uln200xa: Initial C implementation, example not usable yet

Currently, there are just not enough available GPIOS to properly
driver this from the x86 core.  There is a PR (#25) in ZMRAA that
should fix this problem, but it has not been merged yet.

My understanding is that GPIO is not available from the ARC core at
all yet either, so...  That too may be addressed in PR #25.

Signed-off-by: Jon Trulson <[email protected]>

Kbuild

@@ -47,3 +47,4 @@ obj-$(CONFIG_UPM_rotaryencoder) += src/rotaryencoder/
 obj-$(CONFIG_UPM_rpr220) += src/rpr220/
 obj-$(CONFIG_UPM_md) += src/md/
 obj-$(CONFIG_UPM_linefinder) += src/linefinder/
+obj-$(CONFIG_UPM_uln200xa) += src/uln200xa/

Kconfig

@@ -55,4 +55,5 @@ source "ext/lib/upm/src/rotaryencoder/Kconfig"
 source "ext/lib/upm/src/rpr220/Kconfig"
 source "ext/lib/upm/src/md/Kconfig"
 source "ext/lib/upm/src/linefinder/Kconfig"
+source "ext/lib/upm/src/uln200xa/Kconfig"
 endmenu

Makefile

@@ -50,3 +50,4 @@ include $(srctree)/ext/lib/upm/src/rotaryencoder/Makefile
 include $(srctree)/ext/lib/upm/src/rpr220/Makefile
 include $(srctree)/ext/lib/upm/src/md/Makefile
 include $(srctree)/ext/lib/upm/src/linefinder/Makefile
+include $(srctree)/ext/lib/upm/src/uln200xa/Makefile

samples/upm.samples.json

@@ -570,5 +570,18 @@
             }
         },
         "path": "upm/yg1006"
+    },
+    {
+        "example": {
+            "category": "UPM",
+            "description": "ULN200XA Stepper Motor",
+            "name": "uln200xa",
+            "platform": {
+                "kernels": [
+                    "nano"
+                ]
+            }
+        },
+        "path": "upm/uln200xa"
     }
 ]

samples/upm/uln200xa/Makefile

@@ -0,0 +1,5 @@
+KERNEL_TYPE = nano
+BOARD ?= qemu_x86
+CONF_FILE = prj.conf
+
+include ${ZEPHYR_BASE}/Makefile.inc

samples/upm/uln200xa/issm.json

@@ -0,0 +1,13 @@
+{
+    "path" : "upm/uln200xa",
+    "example": {
+        "name" : "uln200xa",
+        "description" : "ULN200XA Stepper Motor",
+        "category": "UPM",
+        "platform": {
+            "kernels": [
+                "nano"
+            ]
+        }
+    }
+},

samples/upm/uln200xa/prj.conf

@@ -0,0 +1,9 @@
+CONFIG_STDOUT_CONSOLE=y
+CONFIG_MRAA=y
+CONFIG_MRAA_GPIO=y
+CONFIG_UPM=y
+CONFIG_UPM_uln200xa=y
+CONFIG_UPM_utilities=y
+CONFIG_NEWLIB_LIBC=y
+CONFIG_GPIO=y
+CONFIG_GPIO_QMSI=y

samples/upm/uln200xa/src/Makefile

@@ -0,0 +1 @@
+obj-y = uln200xa.o

samples/upm/uln200xa/src/uln200xa.c

@@ -0,0 +1,70 @@
+/*
+ * Author: Jon Trulson <[email protected]>
+ * 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 <upm_utilities.h>
+#include "uln200xa.h"
+
+int main ()
+{
+//! [Interesting]
+
+    // Instantiate a Stepper motor on a ULN200XA Darlington controller.
+
+    // This was tested with the Grove Gear Stepper Motor with Driver
+
+    // Wire the pins so that I1 is pin D8, I2 is pin D9, I3 is pin D10 and
+    // I4 is pin D11
+    uln200xa_context motor = uln200xa_init(4096, 8, 9, 10, 11);
+//    uln200xa_context motor = uln200xa_init(4096, 2, 4, 8, 11);
+
+    if (!motor)
+    {
+        printf("uln200xa_init() failed\n");
+        return 1;
+    }
+
+    uln200xa_set_speed(motor, 5);
+    uln200xa_set_direction(motor, ULN200XA_DIR_CW);
+    printf("Rotating 1 revolution clockwise.\n");
+    uln200xa_stepper_steps(motor, 4096);
+
+    printf("Sleeping for 2 seconds...\n");
+    upm_delay(2);
+
+    printf("Rotating 1/2 revolution counter clockwise.\n");
+    uln200xa_set_direction(motor, ULN200XA_DIR_CCW);
+    uln200xa_stepper_steps(motor, 2048);
+
+    // turn off the power
+    uln200xa_release(motor);
+
+    printf("Exiting...\n");
+
+    uln200xa_close(motor);
+//! [Interesting]
+  return 0;
+}

src/uln200xa/Kbuild

@@ -0,0 +1 @@
+obj-$(CONFIG_UPM_uln200xa) += uln200xa.o

src/uln200xa/Kconfig

@@ -0,0 +1,8 @@
+config UPM_uln200xa
+    bool "uln200xa"
+    select MRAA
+    select NEWLIB_LIBC
+    depends on UPM
+    default n
+    help
+        upm ULN200XA Stepper Motor

src/uln200xa/Makefile

@@ -0,0 +1,3 @@
+ifdef CONFIG_UPM_uln200xa
+ZEPHYRINCLUDE += -I$(srctree)/ext/lib/upm/src/uln200xa
+endif