705365c747
Change the stepper API to instead of changing the stepper speed based on the velocity in microsteps per second to use the delay in usec between successive steps. Also remove the velocity from the `stepper_run` function as typical API usage is enable -> set step interval -> run. Signed-off-by: Fabian Blatz <fabianblatz@gmail.com>
80 lines
2.5 KiB
C
80 lines
2.5 KiB
C
/*
|
|
* SPDX-FileCopyrightText: Copyright (c) 2024 Fabian Blatz <fabianblatz@gmail.com>
|
|
* SPDX-License-Identifier: Apache-2.0
|
|
*/
|
|
|
|
#ifndef ZEPHYR_DRIVER_STEPPER_STEP_DIR_STEPPER_TIMING_SOURCE_H_
|
|
#define ZEPHYR_DRIVER_STEPPER_STEP_DIR_STEPPER_TIMING_SOURCE_H_
|
|
|
|
#include <zephyr/device.h>
|
|
|
|
/**
|
|
* @brief Initialize the stepper timing source.
|
|
*
|
|
* @param dev Pointer to the device structure.
|
|
* @return 0 on success, or a negative error code on failure.
|
|
*/
|
|
typedef int (*stepper_timing_source_init)(const struct device *dev);
|
|
|
|
/**
|
|
* @brief Update the stepper timing source.
|
|
*
|
|
* @param dev Pointer to the device structure.
|
|
* @param microstep_interval_ns Step interval in nanoseconds.
|
|
* @return 0 on success, or a negative error code on failure.
|
|
*/
|
|
typedef int (*stepper_timing_source_update)(const struct device *dev,
|
|
uint64_t microstep_interval_ns);
|
|
|
|
/**
|
|
* @brief Start the stepper timing source.
|
|
*
|
|
* @param dev Pointer to the device structure.
|
|
* @return 0 on success, or a negative error code on failure.
|
|
*/
|
|
typedef int (*stepper_timing_source_start)(const struct device *dev);
|
|
|
|
/**
|
|
* @brief Whether the stepper timing source requires rescheduling (keeps running
|
|
* after the initial start).
|
|
*
|
|
* @param dev Pointer to the device structure.
|
|
* @return true if the timing source requires rescheduling, false otherwise.
|
|
*/
|
|
typedef bool (*stepper_timing_sources_requires_reschedule)(const struct device *dev);
|
|
|
|
/**
|
|
* @brief Stop the stepper timing source.
|
|
*
|
|
* @param dev Pointer to the device structure.
|
|
* @return 0 on success, or a negative error code on failure.
|
|
*/
|
|
typedef int (*stepper_timing_source_stop)(const struct device *dev);
|
|
|
|
/**
|
|
* @brief Check if the stepper timing source is running.
|
|
*
|
|
* @param dev Pointer to the device structure.
|
|
* @return true if the timing source is running, false otherwise.
|
|
*/
|
|
typedef bool (*stepper_timing_source_is_running)(const struct device *dev);
|
|
|
|
/**
|
|
* @brief Stepper timing source API.
|
|
*/
|
|
struct stepper_timing_source_api {
|
|
stepper_timing_source_init init;
|
|
stepper_timing_source_update update;
|
|
stepper_timing_source_start start;
|
|
stepper_timing_sources_requires_reschedule needs_reschedule;
|
|
stepper_timing_source_stop stop;
|
|
stepper_timing_source_is_running is_running;
|
|
};
|
|
|
|
extern const struct stepper_timing_source_api step_work_timing_source_api;
|
|
#ifdef CONFIG_STEP_DIR_STEPPER_COUNTER_TIMING
|
|
extern const struct stepper_timing_source_api step_counter_timing_source_api;
|
|
#endif /* CONFIG_STEP_DIR_STEPPER_COUNTER_TIMING */
|
|
|
|
#endif /* ZEPHYR_DRIVER_STEPPER_STEP_DIR_STEPPER_TIMING_SOURCE_H_ */
|