Stepper Controller Interface . More...

Topics
	Trinamic Stepper Controller Interface
	Trinamic Stepper Controller Interface .

Macros
#define	MICRO_STEP_RES_INDEX(res)
	Macro to calculate the index of the microstep resolution.

Enumerations
enum	stepper_micro_step_resolution { STEPPER_MICRO_STEP_1 = 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 microstep resolution options. More...

enum	stepper_direction { STEPPER_DIRECTION_NEGATIVE = 0 , STEPPER_DIRECTION_POSITIVE = 1 }
	Stepper Motor direction options. More...

enum	stepper_run_mode { STEPPER_RUN_MODE_HOLD = 0 , STEPPER_RUN_MODE_POSITION = 1 , STEPPER_RUN_MODE_VELOCITY = 2 }
	Stepper Motor run mode options. More...

enum	stepper_event { STEPPER_EVENT_STEPS_COMPLETED = 0 , STEPPER_EVENT_STALL_DETECTED = 1 , STEPPER_EVENT_LEFT_END_STOP_DETECTED = 2 , STEPPER_EVENT_RIGHT_END_STOP_DETECTED = 3 }
	Stepper Events. More...

Functions
int	stepper_enable (const struct device *dev, const bool enable)
	Enable or disable motor controller.

int	stepper_move_by (const struct device *dev, int32_t micro_steps)
	Set the microsteps to be moved from the current position i.e.

int	stepper_set_microstep_interval (const struct device *dev, uint64_t microstep_interval_ns)
	Set the time interval between steps in microseconds.

int	stepper_set_micro_step_res (const struct device *dev, enum stepper_micro_step_resolution resolution)
	Set the microstep resolution in stepper motor controller.

int	stepper_get_micro_step_res (const struct device dev, enum stepper_micro_step_resolution resolution)
	Get the microstep resolution in stepper motor controller.

int	stepper_set_reference_position (const struct device *dev, int32_t value)
	Set the 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_move_to (const struct device *dev, int32_t micro_steps)
	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_run (const struct device *dev, enum stepper_direction direction)
	Run the stepper with a given step interval in a given direction.

int	stepper_set_event_callback (const struct device dev, stepper_event_callback_t callback, void user_data)
	Set the callback function to be called when a stepper event occurs.

Detailed Description

Stepper Controller Interface .

Macro Definition Documentation

◆ MICRO_STEP_RES_INDEX

#define MICRO_STEP_RES_INDEX ( res )

#include <zephyr/drivers/stepper.h>

Value:

LOG2(res)

LOG2

#define LOG2(x)

Compute log2(x)

Definition util.h:703

Macro to calculate the index of the microstep resolution.

Parameters

res	Microstep resolution

Enumeration Type Documentation

◆ stepper_direction

enum stepper_direction

#include <zephyr/drivers/stepper.h>

Stepper Motor direction options.

Enumerator
STEPPER_DIRECTION_NEGATIVE	Negative direction.
STEPPER_DIRECTION_POSITIVE	Positive direction.

◆ stepper_event

enum stepper_event

#include <zephyr/drivers/stepper.h>

Stepper Events.

Enumerator
STEPPER_EVENT_STEPS_COMPLETED	Steps set using move_by or move_to have been executed.
STEPPER_EVENT_STALL_DETECTED	Stall detected.
STEPPER_EVENT_LEFT_END_STOP_DETECTED	Left end switch status changes to pressed.
STEPPER_EVENT_RIGHT_END_STOP_DETECTED	Right end switch status changes to pressed.

◆ stepper_micro_step_resolution

enum stepper_micro_step_resolution

#include <zephyr/drivers/stepper.h>

Stepper Motor microstep resolution options.

Enumerator
STEPPER_MICRO_STEP_1	Full step resolution.
STEPPER_MICRO_STEP_2	2 microsteps per full step
STEPPER_MICRO_STEP_4	4 microsteps per full step
STEPPER_MICRO_STEP_8	8 microsteps per full step
STEPPER_MICRO_STEP_16	16 microsteps per full step
STEPPER_MICRO_STEP_32	32 microsteps per full step
STEPPER_MICRO_STEP_64	64 microsteps per full step
STEPPER_MICRO_STEP_128	128 microsteps per full step
STEPPER_MICRO_STEP_256	256 microsteps per full step

◆ stepper_run_mode

enum stepper_run_mode

#include <zephyr/drivers/stepper.h>

Stepper Motor run mode options.

Enumerator
STEPPER_RUN_MODE_HOLD	Hold Mode.
STEPPER_RUN_MODE_POSITION	Position Mode.
STEPPER_RUN_MODE_VELOCITY	Velocity Mode.

Function Documentation

◆ stepper_enable()

int stepper_enable	(	const struct device *	dev,
		const bool	enable )

#include <zephyr/drivers/stepper.h>

Enable or disable motor controller.

Parameters

dev	pointer to the stepper motor controller instance
enable	Input enable or disable motor controller

Return values

-EIO	Error during Enabling
0	Success

◆ stepper_get_actual_position()

int stepper_get_actual_position	(	const struct device *	dev,
		int32_t *	value )

#include <zephyr/drivers/stepper.h>

Get the actual a.k.a reference position of the stepper.

Parameters

dev	pointer to the stepper motor controller instance
value	The actual position to get in microsteps

Return values

-EIO	General input / output error
-ENOSYS	If not implemented by device driver
0	Success

◆ stepper_get_micro_step_res()

int stepper_get_micro_step_res	(	const struct device *	dev,
		enum stepper_micro_step_resolution *	resolution )

#include <zephyr/drivers/stepper.h>

Get the microstep resolution in stepper motor controller.

Parameters

dev	pointer to the stepper motor controller instance
resolution	microstep resolution

Return values

-EIO	General input / output error
-ENOSYS	If not implemented by device driver
0	Success

◆ stepper_is_moving()

int stepper_is_moving	(	const struct device *	dev,
		bool *	is_moving )

#include <zephyr/drivers/stepper.h>

Check if the stepper motor is currently moving.

Parameters

dev	pointer to the stepper motor controller instance
is_moving	Pointer to a boolean to store the moving status of the stepper motor

Return values

-EIO	General input / output error
-ENOSYS	If not implemented by device driver
0	Success

◆ stepper_move_by()

int stepper_move_by	(	const struct device *	dev,
		int32_t	micro_steps )

#include <zephyr/drivers/stepper.h>

Set the microsteps to be moved from the current position i.e.

relative movement

The motor will move by the given number of microsteps from the current position. This function is non-blocking.

Parameters

dev	pointer to the stepper motor controller instance
micro_steps	target microsteps to be moved from the current position

Return values

-ECANCELED	If the stepper is disabled
-EIO	General input / output error
0	Success

◆ stepper_move_to()

int stepper_move_to	(	const struct device *	dev,
		int32_t	micro_steps )

#include <zephyr/drivers/stepper.h>

Set the absolute target position of the stepper.

The motor will move to the given microsteps position from the reference position. This function is non-blocking.

Parameters

dev	pointer to the stepper motor controller instance
micro_steps	target position to set in microsteps

Return values

-ECANCELED	If the stepper is disabled
-EIO	General input / output error
-ENOSYS	If not implemented by device driver
0	Success

◆ stepper_run()

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

#include <zephyr/drivers/stepper.h>

Run the stepper with a given step interval in a given direction.

The motor shall be set into motion and run continuously until stalled or stopped using some other command, for instance, motor_enable(false). This function is non-blocking.

Parameters

dev	pointer to the stepper motor controller instance
direction	The direction to set

Return values

-ECANCELED	If the stepper is disabled
-EIO	General input / output error
-ENOSYS	If not implemented by device driver
0	Success

◆ stepper_set_event_callback()

int stepper_set_event_callback	(	const struct device *	dev,
		stepper_event_callback_t	callback,
		void *	user_data )

#include <zephyr/drivers/stepper.h>

Set the callback function to be called when a stepper event occurs.

Parameters

dev	pointer to the stepper motor controller instance
callback	Callback function to be called when a stepper event occurs passing NULL will disable the callback
user_data	User data to be passed to the callback function

Return values

-ENOSYS	If not implemented by device driver
0	Success

◆ stepper_set_micro_step_res()

int stepper_set_micro_step_res	(	const struct device *	dev,
		enum stepper_micro_step_resolution	resolution )

#include <zephyr/drivers/stepper.h>

Set the microstep resolution in stepper motor controller.

Parameters

dev	pointer to the stepper motor controller instance
resolution	microstep resolution

Return values

-EIO	General input / output error
-ENOSYS	If not implemented by device driver
-ENOTSUP	If the requested resolution is not supported
0	Success

◆ stepper_set_microstep_interval()

int stepper_set_microstep_interval	(	const struct device *	dev,
		uint64_t	microstep_interval_ns )

#include <zephyr/drivers/stepper.h>

Set the time interval between steps in microseconds.

For controllers such as DRV8825 where you toggle the STEP Pin, the pulse_length would have to be calculated based on this parameter in the driver.

Note: Setting step interval does not set the motor into motion, a combination of set_microstep_interval and move is required to set the motor into motion.

Parameters

dev	pointer to the stepper motor controller instance
microstep_interval_ns	time interval between steps in microseconds

Return values

-EIO	General input / output error
-EINVAL	If the requested step interval is not supported
0	Success

◆ stepper_set_reference_position()

int stepper_set_reference_position	(	const struct device *	dev,
		int32_t	value )

#include <zephyr/drivers/stepper.h>

Set the reference position of the stepper.

Parameters

dev	Pointer to the stepper motor controller instance.
value	The reference position to set in micro-steps.

Return values

-EIO	General input / output error
-ENOSYS	If not implemented by device driver
0	Success

Topics

Macros

Enumerations

Functions

Detailed Description

Macro Definition Documentation

◆ MICRO_STEP_RES_INDEX

Enumeration Type Documentation

◆ stepper_direction

◆ stepper_event

◆ stepper_micro_step_resolution

◆ stepper_run_mode

Function Documentation

◆ stepper_enable()

◆ stepper_get_actual_position()

◆ stepper_get_micro_step_res()

◆ stepper_is_moving()

◆ stepper_move_by()

◆ stepper_move_to()

◆ stepper_run()

◆ stepper_set_event_callback()

◆ stepper_set_micro_step_res()

◆ stepper_set_microstep_interval()

◆ stepper_set_reference_position()