_03,
  ods_thread_INTERPOLATOR_THREAD,
  ods_thread_EEPROM_THREAD,
  ods_thread_PLC,
  ods_thread_CNC,
  ods_thread_N_THREADS  // must be the last entry!
};

enum ods_identifier : uint32_t {
  ods_id_MAIN = 0,
  ods_id_PG = 1,
  ods_id_GEAR = 2,
  ods_id_OSC = 3,
  ods_id_SERVO = 4,
  ods_id_INTERPOLATOR = 5,
  ods_id_PLC = 6,
  ods_id_ECAT_TIMER = 7,
  ods_id_EEPROM = 8,
  ods_id_PROGRAM_01 = 9,
  ods_id_PROGRAM_02 = 10,
  ods_id_PROGRAM_03 = 11,
  ods_id_PROGRAM_04 = 12,
  ods_id_PROGRAM_05 = 13,
  ods_id_SPLINE = 14,
  ods_id_CAN_DIO = 15,
  ods_id_CAN_FUNC = 16,
  ods_id_CAN_SERVO = 17,
  ods_id_CAN_TIMER = 18,
  ods_id_AKD_CONTROL = 19,
  ods_id_DCM_CONTROL = 20,
  ods_id_SP_CONTROL = 21,
  ods_id_SR700_CONTROL = 22,
  ods_id_TGA220_CONTROL = 23,
  ods_id_TGP_CONTROL = 24,
  ods_id_TGZ_CONTROL = 25,
  ods_id_ECAT_MASTER = 26,
  ods_id_ECAT_SLAVES = 27,
  ods_id_PE_IMAGE = 28,
  ods_id_MATH_DLL = 29,
  ods_id_INI_FILE = 30,
  ods_id_CNC = 31
};

enum ods_severity : uint32_t {
  ods_INFO = 0,
  ods_WARNING = 1,
  ods_ERROR = 2,
  ods_DISABLE_SERIAL = 0x800000 // TGMmini only
};

#define ODS_SEVERITY_SHIFT           8
#define ODS_ID_SEVERITY(id,severity) \
(static_cast<unsigned int>(id) | (static_cast<unsigned int>(severity) << ODS_SEVERITY_SHIFT))

#define ODS_ID_INFO(id)              (static_cast<unsigned int>(id))
#define ODS_ID_WARNING(id)           ODS_ID_SEVERITY(id,ods_WARNING)
#define ODS_ID_ERROR(id)             ODS_ID_SEVERITY(id,ods_ERROR)
#define ODS_ID_INFO_NO_SERIAL(id)    ODS_ID_SEVERITY(id,ods_DISABLE_SERIAL)
#define ODS_GET_ID(idSeverity)       ((idSeverity) & 0xFF)
#define ODS_GET_SEVERITY(idSeverity) ((idSeverity) >> ODS_SEVERITY_SHIFT)


#ifndef UNREFERENCED_PARAM
# define UNREFERENCED_PARAM(P)          \
{ \
  (void)(P); \
}
#endif

//#################################################################################################

#if defined _MSC_VER && !defined __GNUC__
# if _MSC_VER < 1800 // below Visual Studio 2013
#  pragma warning(pop)
# endif
#endif

#endif //  TGM_H_INCLUDED