1 files changed, 158 insertions, 0 deletions
diff --git a/peripheral/libupm/src/uln200xa/uln200xa.h b/peripheral/libupm/src/uln200xa/uln200xa.h
new file mode 100644
index 0000000..5a941b1
--- /dev/null
+++ b/peripheral/libupm/src/uln200xa/uln200xa.h
@@ -0,0 +1,158 @@
+/*
+ * Author: Jon Trulson <jtrulson@ics.com>
+ * Copyright (c) 2015 Intel Corporation.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining
+ * a copy of this software and associated documentation files (the
+ * "Software"), to deal in the Software without restriction, including
+ * without limitation the rights to use, copy, modify, merge, publish,
+ * distribute, sublicense, and/or sell copies of the Software, and to
+ * permit persons to whom the Software is furnished to do so, subject to
+ * the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be
+ * included in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
+ * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+ * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
+ * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+#pragma once
+
+#include <stdint.h>
+#include <sys/time.h>
+
+#include <mraa/gpio.h>
+#include <mraa/pwm.h>
+
+namespace upm {
+
+  /**
+   * @brief ULN200XA Stepper Driver library
+   * @defgroup uln200xa libupm-uln200xa
+   * @ingroup seeed gpio motor
+   */
+
+  /**
+   * @library uln200xa
+   * @sensor uln200xa
+   * @comname ULN200XA Stepper Driver
+   * @altname ULN2001A ULN2002A ULN2003A ULN2004A
+   * @type motor
+   * @man seeed
+   * @web http://www.seeedstudio.com/depot/Gear-Stepper-Motor-with-Driver-p-1685.html?cPath=39_40
+   * @con gpio
+   *
+   * @brief UPM module for the ULN200XA Darlington Stepper Driver
+   *
+   * This module was developed on a ULN2003A Stepper Driver. It
+   * should also support the ULN2001A, ULN2002A, and ULN2004A devices, when
+   * using to drive the 28BYJ-48 unipolar stepper motor.
+   *
+   * @image html uln200xa.jpg
+   * Example driving a stepper motor
+   * @snippet uln200xa.cxx Interesting
+   */
+
+
+  class ULN200XA {
+  public:
+
+    /**
+     * Enum to specify the direction of a motor
+     */
+    typedef enum {
+      DIR_CW   = 0x01,
+      DIR_CCW  = 0x02
+    } ULN200XA_DIRECTION_T;
+
+    /**
+     * ULN200XA constructor
+     *
+     * @param stepsPerRev Number of steps per full revolution
+     * @param i1 Digital pin to use for stepper input 1
+     * @param i2 Digital pin to use for stepper input 2
+     * @param i3 Digital pin to use for stepper input 3
+     * @param i4 Digital pin to use for stepper input 4
+     */
+    ULN200XA(int stepsPerRev, int i1, int i2, int i3, int i4);
+
+    /**
+     * ULN200XA destructor
+     */
+    ~ULN200XA();
+
+    /**
+     * Returns the number of milliseconds elapsed since initClock()
+     * was last called.
+     *
+     * @return Elapsed milliseconds
+     */
+    uint32_t getMillis();
+
+    /**
+     * Resets the clock
+     *
+     */
+    void initClock();
+
+    /**
+     * Sets the speed of the stepper motor in revolutions per minute (RPM)
+     *
+     * @param speed Speed to set the motor to, in RPM
+     */
+    void setSpeed(int speed);
+
+    /**
+     * Sets the direction of the motor, clockwise or counterclockwise
+     *
+     * @param dir Direction to set the motor to
+     */
+    void setDirection(ULN200XA_DIRECTION_T dir);
+
+    /**
+     * Steps the stepper motor a specified number of steps
+     *
+     * @param steps Number of steps to move the stepper motor
+     */
+    void stepperSteps(unsigned int steps);
+
+    /**
+     * Releases the stepper motor by removing power
+     *
+     */
+    void release();
+
+  private:
+    struct timeval m_startTime;
+
+    // stepper (4-wire)
+    mraa_gpio_context m_stepI1;
+    mraa_gpio_context m_stepI2;
+    mraa_gpio_context m_stepI3;
+    mraa_gpio_context m_stepI4;
+
+    // steps per revolution
+    int m_stepsPerRev;
+    int m_currentStep;
+    uint32_t m_stepDelay;
+
+    /**
+     * Steps the stepper motor one tick
+     *
+     */
+    void stepperStep();
+
+    /**
+     * Defines the step direction: 1 = forward, -1 = backward
+     *
+     */
+    int m_stepDirection;
+  };
+}
+
+