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+/*
+ * Authors: Yevgeniy Kiveisha <yevgeniy.kiveisha@intel.com>
+ *          Mihai Tudor Panu <mihai.tudor.panu@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 <mraa/pwm.hpp>
+#include <mraa/common.hpp>
+#include <mraa/gpio.hpp>
+
+#define OVERHEAD_US     6
+#define MINPULSE_US     5
+
+#define HIGH            1
+#define LOW             0
+
+namespace upm {
+/**
+ * @brief Stepper Motor library
+ * @defgroup stepmotor libupm-stepmotor
+ * @ingroup sparkfun generic gpio motor
+ */
+/**
+ * @library stepmotor
+ * @sensor stepmotor
+ * @comname Stepper Motor
+ * @altname EasyDriver Stepper Motor Driver
+ * @type motor
+ * @man sparkfun generic
+ * @web http://www.schmalzhaus.com/EasyDriver/index.html
+ * @con gpio
+ *
+ * @brief API for the Stepper Motor
+ *
+ * This module defines the Stepper Motor interface. It is compatible with
+ * stepper motor drivers that use 2 pins to control the motor, like an Easy
+ * Driver from Brian Schmalz or the STR driver series from Applied Motion. It
+ * can also control an enable pin if one is available and connected.
+ *
+ * The implementation is synchronous and thus blocking while the stepper motor
+ * is in motion. However it is possible to send the commands via threading and
+ * the performance of the library will be very good given a low CPU load. On a
+ * busy system though you will notice some jitter especially at higher speeds.
+ * It is possible to reduce this effect to some extent by using smoothing
+ * and/or microstepping on stepper drivers that support such features.
+ *
+ * @image html stepmotor.jpg
+ * <br><em>EasyDriver Sensor image provided by SparkFun* under
+ * <a href=https://creativecommons.org/licenses/by-nc-sa/3.0/>
+ * CC BY-NC-SA-3.0</a>.</em>
+ *
+ * @snippet stepmotor.cxx Interesting
+ */
+class StepMotor {
+    public:
+        /**
+         * Instantiates a StepMotor object.
+         *
+         * @param dirPin Direction GPIO pin
+         * @param stePin Stepper pulse GPIO pin
+         * @param steps Number of steps per revolution (Default 200)
+         * @param enPin Enable pin if connected (Optional)
+         */
+        StepMotor (int dirPin, int stePin, int steps = 200, int enPin = -1);
+
+        /**
+         * StepMotor object destructor.
+         */
+         ~StepMotor ();
+
+        /**
+         * Can be used to enable/disable the stepper driver if an enable pin is
+         * available and connected. Check your data sheet as some drivers might
+         * have the enable logic inverted.
+         *
+         * @param flag true to enable or false to disable
+         */
+        void enable (bool flag);
+
+        /**
+         * Sets the rotation speed in rpm. Default 60 rpm.
+         *
+         * @param speed Rotation speed in rpm
+         */
+        void setSpeed (int speed);
+
+        /**
+         * Rotates the motor by the specified number of steps. Positive values
+         * rotate clockwise and negative values rotate counter-clockwise.
+         *
+         * @param ticks Number of steps the motor moves
+         */
+        mraa::Result step (int ticks);
+
+        /**
+         * Rotates the motor forward (clockwise).
+         *
+         * @param ticks Number of steps the motor moves
+         */
+        mraa::Result stepForward (int ticks);
+
+        /**
+         * Rotates the motor backward (counter-clockwise).
+         *
+         * @param ticks Number of steps the motor moves
+         */
+        mraa::Result stepBackward (int ticks);
+
+        /**
+         * Sets the current position. Useful if the motor is not at 0 when the
+         * driver is initialized.
+         *
+         * @param step Current position
+         */
+        void setPosition (int pos);
+
+        /**
+         * Gets the current position. This is cumulative and the result of all
+         * the step commands sent to the motor.
+         *
+         * @return Stepper's position.
+         */
+        int getPosition ();
+
+        /**
+         * Gets the current step. This is relative to one revolution.
+         *
+         * @return Current step, ranges from 0 to number of steps per revolution.
+         */
+        int getStep ();
+
+    private:
+        std::string         m_name;
+
+        mraa::Gpio          m_dirPinCtx;
+        mraa::Gpio          m_stePinCtx;
+        mraa::Gpio          *m_enPinCtx;
+
+        int                 m_delay;
+        int                 m_steps;
+        int                 m_position;
+
+        mraa::Result dirForward ();
+        mraa::Result dirBackward ();
+        void move ();
+        void delayus (int us);
+    };
+}