stepper.h

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/*
 * SPDX-FileCopyrightText: Copyright (c) 2024 Carl Zeiss Meditec AG
 * SPDX-FileCopyrightText: Copyright (c) 2024 Jilay Sandeep Pandya
 * SPDX-License-Identifier: Apache-2.0
 */

 
#ifndef ZEPHYR_INCLUDE_DRIVERS_STEPPER_H_
#define ZEPHYR_INCLUDE_DRIVERS_STEPPER_H_
 
#include <zephyr/kernel.h>
#include <zephyr/device.h>
#include <errno.h>
 
#ifdef __cplusplus
extern "C" {
#endif


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,
};

#define MICRO_STEP_RES_INDEX(res) LOG2(res)

#define VALID_MICRO_STEP_RES(res)                                                                  \
        ((res) == STEPPER_MICRO_STEP_1 || (res) == STEPPER_MICRO_STEP_2 ||                 \
         (res) == STEPPER_MICRO_STEP_4 || (res) == STEPPER_MICRO_STEP_8 ||                 \
         (res) == STEPPER_MICRO_STEP_16 || (res) == STEPPER_MICRO_STEP_32 ||               \
         (res) == STEPPER_MICRO_STEP_64 || (res) == STEPPER_MICRO_STEP_128 ||              \
         (res) == STEPPER_MICRO_STEP_256)

enum stepper_event {
        STEPPER_EVENT_STALL_DETECTED = 0,
        STEPPER_EVENT_FAULT_DETECTED = 1,
};

typedef void (*stepper_event_cb_t)(const struct device *dev, const enum stepper_event event,
                                   void *user_data);


typedef int (*stepper_enable_t)(const struct device *dev);

typedef int (*stepper_disable_t)(const struct device *dev);

typedef int (*stepper_set_micro_step_res_t)(const struct device *dev,
                                            const enum stepper_micro_step_resolution resolution);

typedef int (*stepper_get_micro_step_res_t)(const struct device *dev,
                                            enum stepper_micro_step_resolution *resolution);

typedef int (*stepper_set_event_cb_t)(const struct device *dev, stepper_event_cb_t callback,
                                      void *user_data);

__subsystem struct stepper_driver_api {
        stepper_enable_t enable;
        stepper_disable_t disable;
        stepper_set_micro_step_res_t set_micro_step_res;
        stepper_get_micro_step_res_t get_micro_step_res;
        stepper_set_event_cb_t set_event_cb;
};


__syscall int stepper_enable(const struct device *dev);
 
static inline int z_impl_stepper_enable(const struct device *dev)
{
        return DEVICE_API_GET(stepper, dev)->enable(dev);
}

__syscall int stepper_disable(const struct device *dev);
 
static inline int z_impl_stepper_disable(const struct device *dev)
{
        return DEVICE_API_GET(stepper, dev)->disable(dev);
}

__syscall int stepper_set_micro_step_res(const struct device *dev,
                                             enum stepper_micro_step_resolution res);
 
static inline int z_impl_stepper_set_micro_step_res(const struct device *dev,
                                                        enum stepper_micro_step_resolution res)
{
        if (!VALID_MICRO_STEP_RES(res)) {
                return -EINVAL;
        }
        return DEVICE_API_GET(stepper, dev)->set_micro_step_res(dev, res);
}

__syscall int stepper_get_micro_step_res(const struct device *dev,
                                             enum stepper_micro_step_resolution *res);
 
static inline int z_impl_stepper_get_micro_step_res(const struct device *dev,
                                                        enum stepper_micro_step_resolution *res)
{
        __ASSERT_NO_MSG(res != NULL);
        return DEVICE_API_GET(stepper, dev)->get_micro_step_res(dev, res);
}

__syscall int stepper_set_event_cb(const struct device *dev, stepper_event_cb_t callback,
                                       void *user_data);
 
static inline int z_impl_stepper_set_event_cb(const struct device *dev,
                                                  stepper_event_cb_t cb, void *user_data)
{
        if (DEVICE_API_GET(stepper, dev)->set_event_cb == NULL) {
                return -ENOSYS;
        }
 
        return DEVICE_API_GET(stepper, dev)->set_event_cb(dev, cb, user_data);
}

 
#ifdef __cplusplus
}
#endif
 
#include <zephyr/syscalls/stepper.h>
 
#endif /* ZEPHYR_INCLUDE_DRIVERS_STEPPER_H_ */