step_motor: Added new module

Signed-off-by: Kiveisha Yevgeniy <yevgeniy.kiveisha@intel.com>

examples/CMakeLists.txt

@@ -17,6 +17,7 @@ add_executable (accelerometer mma7455.cxx)
 add_executable (lcd st7735.cxx)
 add_executable (max31855-example max31855.cxx)
 add_executable (gy65-example gy65.cxx)
+add_executable (stepmotor-example step_motor_example.cxx)
 
 include_directories (${PROJECT_SOURCE_DIR}/src/hmc5883l)
 include_directories (${PROJECT_SOURCE_DIR}/src/grove)
@@ -32,6 +33,7 @@ include_directories (${PROJECT_SOURCE_DIR}/src/mma7455)
 include_directories (${PROJECT_SOURCE_DIR}/src/st7735)
 include_directories (${PROJECT_SOURCE_DIR}/src/max31855)
 include_directories (${PROJECT_SOURCE_DIR}/src/gy65)
+include_directories (${PROJECT_SOURCE_DIR}/src/step_motor)
 
 target_link_libraries (compass hmc5883l ${CMAKE_THREAD_LIBS_INIT})
 target_link_libraries (groveled grove ${CMAKE_THREAD_LIBS_INIT})
@@ -52,3 +54,4 @@ target_link_libraries (accelerometer mma7455 ${CMAKE_THREAD_LIBS_INIT})
 target_link_libraries (lcd st7735 ${CMAKE_THREAD_LIBS_INIT})
 target_link_libraries (max31855-example max31855 ${CMAKE_THREAD_LIBS_INIT})
 target_link_libraries (gy65-example gy65 ${CMAKE_THREAD_LIBS_INIT})
+target_link_libraries (stepmotor-example step_motor ${CMAKE_THREAD_LIBS_INIT})

examples/step_motor_example.cxx

@@ -0,0 +1,73 @@
+/*
+ * Author: Yevgeniy Kiveisha <yevgeniy.kiveisha@intel.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 <string.h>
+#include <unistd.h>
+#include <iostream>
+#include "step_motor.h"
+#include <signal.h>
+
+int doWork = 0;
+upm::StepMotor *sensor = NULL;
+
+void
+sig_handler(int signo)
+{
+    printf("got signal\n");
+    if (signo == SIGINT) {
+        printf("exiting application\n");
+        doWork = 1;
+    }
+}
+
+int
+main(int argc, char **argv)
+{
+//! [Interesting]
+    sensor = new upm::StepMotor(4, 6);
+
+    while (!doWork) {
+        sensor->setSpeed (500);
+        sensor->stepForward (500);
+        usleep (10000);
+        sensor->stepBackwards (500);
+        usleep (10000);
+
+        sensor->setSpeed (750);
+        sensor->stepForward (500);
+        usleep (10000);
+        sensor->stepBackwards (500);
+        usleep (10000);
+
+        sensor->setSpeed (1000);
+        sensor->stepForward (500);
+        usleep (10000);
+        sensor->stepBackwards (500);
+        usleep (10000);
+    }
+
+    delete sensor;
+//! [Interesting]
+    return 0;
+}

src/step_motor/CMakeLists.txt

@@ -0,0 +1,5 @@
+set (libname "step_motor")
+set (libdescription "upm STEP_MOTOR")
+set (module_src ${libname}.cxx)
+set (module_h ${libname}.h)
+upm_module_init()

src/step_motor/jsupm_step_motor.i

@@ -0,0 +1,7 @@
+%module jsupm_step_motor
+
+%{
+    #include "step_motor.h"
+%}
+
+%include "step_motor.h"

src/step_motor/pyupm_step_motor.i

@@ -0,0 +1,10 @@
+%module pyupm_step_motor
+
+%include "stdint.i"
+
+%feature("autodoc", "3");
+
+%include "step_motor.h"
+%{
+    #include "step_motor.h"
+%}

src/step_motor/step_motor.cxx

@@ -0,0 +1,127 @@
+/*
+ * Author: Yevgeniy Kiveisha <yevgeniy.kiveisha@intel.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 <iostream>
+#include <unistd.h>
+#include <stdlib.h>
+
+#include "step_motor.h"
+
+using namespace upm;
+
+StepMotor::StepMotor (int dirPin, int stePin) {
+    maa_result_t error = MAA_SUCCESS;
+    m_name = "StepMotor";
+
+    maa_init();
+
+    m_stePin = stePin;
+    m_dirPin = dirPin;
+
+    m_pwmStepContext = maa_pwm_init (m_stePin);
+    m_dirPinCtx = maa_gpio_init (m_dirPin);
+    if (m_dirPinCtx == NULL) {
+        fprintf (stderr, "Are you sure that pin%d you requested is valid on your platform?", m_dirPin);
+        exit (1);
+    }
+
+    error = maa_gpio_dir (m_dirPinCtx, MAA_GPIO_OUT);
+    if (error != MAA_SUCCESS) {
+        maa_result_print (error);
+    }
+}
+
+StepMotor::~StepMotor() {
+    maa_result_t error = MAA_SUCCESS;
+
+    maa_pwm_close (m_pwmStepContext);
+
+    error = maa_gpio_close (m_dirPinCtx);
+    if (error != MAA_SUCCESS) {
+        maa_result_print(error);
+    }
+}
+
+void
+StepMotor::setSpeed (int speed) {
+    if (speed > MAX_PERIOD) {
+        m_speed = MAX_PERIOD;
+    }
+
+    if (speed < MIN_PERIOD) {
+        m_speed = MIN_PERIOD;
+    }
+
+    m_speed = speed;
+}
+
+maa_result_t
+StepMotor::stepForward (int ticks) {
+    dirForward ();
+    move (ticks);
+}
+
+maa_result_t
+StepMotor::stepBackwards (int ticks) {
+    dirBackwards ();
+    move (ticks);
+}
+
+maa_result_t
+StepMotor::move (int ticks) {
+    maa_result_t error = MAA_SUCCESS;
+
+    maa_pwm_enable (m_pwmStepContext, 1);
+    for (int tick = 0; tick < ticks; tick++) {
+        maa_pwm_period_us (m_pwmStepContext, m_speed);
+        maa_pwm_pulsewidth_us (m_pwmStepContext, PULSEWIDTH);
+    }
+    maa_pwm_enable (m_pwmStepContext, 0);
+
+    return error;
+}
+
+maa_result_t
+StepMotor::dirForward () {
+    maa_result_t error = MAA_SUCCESS;
+
+    error = maa_gpio_write (m_dirPinCtx, HIGH);
+    if (error != MAA_SUCCESS) {
+        maa_result_print (error);
+    }
+
+    return error;
+}
+
+maa_result_t
+StepMotor::dirBackwards () {
+    maa_result_t error = MAA_SUCCESS;
+
+    error = maa_gpio_write (m_dirPinCtx, LOW);
+    if (error != MAA_SUCCESS) {
+        maa_result_print (error);
+    }
+
+    return error;
+}

src/step_motor/step_motor.h

@@ -0,0 +1,101 @@
+/*
+ * Author: Yevgeniy Kiveisha <yevgeniy.kiveisha@intel.com>
+ * Copyright (c) 2014 Intel Corporation.
+ *
+ * Credits to Adafruit.
+ * Based on Adafruit BMP085 library.
+ *
+ * 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 <string>
+#include <math.h>
+#include <maa/pwm.h>
+#include <maa/aio.h>
+#include <maa/gpio.h>
+
+#define MIN_PERIOD         500
+#define MAX_PERIOD         1000
+#define PULSEWIDTH         480
+
+#define HIGH               1
+#define LOW                0
+
+namespace upm {
+
+/**
+ * @brief C++ API for StepMotor Drivers
+ *
+ * This file defines the step_motor C++ interface for libstep_motor
+ *
+ * @snippet step_motor_example.cxx Interesting
+ */
+class StepMotor {
+    public:
+        /**
+         * Instanciates a StepMotor object
+         *
+         * @param dirPin direction pin
+         * @param stePin steper pulse pin
+         */
+        StepMotor (int dirPin, int stePin);
+
+        /**
+         * StepMotor object destructor.
+         */
+        ~StepMotor ();
+
+        /**
+         * Set the speed of rotation
+         *
+         * @param speed rotation speed
+         */
+        void setSpeed (int speed);
+
+        /**
+         * Rotate motor forward
+         *
+         * @param ticks number of tickes the motor will move
+         */
+        maa_result_t stepForward (int ticks);
+
+        /**
+         * Rotate motor backward
+         *
+         * @param ticks number of tickes the motor will move
+         */
+        maa_result_t stepBackwards (int ticks);
+
+    private:
+        std::string         m_name;
+
+        int                 m_dirPin;
+        int                 m_stePin;
+        int                 m_speed;
+
+        maa_gpio_context    m_dirPinCtx;
+        maa_pwm_context     m_pwmStepContext;
+
+        maa_result_t move (int ticks);
+        maa_result_t dirForward ();
+        maa_result_t dirBackwards ();
+    };
+}