Driver DRV8825 for stepper motor was added

devices/Drv8825/Direction.cs

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+// Licensed to the .NET Foundation under one or more agreements.
+// The .NET Foundation licenses this file to you under the MIT license.
+
+namespace Iot.Device.Drv8825
+{
+    /// <summary>
+    /// Motor rotation direction.
+    /// </summary>
+    public enum Direction
+    {
+        /// <summary>
+        /// Rotation in the same direction as a clock's hands.
+        /// </summary>
+        Clockwise,
+
+        /// <summary>
+        /// Rotation in the opposite direction to the movement of the hands of a clock.
+        /// </summary>
+        Counterclockwise
+    }
+}

devices/Drv8825/Drv8825.cs

@@ -0,0 +1,194 @@
+// Licensed to the .NET Foundation under one or more agreements.
+// The .NET Foundation licenses this file to you under the MIT license.
+
+using System;
+using System.Device;
+using System.Device.Gpio;
+using System.Threading;
+using UnitsNet;
+
+namespace Iot.Device.Drv8825
+{
+    /// <summary>
+    /// Class for controlling Drv8825 stepper motor driver.
+    /// </summary>
+    public class Drv8825 : IDisposable
+    {
+        private readonly ushort _fullStepsPerRotation;
+        private readonly GpioPin _stepPin;
+        private readonly GpioPin _dirPin;
+        private readonly GpioPin? _sleepPin;
+        private readonly bool _shouldDisposeGpioController;
+        private readonly MicrostepsController _microstepsController;
+
+        private GpioController? _gpioController;
+
+        /// <summary>
+        /// Gets or sets the delay that allows the driver to recognize a step. By default, it is 5 microseconds.
+        /// It is not recommended to set this delay less than 2 microseconds, 
+        /// otherwise the motor will "miss"(skip) some steps.
+        /// And it is not recommended to set this delay more than 50 microseconds,
+        /// otherwise the morot will stop recognize steps.
+        /// </summary>
+        public TimeSpan StepDelay { get; set; } = TimeSpan.FromTicks(5 * 10L);
+
+        /// <summary>
+        /// Gets or sets delay between each step (or microstep).
+        /// </summary>
+        public TimeSpan DelayBetweenSteps { get; set; } = TimeSpan.Zero;
+
+        /// <summary>
+        /// Initializes a new instance of the <see cref="Drv8825" /> class.
+        /// </summary>
+        /// <param name="stepPin">Microcontroller pin connected to STEP driver pin. Used to set steps count.</param>
+        /// <param name="dirPin">Microcontroller pin connected to DIR driver pin. Used to set rotation direction.</param>
+        /// <param name="sleepPin">Microcontroller pin connected to SLP driver pin. Used to wake up and put the driver to sleep. Usually SLP need to connect with RST pin.</param>
+        /// <param name="fullStepsPerRotation">How many steps your motor need to make full rotation. For example, Nema 17 takes 200 full steps to complete full rotation.</param>
+        /// <param name="gpioController">GPIO controller. If it not passed, then it be created here.</param>
+        /// <param name="shouldDisposeGpioController">True to dispose the Gpio Controller when this class wiill be disposed.</param>
+        /// <param name="m0Pin">Microcontroller pin connected to M0 driver pin. Can be used to microsteps control. 0 if not connected.</param>
+        /// <param name="m1Pin">Microcontroller pin connected to M1 driver pin. Can be used to microsteps control. 0 if not connected.</param>
+        /// <param name="m2Pin">Microcontroller pin connected to M2 driver pin. Can be used to microsteps control. 0 if not connected.</param>
+        public Drv8825(
+            byte stepPin,
+            byte dirPin,
+            byte sleepPin = 0,
+            ushort fullStepsPerRotation = 200,
+            GpioController? gpioController = null,
+            bool shouldDisposeGpioController = true,
+            byte m0Pin = 0,
+            byte m1Pin = 0,
+            byte m2Pin = 0)
+        {
+            _fullStepsPerRotation = fullStepsPerRotation;
+            _gpioController = gpioController ?? new GpioController();
+            _shouldDisposeGpioController = shouldDisposeGpioController || gpioController is null;
+            _stepPin = _gpioController.OpenPin(stepPin, PinMode.Output);
+            _dirPin = _gpioController.OpenPin(dirPin, PinMode.Output);
+
+            if (sleepPin > 0)
+            {
+                _sleepPin = _gpioController.OpenPin(sleepPin, PinMode.Output);
+            }
+
+            _microstepsController = new MicrostepsController(_gpioController, m0Pin, m1Pin, m2Pin);
+        }
+
+        /// <summary>
+        /// Switch driver to working mode.
+        /// </summary>
+        /// <exception cref="InvalidOperationException">Throws when sleep pin doesn't passed.</exception>
+        public void WakeUp()
+        {
+            if (_sleepPin == null)
+            {
+                throw new InvalidOperationException("Sleep pin does not passed. Try to create driver class with sleepPin param");
+            }
+
+            _sleepPin.Write(PinValue.High);
+        }
+
+        /// <summary>
+        /// Switch driver to sleep mode.
+        /// </summary>
+        /// <param name="millisecondsDelay">The number of milliseconds to wait before going to sleep. Use if you want give to driver time to process all previously sent steps.</param>
+        /// <exception cref="InvalidOperationException">Throws when sleep pin doesn't passed.</exception>
+        public void Sleep(int millisecondsDelay = 0)
+        {
+            if (_sleepPin == null)
+            {
+                throw new InvalidOperationException("Sleep pin does not passed. Try to create driver class with sleepPin param");
+            }
+
+            if (millisecondsDelay > 0)
+            {
+                Thread.Sleep(millisecondsDelay);
+            }
+
+            _sleepPin.Write(PinValue.Low);
+        }
+
+        /// <summary>
+        /// Rotates a stepper motor.
+        /// </summary>
+        /// <param name="angle">Angle to rotate.</param>
+        /// <param name="stepSize">Step size.</param>
+        public void Rotate(Angle angle, StepSize stepSize = StepSize.FullStep)
+        {
+            if (angle.Degrees == 0)
+            {
+                return;
+            }
+
+            _dirPin.Write(angle.Degrees > 0 ? PinValue.High : PinValue.Low);
+            var degreeForStepsCalculation = angle.Degrees < 0 ? -angle.Degrees : angle.Degrees;
+            var pulses = degreeForStepsCalculation / 360 * _fullStepsPerRotation * (byte)stepSize;
+
+            _microstepsController.Set(stepSize);
+            Rotate((int)pulses);
+        }
+
+        /// <summary>
+        /// Rotates a stepper motor.
+        /// </summary>
+        /// <param name="steps">Steps count.</param>
+        /// <param name="direction">True to go forward, false to go back(or vice versa if you connect the motor in the opposite direction).</param>
+        /// <param name="size">Step size.</param>
+        public virtual void Rotate(
+            int steps,
+            Direction direction = Direction.Clockwise,
+            StepSize size = StepSize.FullStep)
+        {
+            if (steps == 0)
+            {
+                return;
+            }
+
+            _microstepsController.Set(size);
+            _dirPin.Write(direction == Direction.Clockwise ? PinValue.High : PinValue.Low);
+
+            Rotate(steps);
+        }
+
+        /// <summary>
+        /// <inheritdoc/>
+        /// </summary>
+        public void Dispose()
+        {
+            if (_shouldDisposeGpioController)
+            {
+                _gpioController?.Dispose();
+            }
+
+            _gpioController = null;
+        }
+
+        /// <summary>
+        /// Controls the speed of rotation.
+        /// </summary>
+        private void SleepBetweenSteps()
+        {
+            if (DelayBetweenSteps == TimeSpan.Zero)
+            {
+                return;
+            }
+
+            Thread.Sleep(DelayBetweenSteps);
+        }
+
+        /// <summary>
+        /// Rotates a stepper motor.
+        /// </summary>
+        /// <param name="steps">Steps count.</param>
+        private void Rotate(int steps)
+        {
+            for (var i = 0; i < steps; i++)
+            {
+                _stepPin.Write(PinValue.High);
+                Thread.Sleep(StepDelay);
+                _stepPin.Write(PinValue.Low);
+                SleepBetweenSteps();
+            }
+        }
+    }
+}

devices/Drv8825/Drv8825.nfproj

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+    <RootNamespace>Iot.Device.Drv8825</RootNamespace>
+    <AssemblyName>Iot.Device.Drv8825</AssemblyName>
+    <TargetFrameworkVersion>v1.0</TargetFrameworkVersion>
+    <DocumentationFile>bin\$(Configuration)\Iot.Device.Drv8825.xml</DocumentationFile>
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+    <Compile Include="Drv8825.cs" />
+    <Compile Include="StepSize.cs" />
+    <Compile Include="MicrostepsController.cs" />
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devices/Drv8825/Drv8825.nuspec

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+<?xml version="1.0" encoding="utf-8"?>
+<package xmlns="http://schemas.microsoft.com/packaging/2012/06/nuspec.xsd">
+  <metadata>
+    <id>nanoFramework.Iot.Device.Drv8825</id>
+    <version>$version$</version>
+    <title>nanoFramework.Iot.Device.Drv8825</title>
+    <authors>nanoframework</authors>
+    <requireLicenseAcceptance>false</requireLicenseAcceptance>
+    <license type="file">LICENSE.md</license>
+    <releaseNotes>
+    </releaseNotes>
+    <readme>docs\README.md</readme>
+    <developmentDependency>false</developmentDependency>
+    <projectUrl>https://github.com/nanoframework/nanoFramework.IoT.Device</projectUrl>
+    <icon>images\nf-logo.png</icon>
+    <repository type="git" url="https://github.com/nanoframework/nanoFramework.IoT.Device" commit="$commit$" />
+    <copyright>Copyright (c) .NET Foundation and Contributors</copyright>
+    <description>This package includes the .NET IoT Core binding Iot.Device.Drv8825 for .NET nanoFramework C# projects.</description>
+    <summary>Iot.Device.Drv8825 assembly for .NET nanoFramework C# projects</summary>
+    <tags>nanoFramework C# csharp netmf netnf Iot.Device.Drv8825 Drv8825</tags>
+    <dependencies>
+      <dependency id="nanoFramework.CoreLibrary" version="1.17.11" />
+      <dependency id="nanoFramework.Runtime.Events" version="1.11.32" />
+      <dependency id="nanoFramework.System.Device.Gpio" version="1.1.57" />
+      <dependency id="nanoFramework.System.Math" version="1.5.116" />
+      <dependency id="UnitsNet.nanoFramework.Angle" version="5.75.0" />
+    </dependencies>
+  </metadata>
+  <files>
+    <file src="bin\Release\Iot.Device.Drv8825.dll" target="lib\Iot.Device.Drv8825.dll" />
+    <file src="bin\Release\Iot.Device.Drv8825.pdb" target="lib\Iot.Device.Drv8825.pdb" />
+    <file src="bin\Release\Iot.Device.Drv8825.pdbx" target="lib\Iot.Device.Drv8825.pdbx" />
+    <file src="bin\Release\Iot.Device.Drv8825.pe" target="lib\Iot.Device.Drv8825.pe" />
+    <file src="bin\Release\Iot.Device.Drv8825.xml" target="lib\Iot.Device.Drv8825.xml" />
+    <file src="README.md" target="docs\" />
+    <file src="..\..\assets\nf-logo.png" target="images" />
+    <file src="..\..\LICENSE.md" target="" />
+  </files>
+</package>

devices/Drv8825/Drv8825.sln

@@ -0,0 +1,35 @@
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