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drivers: stepper: api: introduce stepper_set_event_callback function
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- Refactor stepper_signal_result to stepper_event.
- Introduce stepper_set_event_callback function
- Deprecate k_poll_signal

Signed-off-by: Jilay Pandya <[email protected]>
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@jilaypandya @carlescufi
jilaypandya authored and carlescufi committed Oct 15, 2024
1 parent 4a38077 commit 4f18d64
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Showing 2 changed files with 70 additions and 65 deletions.
23 changes: 0 additions & 23 deletions drivers/stepper/Kconfig
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Original file line number Diff line number Diff line change
Expand Up @@ -24,29 +24,6 @@ config STEPPER_SHELL
help
Enable stepper shell for testing.

config STEPPER_SHELL_ASYNC
bool "Asynchronous stepper shell"
depends on STEPPER_SHELL
select POLL
help
If enabled, the shell will run in asynchronous mode, spawning a thread
that polls the completion of stepper motor moves and prints a message
when all steps are completed.

config STEPPER_SHELL_THREAD_STACK_SIZE
int "Stepper shell thread stack size"
default 1024
depends on STEPPER_SHELL_ASYNC
help
The stack size for the stepper shell thread when asynchronous mode is enabled.

config STEPPER_SHELL_THREAD_PRIORITY
int "Stepper shell thread priority"
default 7
depends on STEPPER_SHELL_ASYNC
help
The priority for the stepper shell thread when asynchronous mode is enabled.

comment "Stepper Drivers"

rsource "adi_tmc/Kconfig"
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112 changes: 70 additions & 42 deletions include/zephyr/drivers/stepper.h
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Original file line number Diff line number Diff line change
Expand Up @@ -33,9 +33,9 @@ extern "C" {
/**
* @brief Stepper Motor micro step resolution options
*/
enum micro_step_resolution {
enum stepper_micro_step_resolution {
/** Full step resolution */
STEPPER_FULL_STEP = 1,
STEPPER_MICRO_STEP_1 = 1,
/** 2 micro steps per full step */
STEPPER_MICRO_STEP_2 = 2,
/** 4 micro steps per full step */
Expand All @@ -58,33 +58,36 @@ enum micro_step_resolution {
* @brief Stepper Motor direction options
*/
enum stepper_direction {
/** Positive direction */
STEPPER_DIRECTION_POSITIVE = 0,
/** Negative direction */
STEPPER_DIRECTION_NEGATIVE,
STEPPER_DIRECTION_NEGATIVE = 0,
/** Positive direction */
STEPPER_DIRECTION_POSITIVE = 1,
};

/**
* @brief Stepper Motor run mode options
*/
enum stepper_run_mode {
/** Hold Mode */
STEPPER_HOLD_MODE = 0,
STEPPER_RUN_MODE_HOLD = 0,
/** Position Mode*/
STEPPER_POSITION_MODE,
STEPPER_RUN_MODE_POSITION = 1,
/** Velocity Mode */
STEPPER_VELOCITY_MODE,
STEPPER_RUN_MODE_VELOCITY = 2,
};

/**
* @brief Stepper Motor signal results
* @brief Stepper Events
*/
enum stepper_signal_result {
enum stepper_event {
/** Steps set using move or set_target_position have been executed */
STEPPER_SIGNAL_STEPS_COMPLETED = 0,
STEPPER_SIGNAL_SENSORLESS_STALL_DETECTED = 1,
STEPPER_SIGNAL_LEFT_END_STOP_DETECTED = 2,
STEPPER_SIGNAL_RIGHT_END_STOP_DETECTED = 3,
STEPPER_EVENT_STEPS_COMPLETED = 0,
/** Stall detected */
STEPPER_EVENT_STALL_DETECTED = 1,
/** Left end switch status changes to pressed */
STEPPER_EVENT_LEFT_END_STOP_DETECTED = 2,
/** Right end switch status changes to pressed */
STEPPER_EVENT_RIGHT_END_STOP_DETECTED = 3,
};

/**
Expand All @@ -106,8 +109,7 @@ typedef int (*stepper_enable_t)(const struct device *dev, const bool enable);
*
* @see stepper_move() for details.
*/
typedef int (*stepper_move_t)(const struct device *dev, const int32_t micro_steps,
struct k_poll_signal *async);
typedef int (*stepper_move_t)(const struct device *dev, const int32_t micro_steps);

/**
* @brief Set the max velocity in micro_steps per seconds.
Expand All @@ -123,15 +125,15 @@ typedef int (*stepper_set_max_velocity_t)(const struct device *dev,
* @see stepper_set_micro_step_res() for details.
*/
typedef int (*stepper_set_micro_step_res_t)(const struct device *dev,
const enum micro_step_resolution resolution);
const enum stepper_micro_step_resolution resolution);

/**
* @brief Get the micro-step resolution
*
* @see stepper_get_micro_step_res() for details.
*/
typedef int (*stepper_get_micro_step_res_t)(const struct device *dev,
enum micro_step_resolution *resolution);
enum stepper_micro_step_resolution *resolution);
/**
* @brief Set the actual a.k.a reference position of the stepper
*
Expand All @@ -151,8 +153,7 @@ typedef int (*stepper_get_actual_position_t)(const struct device *dev, int32_t *
*
* @see stepper_set_target_position() for details.
*/
typedef int (*stepper_set_target_position_t)(const struct device *dev, const int32_t value,
struct k_poll_signal *async);
typedef int (*stepper_set_target_position_t)(const struct device *dev, const int32_t value);

/**
* @brief Is the target position fo the stepper reached
Expand All @@ -170,6 +171,19 @@ typedef int (*stepper_enable_constant_velocity_mode_t)(const struct device *dev,
const enum stepper_direction direction,
const uint32_t value);

/**
* @brief Callback function for stepper events
*/
typedef void (*stepper_event_callback_t)(const struct device *dev, const enum stepper_event event);

/**
* @brief Set the callback function to be called when a stepper event occurs
*
* @see stepper_set_callback() for details.
*/
typedef int (*stepper_set_event_callback_t)(const struct device *dev,
stepper_event_callback_t callback, void *user_data);

/**
* @brief Stepper Motor Controller API
*/
Expand All @@ -184,6 +198,7 @@ __subsystem struct stepper_driver_api {
stepper_set_target_position_t set_target_position;
stepper_is_moving_t is_moving;
stepper_enable_constant_velocity_mode_t enable_constant_velocity_mode;
stepper_set_event_callback_t set_event_callback;
};

/**
Expand Down Expand Up @@ -213,23 +228,17 @@ static inline int z_impl_stepper_enable(const struct device *dev, const bool ena
*
* @param dev pointer to the stepper motor controller instance
* @param micro_steps target micro_steps to be moved from the current position
* @param async Pointer to a valid and ready to be signaled struct
* k_poll_signal. (Note: if NULL this function will not notify
* the end of the transaction, and whether it went successfully
* or not).
*
* @retval -EIO General input / output error
* @retval 0 Success
*/
__syscall int stepper_move(const struct device *dev, int32_t micro_steps,
struct k_poll_signal *async);
__syscall int stepper_move(const struct device *dev, int32_t micro_steps);

static inline int z_impl_stepper_move(const struct device *dev, const int32_t micro_steps,
struct k_poll_signal *async)
static inline int z_impl_stepper_move(const struct device *dev, const int32_t micro_steps)
{
const struct stepper_driver_api *api = (const struct stepper_driver_api *)dev->api;

return api->move(dev, micro_steps, async);
return api->move(dev, micro_steps);
}

/**
Expand Down Expand Up @@ -270,10 +279,10 @@ static inline int z_impl_stepper_set_max_velocity(const struct device *dev,
* @retval 0 Success
*/
__syscall int stepper_set_micro_step_res(const struct device *dev,
enum micro_step_resolution resolution);
enum stepper_micro_step_resolution resolution);

static inline int z_impl_stepper_set_micro_step_res(const struct device *dev,
enum micro_step_resolution resolution)
enum stepper_micro_step_resolution resolution)
{
const struct stepper_driver_api *api = (const struct stepper_driver_api *)dev->api;

Expand All @@ -294,10 +303,10 @@ static inline int z_impl_stepper_set_micro_step_res(const struct device *dev,
* @retval 0 Success
*/
__syscall int stepper_get_micro_step_res(const struct device *dev,
enum micro_step_resolution *resolution);
enum stepper_micro_step_resolution *resolution);

static inline int z_impl_stepper_get_micro_step_res(const struct device *dev,
enum micro_step_resolution *resolution)
enum stepper_micro_step_resolution *resolution)
{
const struct stepper_driver_api *api = (const struct stepper_driver_api *)dev->api;

Expand Down Expand Up @@ -356,27 +365,21 @@ static inline int z_impl_stepper_get_actual_position(const struct device *dev, i
*
* @param dev pointer to the stepper motor controller instance
* @param value target position to set in micro_steps
* @param async Pointer to a valid and ready to be signaled struct
* k_poll_signal. If changing the target position
* triggers stepper movement, this can be used to await
* the end of the transaction. (Note: can be left NULL)
*
* @retval -EIO General input / output error
* @retval -ENOSYS If not implemented by device driver
* @retval 0 Success
*/
__syscall int stepper_set_target_position(const struct device *dev, int32_t value,
struct k_poll_signal *async);
__syscall int stepper_set_target_position(const struct device *dev, int32_t value);

static inline int z_impl_stepper_set_target_position(const struct device *dev, const int32_t value,
struct k_poll_signal *async)
static inline int z_impl_stepper_set_target_position(const struct device *dev, const int32_t value)
{
const struct stepper_driver_api *api = (const struct stepper_driver_api *)dev->api;

if (api->set_target_position == NULL) {
return -ENOSYS;
}
return api->set_target_position(dev, value, async);
return api->set_target_position(dev, value);
}

/**
Expand Down Expand Up @@ -434,6 +437,31 @@ static inline int z_impl_stepper_enable_constant_velocity_mode(
return api->enable_constant_velocity_mode(dev, direction, value);
}

/**
* @brief Set the callback function to be called when a stepper event occurs
*
* @param dev pointer to the stepper motor controller instance
* @param callback Callback function to be called when a stepper event occurs
* passing NULL will disable the callback
* @param user_data User data to be passed to the callback function
*
* @retval -ENOSYS If not implemented by device driver
* @retval 0 Success
*/
__syscall int stepper_set_callback(const struct device *dev, stepper_event_callback_t callback,
void *user_data);

static inline int z_impl_stepper_set_callback(const struct device *dev,
stepper_event_callback_t callback, void *user_data)
{
const struct stepper_driver_api *api = (const struct stepper_driver_api *)dev->api;

if (api->set_event_callback == NULL) {
return -ENOSYS;
}
return api->set_event_callback(dev, callback, user_data);
}

/**
* @}
*/
Expand Down

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