qemotoruser.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 _QEMOTORUSER_H
#define _QEMOTORUSER_H

#include "qemotor.h"
#include "singleton.h"

#define QEM_DEVICE                      "/dev/qemot"
#define QEM_OFFSET_UPPER_THRESHOLD      150*16 // 16 is the number of bemf measurements
#define QEM_OFFSET_WINDOW_SCALE         9
#define QEM_OFFSET_WINDOW               (1<<QEM_OFFSET_WINDOW_SCALE)
#define QEM_INIT_TIMEOUT                (1<<(QEM_OFFSET_WINDOW_SCALE+2))
#define QEM_DELAY                       9
#define QEM_PERIOD                      110
#define QEM_WRITE_QUEUE_SIZE            5*sizeof(long)

class CQwerkHardware;

class CQEMotorUser  
{
public:
  SINGLETON(CQEMotorUser);

  unsigned int GetFrequency();

  int          SetFrequency(unsigned int freq);

  virtual Axis_position GetPosition(unsigned int axis);             

  virtual void GetPositionVector(Axis_position position[]);  

  void         SetPWM(unsigned int axis, int pwm);

  int          GetPWM(unsigned int axis);

  void         SetPIDVGains(unsigned int axis, unsigned int pGain, 
                           unsigned int iGain, unsigned int dGain,
                           unsigned int vGain);

  void         Hold(unsigned int axis, bool val);

  void         Stop(unsigned int axis);

  // other functions...
  void         SetPosition(unsigned int axis, Axis_position pos);

  long         GetVelocity(unsigned int axis); 
  void         GetVelocityVector(long velocity[]);
  void         SetCalibrate(unsigned int axis, unsigned int cal);
  void         SetTiming(unsigned int axis, unsigned int waitInterval);
  bool         GetDone(unsigned int axis);
  void         HandleOffset();
  void         FlushWriteQueue(unsigned int axis);
  void         SetWriteQueueSize(unsigned int size);

protected:
  CQEMotorUser();
  virtual ~CQEMotorUser();

  int ConstructCall(int axis, int findex, ...);

  unsigned int m_servoAxes;
  int m_handle[QEMOT_NUM_MOTORS];
};

#endif