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123 lines
3.6 KiB
C
123 lines
3.6 KiB
C
/*
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* Author: Jon Trulson <jtrulson@ics.com>
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* Copyright (c) 2016 Intel Corporation.
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*
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* Permission is hereby granted, free of charge, to any person obtaining
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* a copy of this software and associated documentation files (the
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* "Software"), to deal in the Software without restriction, including
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* without limitation the rights to use, copy, modify, merge, publish,
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* distribute, sublicense, and/or sell copies of the Software, and to
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* permit persons to whom the Software is furnished to do so, subject to
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* the following conditions:
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*
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* The above copyright notice and this permission notice shall be
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* included in all copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
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* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
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* LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
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* OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
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* WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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*/
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#pragma once
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#include <stdlib.h>
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#include <stdio.h>
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#include <upm.h>
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#include <mraa/gpio.h>
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#ifdef __cplusplus
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extern "C" {
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#endif
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/**
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* @file uln200xa.h
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* @library uln200xa
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* @brief C API for the uln200xa driver
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*
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* @include uln200xa.c
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*/
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/**
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* Device context
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*/
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typedef struct _uln200xa_context {
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mraa_gpio_context stepI1; // In1
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mraa_gpio_context stepI2;
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mraa_gpio_context stepI3;
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mraa_gpio_context stepI4;
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int stepsPerRev;
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int currentStep;
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uint32_t stepDelay;
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int stepDirection;
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} *uln200xa_context;
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/**
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* Enum to specify the direction of a motor
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*/
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typedef enum {
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ULN200XA_DIR_CW = 0x01,
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ULN200XA_DIR_CCW = 0x02
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} ULN200XA_DIRECTION_T;
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/**
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* ULN200XA constructor
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*
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* @param stepsPerRev Number of steps per full revolution
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* @param i1 Digital pin to use for stepper input 1
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* @param i2 Digital pin to use for stepper input 2
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* @param i3 Digital pin to use for stepper input 3
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* @param i4 Digital pin to use for stepper input 4
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* @return Device context
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*/
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uln200xa_context uln200xa_init(int stepsPerRev, unsigned int i1,
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unsigned int i2, unsigned int i3,
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unsigned int i4);
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/**
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* ULN200XA destructor
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*/
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void uln200xa_close(uln200xa_context dev);
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/**
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* Sets the speed of the stepper motor in revolutions per minute (RPM)
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*
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* @param dev Device context
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* @param speed Speed to set the motor to, in RPM
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*/
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void uln200xa_set_speed(const uln200xa_context dev, unsigned int speed);
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/**
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* Sets the direction of the motor, clockwise or counterclockwise
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*
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* @param dev Device context
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* @param dir Direction to set the motor to
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*/
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void uln200xa_set_direction(const uln200xa_context dev,
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ULN200XA_DIRECTION_T dir);
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/**
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* Steps the stepper motor a specified number of steps
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*
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* @param dev Device context
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* @param steps Number of steps to move the stepper motor
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*/
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void uln200xa_stepper_steps(const uln200xa_context dev, unsigned int steps);
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/**
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* Releases the stepper motor by removing power
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*
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* @param dev Device context
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*/
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void uln200xa_release(const uln200xa_context dev);
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#ifdef __cplusplus
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}
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#endif
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