//--------------------------------------------------------------------
// demo.cpp for I-8091 card
//
// This program can test all of following command                                          
// ----------------------I-8091 testing kit-----------------------------------
// (0)Exit                 (A)i8091_IS_X_STOP       (K)i8091_CSP_MOVE        
// (1)i8091_RESET_SYSTEM   (B)i8091_IS_Y_STOP       (L)i8091_SLOW_DOWN       
// (2)i8091_SET_VAR        (C)i8091_LIMIT_X         (M)i8091_SLOW_STOP       
// (3)i8091_SET_DEFDIR     (D)i8091_LIMIT_Y         (N)i8091_INTP_PULSE      
// (4)i8091_SET_MODE       (E)i8091_LSP_ORG         (O)i8091_INTP_LINE       
// (5)i8091_SET_SERVO_ON   (F)i8091_HSP_ORG         (P)i8091_INTP_LINE02     
// (6)i8091_SET_NC         (G)i8091_LSP_PULSE_MOVE  (Q)i8091_CIRCLE02        
// (7)i8091_STOP_X         (H)i8091_HSP_PULSE_MOVE  (R)i8091_ARC02           
// (8)i8091_STOP_Y         (I)i8091_LSP_MOVE        (S)User Define Testing   
// (9)i8091_STOP_ALL       (J)i8091_HSP_MOVE                                 
//
//  The output pulse amount can be monitored from I-8090 card. When directly
//  connect the CW/PULSE, CCW/DIR of I-8091 to I-8090. The encoder value
//  can be shown on the LED display. Its format as following.
//  ex:    0.2 1 2 8 : X-axis encoder value
//         5 3.4 0 2 : Y-axis encoder value
//         1 0 0.1 0 : Z-axis encoder value
//  the dot(.) stands for which axis.
//--------------------------------------------------------------------
// v1.0  6/20/2001
//
//--------------------------------------------------------------------
#include <stdio.h>
#include <stdlib.h>
#include <conio.h>
#include <dos.h>
#include <math.h>

#include "8000.h"
#include "i8090.h"
#include "i8091.h"

#define i8090  0x0d
#define i8091  0x0e
#define i8092  0x0f
#define NOCARD 0x00

#define  BasePort    0x0080
#define  SlotOffset  0x0020
#define  IDPort      0x0000

#define CARD0  0
#define CARD1  1
#define CARD2  2
#define CARD3  3
#define CARD4  4
#define CARD5  5
#define CARD6  6
#define CARD7  7

#define MAX_SLOT_NO  8 
unsigned int PortAddress[8]={0x080, 0x0a0, 0x0c0, 0x0e0, 0x140, 0x160, 0x180, 0x1a0};
//---------------------------------------------------------------------
typedef struct {
  int           address;
  unsigned char DDA,AD;
  unsigned int  LSP,HSP;
  unsigned char xmode,ymode;
  unsigned char xdir,ydir;
  unsigned char xson,yson;
  unsigned char NCmode;
} i8091CardType;

i8091CardType card1;

unsigned char i8090Slot,i8091Slot;
unsigned int  x_value;
unsigned int  y_value;
unsigned int  z_value;
unsigned char index;
unsigned char x_index;
unsigned char y_index;
unsigned char z_index;
int           ShowAxis;
//---------------------------------------------------
//--------------------------------------------------------------------
void ShowLedValue(long value,unsigned char axis)
{
long j;                         
unsigned char negative_value;

  if (value<0) negative_value=1; 
  else         negative_value=0;
  value=labs(value);                          
                                            
  j=value-10*(value/10);     
  if (negative_value) Show5DigitLedWithDot(0x05, j);
  else                Show5DigitLed(0x05, j); 
  
  value=value/10;
  j=value-10*(value/10);
  Show5DigitLed(0x04, j);
  value=value/10;
  j=value-10*(value/10);
  if (axis==Z_axis) Show5DigitLedWithDot(0x03, j);
  else              Show5DigitLed(0x03, j);
  value=value/10;
  j=value-10*(value/10);
  if (axis==Y_axis) Show5DigitLedWithDot(0x02, j);
  else              Show5DigitLed(0x02, j);
  value=value/10;
  j=value-10*(value/10);
  if (axis==X_axis) Show5DigitLedWithDot(0x01, j);
  else              Show5DigitLed(0x01, j);
} 
//---------------------------------------------------
void ShowCardName(unsigned char SlotNum)
{
unsigned char temp;

   Show5DigitLed(0x05, SlotNum);
   //temp=inportb(BasePort+SlotNum*SlotOffset); 
   temp=inportb(PortAddress[SlotNum]);
   switch (temp)
   {
      case i8090: //i8090 3-axis encoder card
                Show5DigitLedSeg (0x01, 0x7F);
                Show5DigitLedSeg (0x02, 0x7E);
		Show5DigitLedSeg (0x03, 0x7B);
                Show5DigitLedSeg (0x04, 0x7E);
                break;
      case i8091: //i8091 2-axis stepping card
                Show5DigitLedSeg (0x01, 0x7F);
                Show5DigitLedSeg (0x02, 0x7E);
                Show5DigitLedSeg (0x03, 0x7B);
                Show5DigitLedSeg (0x04, 0x30);
                break;
      case i8092: //i8092
                Show5DigitLedSeg (0x01, 0x7F);
                Show5DigitLedSeg (0x02, 0x7E);
                Show5DigitLedSeg (0x03, 0x7B);
                Show5DigitLedSeg (0x04, 0x6D);
                break;
      default:
                Show5DigitLedSeg (0x01, 0x01);
                Show5DigitLedSeg (0x02, 0x01);
                Show5DigitLedSeg (0x03, 0x01);
                Show5DigitLedSeg (0x04, 0x01);
		break;
   };
}
//---------------------------------------------------
unsigned char CardSearch(unsigned char SlotNum)
{
unsigned char temp;

   //temp=inportb(BasePort+SlotNum*SlotOffset);
   temp=inportb(PortAddress[SlotNum]);
   ShowCardName(SlotNum);
   switch (temp)
   {
      case i8090: //i8090 3-axis encoder card
                Print("Slot %d = i8090\r\n",SlotNum);
                return i8090;
      case i8091: //i8091 2-axis stepping card
                Print("Slot %d = i8091\r\n",SlotNum);
                return i8091;
      case i8092: //i8092
                Print("Slot %d = i8092\r\n",SlotNum);
		return i8092;
      default:
                Print("Slot %d = No Card\r\n",SlotNum);
                return NOCARD;
   };
}
//---------------------------------------------------
void DisplayEncoder()
{
int  key;

   x_value = i8090_GET_ENCODER(i8090Slot, X_axis);
   y_value = i8090_GET_ENCODER(i8090Slot, Y_axis);
   z_value = i8090_GET_ENCODER(i8090Slot, Z_axis);
   index   = i8090_GET_INDEX(i8090Slot);
   x_index = index & 0x01;
   y_index = (index & 0x02) >> 1;
   z_index = (index & 0x04) >> 2;

   if (IsSystemKey())
   {
      key=GetSystemKey();
      ClearSystemKey();
      switch (key)
      {
        case SKEY_DOWN:
                      ShowAxis++;
                      if (ShowAxis>2) ShowAxis=0;
                      break;
        case SKEY_UP:
                      ShowAxis--;
                      if (ShowAxis<0) ShowAxis=2;
                      break;
      };
   }

   switch (ShowAxis)
   {
      case 0: ShowLedValue(x_value,X_axis); break;
      case 1: ShowLedValue(y_value,Y_axis); break;
      case 2: ShowLedValue(z_value,Z_axis); break;
   };
   if (x_index) LedRunOff();  else LedRunOn();
   if (y_index) LedCommOff(); else LedCommOn();
   if (z_index) LedBattOff(); else LedBattOn();
   Delay(1);
}
//---------------------------------------------------
void stop_process()
{
   i8091_STOP_ALL(CARD1);
   i8091_SET_VAR(CARD1, card1.DDA, card1.AD, card1.LSP, card1.HSP);
   i8091_SET_DEFDIR(CARD1, card1.xdir, card1.ydir);
   i8091_SET_MODE(CARD1, card1.xmode, card1.ymode);
   i8091_SET_SERVO_ON(CARD1, card1.xson, card1.yson); 
   i8091_SET_NC(CARD1, card1.NCmode);   
   Delay(50);
}
//---------------------------------------------------
void main ()
{
int           chkey,tempint,speed;
int           xpulse,ypulse;
unsigned char j,temp,axis,dir;
long          pulse,x,y,R;

  ResetScanBuffer();
  ClearSystemKey();
  ShowAxis=0;
              
  i8090Slot=99;
  i8091Slot=99;
  for (j=0; j<MAX_SLOT_NO; j++)
  {
    temp=CardSearch(j);
    if (temp==i8090) i8090Slot=j;
    if (temp==i8091) i8091Slot=j;
    Delay(1000);
  };

  if (i8090Slot==99)
     Print("Not found i8090 card in 8 slot!\r\n");
  if (i8091Slot==99)
  {
     Print("Not found i8091 card in 8 slot!\r\n");
     return;
  }

  //--------------------------------------------------------------------
  card1.address=PortAddress[i8091Slot];
  card1.DDA   = 10;
  card1.AD    = 3;
  card1.LSP   = 5;
  card1.HSP   = 150;
  card1.xmode = CW_CCW;
  card1.ymode = CW_CCW;
  card1.xdir  = NORMAL_DIR;
  card1.ydir  = NORMAL_DIR;
  card1.xson  = ON;
  card1.yson  = ON;
  card1.NCmode= OFF;
  i8091_REGISTRATION(CARD1, card1.address); 
  i8091_RESET_SYSTEM(CARD1);
  i8091_SET_VAR(CARD1, card1.DDA, card1.AD, card1.LSP, card1.HSP);
  i8091_SET_DEFDIR(CARD1, card1.xdir, card1.ydir);
  i8091_SET_MODE(CARD1, card1.xmode, card1.ymode);
  i8091_SET_SERVO_ON(CARD1, card1.xson, card1.yson);
  i8091_SET_NC(CARD1, card1.NCmode);
  Delay(100);
  //--------------------------------------------------------------------
  i8090_REGISTRATION(i8090Slot, PortAddress[i8090Slot]);
  i8090_INIT_CARD(i8090Slot, ENC_CW_CCW, ENC_CW_CCW, ENC_CW_CCW);
  i8090_RESET_ENCODER(i8090Slot, X_axis);
  i8090_RESET_ENCODER(i8090Slot, Y_axis);
  i8090_RESET_ENCODER(i8090Slot, Z_axis);
  
  do
  {
  Print("----------------------i8091 testing kit-----------------------------------\r\n");
  Print("(0)Exit                 (A)i8091_IS_X_STOP       (K)i8091_CSP_MOVE        \r\n");
  Print("(1)i8091_RESET_SYSTEM   (B)i8091_IS_Y_STOP       (L)i8091_SLOW_DOWN       \r\n");
  Print("(2)i8091_SET_VAR        (C)i8091_LIMIT_X         (M)i8091_SLOW_STOP       \r\n");
  Print("(3)i8091_SET_DEFDIR     (D)i8091_LIMIT_Y         (N)i8091_INTP_PULSE      \r\n");
  Print("(4)i8091_SET_MODE       (E)i8091_LSP_ORG         (O)i8091_INTP_LINE       \r\n");
  Print("(5)i8091_SET_SERVO_ON   (F)i8091_HSP_ORG         (P)i8091_INTP_LINE02     \r\n");
  Print("(6)i8091_SET_NC         (G)i8091_LSP_PULSE_MOVE  (Q)i8091_CIRCLE02        \r\n");
  Print("(7)i8091_STOP_X         (H)i8091_HSP_PULSE_MOVE  (R)i8091_ARC02           \r\n");
  Print("(8)i8091_STOP_Y         (I)i8091_LSP_MOVE        (S)User Define Testing   \r\n");
  Print("(9)i8091_STOP_ALL       (J)i8091_HSP_MOVE                                 \r\n");
  Print("DDA=%d ,AD=%d ,LSP=%d ,HSP=%d ,xmode=",card1.DDA,card1.AD,card1.LSP,card1.HSP);
  if (card1.xmode==CW_CCW) Print("CW_CCW ,"); else Print("PULSE_DIR ,");
  Print("ymode=");
  if (card1.ymode==CW_CCW) Print("CW_CCW\r\n"); else Print("PULSE_DIR\r\n");
  Print("xdir=");
  if (card1.xdir==NORMAL_DIR) Print("NORMAL_DIR ,"); else Print("REVERSE_DIR ,");
  Print("ydir=");
  if (card1.ydir==NORMAL_DIR) Print("NORMAL_DIR ,"); else Print("REVERSE_DIR ,");
  Print("xson=");
  if (card1.xson==ON) Print("ON ,"); else Print("OFF ,");
  Print("yson=");
  if (card1.yson==ON) Print("ON ,"); else Print("OFF ,");
  Print("NCmode=");
  if (card1.NCmode==ON) Print("ON\r\n"); else Print("OFF\r\n");
  Print("Command(0~9,A~U):");

    while (!Kbhit()) DisplayEncoder();
    chkey=Getch();
    Print("%s\r\n",&chkey);
    switch (chkey)
    {
       case '0':
                 i8091_RESET_SYSTEM(CARD1);
                 Print(">>bye-bye...\r\n");
		 return;
       //---------------------------------------------------------------
       case '1':
                 Print(">>i8091_RESET_SYSTEM\r\n");
                 i8091_RESET_SYSTEM(CARD1);
		 stop_process();
		 break;
       //---------------------------------------------------------------
       case '2':
                 Print(">>i8091_SET_VAR\r\n");
		 Print("Input DDA cycle(1~254)=");
                 Scanf("%d",&tempint); card1.DDA=(unsigned char)tempint;
                 Print("Input AD acceleratio/deceleration(1~254)=");
                 Scanf("%d",&tempint); card1.AD=(unsigned char)tempint;
                 Print("Input LSP low speed(1~254)=");
		 Scanf("%d",&tempint); card1.LSP=(unsigned char)tempint;
		 Print("Input HSP high speed(LSP~2040)=");
                 Scanf("%d",&tempint); card1.HSP=(int)tempint;
                 i8091_SET_VAR(CARD1, card1.DDA, card1.AD, card1.LSP, card1.HSP);
                 break;
       //---------------------------------------------------------------
       case '3':
                 Print(">>i8091_SET_DEFDIR\r\n");
                 Print("Input X axis direction definition(0:NORMAL 1:REVERSE)=");
                 Scanf("%d",&tempint);
		 if (tempint==0) card1.xdir=NORMAL_DIR;
		 else            card1.xdir=REVERSE_DIR;
                 Print("Input Y axis direction definition(0:NORMAL 1:REVERSE)=");
                 Scanf("%d",&tempint);
                 if (tempint==0) card1.ydir=NORMAL_DIR;
		 else            card1.ydir=REVERSE_DIR;
                 i8091_SET_DEFDIR(CARD1, card1.xdir, card1.ydir);
                 break;
       //---------------------------------------------------------------
       case '4':
		 Print(">>i8091_SET_MODE\r\n");
		 Print("Input X axis output pulse mode(0:CW_CCW 1:PULSE_DIR)=");
                 Scanf("%d",&tempint);
                 if (tempint==0) card1.xmode=CW_CCW;
                 else            card1.xmode=PULSE_DIR;
		 Print("Input Y axis output pulse mode(0:CW_CCW 1:PULSE_DIR)=");
		 Scanf("%d",&tempint);
                 if (tempint==0) card1.ymode=CW_CCW;
                 else            card1.ymode=PULSE_DIR;
                 i8091_SET_MODE(CARD1, card1.xmode, card1.ymode);
		 break;
       //---------------------------------------------------------------
       case '5':
                 Print(">>i8091_SET_SERVO_ON\r\n");
                 Print("Input X axis servo on(0:OFF 1:ON)=");
		 Scanf("%d",&tempint);
                 if (tempint==0) card1.xson=OFF;
                 else            card1.xson=ON;
                 Print("Input Y axis servo on(0:OFF 1:ON)=");
                 Scanf("%d",&tempint);
		 if (tempint==0) card1.yson=OFF;
		 else            card1.yson=ON;
                 i8091_SET_SERVO_ON(CARD1, card1.xson, card1.yson);
                 break;
       //---------------------------------------------------------------
       case '6':
		 Print(">>i8091_SET_NC\r\n");
                 Print("Input Normal Close mode(0:OFF 1:ON)=");
                 Scanf("%d",&tempint);
                 if (tempint==1) card1.NCmode=ON;
		 else            card1.NCmode=OFF;
		 i8091_SET_NC(CARD1, card1.NCmode);
                 break;
       //---------------------------------------------------------------
       case '7':
		 Print(">>i8091_STOP_X\r\n");
                 i8091_STOP_X(CARD1);
                 break;
       //---------------------------------------------------------------
       case '8':
		 Print(">>i8091_STOP_Y\r\n");
		 i8091_STOP_Y(CARD1);
                 break;
       //---------------------------------------------------------------
       case '9':
		 Print(">>i8091_STOP_ALL\r\n");
		 stop_process();
                 break;
       //---------------------------------------------------------------
       case 'a','A':
		 Print(">>i8091_IS_X_STOP -->");
		 if (i8091_IS_X_STOP(CARD1)==YES) Print("YES\r\n");
                 else                             Print("NO\r\n");
                 break;
       //---------------------------------------------------------------
       case 'b','B':
                 Print(">>i8091_IS_Y_STOP -->");
                 if (i8091_IS_Y_STOP(CARD1)==YES) Print("YES\r\n");
                 else                             Print("NO\r\n");
                 break;
       //---------------------------------------------------------------
       case 'c','C':
                 Print(">>i8091_LIMIT_X\r\n");
                 temp=i8091_LIMIT_X(CARD1);
                 Print(">>/HOME1 /LS11 xxx xxx /LS14 /FF1EF /FF1FF /EMG\r\n");
		 Print(">>   %d     %d    %d   %d     %d     %d      %d     %d\r\n",
			(temp&0x01),
                        (temp&0x02) >> 1,
                        (temp&0x04) >> 2,
                        (temp&0x08) >> 3,
			(temp&0x10) >> 4,
			(temp&0x20) >> 5,
                        (temp&0x40) >> 6,
                        (temp&0x80) >> 7);
                 break;
       //---------------------------------------------------------------
       case 'd','D':
                 Print(">>i8091_LIMIT_Y\r\n");
                 temp=i8091_LIMIT_Y(CARD1);
                 Print(">>/HOME2 /LS21 xxx xxx /LS24 CPUS /XSTOP /YSTOP\r\n");
		 Print(">>   %d     %d    %d   %d    %d    %d      %d      %d\r\n",
			(temp&0x01),
                        (temp&0x02) >> 1,
                        (temp&0x04) >> 2,
                        (temp&0x08) >> 3,
			(temp&0x10) >> 4,
			(temp&0x20) >> 5,
                        (temp&0x40) >> 6,
                        (temp&0x80) >> 7);
                 break;
       //---------------------------------------------------------------
       case 'e','E':
                 Print(">>i8091_LSP_ORG\r\n");
                 Print("Which axis (1:X-axis 2:Y-axis)=");
                 Scanf("%d",&tempint);
		 axis=(unsigned char) tempint;
                 if ((axis!=X_axis) && (axis!=Y_axis)) break;
                 i8091_LSP_ORG(CARD1,CCW,axis);
                 break;
       //---------------------------------------------------------------
       case 'f','F':
		 Print(">>i8091_HSP_ORG\r\n");
                 Print("Which axis (1:X-axis 2:Y-axis)=");
                 Scanf("%d",&tempint);
                 axis=(unsigned char)tempint;
		 if ((axis!=X_axis) && (axis!=Y_axis)) break;
		 i8091_HSP_ORG(CARD1,CCW,axis);
                 break;
       //---------------------------------------------------------------
       case 'g','G':
		 Print(">>i8091_LSP_PULSE_MOVE\r\n");
		 Print("Which axis (1:X-axis 2:Y-axis)=");
                 Scanf("%d",&tempint);
                 axis=(unsigned char)tempint;
                 Print("input pulse number(+- 2^31 -1) = ");
		 Scanf("%ld",&pulse);
                 if ((axis!=1) && (axis!=2)) break;
                 i8091_LSP_PULSE_MOVE(CARD1,axis,pulse);
                 break;
       //---------------------------------------------------------------
       case 'h','H':
		 Print(">>i8091_HSP_PULSE_MOVE\r\n");
                 Print("Which axis (1:X-axis 2:Y-axis)=");
                 Scanf("%d",&tempint);
                 axis=(unsigned char)tempint;
		 Print("input pulse number(+- 2^31 -1) = ");
		 Scanf("%ld",&pulse);
		 Print("Input speed (LSP~2040) = ");
		 Scanf("%d",&speed);
		 if ((axis!=1) && (axis!=2)) break;
		 if (speed>2040) break;
		 i8091_HSP_PULSE_MOVE(CARD1,axis,pulse,speed);
		 break;
       //---------------------------------------------------------------
       case 'i','I':
		 Print(">>i8091_LSP_MOVE\r\n");
		 Print("Which axis (1:X-axis 2:Y-axis)=");
		 Scanf("%d",&tempint);
		 axis=(unsigned char)tempint;
		 Print("Which direction (0:CW 1:CCW)=");
		 Scanf("%d",&tempint);
		 dir=(unsigned char)tempint;
		 if ((axis!=X_axis) && (axis!=Y_axis)) break;
		 if ((dir!=CW) && (dir!=CCW)) break;
		 i8091_LSP_MOVE(CARD1,dir,axis);
                 break;
       //---------------------------------------------------------------
       case 'j','J':
		 Print(">>i8091_HSP_MOVE\r\n");
		 Print("Which axis (1:X-axis 2:Y-axis)=");
		 Scanf("%d",&tempint);
                 axis=(unsigned char)tempint;
                 Print("Which direction (0:CW 1:CCW)=");
		 Scanf("%d",&tempint);
                 dir=(unsigned char)tempint;
                 if ((axis!=X_axis) && (axis!=Y_axis)) break;
                 if ((dir!=CW) && (dir!=CCW)) break;
                 i8091_HSP_MOVE(CARD1,dir,axis);
		 break;
       //---------------------------------------------------------------
       case 'k','K':
                 Print(">>i8091_CSP_MOVE\r\n");
		 Print("Which axis (1:X-axis 2:Y-axis)=");
		 Scanf("%d",&tempint);
		 axis=(unsigned char)tempint;
                 Print("Which direction (0:CW 1:CCW)=");
                 Scanf("%d",&tempint);
                 dir=(unsigned char)tempint;
		 Print("constant speed(1~2040)=");
		 Scanf("%d",&speed);
		 if ((axis!=X_axis) && (axis!=Y_axis)) break;
                 if ((dir!=CW) && (dir!=CCW)) break;
                 if ((speed==0) || (speed>2040)) break;
		 i8091_CSP_MOVE(CARD1,dir,axis,speed);
                 break;
       //---------------------------------------------------------------
       case 'l','L':
                 Print(">>i8091_SLOW_DOWN\r\n");
		 Print("Which axis (1:X-axis 2:Y-axis)=");
                 Scanf("%d",&tempint);
                 axis=(unsigned char)tempint;
                 if ((axis!=X_axis) && (axis!=Y_axis)) break;
		 i8091_SLOW_DOWN(CARD1,axis);
		 break;
       //---------------------------------------------------------------
       case 'm','M':
                 Print(">>i8091_SLOW_STOP\r\n");
                 Print("Which axis (1:X-axis 2:Y-axis)=");
		 Scanf("%d",&tempint);
		 axis=(unsigned char)tempint;
		 if ((axis!=X_axis) && (axis!=Y_axis)) break;
                 i8091_SLOW_STOP(CARD1,axis);
                 break;
       //---------------------------------------------------------------
       case 'n','N':
                 Print(">>i8091_INTP_PULSE\r\n");
                 Print("X pulse number (-2047 ~ 2047) = ");
                 Scanf("%d",&xpulse);
		 Print("Y pulse number (-2047 ~ 2047) = ");
                 Scanf("%d",&ypulse);
                 if (abs(xpulse) > 2047 ) break;
                 if (abs(ypulse) > 2047 ) break;
		 i8091_INTP_PULSE(CARD1,xpulse,ypulse);
		 break;
       //---------------------------------------------------------------
       case 'o','O':
                 Print(">>i8091_INTP_LINE\r\n");
                 Print("X pulse number (+- 524287) = ");
		 Scanf("%ld",&x);
		 Print("Y pulse number (+- 524287) = ");
		 Scanf("%ld",&y);
                 if (labs(x) > 524287) break;
                 if (labs(y) > 524287) break;
		 i8091_INTP_LINE(CARD1,x,y);
                 break;
       //---------------------------------------------------------------
       case 'p','P':
                 Print(">>i8091_INTP_LINE02\r\n");
		 Print("X pulse number (+- 2^31 -1) = ");
                 Scanf("%ld",&x);
                 Print("Y pulse number (+- 2^31 -1) = ");
                 Scanf("%ld",&y);
		 Print("Input speed (LSP~2040) = ");
		 Scanf("%d",&speed);
		 if (speed<card1.LSP) break;
                 if (speed>2040) break;
                 Print("Press any key to break...\r\n");
                 i8091_INTP_LINE02(CARD1,x,y,speed,0);
		 do
		 {
		    DisplayEncoder();
                    if (Kbhit()) stop_process();
                 } while (i8091_INTP_STOP()!=READY);
		 break;
       //---------------------------------------------------------------
       case 'q','Q':
                 Print(">>i8091_INTP_CIRCLE02\r\n");
                 Print("center point X = ");
		 Scanf("%ld",&x);
                 Print("center point Y = ");
                 Scanf("%ld",&y);
                 Print("Which direction (0:CW 1:CCW)=");
		 Scanf("%d",&tempint);
		 Print("Input speed (LSP~2040) = ");
		 Scanf("%d",&speed);
                 dir=(unsigned char)tempint;
                 if ((dir!=CW) && (dir!=CCW)) break;
                 if (speed<card1.LSP) break;
		 if (speed>2040) break;

		 Print("Press any key to break...\r\n");
                 i8091_INTP_CIRCLE02(CARD1,x,y,dir,speed,0);
                 do
		 {
                    DisplayEncoder();
                    if (Kbhit()) stop_process();
                 } while (i8091_INTP_STOP()!=READY);
                 break;
       //---------------------------------------------------------------
       case 'r','R':
                 Print(">>i8091_INTP_ARC02\r\n");
                 Print("center point X = ");
		 Scanf("%ld",&x);
		 Print("center point Y = ");
		 Scanf("%ld",&y);
                 Print("Radius R = ");
                 Scanf("%ld",&R);
                 Print("Which direction (0:CW 1:CCW)=");
		 Scanf("%d",&tempint);
		 Print("Input speed (LSP~2040) = ");
		 Scanf("%d",&speed);
		 dir=(unsigned char)tempint;
		 if ((dir!=CW) && (dir!=CCW)) break;
		 if (speed<card1.LSP) break;
		 if (speed>2040) break;

		 Print("Press any key to break...\r\n");
		 i8091_INTP_ARC02(CARD1,x,y,R,dir,speed,0);
		 do
		 {
		    DisplayEncoder();
		    if (Kbhit()) stop_process();
		 } while (i8091_INTP_STOP()!=READY);
		 break;
       //---------------------------------------------------------------
       case 's','S':
		 Print(">>User define testing\r\n");
		 //test LINE02, no acceleration
		 i8091_INTP_LINE02(CARD1,1000,1000,20,1);
		 do {DisplayEncoder();} while (i8091_INTP_STOP()!=READY);
		 i8091_INTP_LINE02(CARD1,2000,1000,22,1);
		 do {DisplayEncoder();} while (i8091_INTP_STOP()!=READY);
		 i8091_INTP_LINE02(CARD1,2000,2000,24,1);
		 do {DisplayEncoder();} while (i8091_INTP_STOP()!=READY);
		 i8091_INTP_LINE02(CARD1,1000,2000,26,1);
		 do {DisplayEncoder();} while (i8091_INTP_STOP()!=READY);
		 do {DisplayEncoder();} while (i8091_IS_X_STOP(CARD1)==NO);
		 Delay(2000);

		 //test WAIT_X, WAIT_Y, WAIT_Z
		 i8091_INTP_LINE02(CARD1, 10000,-10000,150,0);
		 do {DisplayEncoder();} while (i8091_INTP_STOP()!=READY);
		 i8091_INTP_LINE02(CARD1, -10000, 10000,150,0);
		 do {DisplayEncoder();} while (i8091_INTP_STOP()!=READY);
		 do {DisplayEncoder();} while (i8091_IS_X_STOP(CARD1)==NO);
		 do {DisplayEncoder();} while (i8091_IS_Y_STOP(CARD1)==NO);
		 Delay(2000);

		 i8091_INTP_CIRCLE02(CARD1, 5000,-5000, CW, 150, 0);
		 do {DisplayEncoder();} while (i8091_INTP_STOP()!=READY);
		 do {DisplayEncoder();} while (i8091_IS_X_STOP(CARD1)==NO);
		 do {DisplayEncoder();} while (i8091_IS_Y_STOP(CARD1)==NO);
		 break;
    }
    DisplayEncoder();
    while (Kbhit())
    {
      Getch();
    }
    Print("Press any key to continue...\r\n");
    while (!Kbhit()) DisplayEncoder();
    Getch();
  } while (1);
}