Stepper-Drv

Interface for stepper-drv drivers. More...

Macros
#define	MICRO_STEP_RES_INDEX(res)
	Macro to calculate the index of the microstep resolution.
#define	VALID_MICRO_STEP_RES(res)

Enumerations
enum	stepper_drv_micro_step_resolution {   STEPPER_DRV_MICRO_STEP_1 = 1 , STEPPER_DRV_MICRO_STEP_2 = 2 , STEPPER_DRV_MICRO_STEP_4 = 4 , STEPPER_DRV_MICRO_STEP_8 = 8 ,   STEPPER_DRV_MICRO_STEP_16 = 16 , STEPPER_DRV_MICRO_STEP_32 = 32 , STEPPER_DRV_MICRO_STEP_64 = 64 , STEPPER_DRV_MICRO_STEP_128 = 128 ,   STEPPER_DRV_MICRO_STEP_256 = 256 }
	Stepper Motor micro-step resolution options. More...
enum	stepper_drv_event { STEPPER_DRV_EVENT_STALL_DETECTED = 0 , STEPPER_DRV_EVENT_FAULT_DETECTED = 1 }

Functions
int	stepper_drv_enable (const struct device *dev)
	Enable stepper driver.
int	stepper_drv_disable (const struct device *dev)
	Disable stepper driver.
int	stepper_drv_set_micro_step_res (const struct device *dev, enum stepper_drv_micro_step_resolution res)
	Set the micro-step resolution in stepper driver.
int	stepper_drv_get_micro_step_res (const struct device *dev, enum stepper_drv_micro_step_resolution *res)
	Get the micro-step resolution in stepper driver.
int	stepper_drv_set_event_cb (const struct device *dev, stepper_drv_event_cb_t callback, void *user_data)
	Set the callback function to be called when a stepper_drv_event occurs.

Detailed Description

Interface for stepper-drv drivers.

Since

4.0

Version

0.8.0

Macro Definition Documentation

MICRO_STEP_RES_INDEX

#define MICRO_STEP_RES_INDEX

(

res

)

#include <zephyr/drivers/stepper.h>

Value:

LOG2(res)

Macro to calculate the index of the microstep resolution.

Parameters

res	Microstep resolution

VALID_MICRO_STEP_RES

#define VALID_MICRO_STEP_RES

(

res

)

#include <zephyr/drivers/stepper.h>

Value:

        ((res) == STEPPER_DRV_MICRO_STEP_1 || (res) == STEPPER_DRV_MICRO_STEP_2 ||                 \
         (res) == STEPPER_DRV_MICRO_STEP_4 || (res) == STEPPER_DRV_MICRO_STEP_8 ||                 \
         (res) == STEPPER_DRV_MICRO_STEP_16 || (res) == STEPPER_DRV_MICRO_STEP_32 ||               \
         (res) == STEPPER_DRV_MICRO_STEP_64 || (res) == STEPPER_DRV_MICRO_STEP_128 ||              \
         (res) == STEPPER_DRV_MICRO_STEP_256)

Enumeration Type Documentation

stepper_drv_event

enum stepper_drv_event

#include <zephyr/drivers/stepper.h>

Enumerator
STEPPER_DRV_EVENT_STALL_DETECTED	Stepper driver stall detected.
STEPPER_DRV_EVENT_FAULT_DETECTED	Stepper driver fault detected.

stepper_drv_micro_step_resolution

enum stepper_drv_micro_step_resolution

#include <zephyr/drivers/stepper.h>

Stepper Motor micro-step resolution options.

Enumerator
STEPPER_DRV_MICRO_STEP_1	Full step resolution.
STEPPER_DRV_MICRO_STEP_2	2 micro-steps per full step
STEPPER_DRV_MICRO_STEP_4	4 micro-steps per full step
STEPPER_DRV_MICRO_STEP_8	8 micro-steps per full step
STEPPER_DRV_MICRO_STEP_16	16 micro-steps per full step
STEPPER_DRV_MICRO_STEP_32	32 micro-steps per full step
STEPPER_DRV_MICRO_STEP_64	64 micro-steps per full step
STEPPER_DRV_MICRO_STEP_128	128 micro-steps per full step
STEPPER_DRV_MICRO_STEP_256	256 micro-steps per full step

Function Documentation

stepper_drv_disable()

int stepper_drv_disable

(

const struct device *

dev

)

#include <zephyr/drivers/stepper.h>

Disable stepper driver.

Disabling the driver shall switch off the power stage and de-energize the coils.

Parameters

dev	pointer to the device structure for the driver instance.

Return values

-ENOTSUP	Disabling of driver is not supported.
-EIO	Error during Disabling
0	Success

stepper_drv_enable()

int stepper_drv_enable

(

const struct device *

dev

)

#include <zephyr/drivers/stepper.h>

Enable stepper driver.

Enabling the driver shall switch on the power stage and energize the coils.

Parameters

dev	pointer to the device structure for the driver instance.

Return values

-EIO	Error during Enabling
0	Success

stepper_drv_get_micro_step_res()

int stepper_drv_get_micro_step_res	(	const struct device *	dev,
		enum stepper_drv_micro_step_resolution *	res )

#include <zephyr/drivers/stepper.h>

Get the micro-step resolution in stepper driver.

Parameters

dev	pointer to the device structure for the driver instance.
res	micro-step resolution

Return values

-EIO	General input / output error
0	Success

stepper_drv_set_event_cb()

int stepper_drv_set_event_cb	(	const struct device *	dev,
		stepper_drv_event_cb_t	callback,
		void *	user_data )

#include <zephyr/drivers/stepper.h>

Set the callback function to be called when a stepper_drv_event occurs.

Parameters

dev	pointer to the device structure for the driver instance.
callback	Callback function to be called when a stepper_drv_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_drv_set_micro_step_res()

int stepper_drv_set_micro_step_res	(	const struct device *	dev,
		enum stepper_drv_micro_step_resolution	res )

#include <zephyr/drivers/stepper.h>

Set the micro-step resolution in stepper driver.

Parameters

dev	pointer to the device structure for the driver instance.
res	micro-step resolution

Return values

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