//  **************************************************************  
//
//  Module UmacParam.c
//  his module contains functions to assist in parameter handling 
//                   
//
//  Seva Kaplounenko, Stanford Linear Accelerator Center 
//  6/14/06
// 
//
//  **************************************************************  

#include "cvidef.h"
#include <ansi_c.h>

#include "umac.h"
#include "umacParam.h"
#include "Param_umac.h"   //added 02/28/2014        
 


//  **************************************************************  
//
//  umac_data_fill_param_struct
//  This function fills the parameter structure using # defined
//  parameters.
//
//  Seva Kaplounenko, Stanford Linear Accelerator Center
//  11/11/05
//

void umac_data_fill_param_struct(UMAC_PARAM_STRUCT umac_param[]) 
{
    #include "param.h"
    int axis = 0;
    // Include parameter definitions 
    //structure:0 - axis number:1 axis definition:_z
    
    umac_param[axis].cs_counts_per_mm			=   UMAC_AXIS1_CS_COUNT_MM			;
    umac_param[axis].position_scale_factor		=	UMAC_AXIS1_SCALE_FACTOR			;
    
    umac_param[axis].axis_on                	=   UMAC_AXIS1_ON                   ;                    
    umac_param[axis].home_velocity          	=   UMAC_AXIS1_HOME_VELOCITY        ;              
    umac_param[axis].home_acceleration      	=   UMAC_AXIS1_HOME_ACCELERATION    ;
    umac_param[axis].home_direction		    	=   UMAC_AXIS1_DIRECTION	        ;
    umac_param[axis].velocity          			=   UMAC_AXIS1_VELOCITY             ;
    umac_param[axis].acceleration      			=   UMAC_AXIS1_ACCELERATION    		;
	//umac_param[axis].init_offset      			=   2.839;// ion source  
	umac_param[axis].init_offset      			=   2.1;
	//umac_param[axis].init_offset      			=   2.9;   
    //umac_param[axis].init_offset      			=   UMAC_AXIS1_INIT_OFFSET; 
    
    
    axis++;
    if(axis == UMAC_NUM_AXIS)
        return;
     //structure:1 - axis number:2 axis definition:_y 
     umac_param[axis].cs_counts_per_mm			=   UMAC_AXIS2_CS_COUNT_MM			;
     umac_param[axis].position_scale_factor		=	UMAC_AXIS2_SCALE_FACTOR			;
     
    umac_param[axis].axis_on                	=   UMAC_AXIS2_ON                   ;                    
    umac_param[axis].home_velocity          	=   UMAC_AXIS2_HOME_VELOCITY        ;              
    umac_param[axis].home_acceleration      	=   UMAC_AXIS2_HOME_ACCELERATION    ;
    umac_param[axis].home_direction		    	=   UMAC_AXIS2_DIRECTION	        ;
    umac_param[axis].velocity          			=   UMAC_AXIS2_VELOCITY             ;
    umac_param[axis].acceleration      			=   UMAC_AXIS2_ACCELERATION    		;
	//umac_param[axis].init_offset      			=   -0.054 ; 	 //ion source
	//umac_param[axis].init_offset      			=   -0.13895 ;
	umac_param[axis].init_offset      			=   -0.138 ;
    //umac_param[axis].init_offset      			=   UMAC_AXIS2_INIT_OFFSET;
    
    
    axis++;
    if(axis == UMAC_NUM_AXIS)
        return;
    //structure:2 - axis number:3 axis definition:_x 
    umac_param[axis].cs_counts_per_mm			=   UMAC_AXIS3_CS_COUNT_MM			;
    umac_param[axis].position_scale_factor		=	UMAC_AXIS3_SCALE_FACTOR			;
    
    umac_param[axis].axis_on                	=   UMAC_AXIS3_ON                   ;                    
    umac_param[axis].home_velocity          	=   UMAC_AXIS3_HOME_VELOCITY        ;              
    umac_param[axis].home_acceleration      	=   UMAC_AXIS3_HOME_ACCELERATION    ;
    umac_param[axis].home_direction		    	=   UMAC_AXIS3_DIRECTION	        ;
    umac_param[axis].velocity          			=   UMAC_AXIS3_VELOCITY             ;
    umac_param[axis].acceleration      			=   UMAC_AXIS3_ACCELERATION    		;
	//umac_param[axis].init_offset      			=   0.115 ; //ion source  
    //umac_param[axis].init_offset      			=   0.075; 
	umac_param[axis].init_offset      			=   -0.009; ;
	//umac_param[axis].init_offset      			=   UMAC_AXIS3_INIT_OFFSET    ;
	
	    axis++;
    if(axis == UMAC_NUM_AXIS)
        return;
    //structure:3 - axis number:4 axis definition:_z' 
    umac_param[axis].cs_counts_per_mm			=   UMAC_AXIS4_CS_COUNT_MM			;
    umac_param[axis].position_scale_factor		=	UMAC_AXIS4_SCALE_FACTOR			;
    
    umac_param[axis].axis_on                	=   UMAC_AXIS4_ON                   ;                    
    umac_param[axis].home_velocity          	=   UMAC_AXIS4_HOME_VELOCITY        ;              
    umac_param[axis].home_acceleration      	=   UMAC_AXIS4_HOME_ACCELERATION    ;
    umac_param[axis].home_direction		    	=   UMAC_AXIS4_DIRECTION	        ;
    umac_param[axis].velocity          			=   UMAC_AXIS4_VELOCITY             ;
    umac_param[axis].acceleration      			=   UMAC_AXIS4_ACCELERATION    		;
    umac_param[axis].init_offset      			=   0.100    		;
	//umac_param[axis].init_offset      			=   UMAC_AXIS4_INIT_OFFSET 
	
	    axis++;
    if(axis == UMAC_NUM_AXIS)
        return;
    //structure:4 - axis number:5 axis definition:_Rx-A 
    umac_param[axis].cs_counts_per_mm			=   UMAC_AXIS5_CS_COUNT_MM			;
    umac_param[axis].position_scale_factor		=	UMAC_AXIS5_SCALE_FACTOR			;
    
    umac_param[axis].axis_on                	=   UMAC_AXIS5_ON                   ;                    
    umac_param[axis].home_velocity          	=   UMAC_AXIS5_HOME_VELOCITY        ;              
    umac_param[axis].home_acceleration      	=   UMAC_AXIS5_HOME_ACCELERATION    ;
    umac_param[axis].home_direction		    	=   UMAC_AXIS5_DIRECTION	        ;
    umac_param[axis].velocity          			=   UMAC_AXIS5_VELOCITY             ;
    umac_param[axis].acceleration      			=   UMAC_AXIS5_ACCELERATION    		;
    umac_param[axis].init_offset      			=   0.100    		;
	//umac_param[axis].init_offset      			=   UMAC_AXIS5_INIT_OFFSET  ;
	
	    axis++;
    if(axis == UMAC_NUM_AXIS)
        return;
    //structure:5 - axis number:6 axis definition:_Wz 
    umac_param[axis].cs_counts_per_mm			=   UMAC_AXIS6_CS_COUNT_MM			;
    umac_param[axis].position_scale_factor		=	UMAC_AXIS6_SCALE_FACTOR			;
    
    umac_param[axis].axis_on                	=   UMAC_AXIS6_ON                   ;                    
    umac_param[axis].home_velocity          	=   UMAC_AXIS6_HOME_VELOCITY        ;              
    umac_param[axis].home_acceleration      	=   UMAC_AXIS6_HOME_ACCELERATION    ;
    umac_param[axis].home_direction		    	=   UMAC_AXIS6_DIRECTION	        ;
    umac_param[axis].velocity          			=   UMAC_AXIS6_VELOCITY             ;
    umac_param[axis].acceleration      			=   UMAC_AXIS6_ACCELERATION    		;
    umac_param[axis].init_offset      			=   0.100    		;
	//umac_param[axis].init_offset      			=   UMAC_AXIS6_INIT_OFFSET ;
	
	    axis++;
    if(axis == UMAC_NUM_AXIS)
        return;
    //structure:6 - axis number:7 axis definition:_Vy 
    umac_param[axis].cs_counts_per_mm			=   UMAC_AXIS7_CS_COUNT_MM			;
    umac_param[axis].position_scale_factor		=	UMAC_AXIS7_SCALE_FACTOR			;
    
    umac_param[axis].axis_on                	=   UMAC_AXIS7_ON                   ;                    
    umac_param[axis].home_velocity          	=   UMAC_AXIS7_HOME_VELOCITY        ;              
    umac_param[axis].home_acceleration      	=   UMAC_AXIS7_HOME_ACCELERATION    ;
    umac_param[axis].home_direction		    	=   UMAC_AXIS7_DIRECTION	        ;
    umac_param[axis].velocity          			=   UMAC_AXIS7_VELOCITY             ;
    umac_param[axis].acceleration      			=   UMAC_AXIS7_ACCELERATION    		;
    umac_param[axis].init_offset      			=   0.100    		;
	//umac_param[axis].init_offset      			=   UMAC_AXIS7_INIT_OFFSET   ;
	
	    axis++;
    if(axis == UMAC_NUM_AXIS)
        return;
    //structure:7 - axis number:8 axis definition:_Ry-B 
    umac_param[axis].cs_counts_per_mm			=   UMAC_AXIS8_CS_COUNT_MM			;
    umac_param[axis].position_scale_factor		=	UMAC_AXIS8_SCALE_FACTOR			;
    
    umac_param[axis].axis_on                	=   UMAC_AXIS8_ON                   ;                    
    umac_param[axis].home_velocity          	=   UMAC_AXIS8_HOME_VELOCITY        ;              
    umac_param[axis].home_acceleration      	=   UMAC_AXIS8_HOME_ACCELERATION    ;
    umac_param[axis].home_direction		    	=   UMAC_AXIS8_DIRECTION	        ;
    umac_param[axis].velocity          			=   UMAC_AXIS8_VELOCITY             ;
    umac_param[axis].acceleration      			=   UMAC_AXIS8_ACCELERATION    		;
    umac_param[axis].init_offset      			=   0.100    		;
	//umac_param[axis].init_offset      			=   UMAC_AXIS8_INIT_OFFSET  ;
	
	    axis++;
    if(axis == UMAC_NUM_AXIS)
        return;
    //structure:8 - axis number:9 axis definition:_Rz-C 
    umac_param[axis].cs_counts_per_mm			=   UMAC_AXIS9_CS_COUNT_MM			;
    umac_param[axis].position_scale_factor		=	UMAC_AXIS9_SCALE_FACTOR			;
    
    umac_param[axis].axis_on                	=   UMAC_AXIS9_ON                   ;                    
    umac_param[axis].home_velocity          	=   UMAC_AXIS9_HOME_VELOCITY        ;              
    umac_param[axis].home_acceleration      	=   UMAC_AXIS9_HOME_ACCELERATION    ;
    umac_param[axis].home_direction		    	=   UMAC_AXIS9_DIRECTION	        ;
    umac_param[axis].velocity          			=   UMAC_AXIS9_VELOCITY             ;
    umac_param[axis].acceleration      			=   UMAC_AXIS9_ACCELERATION    		;
    umac_param[axis].init_offset      			=   0.100    		;
	//umac_param[axis].init_offset      			=   UMAC_AXIS9_INIT_OFFSET    	  ;
	
	
    
}