stepper.h File Reference

Public API for Stepper Driver. More...

#include <zephyr/kernel.h>
#include <zephyr/device.h>
#include <errno.h>
#include <zephyr/syscalls/stepper.h>

Go to the source code of this file.

Enumerations
enum	micro_step_resolution {   STEPPER_FULL_STEP = 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_POSITIVE = 0 , STEPPER_DIRECTION_NEGATIVE }
	Stepper Motor direction options. More...
enum	stepper_run_mode { STEPPER_HOLD_MODE = 0 , STEPPER_POSITION_MODE , STEPPER_VELOCITY_MODE }
	Stepper Motor run mode options. More...
enum	stepper_signal_result { STEPPER_SIGNAL_STEPS_COMPLETED = 0 }
	Stepper Motor signal results. More...

Functions
int	stepper_enable (const struct device *dev, const bool enable)
	Enable or Disable Motor Controller.
int	stepper_move (const struct device *dev, int32_t micro_steps, struct k_poll_signal *async)
	Set the micro_steps to be moved from the current position i.e.
int	stepper_set_max_velocity (const struct device *dev, uint32_t micro_steps_per_second)
	Set the target velocity to be reached by the motor.
int	stepper_set_micro_step_res (const struct device *dev, enum micro_step_resolution resolution)
	Set the microstep resolution in stepper motor controller.
int	stepper_get_micro_step_res (const struct device *dev, enum micro_step_resolution *resolution)
	Get the microstep resolution in stepper motor controller.
int	stepper_set_actual_position (const struct device *dev, int32_t value)
	Set the actual a.k.a 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_target_position (const struct device *dev, int32_t value, struct k_poll_signal *async)
	Set the absolute target position of the stepper.
int	stepper_is_moving (const struct device *dev, bool *is_moving)
	Check if the stepper motor is currently moving.
int	stepper_enable_constant_velocity_mode (const struct device *dev, enum stepper_direction direction, uint32_t value)
	Enable constant velocity mode for the stepper with a given velocity.

Detailed Description

Public API for Stepper Driver.