stepper motor controller: introduce api

This commit introduces api for stepper motor controllers

Signed-off-by: Dipak Shetty <dipak.shetty@zeiss.com>
Signed-off-by: Florian Guhl <florian.guhl@zeiss.com>
Signed-off-by: Jilay Pandya <jilay.pandya@zeiss.com>
Signed-off-by: Fabian Blatz <fabianblatz@gmail.com>
This commit is contained in:
Jilay Pandya 2024-02-22 14:05:16 +01:00 committed by Carles Cufí
commit 1af0ec1d96
6 changed files with 495 additions and 0 deletions

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@ -82,6 +82,7 @@ add_subdirectory_ifdef(CONFIG_SENSOR sensor)
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_SYSCON syscon)
add_subdirectory_ifdef(CONFIG_SYS_CLOCK_EXISTS timer)
add_subdirectory_ifdef(CONFIG_TEE tee)

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@ -80,6 +80,7 @@ source "drivers/serial/Kconfig"
source "drivers/sip_svc/Kconfig"
source "drivers/smbus/Kconfig"
source "drivers/spi/Kconfig"
source "drivers/stepper/Kconfig"
source "drivers/syscon/Kconfig"
source "drivers/timer/Kconfig"
source "drivers/usb/Kconfig"

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@ -0,0 +1,6 @@
# SPDX-FileCopyrightText: Copyright (c) 2023 Carl Zeiss Meditec AG
# SPDX-License-Identifier: Apache-2.0
zephyr_syscall_header(${ZEPHYR_BASE}/include/zephyr/drivers/stepper.h)
zephyr_library()

23
drivers/stepper/Kconfig Normal file
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@ -0,0 +1,23 @@
# SPDX-FileCopyrightText: Copyright (c) 2023 Carl Zeiss Meditec AG
# SPDX-License-Identifier: Apache-2.0
menuconfig STEPPER
bool "Stepper Controller"
help
Enable stepper controller
if STEPPER
module = STEPPER
module-str = stepper
source "subsys/logging/Kconfig.template.log_config"
config STEPPER_INIT_PRIORITY
int "Stepper Motor Controller init priority"
default 90
help
Stepper motor controller initialization priority.
comment "Stepper Drivers"
endif

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@ -0,0 +1,22 @@
# SPDX-FileCopyrightText: Copyright (c) 2024 Carl Zeiss Meditec AG
# SPDX-License-Identifier: Apache-2.0
description: Stepper Controller
include: base.yaml
properties:
micro-step-res:
type: int
enum:
- 1
- 2
- 4
- 8
- 16
- 32
- 64
- 128
- 256
description: |
micro-step resolution to be set while initializing the device driver.

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@ -0,0 +1,442 @@
/**
* @file drivers/stepper.h
*
* @brief Public API for Stepper Driver
*
*/
/*
* SPDX-FileCopyrightText: Copyright (c) 2024 Carl Zeiss Meditec AG
* SPDX-License-Identifier: Apache-2.0
*/
#ifndef ZEPHYR_INCLUDE_DRIVERS_STEPPER_H_
#define ZEPHYR_INCLUDE_DRIVERS_STEPPER_H_
/**
* @brief Stepper Motor Controller Interface
* @defgroup stepper_interface Stepper Motor Controller Interface
* @ingroup io_interfaces
* @{
*/
#include <zephyr/kernel.h>
#include <zephyr/device.h>
#include <errno.h>
#ifdef __cplusplus
extern "C" {
#endif
/**
* @brief Stepper Motor micro step resolution options
*/
enum micro_step_resolution {
/** Full step resolution */
STEPPER_FULL_STEP = 1,
/** 2 micro steps per full step */
STEPPER_MICRO_STEP_2 = 2,
/** 4 micro steps per full step */
STEPPER_MICRO_STEP_4 = 4,
/** 8 micro steps per full step */
STEPPER_MICRO_STEP_8 = 8,
/** 16 micro steps per full step */
STEPPER_MICRO_STEP_16 = 16,
/** 32 micro steps per full step */
STEPPER_MICRO_STEP_32 = 32,
/** 64 micro steps per full step */
STEPPER_MICRO_STEP_64 = 64,
/** 128 micro steps per full step */
STEPPER_MICRO_STEP_128 = 128,
/** 256 micro steps per full step */
STEPPER_MICRO_STEP_256 = 256,
};
/**
* @brief Stepper Motor direction options
*/
enum stepper_direction {
/** Positive direction */
STEPPER_DIRECTION_POSITIVE = 0,
/** Negative direction */
STEPPER_DIRECTION_NEGATIVE,
};
/**
* @brief Stepper Motor run mode options
*/
enum stepper_run_mode {
/** Hold Mode */
STEPPER_HOLD_MODE = 0,
/** Position Mode*/
STEPPER_POSITION_MODE,
/** Velocity Mode */
STEPPER_VELOCITY_MODE,
};
/**
* @brief Stepper Motor signal results
*/
enum stepper_signal_result {
/** Steps set using move or set_target_position have been executed */
STEPPER_SIGNAL_STEPS_COMPLETED = 0,
};
/**
* @cond INTERNAL_HIDDEN
*
* Stepper motor controller driver API definition and system call entry points.
*
*/
/**
* @brief enable or disable the stepper motor controller.
*
* @see stepper_enable() for details.
*/
typedef int (*stepper_enable_t)(const struct device *dev, const bool enable);
/**
* @brief Move the stepper motor by a given number of micro_steps.
*
* @see stepper_move() for details.
*/
typedef int (*stepper_move_t)(const struct device *dev, const int32_t micro_steps,
struct k_poll_signal *async);
/**
* @brief Set the max velocity in micro_steps per seconds.
*
* @see stepper_set_max_velocity() for details.
*/
typedef int (*stepper_set_max_velocity_t)(const struct device *dev,
const uint32_t micro_steps_per_second);
/**
* @brief Set the micro-step resolution
*
* @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);
/**
* @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);
/**
* @brief Set the actual a.k.a reference position of the stepper
*
* @see stepper_set_actual_position() for details.
*/
typedef int (*stepper_set_actual_position_t)(const struct device *dev, const int32_t value);
/**
* @brief Get the actual a.k.a reference position of the stepper
*
* @see stepper_get_actual_position() for details.
*/
typedef int (*stepper_get_actual_position_t)(const struct device *dev, int32_t *value);
/**
* @brief Set the absolute target position of the stepper
*
* @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);
/**
* @brief Is the target position fo the stepper reached
*
* @see stepper_is_moving() for details.
*/
typedef int (*stepper_is_moving_t)(const struct device *dev, bool *is_moving);
/**
* @brief Enable constant velocity mode for the stepper with a given velocity
*
* @see stepper_enable_constant_velocity_mode() for details.
*/
typedef int (*stepper_enable_constant_velocity_mode_t)(const struct device *dev,
const enum stepper_direction direction,
const uint32_t value);
/**
* @brief Stepper Motor Controller API
*/
__subsystem struct stepper_api {
stepper_enable_t enable;
stepper_move_t move;
stepper_set_max_velocity_t set_max_velocity;
stepper_set_micro_step_res_t set_micro_step_res;
stepper_get_micro_step_res_t get_micro_step_res;
stepper_set_actual_position_t set_actual_position;
stepper_get_actual_position_t get_actual_position;
stepper_set_target_position_t set_target_position;
stepper_is_moving_t is_moving;
stepper_enable_constant_velocity_mode_t enable_constant_velocity_mode;
};
/**
* @endcond
*/
/**
* @brief Enable or Disable Motor Controller
*
* @param dev pointer to the stepper motor controller instance
* @param enable Input enable or disable motor controller
*
* @retval -EIO Error during Enabling
* @retval 0 Success
*/
__syscall int stepper_enable(const struct device *dev, const bool enable);
static inline int z_impl_stepper_enable(const struct device *dev, const bool enable)
{
const struct stepper_api *api = (const struct stepper_api *)dev->api;
return api->enable(dev, enable);
}
/**
* @brief Set the micro_steps to be moved from the current position i.e. relative movement
*
* @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);
static inline int z_impl_stepper_move(const struct device *dev, const int32_t micro_steps,
struct k_poll_signal *async)
{
const struct stepper_api *api = (const struct stepper_api *)dev->api;
return api->move(dev, micro_steps, async);
}
/**
* @brief Set the target velocity to be reached by the motor
*
* @details For controllers such as DRV8825 where you
* toggle the STEP Pin, the pulse_length would have to be calculated based on this parameter in the
* driver. For controllers where velocity can be set, this parameter corresponds to max_velocity
* @note Setting max velocity does not set the motor into motion, a combination of set_max_velocity
* and move is required to set the motor into motion.
*
* @param dev pointer to the stepper motor controller instance
* @param micro_steps_per_second speed in micro_steps per second
*
* @retval -EIO General input / output error
* @retval -EINVAL If the requested velocity is not supported
* @retval 0 Success
*/
__syscall int stepper_set_max_velocity(const struct device *dev, uint32_t micro_steps_per_second);
static inline int z_impl_stepper_set_max_velocity(const struct device *dev,
const uint32_t micro_steps_per_second)
{
const struct stepper_api *api = (const struct stepper_api *)dev->api;
return api->set_max_velocity(dev, micro_steps_per_second);
}
/**
* @brief Set the microstep resolution in stepper motor controller
*
* @param dev pointer to the stepper motor controller instance
* @param resolution microstep resolution
*
* @retval -EIO General input / output error
* @retval -ENOSYS If not implemented by device driver
* @retval -ENOTSUP If the requested resolution is not supported
* @retval 0 Success
*/
__syscall int stepper_set_micro_step_res(const struct device *dev,
enum micro_step_resolution resolution);
static inline int z_impl_stepper_set_micro_step_res(const struct device *dev,
enum micro_step_resolution resolution)
{
const struct stepper_api *api = (const struct stepper_api *)dev->api;
if (api->set_micro_step_res == NULL) {
return -ENOSYS;
}
return api->set_micro_step_res(dev, resolution);
}
/**
* @brief Get the microstep resolution in stepper motor controller
*
* @param dev pointer to the stepper motor controller instance
* @param resolution microstep resolution
*
* @retval -EIO General input / output error
* @retval -ENOSYS If not implemented by device driver
* @retval 0 Success
*/
__syscall int stepper_get_micro_step_res(const struct device *dev,
enum micro_step_resolution *resolution);
static inline int z_impl_stepper_get_micro_step_res(const struct device *dev,
enum micro_step_resolution *resolution)
{
const struct stepper_api *api = (const struct stepper_api *)dev->api;
if (api->get_micro_step_res == NULL) {
return -ENOSYS;
}
return api->get_micro_step_res(dev, resolution);
}
/**
* @brief Set the actual a.k.a reference position of the stepper
*
* @param dev Pointer to the stepper motor controller instance.
* @param value The reference position to set in micro-steps.
*
* @retval -EIO General input / output error
* @retval -ENOSYS If not implemented by device driver
* @retval 0 Success
*/
__syscall int stepper_set_actual_position(const struct device *dev, int32_t value);
static inline int z_impl_stepper_set_actual_position(const struct device *dev, const int32_t value)
{
const struct stepper_api *api = (const struct stepper_api *)dev->api;
if (api->set_actual_position == NULL) {
return -ENOSYS;
}
return api->set_actual_position(dev, value);
}
/**
* @brief Get the actual a.k.a reference position of the stepper
*
* @param dev pointer to the stepper motor controller instance
* @param value The actual position to get in micro_steps
*
* @retval -EIO General input / output error
* @retval -ENOSYS If not implemented by device driver
* @retval 0 Success
*/
__syscall int stepper_get_actual_position(const struct device *dev, int32_t *value);
static inline int z_impl_stepper_get_actual_position(const struct device *dev, int32_t *value)
{
const struct stepper_api *api = (const struct stepper_api *)dev->api;
if (api->get_actual_position == NULL) {
return -ENOSYS;
}
return api->get_actual_position(dev, value);
}
/**
* @brief Set the absolute target position of the stepper
*
* @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);
static inline int z_impl_stepper_set_target_position(const struct device *dev, const int32_t value,
struct k_poll_signal *async)
{
const struct stepper_api *api = (const struct stepper_api *)dev->api;
if (api->set_target_position == NULL) {
return -ENOSYS;
}
return api->set_target_position(dev, value, async);
}
/**
* @brief Check if the stepper motor is currently moving
*
* @param dev pointer to the stepper motor controller instance
* @param is_moving Pointer to a boolean to store the moving status of the stepper motor
*
* @retval -EIO General input / output error
* @retval -ENOSYS If not implemented by device driver
* @retval 0 Success
*/
__syscall int stepper_is_moving(const struct device *dev, bool *is_moving);
static inline int z_impl_stepper_is_moving(const struct device *dev, bool *is_moving)
{
const struct stepper_api *api = (const struct stepper_api *)dev->api;
if (api->is_moving == NULL) {
return -ENOSYS;
}
return api->is_moving(dev, is_moving);
}
/**
* @brief Enable constant velocity mode for the stepper with a given velocity
*
* @details activate constant velocity mode with the given velocity in micro_steps_per_second.
* If velocity > 0, motor shall be set into motion and run incessantly until and unless stalled or
* stopped using some other command, for instance, motor_enable(false).
*
* @param dev pointer to the stepper motor controller instance
* @param direction The direction to set
* @param value The velocity to set in steps per second where one step is dependent on the current
* microstepping resolution:
* > 0: Enable constant velocity mode with the given velocity in a given direction
* 0: Disable constant velocity mode
*
* @retval -EIO General input / output error
* @retval -ENOSYS If not implemented by device driver
* @retval 0 Success
*/
__syscall int stepper_enable_constant_velocity_mode(const struct device *dev,
enum stepper_direction direction,
uint32_t value);
static inline int z_impl_stepper_enable_constant_velocity_mode(
const struct device *dev, const enum stepper_direction direction, const uint32_t value)
{
const struct stepper_api *api = (const struct stepper_api *)dev->api;
if (api->enable_constant_velocity_mode == NULL) {
return -ENOSYS;
}
return api->enable_constant_velocity_mode(dev, direction, value);
}
/**
* @}
*/
#ifdef __cplusplus
}
#endif
#include <zephyr/syscalls/stepper.h>
#endif /* ZEPHYR_INCLUDE_DRIVERS_STEPPER_H_ */