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>
122 lines
3.1 KiB
C
122 lines
3.1 KiB
C
/*
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* SPDX-FileCopyrightText: Copyright (c) 2024 Fabian Blatz <fabianblatz@gmail.com>
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* SPDX-License-Identifier: Apache-2.0
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*/
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#include <zephyr/drivers/counter.h>
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#include "step_dir_stepper_common.h"
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#include <zephyr/logging/log.h>
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LOG_MODULE_DECLARE(step_dir_stepper);
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static void step_counter_top_interrupt(const struct device *dev, void *user_data)
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{
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ARG_UNUSED(dev);
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struct step_dir_stepper_common_data *data = user_data;
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stepper_handle_timing_signal(data->dev);
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}
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int step_counter_timing_source_update(const struct device *dev,
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const uint64_t microstep_interval_ns)
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{
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const struct step_dir_stepper_common_config *config = dev->config;
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struct step_dir_stepper_common_data *data = dev->data;
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int ret;
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if (microstep_interval_ns == 0) {
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return -EINVAL;
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}
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data->counter_top_cfg.ticks = DIV_ROUND_UP(
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counter_get_frequency(config->counter) * microstep_interval_ns, NSEC_PER_SEC);
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/* Lock interrupts while modifying counter settings */
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int key = irq_lock();
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ret = counter_set_top_value(config->counter, &data->counter_top_cfg);
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irq_unlock(key);
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if (ret != 0) {
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LOG_ERR("%s: Failed to set counter top value (error: %d)", dev->name, ret);
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return ret;
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}
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return 0;
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}
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int step_counter_timing_source_start(const struct device *dev)
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{
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const struct step_dir_stepper_common_config *config = dev->config;
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struct step_dir_stepper_common_data *data = dev->data;
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int ret;
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ret = counter_start(config->counter);
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if (ret < 0 && ret != -EALREADY) {
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LOG_ERR("Failed to start counter: %d", ret);
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return ret;
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}
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data->counter_running = true;
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return 0;
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}
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int step_counter_timing_source_stop(const struct device *dev)
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{
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const struct step_dir_stepper_common_config *config = dev->config;
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struct step_dir_stepper_common_data *data = dev->data;
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int ret;
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ret = counter_stop(config->counter);
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if (ret < 0 && ret != -EALREADY) {
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LOG_ERR("Failed to stop counter: %d", ret);
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return ret;
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}
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data->counter_running = false;
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return 0;
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}
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bool step_counter_timing_source_needs_reschedule(const struct device *dev)
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{
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ARG_UNUSED(dev);
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return false;
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}
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bool step_counter_timing_source_is_running(const struct device *dev)
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{
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struct step_dir_stepper_common_data *data = dev->data;
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return data->counter_running;
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}
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int step_counter_timing_source_init(const struct device *dev)
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{
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const struct step_dir_stepper_common_config *config = dev->config;
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struct step_dir_stepper_common_data *data = dev->data;
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if (!device_is_ready(config->counter)) {
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LOG_ERR("Counter device is not ready");
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return -ENODEV;
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}
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data->counter_top_cfg.callback = step_counter_top_interrupt;
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data->counter_top_cfg.user_data = data;
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data->counter_top_cfg.flags = 0;
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data->counter_top_cfg.ticks = counter_us_to_ticks(config->counter, 1000000);
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return 0;
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}
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const struct stepper_timing_source_api step_counter_timing_source_api = {
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.init = step_counter_timing_source_init,
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.update = step_counter_timing_source_update,
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.start = step_counter_timing_source_start,
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.needs_reschedule = step_counter_timing_source_needs_reschedule,
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.stop = step_counter_timing_source_stop,
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.is_running = step_counter_timing_source_is_running,
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};
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