Using ARM1176JZF-S Kit (DS-5 tools), I need to control stepper motor based on the output of ultrasonic sensor (which detects objects). I have already done the project in 8051 microcontrollers but how to do it in arm board. Let's first concentrate on the getting input from ultrasonic sensors. Please tell me where on the arm board do I need to connect the sensor. Please give some tips in writing the code( preferably in c). Can we implement this on software before hard ware implementation, if so how?
As hinted by Peter, you should explore the user guide: RealView Platform Baseboard for ARM1176JZF-S User Guide (a PDF version is also available from that link) with respect to any board-specific details.
Example programs (e.g. in C) dealing with GPIOs and timers are widely available on the web, They don't have to be specific to ARM. App notes from micro-controller vendors tend to have great examples.
For the ARM specifics that are relevant to a programmer I recommend you start with Cortex-A Series Programmer’s Guide (still mostly applicable to ARM11) and then dive deeper into the ARM Architecture Reference Manual (ARM-ARM) and the Technical Reference Manual (TRM) for your device. Note that ARM11 is covered by the ARMv7-AR ARM-ARM. Google searches with key words like ARM11 TRM or ARM ARM will get you to the right place.
Don't be intimidated by the size of these documents, you only need to read the sections relevant to your application.