//-----------------------------------------------------------
// i8090.cpp library
//                                             
// compile with large mode
//
// v1.0  6/20/2001
//
//-----------------------------------------------------------
#include <stdio.h>
#include <stdlib.h>
#include <conio.h>
#include <dos.h>

//-------------- define parameter -----------------
#define YES    1
#define NO     0
#define ON     1
#define OFF    0 

#define X_axis          1
#define Y_axis          2
#define Z_axis          3

#define ENC_QUADRANT    0x00
#define ENC_CW_CCW      0x10
#define ENC_PULSE_DIR   0x20
                          
#define i8090  0x0d
//#define i8091  0x0e
//#define i8092  0x0f
//#define NOCARD 0x00
                           
//-------------- hardware -------------------------
#define RD1   0x01    //R
#define RD2   0x02    //R
#define RD3   0x03    //R
#define RD4   0x04    //R
#define WR1   0x00    //W
#define WR2   0x01    //W
#define WR3   0x02    //W
                          
//------ card parameter -----------------------------------
typedef struct
{
     unsigned int  base;
     unsigned char ctrl1;
     unsigned char ctrl2;
     unsigned char ctrl3;    
     unsigned int  old_pos_X;
     unsigned int  old_pos_Y;
     unsigned int  old_pos_Z;
     unsigned int  pos_X;
     unsigned int  pos_Y;
     unsigned int  pos_Z;      
     long          X;
     long          Y;
     long          Z;
}i8090_cardtype;
i8090_cardtype card[20];
//####################################################################
//#################################################################### 
unsigned char i8090_REGISTRATION(unsigned char cardNo, unsigned int address)
{
   if  (inportb(address)==i8090)
   {
      card[cardNo].base=address;
      return YES;
   }
   else return NO;
}
//********************************************************************
void i8090_INIT_CARD(unsigned char cardNo,
                     unsigned char x_mode,
		     unsigned char y_mode,
		     unsigned char z_mode)
{
  card[cardNo].ctrl1 = 0x07 | x_mode;
  card[cardNo].ctrl2 = 0x07 | y_mode;
  card[cardNo].ctrl3 = 0x07 | z_mode;

  //reset HCTL-3018;
  card[cardNo].ctrl1 &= 0xFB;  //1111 1011
  card[cardNo].ctrl2 &= 0xFB;
  card[cardNo].ctrl3 &= 0xFB;
  outportb(card[cardNo].base + WR1, card[cardNo].ctrl1);
  outportb(card[cardNo].base + WR2, card[cardNo].ctrl2);
  outportb(card[cardNo].base + WR3, card[cardNo].ctrl3);

  card[cardNo].ctrl1 |= 0x04;  //0000 0100
  card[cardNo].ctrl2 |= 0x04;
  card[cardNo].ctrl3 |= 0x04;
  outportb(card[cardNo].base + WR1, card[cardNo].ctrl1);
  outportb(card[cardNo].base + WR2, card[cardNo].ctrl2);
  outportb(card[cardNo].base + WR3, card[cardNo].ctrl3);

}
//********************************************************************
unsigned int i8090_GET_ENCODER(unsigned char cardNo, unsigned char axis)
{
unsigned int value;

   switch (axis)
   {
      case X_axis:
		  card[cardNo].ctrl1 &= 0xFC;  //1111 1100 low byte
		  outportb(card[cardNo].base + WR1, card[cardNo].ctrl1);
		  value = inportb(card[cardNo].base + RD1);

		  card[cardNo].ctrl1 |= 0x01;  //0000 0001 high byte
		  outportb(card[cardNo].base + WR1, card[cardNo].ctrl1);
		  value += inportb(card[cardNo].base + RD1)*256;

		  card[cardNo].ctrl1 |= 0x03;  //0000 0011
		  outportb(card[cardNo].base + WR1, card[cardNo].ctrl1);
		  break;
      case Y_axis:
		  card[cardNo].ctrl2 &= 0xFC;  //1111 1100 low byte
		  outportb(card[cardNo].base + WR2, card[cardNo].ctrl2);
		  value = inportb(card[cardNo].base + RD2);

		  card[cardNo].ctrl2 |= 0x01;  //0000 0001 high byte
		  outportb(card[cardNo].base + WR2, card[cardNo].ctrl2);
		  value += inportb(card[cardNo].base + RD2)*256;

		  card[cardNo].ctrl2 |= 0x03;  //0000 0011
		  outportb(card[cardNo].base + WR2, card[cardNo].ctrl2);
		  break;
      case Z_axis:
		  card[cardNo].ctrl3 &= 0xFC;  //1111 1100 low byte
		  outportb(card[cardNo].base + WR3, card[cardNo].ctrl3);
		  value = inportb(card[cardNo].base + RD3);

		  card[cardNo].ctrl3 |= 0x01;  //0000 0001 high byte
		  outportb(card[cardNo].base + WR3, card[cardNo].ctrl3);
		  value += inportb(card[cardNo].base + RD3)*256;

		  card[cardNo].ctrl3 |= 0x03;  //0000 0011
		  outportb(card[cardNo].base + WR3, card[cardNo].ctrl3);
		  break;
      default : break;
   }

   return value;
}
//********************************************************************
void i8090_RESET_ENCODER(unsigned char cardNo, unsigned char axis)
{
   switch (axis)
   {
      case X_axis:
		  card[cardNo].ctrl1 &= 0xFB;  //1111 1011
		  outportb(card[cardNo].base + WR1, card[cardNo].ctrl1);

		  card[cardNo].ctrl1 |= 0x04;  //0000 0100
		  outportb(card[cardNo].base + WR1, card[cardNo].ctrl1);
		  break;
      case Y_axis:
		  card[cardNo].ctrl2 &= 0xFB;  //1111 1011
		  outportb(card[cardNo].base + WR2, card[cardNo].ctrl2);

		  card[cardNo].ctrl2 |= 0x04;  //0000 0100
		  outportb(card[cardNo].base + WR2, card[cardNo].ctrl2);
		  break;
      case Z_axis:
		  card[cardNo].ctrl3 &= 0xFB;  //1111 1011
		  outportb(card[cardNo].base + WR3, card[cardNo].ctrl3);

		  card[cardNo].ctrl3 |= 0x04;  //0000 0100
		  outportb(card[cardNo].base + WR3, card[cardNo].ctrl3);
		  break;
      default : break;
   }
}
//********************************************************************
unsigned char i8090_GET_INDEX(unsigned char cardNo)
{
unsigned char index;

  index = 0x07 & inportb(card[cardNo].base + RD4);
  return index;
}

//-----------------------------------------------------------------------
// 32 bits encoder subroutine
// 
// void i8090_ENCODER32_ISR(unsigned char cardNo) <----run it in timer interrupt
// void i8090_RESET_ENCODER32(unsigned char cardNo, unsigned char axis)
// long i8090_GET_ENCODER32(unsigned char cardNo, unsigned char axis)
//-----------------------------------------------------------------------
void i8090_ENCODER32_ISR(unsigned char cardNo)
{
unsigned int pos_X,pos_Y,pos_Z;   
int          delta_X,delta_Y,delta_Z;

   card[cardNo].pos_X=i8090_GET_ENCODER(cardNo, X_axis);
   card[cardNo].pos_Y=i8090_GET_ENCODER(cardNo, Y_axis);
   card[cardNo].pos_Z=i8090_GET_ENCODER(cardNo, Z_axis);

   //---X axis encoder ----------------------
   if (((card[cardNo].pos_X ^ card[cardNo].old_pos_X) & 0xC000) == 0xC000)
     {
       if ((card[cardNo].pos_X & 0xC000) != 0xC000)
          //65xxx -> 00xxx
          delta_X = (int) (card[cardNo].pos_X + (65535 - card[cardNo].old_pos_X) + 1);
       else
          //00xxx -> 65xxx
          delta_X = -(int)((65535-card[cardNo].pos_X) + 1 + card[cardNo].old_pos_X);
     }
   else
     {    //0 ~ 65535
          delta_X = (int)(card[cardNo].pos_X - card[cardNo].old_pos_X);
     }
   //---Y axis encoder ----------------------
   if (((card[cardNo].pos_Y ^ card[cardNo].old_pos_Y) & 0xC000) == 0xC000)
     {
       if ((card[cardNo].pos_Y & 0xC000) != 0xC000)
          //65xxx -> 00xxx
          delta_Y = (int) (card[cardNo].pos_Y + (65535 - card[cardNo].old_pos_Y) + 1);
       else
          //00xxx -> 65xxx
          delta_Y = -(int)((65535-card[cardNo].pos_Y) + 1 + card[cardNo].old_pos_Y);
     }
   else
     {    //0 ~ 65535
          delta_Y = (int)(card[cardNo].pos_Y - card[cardNo].old_pos_Y);
     }
   //---Z axis encoder ----------------------
   if (((card[cardNo].pos_Z ^ card[cardNo].old_pos_Z) & 0xC000) == 0xC000)
     {
       if ((card[cardNo].pos_Z & 0xC000) != 0xC000)
          //65xxx -> 00xxx
          delta_Z = (int) (card[cardNo].pos_Z + (65535 - card[cardNo].old_pos_Z) + 1);
       else
          //00xxx -> 65xxx
          delta_Z = -(int)((65535-card[cardNo].pos_Z) + 1 + card[cardNo].old_pos_Z);
     }
   else
     {    //0 ~ 65535
          delta_Z = (int)(card[cardNo].pos_Z - card[cardNo].old_pos_Z);
     }

   card[cardNo].old_pos_X = card[cardNo].pos_X;
   card[cardNo].old_pos_Y = card[cardNo].pos_Y;
   card[cardNo].old_pos_Z = card[cardNo].pos_Z; 
   
   card[cardNo].X += delta_X;
   card[cardNo].Y += delta_Y;
   card[cardNo].Z += delta_Z;
}
//----------------------------------------------------------------------------
void i8090_RESET_ENCODER32(unsigned char cardNo, unsigned char axis)
{                       

  card[cardNo].old_pos_X=i8090_GET_ENCODER(cardNo, X_axis);
  card[cardNo].old_pos_Y=i8090_GET_ENCODER(cardNo, Y_axis);
  card[cardNo].old_pos_Z=i8090_GET_ENCODER(cardNo, Z_axis);
   
  switch (axis)
  {
    case X_axis: card[cardNo].X=0; break;
    case Y_axis: card[cardNo].Y=0; break;
    case Z_axis: card[cardNo].Z=0; break;
  }        
}
//-----------------------------------------------------------------------
long i8090_GET_ENCODER32(unsigned char cardNo, unsigned char axis)
{

  disable();
    i8090_ENCODER32_ISR(cardNo);
  enable();
  
  switch (axis)
  {
    case X_axis: return card[cardNo].X;
    case Y_axis: return card[cardNo].Y;
    case Z_axis: return card[cardNo].Z;
  }
  return 0;
}