/*
  * User Mode Test Program for testing MOTENC PCI Motion Card
  *
  * Compile with 'gcc -Wall -O2 vsitest.c -lpci -o vsitest' (-O *is* mandatory)
*/

#include <unistd.h>
#include <stdio.h>
#include <fcntl.h>
#include <stdlib.h>
#include <pci/pci.h>
#include <sys/io.h>
#include <sys/mman.h>

#include <termios.h> 
#include <unistd.h>   // for read() 
 
static struct termios initial_settings, new_settings; 
static int peek_character = -1; 

#define VENDOR 0x10b5
#define DEVICE 0x3001


void   init_keyboard(void); 
void   close_keyboard(void); 
int      kbhit(void); 
int     readch(void);  

void ShowHelp()
{
	printf( "\n\nVSI MOTENC BOARD TEST\n" );
	printf( "All Indexes are zero based\n\n" );
	printf( "0..7: Encoder 0..7\n" );
	printf( "C: Clear encoder counters and reset outputs\n" );
	printf( "D: Write to DAC\n" );
	printf( "L: Read Encoder at Index pulse\n" );
	printf( "O: Write Outputs Reg (Loc 4 & 12)\n" );
	printf( "I: Read Input/Output Reg\n" );
	printf( "?: Help\n" );
	printf( "Q: Quit\n" );
} 

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

  struct pci_access *pacc;	/* Struct to access the PCI devices. */
  struct pci_dev *dev = NULL;	/* Struct for the PCI device 
			See /usr/include/pci/pci.h for the gory details */
  u32 bar[3];			/* PCI Region addresses */
  u32 *mem = NULL;		/* Pointer to the mmapped memory */
  int fd;			/* File descriptor for /dev/mem access */
  u32 base, ofs;
  int gQuit = 0;

  /* Check IO permissions to be able to open /dev/mem */
  if (iopl (3)) {
      printf ("Cannot get I/O permissions (being root helps)\n");
      return -1;
    }
  pacc = pci_alloc ();/* initialise the pci_access struct */  
  pci_init (pacc);		/* initialise the pci lib */   
	pci_scan_bus(pacc);		/* Build a list of devices on the PCI bus */

  dev = pacc->devices;

  while (dev != NULL) 
  {
      //printf ("found %x %x\n", dev->vendor_id, dev->device_id);
      if ((dev->vendor_id != VENDOR) || (dev->device_id != DEVICE))
	  dev = dev->next;
      else
	  break;

  }

  if (dev == NULL) {
      printf ("\nVendor %X Device %X\n", dev->vendor_id, dev->device_id);
      printf ("PCI Motenc Card Not Found\n");
      return -1;
    }

  //printf ("\nVendor %X Device %X\n", dev->vendor_id, dev->device_id);
  //printf ("Class %X Revision %X\n", pci_read_word (dev, 0x0a), pci_read_word (dev, 0x08));

  /* Here we assume that BAR0 (offset 0x10) is of memory type... */
  /* ...and that BAR1 (offset 0x14) is IO type */
  bar[0] = dev->base_addr[0] & PCI_BASE_ADDRESS_MEM_MASK;
  bar[1] = dev->base_addr[1] & PCI_BASE_ADDRESS_IO_MASK;
  /* BAR2 is the one we're interested in... */
  bar[2] = dev->base_addr[2] & PCI_BASE_ADDRESS_MEM_MASK;

/*
  for (n = 0; n < 3; n++) {
      printf ("BAR[%x] %x %x %lx\n", n, dev->vendor_id, dev->device_id,
	      (long int) bar[n]);
    }
  if (bar[2] & 0x0FFF) {
      printf
	("Address not page aligned - mapping into user space will fail.\n");
      return -1;
    } */


  fd = open ("/dev/mem", O_RDWR);
  if (fd == 0) {
      printf ("open(/dev/mem) failed\n");
      return -1;
    }

    base = bar[2] & 0xfffff000;
    ofs = bar[2] & 0xfff;
       
#define PCI_MEM_LEN 512	/* This must be <= than the actual amount of
PCI memory */   /* ...and map the PCI memory area (man 2 mmap for more info) */

  mem = mmap (0, PCI_MEM_LEN + ofs, PROT_READ|PROT_WRITE,
				MAP_SHARED, fd, base);

  if (mem == (void *) -1) {
      perror ("mmap() failed");
    } else {
	mem = mem + (ofs/4);
	
	init_keyboard();

      //printf ("Memory pointer: %p\n", mem);

	ShowHelp();

	while(!gQuit)
	{
		u32 * pDev;
		long dat;
		int option;
		float dVolt;
		unsigned long mask;
		unsigned int xmask;
		long nCount;
		long index_dat;

		if( !kbhit() )
			continue;

		option = readch();

		fflush(stdin);
		fflush(stdout);

		switch( option )
		{
			case '0':
			case '1':
			case '2':
			case '3':
			case '4':
			case '5':
			case '6':
			case '7':
				// Read Encoders
				dat = *(mem + (((option - '0')/4) * 8) + ((option - '0') % 4));
      				printf ("Encoder %c : %ld\n", option, dat);
			break;

			case 'i':
			case 'I':
				// Read I/O
				xmask = *(mem + 4);
      				printf ("I/O @ Loc 4: %X\n", xmask);
			break;


			case 'l':
			case 'L':
				// Read Encoder at Index pulse
				printf( "\nEncoder Number (0 Based): " );
				scanf( "%ld", &dat );
				printf( "%ld\nScanning Index Line......\n\n", dat);

				pDev = mem + 5 + ((dat/4) * 8) + (dat % 4);
				mask = 0x100000 << (dat%4);

				while(!kbhit() )
				{
					index_dat = (*pDev) & mask;
					if( index_dat )
					{
						nCount = *(mem + (((dat)/4) * 8) + ((dat) % 4));
      						printf ("Encoder %ld @Index: %ld\n", dat, nCount);
						break;
					}
				}
			break;
			
			case 'Q':
			case 'q':
				//Quit
				gQuit = 1;
			break;

			case '?':
				ShowHelp();
			break;

			case 'o':
			case 'O':
				//Write To Output Reg  
				printf( "\nRegister Loc (4 or 12): " );
				scanf( "%ld", &dat );
				printf( "%ld\n", dat);

				printf( "\nRegister Data (0...FFFF): " );
				scanf( "%x", &xmask );
				printf( "%x Hex\n", xmask);
				if( dat != 4 && dat != 12 ) 
				{
					printf( "Loc/Data out of range\n" );
					break;
				}
				pDev = mem + dat;
				*pDev = (u32)xmask;		

				break;

			case 'D':
			case 'd':
				//Write To DAC  
				printf( "\nDAC Number (0 Based): " );
				scanf( "%ld", &dat );
				printf( "%ld\n", dat);

				printf( "Voltage (-10.00 ... 10.00): " );
				scanf( "%g", &dVolt );
				printf( "%g\n", dVolt);

				if( dat < 0 || dat > 7 || dVolt < -10.0 ||
					dVolt > 10.0 )
				{
					printf( "Data out of range\n" );
					break;
				}
				
				pDev = mem + 24 + dat;
				// convert -10.0 -> 10.0 to 0x1FFF -> 0x0000
				dat = (int) ((10.0 - dVolt) / 20.0 * 0x1FFF);
				*pDev = (u32)dat;		

			break;

			case 'c':
			case 'C':
				printf( "Are you sure? (y/n): " );
				fflush(stdout);

				dat = readch();
				printf( "%c\n", (char)dat );
				if( dat == 'y' || dat == 'Y' )
				{
					pDev = mem + 5;
					*pDev = 0xF;  //clear counter 0..3
					pDev = mem + 5 + 8;
					*pDev = 0xF;  //clear counter 4..7

					pDev = mem + 24;
					for( dat = 0; dat < 8; dat++ )
						*(pDev+dat) = 0x1000;

					printf( "Done\n" );
				}

			break;

			default:
				printf("press ? for list of commands\n");
			break;
		}
	}

	close_keyboard();

      munmap (mem-(ofs/4), PCI_MEM_LEN+ofs);
    }
  close (fd);
  pci_cleanup (pacc);

  return 0;
}


 
void init_keyboard() 
{ 
    tcgetattr(0,&initial_settings); 
    new_settings = initial_settings; 
    new_settings.c_lflag &= ~ICANON; 
    new_settings.c_lflag &= ~ECHO; 
    new_settings.c_lflag &= ~ISIG; 
    new_settings.c_cc[VMIN] = 1; 
    new_settings.c_cc[VTIME] = 0; 
    tcsetattr(0, TCSANOW, &new_settings); 
} 
 
void close_keyboard() 
{ 
    tcsetattr(0, TCSANOW, &initial_settings); 
} 
 
int kbhit() 
{ 
unsigned char ch; 
int nread; 
 
    if (peek_character != -1) return 1; 
    new_settings.c_cc[VMIN]=0; 
    tcsetattr(0, TCSANOW, &new_settings); 
    nread = read(0,&ch,1); 
    new_settings.c_cc[VMIN]=1; 
    tcsetattr(0, TCSANOW, &new_settings); 
    if(nread == 1)  
    { 
        peek_character = ch; 
        return 1; 
    } 
    return 0; 
} 
 
int readch() 
{ 
char ch; 
 
    if(peek_character != -1)
    {
        ch = peek_character;
        peek_character = -1;
        return ch;
    }
    read(0,&ch,1); 
    return ch; 
}