0b124a2ff6
Adds a timing source api which is used by the step-dir stepper common code. This allows the reusable common code to configure different timing sources, since the initial delayable work implementation was inacurate for higher maximum velocities. Signed-off-by: Fabian Blatz <fabianblatz@gmail.com>
79 lines
2.5 KiB
C
79 lines
2.5 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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#ifndef ZEPHYR_DRIVER_STEPPER_STEP_DIR_STEPPER_TIMING_SOURCE_H_
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#define ZEPHYR_DRIVER_STEPPER_STEP_DIR_STEPPER_TIMING_SOURCE_H_
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#include <zephyr/device.h>
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/**
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* @brief Initialize the stepper timing source.
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*
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* @param dev Pointer to the device structure.
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* @return 0 on success, or a negative error code on failure.
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*/
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typedef int (*stepper_timing_source_init)(const struct device *dev);
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/**
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* @brief Update the stepper timing source.
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*
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* @param dev Pointer to the device structure.
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* @param velocity Velocity in microsteps per second.
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* @return 0 on success, or a negative error code on failure.
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*/
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typedef int (*stepper_timing_source_update)(const struct device *dev, uint32_t velocity);
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/**
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* @brief Start the stepper timing source.
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*
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* @param dev Pointer to the device structure.
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* @return 0 on success, or a negative error code on failure.
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*/
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typedef int (*stepper_timing_source_start)(const struct device *dev);
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/**
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* @brief Whether the stepper timing source requires rescheduling (keeps running
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* after the initial start).
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*
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* @param dev Pointer to the device structure.
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* @return true if the timing source requires rescheduling, false otherwise.
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*/
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typedef bool (*stepper_timing_sources_requires_reschedule)(const struct device *dev);
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/**
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* @brief Stop the stepper timing source.
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*
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* @param dev Pointer to the device structure.
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* @return 0 on success, or a negative error code on failure.
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*/
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typedef int (*stepper_timing_source_stop)(const struct device *dev);
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/**
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* @brief Check if the stepper timing source is running.
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*
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* @param dev Pointer to the device structure.
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* @return true if the timing source is running, false otherwise.
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*/
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typedef bool (*stepper_timing_source_is_running)(const struct device *dev);
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/**
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* @brief Stepper timing source API.
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*/
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struct stepper_timing_source_api {
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stepper_timing_source_init init;
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stepper_timing_source_update update;
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stepper_timing_source_start start;
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stepper_timing_sources_requires_reschedule needs_reschedule;
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stepper_timing_source_stop stop;
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stepper_timing_source_is_running is_running;
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};
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extern const struct stepper_timing_source_api step_work_timing_source_api;
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#ifdef CONFIG_STEP_DIR_STEPPER_COUNTER_TIMING
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extern const struct stepper_timing_source_api step_counter_timing_source_api;
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#endif /* CONFIG_STEP_DIR_STEPPER_COUNTER_TIMING */
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#endif /* ZEPHYR_DRIVER_STEPPER_STEP_DIR_STEPPER_TIMING_SOURCE_H_ */
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