// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * *  
// BV4113 - IASI stepper motor driver 'a'
// This will load as a stand alone file or can be used as a library
// providing the parent file includes the files in the REQUIRES 
// section
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * *  

// REQUIRES:
// #URL-lib "http://pin1.org/forthlib/flb/General/soft1.flb" sid=0
// #URL-lib "http://pin1.org/forthlib/flb/General/pinsel.flb" sid=101
// #URL-lib "http://pin1.org/forthlib/flb/General/strings.flb"
// #URL-lib "http://pin1.org/forthlib/flb/IASI2/IASI2-motor.flb" 

// HISTORY:
// Jan 2009 *Preliminary
//          *not complete only has step and a few other commands

// CONSTANTS:
integer i-motor-adr     // set this before using

// ---------------------------------------------------------------
// changes address of motor
: i-set-motor-adr ( adr -- )
    => i-motor-adr
; 
   
// ---------------------------------------------------------------
// Initialise device to an address, reports back number of devices
// connected
: i-init-motor ( adr -- x )
    i-set-motor-adr
    i-connect
;            

// ---------------------------------------------------------------
// Digital channel set
// sets channel a or b to either input or ouput
// channel 1=a, any=b
// output any=in, 1=out
// example to set channel b to input: 2 0 m-setdigit
: m-setdigit { channel output -- }
    i-motor-adr emit1 [char] d emit1 // all need this
    channel 1 = 
    if
        [char] a emit1 [char] - emit1
        output 1 =
        if
             [char] o emit1 cr1 i-send
        else    
             [char] i emit1 cr1 i-send
        then
    else         
        [char] b emit1 [char] - emit1
        output 1 =
        if
             [char] o emit1 cr1 i-send
        else    
             [char] i emit1 cr1 i-send
        then
    then
;
// ---------------------------------------------------------------
// digital channel set to 1 or 0
// channel 1=a, any=b
// set 1=1 any=0
: m-digit { channel set -- }
    i-motor-adr emit1 [char] d emit1 // all need this
    channel 1 = 
    if
        set 1 =
        [char] a emit1
        if
            [char] 1 emit1 cr1 i-send
        else
            [char] 0 emit1 cr1 i-send
        then
   else         
        set 1 =
        [char] b emit1
        if
            [char] 1 emit1 cr1 i-send
        else
            [char] 0 emit1 cr1 i-send
        then
   then
;

// ---------------------------------------------------------------
// gets value of channel a or b
// channel 1=a
// does not use * option to return binary, uses i-gn instead
// returns 1 or 0
: m-get { channel -- 1 or 0, valid }
    i-cbuff
    i-motor-adr emit1 [char] d emit1 // all need this
    channel 1 =
    if
        [char] a emit1
    else
        [char] b emit1
    then
    cr1 i-send i-gn drop
;            
// ---------------------------------------------------------------
// analogue channel can return either absolute value or a percentage
// percent=1 will return a percent value  
: m-analogue { percent -- } 
    i-cbuff
    i-motor-adr emit1 [char] v emit1 // send ad command
    percent 1 =
    if
        [char] p emit1
    then
    cr1 i-send i-gn drop
;            

// ---------------------------------------------------------------
// steps
// steps -1=continuous, any other value nu,ber of steps
// direction 1 or 0
: m-step { steps direction -- }
    i-motor-adr emit1 // all need this
    steps -1 =
    if
        [char] r emit1 // driection
        direction 48 + // convert to ascii
        emit1 cr1 i-send // direction set
        i-motor-adr emit1 // again for continuous step
        [char] c emit1 cr1 i-send
    else
        [char] n emit1
        direction 48 + // convert to ascii
        emit1 cr1
    then    
;
                
// ---------------------------------------------------------------
// stop
: m-stop ( -- )
    i-motor-adr emit1 [char] x emit1 cr1
;

// ---------------------------------------------------------------
// speed    
: m-speed { speed -- }
    i-motor-adr emit1 [char] s emit1
    speed iu. cr1
;
    
// ---------------------------------------------------------------
// mode
// 1=full, 0(any)=half    
: m-mode { mode -- }
    i-motor-adr emit1 [char] h emit1
    mode 1 =
    if
        [char] f emit1
    else
        [char] h emit1
    then
    cr1        
;