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using System;
using System.Text;
using System.Linq;
using System.Drawing;
using System.Diagnostics;
using System.Windows.Forms;
using System.Threading;
using System.Threading.Tasks;
using System.Collections.Generic;
using Tango.PMR.Stubs;
using Tango.Stubs;
const Int32 x_ABS_POS = 0x01;
const Int32 x_EL_POS = 0x02;
const Int32 x_MARK = 0x03;
const Int32 x_SPEED = 0x04;
const Int32 x_ACC = 0x05;
const Int32 x_DEC = 0x06;
const Int32 x_MAX_SPEED = 0x07;
const Int32 x_MIN_SPEED = 0x08;
const Int32 x_FS_SPD = 0x15;
const Int32 x_KVAL_HOLD = 0x09;
const Int32 x_KVAL_RUN = 0x0A;
const Int32 x_KVAL_ACC = 0x0B;
const Int32 x_KVAL_DEC = 0x0C;
const Int32 x_INT_SPD = 0x0D;
const Int32 x_ST_SLP = 0x0E;
const Int32 x_FN_SLP_ACC = 0x0F;
const Int32 x_FN_SLP_DEC = 0x10;
const Int32 x_K_THERM = 0x11;
const Int32 x_ADC_OUT = 0x12;
const Int32 x_OCD_TH = 0x13;
const Int32 x_STALL_TH = 0x14;
const Int32 x_STEP_MODE = 0x16;
const Int32 x_ALARM_EN = 0x17;
const Int32 x_CONFIG = 0x18;
const Int32 x_STATUS = 0x19;
//-------------------------------
const Int32 x_GET_PARAM = 0x20;
//-------------------------------
const Int32 F1_LS_02_Direct = 0x60000030 ;
const Int32 F1_LS_LSPARE2 = 0x0004; //up
const Int32 F1_LS_LDANCER1_UP = 0x1000;
public void OnExecute(StubManager stubManager)
{
int counter;
stubManager.Run<StubMotorStopResponse>("StubMotorStopRequest" ,17, 3); //hold Ldancer high z
var response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,17, (x_GET_PARAM | x_ABS_POS)<<24, 0, 0);
response.RecivedData=response.RecivedData & 0x00ffffff;
stubManager.WriteHex(response.RecivedData,8);
stubManager.Write("\n");
var response3 = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,17, (x_GET_PARAM | x_STEP_MODE)<<8, 0, 0);
response3.RecivedData=response3.RecivedData & 0x00007;
stubManager.WriteHex(response3.RecivedData,4);
stubManager.Write("\nNober uStep is - ");
if (response3.RecivedData>4)
response3.RecivedData=4;
stubManager.WriteLine(Math.Pow(2,response3.RecivedData));
//----------------------------------------- check F1_LS_LDANCER2_UP -------------------------------------------------
stubManager.Run<StubMotorRunResponse>("StubMotorRunRequest" ,17,false,100); //move Lloading up
counter =0;
while ( counter < 800)
{
counter = counter + 1;
var response1 = stubManager.Run<StubFpgaReadRegResponse>("StubFpgaReadRegRequest" ,F1_LS_02_Direct); //if F1_LS_LSPARE2 is up then move down
if ((response1.Value & F1_LS_LSPARE2) != F1_LS_LSPARE2 )
counter=900;
Thread.Sleep(100);
}
stubManager.Run<StubMotorStopResponse>("StubMotorStopRequest" ,17, 3); //hold Ldancer high z
var response2 = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,17, (x_GET_PARAM | x_ABS_POS)<<24, 0, 0);
response2.RecivedData=response2.RecivedData & 0x00ffffff;
stubManager.WriteHex(response2.RecivedData,8);
stubManager.Write("\n");
stubManager.Write("Motor Puller positon is - "+ (response2.RecivedData-response.RecivedData)/(Math.Pow(2,response3.RecivedData)));
//---------------------------------------------------------------------------------------------------------------------
stubManager.Run<StubMotorStopResponse>("StubMotorStopRequest" ,16, 3); //hold Ldancer high z
response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,16, (x_GET_PARAM | x_ABS_POS)<<24, 0, 0);
response.RecivedData=response.RecivedData & 0x00ffffff;
stubManager.WriteHex(response.RecivedData,8);
stubManager.Write("\n");
response3 = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,16, (x_GET_PARAM | x_STEP_MODE)<<8, 0, 0);
response3.RecivedData=response3.RecivedData & 0x00007;
stubManager.WriteHex(response3.RecivedData,4);
stubManager.Write("\nNober uStep is - ");
if (response3.RecivedData>4)
response3.RecivedData=4;
stubManager.WriteLine(Math.Pow(2,response3.RecivedData));
//----------------------------------------- check F1_LS_LDANCER2_UP -------------------------------------------------
stubManager.Run<StubMotorRunResponse>("StubMotorRunRequest" ,16,false,100); //move Lloading up
counter =0;
while ( counter < 800)
{
counter = counter + 1;
var response8 = stubManager.Run<StubFpgaReadRegResponse>("StubFpgaReadRegRequest" ,F1_LS_02_Direct); //if F1_LS_LSPARE2 is up then move up
if ((response8.Value & F1_LS_LDANCER1_UP) !=F1_LS_LDANCER1_UP ) //if F1_LS_LDANCER1_UP is up then error
counter=900;
Thread.Sleep(100);
}
stubManager.Run<StubMotorStopResponse>("StubMotorStopRequest" ,16, 3); //hold Ldancer high z
response2 = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,16, (x_GET_PARAM | x_ABS_POS)<<24, 0, 0);
response2.RecivedData=response2.RecivedData & 0x00ffffff;
stubManager.WriteHex(response2.RecivedData,8);
stubManager.Write("\n");
stubManager.Write("Motor Winder positon is - "+ (response2.RecivedData-response.RecivedData)/(Math.Pow(2,response3.RecivedData)));
}
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