//--------------------------------------------------------------------
// demo1.cpp for I-8091 card
//
// This a simple program to test I-8091 command
//  i8091_INTP_LINE()
//  i8091_INTP_LINE02()
//--------------------------------------------------------------------
// v1.0  6/20/2001
//
//--------------------------------------------------------------------
#include <dos.h>
#include <math.h>

#include "8000.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 CARD1  1
#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 i8091Slot;
//--------------------------------------------------------------------
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 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 ()
{
unsigned char j;

    i8091Slot=99;
    for (j=0; j<MAX_SLOT_NO; j++)
    {
       if (CardSearch(j)==i8091) 
       { 
          i8091Slot=j; 
          break;
       }  
    };
   
    if (i8091Slot==99)
    {
       Print("Not found i8091 card in 8 slot!\r\n");
       return;
    }
   
    //--------------------------------------------------------------------
    card1.address=PortAddress[i8091Slot];
    card1.DDA   = 10;
    card1.AD    = 5;
    card1.LSP   = 5;
    card1.HSP   = 100;
    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);
      
    Print("i8091_INTP_LINE\r\n");   
    i8091_INTP_LINE(CARD1,30000,20000);
    do {} while (i8091_IS_X_STOP(CARD1)==NO);
                      
    Print("i8091_INTP_LINE02\r\n");                      
    Print("Press any key to stop...\r\n");  
    i8091_INTP_LINE02(CARD1,-30000,-20000,80,0);
    do
    {
      if (Kbhit()) stop_process();
    } while (i8091_INTP_STOP()!=READY);
      
    i8091_RESET_SYSTEM(CARD1); 
}