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drivers: stepper: refactor set_actual_position to set_reference_position

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This commit refactos set_actual_position to set_reference_position.
stepper_set_reference_position is more apt in regards to what this func
actually does

Signed-off-by: Jilay Pandya <jilay.pandya@outlook.com>
This commit is contained in:
Jilay Pandya 2024-11-24 17:14:38 +01:00 • committed by Benjamin Cabé
commit 719cd2639c
10 changed files with 35 additions and 32 deletions
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2
doc/hardware/peripherals/stepper.rst
View file

@ -10,7 +10,7 @@ Configure Stepper Driver
- Configure **micro-stepping resolution** using :c:func:`stepper_set_micro_step_res`
and :c:func:`stepper_get_micro_step_res`.
- Configure **actual position a.k.a step count** in microsteps using :c:func:`stepper_set_actual_position`
- Configure **reference position** in microsteps using :c:func:`stepper_set_reference_position`
and :c:func:`stepper_get_actual_position`.
- Set **max velocity** in micro-steps per second using :c:func:`stepper_set_max_velocity`
- **Enable** the stepper driver using :c:func:`stepper_enable`.

1
doc/releases/migration-guide-4.1.rst
View file

@ -117,6 +117,7 @@ Stepper
=======
* Renamed the ``compatible`` from ``zephyr,gpio-steppers`` to :dtcompatible:`zephyr,gpio-stepper`.
* Renamed the ``stepper_set_actual_position`` function to :c:func:`stepper_set_reference_position`.
Regulator
=========

4
drivers/stepper/adi_tmc/adi_tmc5041_stepper_controller.c
View file

@ -410,7 +410,7 @@ static int tmc5041_stepper_get_micro_step_res(const struct device *dev,
return 0;
}
static int tmc5041_stepper_set_actual_position(const struct device *dev, const int32_t position)
static int tmc5041_stepper_set_reference_position(const struct device *dev, const int32_t position)
{
const struct tmc5041_stepper_config *config = dev->config;
int err;
@ -728,7 +728,7 @@ static int tmc5041_stepper_init(const struct device *dev)
.set_max_velocity = tmc5041_stepper_set_max_velocity, \
.set_micro_step_res = tmc5041_stepper_set_micro_step_res, \
.get_micro_step_res = tmc5041_stepper_get_micro_step_res, \
.set_actual_position = tmc5041_stepper_set_actual_position, \
.set_reference_position = tmc5041_stepper_set_reference_position, \
.get_actual_position = tmc5041_stepper_get_actual_position, \
.set_target_position = tmc5041_stepper_set_target_position, \
.enable_constant_velocity_mode = tmc5041_stepper_enable_constant_velocity_mode, \

16
drivers/stepper/fake_stepper_controller.c
View file

@ -33,7 +33,7 @@ DEFINE_FAKE_VALUE_FUNC(int, fake_stepper_set_micro_step_res, const struct device
DEFINE_FAKE_VALUE_FUNC(int, fake_stepper_get_micro_step_res, const struct device *,
enum stepper_micro_step_resolution *);
DEFINE_FAKE_VALUE_FUNC(int, fake_stepper_set_actual_position, const struct device *, int32_t);
DEFINE_FAKE_VALUE_FUNC(int, fake_stepper_set_reference_position, const struct device *, int32_t);
DEFINE_FAKE_VALUE_FUNC(int, fake_stepper_get_actual_position, const struct device *, int32_t *);
@ -65,7 +65,7 @@ static int fake_stepper_get_micro_step_res_delegate(const struct device *dev,
return 0;
}
static int fake_stepper_set_actual_position_delegate(const struct device *dev, const int32_t pos)
static int fake_stepper_set_reference_position_delegate(const struct device *dev, const int32_t pos)
{
struct fake_stepper_data *data = dev->data;
@ -95,7 +95,7 @@ static void fake_stepper_reset_rule_before(const struct ztest_unit_test *test, v
RESET_FAKE(fake_stepper_set_max_velocity);
RESET_FAKE(fake_stepper_set_micro_step_res);
RESET_FAKE(fake_stepper_get_micro_step_res);
RESET_FAKE(fake_stepper_set_actual_position);
RESET_FAKE(fake_stepper_set_reference_position);
RESET_FAKE(fake_stepper_get_actual_position);
RESET_FAKE(fake_stepper_set_target_position);
RESET_FAKE(fake_stepper_enable_constant_velocity_mode);
@ -103,8 +103,8 @@ static void fake_stepper_reset_rule_before(const struct ztest_unit_test *test, v
/* Install custom fakes for the setter and getter functions */
fake_stepper_set_micro_step_res_fake.custom_fake = fake_stepper_set_micro_step_res_delegate;
fake_stepper_get_micro_step_res_fake.custom_fake = fake_stepper_get_micro_step_res_delegate;
fake_stepper_set_actual_position_fake.custom_fake =
fake_stepper_set_actual_position_delegate;
fake_stepper_set_reference_position_fake.custom_fake =
fake_stepper_set_reference_position_delegate;
fake_stepper_get_actual_position_fake.custom_fake =
fake_stepper_get_actual_position_delegate;
}
@ -116,8 +116,8 @@ static int fake_stepper_init(const struct device *dev)
{
fake_stepper_set_micro_step_res_fake.custom_fake = fake_stepper_set_micro_step_res_delegate;
fake_stepper_get_micro_step_res_fake.custom_fake = fake_stepper_get_micro_step_res_delegate;
fake_stepper_set_actual_position_fake.custom_fake =
fake_stepper_set_actual_position_delegate;
fake_stepper_set_reference_position_fake.custom_fake =
fake_stepper_set_reference_position_delegate;
fake_stepper_get_actual_position_fake.custom_fake =
fake_stepper_get_actual_position_delegate;
@ -131,7 +131,7 @@ static const struct stepper_driver_api fake_stepper_driver_api = {
.set_max_velocity = fake_stepper_set_max_velocity,
.set_micro_step_res = fake_stepper_set_micro_step_res,
.get_micro_step_res = fake_stepper_get_micro_step_res,
.set_actual_position = fake_stepper_set_actual_position,
.set_reference_position = fake_stepper_set_reference_position,
.get_actual_position = fake_stepper_get_actual_position,
.set_target_position = fake_stepper_set_target_position,
.enable_constant_velocity_mode = fake_stepper_enable_constant_velocity_mode,

4
drivers/stepper/gpio_stepper_controller.c
View file

@ -194,7 +194,7 @@ static int gpio_stepper_move(const struct device *dev, int32_t micro_steps)
return 0;
}
static int gpio_stepper_set_actual_position(const struct device *dev, int32_t position)
static int gpio_stepper_set_reference_position(const struct device *dev, int32_t position)
{
struct gpio_stepper_data *data = dev->data;
@ -356,7 +356,7 @@ static const struct stepper_driver_api gpio_stepper_api = {
.enable = gpio_stepper_enable,
.move = gpio_stepper_move,
.is_moving = gpio_stepper_is_moving,
.set_actual_position = gpio_stepper_set_actual_position,
.set_reference_position = gpio_stepper_set_reference_position,
.get_actual_position = gpio_stepper_get_actual_position,
.set_target_position = gpio_stepper_set_target_position,
.set_max_velocity = gpio_stepper_set_max_velocity,

8
drivers/stepper/stepper_shell.c
View file

@ -294,7 +294,7 @@ static int cmd_stepper_get_micro_step_res(const struct shell *sh, size_t argc, c
return err;
}
static int cmd_stepper_set_actual_position(const struct shell *sh, size_t argc, char **argv)
static int cmd_stepper_set_reference_position(const struct shell *sh, size_t argc, char **argv)
{
const struct device *dev;
int err = 0;
@ -309,7 +309,7 @@ static int cmd_stepper_set_actual_position(const struct shell *sh, size_t argc,
return err;
}
err = stepper_set_actual_position(dev, position);
err = stepper_set_reference_position(dev, position);
if (err) {
shell_error(sh, "Error: %d", err);
}
@ -462,8 +462,8 @@ SHELL_STATIC_SUBCMD_SET_CREATE(
"<device> <resolution>", cmd_stepper_set_micro_step_res, 3, 0),
SHELL_CMD_ARG(get_micro_step_res, &dsub_pos_stepper_motor_name, "<device>",
cmd_stepper_get_micro_step_res, 2, 0),
SHELL_CMD_ARG(set_actual_position, &dsub_pos_stepper_motor_name, "<device> <position>",
cmd_stepper_set_actual_position, 3, 0),
SHELL_CMD_ARG(set_reference_position, &dsub_pos_stepper_motor_name, "<device> <position>",
cmd_stepper_set_reference_position, 3, 0),
SHELL_CMD_ARG(get_actual_position, &dsub_pos_stepper_motor_name, "<device>",
cmd_stepper_get_actual_position, 2, 0),
SHELL_CMD_ARG(set_target_position, &dsub_pos_stepper_motor_name, "<device> <micro_steps>",

18
include/zephyr/drivers/stepper.h
View file

@ -7,6 +7,7 @@
/*
* SPDX-FileCopyrightText: Copyright (c) 2024 Carl Zeiss Meditec AG
* SPDX-FileCopyrightText: Copyright (c) 2024 Jilay Sandeep Pandya
* SPDX-License-Identifier: Apache-2.0
*/
@ -135,11 +136,11 @@ typedef int (*stepper_set_micro_step_res_t)(const struct device *dev,
typedef int (*stepper_get_micro_step_res_t)(const struct device *dev,
enum stepper_micro_step_resolution *resolution);
/**
* @brief Set the actual a.k.a reference position of the stepper
* @brief Set the 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);
typedef int (*stepper_set_reference_position_t)(const struct device *dev, const int32_t value);
/**
* @brief Get the actual a.k.a reference position of the stepper
@ -194,7 +195,7 @@ __subsystem struct stepper_driver_api {
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_set_reference_position_t set_reference_position;
stepper_get_actual_position_t get_actual_position;
stepper_set_target_position_t set_target_position;
stepper_is_moving_t is_moving;
@ -318,7 +319,7 @@ static inline int z_impl_stepper_get_micro_step_res(const struct device *dev,
}
/**
* @brief Set the actual a.k.a reference position of the stepper
* @brief Set the reference position of the stepper
*
* @param dev Pointer to the stepper motor controller instance.
* @param value The reference position to set in micro-steps.
@ -327,16 +328,17 @@ static inline int z_impl_stepper_get_micro_step_res(const struct device *dev,
* @retval -ENOSYS If not implemented by device driver
* @retval 0 Success
*/
__syscall int stepper_set_actual_position(const struct device *dev, int32_t value);
__syscall int stepper_set_reference_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)
static inline int z_impl_stepper_set_reference_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_actual_position == NULL) {
if (api->set_reference_position == NULL) {
return -ENOSYS;
}
return api->set_actual_position(dev, value);
return api->set_reference_position(dev, value);
}
/**

2
include/zephyr/drivers/stepper/stepper_fake.h
View file

@ -26,7 +26,7 @@ DECLARE_FAKE_VALUE_FUNC(int, fake_stepper_set_micro_step_res, const struct devic
DECLARE_FAKE_VALUE_FUNC(int, fake_stepper_get_micro_step_res, const struct device *,
enum stepper_micro_step_resolution *);
DECLARE_FAKE_VALUE_FUNC(int, fake_stepper_set_actual_position, const struct device *, int32_t);
DECLARE_FAKE_VALUE_FUNC(int, fake_stepper_set_reference_position, const struct device *, int32_t);
DECLARE_FAKE_VALUE_FUNC(int, fake_stepper_get_actual_position, const struct device *, int32_t *);

8
tests/drivers/stepper/shell/src/main.c
View file

@ -99,13 +99,13 @@ ZTEST(stepper_shell, test_stepper_get_micro_step_res)
ASSERT_STEPPER_FUNC_CALLED(fake_stepper_get_micro_step_res_fake, err);
}
ZTEST(stepper_shell, test_stepper_set_actual_position)
ZTEST(stepper_shell, test_stepper_set_reference_position)
{
const struct shell *sh = shell_backend_dummy_get_ptr();
int err = shell_execute_cmd(sh, "stepper set_actual_position " FAKE_STEPPER_NAME " 100");
int err = shell_execute_cmd(sh, "stepper set_reference_position " FAKE_STEPPER_NAME " 100");
ASSERT_STEPPER_FUNC_CALLED(fake_stepper_set_actual_position_fake, err);
zassert_equal(fake_stepper_set_actual_position_fake.arg1_val, 100,
ASSERT_STEPPER_FUNC_CALLED(fake_stepper_set_reference_position_fake, err);
zassert_equal(fake_stepper_set_reference_position_fake.arg1_val, 100,
"wrong actual position value");
}

4
tests/drivers/stepper/stepper_api/src/main.c
View file

@ -56,7 +56,7 @@ static void *stepper_setup(void)
static void stepper_before(void *f)
{
struct stepper_fixture *fixture = f;
(void)stepper_set_actual_position(fixture->dev, 0);
(void)stepper_set_reference_position(fixture->dev, 0);
k_poll_signal_reset(&stepper_signal);
}
@ -73,7 +73,7 @@ ZTEST_F(stepper, test_micro_step_res)
ZTEST_F(stepper, test_actual_position)
{
int32_t pos = 100u;
(void)stepper_set_actual_position(fixture->dev, pos);
(void)stepper_set_reference_position(fixture->dev, pos);
(void)stepper_get_actual_position(fixture->dev, &pos);
zassert_equal(pos, 100u, "Actual position not set correctly");
}