Stepper Driver Interface . More...

Topics
	Trinamic Stepper Controller Interface
	Trinamic Stepper Controller Interface .

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

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_EVENT_STOPPED = 4 , STEPPER_FAULT_EVENT = 5 }
	Stepper Events. More...

Functions
int	stepper_enable (const struct device *dev, const bool enable)
	Enable or disable stepper driver.

int	stepper_set_micro_step_res (const struct device *dev, enum stepper_micro_step_resolution resolution)
	Set the micro-step resolution in stepper driver.

int	stepper_get_micro_step_res (const struct device dev, enum stepper_micro_step_resolution resolution)
	Get the micro-step resolution in stepper driver.

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_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

Stepper Driver Interface .

Since: 4.0

Version: 0.1.0

Macro Definition Documentation

◆ MICRO_STEP_RES_INDEX

#define MICRO_STEP_RES_INDEX ( res )

#include <zephyr/drivers/stepper.h>

Value:

LOG2(res)

LOG2

#define LOG2(x)

Compute log2(x)

Definition util.h:703

Macro to calculate the index of the microstep resolution.

Parameters

res	Microstep resolution

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_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_EVENT_STOPPED	Stepper has stopped.
STEPPER_FAULT_EVENT	Fault with the stepper controller detected.

◆ 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 stepper driver.

Enabling the driver will energize the coils, however not set the stepper in motion. Disabling the driver shall cancel all active movements and de-energize the coils.

Parameters

dev	pointer to the stepper driver instance
enable	Input enable or disable stepper driver

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 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_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 micro-step resolution in stepper driver.

Parameters

dev	pointer to the stepper driver instance
resolution	micro-step 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 is currently moving.

Parameters

dev	pointer to the stepper 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

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 stepper driver instance
micro_steps	target micro-steps to be moved from the current position

Return values

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

Parameters

dev	pointer to the stepper driver instance
micro_steps	target position to set in micro-steps

Return values

-ECANCELED	If the stepper is disabled
-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 )

#include <zephyr/drivers/stepper.h>

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

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

Parameters

dev	pointer to the stepper driver instance
direction	The direction to set

Return values

-ECANCELED	If the stepper is disabled
-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 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	resolution )

#include <zephyr/drivers/stepper.h>

Set the micro-step resolution in stepper driver.

Parameters

dev	pointer to the stepper driver instance
resolution	micro-step 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_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 stepper 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 stepper 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.

Cancel all active movements, however keep the coils energized.

Parameters

dev	pointer to the stepper driver instance

Return values

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

	Zephyr API Documentation 4.1.99 A Scalable Open Source RTOS
4.1.99

Topics

Macros

Enumerations

Functions

Detailed Description

Macro Definition Documentation

◆ MICRO_STEP_RES_INDEX

Enumeration Type Documentation

◆ stepper_direction

◆ stepper_event

◆ stepper_micro_step_resolution

◆ stepper_run_mode

Function Documentation

◆ stepper_enable()

◆ stepper_get_actual_position()

◆ stepper_get_micro_step_res()

◆ stepper_is_moving()

◆ stepper_move_by()

◆ stepper_move_to()

◆ stepper_run()

◆ stepper_set_event_callback()

◆ stepper_set_micro_step_res()

◆ stepper_set_microstep_interval()

◆ stepper_set_reference_position()

◆ stepper_stop()