/*
X703IntDemo.C: Demo program for X703

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

Project: X703funsDemo.
         ..\..\..\..\lib\7188xbl.lib
         ..\..\..\..\lib\XBoard\X703.lib
     
Hardware: 7188XB + X703

[16/Oct/2008] by Vic
*/

/********************************************************************************/
/*  X703:   3-axis encoder counter                          */
/********************************************************************************/


#include <stdio.h>
#include <stdlib.h>
#include <dos.h>
#include "..\..\..\..\lib\7188xb.h"
#include "..\..\..\..\lib\XBoard\x703.h"

extern unsigned long EncLatch1,EncLatch2,EncLatch3;//defined in int.c
extern void InstallInt0Isr(void);
extern void InstallInt1Isr(void);
extern void InstallInt4Isr(void);
extern void RestoreInt0Isr(void);
extern void RestoreInt1Isr(void);
extern void RestoreInt4Isr(void);
void read_enc1(long *);
void read_enc2(long *);
void read_enc3(long *);

int xor1,xor2,xor3,mode1,mode2,mode3;
long EncVal1,EncVal2,EncVal3;

main()
{
   char Mode[3][15]={"cw\ccw","pulse/dir","a/b"};
   int hwID;

   InitLib();
   X703_Init();

   Print("\nxor1 = (0 or 1) ?");
   xor1=Getch()-'0'; if (xor1) xor1=1;
   X703_SetXOR(1,xor1);
   
try_again1:
   Print("\nmode1 = (1=cw/ccw,2=pule/dir,3=a/b) ?");
   mode1=Getch()-'0';
   X703_SetMode(1,mode1); 
   
      
   Print("\nxor2 = (0 or 1) ?");
   xor2=Getch()-'0'; if (xor2) xor2=1;
   X703_SetXOR(2,xor2);
try_again2:
   Print("\nmode2 = (1=cw/ccw,2=pule/dir,3=a/b) ?");
   mode2=Getch()-'0';
   X703_SetMode(2,mode2);
    
   Print("\nxor3 = (0 or 1) ?");
   xor3=Getch()-'0'; if (xor3) xor3=1;
   X703_SetXOR(3,xor3);
try_again3:
   Print("\nmode3 = (1=cw/ccw,2=pule/dir,3=a/b) ?");
   mode3=Getch()-'0';
   X703_SetMode(3,mode3);

   X703_ResetEncoder(1);
   X703_ResetEncoder(2);
   X703_ResetEncoder(3);

   InstallInt0Isr();//Install interrupt service routine for Z1
   InstallInt1Isr();//Install interrupt service routine for Z2
   InstallInt4Isr();//Install interrupt service routine for Z3
   
   for (;;)
   {
     if (Kbhit())
     {
         RestoreInt0Isr();
         RestoreInt1Isr();
         RestoreInt4Isr();
         Getch(); return;
     }
   
     read_enc1(&EncVal1);
     read_enc2(&EncVal2);
     read_enc3(&EncVal3);
     Print("\n(mode1=%s,enc1=%lx) (mode2=%s,enc2=%lx) (mode3=%s,enc3=%lx)",Mode[mode1-1],EncVal1,Mode[mode2-1],EncVal2,Mode[mode3-1],EncVal3);
     Print("(Latch1=%lx,Latch2=%lx,Latch3=%lx)",EncLatch1,EncLatch2,EncLatch3);
     DelayMs(100);
   }

}


// ---------------------------------------------------------------

void read_enc1(long *enc1)
{   
   X703_Read24BitEncoder(1,enc1);
   //X703_Read32BitEncoder(1,enc1);
}

void read_enc2(long *enc2)
{
   X703_Read24BitEncoder(2,enc2);  
   //X703_Read32BitEncoder(2,enc2);  
}

void read_enc3(long *enc3)
{
   X703_Read24BitEncoder(3,enc3);  
   //X703_Read32BitEncoder(3,enc3);
}