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#pragma once


// Declaration of the functions

long sdkMiniMACS6_SetupCanBusModule(long axis, long busId, long pdoNumber, long operationMode);

long sdkMiniMACS6_SetupCanVirtAmp(long axis, long maxRpm, long operationMode);

long sdkMiniMACS6_SetupCanVirtCntin(long axis, long operationMode);

long sdkMiniMACS6_SetupCanSdoParam(long busId, long pdonumber, long slaveAxisNo, long operationMode);


long sdkMiniMACS6_AxisHomingStart(long axis, long busId, long operationMode, long &homingState);


#define MINIMACS6_RECEIVE_PDO_1_PARAMETER                   0x1400

#define MINIMACS6_RECEIVE_PDO_2_PARAMETER                   0x1401

#define MINIMACS6_RECEIVE_PDO_3_PARAMETER                   0x1402

#define MINIMACS6_RECEIVE_PDO_4_PARAMETER                   0x1403

#define MINIMACS6_RECEIVE_PDO_1_MAPPING                     0x1600

#define MINIMACS6_RECEIVE_PDO_2_MAPPING                     0x1601

#define MINIMACS6_RECEIVE_PDO_3_MAPPING                     0x1602

#define MINIMACS6_RECEIVE_PDO_4_MAPPING                     0x1603

#define MINIMACS6_TRANSMIT_PDO_1_PARAMETER                  0x1800

#define MINIMACS6_TRANSMIT_PDO_2_PARAMETER                  0x1801

#define MINIMACS6_TRANSMIT_PDO_3_PARAMETER                  0x1802

#define MINIMACS6_TRANSMIT_PDO_4_PARAMETER                  0x1803

#define MINIMACS6_TRANSMIT_PDO_1_MAPPING                    0x1A00

#define MINIMACS6_TRANSMIT_PDO_2_MAPPING                    0x1A01

#define MINIMACS6_TRANSMIT_PDO_3_MAPPING                    0x1A02

#define MINIMACS6_TRANSMIT_PDO_4_MAPPING                    0x1A03

#define MINIMACS6_SYNC_MANAGER_2_PDO_ASSIGNMENT             0

#define MINIMACS6_SYNC_MANAGER_3_PDO_ASSIGNMENT             0

#define MINIMACS6_CONTROLWORD                               0x6040

#define MINIMACS6_STATUSWORD                                0x6041

#define MINIMACS6_MODES_OF_OPERATION                        0x6060

        #define MINIMACS6_OP_PPM    0x01    // Profile Position Mode

        #define MINIMACS6_OP_PVM    0x03    // Profile Velocity Mode

        #define MINIMACS6_OP_HMM    0x06    // Homing Mode

        #define MINIMACS6_OP_CSP    0x08    // Cyclic Synchronous Position Mode

        #define MINIMACS6_OP_CSV    0x09    // Cyclic Synchronous Velocity Mode

        #define MINIMACS6_OP_CST    0x0A    // Cyclic Synchronous Torque Mode

#define MINIMACS6_MODES_OF_OPERATION_DISPLAY                0x6061