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drivers: stepper: add common helper header for tmc5xxx functions

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This commit adds a common helper header for tmc5xxx driver

Signed-off-by: Jilay Pandya <jilay.pandya@outlook.com>
This commit is contained in:
Jilay Pandya 2024-11-03 16:18:06 +01:00 • committed by Anas Nashif
commit 5032d8ede8
3 changed files with 67 additions and 16 deletions
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23
drivers/stepper/adi_tmc/adi_tmc5041_stepper_controller.c
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@ -1,5 +1,6 @@
/*
* SPDX-FileCopyrightText: Copyright (c) 2024 Carl Zeiss Meditec AG
* SPDX-FileCopyrightText: Copyright (c) 2024 Jilay Sandeep Pandya
* SPDX-License-Identifier: Apache-2.0
*/
@ -10,8 +11,8 @@
#include <zephyr/drivers/stepper.h>
#include <zephyr/drivers/stepper/stepper_trinamic.h>
#include "adi_tmc_reg.h"
#include "adi_tmc_spi.h"
#include "adi_tmc5xxx_common.h"
#include <zephyr/logging/log.h>
@ -93,17 +94,6 @@ static int tmc5041_read(const struct device *dev, const uint8_t reg_addr, uint32
return 0;
}
static void calculate_velocity_from_hz_to_fclk(const struct device *dev, const uint32_t velocity_hz,
uint32_t *const velocity_fclk)
{
const struct tmc5041_config *config = dev->config;
*velocity_fclk =
((uint64_t)(velocity_hz) << TMC5041_CLOCK_FREQ_SHIFT) / config->clock_frequency;
LOG_DBG("Stepper motor controller %s velocity: %d Hz, velocity_fclk: %d", dev->name,
velocity_hz, *velocity_fclk);
}
static int tmc5041_stepper_set_event_callback(const struct device *dev,
stepper_event_callback_t callback, void *user_data)
{
@ -356,10 +346,13 @@ static int tmc5041_stepper_move(const struct device *dev, const int32_t steps)
static int tmc5041_stepper_set_max_velocity(const struct device *dev, uint32_t velocity)
{
const struct tmc5041_stepper_config *config = dev->config;
const struct tmc5041_config *tmc5041_config = config->controller->config;
const uint32_t clock_frequency = tmc5041_config->clock_frequency;
uint32_t velocity_fclk;
int err;
calculate_velocity_from_hz_to_fclk(config->controller, velocity, &velocity_fclk);
velocity_fclk = tmc5xxx_calculate_velocity_from_hz_to_fclk(velocity, clock_frequency);
err = tmc5041_write(config->controller, TMC5041_VMAX(config->index), velocity_fclk);
if (err != 0) {
LOG_ERR("%s: Failed to set max velocity", dev->name);
@ -482,11 +475,13 @@ static int tmc5041_stepper_enable_constant_velocity_mode(const struct device *de
{
LOG_DBG("Stepper motor controller %s enable constant velocity mode", dev->name);
const struct tmc5041_stepper_config *config = dev->config;
const struct tmc5041_config *tmc5041_config = config->controller->config;
struct tmc5041_stepper_data *data = dev->data;
const uint32_t clock_frequency = tmc5041_config->clock_frequency;
uint32_t velocity_fclk;
int err;
calculate_velocity_from_hz_to_fclk(config->controller, velocity, &velocity_fclk);
velocity_fclk = tmc5xxx_calculate_velocity_from_hz_to_fclk(velocity, clock_frequency);
if (config->is_sg_enabled) {
err = stallguard_enable(dev, false);