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_by (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_reference_position (const struct device *dev, int32_t value)
	Set the 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_move_to (const struct device *dev, int32_t micro_steps)
	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_run (const struct device *dev, enum stepper_direction direction, uint32_t velocity)
	Run the stepper with a given velocity in a given direction.
int	stepper_set_event_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_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_by()

int stepper_move_by	(	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

The motor will move by the given number of micro_steps from the current position. This function is non-blocking.

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_move_to()

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

#include <zephyr/drivers/stepper.h>

Set the absolute target position of the stepper.

The motor will move to the given micro_steps position from the reference position. This function is non-blocking.

Parameters

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

Return values

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

stepper_run()

int stepper_run	(	const struct device *	dev,
		enum stepper_direction	direction,
		uint32_t	velocity )

#include <zephyr/drivers/stepper.h>

Run the stepper with a given velocity in a given direction.

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). This function is non-blocking.

Parameters

dev	pointer to the stepper motor controller instance
direction	The direction to set
velocity	The velocity to set in microsteps per second > 0: Run the stepper with the given velocity in a given direction 0: Stop the stepper

Return values

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

stepper_set_event_callback()

int stepper_set_event_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_reference_position()

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

#include <zephyr/drivers/stepper.h>

Set the 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