#ifndef _ALLSERVODRV_H_
#define _ALLSERVODRV_H_


extern axis_object_t *axis_x;
extern axis_object_t *axis_y;
extern axis_object_t *axis_z;
extern axis_object_t *axis_u;

extern float XGearRatio;
extern float YGearRatio;
extern float ZGearRatio;
#define X_AXIS 0x0000
#define Y_AXIS 0x0001
#define Z_AXIS 0x0004
#define U_AXIS 0x0008

#define  X_DRV	AXIS_IS_RUNNING(axis_x)
#define  Y_DRV	AXIS_IS_RUNNING(axis_y)
#define  Z_DRV	AXIS_IS_RUNNING(axis_z)
#define  U_DRV	AXIS_IS_RUNNING(axis_u)

//运动当中改变速度 
extern void AxisChangeSpeed(unsigned short axis,unsigned short speed); 
//固定减速距离停止
extern void AxisDecStopPos(unsigned short axis,unsigned long pos); 
//减速停
extern void AxisDecStop(unsigned short axis);  
//立即停止
extern void AxisEgmStop(unsigned short axis);   
//移动绝对位置
extern void AxisMovePoint(unsigned short axis,unsigned short speed,long pos);
//移动绝对位置带加减速
extern void AxisMovePointAccDec(unsigned short axis,unsigned short speed,long pos,
      unsigned short start_speed,unsigned short stop_speed,
      unsigned short acc_pulse,unsigned short dec_pulse);
//移动距离
extern void AxisMovePos(unsigned short axis,unsigned short speed,long pos);
//移动距离带加减速
extern void AxisMovePosAccDec(unsigned short axis,unsigned short speed,long pos,
      unsigned short start_speed,unsigned short stop_speed,
      unsigned short acc_pulse,unsigned short dec_pulse,long slowpos);
//移动距离不停止
extern void AxisMovePosAccDecNotStop(unsigned short axis,unsigned short speed,long pos,
    unsigned short start_speed,unsigned short lastspeed,
    unsigned short acc_pulse,unsigned short dec_pulse,long slowpos);
//AxisMovePosAccDecNotStop(unsigned short axis,unsigned short speed,long pos,unsigned short start_speed,unsigned short lastspeed,unsigned short acc_pulse,unsigned short dec_pulse);
//移动距离带加减速不停止
extern void MoveAction_Pulse_AccDec_NotStop(unsigned short cAxisNo, long dwPosi, unsigned short cSpeed,unsigned short cStartSpeed,unsigned short cLastSpeed,unsigned short cAccPulse,unsigned short cDecPulse);
//连续运动
extern void AxisContinueMove(unsigned short axis,unsigned short speed,unsigned char dir);
//连续运动带加减速参数--中途改变目标速度
extern void AxisContinueMoveChangeSpeed(unsigned short axis,unsigned short speed,unsigned short stop_speed,
      unsigned short acc,unsigned short dec);
//两段速度移动距离
extern void AxisMoveTwoPos(unsigned short axis,unsigned short speed1,long pos1,
                    unsigned short speed2,long pos2,int dir,
                    unsigned short start_speed,unsigned short stop_speed,
                    unsigned short acc_pulse,unsigned short dec_pulse);
//三段速度移动距离
extern void AxisMoveThreePos(unsigned short axis,unsigned short speed1,long pos1,unsigned short speed2,long pos2,unsigned short speed3,long pos3,int dir);
//三段速度移动距离不停止
extern void AxisMoveThreePosNoStop(unsigned short axis,unsigned short speed1,long pos1,unsigned short speed2,long pos2,unsigned short speed3,long pos3,int dir);
//设置真实位置
extern void SetPos(unsigned short axis, long pos);
//读取真实位置
extern long GetPos(unsigned short axis);
//获取当前速度
extern unsigned long GetCurSpeed(unsigned short axis);
//获取设置速度
extern unsigned long GetSetSpeed(unsigned short axis);
//数控PP模式
extern void SetStopSelect(unsigned short axis,unsigned short Select_Flag);

extern unsigned long GetState(unsigned short axis);
extern unsigned long GetRemainPulse(unsigned short axis);
extern unsigned long SetPulse(unsigned short axis,unsigned long pulse);
extern unsigned long SetState(unsigned short axis,unsigned short state);
extern void SetStartSpeed(unsigned short axis,unsigned short speed);
extern void SetMinSpeed(unsigned short axis,unsigned short speed);
extern void SetAccTime(unsigned short axis,unsigned short acc_time);
extern void SetDecTime(unsigned short axis,unsigned short dec_time);
extern void SetDir(unsigned short axis, unsigned short dir);
extern void SetEn(unsigned short axis, unsigned short enable);
extern unsigned char GetEn(unsigned short axis);
extern unsigned char GetDir(unsigned short axis);

extern long PosToPulse(unsigned short axis, long pos);
extern long PulseToPos(unsigned short axis, long pulse);
extern void AxisContinueMoveAcc(unsigned short axis,unsigned short speed,unsigned char dir,
      unsigned short start_speed,unsigned short stop_speed,
      unsigned short acc,unsigned short dec);
    //数控到数不停止模式
extern void MV_Pmove_CPU_Not_Stop(unsigned short cAxisNo, long dwPosi);
extern void SetEnReverse(unsigned short axis, int value);
extern void SetDirReverse(unsigned short axis, int value);
extern void SetAlarmReverse(unsigned short axis, int value);
extern void SetClr(unsigned short axis, unsigned short clr);
extern unsigned char GetAlarm(unsigned short axis);
extern void AxisChangeSpeedDirect(unsigned short axis,unsigned short speed);
extern void AxisMoveTwoPosNoStop(unsigned short axis,unsigned short speed1,long pos1,
                    unsigned short speed2,long pos2,int dir,
                    unsigned short start_speed,unsigned short stop_speed,
                    unsigned short acc_pulse,unsigned short dec_pulse);

extern unsigned char axis_x_com_alarm,axis_y_com_alarm,axis_z_com_alarm;
//设置伺服的运行模式
extern void Set_Servo_Runmode(unsigned short axis, unsigned short mode);
//切换控制模式切换，转矩+位置模式
extern void Set_Ctrlmode_trans(unsigned short axis, unsigned short mode);
//获取转矩到达状态
extern unsigned char GetTarr(unsigned short axis);
#endif