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      1 /*
      2  * Author: Jon Trulson <jtrulson (at) 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