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drivers: stepper: update drivers as per the api changes

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This commit deprecates passing of async signal in functions such as move
and set_target_position. As per the new API, the async signal has to be
set via set_async_signal.

If RAMPSTAT_POLL is activated then enable_constant_velocity_mode would be
able to raise signals like END_STOP_DETECTED & SENSORLESS_STALL_DETECTED.
This commit also adjusts shell script in order to test these signals.

Signed-off-by: Jilay Pandya <jilay.pandya@zeiss.com>
This commit is contained in:
Jilay Pandya 2024-10-10 09:29:03 +02:00 • committed by Carles Cufí
commit ecada895da
7 changed files with 132 additions and 176 deletions
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85
drivers/stepper/adi_tmc/adi_tmc5041_stepper_controller.c
View file

@ -5,7 +5,7 @@
#define DT_DRV_COMPAT adi_tmc5041
#include "stdlib.h"
#include <stdlib.h>
#include <zephyr/drivers/stepper.h>
#include <zephyr/drivers/stepper/stepper_trinamic.h>
@ -35,7 +35,8 @@ struct tmc5041_stepper_data {
#endif
/* device pointer required to access config in k_work */
const struct device *stepper;
struct k_poll_signal *async_signal;
stepper_event_callback_t callback;
void *event_cb_user_data;
};
struct tmc5041_stepper_config {
@ -103,18 +104,14 @@ static void calculate_velocity_from_hz_to_fclk(const struct device *dev, const u
velocity_hz, *velocity_fclk);
}
static void set_async_signal(const struct device *dev, struct k_poll_signal *async)
static int tmc5041_stepper_set_event_callback(const struct device *dev,
stepper_event_callback_t callback, void *user_data)
{
struct tmc5041_stepper_data *data = dev->data;
if (!async) {
return;
}
if (data->async_signal) {
k_poll_signal_reset(data->async_signal);
}
data->async_signal = async;
data->callback = callback;
data->event_cb_user_data = user_data;
return 0;
}
static int stallguard_enable(const struct device *dev, const bool enable)
@ -180,19 +177,15 @@ static void stallguard_work_handler(struct k_work *work)
#ifdef CONFIG_STEPPER_ADI_TMC5041_RAMPSTAT_POLL
static void emit_signal(struct k_poll_signal *async_signal, const enum stepper_signal_result signal)
static void execute_callback(const struct device *dev, const enum stepper_event event)
{
int err;
struct tmc5041_stepper_data *data = dev->data;
if (!async_signal) {
LOG_WRN("Async signal is NULL");
if (!data->callback) {
LOG_WRN_ONCE("No callback registered");
return;
}
err = k_poll_signal_raise(async_signal, signal);
if (err != 0) {
LOG_ERR("Failed to raise signal %d error %d", signal, err);
}
data->callback(dev, event);
}
static void rampstat_work_handler(struct k_work *work)
@ -237,26 +230,25 @@ static void rampstat_work_handler(struct k_work *work)
case TMC5041_STOP_LEFT_EVENT:
LOG_DBG("RAMPSTAT %s:Left end-stop detected", stepper_data->stepper->name);
emit_signal(stepper_data->async_signal,
STEPPER_SIGNAL_LEFT_END_STOP_DETECTED);
execute_callback(stepper_data->stepper,
STEPPER_EVENT_LEFT_END_STOP_DETECTED);
break;
case TMC5041_STOP_RIGHT_EVENT:
LOG_DBG("RAMPSTAT %s:Right end-stop detected", stepper_data->stepper->name);
emit_signal(stepper_data->async_signal,
STEPPER_SIGNAL_RIGHT_END_STOP_DETECTED);
execute_callback(stepper_data->stepper,
STEPPER_EVENT_RIGHT_END_STOP_DETECTED);
break;
case TMC5041_POS_REACHED_EVENT:
LOG_DBG("RAMPSTAT %s:Position reached", stepper_data->stepper->name);
emit_signal(stepper_data->async_signal, STEPPER_SIGNAL_STEPS_COMPLETED);
execute_callback(stepper_data->stepper, STEPPER_EVENT_STEPS_COMPLETED);
break;
case TMC5041_STOP_SG_EVENT:
LOG_DBG("RAMPSTAT %s:Stall detected", stepper_data->stepper->name);
stallguard_enable(stepper_data->stepper, false);
emit_signal(stepper_data->async_signal,
STEPPER_SIGNAL_SENSORLESS_STALL_DETECTED);
execute_callback(stepper_data->stepper, STEPPER_EVENT_STALL_DETECTED);
break;
default:
LOG_ERR("Illegal ramp stat bit field");
@ -314,15 +306,12 @@ static int tmc5041_stepper_is_moving(const struct device *dev, bool *is_moving)
return 0;
}
static int tmc5041_stepper_move(const struct device *dev, const int32_t steps,
struct k_poll_signal *async)
static int tmc5041_stepper_move(const struct device *dev, const int32_t steps)
{
const struct tmc5041_stepper_config *config = dev->config;
struct tmc5041_stepper_data *data = dev->data;
int err;
set_async_signal(dev, async);
if (config->is_sg_enabled) {
err = stallguard_enable(dev, false);
if (err != 0) {
@ -355,8 +344,11 @@ static int tmc5041_stepper_move(const struct device *dev, const int32_t steps,
K_MSEC(config->sg_velocity_check_interval_ms));
}
#ifdef CONFIG_STEPPER_ADI_TMC5041_RAMPSTAT_POLL
k_work_reschedule(&data->rampstat_callback_dwork,
K_MSEC(CONFIG_STEPPER_ADI_TMC5041_RAMPSTAT_POLL_INTERVAL_IN_MSEC));
if (data->callback) {
k_work_reschedule(
&data->rampstat_callback_dwork,
K_MSEC(CONFIG_STEPPER_ADI_TMC5041_RAMPSTAT_POLL_INTERVAL_IN_MSEC));
}
#endif
return 0;
}
@ -377,7 +369,7 @@ static int tmc5041_stepper_set_max_velocity(const struct device *dev, uint32_t v
}
static int tmc5041_stepper_set_micro_step_res(const struct device *dev,
enum micro_step_resolution res)
enum stepper_micro_step_resolution res)
{
const struct tmc5041_stepper_config *config = dev->config;
uint32_t reg_value;
@ -403,7 +395,7 @@ static int tmc5041_stepper_set_micro_step_res(const struct device *dev,
}
static int tmc5041_stepper_get_micro_step_res(const struct device *dev,
enum micro_step_resolution *res)
enum stepper_micro_step_resolution *res)
{
const struct tmc5041_stepper_config *config = dev->config;
uint32_t reg_value;
@ -452,16 +444,13 @@ static int tmc5041_stepper_get_actual_position(const struct device *dev, int32_t
return 0;
}
static int tmc5041_stepper_set_target_position(const struct device *dev, const int32_t position,
struct k_poll_signal *async)
static int tmc5041_stepper_set_target_position(const struct device *dev, const int32_t position)
{
LOG_DBG("Stepper motor controller %s set target position to %d", dev->name, position);
const struct tmc5041_stepper_config *config = dev->config;
struct tmc5041_stepper_data *data = dev->data;
int err;
set_async_signal(dev, async);
if (config->is_sg_enabled) {
stallguard_enable(dev, false);
}
@ -478,8 +467,11 @@ static int tmc5041_stepper_set_target_position(const struct device *dev, const i
K_MSEC(config->sg_velocity_check_interval_ms));
}
#ifdef CONFIG_STEPPER_ADI_TMC5041_RAMPSTAT_POLL
k_work_reschedule(&data->rampstat_callback_dwork,
K_MSEC(CONFIG_STEPPER_ADI_TMC5041_RAMPSTAT_POLL_INTERVAL_IN_MSEC));
if (data->callback) {
k_work_reschedule(
&data->rampstat_callback_dwork,
K_MSEC(CONFIG_STEPPER_ADI_TMC5041_RAMPSTAT_POLL_INTERVAL_IN_MSEC));
}
#endif
return 0;
}
@ -533,6 +525,13 @@ static int tmc5041_stepper_enable_constant_velocity_mode(const struct device *de
k_work_reschedule(&data->stallguard_dwork,
K_MSEC(config->sg_velocity_check_interval_ms));
}
#ifdef CONFIG_STEPPER_ADI_TMC5041_RAMPSTAT_POLL
if (data->callback) {
k_work_reschedule(
&data->rampstat_callback_dwork,
K_MSEC(CONFIG_STEPPER_ADI_TMC5041_RAMPSTAT_POLL_INTERVAL_IN_MSEC));
}
#endif
return 0;
}
@ -730,7 +729,7 @@ static int tmc5041_stepper_init(const struct device *dev)
.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, \
};
.set_event_callback = tmc5041_stepper_set_event_callback, };
#define TMC5041_STEPPER_DEFINE(child) \
DEVICE_DT_DEFINE(child, tmc5041_stepper_init, NULL, &tmc5041_stepper_data_##child, \
@ -744,7 +743,7 @@ static int tmc5041_stepper_init(const struct device *dev)
static struct tmc5041_data tmc5041_data_##inst; \
static const struct tmc5041_config tmc5041_config_##inst = { \
.gconf = ( \
(DT_INST_PROP(inst, poscmp_enable) << TMC5041_GCONF_POSCMP_ENABLE_SHIFT) |\
(DT_INST_PROP(inst, poscmp_enable) << TMC5041_GCONF_POSCMP_ENABLE_SHIFT) | \
(DT_INST_PROP(inst, test_mode) << TMC5041_GCONF_TEST_MODE_SHIFT) | \
DT_INST_FOREACH_CHILD(inst, TMC5041_SHAFT_CONFIG) \
(DT_INST_PROP(inst, lock_gconf) << TMC5041_LOCK_GCONF_SHIFT)), \