diff --git a/doc/hardware/peripherals/stepper.rst b/doc/hardware/peripherals/stepper.rst index e689de3dac2..1790740cd58 100644 --- a/doc/hardware/peripherals/stepper.rst +++ b/doc/hardware/peripherals/stepper.rst @@ -36,6 +36,7 @@ be used in a boards devicetree to configure a stepper driver to its initial stat See examples in: +- :dtcompatible:`zephyr,gpio-stepper` - :dtcompatible:`adi,tmc5041` Discord diff --git a/drivers/stepper/Kconfig.gpio b/drivers/stepper/Kconfig.gpio index 126ebf179fc..99e35057895 100644 --- a/drivers/stepper/Kconfig.gpio +++ b/drivers/stepper/Kconfig.gpio @@ -6,7 +6,7 @@ menu "GPIO stepper driver" config GPIO_STEPPER bool "Activate driver for gpio stepper control" - depends on DT_HAS_ZEPHYR_GPIO_STEPPERS_ENABLED + depends on DT_HAS_ZEPHYR_GPIO_STEPPER_ENABLED default y help GPIO Stepper driver for stepper motor control with darlington arrays or dual H-bridge. diff --git a/drivers/stepper/gpio_stepper_controller.c b/drivers/stepper/gpio_stepper_controller.c index 32d3940fdba..c3e635cb036 100644 --- a/drivers/stepper/gpio_stepper_controller.c +++ b/drivers/stepper/gpio_stepper_controller.c @@ -4,7 +4,7 @@ * SPDX-License-Identifier: Apache-2.0 */ -#define DT_DRV_COMPAT zephyr_gpio_steppers +#define DT_DRV_COMPAT zephyr_gpio_stepper #include #include @@ -338,14 +338,13 @@ static int gpio_stepper_enable(const struct device *dev, bool enable) return 0; } -static int gpio_stepper_motor_controller_init(const struct device *dev) +static int gpio_stepper_init(const struct device *dev) { struct gpio_stepper_data *data = dev->data; const struct gpio_stepper_config *config = dev->config; data->dev = dev; - LOG_DBG("Initializing %s gpio_stepper_motor_controller with %d pin", dev->name, - NUM_CONTROL_PINS); + LOG_DBG("Initializing %s gpio_stepper with %d pin", dev->name, NUM_CONTROL_PINS); for (uint8_t n_pin = 0; n_pin < NUM_CONTROL_PINS; n_pin++) { (void)gpio_pin_configure_dt(&config->control_pins[n_pin], GPIO_OUTPUT_INACTIVE); } @@ -353,47 +352,36 @@ static int gpio_stepper_motor_controller_init(const struct device *dev) return 0; } -#define GPIO_STEPPER_DEVICE_DATA_DEFINE(child) \ - static struct gpio_stepper_data gpio_stepper_data_##child = { \ - .step_gap = MAX_MICRO_STEP_RES >> (DT_PROP(child, micro_step_res) - 1), \ - }; \ - BUILD_ASSERT(DT_PROP(child, micro_step_res) <= STEPPER_MICRO_STEP_2, \ - "gpio_stepper_controller driver supports up to 2 micro steps"); +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, + .get_actual_position = gpio_stepper_get_actual_position, + .set_target_position = gpio_stepper_set_target_position, + .set_max_velocity = gpio_stepper_set_max_velocity, + .enable_constant_velocity_mode = gpio_stepper_enable_constant_velocity_mode, + .set_micro_step_res = gpio_stepper_set_micro_step_res, + .get_micro_step_res = gpio_stepper_get_micro_step_res, + .set_event_callback = gpio_stepper_set_event_callback, +}; -#define GPIO_STEPPER_DEVICE_CONFIG_DEFINE(child) \ - static const struct gpio_dt_spec gpio_stepper_motor_control_pins_##child[] = { \ - DT_FOREACH_PROP_ELEM_SEP(child, gpios, GPIO_DT_SPEC_GET_BY_IDX, (,)), \ - }; \ - BUILD_ASSERT( \ - 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_DEFINE(inst) \ + static const struct gpio_dt_spec gpio_stepper_motor_control_pins_##inst[] = { \ + DT_INST_FOREACH_PROP_ELEM_SEP(inst, gpios, GPIO_DT_SPEC_GET_BY_IDX, (,)), \ + }; \ + BUILD_ASSERT(ARRAY_SIZE(gpio_stepper_motor_control_pins_##inst) == 4, \ + "gpio_stepper_controller driver currently supports only 4 wire configuration"); \ + static const struct gpio_stepper_config gpio_stepper_config_##inst = { \ + .invert_direction = DT_INST_PROP(inst, invert_direction), \ + .control_pins = gpio_stepper_motor_control_pins_##inst}; \ + static struct gpio_stepper_data gpio_stepper_data_##inst = { \ + .step_gap = MAX_MICRO_STEP_RES >> (DT_INST_PROP(inst, micro_step_res) - 1), \ + }; \ + BUILD_ASSERT(DT_INST_PROP(inst, micro_step_res) <= STEPPER_MICRO_STEP_2, \ + "gpio_stepper_controller driver supports up to 2 micro steps"); \ + DEVICE_DT_INST_DEFINE(inst, gpio_stepper_init, NULL, &gpio_stepper_data_##inst, \ + &gpio_stepper_config_##inst, POST_KERNEL, \ + CONFIG_STEPPER_INIT_PRIORITY, &gpio_stepper_api); -#define GPIO_STEPPER_API_DEFINE(child) \ - static const struct stepper_driver_api gpio_stepper_api_##child = { \ - .enable = gpio_stepper_enable, \ - .move = gpio_stepper_move, \ - .is_moving = gpio_stepper_is_moving, \ - .set_actual_position = gpio_stepper_set_actual_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, \ - .enable_constant_velocity_mode = gpio_stepper_enable_constant_velocity_mode, \ - .set_micro_step_res = gpio_stepper_set_micro_step_res, \ - .get_micro_step_res = gpio_stepper_get_micro_step_res, \ - .set_event_callback = gpio_stepper_set_event_callback, }; - -#define GPIO_STEPPER_DEVICE_DEFINE(child) \ - DEVICE_DT_DEFINE(child, gpio_stepper_motor_controller_init, NULL, \ - &gpio_stepper_data_##child, &gpio_stepper_config_##child, POST_KERNEL, \ - CONFIG_STEPPER_INIT_PRIORITY, &gpio_stepper_api_##child); - -#define GPIO_STEPPER_CONTROLLER_DEFINE(inst) \ - DT_INST_FOREACH_CHILD(inst, GPIO_STEPPER_DEVICE_CONFIG_DEFINE); \ - DT_INST_FOREACH_CHILD(inst, GPIO_STEPPER_DEVICE_DATA_DEFINE); \ - DT_INST_FOREACH_CHILD(inst, GPIO_STEPPER_API_DEFINE); \ - DT_INST_FOREACH_CHILD(inst, GPIO_STEPPER_DEVICE_DEFINE); - -DT_INST_FOREACH_STATUS_OKAY(GPIO_STEPPER_CONTROLLER_DEFINE) +DT_INST_FOREACH_STATUS_OKAY(GPIO_STEPPER_DEFINE) diff --git a/dts/bindings/stepper/adi/adi,tmc5041.yaml b/dts/bindings/stepper/adi/adi,tmc5041.yaml index c944cb9bca6..ba856b7fa65 100644 --- a/dts/bindings/stepper/adi/adi,tmc5041.yaml +++ b/dts/bindings/stepper/adi/adi,tmc5041.yaml @@ -89,13 +89,10 @@ properties: child-binding: include: + - name: stepper-controller.yaml - name: base.yaml property-allowlist: - reg - - name: stepper-controller.yaml - property-allowlist: - - invert-direction - - micro-step-res - name: adi,trinamic-ramp-generator.yaml property-allowlist: - vstart diff --git a/dts/bindings/stepper/stepper-controller.yaml b/dts/bindings/stepper/stepper-controller.yaml index 48b4ec7225a..2607fc6f991 100644 --- a/dts/bindings/stepper/stepper-controller.yaml +++ b/dts/bindings/stepper/stepper-controller.yaml @@ -3,8 +3,6 @@ description: Stepper Controller -include: base.yaml - properties: invert-direction: type: boolean diff --git a/dts/bindings/stepper/zephyr,gpio-stepper.yaml b/dts/bindings/stepper/zephyr,gpio-stepper.yaml index 58c6e029b9f..95477d21399 100644 --- a/dts/bindings/stepper/zephyr,gpio-stepper.yaml +++ b/dts/bindings/stepper/zephyr,gpio-stepper.yaml @@ -3,33 +3,25 @@ # SPDX-License-Identifier: Apache-2.0 description: | - GPIO Stepper Controller cluster for darlington transistor arrays or dual H-bridge + GPIO Stepper Controller for darlington transistor arrays or dual H-bridge Example: /* Lead A is connected Lead C and Lead B is connected to Lead D*/ - stepper { - compatible = "zephyr,gpio-steppers"; - motor: motor { - gpios = <&gpioa 9 GPIO_ACTIVE_HIGH>, /* Lead A1/A */ - <&gpioc 7 GPIO_ACTIVE_HIGH>, /* Lead B1/B */ - <&gpiob 0 GPIO_ACTIVE_HIGH>, /* Lead A2/C */ - <&gpioa 7 GPIO_ACTIVE_HIGH>; /* Lead B2/D */ - }; + stepper: stepper { + compatible = "zephyr,gpio-stepper"; + gpios = <&gpioa 9 GPIO_ACTIVE_HIGH>, /* Lead A1/A */ + <&gpioc 7 GPIO_ACTIVE_HIGH>, /* Lead B1/B */ + <&gpiob 0 GPIO_ACTIVE_HIGH>, /* Lead A2/C */ + <&gpioa 7 GPIO_ACTIVE_HIGH>; /* Lead B2/D */ }; -compatible: "zephyr,gpio-steppers" +compatible: "zephyr,gpio-stepper" -child-binding: - description: GPIO Controller for stepper motor - include: - - name: stepper-controller.yaml - property-allowlist: - - micro-step-res - - invert-direction +include: stepper-controller.yaml - properties: - gpios: - type: phandle-array - required: true - description: | - The gpio pin array on which the stepper inputs are to be connected +properties: + gpios: + type: phandle-array + required: true + description: | + The gpio pin array on which the stepper inputs are to be connected diff --git a/tests/drivers/stepper/stepper_api/CMakeLists.txt b/tests/drivers/stepper/stepper_api/CMakeLists.txt index 16260e70c04..a1ebdab059b 100644 --- a/tests/drivers/stepper/stepper_api/CMakeLists.txt +++ b/tests/drivers/stepper/stepper_api/CMakeLists.txt @@ -1,10 +1,8 @@ -# Copyright (c) 2024 Jilay Sandeep Pandya +# SPDX-FileCopyrightText: Copyright (c) 2024 Jilay Sandeep Pandya # SPDX-License-Identifier: Apache-2.0 cmake_minimum_required(VERSION 3.20.0) - find_package(Zephyr REQUIRED HINTS $ENV{ZEPHYR_BASE}) project(stepper_api) -target_sources(app PRIVATE - src/main.c -) + +target_sources(app PRIVATE src/main.c) diff --git a/tests/drivers/stepper/stepper_api/boards/nucleo_g071rb.conf b/tests/drivers/stepper/stepper_api/boards/nucleo_g071rb.conf index 0b747611a17..ed533e324c7 100644 --- a/tests/drivers/stepper/stepper_api/boards/nucleo_g071rb.conf +++ b/tests/drivers/stepper/stepper_api/boards/nucleo_g071rb.conf @@ -1,4 +1,4 @@ -# Copyright (c) 2024 Jilay Sandeep Pandya +# SPDX-FileCopyrightText: Copyright (c) 2024 Jilay Sandeep Pandya # SPDX-License-Identifier: Apache-2.0 CONFIG_GPIO=y diff --git a/tests/drivers/stepper/stepper_api/boards/nucleo_g071rb.overlay b/tests/drivers/stepper/stepper_api/boards/nucleo_g071rb.overlay index 80b58d3fd5e..afd285e9262 100644 --- a/tests/drivers/stepper/stepper_api/boards/nucleo_g071rb.overlay +++ b/tests/drivers/stepper/stepper_api/boards/nucleo_g071rb.overlay @@ -4,15 +4,13 @@ */ / { - uln2003_motor: uln2003_1 { - compatible = "zephyr,gpio-steppers"; + motor_1: motor_1 { + compatible = "zephyr,gpio-stepper"; status = "okay"; - motor_1: motor_1 { - micro-step-res = <1>; - gpios = <&gpioa 9 GPIO_ACTIVE_HIGH>, - <&gpioc 7 GPIO_ACTIVE_HIGH>, - <&gpiob 0 GPIO_ACTIVE_HIGH>, - <&gpioa 7 GPIO_ACTIVE_HIGH>; - }; + micro-step-res = <1>; + gpios = <&gpioa 9 GPIO_ACTIVE_HIGH>, + <&gpioc 7 GPIO_ACTIVE_HIGH>, + <&gpiob 0 GPIO_ACTIVE_HIGH>, + <&gpioa 7 GPIO_ACTIVE_HIGH>; }; }; diff --git a/tests/drivers/stepper/stepper_api/boards/qemu_x86_64.conf b/tests/drivers/stepper/stepper_api/boards/qemu_x86_64.conf index 0b747611a17..ed533e324c7 100644 --- a/tests/drivers/stepper/stepper_api/boards/qemu_x86_64.conf +++ b/tests/drivers/stepper/stepper_api/boards/qemu_x86_64.conf @@ -1,4 +1,4 @@ -# Copyright (c) 2024 Jilay Sandeep Pandya +# SPDX-FileCopyrightText: Copyright (c) 2024 Jilay Sandeep Pandya # SPDX-License-Identifier: Apache-2.0 CONFIG_GPIO=y diff --git a/tests/drivers/stepper/stepper_api/boards/qemu_x86_64.overlay b/tests/drivers/stepper/stepper_api/boards/qemu_x86_64.overlay index 72de2d2ecc7..c38d1128bed 100644 --- a/tests/drivers/stepper/stepper_api/boards/qemu_x86_64.overlay +++ b/tests/drivers/stepper/stepper_api/boards/qemu_x86_64.overlay @@ -19,16 +19,13 @@ }; / { - test_uln2003_motor_cluster: uln2003_motor_cluster { - compatible = "zephyr,gpio-steppers"; + motor_1: motor_1 { + compatible = "zephyr,gpio-stepper"; status = "okay"; - - motor_1: motor_1 { - micro-step-res = <1>; - gpios = <&test_gpio 0 0>, - <&test_gpio 0 0>, - <&test_gpio 0 0>, - <&test_gpio 0 0>; - }; + micro-step-res = <1>; + gpios = <&test_gpio 0 0>, + <&test_gpio 0 0>, + <&test_gpio 0 0>, + <&test_gpio 0 0>; }; }; diff --git a/tests/drivers/stepper/stepper_api/prj.conf b/tests/drivers/stepper/stepper_api/prj.conf index fc4240bf037..cf8974229b3 100644 --- a/tests/drivers/stepper/stepper_api/prj.conf +++ b/tests/drivers/stepper/stepper_api/prj.conf @@ -1,4 +1,4 @@ -# Copyright (c) 2024 Jilay Sandeep Pandya +# SPDX-FileCopyrightText: Copyright (c) 2024 Jilay Sandeep Pandya # SPDX-License-Identifier: Apache-2.0 CONFIG_ZTEST=y diff --git a/tests/drivers/stepper/stepper_api/testcase.yaml b/tests/drivers/stepper/stepper_api/testcase.yaml index 36fc4d9b3fb..d38ed845b0a 100644 --- a/tests/drivers/stepper/stepper_api/testcase.yaml +++ b/tests/drivers/stepper/stepper_api/testcase.yaml @@ -1,4 +1,4 @@ -# Copyright (c) 2024 Jilay Sandeep Pandya +# SPDX-FileCopyrightText: Copyright (c) 2024 Jilay Sandeep Pandya # SPDX-License-Identifier: Apache-2.0 tests: