/*
  =================================================
    LIPS slit stage controll program              
                 slitcont.c 
      for Linux (Vine 2.1; Kernel 2.2.17)
          Windows/Dos
      Ver 1.0       2001. 1.19   H.Akitaya    
      Ver 1.1       2001. 1.23   H.Akitaya    
      Ver 1.2       2001. 1.24   H.Akitaya    
  =================================================
*/

/*
  to complile...
       Linux : gcc -DLINUX -O2 -lm -o slitcontrol slitcontrol.c
   Dos/Win   : 
*/

#include<stdio.h>
#include<string.h>
#include<math.h>

#ifdef LINUX
  #include<unistd.h>
  #define extern
  #include<asm/io.h>
#endif

#ifdef DOS
  #include<stdlib.h>
  #include<dos.h>
  #include<sys/timeb.h>
#endif

#include "motor.h"
#include "lipsinst.h"

#define TRUE 0

#define P_BASE 0x3BC /* lp0 */
#define WAIT 0x80

int port_initialize( void );
int stage_initialize( unsigned int *p_status , unsigned int p_width );
int setorg( unsigned int status , unsigned int p_width );
int moveslit_cw( unsigned int pulse_n, long *p_pos, unsigned int status,
		 unsigned int p_width );
int moveslit_ccw( unsigned int pulse_n, long *p_pos, unsigned int status,
		 unsigned int p_width );
void showhelp( void );
void start_msg( void );

#ifdef LINUX
  #include "lpio_lnx.c"
#endif
#ifdef DOS
  #include "lpio_dos.c"
#endif


main()
{
  unsigned int o_data, status, p_width;
  long pos, pulse_n;
  int error, i;
  char com_line[255], buf[255];

  start_msg();

  /*
    initialize
  */
  
  pos = 0;
  p_width = PULSEWIDTH;
  port_initialize();              /* port initialization */
  stage_initialize( &status , p_width );    /* stage intialization */
  printf("Stage position : %i\n", pos );
  printf("Pulse width : %i micro sec.\n", p_width );
  
  /*
    main routine
  */
  
  while(1){
    putchar('>');
    gets( com_line );
    if ( strncmp( com_line, "mv", 2) == TRUE ){
      i=0;
      while( ( buf[i] = com_line[i + 3] ) != '\0' ) i++;
      pulse_n = atol( buf );
      if( pulse_n > 0 ) moveslit_cw( pulse_n, &pos, status, p_width );
      if( pulse_n < 0 ) moveslit_ccw( labs(pulse_n), &pos, status, p_width );
      printf("Stage position : %i\n", pos );
    }
    if ( strncmp( com_line, "pw", 2) == TRUE ){
      i=0;
      while( ( buf[i] = com_line[i + 3] ) != '\0' ) i++;
      p_width = atol( buf );
      printf("Pulse width (micro sec.) : %i\n", p_width );
    }
    if ( strcmp( com_line, "org" ) == TRUE ){
      error = setorg( status, p_width );
      pos = 0;
      printf("Stage position : %i\n", pos );
  
    }
    if ( strcmp( com_line, "full" ) == TRUE ){
      status &= ~B_FULLHALF;
      out_lp0( status );
      printf( "motor speed : full step\n" );
    }
    if ( strcmp( com_line, "half" ) == TRUE ){
      status |= B_FULLHALF;
      out_lp0( status );
      printf( "motor speed : half step\n" );
    }
    if ( strcmp( com_line, "hoff" ) == TRUE ){
      status |= B_HOFF;
      out_lp0( status );
      printf( "motor current : off\n" );
    }
    if ( strcmp( com_line, "hcton" ) == TRUE ){
      status |= B_HCTON;
      out_lp0( status );
      printf( "HCT lamp is turned on\n" );
    }
    if ( strcmp( com_line, "hctoff" ) == TRUE ){
      status &= ~B_HCTON;
      out_lp0( status );
      printf( "HCT lamp is turned off\n" );
    }
    if ( strcmp( com_line, "hon" ) == TRUE ){
      status &= ~B_HOFF;
      out_lp0( status );
      printf( "motor current : on\n" );
    }
    if ( strcmp( com_line, "help" ) == TRUE ||
	 strcmp( com_line, "?" ) == TRUE  ){
      showhelp();
    }
    
    if ( strcmp( com_line, "quit" ) == TRUE || 
	 strcmp( com_line, "q" ) == TRUE ){
      printf("Good bye!!\n");
      exit(0);
    }
  }
}

int port_initialize( void )
{
  unsigned int error;
  printf("Opening ports ...   ");

#ifdef LINUX
  error = ioperm( WAIT, 1, 1);
  if( error == -1 ){
    printf("ERROR!\n");
    exit(-1);
  }
  error = ioperm( P_BASE, 3, 1);
  if( error == -1 ){
    printf("ERROR!\n");
    exit(-1);
  }
#endif
  printf("OK\n");
  return( 0 );
}

int stage_initialize( unsigned int *p_status , unsigned int p_width )
{
  int c;
  unsigned int status, error;

  printf("Initializing stage ...   ");
  status = 0x0 & ~B_HOFF | B_FULLHALF & ~B_CDINH & ~B_HCTON;
  out_lp0( status );
  printf("OK status = 0x%x\n", status);
  
  printf("Set stage position to the origin (y/n)?" );
  c = getchar();
  if ( c == 'y' ){
    error = setorg( status , p_width );
    if( error == -1 ){
      printf("ERROR!\n");
      exit(-1);
    }
    printf("OK\n");
  }else{
    printf("Skiped ....\n");
  }
  *p_status = status;
  return(-1);
}

/*
  set stage to org. position
*/

int setorg( unsigned int status , unsigned int  p_width )
{
  unsigned int n_limit;
  
  /* find CCW-LIMIT (FULL STEP)*/
  printf("Finding the CCW Limit  ...   ");
  status &= ~B_FULLHALF; /* full step */
  n_limit = 30000;     /* timeout pulse */
  while( ( in_lp0() & B_CCWLS ) == B_CCWLS ){
    out_lp0( status | B_CCWP );
    p_wait( p_width );
    out_lp0( status & ~B_CCWP );
    p_wait( p_width );
    if ( --n_limit == 0) return(-1); 
  }
  printf("Found!!\n");
  
  /* find ORG (HALF STEP) */
  printf("Finding the origin  ...   ");
  status |= B_FULLHALF; /* half step */
  n_limit = 10000;     /* timeout pulse */
    while( ( in_lp0() & B_ORG ) == B_ORG ){
      out_lp0( status | B_CWP );
      p_wait( p_width );
      out_lp0( status & ~B_CWP);
      p_wait( p_width );
      if ( --n_limit == 0) return(-1); 
    }
    printf("Found!!\n");
    return(0);
}
/*
  move slit pulse_n steps in CW direction
*/
int moveslit_cw( unsigned int pulse_n, long *p_pos, unsigned int status,
		 unsigned int p_width )
{

  unsigned int i, signal, speed;
  if( pulse_n <= 0){
    printf("Can't move !\n");
    return(-1);
  }
  if( (status & B_FULLHALF) == B_FULLHALF ){
    speed = 1; /* half step */
  }else{
    speed = 2; /* full step */
  }

  printf("Moving ...\n");
  i = 0;
  while( i < pulse_n ){
    signal = in_lp0();
    if( (signal & B_CWLS ) != B_CWLS ){
      printf("CW Limit !! +%i steps moved\n", (i * speed) );
      *p_pos += ( i * speed );
      return(0);
    }
    out_lp0( status | B_CWP );
    p_wait( p_width );
    out_lp0( status & ~B_CWP);
    p_wait( p_width );
    i++;
  }
  printf("Completed. +%i steps moved\n", (i * speed ) );
  *p_pos += (i * speed) ;
  return(0);
}
/*
  move slit pulse_n steps in CCW direction
*/
int moveslit_ccw( unsigned int pulse_n, long *p_pos, unsigned int status,
		  unsigned int p_width )
{
  unsigned int i, signal, speed;
  if( pulse_n <= 0){
    printf("Can't move !\n");
    return(-1);
  }
  if( (status & B_FULLHALF) == B_FULLHALF ){
    speed = 1; /* half step */
  }else{
    speed = 2; /* full step */
  }

  printf("Moving ...\n");
  i = 0;
  while( i < pulse_n ){
    signal = in_lp0();
    if( ( signal & B_CCWLS ) != B_CCWLS ){
      printf("CCW Limit !! -%i steps moved\n", ( i * speed ) );
      *p_pos -= i * speed;
      return(0);
    }
    out_lp0( status | B_CCWP );
    p_wait( p_width );
    out_lp0( status & ~B_CCWP);
    p_wait( p_width );
    i++;
  }
  printf("Completed. -%i steps moved\n", ( i * speed )  );
  *p_pos -= ( i * speed );
  return(0);
}

/*
  Show command help
*/
void showhelp( void ){
  printf("============= available commands =============\n");
  printf("mv (pulse_n) : move stage (pulse_n) steps\n");
  printf("         org : set stage position to the origin\n");
  printf("        half : half step (1 micron/step; default)\n");
  printf("        full : full step (2 microns/step )\n");
  printf("         hon : motor current on (default)\n");
  printf("        hoff : motor current off\n");
  printf("       hcton : turn on HCT lamp\n");
  printf("      hctoff : turn off HCT lamp\n");
  printf("pw (p_width) : set pulse width (p_width) micro sec.\n");
  printf("     ?, help : show command help (this document)\n");
  printf("     q, quit : quit program\n");
  printf("==============================================\n");
  return;
}

/*
  startup messages
*/
void start_msg( void ){
  printf("=================================================\n");
  printf("  LIPS slit stage controll program               \n");

#ifdef LINUX
  printf("                             for Linux           \n");
#endif
  
#ifdef DOS
  printf("                             for Windows/Dos     \n");
#endif

  printf("         Ver 1.2       2001. 1.24   H.Akitaya    \n");
  printf("=================================================\n");
  return;
}