Commit 72694a9d authored by Fabian Blatz's avatar Fabian Blatz Committed by Benjamin Cabé
Browse files

drivers: stepper: Cleanup doxygen comments 



Cleans up the doxygen comments in the stepper api header. Includes:
- documentation for MICRO_STEP_RES_INDEX
- constistent use of microsteps instead of micro_steps or micro steps
- fix for previously renamed set_target_position refrence

Signed-off-by: default avatarFabian Blatz <fabianblatz@gmail.com>
parent 16d7bbf6

include/zephyr/drivers/stepper.h

+25 −21
Original line number Diff line number Diff line
@@ -29,6 +29,10 @@ 
extern "C" {

#endif



/**

 * @brief Macro to calculate the index of the microstep resolution

 * @param res Microstep resolution

 */

#define MICRO_STEP_RES_INDEX(res) LOG2(res)



/**
@@ -81,7 +85,7 @@ enum stepper_run_mode { 
 * @brief Stepper Events

 */

enum stepper_event {

	/** Steps set using move or set_target_position have been executed */

	/** Steps set using move_by or move_to have been executed */

	STEPPER_EVENT_STEPS_COMPLETED = 0,

	/** Stall detected */

	STEPPER_EVENT_STALL_DETECTED = 1,
@@ -106,14 +110,14 @@ enum stepper_event { 
typedef int (*stepper_enable_t)(const struct device *dev, const bool enable);



/**

 * @brief Move the stepper motor relatively by a given number of micro_steps.

 * @brief Move the stepper motor relatively by a given number of microsteps.

 *

 * @see stepper_move_by() for details.

 */

typedef int (*stepper_move_by_t)(const struct device *dev, const int32_t micro_steps);



/**

 * @brief Set the max velocity in micro_steps per seconds.

 * @brief Set the max velocity in microsteps per seconds.

 *

 * @see stepper_set_max_velocity() for details.

 */
@@ -150,7 +154,7 @@ typedef int (*stepper_set_reference_position_t)(const struct device *dev, const 
typedef int (*stepper_get_actual_position_t)(const struct device *dev, int32_t *value);



/**

 * @brief Move the stepper motor absolutely by a given number of micro_steps.

 * @brief Move the stepper motor to an absolute position in microsteps.

 *

 * @see stepper_move_to() for details.

 */
@@ -207,7 +211,7 @@ __subsystem struct stepper_driver_api { 
 */



/**

 * @brief Enable or Disable Motor Controller

 * @brief Enable or disable motor controller

 *

 * @param dev pointer to the stepper motor controller instance

 * @param enable Input enable or disable motor controller
@@ -225,13 +229,13 @@ static inline int z_impl_stepper_enable(const struct device *dev, const bool ena 
}



/**

 * @brief Set the micro_steps to be moved from the current position i.e. relative movement

 * @brief Set the microsteps to be moved from the current position i.e. relative movement

 *

 * @details The motor will move by the given number of micro_steps from the current position.

 * @details The motor will move by the given number of microsteps from the current position.

 * This function is non-blocking.

 *

 * @param dev pointer to the stepper motor controller instance

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

 * @param micro_steps target microsteps to be moved from the current position

 *

 * @retval -ECANCELED If the stepper is disabled

 * @retval -EIO General input / output error
@@ -256,7 +260,7 @@ static inline int z_impl_stepper_move_by(const struct device *dev, const int32_t 
 * and move is required to set the motor into motion.

 *

 * @param dev pointer to the stepper motor controller instance

 * @param micro_steps_per_second speed in micro_steps per second

 * @param micro_steps_per_second speed in microsteps per second

 *

 * @retval -EIO General input / output error

 * @retval -EINVAL If the requested velocity is not supported
@@ -348,7 +352,7 @@ static inline int z_impl_stepper_set_reference_position(const struct device *dev 
 * @brief Get the actual a.k.a reference position of the stepper

 *

 * @param dev pointer to the stepper motor controller instance

 * @param value The actual position to get in micro_steps

 * @param value The actual position to get in microsteps

 *

 * @retval -EIO General input / output error

 * @retval -ENOSYS If not implemented by device driver
@@ -369,11 +373,11 @@ static inline int z_impl_stepper_get_actual_position(const struct device *dev, i 
/**

 * @brief Set the absolute target position of the stepper

 *

 * @details The motor will move to the given micro_steps position from the reference position.

 * @details The motor will move to the given microsteps position from the reference position.

 * This function is non-blocking.

 *

 * @param dev pointer to the stepper motor controller instance

 * @param micro_steps target position to set in micro_steps

 * @param micro_steps target position to set in microsteps

 *

 * @retval -ECANCELED If the stepper is disabled

 * @retval -EIO General input / output error

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