drivers: stepper_control: stepper motion control driver

This commit integrates timing source from by refactoring it out from
step_dir lib
Refactor motion control related function from gpio_stepper_controller to
zephyr stepper control driver

Signed-off-by: Andre Stefanov <[email protected]>
Signed-off-by: Jilay Pandya <[email protected]>

Author: jilaypandya

drivers/CMakeLists.txt

@@ -85,6 +85,7 @@ add_subdirectory_ifdef(CONFIG_SERIAL serial)
 add_subdirectory_ifdef(CONFIG_SMBUS smbus)
 add_subdirectory_ifdef(CONFIG_SPI spi)
 add_subdirectory_ifdef(CONFIG_STEPPER stepper)
+add_subdirectory_ifdef(CONFIG_STEPPER_CONTROL stepper_control)
 add_subdirectory_ifdef(CONFIG_SYSCON syscon)
 add_subdirectory_ifdef(CONFIG_SYS_CLOCK_EXISTS timer)
 add_subdirectory_ifdef(CONFIG_TEE tee)

drivers/Kconfig

@@ -83,6 +83,7 @@ source "drivers/sip_svc/Kconfig"
 source "drivers/smbus/Kconfig"
 source "drivers/spi/Kconfig"
 source "drivers/stepper/Kconfig"
+source "drivers/stepper_control/Kconfig"
 source "drivers/syscon/Kconfig"
 source "drivers/timer/Kconfig"
 source "drivers/usb/Kconfig"

drivers/stepper/CMakeLists.txt

@@ -14,5 +14,5 @@ zephyr_library()
 zephyr_library_property(ALLOW_EMPTY TRUE)
 
 zephyr_library_sources_ifdef(CONFIG_FAKE_STEPPER fake_stepper_controller.c)
-zephyr_library_sources_ifdef(CONFIG_GPIO_STEPPER gpio_stepper_controller.c)
+zephyr_library_sources_ifdef(CONFIG_GPIO_STEPPER gpio_stepper_driver.c)
 zephyr_library_sources_ifdef(CONFIG_STEPPER_SHELL stepper_shell.c)

drivers/stepper/Kconfig

@@ -2,9 +2,9 @@
 # SPDX-License-Identifier: Apache-2.0
 
 menuconfig STEPPER
-	bool "Stepper Controller"
+	bool "Stepper Driver"
 	help
-	  Enable stepper controller
+	  Enable stepper driver
 
 if STEPPER
 

drivers/stepper/adi_tmc/tmc22xx.c

@@ -150,15 +150,8 @@ static int tmc22xx_stepper_init(const struct device *dev)
 static DEVICE_API(stepper, tmc22xx_stepper_api) = {
 	.enable = tmc22xx_stepper_enable,
 	.disable = tmc22xx_stepper_disable,
-	.move_by = step_dir_stepper_common_move_by,
-	.is_moving = step_dir_stepper_common_is_moving,
-	.set_reference_position = step_dir_stepper_common_set_reference_position,
-	.get_actual_position = step_dir_stepper_common_get_actual_position,
-	.move_to = step_dir_stepper_common_move_to,
-	.set_microstep_interval = step_dir_stepper_common_set_microstep_interval,
-	.run = step_dir_stepper_common_run,
-	.stop = step_dir_stepper_common_stop,
-	.set_event_callback = step_dir_stepper_common_set_event_callback,
+	.step = step_dir_stepper_common_step,
+	.set_direction = step_dir_stepper_common_set_direction,
 	.set_micro_step_res = tmc22xx_stepper_set_micro_step_res,
 	.get_micro_step_res = tmc22xx_stepper_get_micro_step_res,
 };

drivers/stepper/allegro/a4979.c

@@ -93,7 +93,6 @@ static int a4979_stepper_disable(const struct device *dev)
 		return ret;
 	}
 
-	config->common.timing_source->stop(dev);
 	data->enabled = false;
 
 	return 0;
@@ -152,42 +151,6 @@ static int a4979_stepper_get_micro_step_res(const struct device *dev,
 	return 0;
 }
 
-static int a4979_move_to(const struct device *dev, int32_t target)
-{
-	struct a4979_data *data = dev->data;
-
-	if (!data->enabled) {
-		LOG_ERR("Failed to move to target position, device is not enabled");
-		return -ECANCELED;
-	}
-
-	return step_dir_stepper_common_move_to(dev, target);
-}
-
-static int a4979_stepper_move_by(const struct device *dev, const int32_t micro_steps)
-{
-	struct a4979_data *data = dev->data;
-
-	if (!data->enabled) {
-		LOG_ERR("Failed to move by delta, device is not enabled");
-		return -ECANCELED;
-	}
-
-	return step_dir_stepper_common_move_by(dev, micro_steps);
-}
-
-static int a4979_run(const struct device *dev, enum stepper_direction direction)
-{
-	struct a4979_data *data = dev->data;
-
-	if (!data->enabled) {
-		LOG_ERR("Failed to run stepper, device is not enabled");
-		return -ECANCELED;
-	}
-
-	return step_dir_stepper_common_run(dev, direction);
-}
-
 static int a4979_init(const struct device *dev)
 {
 	const struct a4979_config *config = dev->config;
@@ -268,17 +231,10 @@ static int a4979_init(const struct device *dev)
 static DEVICE_API(stepper, a4979_stepper_api) = {
 	.enable = a4979_stepper_enable,
 	.disable = a4979_stepper_disable,
-	.move_by = a4979_stepper_move_by,
-	.move_to = a4979_move_to,
-	.is_moving = step_dir_stepper_common_is_moving,
-	.set_reference_position = step_dir_stepper_common_set_reference_position,
-	.get_actual_position = step_dir_stepper_common_get_actual_position,
-	.set_microstep_interval = step_dir_stepper_common_set_microstep_interval,
-	.run = a4979_run,
-	.stop = step_dir_stepper_common_stop,
 	.set_micro_step_res = a4979_stepper_set_micro_step_res,
 	.get_micro_step_res = a4979_stepper_get_micro_step_res,
-	.set_event_callback = step_dir_stepper_common_set_event_callback,
+	.step = step_dir_stepper_common_step,
+	.set_direction = step_dir_stepper_common_set_direction,
 };
 
 #define A4979_DEVICE(inst)                                                                         \