Commit 2aca0d3e authored by Jilay Pandya's avatar Jilay Pandya Committed by Benjamin Cabé
Browse files

drivers: stepper: remove stop function wrapped in disable 

Removing stop functionality wrapped in stepper_disable since
there is a dedicated function for it.

Signed-off-by: default avatarJilay Pandya <jilay.pandya@outlook.com>
parent 5918ddce

drivers/stepper/allegro/a4979.c

+3 −47
Changes for drivers/stepper/allegro/a4979.c: 3 added lines, 47 removed lines.
Original line number Diff line number Diff line
@@ -24,7 +24,6 @@ struct a4979_config { 
struct a4979_data {

	const struct step_dir_stepper_common_data common;

	enum stepper_micro_step_resolution micro_step_res;

	bool enabled;

};



STEP_DIR_STEPPER_STRUCT_CHECK(struct a4979_config, struct a4979_data);
@@ -54,7 +53,6 @@ static int a4979_stepper_enable(const struct device *dev) 
{

	int ret;

	const struct a4979_config *config = dev->config;

	struct a4979_data *data = dev->data;

	bool has_enable_pin = config->en_pin.port != NULL;



	/* Check availability of enable pin, as it might be hardwired. */
@@ -69,8 +67,6 @@ static int a4979_stepper_enable(const struct device *dev) 
		return ret;

	}



	data->enabled = true;



	return 0;

}
@@ -78,7 +74,6 @@ static int a4979_stepper_disable(const struct device *dev) 
{

	int ret;

	const struct a4979_config *config = dev->config;

	struct a4979_data *data = dev->data;

	bool has_enable_pin = config->en_pin.port != NULL;



	/* Check availability of enable pin, as it might be hardwired. */
@@ -93,9 +88,6 @@ static int a4979_stepper_disable(const struct device *dev) 
		return ret;

	}



	config->common.timing_source->stop(dev);

	data->enabled = false;



	return 0;

}
@@ -153,42 +145,6 @@ static int a4979_stepper_get_micro_step_res(const struct device *dev, 
	return 0;

}



static int a4979_move_to(const struct device *dev, int32_t target)

{

	struct a4979_data *data = dev->data;



	if (!data->enabled) {

		LOG_ERR("Failed to move to target position, device is not enabled");

		return -ECANCELED;

	}



	return step_dir_stepper_common_move_to(dev, target);

}



static int a4979_stepper_move_by(const struct device *dev, const int32_t micro_steps)

{

	struct a4979_data *data = dev->data;



	if (!data->enabled) {

		LOG_ERR("Failed to move by delta, device is not enabled");

		return -ECANCELED;

	}



	return step_dir_stepper_common_move_by(dev, micro_steps);

}



static int a4979_run(const struct device *dev, enum stepper_direction direction)

{

	struct a4979_data *data = dev->data;



	if (!data->enabled) {

		LOG_ERR("Failed to run stepper, device is not enabled");

		return -ECANCELED;

	}



	return step_dir_stepper_common_run(dev, direction);

}



static int a4979_init(const struct device *dev)

{

	const struct a4979_config *config = dev->config;
@@ -269,13 +225,13 @@ static int a4979_init(const struct device *dev) 
static DEVICE_API(stepper, a4979_stepper_api) = {

	.enable = a4979_stepper_enable,

	.disable = a4979_stepper_disable,

	.move_by = a4979_stepper_move_by,

	.move_to = a4979_move_to,

	.move_by = step_dir_stepper_common_move_by,

	.move_to = step_dir_stepper_common_move_to,

	.is_moving = step_dir_stepper_common_is_moving,

	.set_reference_position = step_dir_stepper_common_set_reference_position,

	.get_actual_position = step_dir_stepper_common_get_actual_position,

	.set_microstep_interval = step_dir_stepper_common_set_microstep_interval,

	.run = a4979_run,

	.run = step_dir_stepper_common_run,

	.stop = step_dir_stepper_common_stop,

	.set_micro_step_res = a4979_stepper_set_micro_step_res,

	.get_micro_step_res = a4979_stepper_get_micro_step_res,

drivers/stepper/gpio_stepper_controller.c

+15 −23
Changes for drivers/stepper/gpio_stepper_controller.c: 15 added lines, 23 removed lines.
Original line number Diff line number Diff line
@@ -24,6 +24,7 @@ static const uint8_t 
		{0u, 0u, 1u, 1u}, {0u, 0u, 0u, 1u}, {1u, 0u, 0u, 1u}, {1u, 0u, 0u, 0u}};



struct gpio_stepper_config {

	const struct gpio_dt_spec en_pin;

	const struct gpio_dt_spec *control_pins;

	bool invert_direction;

};
@@ -39,7 +40,6 @@ struct gpio_stepper_data { 
	int32_t actual_position;

	uint64_t delay_in_ns;

	int32_t step_count;

	bool is_enabled;

	stepper_event_callback_t callback;

	void *event_cb_user_data;

};
@@ -183,11 +183,6 @@ static int gpio_stepper_move_by(const struct device *dev, int32_t micro_steps) 
{

	struct gpio_stepper_data *data = dev->data;



	if (!data->is_enabled) {

		LOG_ERR("Stepper motor is not enabled");

		return -ECANCELED;

	}



	if (data->delay_in_ns == 0) {

		LOG_ERR("Step interval not set or invalid step interval set");

		return -EINVAL;
@@ -262,11 +257,6 @@ static int gpio_stepper_run(const struct device *dev, const enum stepper_directi 
{

	struct gpio_stepper_data *data = dev->data;



	if (!data->is_enabled) {

		LOG_ERR("Stepper motor is not enabled");

		return -ECANCELED;

	}



	K_SPINLOCK(&data->lock) {

		data->run_mode = STEPPER_RUN_MODE_VELOCITY;

		data->direction = direction;
@@ -317,18 +307,16 @@ static int gpio_stepper_set_event_callback(const struct device *dev, 


static int gpio_stepper_enable(const struct device *dev)

{

	const struct gpio_stepper_config *config = dev->config;

	struct gpio_stepper_data *data = dev->data;

	int err;



	if (data->is_enabled) {

		LOG_WRN("Stepper motor is already enabled");

		return 0;

	}



	K_SPINLOCK(&data->lock) {

		err = energize_coils(dev, true);

		if (err == 0) {

			data->is_enabled = true;

		if (config->en_pin.port != NULL) {

			err = gpio_pin_set_dt(&config->en_pin, 1);

		} else {

			LOG_DBG("No en_pin detected");

			err = -ENOTSUP;

		}

	}

	return err;
@@ -336,14 +324,18 @@ static int gpio_stepper_enable(const struct device *dev) 


static int gpio_stepper_disable(const struct device *dev)

{

	const struct gpio_stepper_config *config = dev->config;

	struct gpio_stepper_data *data = dev->data;

	int err;



	K_SPINLOCK(&data->lock) {

		(void)k_work_cancel_delayable(&data->stepper_dwork);

		err = energize_coils(dev, false);

		if (err == 0) {

			data->is_enabled = false;

		(void)energize_coils(dev, false);

		if (config->en_pin.port != NULL) {

			err = gpio_pin_set_dt(&config->en_pin, 0);

		} else {

			LOG_DBG("No en_pin detected, power stages will not be turned off if "

				"stepper is in motion");

			err = -ENOTSUP;

		}

	}

	return err;

drivers/stepper/ti/drv84xx.c

+3 −46
Changes for drivers/stepper/ti/drv84xx.c: 3 added lines, 46 removed lines.
Original line number Diff line number Diff line
@@ -49,7 +49,6 @@ struct drv84xx_pin_states { 
struct drv84xx_data {

	const struct step_dir_stepper_common_data common;

	const struct device *dev;

	bool enabled;

	struct drv84xx_pin_states pin_states;

	enum stepper_micro_step_resolution ustep_res;

	struct gpio_callback fault_cb_data;
@@ -220,8 +219,6 @@ static int drv84xx_enable(const struct device *dev) 
		}

	}



	data->enabled = true;



	return ret;

}
@@ -255,10 +252,6 @@ static int drv84xx_disable(const struct device *dev) 
		}

	}



	config->common.timing_source->stop(dev);



	data->enabled = false;



	return ret;

}
@@ -351,42 +344,6 @@ static int drv84xx_get_micro_step_res(const struct device *dev, 
	return 0;

}



static int drv84xx_move_to(const struct device *dev, int32_t target)

{

	struct drv84xx_data *data = dev->data;



	if (!data->enabled) {

		LOG_ERR("Failed to move to target position, device is not enabled");

		return -ECANCELED;

	}



	return step_dir_stepper_common_move_to(dev, target);

}



static int drv84xx_move_by(const struct device *dev, int32_t steps)

{

	struct drv84xx_data *data = dev->data;



	if (!data->enabled) {

		LOG_ERR("Failed to move by delta, device is not enabled");

		return -ECANCELED;

	}



	return step_dir_stepper_common_move_by(dev, steps);

}



static int drv84xx_run(const struct device *dev, enum stepper_direction direction)

{

	struct drv84xx_data *data = dev->data;



	if (!data->enabled) {

		LOG_ERR("Failed to run stepper, device is not enabled");

		return -ECANCELED;

	}



	return step_dir_stepper_common_run(dev, direction);

}



void fault_event(const struct device *dev, struct gpio_callback *cb, uint32_t pins)

{

	struct drv84xx_data *data = CONTAINER_OF(cb, struct drv84xx_data, fault_cb_data);
@@ -478,13 +435,13 @@ static int drv84xx_init(const struct device *dev) 
static DEVICE_API(stepper, drv84xx_stepper_api) = {

	.enable = drv84xx_enable,

	.disable = drv84xx_disable,

	.move_by = drv84xx_move_by,

	.move_to = drv84xx_move_to,

	.move_by = step_dir_stepper_common_move_by,

	.move_to = step_dir_stepper_common_move_to,

	.is_moving = step_dir_stepper_common_is_moving,

	.set_reference_position = step_dir_stepper_common_set_reference_position,

	.get_actual_position = step_dir_stepper_common_get_actual_position,

	.set_microstep_interval = step_dir_stepper_common_set_microstep_interval,

	.run = drv84xx_run,

	.run = step_dir_stepper_common_run,

	.stop = step_dir_stepper_common_stop,

	.set_micro_step_res = drv84xx_set_micro_step_res,

	.get_micro_step_res = drv84xx_get_micro_step_res,

include/zephyr/drivers/stepper.h

+1 −3
Changes for include/zephyr/drivers/stepper.h: 1 added line, 3 removed lines.
Original line number Diff line number Diff line
@@ -262,6 +262,7 @@ static inline int z_impl_stepper_enable(const struct device *dev) 
 *

 * @param dev pointer to the stepper driver instance

 *

 * @retval  -ENOTSUP Disabling of driver is not supported.

 * @retval -EIO Error during Disabling

 * @retval 0 Success

 */
@@ -436,7 +437,6 @@ static inline int z_impl_stepper_set_microstep_interval(const struct device *dev 
 * @param dev pointer to the stepper driver instance

 * @param micro_steps target micro-steps to be moved from the current position

 *

 * @retval -ECANCELED If the stepper is disabled

 * @retval -EIO General input / output error

 * @retval 0 Success

 */
@@ -458,7 +458,6 @@ static inline int z_impl_stepper_move_by(const struct device *dev, const int32_t 
 * @param dev pointer to the stepper driver instance

 * @param micro_steps target position to set in micro-steps

 *

 * @retval -ECANCELED If the stepper is disabled

 * @retval -EIO General input / output error

 * @retval -ENOSYS If not implemented by device driver

 * @retval 0 Success
@@ -485,7 +484,6 @@ static inline int z_impl_stepper_move_to(const struct device *dev, const int32_t 
 * @param dev pointer to the stepper driver instance

 * @param direction The direction to set

 *

 * @retval -ECANCELED If the stepper is disabled

 * @retval -EIO General input / output error

 * @retval -ENOSYS If not implemented by device driver

 * @retval 0 Success

tests/drivers/stepper/drv84xx/api/src/main.c

+0 −133
Changes for tests/drivers/stepper/drv84xx/api/src/main.c: 0 added lines, 133 removed lines.
Original line number Diff line number Diff line
@@ -87,72 +87,6 @@ ZTEST_F(drv84xx_api, test_actual_position_set) 
	zassert_equal(pos, 100u, "Actual position should be %u but is %u", 100u, pos);

}



ZTEST_F(drv84xx_api, test_is_not_moving_when_disabled)

{

	int32_t steps = 100;

	bool moving = true;



	(void)stepper_enable(fixture->dev);

	(void)stepper_set_microstep_interval(fixture->dev, 20000000);

	(void)stepper_move_by(fixture->dev, steps);

	(void)stepper_disable(fixture->dev);

	(void)stepper_is_moving(fixture->dev, &moving);

	zassert_false(moving, "Driver should not be in state is_moving after being disabled");

}



ZTEST_F(drv84xx_api, test_position_not_updating_when_disabled)

{

	int32_t steps = 1000;

	int32_t position_1 = 0;

	int32_t position_2 = 0;



	(void)stepper_enable(fixture->dev);

	(void)stepper_set_microstep_interval(fixture->dev, 20000000);

	(void)stepper_move_by(fixture->dev, steps);

	(void)stepper_disable(fixture->dev);

	(void)stepper_get_actual_position(fixture->dev, &position_1);

	k_msleep(100);

	(void)stepper_get_actual_position(fixture->dev, &position_2);

	zassert_equal(position_2, position_1,

		      "Actual position should not have changed from %d but is %d", position_1,

		      position_2);

}



ZTEST_F(drv84xx_api, test_is_not_moving_when_reenabled_after_movement)

{

	int32_t steps = 1000;

	bool moving = true;



	(void)stepper_enable(fixture->dev);

	(void)stepper_set_microstep_interval(fixture->dev, 20000000);

	(void)stepper_move_by(fixture->dev, steps);

	(void)stepper_disable(fixture->dev);

	(void)k_msleep(100);

	(void)stepper_enable(fixture->dev);

	(void)k_msleep(100);

	(void)stepper_is_moving(fixture->dev, &moving);

	zassert_false(moving, "Driver should not be in state is_moving after being reenabled");

}

ZTEST_F(drv84xx_api, test_position_not_updating_when_reenabled_after_movement)

{

	int32_t steps = 1000;

	int32_t position_1 = 0;

	int32_t position_2 = 0;



	(void)stepper_enable(fixture->dev);

	(void)stepper_set_microstep_interval(fixture->dev, 20000000);

	(void)stepper_move_by(fixture->dev, steps);

	(void)stepper_disable(fixture->dev);

	(void)stepper_get_actual_position(fixture->dev, &position_1);

	(void)k_msleep(100);

	(void)stepper_enable(fixture->dev);

	(void)k_msleep(100);

	(void)stepper_get_actual_position(fixture->dev, &position_2);

	zassert_equal(position_2, position_1,

		      "Actual position should not have changed from %d but is %d", position_1,

		      position_2);

}



ZTEST_F(drv84xx_api, test_move_to_positive_direction_movement)

{

	int32_t pos = 50;
@@ -247,23 +181,6 @@ ZTEST_F(drv84xx_api, test_move_to_is_moving_false_when_completed) 
	zassert_false(moving, "Driver should not be in state is_moving after finishing");

}



ZTEST_F(drv84xx_api, test_move_to_no_movement_when_disabled)

{

	int32_t pos = 50;

	int32_t curr_pos = 50;

	int32_t ret = 0;



	(void)stepper_set_microstep_interval(fixture->dev, 20000000);

	(void)stepper_disable(fixture->dev);



	ret = stepper_move_to(fixture->dev, pos);

	zassert_equal(ret, -ECANCELED, "Move_to should fail with error code %d but returned %d",

		      -ECANCELED, ret);

	(void)stepper_get_actual_position(fixture->dev, &curr_pos);

	zassert_equal(curr_pos, 0, "Current position should not have changed from %d but is %d", 0,

		      curr_pos);

}



ZTEST_F(drv84xx_api, test_move_by_zero_steps_no_movement)

{

	int32_t steps = 0;
@@ -284,22 +201,6 @@ ZTEST_F(drv84xx_api, test_move_by_zero_steps_no_movement) 
	zassert_equal(steps, 0, "Target position should be %d but is %d", 0, steps);

}



ZTEST_F(drv84xx_api, test_move_by_zero_step_interval)

{

	int32_t steps = 100;

	int32_t ret = 0;

	int32_t pos = 100;



	(void)stepper_enable(fixture->dev);

	(void)stepper_disable(fixture->dev);

	ret = stepper_move_by(fixture->dev, steps);



	zassert_not_equal(ret, 0, "Command should fail with an error code, but returned 0");

	k_msleep(100);

	(void)stepper_get_actual_position(fixture->dev, &pos);

	zassert_equal(pos, 0, "Target position should not have changed from %d but is %d", 0, pos);

}



ZTEST_F(drv84xx_api, test_move_by_is_moving_true_while_moving)

{

	int32_t steps = 50;
@@ -334,23 +235,6 @@ ZTEST_F(drv84xx_api, test_move_by_is_moving_false_when_completed) 
	zassert_false(moving, "Driver should not be in state is_moving after completion");

}



ZTEST_F(drv84xx_api, test_move_by_no_movement_when_disabled)

{

	int32_t steps = 100;

	int32_t curr_pos = 100;

	int32_t ret = 0;



	(void)stepper_set_microstep_interval(fixture->dev, 20000000);

	(void)stepper_disable(fixture->dev);



	ret = stepper_move_by(fixture->dev, steps);

	zassert_equal(ret, -ECANCELED, "Move_by should fail with error code %d but returned %d",

		      -ECANCELED, ret);

	(void)stepper_get_actual_position(fixture->dev, &curr_pos);

	zassert_equal(curr_pos, 0, "Current position should not have changed from %d but is %d", 0,

		      curr_pos);

}



ZTEST_F(drv84xx_api, test_run_positive_direction_correct_position)

{

	uint64_t step_interval = 20000000;
@@ -408,21 +292,4 @@ ZTEST_F(drv84xx_api, test_run_is_moving_true_when_step_interval_greater_zero) 
	(void)stepper_disable(fixture->dev);

}



ZTEST_F(drv84xx_api, test_run_no_movement_when_disabled)

{

	uint64_t step_interval = 20000000;

	int32_t steps = 50;

	int32_t ret = 0;



	(void)stepper_disable(fixture->dev);

	(void)stepper_set_microstep_interval(fixture->dev, step_interval);



	ret = stepper_run(fixture->dev, STEPPER_DIRECTION_POSITIVE);

	zassert_equal(ret, -ECANCELED, "Run should fail with error code %d but returned %d",

		      -ECANCELED, ret);

	(void)stepper_get_actual_position(fixture->dev, &steps);

	zassert_equal(steps, 0, "Current position should not have changed from %d but is %d", 0,

		      steps);

}



ZTEST_SUITE(drv84xx_api, NULL, drv84xx_api_setup, drv84xx_api_before, drv84xx_api_after, NULL);

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