michaelh/zephyr
1
0
Fork 0
Code Releases Activity

drivers: stepper: adi_tmc: Use helper functions in tmc50xx.

Browse source 
Use rampstat_work_reschedule() and read_vactual().
Only log actual velocity when not 0.
Update log_stallguard() output.

Signed-off-by: Anders Nielsen <anders.nielsen@prevas.dk>
This commit is contained in:
Anders Nielsen 2025-04-22 16:14:09 +02:00 • committed by Benjamin Cabé
commit 4b4dc77340
1 changed files with 29 additions and 20 deletions
Download patch file Download diff file Expand all files Collapse all files

49
drivers/stepper/adi_tmc/adi_tmc50xx_stepper_controller.c
View file

@ -105,6 +105,23 @@ static int tmc50xx_stepper_set_event_callback(const struct device *dev,
return 0;
}
static int read_vactual(const struct tmc50xx_stepper_config *config, int32_t *actual_velocity)
{
int err;
err = tmc50xx_read(config->controller, TMC50XX_VACTUAL(config->index), actual_velocity);
if (err) {
LOG_ERR("Failed to read VACTUAL register");
return err;
}
*actual_velocity = sign_extend(*actual_velocity, TMC_RAMP_VACTUAL_SHIFT);
if (actual_velocity) {
LOG_DBG("actual velocity: %d", *actual_velocity);
}
return 0;
}
static int stallguard_enable(const struct device *dev, const bool enable)
{
const struct tmc50xx_stepper_config *config = dev->config;
@ -122,17 +139,10 @@ static int stallguard_enable(const struct device *dev, const bool enable)
int32_t actual_velocity;
err = tmc50xx_read(config->controller, TMC50XX_VACTUAL(config->index),
&actual_velocity);
err = read_vactual(config, &actual_velocity);
if (err) {
LOG_ERR("Failed to read VACTUAL register");
return -EIO;
}
actual_velocity = (actual_velocity << (31 - TMC_RAMP_VACTUAL_SHIFT)) >>
(31 - TMC_RAMP_VACTUAL_SHIFT);
LOG_DBG("actual velocity: %d", actual_velocity);
if (abs(actual_velocity) < config->sg_threshold_velocity) {
return -EAGAIN;
}
@ -197,12 +207,18 @@ static void log_stallguard(struct tmc50xx_stepper_data *stepper_data, const uint
const uint8_t sg_result = FIELD_GET(TMC5XXX_DRV_STATUS_SG_RESULT_MASK, drv_status);
const bool sg_status = FIELD_GET(TMC5XXX_DRV_STATUS_SG_STATUS_MASK, drv_status);
LOG_DBG("%s position: %d | sg result: %d status: %d",
LOG_DBG("%s position: %d | sg result: %3d status: %d",
stepper_data->stepper->name, position, sg_result, sg_status);
}
#endif
static void rampstat_work_reschedule(struct k_work_delayable *rampstat_callback_dwork)
{
k_work_reschedule(rampstat_callback_dwork,
K_MSEC(CONFIG_STEPPER_ADI_TMC50XX_RAMPSTAT_POLL_INTERVAL_IN_MSEC));
}
static void rampstat_work_handler(struct k_work *work)
{
struct k_work_delayable *dwork = k_work_delayable_from_work(work);
@ -277,9 +293,7 @@ static void rampstat_work_handler(struct k_work *work)
break;
}
} else {
k_work_reschedule(
&stepper_data->rampstat_callback_dwork,
K_MSEC(CONFIG_STEPPER_ADI_TMC50XX_RAMPSTAT_POLL_INTERVAL_IN_MSEC));
rampstat_work_reschedule(&stepper_data->rampstat_callback_dwork);
}
}
@ -474,9 +488,7 @@ static int tmc50xx_stepper_move_to(const struct device *dev, const int32_t micro
}
#ifdef CONFIG_STEPPER_ADI_TMC50XX_RAMPSTAT_POLL
if (data->callback) {
k_work_reschedule(
&data->rampstat_callback_dwork,
K_MSEC(CONFIG_STEPPER_ADI_TMC50XX_RAMPSTAT_POLL_INTERVAL_IN_MSEC));
rampstat_work_reschedule(&data->rampstat_callback_dwork);
}
#endif
return 0;
@ -536,9 +548,7 @@ static int tmc50xx_stepper_run(const struct device *dev, const enum stepper_dire
}
#ifdef CONFIG_STEPPER_ADI_TMC50XX_RAMPSTAT_POLL
if (data->callback) {
k_work_reschedule(
&data->rampstat_callback_dwork,
K_MSEC(CONFIG_STEPPER_ADI_TMC50XX_RAMPSTAT_POLL_INTERVAL_IN_MSEC));
rampstat_work_reschedule(&data->rampstat_callback_dwork);
}
#endif
return 0;
@ -687,8 +697,7 @@ static int tmc50xx_stepper_init(const struct device *dev)
#if CONFIG_STEPPER_ADI_TMC50XX_RAMPSTAT_POLL
k_work_init_delayable(&data->rampstat_callback_dwork, rampstat_work_handler);
k_work_reschedule(&data->rampstat_callback_dwork,
K_MSEC(CONFIG_STEPPER_ADI_TMC50XX_RAMPSTAT_POLL_INTERVAL_IN_MSEC));
rampstat_work_reschedule(&data->rampstat_callback_dwork);
#endif
err = tmc50xx_stepper_set_micro_step_res(dev, stepper_config->default_micro_step_res);
if (err != 0) {