Stepper

Interfaces for stepper motor controllers. More...

Topics
	Trinamic Stepper Controller Interface
	Trinamic Stepper Controller Interface.

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

Enumerations
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_LEFT_END_STOP_DETECTED = 1 , STEPPER_EVENT_RIGHT_END_STOP_DETECTED = 2 , STEPPER_EVENT_STOPPED = 3 }
	Stepper Events. More...

Functions
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 step count for a given stepper.
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.
int	stepper_set_microstep_interval (const struct device *dev, uint64_t microstep_interval_ns)
	Set the time interval between steps in nanoseconds with immediate effect.
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_move_to (const struct device *dev, int32_t micro_steps)
	Set the absolute target position of the stepper.
int	stepper_run (const struct device *dev, enum stepper_direction direction)
	Run the stepper with a given step interval in a given direction.
int	stepper_stop (const struct device *dev)
	Stop the stepper.
int	stepper_is_moving (const struct device *dev, bool *is_moving)
	Check if the stepper is currently moving.

Detailed Description

Interfaces for stepper motor controllers.

Since

4.0

Version

0.8.0

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_by or move_to have been executed.
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_EVENT_STOPPED	Stepper has stopped.

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_get_actual_position()

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

#include <zephyr/drivers/stepper.h>

Get the actual step count for a given stepper.

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 driver.

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_is_moving()

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

#include <zephyr/drivers/stepper.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_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

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_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.

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_run()

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

#include <zephyr/drivers/stepper.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_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 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_microstep_interval()

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

#include <zephyr/drivers/stepper.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_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 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_stop()

int stepper_stop

(

const struct device *

dev

)

#include <zephyr/drivers/stepper.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