Init.c

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#include <windows.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <math.h>
#include "mgui.h"
#include "DAS_Spatram.h"
#include "dcl.h"
#include "dil.h"
#include "wsc.h"
#include "dxl.h"
#include "bil.h"
#include "portio32.h"

DXL_par DXL; 
flag FLAG; 
paramini PARAM; 
//marc MARC;        ///< Marconi struct
stepm STEPM;        
ZenithSt ZST;   
AzimuthSt AST;  

// CCD & Camera vars
ccd     DC_CCD; 
ptf     DC_HP;  
config  Cfg;    

das DAS; 



/***********************************************************************/
void CBExpo(MOBJECT p, void *od, void *ad)
{
    DC_BrkFlg(0);
}
/***********************************************************************/
/***********************************************************************/
MOBJECT MDCreateExpo(char *tit)
{
    int     c;
    MOBJECT sh, a, pb, pix;
    
    sh = MCreateShell(tit, SF_NO_RESIZE|SF_NO_MAXIMIZE|SF_NO_MINIMIZE|SF_NO_CLOSE);
    MObjectSetBackgroundImageFile(sh, "dilsys/back.bmp", BI_TILED);
    MFormSetSpacing(sh, 5);

    a = MCreateColForm(sh);
    MObjectSetShadow(a, WS_NONE, 0, 0);
    MFormSetSpacing(a, 0);
    MObjectSetTransparency(a, 255);

        for(c = 0; c < 6; c++)
            if(c == 4)
                DAS.Marconi.LblExpP[c] = MCreatePixmapFromData(a, DIL.Graph.digit[10]);
            else
                DAS.Marconi.LblExpP[c] = MCreatePixmapFromData(a, DIL.Graph.digit[0]);

    pix = MCreatePixmapFromFile(sh, "dilsys/down.bmp");

    a = MCreateColForm(sh);
    MObjectSetShadow(a, WS_NONE, 0, 0);
    MFormSetSpacing(a, 0);
    MObjectSetTransparency(a, 255);

        for(c = 0; c < 6; c++)
            if(c == 4)
                DAS.Marconi.LblExpD[c] = MCreatePixmapFromData(a, DIL.Graph.digit[10]);
            else
                DAS.Marconi.LblExpD[c] = MCreatePixmapFromData(a, DIL.Graph.digit[0]);

    pb = MCreateImagePButtonExt(sh, "vimg/stop.bmp", "vimg/stopon.bmp", "", "vimg/stoparm.bmp", "", "");
    MObjectSetShadow(pb, WS_NONE, 0, 0);
    MPButtonSetCallback(pb, CBExpo, NULL);

    MShellRealize(sh);

    return sh;
}
/***********************************************************************/

void __stdcall ShowDown(const char *str, int port)
{
    char buff[16];
    buff[0] = '\0';
    strcpy(buff,str);

    if(DAS.Marconi.LblExpD[0] != NULL)
    {
        //DI_WriteDigit(DAS.Marconi.LblExpP, ttot);
        DI_WriteDigit(DAS.Marconi.LblExpD, buff);
        MLoopWhileEvents(0);
    }
}

int DB_InitDil(void)
{

    char buf[80];
/*********************************************************************************
 * dx = X image dimension
 * dy = Y image dimension
 * ifmt = image format
 *      0 = 16 bit unsigned Monochrome or paletted
 *      1 = 16 bit RGB 
 *      2 = float (4 bytes) Monochrome or paletted
 * sts: 1 = Show image, 0 = Hidden, 2 = Can't close image via X on window
 *
 * tit  = Image name (max 32 chars), if use "NONAME", will be initialized with shaded gray
 * CBImage = Mouse Call Back on Image
 * CBClose = Closing Cal back
 *
 * Return an image identifier (id) 0 to n
 * A negative value indicate an error
 * Errors:
 *      -1 = Memory allocation error
 *      -2 = Type inexistent/Format inexistent
 *      -3 = Too image open at the same time
 *********************************************************************************/     

    Server = DI_Init(0); //0=No Pop-Up Menu, 1=Yes Pop-Up Menu 

    DI_OpenDigit();


    if((DAS.Flag.exemode == OFFLINEPLOT) | (DAS.Flag.exemode == DOASMODE))
    {
        IDX = BIL.SPH.ccdex - BIL.SPH.ccdsx + 1;
        IDY = (BIL.SPH.ccdey - BIL.SPH.ccdsy + 1) / BIL.SPH.ccdvb ;
        IDX = BIL.SPH.ccdwx;
        IDY = BIL.SPH.ccdwy/BIL.SPH.ccdvb ;
    }
    else
    {
        IDX = DC_CCD.dx;
        IDY = DC_CCD.dy/DAS.Paramini.VBin ;
    }

    
    sprintf(buf, "E2V %s on %s",DC_CCDtoName(Cfg.CCDType, 0), DC_PTFtoName(Cfg.Platform, 0));
    Server = DI_OpenImage((U16)IDX, (U16)IDY, (U16)DAS.DOption.imgtype, 1, buf);
    DI_RunHisto();



    return 0;


}




int DB_InitCamera(int mod)
{

    int er, os, c;
    double PowTemp;
    unsigned long mx;
    char buf[_MAX_PATH];
    char    buff[_MAX_PATH];
    char    str[_MAX_PATH];
    int StartMode;
    long np;

    
    if (mod)
        DC_Close(0);


//**************************  **********************    
     
    //Set path for the DCL
    //sprintf(buff, "%s\\dcl\\", BIL.DFILEM.CONFIGDIREQUIPMENT );
    sprintf(buff, "%s\\dcl\\", BIL.DFILEM.HOMEDIRECTORY);
    // Return: 1 if PATH exist, else return 0
    er = DI_PathExist(buff);
    if (er)
    {
        //Set path for the DCL
        DC_SetPathName(buff);
    }
    else
    {
        sprintf(buf,"Path '%s' deos not exist,\nPlease create and fill ", buff);
        MMessageDialog ("DAS ERROR ", buf, "OK",NULL); 
        return 1001;

    }

    sprintf(buff, "%s\\%s.cfg", BIL.DFILEM.CONFIGDIREQUIPMENT, CodeEq2Name(DAS.Paramini.EqType));

//  sprintf(buff, "%s\\camera.cfg", BIL.DFILEM.CONFIGDIREQUIPMENT );
//  sprintf(buff, "%s\\dcl\\SPATRAM2.cfg", BIL.DFILEM.HOMEDIRECTORY );
    //Return: 1 if file exist, else return 0
    er = DI_FileExist(buff);
    if (er)
    {
        er = DC_LoadCameraConfig(buff, &Cfg);
        if (er)
        {
            //sprintf(buff,"Error in reading  '%s\\dcl\\camera.cfg' file,\nUNKNOWN Reason. Please contact Danbo", BIL.DFILEM.CONFIGDIREQUIPMENT);
            //sprintf(buff,"Error in reading  '%s\\camera.cfg' file,\nUNKNOWN Reason. Please contact Danbo", BIL.DFILEM.CONFIGDIREQUIPMENT);
            sprintf(buff,"Error in reading  '%s\\%s.cfg' file,\nUNKNOWN Reason. Please contact Danbo", BIL.DFILEM.CONFIGDIREQUIPMENT,CodeEq2Name(DAS.Paramini.EqType));
            MMessageDialog ("DAS ERROR ", buff, "OK",NULL); 

            sprintf(buff,"Error in reading '%s.cfg' ", CodeEq2Name(DAS.Paramini.EqType));
            Status(buff);
            return 1003;
        }

    }
    else
    {
        sprintf(buff,"File'%s\\%s.cfg' not found,\n\
Now 'dcs.exe' will load the standard 'camera.cfg' configuration file\n\
Set the camera parameters, copy the '%s\\dcl\\camera.cfg' file in the %s folder\n\
and rename in '%s.cfg'", BIL.DFILEM.CONFIGDIREQUIPMENT, CodeEq2Name(DAS.Paramini.EqType),
BIL.DFILEM.HOMEDIRECTORY,BIL.DFILEM.CONFIGDIREQUIPMENT,CodeEq2Name(DAS.Paramini.EqType));
        MMessageDialog ("DAS ERROR ", buff, "OK",NULL);
        sprintf(str, "%s//%s", BIL.DFILEM.HOMEDIRECTORY , "dcs.exe");

    

        er = WinExec(str, SW_SHOW);

        return 1002;

    }



//************************************************************
    DC_OpenPar(Cfg.Platform, Cfg.CCDType, 0);

    DC_RWData(CCD_INFO, READ_DATA, (void *) &DC_CCD, 0);
    DC_RWData(PTF_INFO, READ_DATA, (void *) &DC_HP, 0);

    
    sprintf(buf,"%d", DC_CCD.dx);
    MObjectSetText(DAS.Gui.ContrPanel.lbl_Par[3], buf);
    
    sprintf(buf,"%d", DC_CCD.dy);
    MObjectSetText(DAS.Gui.ContrPanel.lbl_Par[4], buf);
    
    if ((DAS.Flag.exemode == TEMPORIZED) | (DAS.Flag.exemode == PRGFILE) | (DAS.Flag.exemode == TESTCCD) |
        (DAS.Flag.exemode == MANUAL) | (DAS.Flag.exemode == SZAMASTERM) | (DAS.Flag.exemode == SZAMODE))
    {
        os = WhoSys();
        c = CCDHANDLE | CLEARCCD | TEMPHANDLE | os;
    //  c = CCDHANDLE | CLEARCCD | os;
        // Init the camera

        
    // Clear background task if setted
    //Cfg.TaskSettings &= (~(CCDHANDLE + TEMPHANDLE + CLEARCCD + MUTE));
        
        
        
        StartMode = 0;
        DC_OpenByConfig(&Cfg, 0, ShowDown, DD_VRange);
        er = DC_Status(Cfg.FDL_PCI_Index);  
        if (er)
        {
//          sprintf(buf,DC_ErrorMessage(er));
//          CCD_Error(buf);
            return er;
        }
        else
        {
            DC_RWData(CCD_INFO, READ_DATA, (void *) &DC_CCD, Cfg.FDL_PCI_Index);
            DC_RWData(PTF_INFO, READ_DATA, (void *) &DC_HP, Cfg.FDL_PCI_Index);
        
            if(mod==0)
            {
                /***  Init Dil   ***/
                DB_InitDil();
                /*******************/
                // Y Zoom for high vertical binning
                if((IDY) < 50)
                DI_ImageProperties(Server, (U16)IDX, (U16)IDY, (U16)IDX, (U16)IDY, 0, 0, NULL, 1, 100 / IDY, 0);
//              Image[Server].attrib = 1;
                DI_Regen(Server);
            }
            else
            {
                IDX = DC_CCD.dx;
                IDY = DC_CCD.dy/DAS.Paramini.VBin ;

                sprintf(buf, "E2V %s on %s",DC_CCDtoName(Cfg.CCDType, 0), DC_PTFtoName(Cfg.Platform, 0));
                Server = DI_OpenImage((U16)IDX, (U16)IDY, (U16)DAS.DOption.imgtype, 1, buf);
                DI_RunHisto();

                // Y Zoom for high vertical binning
                if((IDY) < 50)
                DI_ImageProperties(Server, (U16)IDX, (U16)IDY, (U16)IDX, (U16)IDY, 0, 0, NULL, 1, 100 / IDY, 0);
//              Image[Server].attrib = 1;
                DI_Regen(Server);


                if(Server)
                {
                    DIL.Img.Mat[Server - 1].attrib = 0;
                    DI_CloseImage(Server - 1);
                }

                if(Server == 0)
                {
                    DIL.Img.Mat[Server + 1].attrib = 0;
                    DI_CloseImage(Server + 1);
                }

            }
        
            // Set Gain
            DC_SetGain(0, 0);


            if (Cfg.Platform == 28) // HIRES V
            {
                //DC_SetUsrGain(int Gain, int Range, int Offset, int Camera);
                DC_SetUsrGain(0, 0 , DAS.Marconi.Offset , 0);
            }
            // Set CCD Temperature
            DC_SetTemp(DAS.Paramini.ITemp, CELSIUS, 0);

            // Check CCD Cooler Power
            PowTemp = DC_GetPower(0);

            // Set CCD Cooler Power
            DC_SetPower((double) ((double)DAS.Paramini.CoolPw / 10),0); 
            
            // Check CCD Cooler Power
            PowTemp = DC_GetPower(0);

            // Check Binning 
            //DC_GetBinning(orizz, vertic,0);
        
            // Set Vertical binning DAS.Paramini.VBIN
            DC_SetBinning(1, DAS.Paramini.VBin,0);
            
            // Check Binning 
            //DC_GetBinning(orizz, vertic,0);

            /*********************
                Load defect pixel
            ********************/
            if (DAS.DOption.pixcorr)
            {
                sprintf(buff, "%s\\%s",BIL.DFILEM.CONFIGDIREQUIPMENT, DAS.DOption.DEFPIXFILENAME);
                er=LoadDB_DefectPixel(buff);
            }
            //buffer for dark matrix
            if( ImatDark != NULL )
                free(ImatDark);

            mx = (unsigned long) IDX * (unsigned long) IDY;
            ImatDark = (unsigned short *) calloc( mx, sizeof(unsigned short));
            //Average Matrix (buffer)
            if (DAS.Marconi.AVGmat != NULL)
                free(DAS.Marconi.AVGmat);

            DAS.Marconi.AVGmat = (unsigned long *) calloc( mx, sizeof(unsigned long));

            return 0;
        }
        
    }
    else if(DAS.Flag.exemode == DBDEMO || DAS.Flag.exemode == TESTSZAMODE)
    {

        if(mod==0)
        {
            /***  Init Dil   ***/
            DB_InitDil();
            DIL.Img.Mat[Server].Imat = AllocUSMat(IDX, IDY);
            // Y Zoom for high vertical binning
            if((IDY) < 50)
            DI_ImageProperties(Server, (U16)IDX, (U16)IDY, (U16)IDX, (U16)IDY, 0, 0, (U16)NULL, 1, 100 / (U16)IDY, 0);
            //Image[Server].attrib = 1;
            DI_Regen(Server);




            /*******************/
        }
        else
        {
            IDX = DC_CCD.dx;

            IDY = DC_CCD.dy/DAS.Paramini.VBin ;

            
            sprintf(buf, "E2V %s on %s",DC_CCDtoName(Cfg.CCDType, 0), DC_PTFtoName(Cfg.Platform, 0));
            Server = DI_OpenImage((U16)IDX, (U16)IDY, (U16)DAS.DOption.imgtype, 1, buf);
            DI_RunHisto();
            // Y Zoom for high vertical binning
            if((IDY) < 50)
            DI_ImageProperties(Server, (U16)IDX, (U16)IDY, (U16)IDX, (U16)IDY, 0, 0, NULL, 1, 100 / (U16)IDY, 0);
            //Image[Server].attrib = 1;
            DI_Regen(Server);

            if(Server)
            {
                DIL.Img.Mat[Server - 1].attrib = 0;
                DI_CloseImage(Server - 1);
            }

            if(Server == 0)
            {
                DIL.Img.Mat[Server + 1].attrib = 0;
                DI_CloseImage(Server + 1);
            }

        }
        return 0;
    }
                


/**********************************************************************/
// Controlla il Param.log
//  Apre e legge il Param.log per poi decidere cosa fare con il parametro MODE del sensore
//  Mode = LoadParamLog();
//  if(Mode == 2)
//  {
    // il file non e' stato trovato quindi si pone Mode=0 (reinizializza il tutto)
//      Mode = 0;
//  }   
/**********************************************************************/
    return 0;   

}

int DB_InitCOM(int comn)
{

    int er = 0;
    er = DXL_Open(0, comn, Baud19200);  
    return er;

}
int DB_CloseCOM(void)
{
    int er;

    er = DXL_Close();
    return er;
}



int D_Homing(MOBJECT p, int id, int sm, int tout)
{
    unsigned long   st, et, x;
    char buf[80];
    int er = 0;
    st = GetTickCount();
    do
    {
        er = AMS_TestHome(id, sm);
            

            sprintf(buf,"%d", er);
            Status(buf);
        
        if (er)
        {
            sprintf(buf,"%d", er);
            Status(buf);
            return 1;
        }
        et = GetTickCount();
        x = labs(et - st);
        MLoopWhileEvents(0);
            //if((x % 10) == 0 && x > 0)
            if(x > 0)
            {
                if(DAS.DOption.amsprogbar)
                    D_VRange(NULL, (long) x * 100 / tout, 255, 0, 0 );
                sprintf(buf, "%.1lf sec.", (double)((double)(labs(et - st) - tout)/1000.0 ));
                MObjectSetText(p, buf);
            }
    }while((labs(et - st) < tout));


        er = AMS_TestHome(id, sm);
            sprintf(buf,"%d", er);
            Status(buf);

        

    return 0;

}



// id = AMS address
// sm = Stepper Motor: 0 = SM_A, 1 = SM_B
int HomeTrack(char *buf, int id, int sm, int mode)
{

    int d, bitn, dir,er;
    int HomeOnGoing = 1;
    long tout = 10000;
    double t;
    unsigned long   st, et, x;
    long count;

    //Select Bit number
    switch(sm) 
    {
    case 0:
        bitn = 3;
        break;
    case 1:
        bitn = 1;
        break;
    }

    // Read input  
    d = AMS_chkbitsts(id, bitn);
        
    // Select direction
    /************/
    if (!d) 
        dir = 0;
    if (d) 
        dir = 1;
    /************/
        
    // First attempt (fast)
    /*§§§§§§§§§§§§§§§§§§§§§§§§§§§§§§§§§§§§§§§§§§§*/
    if(DAS.DOption.amsprogbar)
        D_VRange(buf,0, 255, 0, 0);

    t = 10E6 / (2 * DAS.StepM.speed_Hz[id][sm] * 1000) - 1 ;
    count = (long) t;
    
    switch(sm) 
    {
    case 0:
        AMS_TrackOn(id, dir, 0, count, 0);
        break;
    case 1:
        AMS_TrackOn(id, 0, dir, 0, count);
        break;
    }

    
        
    st = GetTickCount();

    do
    {
        // Read input  
        d = AMS_chkbitsts(id, bitn);
        MLoopWhileEvents(0);

        if (dir == 0) //Direction = 0
        {
            if(d)
            {
                HomeOnGoing = 0;
                er = AMS_TrackOff(id, 1, 1);
            }
        }
        if (dir) //Direction 1
        {
            if(d==0) 
            {
                HomeOnGoing = 0;
                er = AMS_TrackOff(id, 1, 1);
            }
        }

        et = GetTickCount();
        x = labs(et - st);
//          MLoopWhileEvents(0);
        //For progress bar display
        //if((x % 10) == 0 && x > 0)
        if(x > 0)
            if(DAS.DOption.amsprogbar)
                D_VRange(NULL, (long) x * 100 / tout, 255, 0, 0 );
    }while(HomeOnGoing);

    if(DAS.DOption.amsprogbar)
        D_VRange(NULL, 100, 0,0,0);
    /*§§§§§§§§§§§§§§§§§§§§§§§§§§§§§§§§§§§§§§§§§§§*/

    // Second attempt (slow in opposite direction)
    /*@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@*/
    HomeOnGoing = 1;
    dir = !dir;
    t = 10E6 / (2 * DAS.StepM.speed_Hz[id][sm] * 1000 / 50) - 1;
    count = (long) t;

    switch(sm) 
    {
    case 0:
        AMS_TrackOn(id, dir, 0, count, 0);
        break;
    case 1:
        AMS_TrackOn(id, 0, dir, 0, count);
        break;
    }

    if(DAS.DOption.amsprogbar)
        D_VRange( buf,0, 255, 255, 0);

    st = GetTickCount();

    do
    {

        d = AMS_chkbitsts(id, bitn);
        if (dir == 0) //Direction = 0
        {
            if(d)
            {
                HomeOnGoing = 0;
                er = AMS_TrackOff(id, 1, 1);
            }
        }
        if (dir) //Direction 1
        {
            if(d==0) 
            {
                HomeOnGoing = 0;
                er = AMS_TrackOff(id, 1, 1);
            }
        }

        et = GetTickCount();
        x = labs(et - st);
        MLoopWhileEvents(0);
        //For progress bar display
        //if((x % 10) == 0 && x > 0)
        if(x > 0)
            if(DAS.DOption.amsprogbar)
                D_VRange(NULL, (long) x * 100 / tout, 255, 0, 0 );
    }while(HomeOnGoing);


    if(DAS.DOption.amsprogbar)
        D_VRange(NULL, 100, 0,0,0);
    /*@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@*/

    //Reset the default values of the divider
    AMS_Divisore(id, 40000,40000);


    if (mode)
    {
        //Home Grating Task
        MRefreshTimeout(&IDS.GRATHOME, GRAT_TASK_TIME, Task_HomeGrat, NULL);

    }

    return 0;

}




int HomeMirror(void)
{
    int er, k;
    char buf[40];
//  int     DIR[] = { 0, 0 };
    int dir = 0;
    long count;
//  int FlgHomeMir = 1,
    int sts = 0;
    int HomeOnGoing = 1;
//  double t;
//  unsigned long   st, et, x;
    long tout = 3000;

    MPixmapSetImageFile(DAS.Gui.ContrPanel.LedSM[AMS1][DAS.StepM.SM_A], "SYS\\ledoff.bmp");
    sprintf(buf, "%s", "Homing");
    MObjectSetText(DAS.Gui.ContrPanel.Albl_LS[0], buf);     
    Status("Home for Input Mirror...");
    
    //st = GetTickCount();
    

    if(DAS.StepM.hometype[AMS1][DAS.StepM.SM_A] == 0) //Home Standard
    {
        er = AMS_Home(AMS1, 1, 0);
        count = (long) (2000.0 * DAS.StepM.multiplier[AMS1][DAS.StepM.SM_A]);
        D_Homing(DAS.Gui.ContrPanel.Albl_LS[0], AMS1, DAS.StepM.SM_A, count);
    }
    if(DAS.StepM.hometype[AMS1][DAS.StepM.SM_A] == 1) //Home with Default
    {
        
        //18/05/2007 NOT Tested
        DAS.StepM.divider[AMS1][DAS.StepM.SM_A]= (unsigned long)(10E6/DAS.StepM.speed_Hz[AMS1][DAS.StepM.SM_A]/2);
        AMS_Divisore(AMS1,DAS.StepM.divider[AMS1][DAS.StepM.SM_A],40000);
        
        er = AMS_HomeDefault(AMS1, 1, 0);
        D_Homing(DAS.Gui.ContrPanel.Albl_LS[0], AMS1, DAS.StepM.SM_A, 12000);
        AMS_Divisore(AMS1, 40000,40000);

    }
    //Home with tracking with setted values of speed and step/round
    if(DAS.StepM.hometype[AMS1][DAS.StepM.SM_A] == 2) 
    {
        sprintf(buf, "Homing Mirror");
        er = HomeTrack(buf, AMS1,DAS.StepM.SM_A, 0);
    }

        // Set final directions

        AMS_dirfin(AMS1, 1, 0);
        // Set default values
        AMS_Default(AMS1);

        // Re-Init AMS1 ( with no Home)
            er = DB_InitAMS(AMS1, 1, DAS.StepM.power[AMS1][DAS.StepM.SM_A], 
                DAS.StepM.step[AMS1][DAS.StepM.SM_A], DAS.StepM.slope[AMS1][DAS.StepM.SM_A], 
                DAS.StepM.speed[AMS1][DAS.StepM.SM_A], DAS.StepM.power[AMS1][DAS.StepM.SM_B], 
                DAS.StepM.step[AMS1][DAS.StepM.SM_B], DAS.StepM.slope[AMS1][DAS.StepM.SM_B],
                DAS.StepM.speed[AMS1][DAS.StepM.SM_B]);
 
        // Send Offet for Mirror
        if(DAS.Paramini.Offset[0] > 0) dir = 0;
        else dir = 1;

        if(DAS.Paramini.Offset[0] != 0)
        {
            k = (int)SMfraz(DAS.StepM.step[AMS1][DAS.StepM.SM_A]);
            count = labs(DAS.Paramini.Offset[0] * k * DAS.StepM.multiplier[AMS1][DAS.StepM.SM_A]); //6 e' la riduzione
            //er = AMS_DoPos(AMS1, DIR[0], 0, count, 0);
            er = AMS_DoPos(AMS1, dir, 0, labs(count), 0);
            if(er)  { Message("n Step not sent! 2", er); }
        }


    

    er = AMS_AzzeraCoord(AMS1, 0);
        if(er)  { Message("No Zero Coord Mirror", er); }
    MIS.Pos = 0;
    if (DAS.Paramini.EqType == TROPOGAS || DAS.Paramini.EqType == SPATRAM3 || DAS.Paramini.EqType == GASCODNG4 )
        sprintf(buf, "%s",Mir_CodeTropo[0]);
    else
        sprintf(buf, "%s",Mir_Code[0]);

//  sprintf(buf, "%s", "       Zenith" );
    MObjectSetText(DAS.Gui.ContrPanel.Albl_LS[0], buf);
    MPixmapSetImageFile(DAS.Gui.ContrPanel.LedSM[AMS1][DAS.StepM.SM_A], "SYS\\ledGreen.bmp"); 
    Status("Home for Input Mirror..DONE");

    return 0;

}



int HomeGratingFast(int mod)
{

    int     DIR[] = { 0, 0 };
//  long count;
//  double t;
    int     er, FlgGratPos = 1;
    char    buf[80];
    unsigned long   st;
    
    
    MPixmapSetImageFile(DAS.Gui.ContrPanel.LedSM[AMS1][DAS.StepM.SM_B], "SYS\\ledoff.bmp");
    sprintf(buf, "%s", "Homing");
    MObjectSetText(DAS.Gui.ContrPanel.Albl_LS[1], buf);     
    Status("Home for Grating...");

    st = GetTickCount();

    


    if(DAS.StepM.hometype[AMS1][DAS.StepM.SM_B] == 0) //Home Standard
    {
        er = AMS_Home(AMS1, 0, 1);
        D_Homing(DAS.Gui.ContrPanel.Albl_LS[1], AMS1, DAS.StepM.SM_B, 30000);
    }
    if(DAS.StepM.hometype[AMS1][DAS.StepM.SM_B] == 1) //Home with Default
    {
        er = AMS_HomeDefault(AMS1, 0, 1);
        D_Homing(DAS.Gui.ContrPanel.Albl_LS[1], AMS1, DAS.StepM.SM_B, 30000);
    }
    //Home with tracking with setted values of speed and step/round
    if(DAS.StepM.hometype[AMS1][DAS.StepM.SM_B] == 2) 
    {
        sprintf(buf, "Homing Grating");
        er = HomeTrack(buf, AMS1, DAS.StepM.SM_B, mod);
    }

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


    AMS_dirfin(AMS1, 0, 1);

    AMS_Default(AMS1);

    // Re-Init AMS1 ( with no Home)
    er = DB_InitAMS(AMS1, 1, DAS.StepM.power[AMS1][DAS.StepM.SM_A], 
        DAS.StepM.step[AMS1][DAS.StepM.SM_A], DAS.StepM.slope[AMS1][DAS.StepM.SM_A], 
        DAS.StepM.speed[AMS1][DAS.StepM.SM_A], DAS.StepM.power[AMS1][DAS.StepM.SM_B], 
        DAS.StepM.step[AMS1][DAS.StepM.SM_B], DAS.StepM.slope[AMS1][DAS.StepM.SM_B],
        DAS.StepM.speed[AMS1][DAS.StepM.SM_B]);

    // Send Offet for Grating
    if(DAS.Paramini.Offset[6] > 0) DIR[0] = 0;
    else DIR[0] = 1;

    if(DAS.Paramini.Offset[6] != 0)
    {
        er = AMS_DoPos(AMS1, 0, DIR[0], 0, labs(DAS.Paramini.Offset[6]));
    }
    er = AMS_AzzeraCoord(AMS1, 1);
        if(er)  { Message("No Zero Coord Grating", er); }
    
    GRS.Wl = LookforWl_X(4358);//Lookfor4358();
    sprintf(buf, "%d", 4358);
    MObjectSetText(DAS.Gui.ContrPanel.Albl_LS[1], buf);     
    MPixmapSetImageFile(DAS.Gui.ContrPanel.LedSM[AMS1][DAS.StepM.SM_B], "SYS\\ledGreen.bmp"); 
    Status("Home for Grating..DONE");

    return 0;
}


int HomeFiltersFast(void)
{
    int er, d;
    char buf[40];
    long count;
    double t;
    int FlgHomeFW = 1;
    unsigned long   st, et, x;

    sprintf(DXL.buftx, "*01000000"); //d = 12, buio --> senso orario
    DXL_TxStr(DXL.buftx, strlen(DXL.buftx));
    d = ACKLEN;
    er = DXL_RxStr(buf, &d);

    st = GetTickCount();

    // Read input  
    d = AMS_chkbitsts(AMS2, 3);

    d = !d;

    if(d) 
    {
        t = 10E6 / (DAS.StepM.speed_Hz[AMS2][DAS.StepM.SM_A] * 1000) ;
        count = (long) t;
        AMS_TrackOn(AMS2, 1, 0, count, 0);
        

        if(DAS.DOption.amsprogbar)
            D_VRange("Homing filter",0, 0, 0, 255);

        do
        {
            // Read input  
            d = AMS_chkbitsts(AMS2, 3);
            MLoopWhileEvents(0);
            if(d == 1)
            {
                er = AMS_TrackOff(AMS2, 1, 2);
                FlgHomeFW = 0;  
            }

            /*************************************************************/
            //For progress bar display
            //          D_Homing(DAS.Gui.ContrPanel.Albl_LS[0], 0, 2000, FlgHomeMir);
            et = GetTickCount();
            x = labs(et - st);
            
            //if((x % 10) == 0 && x > 0)
            if(x > 0)
            {
                if(DAS.DOption.amsprogbar)
                    D_VRange(NULL, (long) x * 100 / 5000, 255, 0, 0 );
                sprintf(buf, "%.1lf sec.", (double)fabs(((double)(labs(et - st) - 5000))/1000.0 ));
                MObjectSetText(DAS.Gui.ContrPanel.Albl_LS[2], buf);
            }
            /***************************************************/
        }while (FlgHomeFW);

        if(DAS.DOption.amsprogbar)
            D_VRange(NULL, 100, 0,0,0);

        // Set final directions
        AMS_dirfin(AMS2, 1, 0);
        // Set default values
        AMS_Default(AMS2);

        // Re-Init AMS2 ( with no Home)
            er = DB_InitAMS(AMS2, 1, DAS.StepM.power[AMS2][DAS.StepM.SM_A], 
                DAS.StepM.step[AMS2][DAS.StepM.SM_A], DAS.StepM.slope[AMS2][DAS.StepM.SM_A], 
                DAS.StepM.speed[AMS2][DAS.StepM.SM_A], DAS.StepM.power[AMS2][DAS.StepM.SM_B], 
                DAS.StepM.step[AMS2][DAS.StepM.SM_B], DAS.StepM.slope[AMS2][DAS.StepM.SM_B], 
                DAS.StepM.speed[AMS2][DAS.StepM.SM_B]);
 
    }

    er = AMS_AzzeraCoord(AMS2, 0);
        if(er)  { Message("No Zero Coord FW", er); }

    FWS.Pos = 0;
    sprintf(buf, "%s", "NULL");
    MObjectSetText(DAS.Gui.ContrPanel.Albl_LS[2], buf);     
    MPixmapSetImageFile(DAS.Gui.ContrPanel.LedSM[AMS2][DAS.StepM.SM_A], "SYS\\ledGreen.bmp");           
    Status("Home for Filter Wheel...DONE !");

    return 0;
}

int HomeNDFiltersFast(void)
{
    int er, d;
    char buf[40];
    long count;
    double t;
    int FlgHomeFW = 1;
    unsigned long   st, et, x;

    sprintf(DXL.buftx, "*00000100"); //d = 12, buio --> senso orario
    DXL_TxStr(DXL.buftx, strlen(DXL.buftx));
    d = ACKLEN;
    er = DXL_RxStr(buf, &d);

    st = GetTickCount();

    // Read input  
    d = AMS_chkbitsts(AMS2, 1);

    d = !d;

    if(d) 
    {
        t = 10E6 / (DAS.StepM.speed_Hz[AMS2][DAS.StepM.SM_A] * 1000) ;
        count = (long) t;
        AMS_TrackOn(AMS2, 0, 1, 0, count);
        

        if(DAS.DOption.amsprogbar)
            D_VRange("Homing ND filter",0, 0, 192, 255);

        do
        {
            // Read input  
            d = AMS_chkbitsts(AMS2, 1);
            MLoopWhileEvents(0);
            if(d == 1)
            {
                er = AMS_TrackOff(AMS2, 1, 1);
                FlgHomeFW = 0;  
            }

            /*************************************************************/
            //For progress bar display
            //          D_Homing(DAS.Gui.ContrPanel.Albl_LS[0], 0, 2000, FlgHomeMir);
            et = GetTickCount();
            x = labs(et - st);
            
            //if((x % 10) == 0 && x > 0)
            if(x > 0)
            {
                if(DAS.DOption.amsprogbar)
                    D_VRange(NULL, (long) x * 100 / 5000, 255, 0, 0 );
                sprintf(buf, "%.1lf sec.", (double)fabs(((double)(labs(et - st) - 5000))/1000.0 ));
                MObjectSetText(DAS.Gui.ContrPanel.Albl_LS[3], buf);
            }
            /***************************************************/
        }while (FlgHomeFW);

        if(DAS.DOption.amsprogbar)
            D_VRange(NULL, 100, 0,0,0);

        // Set final directions
        AMS_dirfin(AMS2, 1, 1);
        // Set default values
        AMS_Default(AMS2);

        // Re-Init AMS2 ( with no Home)
            er = DB_InitAMS(AMS2, 1, DAS.StepM.power[AMS2][DAS.StepM.SM_A], 
                DAS.StepM.step[AMS2][DAS.StepM.SM_A], DAS.StepM.slope[AMS2][DAS.StepM.SM_A], 
                DAS.StepM.speed[AMS2][DAS.StepM.SM_A], DAS.StepM.power[AMS2][DAS.StepM.SM_B], 
                DAS.StepM.step[AMS2][DAS.StepM.SM_B], DAS.StepM.slope[AMS2][DAS.StepM.SM_B], 
                DAS.StepM.speed[AMS2][DAS.StepM.SM_B]);
 
    }

    er = AMS_AzzeraCoord(AMS2, 1);
        if(er)  { Message("No Zero Coord ND FW", er); }

    FWS.Pos = 0;
    sprintf(buf, "%s", "NULL");
    MObjectSetText(DAS.Gui.ContrPanel.Albl_LS[3], buf);     
    MPixmapSetImageFile(DAS.Gui.ContrPanel.LedSM[AMS2][DAS.StepM.SM_B], "SYS\\ledGreen.bmp");           
    Status("Home for ND Filter Wheel...DONE !");

    return 0;
}

/*
int HomeFilterWheel(void)
{
    int er, d;
    char buf[40];
    long count;
    double t;
    int FlgHomeFW = 1;
    unsigned long   st, et, x;

    st = GetTickCount();

    MPixmapSetImageFile(DAS.Gui.ContrPanel.LedSM3, "SYS\\ledoff.bmp");
    sprintf(buf, "%s", "Homing");
    MObjectSetText(DAS.Gui.ContrPanel.Albl_LS[2], buf);     
    Status("Home for Filter Wheel..."); 

    // Polarita' degli home
    if(DAS.Paramini.EqType == LIS_)
    {
        sprintf(DXL.buftx, "*00000000"); //d = 10, buio --> senso orario
        DXL_TxStr(DXL.buftx, strlen(DXL.buftx));
        d = ACKLEN;
        er = DXL_RxStr(buf, &d);
    }   
    else if (DAS.Paramini.EqType == SPATRAM || DAS.Paramini.EqType == GASCODNG || DAS.Paramini.EqType == SPATRAMPLUS || DAS.Paramini.EqType == TROPOGAS )
    {
        sprintf(DXL.buftx, "*01000000"); //d = 12, buio --> senso orario
        DXL_TxStr(DXL.buftx, strlen(DXL.buftx));
        d = ACKLEN;
        er = DXL_RxStr(buf, &d);
    }
    // Leggo gli input  per fare Home della routa filtri 
    sprintf(DXL.buftx, "/");
    DXL_TxStr(DXL.buftx, strlen(DXL.buftx));
    d = STS0LEN;
    er = DXL_RxStr(buf, &d);
    d = buf[1];
    if(d > '9') d -= 7;
    d -= 48;
    if((d & 8) == 0)
    {
        t = 10E6 / (2 * 500.0) - 1;
        count = (long) t;
        sprintf(DXL.buftx, "0%02X%08lX0000000000", 1, count);
        DXL_TxStr(DXL.buftx, strlen(DXL.buftx));
        d = ACKLEN;
        er = DXL_RxStr(buf, &d);    

        D_VRange("Homing Filter Wheel",0, 0, 0, 255);

        do
        {
            
            // Leggo gli input  
            sprintf(DXL.buftx, "/");
            DXL_TxStr(DXL.buftx, strlen(DXL.buftx));
            d = STS0LEN;
            er = DXL_RxStr(buf, &d);
            d = buf[1];
            if(d > '9') d -= 7;
                d -= 48;
            if((d & 8) != 0)
            {
            
                sprintf(DXL.buftx, "50101");
                DXL_TxStr(DXL.buftx, strlen(DXL.buftx));
                d = ACKLEN;
                er = DXL_RxStr(buf, &d);
                FlgHomeFW = 0;  
            }
/*************************************************************/
            //For progress bar display
/*          et = GetTickCount();
            x = labs(et - st);
            
            if((x % 10) == 0 && x > 0)
            {
                D_VRange(NULL, (long) x * 100 / 5000, 255, 0, 0 );
                sprintf(buf, "%.1lf sec.", (double) fabs(((double)(labs(et - st) - 5000))/1000.0 ));
                MObjectSetText(DAS.Gui.ContrPanel.Albl_LS[2], buf);
            }
/*************************************************************/
/*      }while (FlgHomeFW);

        D_VRange(NULL, 100, 0,0,0);
    
        // Setto direzioni finali
        sprintf(DXL.buftx, "-0101");
        DXL_TxStr(DXL.buftx, strlen(DXL.buftx));
        d = ACKLEN;
        er = DXL_RxStr(buf, &d);

        // Set default values
        DXL_TxStr("A", 1);
        d = ACKLEN;
        er = DXL_RxStr(buf, &d);

        DXL.add = 1;
        // Re-Init AMS2 ( with no Home)
        DB_InitAMS(AMS2, 1, DAS.StepM.cop[DAS.StepM.SM3], DAS.StepM.step[DAS.StepM.SM3], DAS.StepM.slope[DAS.StepM.SM3], DAS.StepM.speed[DAS.StepM.SM3], 0, 0, 0, 0);
    }
    er = AMS_AzzeraCoord(AMS2, 0);
        if(er)  { Message("No Zero Coord FW", er); }

    FWS.Pos = 0;
    sprintf(buf, "%s", "NULL");
    MObjectSetText(DAS.Gui.ContrPanel.Albl_LS[2], buf);     
    MPixmapSetImageFile(DAS.Gui.ContrPanel.LedSM3, "SYS\\ledGreen.bmp");            
    Status("Home for Filter Wheel...DONE !");

    return 0;
}
*/
int HomeZenithFast(void)
{

    int     DIR[] = { 0, 0 };
//  long count;
//  double t;
    int     er, d, FlgZenPos = 1,h = 0,k = 0;
    char    buf[80];
    unsigned long   st;
    

    
    
    
    MPixmapSetImageFile(DAS.Gui.ContrPanel.LedSM[AMS3][DAS.StepM.SM_A], "SYS\\ledoff.bmp");
    sprintf(buf, "%s", "Homing");
    MObjectSetText(DAS.Gui.ContrPanel.Albl_LS[4], buf);     
    Status("Home for Zenith...");

    st = GetTickCount();

    //Home bit  
    d = AMS_chkbitsts(AMS3, 3);
    //EndRun 1 bit
    h = AMS_chkbitsts(AMS3, 6);
    //EndRun 2 bit
    k = AMS_chkbitsts(AMS3, 7);

    st = GetTickCount();

    


    if(DAS.StepM.hometype[AMS3][DAS.StepM.SM_A] == 0) //Home Standard
    {
        er = AMS_Home(AMS3, 1, 0);
        D_Homing(DAS.Gui.ContrPanel.Albl_LS[4], AMS3, DAS.StepM.SM_A, 5000);
    }
    if(DAS.StepM.hometype[AMS3][DAS.StepM.SM_B] == 1) //Home with Default
    {
        er = AMS_HomeDefault(AMS3, 1, 0);
        D_Homing(DAS.Gui.ContrPanel.Albl_LS[4], AMS3, DAS.StepM.SM_A, 5000);
    }
    //Home with tracking with setted values of speed and step/round
    if(DAS.StepM.hometype[AMS3][DAS.StepM.SM_A] == 2) 
    {
        sprintf(buf, "Homing Zenith");
        er = HomeTrack(buf, AMS3, DAS.StepM.SM_A, 0);
    }

    AMS_dirfin(AMS3, 1, 0);

    AMS_Default(AMS3);

    // Re-Init AMS3 ( with no Home)
    er = DB_InitAMS(AMS3, 1, DAS.StepM.power[AMS3][DAS.StepM.SM_A], 
        DAS.StepM.step[AMS3][DAS.StepM.SM_A], DAS.StepM.slope[AMS3][DAS.StepM.SM_A], 
        DAS.StepM.speed[AMS3][DAS.StepM.SM_A], DAS.StepM.power[AMS3][DAS.StepM.SM_B], 
        DAS.StepM.step[AMS3][DAS.StepM.SM_B], DAS.StepM.slope[AMS3][DAS.StepM.SM_B], 
        DAS.StepM.speed[AMS3][DAS.StepM.SM_B]);


    ZST.Pos = 0;

    //SD_Zenith_H(-3);
    //ZST.Pos = 0;

        er = AMS_AzzeraCoord(AMS3, 0);
        if(er)  { Message("No Zero Coord Zenith", er); }

    SD_Zenith_H(-90);

    //ZST.Pos = -90;
    //sprintf(buf, "%s", "-90.0");

    ZST.Pos = 0;
    sprintf(buf, "%s", "0.0");
    MObjectSetText(DAS.Gui.ContrPanel.Albl_LS[4], buf);     
    MPixmapSetImageFile(DAS.Gui.ContrPanel.LedSM[AMS3][DAS.StepM.SM_A], "SYS\\ledGreen.bmp"); 
    Status("Home for Zenith..DONE");

    
    return 0;
}


int HomeAzimFast(void)
{

    int     dir;
    long count;
    double t;
    int     er, d, HomeOnGoing = 1;
    char    buf[80];
    unsigned long   st, et, x;
    
    MPixmapSetImageFile(DAS.Gui.ContrPanel.LedSM[AMS3][DAS.StepM.SM_B], "SYS\\ledoff.bmp");
    sprintf(buf, "%s", "Homing");
    MObjectSetText(DAS.Gui.ContrPanel.Albl_LS[5], buf);     
    Status("Home for Azimuth...");

    st = GetTickCount();
    
    d = AMS_chkbitsts(AMS3, 1);
    if (DAS.MIGE.type == 2)
        d=!d;

    if(d)
    {
        dir = 0;
    }
    else
    {
        dir = 1;
    }

    /**********************************/
        // First attempt (fast)
    /*§§§§§§§§§§§§§§§§§§§§§§§§§§§§§§§§§§§§§§§§§§§*/
    t = 10E6 / (2 * DAS.StepM.speed_Hz[AMS3][DAS.StepM.SM_B] * 1000) - 1;
    count = (long) t;
    AMS_TrackOn(AMS3, 0, dir, 0, count);
    if(DAS.DOption.amsprogbar)
        D_VRange("Homing Azimuth with Track(1)",0, 255, 0, 0);
    
    do
    {
        MLoopWhileEvents(0);

        d = AMS_chkbitsts(AMS3, 1);
        if (DAS.MIGE.type == 2)
            d=!d;

        if(dir == 0)
        {
            if(d == 0)
            {
                er = AMS_TrackOff(AMS3, 1, 1);
                HomeOnGoing = 0;
            }
        }
        if(dir)
        {
            if(d)
            {
                er = AMS_TrackOff(AMS3, 1, 1);
                HomeOnGoing = 0;  
            }
        }
        //For progress bar display
        et = GetTickCount();
        x = labs(et - st);
        //if((x % 10) == 0 && x > 0)
        if(x > 0)
        {
            if(DAS.DOption.amsprogbar)
                D_VRange(NULL, (long) x * 100 / 35000, 255, 0, 0 );
            sprintf(buf, "Max Time Left:%.1lf", (double)fabs(((double)(labs(et - st) - 35000))/1000.0 ));
            MObjectSetText(DAS.Gui.ContrPanel.Albl_LS[5], buf);
        }

    }while (HomeOnGoing);
    /*§§§§§§§§§§§§§§§§§§§§§§§§§§§§§§§§§§§§§§§§§§§*/

    if(DAS.DOption.amsprogbar)
        D_VRange(NULL, 100, 0,0,0);

    // Second attempt (slow in opposite direction)
    /*@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@*/
    HomeOnGoing = 1;
    dir = !dir;
    t = 10E6 / (2 * DAS.StepM.speed_Hz[AMS3][DAS.StepM.SM_B] * 1000 / 20) - 1;
    count = (long) t;

    AMS_TrackOn(AMS3, 0, dir, 0, count);
    if(DAS.DOption.amsprogbar)
        D_VRange("Homing with tracking (2)",0, 255, 255, 0);
    st = GetTickCount();
    do
    {
        d = AMS_chkbitsts(AMS3, 1);
        if (DAS.MIGE.type == 2)
            d = !d;

        if(dir == 0)
        {
            if(d == 0)
            {
                er = AMS_TrackOff(AMS3, 1, 1);
                HomeOnGoing = 0;
            }
        }
        if(dir)
        {
            if(d)
            {
                er = AMS_TrackOff(AMS3, 1, 1);
                HomeOnGoing = 0;  
            }
        }
        //For progress bar display
        et = GetTickCount();
        x = labs(et - st);
        //if((x % 10) == 0 && x > 0)
        if(x > 0)
        {
            if(DAS.DOption.amsprogbar)
                D_VRange(NULL, (long) x * 100 / 35000, 255, 0, 0 );
            sprintf(buf, "Max Time Left:%.1lf", (double)fabs(((double)(labs(et - st) - 35000))/1000.0 ));
            MObjectSetText(DAS.Gui.ContrPanel.Albl_LS[5], buf);
        }
    }while (HomeOnGoing);

    if(DAS.DOption.amsprogbar)
        D_VRange(NULL, 100, 0,0,0);
    /*@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@*/

    //Reset the default values of the divider
    er = AMS_Divisore(AMS3, 40000,40000);

    

    AMS_Default(AMS3);

    // Re-Init AMS3 ( with no Home)
    er = DB_InitAMS(AMS3, 1, DAS.StepM.power[AMS3][DAS.StepM.SM_A], 
        DAS.StepM.step[AMS3][DAS.StepM.SM_A], DAS.StepM.slope[AMS3][DAS.StepM.SM_A], 
        DAS.StepM.speed[AMS3][DAS.StepM.SM_A], DAS.StepM.power[AMS3][DAS.StepM.SM_B], 
        DAS.StepM.step[AMS3][DAS.StepM.SM_B], DAS.StepM.slope[AMS3][DAS.StepM.SM_B], 
        DAS.StepM.speed[AMS3][DAS.StepM.SM_B]);

    er = AMS_AzzeraCoord(AMS3, 1);
        if(er)  { Message("No Zero Coord Azimuth", er); }
    
    AMS_dirfin(AMS3, 0, 1);

    
    AST.Pos = 0.0; //for solar tracker
    sprintf(buf, "%.1lf %s", AST.Pos, "°N");
    MObjectSetText(DAS.Gui.ContrPanel.Albl_LS[5], buf);     
    MPixmapSetImageFile(DAS.Gui.ContrPanel.LedSM[AMS3][DAS.StepM.SM_B], "SYS\\ledGreen.bmp"); 
    Status("Home for Azimuth..DONE");


    return 0;
}


int DB_InitAMS(int nid, int mod, int powera, int stepa, int slopea, int speeda, int powerb, int stepb, int slopeb, int speedb)
{

    int er = 0, d;
    char buf[80];
    long l;
    char *stopstring;


    DXL.add = nid;
//  if (mod != 1)
//  {
        //****************************************************
        // Set final directions
        sprintf(DXL.buftx, "-0000");
        DXL_TxStr(DXL.buftx, strlen(DXL.buftx));
        d = ACKLEN;
        er = DXL_RxStr(buf, &d);
        // Set default values
        DXL_TxStr("A", 1);
        d = ACKLEN;
        er = DXL_RxStr(buf, &d);
        //*****************************************************
//  }
    // Firmware Revision
    er = AMS_firmrev(nid);
    d = atoi(DXL.bufrx);
    l = strtol( DXL.bufrx, &stopstring, 16 );
    DAS.StepM.firmrev[nid] = l/10;

    
    if(er == 0)
    {
        // Send power
        er = AMS_Power(nid, powera, powerb);
        if(er == 0)
        {
            // Send step
            er = AMS_Step(nid, stepa, stepb);
            if(er == 0)
            {
                // Send slope
                er = AMS_Slope(nid, slopea, slopeb);
                if(er == 0)
                {
                    // Send speed
                    er = AMS_Speed(nid, speeda, speedb);
                    if(er == 0)
                    {
                        // Enable slope
//                      sprintf(DXL.buftx, ";%02X%02X", 0, 0);
//                      DXL_TxStr(DXL.buftx, 5);
//                      d = ACKLEN;
//                      er = DXL_RxStr(buf, &d);
                        if(er == 0)
                        {
                            if(nid == 0 && mod == 0)
                            {
                                HomeMirror();
//                              writelogmotor(1, 0, er, 0, 0, nid);

                                HomeGratingFast(0);
//                              writelogmotor(1, 1, er, 0, 0, nid);
                            }
                            if(nid == 1 && mod == 0)
                            {
                                HomeFiltersFast();

                                if (DAS.DOption.filtertype == FDOUBLE)
                                    HomeNDFiltersFast();
                                //HomeFilterWheel();
//                              writelogmotor(1, 2, er, 0, 0, nid);
                            }
                            if(nid == 0 && mod == 2)
                            {
                                HomeMirror();
//                              writelogmotor(1, 0, er, 0, 0, nid);
                            }
                            if(nid == 0 && mod == 3)
                            {
                                HomeGratingFast(0);
//                              writelogmotor(1, 1, er, 0, 0, nid);
                            }
                            if(nid == 1 && mod == 4)
                            {
                                //HomeFilterWheel();
                                HomeFiltersFast();
//                              writelogmotor(1, 2, er, 0, 0, nid);

                            }
                            if(nid == 1 && mod == 7)
                            {
                                //HomeFilterWheel();
                                HomeNDFiltersFast();
//                              writelogmotor(1, 2, er, 0, 0, nid);

                            }
                            if(nid == 2 && mod == 0)
                            {
                                
                                HomeZenithFast();
//                              writelogmotor(1, 0, er, 0, 0, nid);

                                HomeAzimFast();
//                              writelogmotor(1, 1, er, 0, 0, nid);
                            }
                            if(nid == 2 && mod == 5)
                            {
                                HomeZenithFast();
//                              writelogmotor(1, 0, er, 0, 0, nid);
                            }
                            if(nid == 2 && mod == 6)
                            {
                                HomeAzimFast();
//                              writelogmotor(1, 1, er, 0, 0, nid);
                            }
                        }
                        else
                        {
                            //Slope not enabled
                            AMS_Error(6);
                        }
                    }
                    else
                    {
                        //speed not sent
                        AMS_Error(5);
                    }
                }
                else
                {
                    //Slope not sent
                    AMS_Error(4);
                }
            }
            else
            {
                //step not sent
                AMS_Error(3);
            }
        }
        else
        {
            //Power not sent
            AMS_Error(2);
        }
    }
    else
    {
        if(nid == 0)
        {
            //AMS1 not found
            AMS_Error(0);
            return 1;
        }
        if(nid == 1)
        {
            //AMS2 not found
            AMS_Error(1);
            return 1;
        }
        if(nid == 2)
        {
            //AMS3 not found
            AMS_Error(7);
            return 1;
        }

    }

    if(er) 
        er = SioReset(DXL.com, 1024, 1024);
    
    return 0;

}

void FPGACB(void)
{
    char    buf[80];
    int     d, er;

    DXL_TxStr("B", 1);
    d = STS0LEN;
    er = DXL_RxStr(DXL.bufrx, &d);

    sprintf(buf, "FPGA ID: %s", DXL.bufrx);
    Message(buf, er);
}

//mod = 1 init COM
//mod = 0 do NOT Init COM

int DB_InitMotor(int mod)
{

    char buf[80];
    int er = 0;
    int ans = 0;
    //int AMS1 = 0;
    //int AMS2 = 1;
// ATTENZIONE - MOTORI:
// SM1 = Stepper motor per specchio d'ingresso (MOTORE A di AMS1 (id=0) 
// SM2 = Stepper motor per reticolo (MOTORE B di AMS1 (id=0) 
// SM3 = Stepper motor per ruota filtri (MOTORE A di AMS2 (id=1)
// SM4 = If CONNECTED Neutral density Filter Wheel (Motor B AMS2 (id=1)     
// SM5 = Stepper motor per reticolo (MOTORE A di AMS3 (id=2) 
// SM6 = Stepper motor per ruota filtri (MOTORE B di AMS3 (id=2) 

if(mod)
{

    if((DAS.Paramini.EqType == LIS_) ||
        (DAS.Paramini.EqType == TROPOGAS))
        // init COM1
        er = DB_InitCOM(COM1 );
    else if (DAS.Paramini.EqType == SPATRAM || 
             DAS.Paramini.EqType == SPATRAMPLUS )
        er = DB_InitCOM(COM2);
    else if ((DAS.Paramini.EqType == GASCODNG1) ||
             (DAS.Paramini.EqType == GASCODNG2) ||
             (DAS.Paramini.EqType == GASCODNG3) ||
             (DAS.Paramini.EqType == GASCODNG4) ||
             (DAS.Paramini.EqType == SPATRAM3)  ||
             (DAS.Paramini.EqType == SPATRAM2))
    {
        // init COM2
        er = DB_InitCOM(COM2);
    }
    else
    {
        sprintf(buf, "For this Equipment the COM Port is UNKNOWN\nPlease Contact DANBO!!!!");
                    er = MMessageDialog("DAS information", buf, "Ok", NULL);
                    if (!er)
                    {
                        return 1;
                    }
    
    }

    if(er) 
        ComErrors(er);
}
    if (er == 0)
    {
        // Init AMS1
            er = DB_InitAMS(AMS1, 0, DAS.StepM.power[AMS1][DAS.StepM.SM_A], 
                DAS.StepM.step[AMS1][DAS.StepM.SM_A], DAS.StepM.slope[AMS1][DAS.StepM.SM_A], 
                DAS.StepM.speed[AMS1][DAS.StepM.SM_A], DAS.StepM.power[AMS1][DAS.StepM.SM_B], 
                DAS.StepM.step[AMS1][DAS.StepM.SM_B], DAS.StepM.slope[AMS1][DAS.StepM.SM_B],
                DAS.StepM.speed[AMS1][DAS.StepM.SM_B]);

        // Init AMS2
            er = DB_InitAMS(AMS2, 0, DAS.StepM.power[AMS2][DAS.StepM.SM_A], 
                DAS.StepM.step[AMS2][DAS.StepM.SM_A], DAS.StepM.slope[AMS2][DAS.StepM.SM_A], 
                DAS.StepM.speed[AMS2][DAS.StepM.SM_A], DAS.StepM.power[AMS2][DAS.StepM.SM_B], 
                DAS.StepM.step[AMS2][DAS.StepM.SM_B], DAS.StepM.slope[AMS2][DAS.StepM.SM_B], 
                DAS.StepM.speed[AMS2][DAS.StepM.SM_B]);

        if( DAS.Paramini.EqType == TROPOGAS || 
            DAS.Paramini.EqType == SPATRAMPLUS ||
            DAS.Paramini.EqType == GASCODNG1 ||
            DAS.Paramini.EqType == GASCODNG2 ||
            DAS.Paramini.EqType == GASCODNG3 ||
            DAS.Paramini.EqType == GASCODNG4 ||
            DAS.Paramini.EqType == SPATRAM2  ||
            DAS.Paramini.EqType == SPATRAM3)
        {
            if(DAS.MIGE.linked)
            {
                // Init AMS3
                // for  conditionate initializxation also for the PRGFILE execution mode
                //if(DAS.Flag.exemode == MANUAL || DAS.Flag.exemode == DBDEMO|| DAS.Flag.exemode == TESTAMS|| DAS.Flag.exemode == PRGFILE)
                if(DAS.Flag.exemode == MANUAL || DAS.Flag.exemode == DBDEMO || DAS.Flag.exemode == TESTAMS)
                    ans = MMessageDialog("", "Do you want to ENABLE the ALTAZIMUTH Platform ?", "Yes", "No", NULL);
                    if(!ans)
                    {
                        er = DB_InitAMS(AMS3, 0, DAS.StepM.power[AMS3][DAS.StepM.SM_A], 
                            DAS.StepM.step[AMS3][DAS.StepM.SM_A], DAS.StepM.slope[AMS3][DAS.StepM.SM_A], 
                            DAS.StepM.speed[AMS3][DAS.StepM.SM_A], DAS.StepM.power[AMS3][DAS.StepM.SM_B], 
                            DAS.StepM.step[AMS3][DAS.StepM.SM_B], DAS.StepM.slope[AMS3][DAS.StepM.SM_B], 
                            DAS.StepM.speed[AMS3][DAS.StepM.SM_B]);

                        if( DAS.Paramini.EqType == GASCODNG2 ||
                            DAS.Paramini.EqType == GASCODNG3 )
                        {
                            //set final direction
                            AMS_dirfin(AMS3, 0, 1);
                            

                        }
                    }
            }
            else 
            {
                MPixmapSetImageFile(DAS.Gui.ContrPanel.LedSM[AMS3][DAS.StepM.SM_A], "SYS\\ledoffg.bmp");
                MPixmapSetImageFile(DAS.Gui.ContrPanel.LedSM[AMS3][DAS.StepM.SM_B], "SYS\\ledoffg.bmp");
    //          MPixmapSetImageFile(DAS.Gui.ContrPanel.LedSM5, "SYS\\ledoffg.bmp");
    //          MPixmapSetImageFile(DAS.Gui.ContrPanel.LedSM6, "SYS\\ledoffg.bmp");
            }
        }
    }
    if (er)
    {
        FLAG.AMSPres = 1;

        MPixmapSetImageFile(DAS.Gui.ContrPanel.LedSM[AMS1][DAS.StepM.SM_A], "SYS\\ledoffg.bmp");
        MPixmapSetImageFile(DAS.Gui.ContrPanel.LedSM[AMS1][DAS.StepM.SM_B], "SYS\\ledoffg.bmp");
        MPixmapSetImageFile(DAS.Gui.ContrPanel.LedSM[AMS2][DAS.StepM.SM_A], "SYS\\ledoffg.bmp");
        MPixmapSetImageFile(DAS.Gui.ContrPanel.LedSM[AMS2][DAS.StepM.SM_B], "SYS\\ledoffg.bmp");
        if((DAS.Paramini.EqType == TROPOGAS))
        {
            MPixmapSetImageFile(DAS.Gui.ContrPanel.LedSM[AMS3][DAS.StepM.SM_A], "SYS\\ledoffg.bmp");
            MPixmapSetImageFile(DAS.Gui.ContrPanel.LedSM[AMS3][DAS.StepM.SM_B], "SYS\\ledoffg.bmp");
        }

        return 1;
    }
    else
    {
        FLAG.AMSPres = 0;
        return 0;
    }
}