/*  **************************************************************  */

/*
 * PARAM.H
 * This file contains parameters required by the umac data module
 * program.
 *
 * Seva Kaplounenko, Stanford Linear Accelerator Center
 * 11/11/05
 */
 
/* Protection from multiple definitions */
#ifndef __UMAC_DRIVER_PARAM
#define __UMAC_DRIVER_PARAM

#include "cvidef.h" 
//XXXXXXXXXXXXXXXXXXXXXXXXX umac set parameters         XXXXXXXXXXXXXXXXXXXXXXXXXX
#define UMAC_ENABLE             1
#define UMAC_DISABLE            0
#define UMAC_SAME               X 
#define UMAC_DISABLE_BOTH       0 
#define UMAC_ENABLE_BOTH        3
#define UMAC_NUMERATOR          1
#define UMAC_DENOMINATOR        1
#define UMAC_DISABLE_POSITIVE   1
#define UMAC_DISABLE_NEGATIVE   2
#define UMAC_DO_NOT_CHECK       0
#define UMAC_DO_CHECK           1 
#define UMAC_ACTIVE_LOW         0
#define UMAC_ACTIVE_HIGH        1
#define UMAC_HOMING_POS         1
#define UMAC_HOMING_NEG         -1


//XXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXX
//1 - _z
#define UMAC_AXIS1_CS_COUNT_MM			 20000
#define UMAC_AXIS1_SCALE_FACTOR			 2072 //i108 * 32 counts ,  not used for safety taken directly from controller

#define UMAC_AXIS1_ON                    UMAC_ENABLE 
//#define UMAC_AXIS1_VELOCITY              0.05 // m/s
//#define UMAC_AXIS1_VELOCITY              0.05 // m/s    
//#define UMAC_AXIS1_ACCELERATION          0.02 // m/s*s
#define UMAC_AXIS1_VELOCITY              0.2 // m/s    
#define UMAC_AXIS1_ACCELERATION          0.1 // m/s*s
#define UMAC_AXIS1_HOME_VELOCITY         0.05 // m/s 
#define UMAC_AXIS1_HOME_ACCELERATION     0.02 // m/s*s
#define UMAC_AXIS1_DIRECTION	         UMAC_HOMING_POS


//2 _y
#define UMAC_AXIS2_CS_COUNT_MM			 100000
#define UMAC_AXIS2_SCALE_FACTOR			 2072 //i208 * 32 counts  not used for safety taken directly from controller

#define UMAC_AXIS2_ON                    UMAC_ENABLE
//#define UMAC_AXIS2_VELOCITY              0.005 // m/s 
#define UMAC_AXIS2_VELOCITY              0.005 // m/s
#define UMAC_AXIS2_ACCELERATION          0.005 // m/s*s
#define UMAC_AXIS2_DIRECTION	         UMAC_HOMING_POS
#define UMAC_AXIS2_HOME_VELOCITY         0.005 // m/s 
#define UMAC_AXIS2_HOME_ACCELERATION     0.005 // m/s*s


//3 _x
#define UMAC_AXIS3_CS_COUNT_MM			 100000
#define UMAC_AXIS3_SCALE_FACTOR			 2072 //i308 * 32 counts  not used for safety taken directly from controller

#define UMAC_AXIS3_ON                    UMAC_ENABLE 
#define UMAC_AXIS3_VELOCITY              0.005 //m/s
//#define UMAC_AXIS3_VELOCITY              0.005 //m/s  
#define UMAC_AXIS3_ACCELERATION          0.005 //m/s*s
#define UMAC_AXIS3_DIRECTION	         UMAC_HOMING_POS
#define UMAC_AXIS3_HOME_VELOCITY         0.005 //m/s
#define UMAC_AXIS3_HOME_ACCELERATION     0.005 //m/s*s

//4 _z'
#define UMAC_AXIS4_CS_COUNT_MM			 3083
#define UMAC_AXIS4_SCALE_FACTOR			 2072 //i308 * 32 counts  not used for safety taken directly from controller

#define UMAC_AXIS4_ON                    UMAC_ENABLE 
#define UMAC_AXIS4_VELOCITY              0.05 // m/s
#define UMAC_AXIS4_ACCELERATION          0.02 // m/s*s
#define UMAC_AXIS4_HOME_VELOCITY         0.05 // m/s 
#define UMAC_AXIS4_HOME_ACCELERATION     0.02 // m/s*s
#define UMAC_AXIS4_DIRECTION	         UMAC_HOMING_POS

//5 _Rx-A
#define UMAC_AXIS5_CS_COUNT_MM			 8192
#define UMAC_AXIS5_SCALE_FACTOR			 2072 //i308 * 32 counts  not used for safety taken directly from controller

#define UMAC_AXIS5_ON                    UMAC_ENABLE 
#define UMAC_AXIS5_VELOCITY              0.005 //m/s
#define UMAC_AXIS5_ACCELERATION          0.005 //m/s*s
#define UMAC_AXIS5_DIRECTION	         UMAC_HOMING_POS
#define UMAC_AXIS5_HOME_VELOCITY         0.005 //m/s
#define UMAC_AXIS5_HOME_ACCELERATION     0.005 //m/s*s

//6 _Wz
#define UMAC_AXIS6_CS_COUNT_MM			 400
#define UMAC_AXIS6_SCALE_FACTOR			 2072 //i308 * 32 counts  not used for safety taken directly from controller

#define UMAC_AXIS6_ON                    UMAC_ENABLE 
#define UMAC_AXIS6_VELOCITY              0.005 //m/s
#define UMAC_AXIS6_ACCELERATION          0.005 //m/s*s
#define UMAC_AXIS6_DIRECTION	         UMAC_HOMING_POS
#define UMAC_AXIS6_HOME_VELOCITY         0.005 //m/s
#define UMAC_AXIS6_HOME_ACCELERATION     0.005 //m/s*s

//7 _Vy
#define UMAC_AXIS7_CS_COUNT_MM			 400
#define UMAC_AXIS7_SCALE_FACTOR			 2072 //i308 * 32 counts  not used for safety taken directly from controller

#define UMAC_AXIS7_ON                    UMAC_ENABLE 
#define UMAC_AXIS7_VELOCITY              0.005 //m/s
#define UMAC_AXIS7_ACCELERATION          0.005 //m/s*s
#define UMAC_AXIS7_DIRECTION	         UMAC_HOMING_POS
#define UMAC_AXIS7_HOME_VELOCITY         0.005 //m/s
#define UMAC_AXIS7_HOME_ACCELERATION     0.005 //m/s*s

//8 _Ry-B
#define UMAC_AXIS8_CS_COUNT_MM			 400
#define UMAC_AXIS8_SCALE_FACTOR			 2072 //i308 * 32 counts  not used for safety taken directly from controller

#define UMAC_AXIS8_ON                    UMAC_ENABLE 
#define UMAC_AXIS8_VELOCITY              0.005 //m/s
#define UMAC_AXIS8_ACCELERATION          0.005 //m/s*s
#define UMAC_AXIS8_DIRECTION	         UMAC_HOMING_POS
#define UMAC_AXIS8_HOME_VELOCITY         0.005 //m/s
#define UMAC_AXIS8_HOME_ACCELERATION     0.005 //m/s*s

//9 _Rz-C
#define UMAC_AXIS9_CS_COUNT_MM			 400
#define UMAC_AXIS9_SCALE_FACTOR			 2072 //i308 * 32 counts  not used for safety taken directly from controller

#define UMAC_AXIS9_ON                    UMAC_ENABLE 
#define UMAC_AXIS9_VELOCITY              0.005 //m/s
#define UMAC_AXIS9_ACCELERATION          0.005 //m/s*s
#define UMAC_AXIS9_DIRECTION	         UMAC_HOMING_POS
#define UMAC_AXIS9_HOME_VELOCITY         0.005 //m/s
#define UMAC_AXIS9_HOME_ACCELERATION     0.005 //m/s*s

#endif