qemotor.h

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//
// begin license header
//  
// This file is part of Terk and TerkOS.
//
// All Terk and TerkOS source code is provided under the terms of the 
// GNU General Public License v2 (http://www.gnu.org/licenses/gpl-2.0.html).  
// Those wishing to use Terk and TerkOS source code, software and/or
// technologies under different licensing terms should contact us at 
// [email protected]. Such licensing terms are available for
// all portions of the Terk and TerkOS codebase presented here.
//
// end license header
//

#ifndef _QEMOTOR_H
#define _QEMOTOR_H

#ifndef TRUE
#define TRUE                   1
#endif
#ifndef FALSE               
#define FALSE                  0
#endif

#define QEMOT_MAJOR_NUMBER     214
#define QEMOT_MINOR_NUMBER     0

#define QEMOT_NUM_MOTORS       4
#define QEMOT_BASE_ADDR        0x20000000
#define QEMOT_WIDTH            0x400
#define QEMOT_VECTOR           0

typedef long Axis_position;
typedef int (*qe_motor_func)(unsigned int, long, long, long, long, long);
#define QEMOT_NUM_ARGS         5

#define MOT_SET_PERIOD           0
#define MOT_GET_FREQUENCY        1
#define MOT_GET_STATUS           2
#define MOT_SET_MODE             3
#define MOT_GET_POSITION         4
#define MOT_GET_POSITION_VECTOR  5
#define MOT_SET_PWM              6
#define MOT_GET_PWM              7
#define MOT_SET_BEMF_OFFSET      8
#define MOT_SET_POSITION         9
#define MOT_GET_MCURRENT         10
#define MOT_GET_MCURRENT_VECTOR  11
#define MOT_GET_VELOCITY         12
#define MOT_GET_VELOCITY_VECTOR  13
#define MOT_SET_BEMF_CALIBRATE   14
#define MOT_SET_BEMF_TIMING      15
#define MOT_SET_PIDV_GAINS       16
#define MOT_SET_MAX_ERROR        17
#define MOT_SET_MAX_INTEGRAL     18
#define MOT_GET_DONE             19
#define MOT_SET_HOLD             20
#define MOT_GET_BEMF             21
#define MOT_FLUSH_WRITE_QUEUE    22
#define MOT_SET_WRITE_QUEUE_SIZE 23
#define MOT_STOP                 24
#define MOT_SET_READ_QUEUE_SIZE  25

#endif