Stepper Hardware Driver

Interfaces for stepper hardware drivers. More...

Topics
	Stepper Hardware Driver Driver Backend API

Files
file	stepper.h
	Main header file for stepper hardware driver API.

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

Typedefs
typedef void(*	stepper_event_cb_t) (const struct device *dev, const enum stepper_event event, void *user_data)
	Callback function for stepper driver events.

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_event { STEPPER_EVENT_STALL_DETECTED = 0 , STEPPER_EVENT_FAULT_DETECTED = 1 }
	Stepper Hardware Driver Events. More...

Functions
int	stepper_enable (const struct device *dev)
	Enable stepper hardware driver.
int	stepper_disable (const struct device *dev)
	Disable stepper hardware driver.
int	stepper_set_micro_step_res (const struct device *dev, enum stepper_micro_step_resolution res)
	Set the micro-step resolution in stepper hardware driver.
int	stepper_get_micro_step_res (const struct device *dev, enum stepper_micro_step_resolution *res)
	Get the micro-step resolution in stepper hardware driver.
int	stepper_set_event_cb (const struct device *dev, stepper_event_cb_t callback, void *user_data)
	Set the callback function to be called when a stepper_event occurs.

Detailed Description

Interfaces for stepper hardware drivers.

Since

4.0

Version

0.9.0

Macro Definition Documentation

MICRO_STEP_RES_INDEX

#define MICRO_STEP_RES_INDEX

(

res

)

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

Value:

((res) == STEPPER_MICRO_STEP_1 || (res) == STEPPER_MICRO_STEP_2 ||                 \
 (res) == STEPPER_MICRO_STEP_4 || (res) == STEPPER_MICRO_STEP_8 ||                 \
 (res) == STEPPER_MICRO_STEP_16 || (res) == STEPPER_MICRO_STEP_32 ||               \
 (res) == STEPPER_MICRO_STEP_64 || (res) == STEPPER_MICRO_STEP_128 ||              \
 (res) == STEPPER_MICRO_STEP_256)

Typedef Documentation

stepper_event_cb_t

typedef void(* stepper_event_cb_t) (const struct device *dev, const enum stepper_event event, void *user_data)

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

Callback function for stepper driver events.

Enumeration Type Documentation

stepper_event

enum stepper_event

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

Stepper Hardware Driver Events.

Enumerator
STEPPER_EVENT_STALL_DETECTED	Stepper driver stall detected.
STEPPER_EVENT_FAULT_DETECTED	Stepper driver fault detected.

stepper_micro_step_resolution

enum stepper_micro_step_resolution

#include <zephyr/drivers/stepper/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

Function Documentation

stepper_disable()

int stepper_disable

(

const struct device *

dev

)

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

Disable stepper hardware driver.

Disabling the hw 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 hw driver is not supported.
-EIO	Error during Disabling
0	Success

stepper_enable()

int stepper_enable

(

const struct device *

dev

)

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

Enable stepper hardware 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_get_micro_step_res()

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

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

Get the micro-step resolution in stepper hardware 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_set_event_cb()

int stepper_set_event_cb	(	const struct device *	dev,
		stepper_event_cb_t	callback,
		void *	user_data )

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

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

Parameters

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

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

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

Set the micro-step resolution in stepper hardware 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