l298.hpp

/*
 * 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>

// in milliseconds
#define L298_DEFAULT_PWM_PERIOD 4

namespace upm {
  class L298 {
  public:

    typedef enum {
      DIR_NONE = 0x00,
      DIR_CW   = 0x01,
      DIR_CCW  = 0x02
    } L298_DIRECTION_T;

    L298(int pwm, int dir1, int dir2);

    L298(int stepsPerRev, int en, int i1, int i2, int i3, int i4);

    ~L298();

    uint32_t getMillis();

    void initClock();

    void setPeriodMS(int ms);

    void enable(bool enable);

    void setSpeed(int speed);

    void setDirection(L298_DIRECTION_T dir);

    void stepperSteps(unsigned int steps);

  private:
    // DC motor mode enabled
    bool m_motor;
    // stepper mode enabled
    bool m_stepper;

    struct timeval m_startTime;

    // DC motor
    mraa_pwm_context m_pwm;
    mraa_gpio_context m_dir1;
    mraa_gpio_context m_dir2;

    // stepper (4-wire)
    mraa_gpio_context m_stepEnable;
    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();

    // step direction: - 1 = forward, -1 = backward
    int m_stepDirection;
  };
}