#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[] = { 0x22,0x88,0x11,0x44 };  /* 1»ó ±¸µ¿ */
BYTE MPhaseTwo[] = { 0x55,0x66,0xAA,0x99 };  /* 2»ó ±¸µ¿ */
BYTE MPhase1_2[] = { 0x11,0x55,0x44,0x66,0x22,0xAA,0x88,0x99 };  /* 1-2»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;
unsigned long AbsHardTimerCount;

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

void
interrupt
NewIRQ10(void)  /*IRQ10*/
{
	/* code for Exam-B Here */
	HardDelayTimerCount++;
	AbsHardTimerCount++;
	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\n");

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

void
Exam_A2(void)
{
	int i;

	printf("EXAM_A2\nDouble 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_A3(void)
{
		int i;

	printf("EXAM_A3\nSingle-Double Phase 100 step Forward Drive\n");

	outportb(STEPPOWER, 0xF5);
	for (i = 0; i < 100; i++) {
		outportb(STEPPORT, MPhase1_2[i % 8]);
		Delay_10ms(2);
	}
	outportb(STEPPOWER, 0xFF);
}   

int MaxCount = 10000;

void
Exam_B(void)
{

	int i, pulse;
	

	int mod = 0, mok = 0;
	unsigned long speed;
	
	char ch;


	printf("EXAM_C\nOne Pharse Speed??\n");

	outportb(STEPPOWER, 0xF5);

	for(i=0; ;i++){

		outportb(STEPPORT, MPhaseTwo[i % 4]);
		Delay_10ms(1);

		if (kbhit())
		{
			ch = getch();
			
			if(ch == '+')
			{
				if(MaxCount > 250)
				{
					MaxCount -= 50;
					/* 2939040 = (52 * 314) * 1000000 / 200 * 3600 / 100000 */
					speed = 2939040 / MaxCount; 
					pulse = 1000000 / MaxCount;

					CloseTimer1();
					InitTimer1(MaxCount);
				}

				mod = speed % 1000;
				mok = speed / 1000;

				printf("Pulse / sec : %4d, speed : %d.%0.3d km/h \n",pulse , mok, mod);
			}
			
			else if(ch == '-')
			{
				if(MaxCount < 10000)
				{
					MaxCount += 50;
					/* 2939040 = (52 * 314) * 1000000 / 200 * 3600 / 100000 */
					speed = 2939000 / MaxCount;
					pulse = 1000000 / MaxCount;

					CloseTimer1();
					InitTimer1(MaxCount);
				}

				mod = speed % 1000;
				mok = speed / 1000;

				printf("Pulse / sec : %4d, speed : %d.%0.3d km/h \n",pulse , mok, mod);
			}
			
			else if(ch == 'q')
			{
				break;
			}
		}
	}
	CloseTimer1();
	outportb(STEPPOWER, 0xFF);
}

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 < 560; i++) {
		outportb(STEPPORT, MPhaseRotate[i % 16]);
		Delay_10ms(2);
	}
	outportb(STEPPOWER, 0xFF);
	Exam_A3();
}
  
void
main(void)
{
	char junk;
	InitTrace386Port();
	InitTimer1(4000);
	
/*	Exam1();
	junk = getch();
	Exam_A1();
	junk = getch();
	Exam_A2();
	junk = getch();
	Exam_A3();
	junk = getch();*/
	Exam_B();
	/*junk = getch();
	Exam_C();*/

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