/*gprd.c      Read from a specified GPIB port  */
/*            Robert R. Howell  08/06/94       */
/*            Based on track.c                 */


/****** Various useful defines ******************************************/
/* Convert 8 bits from BCD to binary */
#define BCD_DEC(x) (  ( 10 * ( ( (x)>>4 )&0xf) ) | ((x)&0xF) )
#define DPR ( 57.29577951 ) /* Degrees per radian */

/***** includes **********************************************************/

#include "wirotypes.h"   /* Does wiro typedefs and system dependencies */
#include <stdlib.h>      /* Standard libraries */
#include <stdio.h>
#include <strings.h>
#include <signal.h>
#include <sys/wait.h>
#include <fcntl.h>
#include <sys/types.h>
#include <sys/time.h>
#include <sys/timeb.h>
#include <math.h>
#include <errno.h>
#include <smem.h>
#include <sys/sched.h>

#include "GPIBports.h"    /* contains GPIB interface info          */

short encode_ha_rate	   (double Velocity);
short encode_dec_rate	   (double Velocity);

void init           (void);  /* The master initialization routine */

unsigned short haraw, decraw;   

						   
/* Here are some structures to read in some data */
struct d80data drives, drives2;
struct d80data encoders, encoders2;
struct d80data1 paddle;

void main(int argc, char *argv[])

{       

		gpibport_setup();       /* This opens up the appropriate channel */
								/* so that the other commands can use it */
								/* to communicate with the IEEE 488.     */
								/* Set up encoder port in high speed */


	track_init();    /* Call standard wiro initializations */

	init( );      /* Init initializes I/O ports and reads data once */

	/* Read paddle */
	gpib_rd(paddle_adr,  (lpchar) &paddle.port1, 5);  
	/* Read paddle mux */

	/*	switch ( SPEED_BITS & paddle.port5) Getting paddle bits */
	  /* Read encoders. */
     /* gpib_rd(encoder_adr, (lpchar) &encoders.dome,  5);  */

/* #ifdef REVERSED */	 /*    Swap bytes for Intel chips */	
	  /* swab(   (char *) &encoders.dec, (char *) &encoders2.dec, 4);
	  memcpy( (char *) &encoders.dec, (char *) &encoders2.dec, 4); */
/* #endif */

#include <stdio.h>
#include <math.h>
#include "GPIBports.h"
#include "wtrack.h"

extern int drive_present, encoder_present, paddle_present, hifi_present;
extern double sin_lat, cos_lat;
extern unsigned short last_ha_enc, last_dec_enc;

extern struct d80data encoders, encoders2;
extern struct d80data1 paddle;
extern struct d80data drives, drives2;
*/

/***************************************************************************/
/* Open and initialize everything                                          */
/***************************************************************************/

void init( void )
{
	char msg[81];
	unsigned short tmpgray;      /* RRH  holds shifted gray code value */

	/* Configuration values for the 4 IoTech channels (2 per box).  */

	static char *configs[ 4 ] =                  /* Configuration reported? */
	{
		"1.1C5E0F0G0I000K0L0000M000P0R0Y0", /* Drive   port -- output  */
		"1.1C0E0F0G0I000K0L0000M000P0R0Y0", /* Encoder port -- input   */
		"1.1C0E0F0G0I000K0L0000M000P0R0Y0", /* Paddle  port -- input   */
		"1.1C0E0F0G0I000K0L0000M000P0R0Y0"
	};

	static char *defaults[ 4 ] =             /* Configuration set.      */
	{
		"C5F0G0I000K0L0000M000P0R0Y0XS0X",  /* Drive   port -- output  */
		"C0F0G0I000K0L0000M000P0R0Y0XS0X",  /* Encoder port -- input   */
		"C0F0G0I000K0L0000M000P0R0Y0XS0X",  /* Paddle  port -- input   */
		"C0F0G0I000K0L0000M000P0R0Y0XS0X"
	};

	/* FIRST, open the path to the IB488 and clear all the devices */

	/******************** Init the drive channel  **************************/
		init_port(drive_adr, "Drive", configs[0], defaults[0]);

	/******************** Init the encoder channel **********************/
	if (encoder_present) 
		init_port(encoder_adr, "Encoder", configs[1], defaults[1]);
	
	
	/******************** Init the paddle channel  *************************/
	if (paddle_present)
		init_port(paddle_adr, "Paddle", configs[2], defaults[2]);
	
		
	/***************** Now read the encoders one time. *******************/

	printf("Reading encoders once...");	
		gpib_rd(encoder_adr, (lpchar) &(encoders.dome), 5);  


	printf("Done Initializing. \n");
}

/*****************************************************************/
/*****************************************************************/

int init_port(address, name, conf, def)
int address;
char *name; 
char *conf; 
char *def;
{		char msg[81];

		printf("Setting %s channel...",name);
		fflush(stdout);
		gpib_clear(address);	
		gpib_wrs(address, "E?X"   );       /* Check for errors */
		gpib_rds(address,  msg, 80);
		if ( msg[ 1 ] != '0' )
			printf( "GPIB %s port error:  %s\n", name, msg );

		gpib_wrs(address, "U0X"   );       /* Check configuration */
		gpib_rds(address,  msg, 80);
		if ( strcmp( msg, conf) != 0 )  /* & set it if it is wrong */
			{
			gpib_wrs(address, def );
			gpib_wrs(address, "U0X");    /* check one last time */
			gpib_rds(address, msg, 80);
			if ( strcmp( msg, conf ) != 0 )
				printf( "Unable to configure GPIB %s port.\n",name);
		}
		gpib_wrs(address, "F0X");     /* set fast binary mode */
		/* Set to Hex mode for testing */
		printf("Done.\n");
}