87f85e4296
This commit adds documentation about stepper api along with some minor cleanups Signed-off-by: Jilay Pandya <jilay.pandya@zeiss.com>
65 lines
2.1 KiB
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65 lines
2.1 KiB
ReStructuredText
.. _stepper_api:
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Steppers
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########
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The stepper driver API provides a set of functions for controlling and configuring stepper drivers.
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Configure Stepper Driver
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========================
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- Configure **micro-stepping resolution** using :c:func:`stepper_set_micro_step_res`
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and :c:func:`stepper_get_micro_step_res`.
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- Configure **actual position a.k.a step count** in microsteps using :c:func:`stepper_set_actual_position`
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and :c:func:`stepper_get_actual_position`.
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- Set **max velocity** in micro-steps per second using :c:func:`stepper_set_max_velocity`
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- **Enable** the stepper driver using :c:func:`stepper_enable`.
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Control Stepper
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===============
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- **Move by** +/- micro-steps also known as **relative movement** using :c:func:`stepper_move`.
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- **Move to** a specific position also known as **absolute movement**
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using :c:func:`stepper_set_target_position`.
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- Run continuously with a **constant velocity** in a specific direction until
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a stop is detected using :c:func:`stepper_enable_constant_velocity_mode`.
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- Check if the stepper is **moving** using :c:func:`stepper_is_moving`.
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Device Tree
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===========
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In the context of stepper controllers device tree provides the initial hardware
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configuration for stepper drivers on a per device level. Each device must specify
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a device tree binding in Zephyr, and ideally, a set of hardware configuration options
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for things such as current settings, ramp parameters and furthermore. These can then
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be used in a boards devicetree to configure a stepper driver to its initial state.
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See examples in:
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- :dtcompatible:`adi,tmc5041`
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Discord
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=======
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Zephyr has a `stepper discord`_ channel for stepper related discussions, which
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is open to all.
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.. _stepper-api-reference:
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API Reference
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*************
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A common set of functions which should be implemented by all stepper drivers.
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.. doxygengroup:: stepper_interface
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Stepper controller specific APIs
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********************************
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Trinamic
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========
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.. doxygengroup:: trinamic_stepper_interface
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.. _stepper discord:
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https://discord.com/channels/720317445772017664/1278263869982375946
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