// Coproc_test1.osc
//
// Floating-point co-processor test routines for the OOPIC.
//
// This program is free software; you can redistribute it and/or modify
// it under the terms of the GNU General Public License as published by
// the Free Software Foundation; either version 2 of the License, or
// (at your option) any later version.
//
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
// GNU General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with this program; if not, write to the Free Software
// Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
//
// Contributors:
//   Neil Durant <neil@octrix.com>
//
//
// Sends the COMMCK command to the PAK-II, and tests to see if
// hex 2B is returned, which indicates success.
// It then tests the calculation 1.234 + 5.678.
// Output is to an LCD device.  The program should be adjusted to suit
// your own display setup etc.

// User classes - adjust these paths to suit your own setup
oUserClass pak2	= new oUserClass("F:\Projects\Home\Robot\BK\Coproc_Board\Libs\oNMD_Coproc.osc");
oUserClass lcd	= new oUserClass("F:\Projects\Home\Robot\BK\OOPIC_Main\Libs\oNMD_LCD.osc");
byte byteX;


Sub void main(void)
{
 	lcd.ClearScreen;
	lcd.lcd.String = "Sending COMMCK";
	pak2.Reset;
	OOPIC.Delay = 100;

	////////////////////////////////////////////////////////////////////////////////	
	// COMMCK test
	////////////////////////////////////////////////////////////////////////////////	

	pak2.COMMCK;
	pak2.ReadByte;

	lcd.ClearScreen;
	if(pak2.status == 43)
	{
		lcd.lcd.String = "COMMCK passed";
	}
	else
	{
		lcd.lcd.String = "COMMCK failed";
		lcd.MoveTo(1, 0);
		lcd.lcd.String = "Returned: ";
		lcd.lcd.String = Str$(pak2.byteX);
	}		

	OOPIC.Delay = 100;

	////////////////////////////////////////////////////////////////////////////////	
	// Add test
	////////////////////////////////////////////////////////////////////////////////	
	
	// Add two values, and test return value
	// We test 1.234 + 5.678 = 6.912

	// 1.234 = hex 7F1DF3B6 
	pak2.LoadX(&H7F, &H1D, &HF3, &HB6);
	
	// 5.678 = hex 8135B22D 
	pak2.LoadY(&H81, &H35, &HB2, &H2D);

	pak2.Add;

	pak2.ReadX;

	// 6.912 = hex 815D2F1A 
	// hex 1A = 26
	// hex 2F = 47
	// hex 5D = 93
	// hex 81 = 129

	lcd.ClearScreen;
	if((pak2.f0 == 26) & (pak2.f1 == 47) & (pak2.f2 == 93) & (pak2.f3 == 129))
	{
		lcd.lcd.String = "Add test passed";
		OOPIC.Delay = 100;
	}
	else
	{
		lcd.lcd.String = "Add test failed";
		lcd.MoveTo(1, 0);
		lcd.lcd.String = "f0-f3 follow...";

		OOPIC.Delay = 100;
		DisplayFNumbers;
		OOPIC.Delay = 200;
	}


	////////////////////////////////////////////////////////////////////////////////	
	// Negative integer load test
	////////////////////////////////////////////////////////////////////////////////	
	
	// Load a negative int, convert to float, and check result

	pak2.wordX = -10;
	
	pak2.LoadXFromWord;
	pak2.Float;
	pak2.ReadX;
	// -10 = 82 A0 00 00
	lcd.ClearScreen;
	if((pak2.f0 == 0) & (pak2.f1 == 0) & (pak2.f2 == &HA0) & (pak2.f3 == &H82))
	{
		lcd.lcd.String = "Neg load passed";
		OOPIC.Delay = 100;
	}
	else
	{
		lcd.lcd.String = "Neg load failed";
		lcd.MoveTo(1, 0);
		lcd.lcd.String = "f0-f3 follow...";

		OOPIC.Delay = 100;
		DisplayFNumbers;
		OOPIC.Delay = 200;
	}
	
	////////////////////////////////////////////////////////////////////////////////	
	// Negative integer read test
	////////////////////////////////////////////////////////////////////////////////	
	
	// Load a negative int, convert to float, and check result

	pak2.LoadX(&H82, &HA0, 0, 0);	// -10
	pak2.Int;
	pak2.ReadXAsWord;
	lcd.ClearScreen;
	if(pak2.wordX == -10)
	{
		lcd.lcd.String = "Neg read passed";
		OOPIC.Delay = 100;
	}
	else
	{
		lcd.lcd.String = "Neg read failed";
		lcd.MoveTo(1, 0);
		lcd.lcd.String = "Returned:";
		lcd.lcd.String = Str$(pak2.wordX);
		OOPIC.Delay = 200;
	}
}

Sub void DisplayFNumbers(void)
{
	lcd.ClearScreen;
	lcd.lcd.String = Str$(pak2.f0);
	lcd.MoveTo(0, 8);
	lcd.lcd.String = Str$(pak2.f1);
	lcd.MoveTo(1, 0);
	lcd.lcd.String = Str$(pak2.f2);
	lcd.MoveTo(1, 8);
	lcd.lcd.String = Str$(pak2.f3);
}
// End of Coproc_test1.osc