qeservo.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 _QESERVO_H
#define _QESERVO_H

#include "singleton.h"
#include "9302hw.h"

#define QES_DEFAULT_SERVOS       12

#define QES_DEFAULT_DIVIDER      400  // divide 100mhz by 400->250khz, 4us 
#define QES_DEFAULT_FREQ         4650 // 4650 * 4us = 18.6ms->53.76hz
#define QES_DEFAULT_MIN          250  // 250*4us = 1ms
#define QES_DEFAULT_MAX          500  // 500*4us = 2ms

#define QES_DEFAULT_ADDR         0x400

class CQEServo
{
public:
  SINGLETON(CQEServo);

  void Disable(unsigned int index);

  void SetCommand(unsigned int index, unsigned short val);

  unsigned short GetCommand(unsigned int index);
  
  void SetTiming(unsigned short min, unsigned short max);

private:
  CQEServo();
  ~CQEServo();

  void SetSignal(bool set);
  
  static void SigHandler(int signum);

  unsigned short m_min;
  unsigned short m_max;
  unsigned int m_num;

  volatile unsigned short *m_divider;
  volatile unsigned short *m_freq;
  volatile unsigned short *m_up;

  C9302Hardware *m_p9302hw; 
};

#endif