MD: Adding missing files

Signed-off-by: Sisinty Sasmita Patra <sisinty.s.patra@intel.com>

examples/c++/md-stepper.cxx

@@ -0,0 +1,66 @@
+/*
+ * 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.
+ */
+
+#include <unistd.h>
+#include <signal.h>
+#include <iostream>
+#include "md.hpp"
+
+using namespace std;
+
+int main(int argc, char **argv)
+{
+  //! [Interesting]
+  // Instantiate an I2C Motor Driver on I2C bus 0
+
+  upm::MD *motors = new upm::MD(MD_I2C_BUS, 
+                                          MD_DEFAULT_I2C_ADDR);
+
+  // This example demonstrates using the MD to drive a stepper motor
+  
+  // configure it, for this example, we'll assume 200 steps per rev
+  motors->configStepper(200);
+
+  // set for half a rotation
+  motors->setStepperSteps(100);
+
+  // let it go - clockwise rotation, 10 RPM speed
+  motors->enableStepper(upm::MD::STEP_DIR_CW, 10);
+
+  sleep(3);
+
+  // Now do it backwards...
+  motors->setStepperSteps(100);
+  motors->enableStepper(upm::MD::STEP_DIR_CCW, 10);
+
+  // now disable
+  motors->disableStepper();
+
+  //! [Interesting]
+
+  cout << "Exiting..." << endl;
+
+  delete motors;
+  return 0;
+}

examples/c++/md.cxx

@@ -0,0 +1,60 @@
+/*
+ * Author: Jon Trulson <jtrulson@ics.com>
+ * Copyright (c) 2014 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 <signal.h>
+#include <iostream>
+#include "md.hpp"
+
+using namespace std;
+
+int main(int argc, char **argv)
+{
+  //! [Interesting]
+  // Instantiate an I2C Motor Driver on I2C bus 0
+
+  upm::MD *motors = new upm::MD(MD_I2C_BUS, 
+                                          MD_DEFAULT_I2C_ADDR);
+
+  // set direction to CW and set speed to 50%
+  cout << "Spin M1 and M2 at half speed for 3 seconds" << endl;
+  motors->setMotorDirections(upm::MD::DIR_CW, upm::MD::DIR_CW);
+  motors->setMotorSpeeds(127, 127);
+  
+  sleep(3);
+  // counter clockwise
+  cout << "Reversing M1 and M2 for 3 seconds" << endl;
+  motors->setMotorDirections(upm::MD::DIR_CCW, upm::MD::DIR_CCW);
+  sleep(3);
+
+  //! [Interesting]
+
+  cout << "Stopping motors" << endl;
+  motors->setMotorSpeeds(0, 0);
+
+  cout << "Exiting..." << endl;
+
+  delete motors;
+  return 0;
+}

examples/java/MDSample.java

@@ -0,0 +1,53 @@
+/*
+ * Author: Stefan Andritoiu <stefan.andritoiu@intel.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.
+ */
+
+public class MDSample {
+	private static final short speed50 = 127;
+	private static final short speed0 = 0;
+
+	public static void main(String[] args) throws InterruptedException {
+		// ! [Interesting]
+		// Instantiate an I2C Motor Driver on I2C bus 0
+		upm_md.MD motors = new upm_md.MD();
+
+		// set direction to clockwise (CW) and set speed to 50%
+		System.out.println("Spin M1 and M2 at half speed for 3 seconds");
+		motors.setMotorDirections(upm_md.MD.DC_DIRECTION_T.DIR_CW,
+				upm_md.MD.DC_DIRECTION_T.DIR_CW);
+		motors.setMotorSpeeds(speed50, speed50);
+		Thread.sleep(3000);
+
+		// counter clockwise (CCW)
+		System.out.println("Reversing M1 and M2 for 3 seconds");
+		motors.setMotorDirections(upm_md.MD.DC_DIRECTION_T.DIR_CCW,
+				upm_md.MD.DC_DIRECTION_T.DIR_CCW);
+		Thread.sleep(3000);
+
+		// stop motors
+		System.out.println("Stopping motors");
+		motors.setMotorSpeeds(speed0, speed0);
+		// ! [Interesting]
+	}
+
+}

examples/javascript/md-stepper.js

@@ -0,0 +1,92 @@
+/*
+ * 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.
+ */
+
+var mdObj = require('jsupm_md');
+
+// This example demonstrates using the MD to drive a stepper motor
+
+function start()
+{
+    if (motor)
+    {
+        // configure it, for this example, we'll assume 200 steps per rev
+        motor.configStepper(200);
+        motor.setStepperSteps(100);
+        // start it going at 10 RPM
+        motor.enableStepper(mdObj.MD.STEP_DIR_CW, 10);
+    }
+}
+
+function reverse()
+{
+    if (motor)
+    {
+	// now reverse
+        motor.setStepperSteps(100);
+        // start it going at 10 RPM
+        motor.enableStepper(mdObj.MD.STEP_DIR_CCW, 10);
+	}
+}
+
+function end()
+{
+    if (motor)
+    {
+	motor.disableStepper();
+    }
+    exit();
+}
+
+// When exiting: clear memory and print exit message
+function exit()
+{
+    if (motor)
+    {
+	motor = null;
+	mdObj.cleanUp();
+    }
+    mdObj = null;
+    console.log("Exiting");
+    process.exit(0);	
+}
+
+
+// Instantiate an I2C Motor Driver on I2C bus 0
+var motor = new mdObj.MD(
+    mdObj.MD_I2C_BUS, 
+    mdObj.MD_DEFAULT_I2C_ADDR);
+
+start();
+
+setTimeout(function()
+{
+    reverse();
+    setTimeout(end, 3000);
+}, 3000);
+
+
+process.on('SIGINT', function()
+{
+    exit();
+});

examples/javascript/md.js

@@ -0,0 +1,91 @@
+/*
+* Author: Zion Orent <zorent@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.
+*/
+
+var MotorDriver_lib = require('jsupm_md');
+
+function start()
+{
+	if (my_MotorDriver_obj)
+	{
+		// set direction to CW and set speed to 50%
+		console.log("Spin M1 and M2 at half speed for 3 seconds");
+		my_MotorDriver_obj.setMotorDirections(MotorDriver_lib.MD.DIR_CW,
+                                                     MotorDriver_lib.MD.DIR_CW);
+		my_MotorDriver_obj.setMotorSpeeds(127, 127);
+	}
+}
+
+function reverse()
+{
+	if (my_MotorDriver_obj)
+	{
+		// counter clockwise
+		console.log("Reversing M1 and M2 for 3 seconds");
+		my_MotorDriver_obj.setMotorDirections(MotorDriver_lib.MD.DIR_CCW,
+                                                     MotorDriver_lib.MD.DIR_CCW);	
+	}
+}
+
+function end()
+{
+	if (my_MotorDriver_obj)
+	{
+		console.log("Stopping motors");
+		my_MotorDriver_obj.setMotorSpeeds(0, 0);
+	}
+	exit();
+}
+
+// When exiting: clear memory and print exit message
+function exit()
+{
+	if (my_MotorDriver_obj)
+	{
+		my_MotorDriver_obj = null;
+		MotorDriver_lib.cleanUp();
+	}
+	MotorDriver_lib = null;
+	console.log("Exiting");
+	process.exit(0);	
+}
+
+
+// Instantiate an I2C Motor Driver on I2C bus 0
+var my_MotorDriver_obj = new MotorDriver_lib.MD(
+	MotorDriver_lib.MD_I2C_BUS, 
+	MotorDriver_lib.MD_DEFAULT_I2C_ADDR);
+
+start();
+
+setTimeout(function()
+{
+	reverse();
+	setTimeout(end, 3000);
+}, 3000);
+
+
+process.on('SIGINT', function()
+{
+	exit();
+});

examples/python/md-stepper.py

@@ -0,0 +1,52 @@
+#!/usr/bin/python
+# 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.
+
+import time
+import pyupm_md as upmmd
+
+I2C_BUS = upmmd.MD_I2C_BUS
+I2C_ADDR = upmmd.MD_DEFAULT_I2C_ADDR
+
+# Instantiate an I2C Motor Driver on I2C bus 0
+myMotorDriver = upmmd.MD(I2C_BUS, I2C_ADDR)
+
+# This example demonstrates using the MD to drive a stepper motor
+
+# configure it, for this example, we'll assume 200 steps per rev
+myMotorDriver.configStepper(200)
+
+# set for half a rotation
+myMotorDriver.setStepperSteps(100)
+
+# let it go - clockwise rotation, 10 RPM speed
+myMotorDriver.enableStepper(upmmd.MD.STEP_DIR_CW, 10)
+
+time.sleep(3)
+
+# Now do it backwards...
+myMotorDriver.setStepperSteps(100)
+myMotorDriver.enableStepper(upmmd.MD.STEP_DIR_CCW, 10)
+
+# now disable
+myMotorDriver.disableStepper()
+

examples/python/md.py

@@ -0,0 +1,47 @@
+#!/usr/bin/python
+# Author: Zion Orent <zorent@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.
+
+import time
+import pyupm_md as upmmd
+
+I2C_BUS = upmmd.MD_I2C_BUS
+I2C_ADDR = upmmd.MD_DEFAULT_I2C_ADDR
+
+# Instantiate an I2C Motor Driver on I2C bus 0
+myMotorDriver = upmmd.MD(I2C_BUS, I2C_ADDR)
+
+
+# set direction to CW and set speed to 50%
+print "Spin M1 and M2 at half speed for 3 seconds"
+myMotorDriver.setMotorDirections(upmmd.MD.DIR_CW, upmmd.MD.DIR_CW)
+myMotorDriver.setMotorSpeeds(127, 127)
+
+time.sleep(3)
+# counter clockwise
+print "Reversing M1 and M2 for 3 seconds"
+myMotorDriver.setMotorDirections(upmmd.MD.DIR_CCW,
+upmmd.MD.DIR_CCW)
+time.sleep(3)
+
+print "Stopping motors"
+myMotorDriver.setMotorSpeeds(0, 0)

src/md/CMakeLists.txt

@@ -0,0 +1,5 @@
+upm_mixed_module_init (NAME md
+    DESCRIPTION "UPM MD Module"
+    CPP_HDR md.hpp
+    CPP_SRC md.cxx
+    REQUIRES mraa)

src/md/javaupm_md.i

@@ -0,0 +1,19 @@
+%module javaupm_md
+%include "../upm.i"
+
+%{
+    #include "md.hpp"
+%}
+
+%include "md.hpp"
+
+%pragma(java) jniclasscode=%{
+    static {
+        try {
+            System.loadLibrary("javaupm_md");
+        } catch (UnsatisfiedLinkError e) {
+            System.err.println("Native code library failed to load. \n" + e);
+            System.exit(1);
+        }
+    }
+%}

src/md/jsupm_md.i

@@ -0,0 +1,8 @@
+%module jsupm_md
+%include "../upm.i"
+
+%{
+    #include "md.hpp"
+%}
+
+%include "md.hpp"

src/md/md.cxx

@@ -0,0 +1,244 @@
+/*
+ * Author: Jon Trulson <jtrulson@ics.com>
+ * Copyright (c) 2014 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 <iostream>
+#include <string>
+#include <stdexcept>
+
+#include "md.hpp"
+
+using namespace upm;
+using namespace std;
+
+
+MD::MD(int bus, uint8_t address) :
+  m_i2c(bus)
+{
+  m_addr = address;
+
+  // this board *requires* 100Khz i2c bus only
+  mraa::Result rv;
+  if ( (rv = m_i2c.frequency(mraa::I2C_STD)) != mraa::SUCCESS )
+    {
+      throw std::invalid_argument(std::string(__FUNCTION__) +
+                                  ": I2c.frequency(I2C_STD) failed");
+      return;
+    }
+
+  if (m_i2c.address(m_addr))
+    {
+      throw std::runtime_error(std::string(__FUNCTION__) +
+                               ": I2c.address() failed");
+      return;
+    }
+
+  initClock();
+  // default to mode1 stepper operation, 200 steps per rev.
+  configStepper(200, STEP_MODE1);
+}
+
+MD::~MD()
+{
+  setMotorSpeeds(0, 0);
+  writePacket(SET_DIRECTION, 0, MD_NOOP);
+}
+
+bool MD::writePacket(REG_T reg, uint8_t data1, uint8_t data2)
+{
+  uint8_t buf[3];
+
+  buf[0] = reg;
+  buf[1] = data1;
+  buf[2] = data2;
+
+  if ( m_i2c.write(buf, 3) != mraa::SUCCESS )
+    {
+      throw std::runtime_error(std::string(__FUNCTION__) +
+                               ": I2c.write() failed");
+      return false;
+    }
+
+  // This sleep appears to be required.  Without it, writes randomly
+  // fail (no ACK received).  This happens most often on the SET_SPEED
+  // packet.  I am guessing that there is a timing problem and/or bug
+  // in the motor driver's firmware.
+
+  usleep(100);
+
+  return true;
+}
+
+bool MD::setMotorSpeeds(uint8_t speedA, uint8_t speedB)
+{
+  return writePacket(SET_SPEED, speedA, speedB);
+}
+
+bool MD::setPWMFrequencyPrescale(uint8_t freq)
+{
+  return writePacket(SET_PWM_FREQ, freq, MD_NOOP);
+}
+
+bool MD::setMotorDirections(DC_DIRECTION_T dirA, DC_DIRECTION_T dirB)
+{
+  uint8_t dir = ((dirB & 0x03) << 2) | (dirA & 0x03);
+  return writePacket(SET_DIRECTION, dir, MD_NOOP);
+}
+
+bool MD::enableStepper(STEP_DIRECTION_T dir, uint8_t speed)
+{
+  // If mode 2, send the command and return immediately
+  if (m_stepMode == STEP_MODE2)
+    return writePacket(STEPPER_ENABLE, dir, speed);
+
+  // otherwise, mode 1, setup the basics and start stepping.
+
+  m_stepDelay = 60 * 1000 / m_stepsPerRev / speed;
+  m_stepDirection = ((dir == STEP_DIR_CW) ? 1 : -1);
+
+  // seeed says speed should always be 255,255 for stepper operation
+  setMotorSpeeds(255, 255);
+
+  while (m_totalSteps > 0)
+    {
+      if (getMillis() >= m_stepDelay)
+        {
+          // reset the clock
+          initClock();
+
+          m_currentStep += m_stepDirection;
+
+          if (m_stepDirection == 1)
+            {
+              if (m_currentStep >= m_stepsPerRev)
+                m_currentStep = 0;
+            }
+          else
+            {
+              if (m_currentStep <= 0)
+                m_currentStep = m_stepsPerRev;
+            }
+
+          m_totalSteps--;
+          stepperStep();
+        }
+    }
+
+  // and... we're done
+  return true;
+}
+
+bool MD::disableStepper()
+{
+  if (m_stepMode == STEP_MODE2)
+    return writePacket(STEPPER_DISABLE, MD_NOOP, MD_NOOP);
+
+  // else, mode 1
+  writePacket(SET_DIRECTION, 0, MD_NOOP);
+  return setMotorSpeeds(0, 0);
+}
+
+bool MD::setStepperSteps(unsigned int steps)
+{
+  if (m_stepMode == STEP_MODE2)
+    {
+      if (steps == 0)
+        {
+          // invalid
+          throw std::out_of_range(std::string(__FUNCTION__) +
+                                  ": invalid number of steps.  " +
+                                  "Valid values are between 1 and 255.");
+          return false;
+        }
+      return writePacket(STEPPER_NUM_STEPS, steps, MD_NOOP);
+    }
+
+  // for mode one, just store it for future use by enableStepper()
+  m_totalSteps = steps;
+  return true;
+}
+
+void MD::initClock()
+{
+  gettimeofday(&m_startTime, NULL);
+}
+
+uint32_t MD::getMillis()
+{
+  struct timeval elapsed, now;
+  uint32_t elapse;
+
+  // get current time
+  gettimeofday(&now, NULL);
+
+  // compute the delta since m_startTime
+  if( (elapsed.tv_usec = now.tv_usec - m_startTime.tv_usec) < 0 )
+    {
+      elapsed.tv_usec += 1000000;
+      elapsed.tv_sec = now.tv_sec - m_startTime.tv_sec - 1;
+    }
+  else
+    {
+      elapsed.tv_sec = now.tv_sec - m_startTime.tv_sec;
+    }
+
+  elapse = (uint32_t)((elapsed.tv_sec * 1000) + (elapsed.tv_usec / 1000));
+
+  // never return 0
+  if (elapse == 0)
+    elapse = 1;
+
+  return elapse;
+}
+
+void MD::configStepper(unsigned int stepsPerRev, STEP_MODE_T mode)
+{
+  m_stepsPerRev = stepsPerRev;
+  m_stepMode = mode;
+  m_currentStep = 0;
+  m_stepDelay = 0;
+  m_stepDirection = 1;
+  m_totalSteps = 0;
+}
+
+void MD::stepperStep()
+{
+  int step = m_currentStep % 4;
+
+  switch (step)
+    {
+    case 0:
+      writePacket(SET_DIRECTION, 0b0101, MD_NOOP);
+      break;
+    case 1:
+      writePacket(SET_DIRECTION, 0b0110, MD_NOOP);
+      break;
+    case 2:
+      writePacket(SET_DIRECTION, 0b1010, MD_NOOP);
+      break;
+    case 3:
+      writePacket(SET_DIRECTION, 0b1001, MD_NOOP);
+      break;
+    }
+}

src/md/md.hpp

@@ -0,0 +1,255 @@
+/*
+ * Author: Jon Trulson <jtrulson@ics.com>
+ * Copyright (c) 2014 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 <string>
+#include <mraa/types.hpp>
+#include <mraa/i2c.hpp>
+
+#define MD_I2C_BUS 0
+#define MD_DEFAULT_I2C_ADDR 0x0f
+
+namespace upm {
+  /**
+   * @brief I2C Motor Driver library
+   * @defgroup md libupm-md
+   * @ingroup seeed i2c motor robok
+   */
+
+  /**
+   * @library md
+   * @sensor md
+   * @comname I2C Motor Driver
+   * @type motor
+   * @man seeed
+   * @con i2c
+   * @kit robok
+   *
+   * @brief API for the I2C Motor Driver 
+   *
+   * This class implements support for the I2C Motor Driver.
+   * This device can support a single 4-wire stepper motor, or two
+   * 2-wire DC motors. The device contains an Atmel* ATmega8L
+   * microcontroller that manages an L298N H-bridge driver chip.
+   *
+   * This device supports an I2C bus speed of 100Khz only.
+   *
+   * The module does not provide any telemetry or status - it only
+   * accepts I2C commands for its various operations.
+   *
+   * This module was tested with version 1.3 of the I2C Motor
+   * Driver.
+   *
+   * For stepper operation, this driver can run in one of two modes -
+   * Mode 1, where this driver handles the stepping operation, and
+   * Mode 2, where this driver simply sends commands to the
+   * Motor Driver, and it handles the stepping operation.  Mode2
+   * requires updated (and working) firmware to be loaded onto the
+   * device.
+   *
+   * The default stepper operation mode is Mode1, which is generally
+   * more flexible and is supported on all firmware revisions.
+   *
+   * @image html md.jpg
+   * An example showing the use of a DC motor
+   * @snippet md.cxx Interesting
+   * An example showing the use of a 4-wire stepper
+   * @snippet md-stepper.cxx Interesting
+   */
+  class MD {
+
+  public:
+    // MD registers
+    typedef enum { SET_SPEED           = 0x82,
+                   SET_PWM_FREQ        = 0x84,
+                   SET_DIRECTION       = 0xaa,
+                   SET_MOTOR_A         = 0xa1, // not documented
+                   SET_MOTOR_B         = 0xa5, // not documented
+                   STEPPER_ENABLE      = 0x1a, 
+                   STEPPER_DISABLE     = 0x1b,
+                   STEPPER_NUM_STEPS   = 0x1c
+    } REG_T;
+
+    // legal directions for the stepper
+    typedef enum { STEP_DIR_CCW    = 0x01,
+                   STEP_DIR_CW     = 0x00
+    } STEP_DIRECTION_T;
+    
+    // legal directions for individual DC motors
+    typedef enum { DIR_CCW    = 0x02,
+                   DIR_CW     = 0x01
+    } DC_DIRECTION_T;
+    
+    // stepper modes
+    typedef enum { STEP_MODE1 = 0x00,
+                   STEP_MODE2 = 0x01
+    } STEP_MODE_T;
+    
+    /**
+     * MD constructor
+     *
+     * @param bus I2C bus to use
+     * @param address I2C address to use
+     */
+    MD(int bus=MD_I2C_BUS,
+            uint8_t address=MD_DEFAULT_I2C_ADDR);
+
+    /**
+     * MD destructor
+     */
+    ~MD();
+
+    /**
+     * Composes and writes a 3-byte packet to the controller
+     *
+     * @param reg Register location
+     * @param data1 First byte of data
+     * @param data2 Second byte of data
+     * @return True if successful
+     */
+    bool writePacket(REG_T reg, uint8_t data1, uint8_t data2);
+
+    /**
+     * To control DC motors, sets the speed of motors A & B.
+     * Valid values are 0-255.
+     *
+     * @param speedA Speed of motor A
+     * @param speedB Speed of motor B
+     * @return True if successful
+     */
+    bool setMotorSpeeds(uint8_t speedA, uint8_t speedB);
+
+    /**
+     * To control DC motors, sets the PWM frequency prescale
+     * factor. Note: this register is not ducumented other than to say
+     * the default value is 0x03. Presumably, this is the timer
+     * prescale factor used on the ATMega MCU timer driving the PWM.
+     *
+     * @param freq PWM prescale frequency; default is 0x03
+     * @return True if successful
+     */
+    bool setPWMFrequencyPrescale(uint8_t freq=0x03);
+
+    /**
+     * To control DC motors, sets the directions of motors A & B
+     *
+     * @param dirA Direction for motor A, DIR_CW or DIR_CCW
+     * @param dirB Direction for motor B, DIR_CW or DIR_CCW
+     * @return True if successful
+     */
+    bool setMotorDirections(DC_DIRECTION_T dirA, DC_DIRECTION_T dirB);
+
+    /**
+     * To control a stepper motor, sets its direction and speed, and
+     * then starts operation.  For Mode2, this method will return
+     * immediately.  For Mode1 (the default) this method returns when
+     * the number of steps specified by setStepperSteps() has
+     * completed.
+     *
+     * @param dir Direction, STEP_DIR_CW or STEP_DIR_CCW
+     * @param speed Motor speed. Valid range is 1-255. For Mode 1
+     * (default), this specifies the speed in RPM's.  For Mode 2,
+     * speed is multiplied by 4ms by the board, so higher numbers
+     * will mean a slower speed.
+     * @return True if successful
+     */
+    bool enableStepper(STEP_DIRECTION_T dir, uint8_t speed);
+
+    /**
+     * To control a stepper motor, stops the stepper motor.
+     *
+     * @return True if successful
+     */
+    bool disableStepper();
+
+    /**
+     * To control a stepper motor, specifies the number of steps to
+     * execute. For Mode2, valid values are between 1-255, 255 means
+     * continuous rotation.
+     *
+     * For Mode1 (the default) steps can be any positive integer.
+     *
+     * @param steps Number of steps to execute. 255 (only in Mode2)
+     * means continuous rotation.  
+     * @return True if successful
+     */
+    bool setStepperSteps(unsigned int steps);
+
+    /**
+     * Configure the initial Stepper parameters.  This should be
+     * called before any other stepper method.
+     *
+     * @param stepsPerRev The number of steps required to complete one
+     * full revolution.
+     * @param mode The stepper operating mode, default STEP_MODE1
+     * @return Elapsed milliseconds
+     */
+    void configStepper(unsigned int stepsPerRev, STEP_MODE_T mode=STEP_MODE1);
+
+  protected:
+    mraa::I2c m_i2c;
+    uint8_t m_addr;
+
+  private:
+    // steps per revolution
+    int m_stepsPerRev;
+    int m_currentStep;
+    uint32_t m_stepDelay;
+    uint32_t m_totalSteps;
+    STEP_MODE_T m_stepMode;
+
+    /**
+     * Steps the motor one tick
+     *
+     */
+    void stepperStep();
+
+    // step direction: - 1 = forward, -1 = backward
+    int m_stepDirection;
+
+    // This is a NOOP value used to pad packets
+    static const uint8_t MD_NOOP = 0x01;
+    // our timer
+    struct timeval m_startTime;
+
+    /**
+     * Returns the number of milliseconds elapsed since initClock()
+     * was last called.
+     *
+     * @return Elapsed milliseconds
+     */
+    uint32_t getMillis();
+
+    /**
+     * Resets the clock
+     *
+     */
+    void initClock();
+
+  };
+}
+
+

src/md/pyupm_md.i

@@ -0,0 +1,15 @@
+// Include doxygen-generated documentation
+%include "pyupm_doxy2swig.i"
+%module pyupm_md
+%include "../upm.i"
+
+%feature("autodoc", "3");
+
+#ifdef DOXYGEN
+%include "md_doc.i"
+#endif
+
+%include "md.hpp"
+%{
+    #include "md.hpp"
+%}