#include "KMotionDef.h"

// Defines axis 0, 1, 2 as simple step dir outputs
// enables them
// sets them as an xyz coordinate system for GCode

int main() 
{
	//Y
	ch0->InputMode=NO_INPUT_MODE;
	ch0->OutputMode=STEP_DIR_MODE;
	ch0->Vel=90000;
	ch0->Accel=800000;
	ch0->Jerk=3e+06;
	ch0->P=0;
	ch0->I=0.01;
	ch0->D=0;
	ch0->FFAccel=0;
	ch0->FFVel=0;
	ch0->MaxI=200;
	ch0->MaxErr=1e+06;
	ch0->MaxOutput=200;
	ch0->DeadBandGain=1;
	ch0->DeadBandRange=0;
	ch0->InputChan0=0;
	ch0->InputChan1=0;
	ch0->OutputChan0=0;
	ch0->OutputChan1=0;
	ch0->MasterAxis=-1;
	ch0->LimitSwitchOptions=0x100;
	ch0->LimitSwitchNegBit=0;
	ch0->LimitSwitchPosBit=0;
	ch0->SoftLimitPos=90666;
	ch0->SoftLimitNeg=-90666;
	ch0->InputGain0=1;
	ch0->InputGain1=1;
	ch0->InputOffset0=0;
	ch0->InputOffset1=0;
	ch0->OutputGain=1;
	ch0->OutputOffset=0;
	ch0->SlaveGain=1;
	ch0->BacklashMode=BACKLASH_OFF;
	ch0->BacklashAmount=0;
	ch0->BacklashRate=0;
	ch0->invDistPerCycle=1;
	ch0->Lead=0;
	ch0->MaxFollowingError=1000000000;
	ch0->StepperAmplitude=20;

	ch0->iir[0].B0=1;
	ch0->iir[0].B1=0;
	ch0->iir[0].B2=0;
	ch0->iir[0].A1=0;
	ch0->iir[0].A2=0;

	ch0->iir[1].B0=1;
	ch0->iir[1].B1=0;
	ch0->iir[1].B2=0;
	ch0->iir[1].A1=0;
	ch0->iir[1].A2=0;

	ch0->iir[2].B0=0.000768788;
	ch0->iir[2].B1=0.00153758;
	ch0->iir[2].B2=0.000768788;
	ch0->iir[2].A1=1.92076;
	ch0->iir[2].A2=-0.923833;
    EnableAxisDest(0,0);

	//X
	ch1->InputMode=NO_INPUT_MODE;
	ch1->OutputMode=STEP_DIR_MODE;
	ch1->Vel=90000;
	ch1->Accel=800000;
	ch1->Jerk=3e+06;
	ch1->P=0;
	ch1->I=0.01;
	ch1->D=0;
	ch1->FFAccel=0;
	ch1->FFVel=0;
	ch1->MaxI=200;
	ch1->MaxErr=1e+06;
	ch1->MaxOutput=200;
	ch1->DeadBandGain=1;
	ch1->DeadBandRange=0;
	ch1->InputChan0=1;
	ch1->InputChan1=0;
	ch1->OutputChan0=1;
	ch1->OutputChan1=0;
	ch1->MasterAxis=-1;
	ch1->LimitSwitchOptions=0x100;
	ch1->LimitSwitchNegBit=0;
	ch1->LimitSwitchPosBit=0;
	ch1->SoftLimitPos=1333333;
	ch1->SoftLimitNeg=-133333;
	ch1->InputGain0=1;
	ch1->InputGain1=1;
	ch1->InputOffset0=0;
	ch1->InputOffset1=0;
	ch1->OutputGain=1;
	ch1->OutputOffset=0;
	ch1->SlaveGain=1;
	ch1->BacklashMode=BACKLASH_OFF;
	ch1->BacklashAmount=0;
	ch1->BacklashRate=0;
	ch1->invDistPerCycle=1;
	ch1->Lead=0;
	ch1->MaxFollowingError=1000000000;
	ch1->StepperAmplitude=20;

	ch1->iir[0].B0=1;
	ch1->iir[0].B1=0;
	ch1->iir[0].B2=0;
	ch1->iir[0].A1=0;
	ch1->iir[0].A2=0;

	ch1->iir[1].B0=1;
	ch1->iir[1].B1=0;
	ch1->iir[1].B2=0;
	ch1->iir[1].A1=0;
	ch1->iir[1].A2=0;

	ch1->iir[2].B0=0.000769;
	ch1->iir[2].B1=0.001538;
	ch1->iir[2].B2=0.000769;
	ch1->iir[2].A1=1.92081;
	ch1->iir[2].A2=-0.923885;
    EnableAxisDest(1,0);

	//Z
	ch2->InputMode=NO_INPUT_MODE;
	ch2->OutputMode=STEP_DIR_MODE;
	ch2->Vel=2400;
	ch2->Accel=4000000;
	ch2->Jerk=4e+06;
	ch2->P=0;
	ch2->I=0.01;
	ch2->D=0;
	ch2->FFAccel=0;
	ch2->FFVel=0;
	ch2->MaxI=200;
	ch2->MaxErr=1e+06;
	ch2->MaxOutput=200;
	ch2->DeadBandGain=1;
	ch2->DeadBandRange=0;
	ch2->InputChan0=2;
	ch2->InputChan1=0;
	ch2->OutputChan0=2;
	ch2->OutputChan1=0;
	ch2->MasterAxis=-1;
	ch2->LimitSwitchOptions=0x100;
	ch2->LimitSwitchNegBit=0;
	ch2->LimitSwitchPosBit=0;
	ch2->SoftLimitPos=0;
	ch2->SoftLimitNeg=-317440;
	ch2->InputGain0=1;
	ch2->InputGain1=1;
	ch2->InputOffset0=0;
	ch2->InputOffset1=0;
	ch2->OutputGain=-1;
	ch2->OutputOffset=0;
	ch2->SlaveGain=1;
	ch2->BacklashMode=BACKLASH_OFF;
	ch2->BacklashAmount=0;
	ch2->BacklashRate=0;
	ch2->invDistPerCycle=1;
	ch2->Lead=0;
	ch2->MaxFollowingError=1000000000;
	ch2->StepperAmplitude=20;

	ch2->iir[0].B0=1;
	ch2->iir[0].B1=0;
	ch2->iir[0].B2=0;
	ch2->iir[0].A1=0;
	ch2->iir[0].A2=0;

	ch2->iir[1].B0=1;
	ch2->iir[1].B1=0;
	ch2->iir[1].B2=0;
	ch2->iir[1].A1=0;
	ch2->iir[1].A2=0;
	
	ch2->iir[2].B0=0.000769;
	ch2->iir[2].B1=0.001538;
	ch2->iir[2].B2=0.000769;
	ch2->iir[2].A1=1.92081;
	ch2->iir[2].A2=-0.923885;
	EnableAxisDest(2,0);

	//A
	ch3->InputMode=NO_INPUT_MODE;
	ch3->OutputMode=STEP_DIR_MODE;
	ch3->Vel=40000;
	ch3->Accel=400000;
	ch3->Jerk=4e+06;
	ch3->P=0;
	ch3->I=0.01;
	ch3->D=0;
	ch3->FFAccel=0;
	ch3->FFVel=0;
	ch3->MaxI=200;
	ch3->MaxErr=1e+06;
	ch3->MaxOutput=200;
	ch3->DeadBandGain=1;
	ch3->DeadBandRange=0;
	ch3->InputChan0=3;
	ch3->InputChan1=0;
	ch3->OutputChan0=3;
	ch3->OutputChan1=0;
	ch3->MasterAxis=-1;
	ch3->LimitSwitchOptions=0x100;
	ch3->LimitSwitchNegBit=0;
	ch3->LimitSwitchPosBit=0;
	ch3->SoftLimitPos=1e+09;
	ch3->SoftLimitNeg=-1e+09;
	ch3->InputGain0=1;
	ch3->InputGain1=1;
	ch3->InputOffset0=0;
	ch3->InputOffset1=0;
	ch3->OutputGain=1;
	ch3->OutputOffset=0;
	ch3->SlaveGain=1;
	ch3->BacklashMode=BACKLASH_OFF;
	ch3->BacklashAmount=0;
	ch3->BacklashRate=0;
	ch3->invDistPerCycle=1;
	ch3->Lead=0;
	ch3->MaxFollowingError=1000000000;
	ch3->StepperAmplitude=20;

	ch3->iir[0].B0=1;
	ch3->iir[0].B1=0;
	ch3->iir[0].B2=0;	
	ch3->iir[0].A1=0;
	ch3->iir[0].A2=0;

	ch3->iir[1].B0=1;
	ch3->iir[1].B1=0;
	ch3->iir[1].B2=0;
	ch3->iir[1].A1=0;
	ch3->iir[1].A2=0;

	ch3->iir[2].B0=0.000769;
	ch3->iir[2].B1=0.001538;
	ch3->iir[2].B2=0.000769;
	ch3->iir[2].A1=1.92081;
	ch3->iir[2].A2=-0.923885;
	EnableAxisDest(3,0);

	//Spindle
	ch4->InputMode=ENCODER_MODE;
	ch4->OutputMode=CL_STEP_DIR_MODE;
	ch4->Vel=400000;
	ch4->Accel=100000;
	ch4->Jerk=4e+07;
	ch4->P=0.1; //1.5
	ch4->I=0.0005;  //0.001
	ch4->D=0;
	ch4->FFAccel=0;
	ch4->FFVel=0;
	ch4->MaxI=200000;
	ch4->MaxErr=4000;
	ch4->MaxOutput=200000;
	ch4->DeadBandGain=1;
	ch4->DeadBandRange=0;
	ch4->InputChan0=3;
	ch4->InputChan1=1;
	ch4->OutputChan0=6;
	ch4->OutputChan1=1;
	ch4->MasterAxis=-1;
	ch4->LimitSwitchOptions=0x100;
	ch4->LimitSwitchNegBit=0;
	ch4->LimitSwitchPosBit=0;
	ch4->SoftLimitPos=1e+09;
	ch4->SoftLimitNeg=-1e+09;
	ch4->InputGain0=1;
	ch4->InputGain1=1;
	ch4->InputOffset0=0;
	ch4->InputOffset1=0;
	ch4->OutputGain=0.5;
	ch4->OutputOffset=0;
	ch4->SlaveGain=1;
	ch4->BacklashMode=BACKLASH_OFF;
	ch4->BacklashAmount=0;
	ch4->BacklashRate=0;
	ch4->invDistPerCycle=1;
	ch4->Lead=0;
	ch4->MaxFollowingError=10000000;
	ch4->StepperAmplitude=250;

	ch4->iir[0].B0=1;
	ch4->iir[0].B1=0;
	ch4->iir[0].B2=0;
	ch4->iir[0].A1=0;
	ch4->iir[0].A2=0;

	ch4->iir[1].B0=1;
	ch4->iir[1].B1=0;
	ch4->iir[1].B2=0;
	ch4->iir[1].A1=0;
	ch4->iir[1].A2=0;

	ch4->iir[2].B0=1;
	ch4->iir[2].B1=0;
	ch4->iir[2].B2=0;
	ch4->iir[2].A1=0;
	ch4->iir[2].A2=0;
	EnableAxisDest(4,0);
	
	
	//MPG
	ch7->InputMode=ENCODER_MODE;
	ch7->OutputMode=NO_OUTPUT_MODE;
	ch7->Vel=40000;
	ch7->Accel=400000;
	ch7->Jerk=4e+06;
	ch7->P=0.2;
	ch7->I=0;
	ch7->D=0;
	ch7->FFAccel=0;
	ch7->FFVel=0;
	ch7->MaxI=200;
	ch7->MaxErr=200;
	ch7->MaxOutput=200;
	ch7->DeadBandGain=1;
	ch7->DeadBandRange=0;
	ch7->InputChan0=2;
	ch7->InputChan1=1;
	ch7->OutputChan0=7;
	ch7->OutputChan1=1;
	ch7->MasterAxis=-1;
	ch7->LimitSwitchOptions=0x100;
	ch7->LimitSwitchNegBit=0;
	ch7->LimitSwitchPosBit=0;
	ch7->SoftLimitPos=1e+09;
	ch7->SoftLimitNeg=-1e+09;
	ch7->InputGain0=1;
	ch7->InputGain1=1;
	ch7->InputOffset0=0;
	ch7->InputOffset1=0;
	ch7->OutputGain=1;
	ch7->OutputOffset=0;
	ch7->SlaveGain=1;
	ch7->BacklashMode=BACKLASH_OFF;
	ch7->BacklashAmount=0;
	ch7->BacklashRate=0;
	ch7->invDistPerCycle=1;
	ch7->Lead=0;
	ch7->MaxFollowingError=10000000;
	ch7->StepperAmplitude=250;

	ch7->iir[0].B0=1;
	ch7->iir[0].B1=0;
	ch7->iir[0].B2=0;
	ch7->iir[0].A1=0;
	ch7->iir[0].A2=0;

	ch7->iir[1].B0=1;
	ch7->iir[1].B1=0;
	ch7->iir[1].B2=0;
	ch7->iir[1].A1=0;
	ch7->iir[1].A2=0;

	ch7->iir[2].B0=1;
	ch7->iir[2].B1=0;
	ch7->iir[2].B2=0;
	ch7->iir[2].A1=0;
	ch7->iir[2].A2=0;
	EnableAxisDest(7,0);

	//ConfigSpindle(1,4,0.1,0.1,10000);
	DefineCoordSystem(1,0,2,3);
	
	//Muxing of encoders
	#define ENC_0_3_JP4 0x200
	FPGAW(ENC_NOISE_FILTER_ADD) = ENC_0_3_JP4 + 50;

	

    return 0;
}