Commit 843625a2 authored by Jilay Pandya's avatar Jilay Pandya Committed by Anas Nashif
Browse files

drivers: stepper: change gpio-stepper dt-compatible 

This commit changes compatible of gpio-stepper in driver

Signed-off-by: default avatarJilay Pandya <jilay.pandya@outlook.com>
parent df3b76b5

doc/hardware/peripherals/stepper.rst

+1 −0
Changes for doc/hardware/peripherals/stepper.rst: 1 added line, 0 removed lines.
Original line number Diff line number Diff line
@@ -36,6 +36,7 @@ be used in a boards devicetree to configure a stepper driver to its initial stat 


See examples in:



- :dtcompatible:`zephyr,gpio-stepper`

- :dtcompatible:`adi,tmc5041`



Discord

drivers/stepper/Kconfig.gpio

+1 −1
Changes for drivers/stepper/Kconfig.gpio: 1 added line, 1 removed line.
Original line number Diff line number Diff line
@@ -6,7 +6,7 @@ menu "GPIO stepper driver" 


config GPIO_STEPPER

	bool "Activate driver for gpio stepper control"

	depends on DT_HAS_ZEPHYR_GPIO_STEPPERS_ENABLED

	depends on DT_HAS_ZEPHYR_GPIO_STEPPER_ENABLED

	default y

	help

	  GPIO Stepper driver for stepper motor control with darlington arrays or dual H-bridge.

drivers/stepper/gpio_stepper_controller.c

+33 −45
Changes for drivers/stepper/gpio_stepper_controller.c: 33 added lines, 45 removed lines.
Original line number Diff line number Diff line
@@ -4,7 +4,7 @@ 
 * SPDX-License-Identifier: Apache-2.0

 */



#define DT_DRV_COMPAT zephyr_gpio_steppers

#define DT_DRV_COMPAT zephyr_gpio_stepper



#include <zephyr/drivers/gpio.h>

#include <zephyr/kernel.h>
@@ -338,14 +338,13 @@ static int gpio_stepper_enable(const struct device *dev, bool enable) 
	return 0;

}



static int gpio_stepper_motor_controller_init(const struct device *dev)

static int gpio_stepper_init(const struct device *dev)

{

	struct gpio_stepper_data *data = dev->data;

	const struct gpio_stepper_config *config = dev->config;



	data->dev = dev;

	LOG_DBG("Initializing %s gpio_stepper_motor_controller with %d pin", dev->name,

		NUM_CONTROL_PINS);

	LOG_DBG("Initializing %s gpio_stepper with %d pin", dev->name, NUM_CONTROL_PINS);

	for (uint8_t n_pin = 0; n_pin < NUM_CONTROL_PINS; n_pin++) {

		(void)gpio_pin_configure_dt(&config->control_pins[n_pin], GPIO_OUTPUT_INACTIVE);

	}
@@ -353,47 +352,36 @@ static int gpio_stepper_motor_controller_init(const struct device *dev) 
	return 0;

}



#define GPIO_STEPPER_DEVICE_DATA_DEFINE(child)                                                     \

	static struct gpio_stepper_data gpio_stepper_data_##child = {                              \

		.step_gap = MAX_MICRO_STEP_RES >> (DT_PROP(child, micro_step_res) - 1),            \

	};                                                                                         \

	BUILD_ASSERT(DT_PROP(child, micro_step_res) <= STEPPER_MICRO_STEP_2,                       \

		     "gpio_stepper_controller driver supports up to 2 micro steps");

static const struct stepper_driver_api gpio_stepper_api = {

	.enable = gpio_stepper_enable,

	.move = gpio_stepper_move,

	.is_moving = gpio_stepper_is_moving,

	.set_actual_position = gpio_stepper_set_actual_position,

	.get_actual_position = gpio_stepper_get_actual_position,

	.set_target_position = gpio_stepper_set_target_position,

	.set_max_velocity = gpio_stepper_set_max_velocity,

	.enable_constant_velocity_mode = gpio_stepper_enable_constant_velocity_mode,

	.set_micro_step_res = gpio_stepper_set_micro_step_res,

	.get_micro_step_res = gpio_stepper_get_micro_step_res,

	.set_event_callback = gpio_stepper_set_event_callback,

};



#define GPIO_STEPPER_DEVICE_CONFIG_DEFINE(child)                                                   \

	static const struct gpio_dt_spec gpio_stepper_motor_control_pins_##child[] = {             \

		DT_FOREACH_PROP_ELEM_SEP(child, gpios, GPIO_DT_SPEC_GET_BY_IDX, (,)),              \

#define GPIO_STEPPER_DEFINE(inst)								\

	static const struct gpio_dt_spec gpio_stepper_motor_control_pins_##inst[] = {		\

		DT_INST_FOREACH_PROP_ELEM_SEP(inst, gpios, GPIO_DT_SPEC_GET_BY_IDX, (,)),	\

	};											\

	BUILD_ASSERT(                                                                              \

		ARRAY_SIZE(gpio_stepper_motor_control_pins_##child) == 4,                          \

	BUILD_ASSERT(ARRAY_SIZE(gpio_stepper_motor_control_pins_##inst) == 4,			\

		"gpio_stepper_controller driver currently supports only 4 wire configuration");	\

	static const struct gpio_stepper_config gpio_stepper_config_##child = {                    \

		.invert_direction = DT_PROP(child, invert_direction),                              \

		.control_pins = gpio_stepper_motor_control_pins_##child};



#define GPIO_STEPPER_API_DEFINE(child)                                                             \

	static const struct stepper_driver_api gpio_stepper_api_##child = {                        \

		.enable = gpio_stepper_enable,                                                     \

		.move = gpio_stepper_move,                                                         \

		.is_moving = gpio_stepper_is_moving,                                               \

		.set_actual_position = gpio_stepper_set_actual_position,                           \

		.get_actual_position = gpio_stepper_get_actual_position,                           \

		.set_target_position = gpio_stepper_set_target_position,                           \

		.set_max_velocity = gpio_stepper_set_max_velocity,                                 \

		.enable_constant_velocity_mode = gpio_stepper_enable_constant_velocity_mode,       \

		.set_micro_step_res = gpio_stepper_set_micro_step_res,                             \

		.get_micro_step_res = gpio_stepper_get_micro_step_res,                             \

		.set_event_callback = gpio_stepper_set_event_callback, };



#define GPIO_STEPPER_DEVICE_DEFINE(child)                                                          \

	DEVICE_DT_DEFINE(child, gpio_stepper_motor_controller_init, NULL,                          \

			 &gpio_stepper_data_##child, &gpio_stepper_config_##child, POST_KERNEL,    \

			 CONFIG_STEPPER_INIT_PRIORITY, &gpio_stepper_api_##child);



#define GPIO_STEPPER_CONTROLLER_DEFINE(inst)                                                       \

	DT_INST_FOREACH_CHILD(inst, GPIO_STEPPER_DEVICE_CONFIG_DEFINE);                            \

	DT_INST_FOREACH_CHILD(inst, GPIO_STEPPER_DEVICE_DATA_DEFINE);                              \

	DT_INST_FOREACH_CHILD(inst, GPIO_STEPPER_API_DEFINE);                                      \

	DT_INST_FOREACH_CHILD(inst, GPIO_STEPPER_DEVICE_DEFINE);



DT_INST_FOREACH_STATUS_OKAY(GPIO_STEPPER_CONTROLLER_DEFINE)
 
	static const struct gpio_stepper_config gpio_stepper_config_##inst = {			\

		.invert_direction = DT_INST_PROP(inst, invert_direction),			\

		.control_pins = gpio_stepper_motor_control_pins_##inst};			\

	static struct gpio_stepper_data gpio_stepper_data_##inst = {				\

		.step_gap = MAX_MICRO_STEP_RES >> (DT_INST_PROP(inst, micro_step_res) - 1),	\

	};											\

	BUILD_ASSERT(DT_INST_PROP(inst, micro_step_res) <= STEPPER_MICRO_STEP_2,		\

		     "gpio_stepper_controller driver supports up to 2 micro steps");		\

	DEVICE_DT_INST_DEFINE(inst, gpio_stepper_init, NULL, &gpio_stepper_data_##inst,		\

			      &gpio_stepper_config_##inst, POST_KERNEL,				\

			      CONFIG_STEPPER_INIT_PRIORITY, &gpio_stepper_api);



DT_INST_FOREACH_STATUS_OKAY(GPIO_STEPPER_DEFINE)

dts/bindings/stepper/adi/adi,tmc5041.yaml

+1 −4
Changes for dts/bindings/stepper/adi/adi,tmc5041.yaml: 1 added line, 4 removed lines.
Original line number Diff line number Diff line
@@ -89,13 +89,10 @@ properties: 


child-binding:

  include:

    - name: stepper-controller.yaml

    - name: base.yaml

      property-allowlist:

        - reg

    - name: stepper-controller.yaml

      property-allowlist:

        - invert-direction

        - micro-step-res

    - name: adi,trinamic-ramp-generator.yaml

      property-allowlist:

        - vstart

dts/bindings/stepper/stepper-controller.yaml

+0 −2
Changes for dts/bindings/stepper/stepper-controller.yaml: 0 added lines, 2 removed lines.
Original line number Diff line number Diff line
@@ -3,8 +3,6 @@ 


description: Stepper Controller



include: base.yaml



properties:

  invert-direction:

    type: boolean

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