uln200xa.h

/*
 * 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 {

  class ULN200XA {
  public:

    typedef enum {
      DIR_CW   = 0x01,
      DIR_CCW  = 0x02
    } ULN200XA_DIRECTION_T;

    ULN200XA(int stepsPerRev, int i1, int i2, int i3, int i4);

    ~ULN200XA();

    uint32_t getMillis();

    void initClock();

    void setSpeed(int speed);

    void setDirection(ULN200XA_DIRECTION_T dir);

    void stepperSteps(unsigned int steps);

    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;

    void stepperStep();

    int m_stepDirection;
  };
}