//-----------------------------------------------------------
// demo2.cpp                                      Chao Chi-Mou
//
// This program can test the ENC600 performance,
// STEP200 card will output pulse and receive from ENC600
// to measure the pulse
//
// compiled under large mode, Turbo C++
//
// v1.0   01/10/2002
//-----------------------------------------------------------
#include <stdio.h>
#include <stdlib.h>
#include <conio.h>
#include <dos.h>

#include "enc600.h"
#include "mstep2.h"

#define ENC600_CARD1   0
#define STEP200_CARD1  0
//-----------------------------------------------------------------------
typedef struct
{
   unsigned long x1_value;
   unsigned long x2_value;
   unsigned long x3_value;
   unsigned long x4_value;
   unsigned long x5_value;
   unsigned long x6_value;
   unsigned char x1_index;
   unsigned char x2_index;
   unsigned char x3_index;
   unsigned char x4_index;
   unsigned char x5_index;
   unsigned char x6_index;
   unsigned char op;
}ENC600card_parameter;
ENC600card_parameter card1;

typedef struct
{
   unsigned char DDA;
   unsigned char AD;
   unsigned int  LSP;
   unsigned int  HSP;
   unsigned char xmode,ymode;
   unsigned char xdir;
   unsigned char ydir;
   unsigned char xson;
   unsigned char yson;
}STEP200card_parameter;
STEP200card_parameter card2;   
//-----------------------------------------------------------------------

void main()
{
long pulse;          
unsigned char status;

  clrscr();
  if (ENC6_REGISTRATION(ENC600_CARD1, 0)!=YES)
     cprintf("PISO_ENC600 doesn't exist!\r\n");


  ENC6_INIT_CARD(ENC600_CARD1, ENC_CW_CCW
			     , ENC_CW_CCW
			     , ENC_CW_CCW
			     , ENC_CW_CCW
			     , ENC_CW_CCW
			     , ENC_CW_CCW);

  ENC6_RESET_ENCODER(ENC600_CARD1,X1_axis);
  ENC6_RESET_ENCODER(ENC600_CARD1,X2_axis);
  ENC6_RESET_ENCODER(ENC600_CARD1,X3_axis);
  ENC6_RESET_ENCODER(ENC600_CARD1,X4_axis);
  ENC6_RESET_ENCODER(ENC600_CARD1,X5_axis);
  ENC6_RESET_ENCODER(ENC600_CARD1,X6_axis);

  //----------------------------------------------------------
  card2.DDA = 1;
  card2.AD  = 10;
  card2.LSP = 20;
  card2.HSP = 2040;
  card2.xmode = CW_CCW;
  card2.ymode = CW_CCW;
  card2.xdir = NORMAL_DIR;
  card2.ydir = NORMAL_DIR;
  card2.xson = OFF;
  card2.yson = OFF;

  MSTEP2_REGISTRATION(STEP200_CARD1, 0x300);
  MSTEP2_RESET_SYSTEM(STEP200_CARD1);
  MSTEP2_SET_VAR(STEP200_CARD1, card2.DDA, card2.AD, card2.LSP, card2.HSP);
  MSTEP2_SET_DEFDIR(STEP200_CARD1, card2.xdir, card2.ydir);
  MSTEP2_SET_MODE(STEP200_CARD1, card2.xmode, card2.ymode);
  MSTEP2_SET_SERVO_ON(STEP200_CARD1, card2.xson, card2.yson);
  delay(200);
  //----------------------------------------------------------                                     
                                       
  pulse=50000000;
  MSTEP2_HSP_PULSE_MOVE(STEP200_CARD1, X_axis, pulse);
  do
  {
      status=MSTEP2_IS_X_STOP(STEP200_CARD1);

      card1.x1_value = ENC6_GET_ENCODER(ENC600_CARD1,X1_axis);
      card1.x2_value = ENC6_GET_ENCODER(ENC600_CARD1,X2_axis);
      card1.x3_value = ENC6_GET_ENCODER(ENC600_CARD1,X3_axis);
      card1.x4_value = ENC6_GET_ENCODER(ENC600_CARD1,X4_axis);
      card1.x5_value = ENC6_GET_ENCODER(ENC600_CARD1,X5_axis);
      card1.x6_value = ENC6_GET_ENCODER(ENC600_CARD1,X6_axis);

      card1.x1_index = ENC6_GET_INDEX(ENC600_CARD1,X1_axis);
      card1.x2_index = ENC6_GET_INDEX(ENC600_CARD1,X2_axis);
      card1.x3_index = ENC6_GET_INDEX(ENC600_CARD1,X3_axis);
      card1.x4_index = ENC6_GET_INDEX(ENC600_CARD1,X4_axis);
      card1.x5_index = ENC6_GET_INDEX(ENC600_CARD1,X5_axis);
      card1.x6_index = ENC6_GET_INDEX(ENC600_CARD1,X6_axis);

      gotoxy(15,9);
      cprintf("  X1 : %12lu   HR,INDEX:%x", card1.x1_value, card1.x1_index);
      gotoxy(15,10);
      cprintf("  X2 : %12lu   HR,INDEX:%x", card1.x2_value, card1.x2_index);
      gotoxy(15,11);
      cprintf("  X3 : %12lu   HR,INDEX:%x", card1.x3_value, card1.x3_index);
      gotoxy(15,12);
      cprintf("  X4 : %12lu   HR,INDEX:%x", card1.x4_value, card1.x4_index);
      gotoxy(15,13);
      cprintf("  X5 : %12lu   HR,INDEX:%x", card1.x5_value, card1.x5_index);
      gotoxy(15,14);
      cprintf("  X6 : %12lu   HR,INDEX:%x", card1.x6_value, card1.x6_index);
      delay(20);
  } while ((status==NO) && !kbhit());
  while (!kbhit());

  MSTEP2_RESET_SYSTEM(STEP200_CARD1);
}