can.h

OLD
typedef enum {
     MEICanCommandTypeSDO_READ,
     MEICanCommandTypeSDO_WRITE,
     MEICanCommandTypeCLEAR_STATUS_BITS,
     MEICanCommandTypeBUS_START,
     MEICanCommandTypeBUS_STOP,
     MEICanCommandTypeNMT_STOP,
     MEICanCommandTypeNMT_START
} MEICanCommandType;

NEW
typedef enum {
     MEICanCommandTypeSDO_READ,
     MEICanCommandTypeSDO_WRITE,
     MEICanCommandTypeCLEAR_STATUS_BITS,
     MEICanCommandTypeBUS_START,
     MEICanCommandTypeBUS_STOP,
     MEICanCommandTypeNMT_ENTER_PRE_OPERATIONAL,      MEICanCommandTypeNMT_START_REMOTE_NODE,      MEICanCommandTypeNMT_STOP_REMOTE_NODE,      MEICanCommandTypeNMT_RESET_NODE,      MEICanCommandTypeNMT_RESET_COMMUNICATION,
} MEICanCommandType;

For more information, see MEICanCommandType.

control.h

NEW
#define MPIControlMAX_AXES (32)

typedef struct MPIControlConfig {
    ...
    long axisFrameCount[MPIControlMAX_AXES];
    ...
}MPIControlConfig;

For more information, see MPIControlConfig.

C:\>version
MPI: version 03.01.00
MPI firmware: version 525 option 0
XMP firmware: version 525 revision B sub-revision 4 option 0
              branchId 0

Driver: version 3.00
PLD : version 0x0011 option 0x2192
Rincon: version 0x0218 package 0x9201
XMP : T014-0001 Serial Number 440060

CAN
Bootloader Version: 2
CAN Firmware: version 2 revision B sub-revision 1

CAN Node[4]
Type : 401 (IO Node)
Vendor ID : 0x014F (MEI)
Product Code : 0x0204
Version Number : 0x10030
Serial Number : 0x1234

CAN Node[5]
Type : 401 (IO Node)

NOTE: Node 4 is an MEI Slice I/O node and Node 5 is a CANOpen I/O node from a supplier that does not support reporting the vendor ID information.

can.h

NEW
typedef struct MEICanNodeInfo {
     MEICanNodeType      type;
     unsigned long       digitalInputCount;
     unsigned long       digitalOutputCount;
     unsigned long       analogInputCount;
     unsigned long       analogOutputCount;
     MEICanHealthType    healthType;
     unsigned long       vendorID;
     unsigned long       productCode;
     unsigned long       versionNumber;
     unsigned long       serialNumber;
} MEICanNodeInfo;

For more information, see MEICanNodeInfo.

sqNode.h

typedef struct MEISqNodeFeedbackSecondary {
    long   motorIndex;
} MEISqNodeFeedbackSecondary;

typedef struct MEISqNodeConfig {
    MEISqNodeConfigAlarm         nodeAlarm;
    MEISqNodeConfigIoAbort       ioAbort;
    MEISqNodeConfigPacketError   upStreamError;
    MEISqNodeConfigPacketError   downStreamError;
    MEISqNodeConfigUserFault     userFault;
    MEISqNodeFeedbackSecondary   feedbackSecondary
                                    [MEISqNodeMaxFEEDBACK_SECONDARY];
} MEISqNodeConfig;

For more information, see MEISqNodeFeedbackSecondary and MEISqNodeConfig.

sqNode.h

NEW
typedef struct MEISqNodeUserData {
     char   data[MEISqNodeUserDATA_CHAR_MAX];
}MEISqNodeUserData

For more information, see MEISqNodeUserData.

typedef struct MEISqNodeInfoId {
     unsigned   long nodeType;   /* product/mfg code */
     char            *nodeName;  /* product/mfg string */
     unsigned   long option;     /* product option code*/
     unsigned   long switchId;   /* rotary switch id */
     unsigned   long unique;     /* unique id code */

     long            exactMatch; /* TRUE/FALSE */

     char            serialNumber[MEISqNodeID_CHAR_MAX];
     char            modelNumber[MEISqNodeID_CHAR_MAX];
     char            manufacturerData
                          [MEISqNodeManufacturerDATA_CHAR_MAX];
} MEISqNodeInfoId;

For more information, see MEISqNodeInfoId.

stdmei.h

OLD - Deleted
typedef struct MEIControlVersion {
    struct { /* control.c */
        char *version; /* MEIControlVersionMPI (YYYYMMDD) */
    struct { /* xmp.h */
        long version; /* MEIXmpVERSION */
        long option; /* MEIXmpOPTION */ }
    firmware;
    } mpi;
    struct {
        long version; /* hardware version */
        struct { /* MEIXmpData.SystemData{} */
            long version; /* MEIXmpVERSION_EXTRACT(SoftwareID) */
            char revision; /* ('A' - 1) + MEIXmpREVISION_EXTRACT(SoftwareID) */
            long subRevision; /* MEIXmpSUB_REV_EXTRACT(Option) */
            long developmentId; /* MEIXmpDEVELOPMENT_ID_EXTRACT(Option) */
            long option; /* MEIXmpOPTION_EXTRACT(Option) */
            long userVersion;
            long branchId;
        } firmware;
        
        struct {
            struct {
                long version;
                long option;
            } PLD;
            struct {
                char number[10];
                char rev[5];
            } model;
            struct {
                long version;
            } FPGA;
        } board;
    } xmp;
    struct {
        char version[10]; }
    driver;
} MEIControlVersion;

typedef struct MEIControlInfo {
    char tNumberMEIControlSTRING_MAX;
    char serialNumber[MEIControlSTRING_MAX];
    char boardType[MEIControlSTRING_MAX];
}MEIControlInfo;

NEW - Added
typedef struct MEIControlInfo {
    MEIControlInfoMpi        mpi;
    MEIControlInfoFirmware   firmware;
    MEIControlInfoPld        pld;
    MEIControlInfoRincon     rincon;
    MEIControlInfoHardware   hardware;
    MEIControlInfoDriver     driver;
} MEIControlInfo;

For more information, see MEIControlInfo.

stdmei.h:

NEW
typedef struct MEIMotorEncoder {
    MEIMotorEncoderType          type;
    long                         encoderPhase;
                                 /* 0 => normal, else reversed */
    long                         filterDisable;
                                 /* 0 => quad filter enabled,
                                 else not enabled */
    long                         countsPerRev;
    MEIMotorEncoderRatio         ratio;
    MEIMotorEncoderReverseModulo reverseModulo;
} MEIMotorEncoder;

See MEIMotorConfig and MEIMotorEncoder.

event.h:

NEW
typedef enum {
     ...
     MPIEventTypeAMP_WARNING,   /* 9 */
     ...
} MPIEventType;

See MPIMotorConfig and MPIMotorEventConfig

sqNode.h:

OLD
long meiSqNodeAnalogIn(MEISqNode    node,
                       long         channel,
                       double       *state);

NEW
long meiSqNodeAnalogInput(MEISqNode    node,
                          long         channel,
                          double       *state);

The following specific interface changes were made:

meiMotorDacConfigGet/Set
   removed flash parameter

meiMotorDacFlashConfigGet/Set
   added new methods

meiSynqNetConfigGet/Set
   removed flash parameter

meiSynqNetFlashConfigGet/Set
   reordered config and flash parameters

meiSynqNetPacketConfigSet
   removed flash parameter

meiSqNodeConfigGet/Set
   removed flash parameter

Addition of the following methods:
meiSqNodeFlashConfigGet/Set
meiSynqNetPacketFlashConfigGet/Set
   get routine currently not supported.

Deprecated of the following method:
meiCanFlashNodeConfigGet/Set
While these methods are still supported, MEI reserves the right to remove deprecated methods. Your application should use the new meiCanNodeFlashConfigGet/Set methods if you plan to upgrade to future versions of the MPI.

control.h:
The version defines were expanded and changed to support the new version numbering.

OLD
#define MPI_VERSION "20040330"
#define MPI_INTERFACE_VERSION "20040330"

NEW
#define MPI_VERSION_MAJOR    "02"
#define MPI_VERSION_MINOR    "01"
#define MPI_VERSION_RELEASE  "Dev0"
#define MPI_VERSION MPI_VERSION_MAJOR"."MPI_VERSION_MINOR"."MPI_VERSION_RELEASE
#define MPI_INTERFACE_VERSION MPI_VERSION_MAJOR"."MPI_VERSION_MINOR

stdmei.h:

OLD
typedef struct MEIMotionAttrOutput {
    MEIMotionAttrOutputType type;
    union {
        long   *output;
        long   motor;
    } as;
    long   mask;
    long   pattern;
    long   pointIndex; /* MEIMotionAttrMaskOUTPUT for path motion - point index for turning on output - used with point lists */
} MEIMotionAttrOutput;

NEW
typedef struct MEIMotionAttrOutput {
    MEIMotionAttrOutputType type;
    union {
        long   *output;
        long   motor;
    } as;
    long   offMask;
    long   onMask;
    long   pointIndex; /* MEIMotionAttrMaskOUTPUT for path motion - point index for turning on output - used with point lists */
} MEIMotionAttrOutput;

For more information, see MEIMotionAttrOutput.

can.h:

typedef struct MEICanNodeInfo {
     MEICanNodeType      type;
     unsigned long       digitalInputCount;
     unsigned long       digitalOutputCount;
     unsigned long       analogInputCount;
     unsigned long       analogOutputCount;
     MEICanHealthType    healthType;
     unsigned long       vendorID;
     unsigned long       productCode;
     unsigned long       versionNumber;
     unsigned long       serialNumber;
} MEICanNodeInfo;

For more information, see MEICanNodeInfo.

motor.h:

OLD
typedef union {
   long     polarity; /* 0 => active low, else active high */
   long     position; /* MPIEventTypeLIMIT_SW_[POS|NEG] */
   float    error;    /* MPIEventTypeLIMIT_ERROR */
   long     encoder;  /* MPIEventTypeENCODER_FAULT */
} MPIMotorEventTrigger;

NEW
typedef union {
   long                 polarity; /* 0 => active low,
                                  else active high */
   long                 position; /* MPIEventTypeLIMIT_SW_[POS|NEG] */
   float                error;    /* MPIEventTypeLIMIT_ERROR */
   MPIMotorEncoderFault encoder;  /* MPIEventTypeENCODER_FAULT */
} MPIMotorEventTrigger;

motor.h:

OLD
typedef struct MPIMotorConfig {
    MPIMotorType         type; /* Event configuration,
                            ordered by MPIEventType */
    MPIMotorEventConfig  event[MPIEventTypeMOTOR_LAST];
    long                 encoderPhase; /* 0 => normal,
                                        else reversed */
    long                 secondaryEncoderPhase; /* 0 => normal,
                                                else reversed */
    float                abortDelay;
    float                enableDelay;
    MPIMotorBrake        brake;    
    MPIObjectMap         filterMap;
} MPIMotorConfig;

NEW
typedef struct MEIMotorEncoder {
    MEIMotorEncoderType          type;
    long                         encoderPhase; /* 0 => normal,
                                        else reversed */
    long                         filterDisable; /* 0 => quad filter                                         enabled, else not enabled */
    long                         countsPerRev;
    MEIMotorEncoderRatio         ratio;
    MEIMotorEncoderReverseModulo reverseModulo;
} MEIMotorEncoder;

For more information, see MPIMotorConfig and MEIMotorEncoder.

mpiMotorConfigGet/Set

motion.h:

NEW
typedef struct MPIMotionPTF {
    long           pointCount;
    double         *position;
    double         *feedForward;
    double         *time;
    MPIMotionPoint point;
} MPIMotionPTF;

typedef struct MPIMotionPVTF {
    long           pointCount;
    double         *position;
    double         *velocity;
    double         *feedForward;
    double         *time;
    MPIMotionPoint point;
} MPIMotionPVTF;

See MPIMotionPTF and MPIMotionPVTF

capture.h:

OLD
typedef enum MPICaptureSource {
   MPICaptureSourceINVALID = -1,

   MPICaptureSourceHOME,
   MPICaptureSourceINDEX,
   MPICaptureSourceLIMIT_HW_NEG,
   MPICaptureSourceLIMIT_HW_POS,
   MPICaptureSourceGLOBAL,
   MPICaptureSourceMOTOR_IO_0,
   MPICaptureSourceMOTOR_IO_1,
   MPICaptureSourceMOTOR_IO_2,
   MPICaptureSourceMOTOR_IO_3,
   MPICaptureSourceMOTOR_IO_4,
   MPICaptureSourceMOTOR_IO_5,
   MPICaptureSourceMOTOR_IO_6,
   MPICaptureSourceMOTOR_IO_7,
   MPICaptureSourceINDEX_SECONDARY,

   MPICaptureSourceLAST,
   MPICaptureSourceFIRST = MPICaptureSourceINVALID + 1,

   MPICaptureSourceCOUNT = MPICaptureSourceLAST,
} MPICaptureSource;

NEW
typedef enum MPICaptureSource {
   MPICaptureSourceINVALID = -1,

   MPICaptureSourceMOTOR_IO_0,
   MPICaptureSourceMOTOR_IO_1,
   MPICaptureSourceMOTOR_IO_2,
   MPICaptureSourceMOTOR_IO_3,
   MPICaptureSourceMOTOR_IO_4,
   MPICaptureSourceMOTOR_IO_5,
   MPICaptureSourceMOTOR_IO_6,
   MPICaptureSourceMOTOR_IO_7,
   MPICaptureSourceHOME,
   MPICaptureSourceINDEX,
   MPICaptureSourceLIMIT_HW_NEG,
   MPICaptureSourceLIMIT_HW_POS,
   MPICaptureSourceGLOBAL,
   MPICaptureSourceINDEX_SECONDARY,

   MPICaptureSourceLAST,
   MPICaptureSourceFIRST = MPICaptureSourceINVALID + 1,

   MPICaptureSourceCOUNT = MPICaptureSourceLAST,
} MPICaptureSource;

See MPICaptureSource.

event.h:

NEW
typedef enum {
     ...
     MPIEventTypeMOTION_DONE,        /* 10 */
     MPIEventTypeMOTION_AT_VELOCITY, /* 11 */
     ...
} MPIEventType;

See mpiMotionStart and mpiMotionModify