Raspberries/upm
Public Access
2
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

cpp_headers: Renamed C++ headers from .h -> .hpp

Browse Source 
To make room for UPM C and C++ sensor code to coexist, all UPM
C++ headers have been renamed from h -> hpp.  This commit contains
updates to documentation, includes, cmake collateral, examples, and
swig interface files.

    * Renamed all cxx/cpp header files which contain the string
    'copyright intel' from .h -> .hpp (if not already hpp).

    * Replaced all references to .h with .hpp in documentation,
    source files, cmake collateral, example code, and swig interface
    files.

    * Replaced cmake variable module_h with module_hpp.

    * Intentionally left upm.h since this file currently does not
    contain code (documentation only).

Signed-off-by: Noel Eck <noel.eck@intel.com>
This commit is contained in:
Noel Eck
2016-04-25 14:27:51 -07:00
parent b3a8fd7172
commit 922e0cc26b
1177 changed files with 1697 additions and 1699 deletions
Download Patch File Download Diff File Expand all files Collapse all files

158
src/uln200xa/uln200xa.h
View File

@@ -1,158 +0,0 @@
/*
* 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>
namespace upm {
/**
* @brief ULN200XA Stepper Driver library
* @defgroup uln200xa libupm-uln200xa
* @ingroup seeed gpio motor
*/
/**
* @library uln200xa
* @sensor uln200xa
* @comname ULN200XA Stepper Driver
* @altname ULN2001A ULN2002A ULN2003A ULN2004A
* @type motor
* @man seeed
* @web http://www.seeedstudio.com/depot/Gear-Stepper-Motor-with-Driver-p-1685.html?cPath=39_40
* @con gpio
*
* @brief UPM module for the ULN200XA Darlington Stepper Driver
*
* This module was developed on a ULN2003A Stepper Driver. It
* should also support the ULN2001A, ULN2002A, and ULN2004A devices, when
* using to drive the 28BYJ-48 unipolar stepper motor.
*
* @image html uln200xa.jpg
* Example driving a stepper motor
* @snippet uln200xa.cxx Interesting
*/
class ULN200XA {
public:
/**
* Enum to specify the direction of a motor
*/
typedef enum {
DIR_CW = 0x01,
DIR_CCW = 0x02
} ULN200XA_DIRECTION_T;
/**
* ULN200XA constructor
*
* @param stepsPerRev Number of steps per full revolution
* @param i1 Digital pin to use for stepper input 1
* @param i2 Digital pin to use for stepper input 2
* @param i3 Digital pin to use for stepper input 3
* @param i4 Digital pin to use for stepper input 4
*/
ULN200XA(int stepsPerRev, int i1, int i2, int i3, int i4);
/**
* ULN200XA destructor
*/
~ULN200XA();
/**
* Returns the number of milliseconds elapsed since initClock()
* was last called.
*
* @return Elapsed milliseconds
*/
uint32_t getMillis();
/**
* Resets the clock
*
*/
void initClock();
/**
* Sets the speed of the stepper motor in revolutions per minute (RPM)
*
* @param speed Speed to set the motor to, in RPM
*/
void setSpeed(int speed);
/**
* Sets the direction of the motor, clockwise or counterclockwise
*
* @param dir Direction to set the motor to
*/
void setDirection(ULN200XA_DIRECTION_T dir);
/**
* Steps the stepper motor a specified number of steps
*
* @param steps Number of steps to move the stepper motor
*/
void stepperSteps(unsigned int steps);
/**
* Releases the stepper motor by removing power
*
*/
void release();
private:
struct timeval m_startTime;
// stepper (4-wire)
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;
/**
* Steps the stepper motor one tick
*
*/
void stepperStep();
/**
* Defines the step direction: 1 = forward, -1 = backward
*
*/
int m_stepDirection;
};
}