#ifndef __CPHIDGETSTEPPER
#define __CPHIDGETSTEPPER
#include "cphidget.h"

/** \defgroup phidstepper Phidget Stepper 
 * \ingroup phidgets
 * Calls specific to the Phidget Stepper. See the product manual for more specific API details, supported functionality, units, etc.
 * @{
 */

DPHANDLE(Stepper)
CHDRSTANDARD(Stepper)


/**
 * Gets the number of digital inputs supported by this board.
 * @param phid An attached phidget stepper handle.
 * @param count The ditial input count.
 */
CHDRGET(Stepper,InputCount,int *count)
/**
 * Gets the state of a digital input.
 * @param phid An attached phidget stepper handle.
 * @param index The input index.
 * @param inputState The input state. Possible values are \ref PTRUE and \ref PFALSE.
 */
CHDRGETINDEX(Stepper,InputState,int *inputState)
/**
 * Set a digital input change handler. This is called when a digital input changes.
 * @param phid An attached phidget stepper handle.
 * @param fptr Callback function pointer.
 * @param userPtr A pointer for use by the user - this value is passed back into the callback function.
 */
CHDREVENTINDEX(Stepper,InputChange,int inputState)

/**
 * Gets the number of motors supported by this controller
 * @param phid An attached phidget stepper handle.
 * @param count The motor count.
 */
CHDRGET(Stepper,MotorCount,int *count)

/**
 * Gets the last set acceleration for a motor.
 * @param phid An attached phidget stepper handle
 * @param index The motor index.
 * @param acceleration The acceleration
 */
CHDRGETINDEX(Stepper,Acceleration,double *acceleration)
/**
 * Sets the acceleration for a motor.
 * @param phid An attached phidget stepper handle
 * @param index The motor index.
 * @param acceleration The acceleration
 */
CHDRSETINDEX(Stepper,Acceleration,double acceleration)
/**
 * Gets the maximum acceleration supported by a motor
 * @param phid An attached phidget stepper handle
 * @param index The motor index.
 * @param max The maximum acceleration.
 */
CHDRGETINDEX(Stepper,AccelerationMax,double *max)
/**
 * Gets the minimum acceleration supported by a motor.
 * @param phid An attached phidget stepper handle
 * @param index The motor index.
 * @param min The minimum acceleration
 */
CHDRGETINDEX(Stepper,AccelerationMin,double *min)

/**
 * Gets the last set velocity limit for a motor.
 * @param phid An attached phidget stepper handle
 * @param index The motor index.
 * @param limit The velocity limit.
 */
CHDRGETINDEX(Stepper,VelocityLimit,double *limit)
/**
 * Sets the velocity limit for a motor.
 * @param phid An attached phidget stepper handle
 * @param index The motor index.
 * @param limit The velocity limit.
 */
CHDRSETINDEX(Stepper,VelocityLimit,double limit)
/**
 * Gets the current velocity of a motor.
 * @param phid An attached phidget stepper handle
 * @param index The motor index.
 * @param velocity The current velocity.
 */
CHDRGETINDEX(Stepper,Velocity,double *velocity)
/**
 * Gets the maximum velocity that can be set for a motor.
 * @param phid An attached phidget stepper handle
 * @param index The motor index.
 * @param max The maximum velocity
 */
CHDRGETINDEX(Stepper,VelocityMax,double *max)
/**
 * Gets the minimum velocity that can be set for a motor.
 * @param phid An attached phidget stepper handle
 * @param index The motor index.
 * @param min The minimum velocity.
 */
CHDRGETINDEX(Stepper,VelocityMin,double *min)
/**
 * Sets a velocity change event handler. This is called when the velocity changes.
 * @param phid An attached phidget stepper handle
 * @param fptr Callback function pointer.
 * @param userPtr A pointer for use by the user - this value is passed back into the callback function.
 */
CHDREVENTINDEX(Stepper,VelocityChange,double velocity)

/**
 * Gets the last set target position of a motor.
 * @param phid An attached phidget stepper handle
 * @param index The motor index.
 * @param position The position.
 */
CHDRGETINDEX(Stepper,TargetPosition,__int64 *position)
/**
 * Sets the target position of a motor.
 * @param phid An attached phidget stepper handle
 * @param index The motor index.
 * @param position The position.
 */
CHDRSETINDEX(Stepper,TargetPosition,__int64 position)
/**
 * Gets the current position of a motor.
 * @param phid An attached phidget stepper handle
 * @param index The motor index.
 * @param position The position.
 */
CHDRGETINDEX(Stepper,CurrentPosition,__int64 *position)
/**
 * Sets the current position of a motor. This will not move the motor, just update the position value.
 * @param phid An attached phidget stepper handle
 * @param index The motor index.
 * @param position The position.
 */
CHDRSETINDEX(Stepper,CurrentPosition,__int64 position)
/**
 * Gets the maximum position that a motor can go to.
 * @param phid An attached phidget stepper handle
 * @param index The motor index.
 * @param max The maximum position.
 */
CHDRGETINDEX(Stepper,PositionMax,__int64 *max)
/**
 * Gets the minimum position that a motor can go to.
 * @param phid An attached phidget stepper handle
 * @param index The motor index.
 * @param min The minimum position
 */
CHDRGETINDEX(Stepper,PositionMin,__int64 *min)
/**
 * Sets a position change event handler. This is called when the position changes.
 * @param phid An attached phidget stepper handle
 * @param fptr Callback function pointer.
 * @param userPtr A pointer for use by the user - this value is passed back into the callback function.
 */
CHDREVENTINDEX(Stepper,PositionChange,__int64 position)

/**
 * Gets the current limit for a motor.
 * @param phid An attached phidget stepper handle.
 * @param index The motor index.
 * @param limit The current limit.
 */
CHDRGETINDEX(Stepper,CurrentLimit,double *limit)
/**
 * Sets the current limit for a motor.
 * @param phid An attached phidget stepper handle.
 * @param index The motor index.
 * @param limit The current limit.
 */
CHDRSETINDEX(Stepper,CurrentLimit,double limit)
/**
 * Gets the current current draw for a motor.
 * @param phid An attached phidget stepper handle
 * @param index The motor index.
 * @param current The current.
 */
CHDRGETINDEX(Stepper,Current,double *current)
/**
 * Gets the maximum current limit.
 * @param phid An attached phidget stepper handle
 * @param index The motor index.
 * @param max The maximum current limit.
 */
CHDRGETINDEX(Stepper,CurrentMax,double *max)
/**
 * Gets the minimum current limit.
 * @param phid An attached phidget stepper handle
 * @param index The motor index.
 * @param min The minimum current limit.
 */
CHDRGETINDEX(Stepper,CurrentMin,double *min)
/**
 * Sets a current change event handler. This is called when the current draw changes.
 * @param phid An attached phidget stepper handle
 * @param fptr Callback function pointer.
 * @param userPtr A pointer for use by the user - this value is passed back into the callback function.
 */
CHDREVENTINDEX(Stepper,CurrentChange,double current)

/**
 * Gets the engaged state of a motor. This is whether the motor is powered or not.
 * @param phid An attached phidget stepper handle
 * @param index The motor index.
 * @param engagedState The engaged state. Possible values are \ref PTRUE and \ref PFALSE.
 */
CHDRGETINDEX(Stepper,Engaged,int *engagedState)
/**
 * Sets the engaged state of a motor. This is whether the motor is powered or not.
 * @param phid An attached phidget stepper handle
 * @param index The motor index.
 * @param engagedState The engaged state. Possible values are \ref PTRUE and \ref PFALSE.
 */
CHDRSETINDEX(Stepper,Engaged,int engagedState)
/**
 * Gets the stopped state of a motor. This is true when the motor is not moving and there are no outstanding commands.
 * @param phid An attached phidget stepper handle
 * @param index The motor index.
 * @param stoppedState The stopped state. Possible values are \ref PTRUE and \ref PFALSE.
 */
CHDRGETINDEX(Stepper,Stopped,int *stoppedState)

#ifndef EXTERNALPROTO

#define STEPPER_MAXSTEPPERS 8
#define STEPPER_MAXINPUTS 8

#define BIPOLAR_STEPPER_CURRENT_SENSE_GAIN 8.5
#define BIPOLAR_STEPPER_CURRENT_LIMIT_Rs 0.150

//flags - make sure these are in the upper 4 bits
#define MOTOR_DONE_STEPPER	 	0x10
#define MOTOR_DISABLED_STEPPER	0x20

//packet types - room for one more
#define STEPPER_POSITION_PACKET		0x00
#define STEPPER_VEL_ACCEL_PACKET	0x10
#define STEPPER_RESET_PACKET		0x20

struct _CPhidgetStepper{
	CPhidget phid;
          
	int (CCONV *fptrPositionChange)(CPhidgetStepperHandle, void *, int, __int64);       
	int (CCONV *fptrPositionChange32)(CPhidgetStepperHandle, void *, int, int);    
	int (CCONV *fptrVelocityChange)(CPhidgetStepperHandle, void *, int, double);                   
	int (CCONV *fptrCurrentChange)(CPhidgetStepperHandle, void *, int, double);       
	int (CCONV *fptrInputChange)(CPhidgetStepperHandle, void *, int, int);           

	void *fptrPositionChangeptr;
	void *fptrPositionChange32ptr;
	void *fptrInputChangeptr;
	void *fptrCurrentChangeptr;
	void *fptrVelocityChangeptr;

	//data from the device
	unsigned char inputState[STEPPER_MAXINPUTS];
	__int64 motorPositionEcho[STEPPER_MAXSTEPPERS];
	double motorSpeedEcho[STEPPER_MAXSTEPPERS];
	double motorSensedCurrent[STEPPER_MAXSTEPPERS];
	unsigned char motorEngagedStateEcho[STEPPER_MAXSTEPPERS];
	unsigned char motorStoppedState[STEPPER_MAXSTEPPERS];
	int packetCounterEcho[STEPPER_MAXSTEPPERS];

	//data from the user
	__int64 motorPosition[STEPPER_MAXSTEPPERS];
	__int64 motorPositionReset[STEPPER_MAXSTEPPERS];
	double motorAcceleration[STEPPER_MAXSTEPPERS];
	double motorSpeed[STEPPER_MAXSTEPPERS];
	double motorCurrentLimit[STEPPER_MAXSTEPPERS];
	unsigned char motorEngagedState[STEPPER_MAXSTEPPERS];
	int packetCounter[STEPPER_MAXSTEPPERS];
	
	double motorSpeedMax, motorSpeedMin;
	double accelerationMax, accelerationMin;
	__int64 motorPositionMax, motorPositionMin;
	double currentMax, currentMin;
	int microSteps;

	unsigned char outputPacket[8];
	unsigned int outputPacketLen;
} typedef CPhidgetStepperInfo;
#endif

/** @} */

#endif