d18f49132c
refactoring enable function into enable and disable increasing readability and increasing coherence with other stepper apis in terms of nomenclature Signed-off-by: Jilay Pandya <jilay.pandya@outlook.com>
129 lines
3.3 KiB
C
129 lines
3.3 KiB
C
/*
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* SPDX-FileCopyrightText: Copyright (c) 2025 Jilay Sandeep Pandya.
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* SPDX-License-Identifier: Apache-2.0
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*/
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#include <zephyr/device.h>
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#include <zephyr/drivers/gpio.h>
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#include <zephyr/drivers/stepper.h>
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#include <zephyr/input/input.h>
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#include <zephyr/kernel.h>
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#include <zephyr/logging/log.h>
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LOG_MODULE_REGISTER(stepper, CONFIG_STEPPER_LOG_LEVEL);
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static const struct device *stepper = DEVICE_DT_GET(DT_ALIAS(stepper));
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enum stepper_mode {
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STEPPER_MODE_ENABLE,
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STEPPER_MODE_PING_PONG_RELATIVE,
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STEPPER_MODE_PING_PONG_ABSOLUTE,
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STEPPER_MODE_ROTATE_CW,
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STEPPER_MODE_ROTATE_CCW,
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STEPPER_MODE_STOP,
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STEPPER_MODE_DISABLE,
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};
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static atomic_t stepper_mode = ATOMIC_INIT(STEPPER_MODE_DISABLE);
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static int32_t ping_pong_target_position =
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CONFIG_STEPS_PER_REV * CONFIG_PING_PONG_N_REV * DT_PROP(DT_ALIAS(stepper), micro_step_res);
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static K_SEM_DEFINE(stepper_generic_sem, 0, 1);
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static void stepper_callback(const struct device *dev, const enum stepper_event event,
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void *user_data)
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{
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switch (event) {
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case STEPPER_EVENT_STEPS_COMPLETED:
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k_sem_give(&stepper_generic_sem);
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break;
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default:
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break;
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}
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}
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static void button_pressed(struct input_event *event, void *user_data)
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{
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ARG_UNUSED(user_data);
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if (event->value == 0 && event->type == INPUT_EV_KEY) {
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return;
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}
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enum stepper_mode mode = atomic_get(&stepper_mode);
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if (mode == STEPPER_MODE_DISABLE) {
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atomic_set(&stepper_mode, STEPPER_MODE_ENABLE);
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} else {
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atomic_inc(&stepper_mode);
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}
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k_sem_give(&stepper_generic_sem);
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}
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INPUT_CALLBACK_DEFINE(NULL, button_pressed, NULL);
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int main(void)
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{
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LOG_INF("Starting generic stepper sample\n");
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if (!device_is_ready(stepper)) {
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LOG_ERR("Device %s is not ready\n", stepper->name);
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return -ENODEV;
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}
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LOG_DBG("stepper is %p, name is %s\n", stepper, stepper->name);
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stepper_set_event_callback(stepper, stepper_callback, NULL);
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stepper_set_reference_position(stepper, 0);
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stepper_set_microstep_interval(stepper, CONFIG_STEP_INTERVAL_NS);
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for (;;) {
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k_sem_take(&stepper_generic_sem, K_FOREVER);
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switch (atomic_get(&stepper_mode)) {
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case STEPPER_MODE_ENABLE:
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stepper_enable(stepper);
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LOG_INF("mode: enable\n");
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break;
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case STEPPER_MODE_STOP:
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stepper_stop(stepper);
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LOG_INF("mode: stop\n");
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break;
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case STEPPER_MODE_ROTATE_CW:
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stepper_run(stepper, STEPPER_DIRECTION_POSITIVE);
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LOG_INF("mode: rotate cw\n");
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break;
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case STEPPER_MODE_ROTATE_CCW:
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stepper_run(stepper, STEPPER_DIRECTION_NEGATIVE);
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LOG_INF("mode: rotate ccw\n");
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break;
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case STEPPER_MODE_PING_PONG_RELATIVE:
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ping_pong_target_position *= -1;
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stepper_move_by(stepper, ping_pong_target_position);
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LOG_INF("mode: ping pong relative\n");
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break;
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case STEPPER_MODE_PING_PONG_ABSOLUTE:
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ping_pong_target_position *= -1;
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stepper_move_to(stepper, ping_pong_target_position);
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LOG_INF("mode: ping pong absolute\n");
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break;
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case STEPPER_MODE_DISABLE:
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stepper_disable(stepper);
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LOG_INF("mode: disable\n");
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break;
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}
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}
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return 0;
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}
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static void monitor_thread(void)
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{
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for (;;) {
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int32_t actual_position;
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stepper_get_actual_position(stepper, &actual_position);
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LOG_DBG("Actual position: %d\n", actual_position);
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k_sleep(K_MSEC(CONFIG_MONITOR_THREAD_TIMEOUT_MS));
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}
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}
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K_THREAD_DEFINE(monitor_tid, CONFIG_MONITOR_THREAD_STACK_SIZE, monitor_thread, NULL, NULL, NULL, 5,
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0, 0);
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