#include <stdio.h>
#include <dos.h>
#include <conio.h>
#include <float.h>
#include <math.h>
#include <stdlib.h>

#include "TB386EX.h"

#define TIMER_INT	0x72

/* 8259 registers */

#define IRSM	OCW2MDOS	/* Interrupt Controller Master */
#define IRSS	OCW2SDOS	/* Interrupt Controller Slave */
#define IMM	OCW1MDOS	/* Interrupt Mask Master */
#define IMS	OCW1SDOS	/* Interrupt Mask Slave */
#define EOI	0x20		/* end of interrupt command */

typedef  unsigned char BYTE;

BYTE master_org, slave_org;

#define STEPPORT	0x201	/* Step Motor Pulse Output */
#define STEPPOWER	0x203	/* Step Motor Power Level */

BYTE MPhaseOne[] = { 0x11,0x44,0x22,0x88 };  /* 1»ó ±¸µ¿ */
BYTE MPhaseTwo[] = { 0x55,0x66,0xAA,0x99 };  /* 2»ó ±¸µ¿ */

BYTE MPhaseRotate[] = {0x11,0x15,0x54,0x56,0x42,0x4A,0x68,0x69,0x21,0x25,0xA4,0xA6,0x82,0x8A,0x98,0x99};  /* ȸÀü ±¸µ¿ */


volatile int HardDelayTimerCount;

void
Delay_10ms(int count)
{
	HardDelayTimerCount = 0;
	for (;;)
		if (HardDelayTimerCount > count)
			break;
}

void
interrupt
NewIRQ10(void)  /*IRQ10*/
{
	/* code for Exam-B Here */
	HardDelayTimerCount++;
	outportb(IRSS, EOI);	/* End-Of-Interrupt to Master 8259A */
	outportb(IRSM, EOI);	/* End-Of-Interrupt to Slave 8259A */
}

void
InitTimer1(unsigned short MaxCount)  /* Counter Input = 1000KHz */
{
	disable();
	outportb(TMRCONDOS, 0x74);		/* Timer1 => MODE2 */
	outportb(TMR1DOS, MaxCount & 0xFF);
	outportb(TMR1DOS, (MaxCount >> 8) & 0xFF);
	setvect(TIMER_INT, NewIRQ10);
	master_org = inportb(IMM);		/* Save PIC master's mask */
	outportb(IMM, master_org & 0xFB);	/* Enable IRQ2 */
	slave_org = inportb(IMS);		/* Save PIC slave's mask */
	outportb(IMS, slave_org & 0xFB);	/* Enable IRQ10 */
	enable();
}

void
CloseTimer1(void)
{
	disable();
	outportb(IMM, master_org);	/* Restore IRQ2 */
	outportb(IMS, slave_org);	/* Restore IRQ10 */
	enable();
}

void
InitTrace386Port(void)
{
	outportb(P1CFG, 0x00);
	outportb(P1DIR, 0xEB);
	outportb(P2DIR, 0x7F);
	outportb(P3CFG, 0xBC);
	outportb(P3DIR, 0xFC);
	outportb(P3LTC, 0xFD);
}

void
Exam1(void)
{
	int i;

	printf("EXAM_A\nSingle Phase 100 step Forward Drive\n");

	outportb(STEPPOWER, 0xF5);
	for (i = 0; i < 100; i++) {
		outportb(STEPPORT, MPhaseOne[i % 4]);
		Delay_10ms(2);
	}
	outportb(STEPPOWER, 0xFF);
}   

void
Exam_A1(void)
{
	int i;

	printf("EXAM_A1\nSingle Phase 100 step Backward Drive by Phase 1\n");

	while(!kbhit());
	
	outportb(STEPPOWER, 0xF5);
	for (i = 99; i >= 0; i--) {
		outportb(STEPPORT, MPhaseOne[i % 4]);
		Delay_10ms(2);
	}
	outportb(STEPPOWER, 0xFF);	
}   

void
Exam_A2(void)
{
	int i;

	printf("EXAM_A\nSingle Phase 100 step Forward Drive by Phase 2\n");

	outportb(STEPPOWER, 0xF5);
	for (i = 0; i < 100; i++) {
		outportb(STEPPORT, MPhaseTwo[i % 4]);
		Delay_10ms(2);
	}
	outportb(STEPPOWER, 0xFF);
}   

void
Exam_A3(void)
{
	int i;

	printf("EXAM_A\nSingle Phase 100 step Forward Drive Phase 1-2\n");

	outportb(STEPPOWER, 0xF5);
	for (i = 0; i < 100; i++) {
		outportb(STEPPORT, MPhaseOne[i % 4]);
		Delay_10ms(2);
		outportb(STEPPORT, MPhaseTwo[i % 4]);
		Delay_10ms(2);
	}
	outportb(STEPPOWER, 0xFF);
}   


void
Exam_B(void)
{
	int count = 10000;
	unsigned int i = 0;
	int begin, end;

	printf("EXAM_B\n Forward Drive Speed by (+/-)\n\n");
	outportb(STEPPOWER, 0xF5);

	printf("%f cm/sec\n", 0.08/((1000000/count)*0.02/10000));
	while(1)
	{		
		if(kbhit())
		{
			switch (getch())
			{
			case 'a':	
				count-=50;
				printf("%d Hz\n",count);
				InitTimer1(count);
				break;
			case 'z':
				count+=50;
				printf("%d Hz\n",count);
				InitTimer1(count);
				break;
			case '+':	
				count--;
				printf("%d Hz\n",count);
				InitTimer1(count);
				break;
			case '-':
				count++;
				printf("%d Hz\n",count);
				InitTimer1(count);
				break;
			case 'q':
				outportb(STEPPOWER, 0xFF);
				InitTimer1(10000);
				return;
			}
			printf("%f cm/sec\n", 0.08/((1000000/count)*0.02/10000));
		}		
		outportb(STEPPORT, MPhaseOne[i % 4]); /*283*/		
		Delay_10ms(2);
		i++;
	}
	
}

void
Exam_C(void)
{
	int i;

	Exam_A3();
	printf("EXAM_A\nSingle Phase 100 step Forward Drive\n");

	outportb(STEPPOWER, 0xF5);
	for (i = 0; i < 600; i++) {
		outportb(STEPPORT, MPhaseRotate[i % 16]);
		Delay_10ms(2);
	}
	outportb(STEPPOWER, 0xFF);
	Exam_A3();
}
  
void
main(void)
{
	InitTrace386Port();
	InitTimer1(10000);
	
/*	Exam1();
	Exam_A1();
	Exam_A2();
	Exam_A3();
*/
	Exam_B();
	Exam_C();
	

	outportb(STEPPORT, 0x00);
	outportb(STEPPOWER, 0xFF);
	CloseTimer1();
}