Commit 08dd7c51 authored by Jilay Pandya's avatar Jilay Pandya Committed by Benjamin Cabé
Browse files

drivers: stepper: tmc5xxx: introduce stop function 

Introduce stop function in tmc5xxx

Signed-off-by: default avatarJilay Pandya <jilay.pandya@outlook.com>
parent 2aca0d3e

drivers/stepper/adi_tmc/tmc50xx.c

+20 −1
Changes for drivers/stepper/adi_tmc/tmc50xx.c: 20 added lines, 1 removed line.
Original line number Diff line number Diff line
@@ -176,7 +176,6 @@ static void stallguard_work_handler(struct k_work *work) 
	}

}





static void execute_callback(const struct device *dev, const enum stepper_event event)

{

	struct tmc50xx_stepper_data *data = dev->data;
@@ -543,6 +542,25 @@ static int tmc50xx_stepper_run(const struct device *dev, const enum stepper_dire 
	return 0;

}



static int tmc50xx_stepper_stop(const struct device *dev)

{

	const struct tmc50xx_stepper_config *config = dev->config;

	int err;



	err = tmc50xx_write(config->controller, TMC50XX_RAMPMODE(config->index),

			    TMC5XXX_RAMPMODE_POSITIVE_VELOCITY_MODE);

	if (err != 0) {

		return -EIO;

	}



	err = tmc50xx_write(config->controller, TMC50XX_VMAX(config->index), 0);

	if (err != 0) {

		return -EIO;

	}



	return 0;

}



#ifdef CONFIG_STEPPER_ADI_TMC50XX_RAMP_GEN



int tmc50xx_stepper_set_ramp(const struct device *dev,
@@ -704,6 +722,7 @@ static DEVICE_API(stepper, tmc50xx_stepper_api) = { 
	.get_actual_position = tmc50xx_stepper_get_actual_position,

	.move_to = tmc50xx_stepper_move_to,

	.run = tmc50xx_stepper_run,

	.stop = tmc50xx_stepper_stop,

	.set_event_callback = tmc50xx_stepper_set_event_callback,

};

drivers/stepper/adi_tmc/tmc51xx/tmc51xx.c

+18 −0
Changes for drivers/stepper/adi_tmc/tmc51xx/tmc51xx.c: 18 added lines, 0 removed lines.
Original line number Diff line number Diff line
@@ -781,6 +781,23 @@ static int tmc51xx_init(const struct device *dev) 
	return 0;

}



static int tmc51xx_stepper_stop(const struct device *dev)

{

	int err;



	err = tmc51xx_write(dev, TMC51XX_RAMPMODE, TMC5XXX_RAMPMODE_POSITIVE_VELOCITY_MODE);

	if (err != 0) {

		return -EIO;

	}



	err = tmc51xx_write(dev, TMC51XX_VMAX, 0);

	if (err != 0) {

		return -EIO;

	}



	return 0;

}



static DEVICE_API(stepper, tmc51xx_api) = {

	.enable = tmc51xx_stepper_enable,

	.disable = tmc51xx_stepper_disable,
@@ -792,6 +809,7 @@ static DEVICE_API(stepper, tmc51xx_api) = { 
	.get_actual_position = tmc51xx_stepper_get_actual_position,

	.move_to = tmc51xx_stepper_move_to,

	.run = tmc51xx_stepper_run,

	.stop = tmc51xx_stepper_stop,

	.set_event_callback = tmc51xx_stepper_set_event_callback,

};

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