michaelh/zephyr
1
0
Fork 0
Code Releases Activity

drivers: stepper: update drivers as per the api changes

Browse source 
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
Download patch file Download diff file Expand all files Collapse all files

55
drivers/stepper/gpio_stepper_controller.c
View file

@ -34,10 +34,11 @@ struct gpio_stepper_data {
uint8_t step_gap;
uint8_t coil_charge;
struct k_work_delayable stepper_dwork;
struct k_poll_signal *async_signal;
stepper_event_callback_t callback;
int32_t actual_position;
uint32_t delay_in_us;
int32_t step_count;
void *event_cb_user_data;
};
static int stepper_motor_set_coil_charge(const struct device *dev)
@ -79,10 +80,11 @@ static void update_remaining_steps(struct gpio_stepper_data *data)
data->step_count++;
(void)k_work_reschedule(&data->stepper_dwork, K_USEC(data->delay_in_us));
} else {
if (data->async_signal) {
(void)k_poll_signal_raise(data->async_signal,
STEPPER_SIGNAL_STEPS_COMPLETED);
if (!data->callback) {
LOG_WRN_ONCE("No callback set");
return;
}
data->callback(data->dev, STEPPER_EVENT_STEPS_COMPLETED);
}
}
@ -125,10 +127,10 @@ static void stepper_work_step_handler(struct k_work *work)
K_SPINLOCK(&data->lock) {
switch (data->run_mode) {
case STEPPER_POSITION_MODE:
case STEPPER_RUN_MODE_POSITION:
position_mode_task(data->dev);
break;
case STEPPER_VELOCITY_MODE:
case STEPPER_RUN_MODE_VELOCITY:
velocity_mode_task(data->dev);
break;
default:
@ -138,8 +140,7 @@ static void stepper_work_step_handler(struct k_work *work)
}
}
static int gpio_stepper_move(const struct device *dev, int32_t micro_steps,
struct k_poll_signal *async)
static int gpio_stepper_move(const struct device *dev, int32_t micro_steps)
{
struct gpio_stepper_data *data = dev->data;
@ -148,11 +149,7 @@ static int gpio_stepper_move(const struct device *dev, int32_t micro_steps,
return -EINVAL;
}
K_SPINLOCK(&data->lock) {
if (data->async_signal) {
k_poll_signal_reset(data->async_signal);
}
data->async_signal = async;
data->run_mode = STEPPER_POSITION_MODE;
data->run_mode = STEPPER_RUN_MODE_POSITION;
data->step_count = micro_steps;
update_direction_from_step_count(data);
(void)k_work_reschedule(&data->stepper_dwork, K_NO_WAIT);
@ -180,8 +177,7 @@ static int gpio_stepper_get_actual_position(const struct device *dev, int32_t *p
return 0;
}
static int gpio_stepper_set_target_position(const struct device *dev, int32_t position,
struct k_poll_signal *async)
static int gpio_stepper_set_target_position(const struct device *dev, int32_t position)
{
struct gpio_stepper_data *data = dev->data;
@ -190,11 +186,7 @@ static int gpio_stepper_set_target_position(const struct device *dev, int32_t po
return -EINVAL;
}
K_SPINLOCK(&data->lock) {
if (data->async_signal) {
k_poll_signal_reset(data->async_signal);
}
data->async_signal = async;
data->run_mode = STEPPER_POSITION_MODE;
data->run_mode = STEPPER_RUN_MODE_POSITION;
data->step_count = position - data->actual_position;
update_direction_from_step_count(data);
(void)k_work_reschedule(&data->stepper_dwork, K_NO_WAIT);
@ -239,7 +231,7 @@ static int gpio_stepper_enable_constant_velocity_mode(const struct device *dev,
struct gpio_stepper_data *data = dev->data;
K_SPINLOCK(&data->lock) {
data->run_mode = STEPPER_VELOCITY_MODE;
data->run_mode = STEPPER_RUN_MODE_VELOCITY;
data->direction = direction;
if (value != 0) {
data->delay_in_us = USEC_PER_SEC / value;
@ -252,13 +244,13 @@ static int gpio_stepper_enable_constant_velocity_mode(const struct device *dev,
}
static int gpio_stepper_set_micro_step_res(const struct device *dev,
enum micro_step_resolution micro_step_res)
enum stepper_micro_step_resolution micro_step_res)
{
struct gpio_stepper_data *data = dev->data;
K_SPINLOCK(&data->lock) {
switch (micro_step_res) {
case STEPPER_FULL_STEP:
case STEPPER_MICRO_STEP_1:
case STEPPER_MICRO_STEP_2:
data->step_gap = MAX_MICRO_STEP_RES >> (micro_step_res - 1);
break;
@ -271,13 +263,25 @@ static int gpio_stepper_set_micro_step_res(const struct device *dev,
}
static int gpio_stepper_get_micro_step_res(const struct device *dev,
enum micro_step_resolution *micro_step_res)
enum stepper_micro_step_resolution *micro_step_res)
{
struct gpio_stepper_data *data = dev->data;
*micro_step_res = MAX_MICRO_STEP_RES >> (data->step_gap - 1);
return 0;
}
static int gpio_stepper_set_event_callback(const struct device *dev,
stepper_event_callback_t callback, void *user_data)
{
struct gpio_stepper_data *data = dev->data;
K_SPINLOCK(&data->lock) {
data->callback = callback;
}
data->event_cb_user_data = user_data;
return 0;
}
static int gpio_stepper_enable(const struct device *dev, bool enable)
{
struct gpio_stepper_data *data = dev->data;
@ -335,7 +339,8 @@ static int gpio_stepper_motor_controller_init(const struct device *dev)
.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};
.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, \