Zephyr API Documentation 4.0.0-rc2
A Scalable Open Source RTOS
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Public API for Stepper Driver. More...
#include <zephyr/kernel.h>
#include <zephyr/device.h>
#include <errno.h>
#include <zephyr/syscalls/stepper.h>
Go to the source code of this file.
Macros | |
#define | MICRO_STEP_RES_INDEX(res) |
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 micro step 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 (const struct device *dev, int32_t micro_steps) |
Set the micro_steps to be moved from the current position i.e. | |
int | stepper_set_max_velocity (const struct device *dev, uint32_t micro_steps_per_second) |
Set the target velocity to be reached by the motor. | |
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_actual_position (const struct device *dev, int32_t value) |
Set the actual a.k.a 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_set_target_position (const struct device *dev, int32_t value) |
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_enable_constant_velocity_mode (const struct device *dev, enum stepper_direction direction, uint32_t value) |
Enable constant velocity mode for the stepper with a given velocity. | |
int | stepper_set_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. | |
Public API for Stepper Driver.