1 /*
2  * Author: Jon Trulson <jtrulson@ics.com>
3  * Copyright (c) 2015 Intel Corporation.
4  *
5  * Permission is hereby granted, free of charge, to any person obtaining
6  * a copy of this software and associated documentation files (the
7  * "Software"), to deal in the Software without restriction, including
8  * without limitation the rights to use, copy, modify, merge, publish,
9  * distribute, sublicense, and/or sell copies of the Software, and to
10  * permit persons to whom the Software is furnished to do so, subject to
11  * the following conditions:
12  *
13  * The above copyright notice and this permission notice shall be
14  * included in all copies or substantial portions of the Software.
15  *
16  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
17  * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
18  * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
19  * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
20  * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
21  * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
22  * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
23  */
24 #pragma once
25 
26 #include <stdint.h>
27 #include <sys/time.h>
28 
29 #include <mraa/gpio.h>
30 #include <mraa/pwm.h>
31 
32 namespace upm {
33 
34   /**
35    * @brief ULN200XA Stepper Driver library
36    * @defgroup uln200xa libupm-uln200xa
37    * @ingroup seeed gpio motor
38    */
39 
40   /**
41    * @library uln200xa
42    * @sensor uln200xa
43    * @comname ULN200XA Stepper Driver
44    * @altname ULN2001A ULN2002A ULN2003A ULN2004A
45    * @type motor
46    * @man seeed
47    * @web http://www.seeedstudio.com/depot/Gear-Stepper-Motor-with-Driver-p-1685.html?cPath=39_40
48    * @con gpio
49    *
50    * @brief UPM module for the ULN200XA Darlington Stepper Driver
51    *
52    * This module was developed on a ULN2003A Stepper Driver. It
53    * should also support the ULN2001A, ULN2002A, and ULN2004A devices, when
54    * using to drive the 28BYJ-48 unipolar stepper motor.
55    *
56    * @image html uln200xa.jpg
57    * Example driving a stepper motor
58    * @snippet uln200xa.cxx Interesting
59    */
60 
61 
62   class ULN200XA {
63   public:
64 
65     /**
66      * Enum to specify the direction of a motor
67      */
68     typedef enum {
69       DIR_CW   = 0x01,
70       DIR_CCW  = 0x02
71     } ULN200XA_DIRECTION_T;
72 
73     /**
74      * ULN200XA constructor
75      *
76      * @param stepsPerRev Number of steps per full revolution
77      * @param i1 Digital pin to use for stepper input 1
78      * @param i2 Digital pin to use for stepper input 2
79      * @param i3 Digital pin to use for stepper input 3
80      * @param i4 Digital pin to use for stepper input 4
81      */
82     ULN200XA(int stepsPerRev, int i1, int i2, int i3, int i4);
83 
84     /**
85      * ULN200XA destructor
86      */
87     ~ULN200XA();
88 
89     /**
90      * Returns the number of milliseconds elapsed since initClock()
91      * was last called.
92      *
93      * @return Elapsed milliseconds
94      */
95     uint32_t getMillis();
96 
97     /**
98      * Resets the clock
99      *
100      */
101     void initClock();
102 
103     /**
104      * Sets the speed of the stepper motor in revolutions per minute (RPM)
105      *
106      * @param speed Speed to set the motor to, in RPM
107      */
108     void setSpeed(int speed);
109 
110     /**
111      * Sets the direction of the motor, clockwise or counterclockwise
112      *
113      * @param dir Direction to set the motor to
114      */
115     void setDirection(ULN200XA_DIRECTION_T dir);
116 
117     /**
118      * Steps the stepper motor a specified number of steps
119      *
120      * @param steps Number of steps to move the stepper motor
121      */
122     void stepperSteps(unsigned int steps);
123 
124     /**
125      * Releases the stepper motor by removing power
126      *
127      */
128     void release();
129 
130   private:
131     struct timeval m_startTime;
132 
133     // stepper (4-wire)
134     mraa_gpio_context m_stepI1;
135     mraa_gpio_context m_stepI2;
136     mraa_gpio_context m_stepI3;
137     mraa_gpio_context m_stepI4;
138 
139     // steps per revolution
140     int m_stepsPerRev;
141     int m_currentStep;
142     uint32_t m_stepDelay;
143 
144     /**
145      * Steps the stepper motor one tick
146      *
147      */
148     void stepperStep();
149 
150     /**
151      * Defines the step direction: 1 = forward, -1 = backward
152      *
153      */
154     int m_stepDirection;
155   };
156 }
157 
158 
159