Stepper Controller Interface

Stepper Controller Interface . More...

Topics
	Trinamic Stepper Controller Interface
	Trinamic Stepper Controller Interface .

Macros
#define	MICRO_STEP_RES_INDEX(res)

Enumerations
enum	stepper_micro_step_resolution {   STEPPER_MICRO_STEP_1 = 1 , STEPPER_MICRO_STEP_2 = 2 , STEPPER_MICRO_STEP_4 = 4 , STEPPER_MICRO_STEP_8 = 8 ,   STEPPER_MICRO_STEP_16 = 16 , STEPPER_MICRO_STEP_32 = 32 , STEPPER_MICRO_STEP_64 = 64 , STEPPER_MICRO_STEP_128 = 128 ,   STEPPER_MICRO_STEP_256 = 256 }
	Stepper Motor micro step resolution options. More...
enum	stepper_direction { STEPPER_DIRECTION_NEGATIVE = 0 , STEPPER_DIRECTION_POSITIVE = 1 }
	Stepper Motor direction options. More...
enum	stepper_run_mode { STEPPER_RUN_MODE_HOLD = 0 , STEPPER_RUN_MODE_POSITION = 1 , STEPPER_RUN_MODE_VELOCITY = 2 }
	Stepper Motor run mode options. More...
enum	stepper_event { STEPPER_EVENT_STEPS_COMPLETED = 0 , STEPPER_EVENT_STALL_DETECTED = 1 , STEPPER_EVENT_LEFT_END_STOP_DETECTED = 2 , STEPPER_EVENT_RIGHT_END_STOP_DETECTED = 3 }
	Stepper Events. More...

Functions
int	stepper_enable (const struct device *dev, const bool enable)
	Enable or Disable Motor Controller.
int	stepper_move (const struct device *dev, int32_t micro_steps)
	Set the micro_steps to be moved from the current position i.e.
int	stepper_set_max_velocity (const struct device *dev, uint32_t micro_steps_per_second)
	Set the target velocity to be reached by the motor.
int	stepper_set_micro_step_res (const struct device *dev, enum stepper_micro_step_resolution resolution)
	Set the microstep resolution in stepper motor controller.
int	stepper_get_micro_step_res (const struct device *dev, enum stepper_micro_step_resolution *resolution)
	Get the microstep resolution in stepper motor controller.
int	stepper_set_actual_position (const struct device *dev, int32_t value)
	Set the actual a.k.a reference position of the stepper.
int	stepper_get_actual_position (const struct device *dev, int32_t *value)
	Get the actual a.k.a reference position of the stepper.
int	stepper_set_target_position (const struct device *dev, int32_t value)
	Set the absolute target position of the stepper.
int	stepper_is_moving (const struct device *dev, bool *is_moving)
	Check if the stepper motor is currently moving.
int	stepper_enable_constant_velocity_mode (const struct device *dev, enum stepper_direction direction, uint32_t value)
	Enable constant velocity mode for the stepper with a given velocity.
int	stepper_set_callback (const struct device *dev, stepper_event_callback_t callback, void *user_data)
	Set the callback function to be called when a stepper event occurs.

Detailed Description

Stepper Controller Interface .

Macro Definition Documentation

MICRO_STEP_RES_INDEX

#define MICRO_STEP_RES_INDEX

(

res

)

#include <zephyr/drivers/stepper.h>

Value:

LOG2(res)

Enumeration Type Documentation

stepper_direction

enum stepper_direction

#include <zephyr/drivers/stepper.h>

Stepper Motor direction options.

Enumerator
STEPPER_DIRECTION_NEGATIVE	Negative direction.
STEPPER_DIRECTION_POSITIVE	Positive direction.

stepper_event

enum stepper_event

#include <zephyr/drivers/stepper.h>

Stepper Events.

Enumerator
STEPPER_EVENT_STEPS_COMPLETED	Steps set using move or set_target_position have been executed.
STEPPER_EVENT_STALL_DETECTED	Stall detected.
STEPPER_EVENT_LEFT_END_STOP_DETECTED	Left end switch status changes to pressed.
STEPPER_EVENT_RIGHT_END_STOP_DETECTED	Right end switch status changes to pressed.

stepper_micro_step_resolution

enum stepper_micro_step_resolution

#include <zephyr/drivers/stepper.h>

Stepper Motor micro step resolution options.

Enumerator
STEPPER_MICRO_STEP_1	Full step resolution.
STEPPER_MICRO_STEP_2	2 micro steps per full step
STEPPER_MICRO_STEP_4	4 micro steps per full step
STEPPER_MICRO_STEP_8	8 micro steps per full step
STEPPER_MICRO_STEP_16	16 micro steps per full step
STEPPER_MICRO_STEP_32	32 micro steps per full step
STEPPER_MICRO_STEP_64	64 micro steps per full step
STEPPER_MICRO_STEP_128	128 micro steps per full step
STEPPER_MICRO_STEP_256	256 micro steps per full step

stepper_run_mode

enum stepper_run_mode

#include <zephyr/drivers/stepper.h>

Stepper Motor run mode options.

Enumerator
STEPPER_RUN_MODE_HOLD	Hold Mode.
STEPPER_RUN_MODE_POSITION	Position Mode.
STEPPER_RUN_MODE_VELOCITY	Velocity Mode.

Function Documentation

stepper_enable()

int stepper_enable	(	const struct device *	dev,
		const bool	enable )

#include <zephyr/drivers/stepper.h>

Enable or Disable Motor Controller.

Parameters

dev	pointer to the stepper motor controller instance
enable	Input enable or disable motor controller

Return values

-EIO	Error during Enabling
0	Success

stepper_enable_constant_velocity_mode()

int stepper_enable_constant_velocity_mode	(	const struct device *	dev,
		enum stepper_direction	direction,
		uint32_t	value )

#include <zephyr/drivers/stepper.h>

Enable constant velocity mode for the stepper with a given velocity.

activate constant velocity mode with the given velocity in micro_steps_per_second. If velocity > 0, motor shall be set into motion and run incessantly until and unless stalled or stopped using some other command, for instance, motor_enable(false).

Parameters

dev	pointer to the stepper motor controller instance
direction	The direction to set
value	The velocity to set in steps per second where one step is dependent on the current microstepping resolution: ‍0: Enable constant velocity mode with the given velocity in a given direction 0: Disable constant velocity mode

Return values

-EIO	General input / output error
-ENOSYS	If not implemented by device driver
0	Success

stepper_get_actual_position()

int stepper_get_actual_position	(	const struct device *	dev,
		int32_t *	value )

#include <zephyr/drivers/stepper.h>

Get the actual a.k.a reference position of the stepper.

Parameters

dev	pointer to the stepper motor controller instance
value	The actual position to get in micro_steps

Return values

-EIO	General input / output error
-ENOSYS	If not implemented by device driver
0	Success

stepper_get_micro_step_res()

int stepper_get_micro_step_res	(	const struct device *	dev,
		enum stepper_micro_step_resolution *	resolution )

#include <zephyr/drivers/stepper.h>

Get the microstep resolution in stepper motor controller.

Parameters

dev	pointer to the stepper motor controller instance
resolution	microstep resolution

Return values

-EIO	General input / output error
-ENOSYS	If not implemented by device driver
0	Success

stepper_is_moving()

int stepper_is_moving	(	const struct device *	dev,
		bool *	is_moving )

#include <zephyr/drivers/stepper.h>

Check if the stepper motor is currently moving.

Parameters

dev	pointer to the stepper motor controller instance
is_moving	Pointer to a boolean to store the moving status of the stepper motor

Return values

-EIO	General input / output error
-ENOSYS	If not implemented by device driver
0	Success

stepper_move()

int stepper_move	(	const struct device *	dev,
		int32_t	micro_steps )

#include <zephyr/drivers/stepper.h>

Set the micro_steps to be moved from the current position i.e.

relative movement

Parameters

dev	pointer to the stepper motor controller instance
micro_steps	target micro_steps to be moved from the current position

Return values

-EIO	General input / output error
0	Success

stepper_set_actual_position()

int stepper_set_actual_position	(	const struct device *	dev,
		int32_t	value )

#include <zephyr/drivers/stepper.h>

Set the actual a.k.a reference position of the stepper.

Parameters

dev	Pointer to the stepper motor controller instance.
value	The reference position to set in micro-steps.

Return values

-EIO	General input / output error
-ENOSYS	If not implemented by device driver
0	Success

stepper_set_callback()

int stepper_set_callback	(	const struct device *	dev,
		stepper_event_callback_t	callback,
		void *	user_data )

#include <zephyr/drivers/stepper.h>

Set the callback function to be called when a stepper event occurs.

Parameters

dev	pointer to the stepper motor controller instance
callback	Callback function to be called when a stepper event occurs passing NULL will disable the callback
user_data	User data to be passed to the callback function

Return values

-ENOSYS	If not implemented by device driver
0	Success

stepper_set_max_velocity()

int stepper_set_max_velocity	(	const struct device *	dev,
		uint32_t	micro_steps_per_second )

#include <zephyr/drivers/stepper.h>

Set the target velocity to be reached by the motor.

For controllers such as DRV8825 where you toggle the STEP Pin, the pulse_length would have to be calculated based on this parameter in the driver. For controllers where velocity can be set, this parameter corresponds to max_velocity

Note

Setting max velocity does not set the motor into motion, a combination of set_max_velocity and move is required to set the motor into motion.

Parameters

dev	pointer to the stepper motor controller instance
micro_steps_per_second	speed in micro_steps per second

Return values

-EIO	General input / output error
-EINVAL	If the requested velocity is not supported
0	Success

stepper_set_micro_step_res()

int stepper_set_micro_step_res	(	const struct device *	dev,
		enum stepper_micro_step_resolution	resolution )

#include <zephyr/drivers/stepper.h>

Set the microstep resolution in stepper motor controller.

Parameters

dev	pointer to the stepper motor controller instance
resolution	microstep resolution

Return values

-EIO	General input / output error
-ENOSYS	If not implemented by device driver
-ENOTSUP	If the requested resolution is not supported
0	Success

stepper_set_target_position()

int stepper_set_target_position	(	const struct device *	dev,
		int32_t	value )

#include <zephyr/drivers/stepper.h>

Set the absolute target position of the stepper.

Parameters

dev	pointer to the stepper motor controller instance
value	target position to set in micro_steps

Return values

-EIO	General input / output error
-ENOSYS	If not implemented by device driver
0	Success