lib/PCI-6205.hh

// PCI-6205蜈･蜃ｺ蜉帙け繝ｩ繧ｹ
// 2011/02/09 Yuki YOKOKURA
//
// Interface遉ｾ陬ｽPCI-6205縺ｮ縺溘ａ縺ｮ蜈･蜃ｺ蜉帶ｩ溯�ｽ繧呈署萓帙＠縺ｾ縺吶��
//
// Copyright (C) 2011 Yuki YOKOKURA
// This program is free software;
// you can redistribute it and/or modify it under the terms of the GNU General Public License
// as published by the Free Software Foundation; either version 3 of the License, or any later version.
// This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY;
// without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
// See the GNU General Public License for more details <http://www.gnu.org/licenses/>.
// Besides, you can negotiate about other options of licenses instead of GPL.
// If you would like to get other licenses, please contact us<yuki@katsura.sd.keio.ac.jp>.

#ifndef PCI6205
#define PCI6205

#include <sys/io.h>
#include <unistd.h>
#include <algorithm>

namespace ARCS {        // ARCS蜷榊燕遨ｺ髢�
        class ENC6205 {
                private:
                        static const unsigned int MAX_CH=8;                             // 繝√Ε繝阪Ν譛�螟ｧ蛟､
                        unsigned int BaseAddr[4];                                               // 蜈磯�ｭ繧｢繝峨Ξ繧ｹ
                        double Resolutions[MAX_CH];                                             // [m] 繧ｨ繝ｳ繧ｳ繝ｼ繝�蛻�隗｣閭ｽ
                        void Settings(void);                                                    // 繧ｨ繝ｳ繧ｳ繝ｼ繝�繧ｫ繧ｦ繝ｳ繧ｿ縺ｮ險ｭ螳壹ｒ陦後≧髢｢謨ｰ
                        void Input(unsigned long ENCdata[MAX_CH]);              // 繧ｨ繝ｳ繧ｳ繝ｼ繝�繧ｫ繧ｦ繝ｳ繧ｿ縺九ｉ繧ｫ繧ｦ繝ｳ繝亥�､繧定ｪｭ縺ｿ霎ｼ繧�髢｢謨ｰ
                        void Zero(void);                                                                // 繧ｨ繝ｳ繧ｳ繝ｼ繝�繧ｫ繧ｦ繝ｳ繧ｿ縺ｮ蛟､繧帝峺(0x800000)縺ｫ縺吶ｋ髢｢謨ｰ
                        // 繧ｨ繝ｳ繧ｳ繝ｼ繝�繧ｫ繧ｦ繝ｳ繧ｿ蛟､縺九ｉ菴咲ｽｮ[m]縺ｸ螟画鋤縺吶ｋ髢｢謨ｰ
                        double EncDataToPosition(unsigned long EncData, unsigned int ch);
                        // 荳贋ｽ阪�∽ｸｭ菴阪�∽ｸ倶ｽ阪↓蛻�縺九ｌ縺ｦ縺�繧句推縲�1繝舌う繝医�ｮ繝�繝ｼ繧ｿ繧偵��3繝舌う繝医�ｮ繝�繝ｼ繧ｿ縺ｫ邨仙粋縺吶ｋ髢｢謨ｰ
                        unsigned long IIIbyteCat(unsigned short High, unsigned short Middle, unsigned short Low);
                
                public:
                        ENC6205(const int Base[4], const double EncResolutions[MAX_CH]);        // 繧ｳ繝ｳ繧ｹ繝医Λ繧ｯ繧ｿ(ENC蛻晄悄蛹厄ｼ�險ｭ螳�)
                        ~ENC6205();                                                                                                                     // 繝�繧ｹ繝医Λ繧ｯ繧ｿ(ENC邨ゆｺ�蜃ｦ逅�)
                        void GetPositionRes(volatile double Xres[MAX_CH]);                                      // 菴咲ｽｮ蠢懃ｭ泌�､繧偵き繧ｦ繝ｳ繧ｿ縺九ｉ蜈･蜉�
        };
}

#endif