Stepper Motion Controller Interface

Interfaces for stepper motion controllers. More...

Files
file	stepper_ctrl.h
	Main header file for stepper motion controller driver API.

Enumerations
enum	stepper_ctrl_direction { STEPPER_CTRL_DIRECTION_NEGATIVE = 0 , STEPPER_CTRL_DIRECTION_POSITIVE = 1 }
	Stepper Motion Controller direction options. More...
enum	stepper_ctrl_run_mode { STEPPER_CTRL_RUN_MODE_HOLD = 0 , STEPPER_CTRL_RUN_MODE_POSITION = 1 , STEPPER_CTRL_RUN_MODE_VELOCITY = 2 }
	Stepper Motion Controller run mode options. More...
enum	stepper_ctrl_event { STEPPER_CTRL_EVENT_STEPS_COMPLETED = 0 , STEPPER_CTRL_EVENT_LEFT_END_STOP_DETECTED = 1 , STEPPER_CTRL_EVENT_RIGHT_END_STOP_DETECTED = 2 , STEPPER_CTRL_EVENT_STOPPED = 3 }
	Stepper Motion Controller Events. More...

Functions
int	stepper_ctrl_set_reference_position (const struct device *dev, const int32_t value)
	Set the reference position.
int	stepper_ctrl_get_actual_position (const struct device *dev, int32_t *value)
	Get the actual step count.
int	stepper_ctrl_set_event_cb (const struct device *dev, stepper_ctrl_event_callback_t callback, void *user_data)
	Set the callback function to be called when a stepper motion controller event occurs.
int	stepper_ctrl_set_microstep_interval (const struct device *dev, const uint64_t microstep_interval_ns)
	Set the time interval between steps in nanoseconds with immediate effect.
int	stepper_ctrl_move_by (const struct device *dev, const int32_t micro_steps)
	Set the micro-steps to be moved from the current position i.e.
int	stepper_ctrl_move_to (const struct device *dev, const int32_t micro_steps)
	Set the absolute target position of the stepper.
int	stepper_ctrl_run (const struct device *dev, const enum stepper_ctrl_direction direction)
	Run the stepper with a given step interval in a given direction.
int	stepper_ctrl_stop (const struct device *dev)
	Stop the stepper.
int	stepper_ctrl_is_moving (const struct device *dev, bool *is_moving)
	Check if the stepper is currently moving.

Detailed Description

Interfaces for stepper motion controllers.

Since

4.0

Version

0.9.0

Enumeration Type Documentation

stepper_ctrl_direction

enum stepper_ctrl_direction

#include <zephyr/drivers/stepper/stepper_ctrl.h>

Stepper Motion Controller direction options.

Enumerator
STEPPER_CTRL_DIRECTION_NEGATIVE	Negative direction.
STEPPER_CTRL_DIRECTION_POSITIVE	Positive direction.

stepper_ctrl_event

enum stepper_ctrl_event

#include <zephyr/drivers/stepper/stepper_ctrl.h>

Stepper Motion Controller Events.

Enumerator
STEPPER_CTRL_EVENT_STEPS_COMPLETED	Steps set using move_by or move_to have been executed.
STEPPER_CTRL_EVENT_LEFT_END_STOP_DETECTED	Left end switch status changes to pressed.
STEPPER_CTRL_EVENT_RIGHT_END_STOP_DETECTED	Right end switch status changes to pressed.
STEPPER_CTRL_EVENT_STOPPED	Stepper has stopped.

stepper_ctrl_run_mode

enum stepper_ctrl_run_mode

#include <zephyr/drivers/stepper/stepper_ctrl.h>

Stepper Motion Controller run mode options.

Enumerator
STEPPER_CTRL_RUN_MODE_HOLD	Hold Mode.
STEPPER_CTRL_RUN_MODE_POSITION	Position Mode.
STEPPER_CTRL_RUN_MODE_VELOCITY	Velocity Mode.

Function Documentation

stepper_ctrl_get_actual_position()

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

#include <zephyr/drivers/stepper/stepper_ctrl.h>

Get the actual step count.

Note

This function does not guarantee that the returned position is the exact current position. For precise positioning, encoders should be used in addition to the stepper motion controller.

Parameters

dev	pointer to the device structure for the driver 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_ctrl_is_moving()

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

#include <zephyr/drivers/stepper/stepper_ctrl.h>

Check if the stepper is currently moving.

Parameters

dev	pointer to the device structure for the driver instance.
is_moving	Pointer to a boolean to store the moving status of the stepper

Return values

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

stepper_ctrl_move_by()

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

#include <zephyr/drivers/stepper/stepper_ctrl.h>

Set the micro-steps to be moved from the current position i.e.

relative movement

Note

The stepper will move by the given number of micro-steps from the current position. This function is non-blocking.

Parameters

dev	pointer to the device structure for the driver instance.
micro_steps	target micro-steps to be moved from the current position

Return values

-EIO	General input / output error
-EINVAL	If the timing for steps is incorrectly configured
0	Success

stepper_ctrl_move_to()

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

#include <zephyr/drivers/stepper/stepper_ctrl.h>

Set the absolute target position of the stepper.

Note

The stepper will move to the given micro-steps position from the reference position. This function is non-blocking.

Parameters

dev	pointer to the device structure for the driver instance.
micro_steps	target position to set in micro-steps

Return values

-EIO	General input / output error
-EINVAL	If the timing for steps is incorrectly configured
0	Success

stepper_ctrl_run()

int stepper_ctrl_run	(	const struct device *	dev,
		const enum stepper_ctrl_direction	direction )

#include <zephyr/drivers/stepper/stepper_ctrl.h>

Run the stepper with a given step interval in a given direction.

Note

The stepper shall be set into motion and run continuously until stalled or stopped using some other command, for instance, stepper_stop(). This function is non-blocking.

Parameters

dev	pointer to the device structure for the driver instance.
direction	The direction to set

Return values

-EIO	General input / output error
-EINVAL	If the timing for steps is incorrectly configured
-ENOSYS	If not implemented by device driver
0	Success

stepper_ctrl_set_event_cb()

int stepper_ctrl_set_event_cb	(	const struct device *	dev,
		stepper_ctrl_event_callback_t	callback,
		void *	user_data )

#include <zephyr/drivers/stepper/stepper_ctrl.h>

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

Parameters

dev	pointer to the device structure for the driver instance.
callback	Callback function to be called when a stepper motion controller 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_ctrl_set_microstep_interval()

int stepper_ctrl_set_microstep_interval	(	const struct device *	dev,
		const uint64_t	microstep_interval_ns )

#include <zephyr/drivers/stepper/stepper_ctrl.h>

Set the time interval between steps in nanoseconds with immediate effect.

Note

Setting step interval does not set the stepper into motion, a combination of set_microstep_interval and move is required to set the stepper into motion.

Parameters

dev	pointer to the device structure for the driver instance.
microstep_interval_ns	time interval between steps in nanoseconds

Return values

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

stepper_ctrl_set_reference_position()

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

#include <zephyr/drivers/stepper/stepper_ctrl.h>

Set the reference position.

Parameters

dev	pointer to the device structure for the driver 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_ctrl_stop()

int stepper_ctrl_stop

(

const struct device *

dev

)

#include <zephyr/drivers/stepper/stepper_ctrl.h>

Stop the stepper.

Note

Cancel all active movements.

Parameters

dev	pointer to the device structure for the driver instance.

Return values

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