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drivers: stepper: introduce invert-direction property to gpio-stepper

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This commit introduces invert-direction property to gpio-stepper

Signed-off-by: Jilay Pandya <jilay.pandya@outlook.com>
This commit is contained in:
Jilay Pandya 2024-10-25 08:19:32 +02:00 • committed by Henrik Brix Andersen
commit 0687522cd4
2 changed files with 34 additions and 11 deletions
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44
drivers/stepper/gpio_stepper_controller.c
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@ -25,6 +25,7 @@ static const uint8_t
struct gpio_stepper_config {
const struct gpio_dt_spec *control_pins;
bool invert_direction;
};
struct gpio_stepper_data {
@ -54,20 +55,38 @@ static int stepper_motor_set_coil_charge(const struct device *dev)
return 0;
}
static void update_coil_charge(const struct device *dev)
static void increment_coil_charge(const struct device *dev)
{
struct gpio_stepper_data *data = dev->data;
if (data->coil_charge == NUM_CONTROL_PINS * MAX_MICRO_STEP_RES - data->step_gap) {
data->coil_charge = 0;
} else {
data->coil_charge = data->coil_charge + data->step_gap;
}
}
static void decrement_coil_charge(const struct device *dev)
{
struct gpio_stepper_data *data = dev->data;
if (data->coil_charge == 0) {
data->coil_charge = NUM_CONTROL_PINS * MAX_MICRO_STEP_RES - data->step_gap;
} else {
data->coil_charge = data->coil_charge - data->step_gap;
}
}
static void update_coil_charge(const struct device *dev)
{
const struct gpio_stepper_config *config = dev->config;
struct gpio_stepper_data *data = dev->data;
if (data->direction == STEPPER_DIRECTION_POSITIVE) {
data->coil_charge = data->coil_charge == 0
? NUM_CONTROL_PINS * MAX_MICRO_STEP_RES - data->step_gap
: data->coil_charge - data->step_gap;
config->invert_direction ? decrement_coil_charge(dev) : increment_coil_charge(dev);
data->actual_position++;
} else if (data->direction == STEPPER_DIRECTION_NEGATIVE) {
data->coil_charge =
data->coil_charge == NUM_CONTROL_PINS * MAX_MICRO_STEP_RES - data->step_gap
? 0
: data->coil_charge + data->step_gap;
config->invert_direction ? increment_coil_charge(dev) : decrement_coil_charge(dev);
data->actual_position--;
}
}
@ -89,8 +108,10 @@ static void update_remaining_steps(struct gpio_stepper_data *data)
}
}
static void update_direction_from_step_count(struct gpio_stepper_data *data)
static void update_direction_from_step_count(const struct device *dev)
{
struct gpio_stepper_data *data = dev->data;
if (data->step_count > 0) {
data->direction = STEPPER_DIRECTION_POSITIVE;
} else if (data->step_count < 0) {
@ -152,7 +173,7 @@ static int gpio_stepper_move(const struct device *dev, int32_t micro_steps)
K_SPINLOCK(&data->lock) {
data->run_mode = STEPPER_RUN_MODE_POSITION;
data->step_count = micro_steps;
update_direction_from_step_count(data);
update_direction_from_step_count(dev);
(void)k_work_reschedule(&data->stepper_dwork, K_NO_WAIT);
}
return 0;
@ -189,7 +210,7 @@ static int gpio_stepper_set_target_position(const struct device *dev, int32_t po
K_SPINLOCK(&data->lock) {
data->run_mode = STEPPER_RUN_MODE_POSITION;
data->step_count = position - data->actual_position;
update_direction_from_step_count(data);
update_direction_from_step_count(dev);
(void)k_work_reschedule(&data->stepper_dwork, K_NO_WAIT);
}
return 0;
@ -327,6 +348,7 @@ static int gpio_stepper_motor_controller_init(const struct device *dev)
ARRAY_SIZE(gpio_stepper_motor_control_pins_##child) == 4, \
"gpio_stepper_controller driver currently supports only 4 wire configuration"); \
static const struct gpio_stepper_config gpio_stepper_config_##child = { \
.invert_direction = DT_PROP(child, invert_direction), \
.control_pins = gpio_stepper_motor_control_pins_##child};
#define GPIO_STEPPER_API_DEFINE(child) \