/*
X702IntDemo.C: Demo program for X702

Compiler: BC++ 3.1
          Turbo C ++ 1.01(3.01) (free from http://community.borland.com/museum) 
          
Compile mode: large

Project: X702Int Demo.
         ..\..\..\..\lib\7188xbl.lib or 7186EL.LIB or 7188EL.LIB
         ..\..\..\..\lib\XBoard\X702.lib
     
Hardware: 7188XB\7188EX\7186EX + X702
Description:
        Show how to use interrupt(Z axis) to latch encoder counting value.

[5/Mar/2010] by Vic
*/

/********************************************************************************/
/*  X702:   2-axis encoder counter                          */
/********************************************************************************/

#include <stdio.h>
#include <stdlib.h>
#include <dos.h>
#include "..\..\..\..\lib\7188xb.h"
#include "..\..\..\..\lib\XBoard\x702.h"

extern long EncLatch1,EncLatch2;//defined in int.c
extern void InstallInt0Isr(void);
extern void InstallInt1Isr(void);
extern void RestoreInt0Isr(void);
extern void RestoreInt1Isr(void);
void read_enc1(long *);
void read_enc2(long *);

int xor1,xor2,mode1,mode2;
long EncVal1,EncVal2;
void Show_ABZ(int ch);
main()
{
   char Mode[3][15]={"cw\ccw","pulse/dir","a/b"};

   InitLib();
   X702_Init();

   Print("\nxor1 = (0 or 1) ?");
   xor1=Getch()-'0'; if (xor1) xor1=1;
   X702_SetXOR(1,xor1);
   
try_again1:
   Print("\nmode1 = (1=cw/ccw,2=pule/dir,3=a/b) ?");
   mode1=Getch()-'0';
   X702_SetMode(1,mode1); 
   
      
   Print("\nxor2 = (0 or 1) ?");
   xor2=Getch()-'0'; if (xor2) xor2=1;
   X702_SetXOR(2,xor2);
try_again2:
   Print("\nmode2 = (1=cw/ccw,2=pule/dir,3=a/b) ?");
   mode2=Getch()-'0';
   X702_SetMode(2,mode2);
    
   X702_ResetEncoder(1);
   X702_ResetEncoder(2);


   InstallInt0Isr(); //Install interrupt service routine for Z1
   InstallInt1Isr(); //Install interrupt service routine for Z2
   for (;;)
   {
     if (Kbhit())
     {        
         RestoreInt0Isr();
         RestoreInt1Isr();
         Getch(); return;
     }     
   
     read_enc1(&EncVal1);
     read_enc2(&EncVal2);
     Print("\n(mode1=%s,enc1=%ld) (mode2=%s,enc2=%ld)",Mode[mode1-1],EncVal1,Mode[mode2-1],EncVal2);
     Print("(Latch1=%ld,Latch2=%ld)",EncLatch1,EncLatch2);
     Show_ABZ(2);
     DelayMs(100);
   }

}

void Show_ABZ(int ch)
{
   int index;
   int A,B,Z,ret;       
   
   X702_GetLineStatus(ch,&A,&B,&Z);
   
   X702_GetIndex(ch,&index);
   if(index!=Z) {
      Print("\nX702_GetIndex() function error\n");
      exit(1);
   }
   
   Print("Z%dB%dA%d=%d%d%d ",ch,ch,ch,Z,B,A);
}

void read_enc1(long *enc1)
{   
   X702_Read24BitEncoder(1,enc1);
}

void read_enc2(long *enc2)
{   
   X702_Read24BitEncoder(2,enc2);   
}