md: C implementation; C++ wraps C

Signed-off-by: Jon Trulson <jtrulson@ics.com>

examples/c/CMakeLists.txt

@@ -127,9 +127,11 @@ add_example (jhd1313m1)
 add_example (lm35)
 add_example (rotaryencoder)
 add_example (rpr220)
+add_example (md)
 
 # Custom examples
 add_custom_example (nmea_gps_i2c-example-c nmea_gps_i2c.c nmea_gps)
 add_custom_example (lcm1602-i2c-example-c lcm1602-i2c.c lcm1602)
 add_custom_example (lcm1602-parallel-example-c lcm1602-parallel.c lcm1602)
 add_custom_example (rpr220-intr-example-c rpr220-intr.c rpr220)
+add_custom_example (md-stepper-example-c md-stepper.c md)

examples/c/md-stepper.c

@@ -0,0 +1,69 @@
+/*
+ * Author: Jon Trulson <jtrulson@ics.com>
+ * Copyright (c) 2016 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.
+ */
+
+#include <unistd.h>
+#include <stdio.h>
+
+#include <md.h>
+#include <upm_utilities.h>
+
+int main(int argc, char **argv)
+{
+  //! [Interesting]
+  // Instantiate an I2C Motor Driver on I2C bus 0
+
+  md_context stepper = md_init(MD_I2C_BUS, MD_DEFAULT_I2C_ADDR);
+
+  if (!stepper)
+  {
+      printf("md_init() failed\n");
+      return 1;
+  }
+
+  // This example demonstrates using the MD to drive a stepper motor
+
+  // configure it, for this example, we'll assume 200 steps per rev
+  md_config_stepper(stepper, 200, MD_STEP_MODE1);
+
+  // set for half a rotation
+  md_set_stepper_steps(stepper, 100);
+
+  // let it go - clockwise rotation, 10 RPM speed
+  md_enable_stepper(stepper, MD_STEP_DIR_CW, 10);
+
+  upm_delay(3);
+
+  // Now do it backwards...
+  md_set_stepper_steps(stepper, 100);
+  md_enable_stepper(stepper, MD_STEP_DIR_CCW, 10);
+
+  // now disable
+  md_disable_stepper(stepper);
+
+  printf("Exiting...\n");
+
+  md_close(stepper);
+  //! [Interesting]
+  return 0;
+}

examples/c/md.c

@@ -0,0 +1,64 @@
+/*
+ * Author: Jon Trulson <jtrulson@ics.com>
+ * Copyright (c) 2016 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.
+ */
+
+#include <unistd.h>
+#include <stdio.h>
+
+#include <md.h>
+#include <upm_utilities.h>
+
+
+int main(int argc, char **argv)
+{
+//! [Interesting]
+  // Instantiate an I2C Motor Driver on I2C bus 0
+
+  md_context motors = md_init(MD_I2C_BUS, MD_DEFAULT_I2C_ADDR);
+
+  if (!motors)
+  {
+      printf("md_init() failed\n");
+      return 1;
+  }
+
+  // set direction to CW and set speed to 50%
+  printf("Spin M1 and M2 at half speed for 3 seconds\n");
+  md_set_motor_directions(motors, MD_DIR_CW, MD_DIR_CW);
+  md_set_motor_speeds(motors, 127, 127);
+
+  upm_delay(3);
+  // counter clockwise
+  printf("Reversing M1 and M2 for 3 seconds\n");
+  md_set_motor_directions(motors, MD_DIR_CCW, MD_DIR_CCW);
+  upm_delay(3);
+
+  printf("Stopping motors\n");
+  md_set_motor_speeds(motors, 0, 0);
+
+  printf("Exiting...\n");
+
+  md_close(motors);
+//! [Interesting]
+  return 0;
+}