drivers: stepper: api: introduce stepper_set_event_callback function
- Refactor stepper_signal_result to stepper_event. - Introduce stepper_set_event_callback function - Deprecate k_poll_signal Signed-off-by: Jilay Pandya <jilay.pandya@zeiss.com>
This commit is contained in:
Jilay Pandya
Carles Cufí
parent
4a3807789d
commit
4f18d64b30
@ -24,29 +24,6 @@ config STEPPER_SHELL
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help
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Enable stepper shell for testing.
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config STEPPER_SHELL_ASYNC
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bool "Asynchronous stepper shell"
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depends on STEPPER_SHELL
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select POLL
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help
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If enabled, the shell will run in asynchronous mode, spawning a thread
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that polls the completion of stepper motor moves and prints a message
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when all steps are completed.
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config STEPPER_SHELL_THREAD_STACK_SIZE
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int "Stepper shell thread stack size"
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default 1024
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depends on STEPPER_SHELL_ASYNC
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help
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The stack size for the stepper shell thread when asynchronous mode is enabled.
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config STEPPER_SHELL_THREAD_PRIORITY
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int "Stepper shell thread priority"
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default 7
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depends on STEPPER_SHELL_ASYNC
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help
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The priority for the stepper shell thread when asynchronous mode is enabled.
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comment "Stepper Drivers"
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rsource "adi_tmc/Kconfig"
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@ -33,9 +33,9 @@ extern "C" {
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/**
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* @brief Stepper Motor micro step resolution options
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*/
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enum micro_step_resolution {
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enum stepper_micro_step_resolution {
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/** Full step resolution */
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STEPPER_FULL_STEP = 1,
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STEPPER_MICRO_STEP_1 = 1,
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/** 2 micro steps per full step */
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STEPPER_MICRO_STEP_2 = 2,
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/** 4 micro steps per full step */
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@ -58,10 +58,10 @@ enum micro_step_resolution {
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* @brief Stepper Motor direction options
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*/
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enum stepper_direction {
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/** Positive direction */
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STEPPER_DIRECTION_POSITIVE = 0,
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/** Negative direction */
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STEPPER_DIRECTION_NEGATIVE,
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STEPPER_DIRECTION_NEGATIVE = 0,
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/** Positive direction */
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STEPPER_DIRECTION_POSITIVE = 1,
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};
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/**
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@ -69,22 +69,25 @@ enum stepper_direction {
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*/
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enum stepper_run_mode {
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/** Hold Mode */
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STEPPER_HOLD_MODE = 0,
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STEPPER_RUN_MODE_HOLD = 0,
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/** Position Mode*/
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STEPPER_POSITION_MODE,
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STEPPER_RUN_MODE_POSITION = 1,
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/** Velocity Mode */
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STEPPER_VELOCITY_MODE,
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STEPPER_RUN_MODE_VELOCITY = 2,
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};
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/**
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* @brief Stepper Motor signal results
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* @brief Stepper Events
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*/
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enum stepper_signal_result {
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enum stepper_event {
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/** Steps set using move or set_target_position have been executed */
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STEPPER_SIGNAL_STEPS_COMPLETED = 0,
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STEPPER_SIGNAL_SENSORLESS_STALL_DETECTED = 1,
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STEPPER_SIGNAL_LEFT_END_STOP_DETECTED = 2,
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STEPPER_SIGNAL_RIGHT_END_STOP_DETECTED = 3,
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STEPPER_EVENT_STEPS_COMPLETED = 0,
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/** Stall detected */
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STEPPER_EVENT_STALL_DETECTED = 1,
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/** Left end switch status changes to pressed */
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STEPPER_EVENT_LEFT_END_STOP_DETECTED = 2,
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/** Right end switch status changes to pressed */
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STEPPER_EVENT_RIGHT_END_STOP_DETECTED = 3,
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};
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/**
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@ -106,8 +109,7 @@ typedef int (*stepper_enable_t)(const struct device *dev, const bool enable);
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*
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* @see stepper_move() for details.
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*/
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typedef int (*stepper_move_t)(const struct device *dev, const int32_t micro_steps,
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struct k_poll_signal *async);
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typedef int (*stepper_move_t)(const struct device *dev, const int32_t micro_steps);
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/**
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* @brief Set the max velocity in micro_steps per seconds.
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@ -123,7 +125,7 @@ typedef int (*stepper_set_max_velocity_t)(const struct device *dev,
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* @see stepper_set_micro_step_res() for details.
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*/
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typedef int (*stepper_set_micro_step_res_t)(const struct device *dev,
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const enum micro_step_resolution resolution);
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const enum stepper_micro_step_resolution resolution);
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/**
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* @brief Get the micro-step resolution
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@ -131,7 +133,7 @@ typedef int (*stepper_set_micro_step_res_t)(const struct device *dev,
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* @see stepper_get_micro_step_res() for details.
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*/
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typedef int (*stepper_get_micro_step_res_t)(const struct device *dev,
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enum micro_step_resolution *resolution);
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enum stepper_micro_step_resolution *resolution);
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/**
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* @brief Set the actual a.k.a reference position of the stepper
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*
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@ -151,8 +153,7 @@ typedef int (*stepper_get_actual_position_t)(const struct device *dev, int32_t *
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*
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* @see stepper_set_target_position() for details.
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*/
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typedef int (*stepper_set_target_position_t)(const struct device *dev, const int32_t value,
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struct k_poll_signal *async);
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typedef int (*stepper_set_target_position_t)(const struct device *dev, const int32_t value);
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/**
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* @brief Is the target position fo the stepper reached
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@ -170,6 +171,19 @@ typedef int (*stepper_enable_constant_velocity_mode_t)(const struct device *dev,
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const enum stepper_direction direction,
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const uint32_t value);
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/**
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* @brief Callback function for stepper events
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*/
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typedef void (*stepper_event_callback_t)(const struct device *dev, const enum stepper_event event);
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/**
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* @brief Set the callback function to be called when a stepper event occurs
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*
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* @see stepper_set_callback() for details.
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*/
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typedef int (*stepper_set_event_callback_t)(const struct device *dev,
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stepper_event_callback_t callback, void *user_data);
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/**
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* @brief Stepper Motor Controller API
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*/
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@ -184,6 +198,7 @@ __subsystem struct stepper_driver_api {
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stepper_set_target_position_t set_target_position;
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stepper_is_moving_t is_moving;
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stepper_enable_constant_velocity_mode_t enable_constant_velocity_mode;
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stepper_set_event_callback_t set_event_callback;
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};
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/**
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@ -213,23 +228,17 @@ static inline int z_impl_stepper_enable(const struct device *dev, const bool ena
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*
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* @param dev pointer to the stepper motor controller instance
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* @param micro_steps target micro_steps to be moved from the current position
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* @param async Pointer to a valid and ready to be signaled struct
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* k_poll_signal. (Note: if NULL this function will not notify
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* the end of the transaction, and whether it went successfully
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* or not).
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*
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* @retval -EIO General input / output error
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* @retval 0 Success
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*/
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__syscall int stepper_move(const struct device *dev, int32_t micro_steps,
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struct k_poll_signal *async);
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__syscall int stepper_move(const struct device *dev, int32_t micro_steps);
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static inline int z_impl_stepper_move(const struct device *dev, const int32_t micro_steps,
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struct k_poll_signal *async)
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static inline int z_impl_stepper_move(const struct device *dev, const int32_t micro_steps)
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{
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const struct stepper_driver_api *api = (const struct stepper_driver_api *)dev->api;
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return api->move(dev, micro_steps, async);
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return api->move(dev, micro_steps);
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}
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/**
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@ -270,10 +279,10 @@ static inline int z_impl_stepper_set_max_velocity(const struct device *dev,
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* @retval 0 Success
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*/
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__syscall int stepper_set_micro_step_res(const struct device *dev,
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enum micro_step_resolution resolution);
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enum stepper_micro_step_resolution resolution);
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static inline int z_impl_stepper_set_micro_step_res(const struct device *dev,
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enum micro_step_resolution resolution)
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enum stepper_micro_step_resolution resolution)
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{
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const struct stepper_driver_api *api = (const struct stepper_driver_api *)dev->api;
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@ -294,10 +303,10 @@ static inline int z_impl_stepper_set_micro_step_res(const struct device *dev,
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* @retval 0 Success
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*/
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__syscall int stepper_get_micro_step_res(const struct device *dev,
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enum micro_step_resolution *resolution);
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enum stepper_micro_step_resolution *resolution);
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static inline int z_impl_stepper_get_micro_step_res(const struct device *dev,
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enum micro_step_resolution *resolution)
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enum stepper_micro_step_resolution *resolution)
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{
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const struct stepper_driver_api *api = (const struct stepper_driver_api *)dev->api;
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@ -356,27 +365,21 @@ static inline int z_impl_stepper_get_actual_position(const struct device *dev, i
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*
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* @param dev pointer to the stepper motor controller instance
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* @param value target position to set in micro_steps
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* @param async Pointer to a valid and ready to be signaled struct
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* k_poll_signal. If changing the target position
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* triggers stepper movement, this can be used to await
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* the end of the transaction. (Note: can be left NULL)
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*
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* @retval -EIO General input / output error
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* @retval -ENOSYS If not implemented by device driver
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* @retval 0 Success
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*/
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__syscall int stepper_set_target_position(const struct device *dev, int32_t value,
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struct k_poll_signal *async);
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__syscall int stepper_set_target_position(const struct device *dev, int32_t value);
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static inline int z_impl_stepper_set_target_position(const struct device *dev, const int32_t value,
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struct k_poll_signal *async)
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static inline int z_impl_stepper_set_target_position(const struct device *dev, const int32_t value)
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{
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const struct stepper_driver_api *api = (const struct stepper_driver_api *)dev->api;
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if (api->set_target_position == NULL) {
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return -ENOSYS;
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}
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return api->set_target_position(dev, value, async);
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return api->set_target_position(dev, value);
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}
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/**
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@ -434,6 +437,31 @@ static inline int z_impl_stepper_enable_constant_velocity_mode(
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return api->enable_constant_velocity_mode(dev, direction, value);
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}
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/**
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* @brief Set the callback function to be called when a stepper event occurs
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*
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* @param dev pointer to the stepper motor controller instance
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* @param callback Callback function to be called when a stepper event occurs
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* passing NULL will disable the callback
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* @param user_data User data to be passed to the callback function
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*
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* @retval -ENOSYS If not implemented by device driver
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* @retval 0 Success
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*/
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__syscall int stepper_set_callback(const struct device *dev, stepper_event_callback_t callback,
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void *user_data);
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static inline int z_impl_stepper_set_callback(const struct device *dev,
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stepper_event_callback_t callback, void *user_data)
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{
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const struct stepper_driver_api *api = (const struct stepper_driver_api *)dev->api;
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if (api->set_event_callback == NULL) {
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return -ENOSYS;
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}
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return api->set_event_callback(dev, callback, user_data);
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}
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/**
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* @}
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*/
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