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drivers: stepper: Add step direction stepper common binding
Adds a step direction binding that can be used with any stepper that implements said control interface to cut down on boilerplate code. Signed-off-by: Fabian Blatz <[email protected]>
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‎drivers/stepper/CMakeLists.txt‎

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Original file line numberDiff line numberDiff line change
@@ -12,4 +12,5 @@ zephyr_library_property(ALLOW_EMPTY TRUE)
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zephyr_library_sources_ifdef(CONFIG_FAKE_STEPPER fake_stepper_controller.c)
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zephyr_library_sources_ifdef(CONFIG_GPIO_STEPPER gpio_stepper_controller.c)
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zephyr_library_sources_ifdef(CONFIG_STEP_DIR_STEPPER step_dir_stepper_common.c)
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zephyr_library_sources_ifdef(CONFIG_STEPPER_SHELL stepper_shell.c)

‎drivers/stepper/Kconfig‎

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@@ -24,10 +24,17 @@ config STEPPER_SHELL
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help
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Enable stepper shell for testing.
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config STEP_DIR_STEPPER
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bool
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help
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Enable library used for step direction stepper drivers.
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comment "Stepper Drivers"
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rsource "adi_tmc/Kconfig"
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# zephyr-keep-sorted-start
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rsource "Kconfig.fake"
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rsource "Kconfig.gpio"
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rsource "adi_tmc/Kconfig"
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# zephyr-keep-sorted-stop
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endif

‎drivers/stepper/step_dir_stepper_common.c‎

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Original file line numberDiff line numberDiff line change
@@ -0,0 +1,263 @@
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/*
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* SPDX-FileCopyrightText: Copyright (c) 2024 Fabian Blatz <[email protected]>
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* SPDX-License-Identifier: Apache-2.0
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*/
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#include "step_dir_stepper_common.h"
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#include <zephyr/logging/log.h>
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LOG_MODULE_REGISTER(step_dir_stepper, CONFIG_STEPPER_LOG_LEVEL);
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static inline int step_dir_stepper_perform_step(const struct device *dev)
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{
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const struct step_dir_stepper_common_config *config = dev->config;
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struct step_dir_stepper_common_data *data = dev->data;
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int ret;
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switch (data->direction) {
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case STEPPER_DIRECTION_POSITIVE:
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ret = gpio_pin_set_dt(&config->dir_pin, 1);
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break;
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case STEPPER_DIRECTION_NEGATIVE:
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ret = gpio_pin_set_dt(&config->dir_pin, 0);
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break;
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default:
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LOG_ERR("Unsupported direction: %d", data->direction);
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return -ENOTSUP;
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}
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if (ret < 0) {
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LOG_ERR("Failed to set direction: %d", ret);
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return ret;
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}
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ret = gpio_pin_toggle_dt(&config->step_pin);
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if (ret < 0) {
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LOG_ERR("Failed to toggle step pin: %d", ret);
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return ret;
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}
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if (!config->dual_edge) {
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ret = gpio_pin_toggle_dt(&config->step_pin);
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if (ret < 0) {
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LOG_ERR("Failed to toggle step pin: %d", ret);
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return ret;
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}
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}
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return 0;
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}
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static void update_remaining_steps(struct step_dir_stepper_common_data *data)
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{
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if (data->step_count > 0) {
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data->step_count--;
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(void)k_work_reschedule(&data->stepper_dwork, K_USEC(data->delay_in_us));
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} else if (data->step_count < 0) {
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data->step_count++;
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(void)k_work_reschedule(&data->stepper_dwork, K_USEC(data->delay_in_us));
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} else {
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if (!data->callback) {
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LOG_WRN_ONCE("No callback set");
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return;
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}
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data->callback(data->dev, STEPPER_EVENT_STEPS_COMPLETED, data->event_cb_user_data);
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}
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}
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static void update_direction_from_step_count(const struct device *dev)
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{
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struct step_dir_stepper_common_data *data = dev->data;
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if (data->step_count > 0) {
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data->direction = STEPPER_DIRECTION_POSITIVE;
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} else if (data->step_count < 0) {
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data->direction = STEPPER_DIRECTION_NEGATIVE;
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} else {
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LOG_ERR("Step count is zero");
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}
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}
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static void position_mode_task(const struct device *dev)
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{
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struct step_dir_stepper_common_data *data = dev->data;
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if (data->step_count) {
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(void)step_dir_stepper_perform_step(dev);
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}
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update_remaining_steps(dev->data);
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}
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static void velocity_mode_task(const struct device *dev)
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{
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struct step_dir_stepper_common_data *data = dev->data;
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(void)step_dir_stepper_perform_step(dev);
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(void)k_work_reschedule(&data->stepper_dwork, K_USEC(data->delay_in_us));
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}
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static void stepper_work_step_handler(struct k_work *work)
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{
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struct k_work_delayable *dwork = k_work_delayable_from_work(work);
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struct step_dir_stepper_common_data *data =
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CONTAINER_OF(dwork, struct step_dir_stepper_common_data, stepper_dwork);
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K_SPINLOCK(&data->lock) {
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switch (data->run_mode) {
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case STEPPER_RUN_MODE_POSITION:
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position_mode_task(data->dev);
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break;
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case STEPPER_RUN_MODE_VELOCITY:
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velocity_mode_task(data->dev);
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break;
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default:
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LOG_WRN("Unsupported run mode: %d", data->run_mode);
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break;
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}
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}
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}
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int step_dir_stepper_common_init(const struct device *dev)
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{
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const struct step_dir_stepper_common_config *config = dev->config;
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struct step_dir_stepper_common_data *data = dev->data;
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int ret;
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if (!gpio_is_ready_dt(&config->step_pin) || !gpio_is_ready_dt(&config->dir_pin)) {
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LOG_ERR("GPIO pins are not ready");
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return -ENODEV;
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}
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ret = gpio_pin_configure_dt(&config->step_pin, GPIO_OUTPUT);
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if (ret < 0) {
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LOG_ERR("Failed to configure step pin: %d", ret);
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return ret;
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}
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ret = gpio_pin_configure_dt(&config->dir_pin, GPIO_OUTPUT);
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if (ret < 0) {
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LOG_ERR("Failed to configure dir pin: %d", ret);
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return ret;
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}
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k_work_init_delayable(&data->stepper_dwork, stepper_work_step_handler);
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return 0;
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}
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int step_dir_stepper_common_move_by(const struct device *dev, const int32_t micro_steps)
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{
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struct step_dir_stepper_common_data *data = dev->data;
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if (data->delay_in_us == 0) {
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LOG_ERR("Velocity not set or invalid velocity set");
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return -EINVAL;
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}
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K_SPINLOCK(&data->lock) {
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data->run_mode = STEPPER_RUN_MODE_POSITION;
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data->step_count = micro_steps;
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update_direction_from_step_count(dev);
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(void)k_work_reschedule(&data->stepper_dwork, K_NO_WAIT);
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}
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return 0;
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}
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int step_dir_stepper_common_set_max_velocity(const struct device *dev, const uint32_t velocity)
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{
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struct step_dir_stepper_common_data *data = dev->data;
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if (velocity == 0) {
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LOG_ERR("Velocity cannot be zero");
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return -EINVAL;
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}
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if (velocity > USEC_PER_SEC) {
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LOG_ERR("Velocity cannot be greater than %d micro steps per second", USEC_PER_SEC);
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return -EINVAL;
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}
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K_SPINLOCK(&data->lock) {
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data->delay_in_us = USEC_PER_SEC / velocity;
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}
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return 0;
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}
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int step_dir_stepper_common_set_reference_position(const struct device *dev, const int32_t value)
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{
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struct step_dir_stepper_common_data *data = dev->data;
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K_SPINLOCK(&data->lock) {
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data->actual_position = value;
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}
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return 0;
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}
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int step_dir_stepper_common_get_actual_position(const struct device *dev, int32_t *value)
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{
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struct step_dir_stepper_common_data *data = dev->data;
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K_SPINLOCK(&data->lock) {
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*value = data->actual_position;
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}
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return 0;
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}
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int step_dir_stepper_common_move_to(const struct device *dev, const int32_t value)
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{
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struct step_dir_stepper_common_data *data = dev->data;
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if (data->delay_in_us == 0) {
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LOG_ERR("Velocity not set or invalid velocity set");
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return -EINVAL;
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}
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K_SPINLOCK(&data->lock) {
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data->run_mode = STEPPER_RUN_MODE_POSITION;
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data->step_count = value - data->actual_position;
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update_direction_from_step_count(dev);
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(void)k_work_reschedule(&data->stepper_dwork, K_NO_WAIT);
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}
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return 0;
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}
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int step_dir_stepper_common_is_moving(const struct device *dev, bool *is_moving)
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{
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struct step_dir_stepper_common_data *data = dev->data;
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*is_moving = k_work_delayable_is_pending(&data->stepper_dwork);
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return 0;
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}
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int step_dir_stepper_common_run(const struct device *dev, const enum stepper_direction direction,
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const uint32_t velocity)
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{
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struct step_dir_stepper_common_data *data = dev->data;
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K_SPINLOCK(&data->lock) {
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data->run_mode = STEPPER_RUN_MODE_VELOCITY;
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data->direction = direction;
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if (value != 0) {
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data->delay_in_us = USEC_PER_SEC / velocity;
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(void)k_work_reschedule(&data->stepper_dwork, K_NO_WAIT);
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} else {
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(void)k_work_cancel_delayable(&data->stepper_dwork);
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}
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}
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return 0;
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}
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int step_dir_stepper_common_set_event_callback(const struct device *dev,
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stepper_event_callback_t callback, void *user_data)
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{
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struct step_dir_stepper_common_data *data = dev->data;
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data->callback = callback;
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data->event_cb_user_data = user_data;
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return 0;
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}

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