michaelh/zephyr
1
0
Fork 0
Code Releases Activity

drivers: stepper: adi_tmc: adi_tmc50xx_stepper_controller.c

Browse source 
Replace stall guard retry error log on EAGAIN with enable/disable info log.
Log position, sg result and sg status on each rampstat_work_handler() call.
Treat only negative return values from tmc_spi_write_register() and
tmc_spi_read_register() as an error.

Signed-off-by: Anders Nielsen <anders.nielsen@prevas.dk>
This commit is contained in:
Anders Nielsen 2025-04-02 10:40:08 +02:00 • committed by Benjamin Cabé
commit b2b597aa6e
2 changed files with 53 additions and 12 deletions
Download patch file Download diff file Expand all files Collapse all files

9
drivers/stepper/adi_tmc/Kconfig.tmc_rampgen_template
View file

@ -19,9 +19,16 @@ config STEPPER_ADI_$(module)_RAMPSTAT_POLL_INTERVAL_IN_MSEC
help
The interval in ms to poll the ramp status on TMC.
config STEPPER_ADI_$(module)_RAMPSTAT_POLL_STALLGUARD_LOG
bool "log $(module-str) stallguard"
depends on STEPPER_ADI_$(module)_RAMPSTAT_POLL
default n
help
Enable stallguard log while polling rampstat.
config STEPPER_ADI_$(module)_RAMP_GEN
bool "Use $(module-str) with Ramp Generator"
depends on STEPPER_ADI_$(module)
default y
help
Enable ramp generator for trinamic stepper controller
Enable ramp generator for trinamic stepper controller.

56
drivers/stepper/adi_tmc/adi_tmc50xx_stepper_controller.c
View file

@ -54,6 +54,8 @@ struct tmc50xx_stepper_config {
#endif
};
static int read_actual_position(const struct tmc50xx_stepper_config *config, int32_t *position);
static int tmc50xx_write(const struct device *dev, const uint8_t reg_addr, const uint32_t reg_val)
{
const struct tmc50xx_config *config = dev->config;
@ -67,7 +69,7 @@ static int tmc50xx_write(const struct device *dev, const uint8_t reg_addr, const
k_sem_give(&data->sem);
if (err) {
if (err < 0) {
LOG_ERR("Failed to write register 0x%x with value 0x%x", reg_addr, reg_val);
return err;
}
@ -87,7 +89,7 @@ static int tmc50xx_read(const struct device *dev, const uint8_t reg_addr, uint32
k_sem_give(&data->sem);
if (err) {
if (err < 0) {
LOG_ERR("Failed to read register 0x%x", reg_addr);
return err;
}
@ -143,6 +145,8 @@ static int stallguard_enable(const struct device *dev, const bool enable)
LOG_ERR("Failed to write SWMODE register");
return -EIO;
}
LOG_DBG("Stallguard %s", enable ? "enabled" : "disabled");
return 0;
}
@ -156,7 +160,6 @@ static void stallguard_work_handler(struct k_work *work)
err = stallguard_enable(stepper_data->stepper, true);
if (err == -EAGAIN) {
LOG_ERR("retrying stallguard activation");
k_work_reschedule(dwork, K_MSEC(stepper_config->sg_velocity_check_interval_ms));
}
if (err == -EIO) {
@ -178,6 +181,29 @@ static void execute_callback(const struct device *dev, const enum stepper_event
data->callback(dev, event, data->event_cb_user_data);
}
#ifdef CONFIG_STEPPER_ADI_TMC50XX_RAMPSTAT_POLL_STALLGUARD_LOG
static void log_stallguard(struct tmc50xx_stepper_data *stepper_data, const uint32_t drv_status)
{
const struct tmc50xx_stepper_config *stepper_config = stepper_data->stepper->config;
int32_t position;
int err;
err = read_actual_position(stepper_config, &position);
if (err != 0) {
LOG_ERR("%s: Failed to read XACTUAL register", stepper_data->stepper->name);
return;
}
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",
stepper_data->stepper->name, position, sg_result, sg_status);
}
#endif
static void rampstat_work_handler(struct k_work *work)
{
struct k_work_delayable *dwork = k_work_delayable_from_work(work);
@ -197,7 +223,9 @@ static void rampstat_work_handler(struct k_work *work)
LOG_ERR("%s: Failed to read DRVSTATUS register", stepper_data->stepper->name);
return;
}
#ifdef CONFIG_STEPPER_ADI_TMC50XX_RAMPSTAT_POLL_STALLGUARD_LOG
log_stallguard(stepper_data, drv_status);
#endif
if (FIELD_GET(TMC5XXX_DRV_STATUS_SG_STATUS_MASK, drv_status) == 1U) {
LOG_INF("%s: Stall detected", stepper_data->stepper->name);
err = tmc50xx_write(stepper_config->controller,
@ -443,12 +471,23 @@ static int tmc50xx_stepper_set_reference_position(const struct device *dev, cons
return 0;
}
static int read_actual_position(const struct tmc50xx_stepper_config *config, int32_t *position)
{
int err;
err = tmc50xx_read(config->controller, TMC50XX_XACTUAL(config->index), position);
if (err != 0) {
return -EIO;
}
return 0;
}
static int tmc50xx_stepper_get_actual_position(const struct device *dev, int32_t *position)
{
const struct tmc50xx_stepper_config *config = dev->config;
int err;
err = tmc50xx_read(config->controller, TMC50XX_XACTUAL(config->index), position);
err = read_actual_position(config, position);
if (err != 0) {
return -EIO;
}
@ -668,12 +707,7 @@ static int tmc50xx_stepper_init(const struct device *dev)
if (err != 0) {
return -EIO;
}
err = stallguard_enable(dev, true);
if (err == -EAGAIN) {
LOG_ERR("retrying stallguard activation");
k_work_reschedule(&data->stallguard_dwork,
K_MSEC(stepper_config->sg_velocity_check_interval_ms));
}
k_work_reschedule(&data->stallguard_dwork, K_NO_WAIT);
}
#ifdef CONFIG_STEPPER_ADI_TMC50XX_RAMP_GEN