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Stepper tmc5160 #80784

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cooked wants to merge 3 commits into from
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Stepper tmc5160 #80784

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b55397e
tmc5150 spi, sg not working - WIP
cooked Nov 2, 2024
25e35e9
made generic (tmc51xx), removed child nodes, added SG
cooked Nov 5, 2024
f75282f
review fix WIP, sign off
cooked Nov 8, 2024
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1 change: 1 addition & 0 deletions drivers/stepper/adi_tmc/CMakeLists.txt
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Expand Up @@ -6,3 +6,4 @@ zephyr_library_property(ALLOW_EMPTY TRUE)

zephyr_library_sources_ifdef(CONFIG_STEPPER_ADI_TMC_SPI adi_tmc_spi.c)
zephyr_library_sources_ifdef(CONFIG_STEPPER_ADI_TMC5041 adi_tmc5041_stepper_controller.c)
zephyr_library_sources_ifdef(CONFIG_STEPPER_ADI_TMC51XX adi_tmc51xx_stepper_controller.c)
26 changes: 26 additions & 0 deletions drivers/stepper/adi_tmc/Kconfig
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Expand Up @@ -52,4 +52,30 @@ config STEPPER_ADI_TMC5041_RAMPSTAT_POLL_INTERVAL_IN_MSEC
help
The interval in ms to poll the ramp status on TMC5041.

config STEPPER_ADI_TMC51XX
bool "Activate trinamic tmc5130/tmc5160 stepper driver"
depends on DT_HAS_ADI_TMC51XX_ENABLED && STEPPER_ADI_TMC
select STEPPER_ADI_TMC_SPI
default y
help
Stepper driver for TMC5130/TMC5160.

config STEPPER_ADI_TMC51XX_RAMPSTAT_POLL
bool "TMC51XX poll ramp status"
depends on STEPPER_ADI_TMC51XX
default y
help
When enabled, the ramp status will be polled on TMC51XX, to check for events:
- TMC51XX_POS_REACHED_EVENT
- TMC51XX_STOP_SG_EVENT
- TMC51XX_STOP_LEFT_EVENT
- TMC51XX_STOP_RIGHT_EVENT

config STEPPER_ADI_TMC51XX_RAMPSTAT_POLL_INTERVAL_IN_MSEC
int "TMC51XX poll ramp status interval in ms"
depends on STEPPER_ADI_TMC51XX_RAMPSTAT_POLL
default 100
help
The interval in ms to poll the ramp status on TMC51XX.

endif # STEPPER_ADI_TMC
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