/*! \file servo.h \brief Interrupt-driven RC Servo function library. */
//*****************************************************************************
//
// File Name	: 'servo.h'
// Title		: Interrupt-driven RC Servo function library
// Author		: Pascal Stang - Copyright (C) 2002
// Created		: 7/31/2002
// Revised		: 8/02/2002
// Version		: 1.0
// Target MCU	: Atmel AVR Series
// Editor Tabs	: 4
//
///	\ingroup driver_sw
/// \defgroup servo Interrupt-driven RC Servo Function Library (servo.c)
/// \code #include "servo.h" \endcode
/// \par Overview
///		This code allows you to drive up to 8 RC servos from any
///	combination of ports and pins on the AVR processor. Using interrupts,
///	this code continuously sends control signals to the servo to maintain
///	position even while your code is doing other work.
///
///	The servoInit and servoOff effectively turn on and turn off servo
///	control.  When you run ServoInit, it automatically assigns each
///	"channel" of servo control to be output on the SERVO_DEFAULT_PORT.
///	One "channel" of servo control can control one servo and must be
///	assigned single I/O pin for output.
///
///	If you're using all eight channels (SERVO_NUM_CHANNELS = 8), then
///	then by default the code will use SERVO_DEFAULT_PORT pins 0-7.
///	If you're only using four channels, then pins 0-3 will be used by
///	default.
///
///	The command servoSetChannelIO(channel, port, pin) allows you to
///	reassign the output of any channel to any port and I/O pin you
///	choose.  For exampe, if you have an RC servo connected to PORTC, pin 6,
///	and you wish to use channel 2 to control it, use:
///
///		servoSerChannelIO( 2, _SFR_IO_ADDR(PORTC), 6)
///
///		(NOTE: you must include the "_SRF_IO_ADDR()" part around your port)
///
///	The servoSetPostion and servoGetPosition commands allow you to command
///	a given servo to your desired position.  The position you request must
///	lie between the SERVO_MIN and SERVO_MAX limit you defined.
///
/// \WARNING: This servo library has been tested to work without issue on
///	several different AVR processors and with several different brands/kinds
/// of servos.  However:
/// - Proper output duty cylces are dependent upon a user calibation and
///		configuration.
/// - IF YOUR SERVOS ARE EXCEPTIONALLY POWERFUL, AN ERRONEOUS OUTPUT DUTY
///		CYCLE GENERATED FROM THIS CODE OR ANY OTHER SOURCE CAN DAMAGE YOUR
///		SERVO'S INTERNAL DRIVER CHIP OR ITS GEARS!
/// - I have never experienced any servo damage from erroneous control signal
///		input, but it is possible.
//
// This code is distributed under the GNU Public License
//		which can be found at http://www.gnu.org/licenses/gpl.txt
//
//*****************************************************************************

#ifndef SERVO_CLASS_H
#define SERVO_CLASS_H

typedef struct 
{	
	// hardware I/O port and pin for this channel
	volatile uint8_t* port;
	uint8_t pin_mask;

	// PWM duty setting which corresponds to servo position
	uint16_t duty_raw;
} ServoChannel_T;

// functions

// initializes servo system
//		You must run this to begin servo control
void servoInit(void);

// initialized a debug servo task
void StartDebugServoTask(void);

// turns off servo system
//		This stops controlling the servos and
//		returns control of the SERVOPORT to your code
void servoOff(void);

// set and get servo position on a given channel 
//		servoSetPosition() commands the servo on <channel> to the position you
//			desire.  The position input must lie between 0 and POSITION_MAX and
//			will be automatically scaled to raw positions between SERVO_MIN and
//			SERVO_MAX
//		servoGetPosition() returns the most recently set postition of the
//			servo on <channel>.  The return value will be scaled 0->POSITION_MAX
void servoSetPosition(ServoChannel_T *this, int16_t percentX10);
int16_t servoGetPosition(ServoChannel_T *this);

// set and get raw servo position on a given channel
//		Works like non-raw commands but position is not scaled.  Position must
//		be between SERVO_MIN and SERVO_MAX
void servoSetPositionRaw(ServoChannel_T *this, uint16_t position);
uint16_t servoGetPositionRaw(ServoChannel_T *this);

void PrintServoDebug(void);

#endif