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drivers: stepper: change gpio-stepper dt-compatible

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This commit changes compatible of gpio-stepper in driver

Signed-off-by: Jilay Pandya <jilay.pandya@outlook.com>
This commit is contained in:
Jilay Pandya 2024-11-05 21:05:54 +01:00 • committed by Anas Nashif
commit 843625a29b
13 changed files with 73 additions and 104 deletions
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80
drivers/stepper/gpio_stepper_controller.c
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@ -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 <zephyr/drivers/gpio.h>
#include <zephyr/kernel.h>
@ -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)