drivers: stepper: update drivers as per the api changes
This commit deprecates passing of async signal in functions such as move and set_target_position. As per the new API, the async signal has to be set via set_async_signal. If RAMPSTAT_POLL is activated then enable_constant_velocity_mode would be able to raise signals like END_STOP_DETECTED & SENSORLESS_STALL_DETECTED. This commit also adjusts shell script in order to test these signals. Signed-off-by: Jilay Pandya <jilay.pandya@zeiss.com>
This commit is contained in:
Jilay Pandya
Carles Cufí
parent
4f18d64b30
commit
ecada895da
7 changed files with 132 additions and 176 deletions
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@ -6,7 +6,6 @@ menu "GPIO stepper driver"
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config GPIO_STEPPER
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bool "Activate driver for gpio stepper control"
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depends on DT_HAS_GPIO_STEPPERS_ENABLED
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select POLL
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default y
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help
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GPIO Stepper driver for stepper motor control with darlington arrays or dual H-bridge.
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@ -37,7 +37,6 @@ config STEPPER_ADI_TMC5041
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config STEPPER_ADI_TMC5041_RAMPSTAT_POLL
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bool "TMC5041 poll ramp status"
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depends on STEPPER_ADI_TMC5041
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select POLL
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default y
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help
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When enabled, the ramp status will be polled on TMC5041, to check for events:
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@ -5,7 +5,7 @@
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#define DT_DRV_COMPAT adi_tmc5041
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#include "stdlib.h"
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#include <stdlib.h>
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#include <zephyr/drivers/stepper.h>
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#include <zephyr/drivers/stepper/stepper_trinamic.h>
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@ -35,7 +35,8 @@ struct tmc5041_stepper_data {
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#endif
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/* device pointer required to access config in k_work */
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const struct device *stepper;
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struct k_poll_signal *async_signal;
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stepper_event_callback_t callback;
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void *event_cb_user_data;
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};
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struct tmc5041_stepper_config {
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@ -103,18 +104,14 @@ static void calculate_velocity_from_hz_to_fclk(const struct device *dev, const u
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velocity_hz, *velocity_fclk);
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}
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static void set_async_signal(const struct device *dev, struct k_poll_signal *async)
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static int tmc5041_stepper_set_event_callback(const struct device *dev,
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stepper_event_callback_t callback, void *user_data)
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{
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struct tmc5041_stepper_data *data = dev->data;
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if (!async) {
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return;
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}
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if (data->async_signal) {
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k_poll_signal_reset(data->async_signal);
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}
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data->async_signal = async;
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data->callback = callback;
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data->event_cb_user_data = user_data;
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return 0;
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}
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static int stallguard_enable(const struct device *dev, const bool enable)
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@ -180,19 +177,15 @@ static void stallguard_work_handler(struct k_work *work)
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#ifdef CONFIG_STEPPER_ADI_TMC5041_RAMPSTAT_POLL
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static void emit_signal(struct k_poll_signal *async_signal, const enum stepper_signal_result signal)
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static void execute_callback(const struct device *dev, const enum stepper_event event)
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{
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int err;
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struct tmc5041_stepper_data *data = dev->data;
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if (!async_signal) {
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LOG_WRN("Async signal is NULL");
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if (!data->callback) {
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LOG_WRN_ONCE("No callback registered");
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return;
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}
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err = k_poll_signal_raise(async_signal, signal);
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if (err != 0) {
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LOG_ERR("Failed to raise signal %d error %d", signal, err);
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}
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data->callback(dev, event);
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}
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static void rampstat_work_handler(struct k_work *work)
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@ -237,26 +230,25 @@ static void rampstat_work_handler(struct k_work *work)
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case TMC5041_STOP_LEFT_EVENT:
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LOG_DBG("RAMPSTAT %s:Left end-stop detected", stepper_data->stepper->name);
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emit_signal(stepper_data->async_signal,
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STEPPER_SIGNAL_LEFT_END_STOP_DETECTED);
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execute_callback(stepper_data->stepper,
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STEPPER_EVENT_LEFT_END_STOP_DETECTED);
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break;
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case TMC5041_STOP_RIGHT_EVENT:
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LOG_DBG("RAMPSTAT %s:Right end-stop detected", stepper_data->stepper->name);
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emit_signal(stepper_data->async_signal,
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STEPPER_SIGNAL_RIGHT_END_STOP_DETECTED);
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execute_callback(stepper_data->stepper,
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STEPPER_EVENT_RIGHT_END_STOP_DETECTED);
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break;
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case TMC5041_POS_REACHED_EVENT:
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LOG_DBG("RAMPSTAT %s:Position reached", stepper_data->stepper->name);
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emit_signal(stepper_data->async_signal, STEPPER_SIGNAL_STEPS_COMPLETED);
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execute_callback(stepper_data->stepper, STEPPER_EVENT_STEPS_COMPLETED);
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break;
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case TMC5041_STOP_SG_EVENT:
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LOG_DBG("RAMPSTAT %s:Stall detected", stepper_data->stepper->name);
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stallguard_enable(stepper_data->stepper, false);
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emit_signal(stepper_data->async_signal,
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STEPPER_SIGNAL_SENSORLESS_STALL_DETECTED);
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execute_callback(stepper_data->stepper, STEPPER_EVENT_STALL_DETECTED);
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break;
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default:
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LOG_ERR("Illegal ramp stat bit field");
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@ -314,15 +306,12 @@ static int tmc5041_stepper_is_moving(const struct device *dev, bool *is_moving)
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return 0;
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}
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static int tmc5041_stepper_move(const struct device *dev, const int32_t steps,
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struct k_poll_signal *async)
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static int tmc5041_stepper_move(const struct device *dev, const int32_t steps)
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{
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const struct tmc5041_stepper_config *config = dev->config;
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struct tmc5041_stepper_data *data = dev->data;
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int err;
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set_async_signal(dev, async);
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if (config->is_sg_enabled) {
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err = stallguard_enable(dev, false);
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if (err != 0) {
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@ -355,8 +344,11 @@ static int tmc5041_stepper_move(const struct device *dev, const int32_t steps,
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K_MSEC(config->sg_velocity_check_interval_ms));
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}
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#ifdef CONFIG_STEPPER_ADI_TMC5041_RAMPSTAT_POLL
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k_work_reschedule(&data->rampstat_callback_dwork,
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K_MSEC(CONFIG_STEPPER_ADI_TMC5041_RAMPSTAT_POLL_INTERVAL_IN_MSEC));
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if (data->callback) {
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k_work_reschedule(
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&data->rampstat_callback_dwork,
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K_MSEC(CONFIG_STEPPER_ADI_TMC5041_RAMPSTAT_POLL_INTERVAL_IN_MSEC));
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}
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#endif
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return 0;
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}
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@ -377,7 +369,7 @@ static int tmc5041_stepper_set_max_velocity(const struct device *dev, uint32_t v
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}
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static int tmc5041_stepper_set_micro_step_res(const struct device *dev,
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enum micro_step_resolution res)
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enum stepper_micro_step_resolution res)
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{
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const struct tmc5041_stepper_config *config = dev->config;
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uint32_t reg_value;
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@ -403,7 +395,7 @@ static int tmc5041_stepper_set_micro_step_res(const struct device *dev,
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}
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static int tmc5041_stepper_get_micro_step_res(const struct device *dev,
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enum micro_step_resolution *res)
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enum stepper_micro_step_resolution *res)
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{
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const struct tmc5041_stepper_config *config = dev->config;
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uint32_t reg_value;
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@ -452,16 +444,13 @@ static int tmc5041_stepper_get_actual_position(const struct device *dev, int32_t
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return 0;
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}
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static int tmc5041_stepper_set_target_position(const struct device *dev, const int32_t position,
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struct k_poll_signal *async)
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static int tmc5041_stepper_set_target_position(const struct device *dev, const int32_t position)
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{
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LOG_DBG("Stepper motor controller %s set target position to %d", dev->name, position);
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const struct tmc5041_stepper_config *config = dev->config;
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struct tmc5041_stepper_data *data = dev->data;
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int err;
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set_async_signal(dev, async);
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if (config->is_sg_enabled) {
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stallguard_enable(dev, false);
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}
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@ -478,8 +467,11 @@ static int tmc5041_stepper_set_target_position(const struct device *dev, const i
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K_MSEC(config->sg_velocity_check_interval_ms));
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}
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#ifdef CONFIG_STEPPER_ADI_TMC5041_RAMPSTAT_POLL
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k_work_reschedule(&data->rampstat_callback_dwork,
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K_MSEC(CONFIG_STEPPER_ADI_TMC5041_RAMPSTAT_POLL_INTERVAL_IN_MSEC));
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if (data->callback) {
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k_work_reschedule(
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&data->rampstat_callback_dwork,
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K_MSEC(CONFIG_STEPPER_ADI_TMC5041_RAMPSTAT_POLL_INTERVAL_IN_MSEC));
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}
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#endif
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return 0;
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}
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@ -533,6 +525,13 @@ static int tmc5041_stepper_enable_constant_velocity_mode(const struct device *de
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k_work_reschedule(&data->stallguard_dwork,
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K_MSEC(config->sg_velocity_check_interval_ms));
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}
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#ifdef CONFIG_STEPPER_ADI_TMC5041_RAMPSTAT_POLL
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if (data->callback) {
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k_work_reschedule(
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&data->rampstat_callback_dwork,
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K_MSEC(CONFIG_STEPPER_ADI_TMC5041_RAMPSTAT_POLL_INTERVAL_IN_MSEC));
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}
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#endif
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return 0;
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}
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@ -730,7 +729,7 @@ static int tmc5041_stepper_init(const struct device *dev)
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.get_actual_position = tmc5041_stepper_get_actual_position, \
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.set_target_position = tmc5041_stepper_set_target_position, \
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.enable_constant_velocity_mode = tmc5041_stepper_enable_constant_velocity_mode, \
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};
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.set_event_callback = tmc5041_stepper_set_event_callback, };
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#define TMC5041_STEPPER_DEFINE(child) \
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DEVICE_DT_DEFINE(child, tmc5041_stepper_init, NULL, &tmc5041_stepper_data_##child, \
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@ -744,7 +743,7 @@ static int tmc5041_stepper_init(const struct device *dev)
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static struct tmc5041_data tmc5041_data_##inst; \
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static const struct tmc5041_config tmc5041_config_##inst = { \
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.gconf = ( \
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(DT_INST_PROP(inst, poscmp_enable) << TMC5041_GCONF_POSCMP_ENABLE_SHIFT) |\
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(DT_INST_PROP(inst, poscmp_enable) << TMC5041_GCONF_POSCMP_ENABLE_SHIFT) | \
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(DT_INST_PROP(inst, test_mode) << TMC5041_GCONF_TEST_MODE_SHIFT) | \
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DT_INST_FOREACH_CHILD(inst, TMC5041_SHAFT_CONFIG) \
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(DT_INST_PROP(inst, lock_gconf) << TMC5041_LOCK_GCONF_SHIFT)), \
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@ -15,7 +15,7 @@
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#define DT_DRV_COMPAT zephyr_fake_stepper
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struct fake_stepper_data {
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enum micro_step_resolution micro_step_res;
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enum stepper_micro_step_resolution micro_step_res;
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int32_t actual_position;
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};
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@ -23,29 +23,30 @@ DEFINE_FAKE_VALUE_FUNC(int, fake_stepper_enable, const struct device *, const bo
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DEFINE_FAKE_VALUE_FUNC(int, fake_stepper_is_moving, const struct device *, bool *);
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DEFINE_FAKE_VALUE_FUNC(int, fake_stepper_move, const struct device *, const int32_t,
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struct k_poll_signal *);
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DEFINE_FAKE_VALUE_FUNC(int, fake_stepper_move, const struct device *, const int32_t);
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DEFINE_FAKE_VALUE_FUNC(int, fake_stepper_set_max_velocity, const struct device *, const uint32_t);
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DEFINE_FAKE_VALUE_FUNC(int, fake_stepper_set_micro_step_res, const struct device *,
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const enum micro_step_resolution);
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const enum stepper_micro_step_resolution);
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DEFINE_FAKE_VALUE_FUNC(int, fake_stepper_get_micro_step_res, const struct device *,
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enum micro_step_resolution *);
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enum stepper_micro_step_resolution *);
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DEFINE_FAKE_VALUE_FUNC(int, fake_stepper_set_actual_position, const struct device *, const int32_t);
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DEFINE_FAKE_VALUE_FUNC(int, fake_stepper_get_actual_position, const struct device *, int32_t *);
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DEFINE_FAKE_VALUE_FUNC(int, fake_stepper_set_target_position, const struct device *, const int32_t,
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struct k_poll_signal *);
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DEFINE_FAKE_VALUE_FUNC(int, fake_stepper_set_target_position, const struct device *, const int32_t);
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DEFINE_FAKE_VALUE_FUNC(int, fake_stepper_enable_constant_velocity_mode, const struct device *,
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const enum stepper_direction, const uint32_t);
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DEFINE_FAKE_VALUE_FUNC(int, fake_stepper_set_event_callback, const struct device *,
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stepper_event_callback_t, void *);
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static int fake_stepper_set_micro_step_res_delegate(const struct device *dev,
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const enum micro_step_resolution res)
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const enum stepper_micro_step_resolution res)
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{
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struct fake_stepper_data *data = dev->data;
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@ -55,7 +56,7 @@ static int fake_stepper_set_micro_step_res_delegate(const struct device *dev,
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}
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static int fake_stepper_get_micro_step_res_delegate(const struct device *dev,
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enum micro_step_resolution *res)
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enum stepper_micro_step_resolution *res)
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{
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struct fake_stepper_data *data = dev->data;
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@ -134,6 +135,7 @@ static const struct stepper_driver_api fake_stepper_driver_api = {
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.get_actual_position = fake_stepper_get_actual_position,
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.set_target_position = fake_stepper_set_target_position,
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.enable_constant_velocity_mode = fake_stepper_enable_constant_velocity_mode,
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.set_event_callback = fake_stepper_set_event_callback,
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};
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#define FAKE_STEPPER_INIT(inst) \
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@ -34,10 +34,11 @@ struct gpio_stepper_data {
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uint8_t step_gap;
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uint8_t coil_charge;
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struct k_work_delayable stepper_dwork;
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struct k_poll_signal *async_signal;
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stepper_event_callback_t callback;
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int32_t actual_position;
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uint32_t delay_in_us;
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int32_t step_count;
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void *event_cb_user_data;
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};
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static int stepper_motor_set_coil_charge(const struct device *dev)
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@ -79,10 +80,11 @@ static void update_remaining_steps(struct gpio_stepper_data *data)
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data->step_count++;
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(void)k_work_reschedule(&data->stepper_dwork, K_USEC(data->delay_in_us));
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} else {
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if (data->async_signal) {
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(void)k_poll_signal_raise(data->async_signal,
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STEPPER_SIGNAL_STEPS_COMPLETED);
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if (!data->callback) {
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LOG_WRN_ONCE("No callback set");
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return;
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}
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data->callback(data->dev, STEPPER_EVENT_STEPS_COMPLETED);
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}
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}
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@ -125,10 +127,10 @@ static void stepper_work_step_handler(struct k_work *work)
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K_SPINLOCK(&data->lock) {
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switch (data->run_mode) {
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case STEPPER_POSITION_MODE:
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case STEPPER_RUN_MODE_POSITION:
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position_mode_task(data->dev);
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break;
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case STEPPER_VELOCITY_MODE:
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case STEPPER_RUN_MODE_VELOCITY:
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velocity_mode_task(data->dev);
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break;
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default:
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@ -138,8 +140,7 @@ static void stepper_work_step_handler(struct k_work *work)
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}
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}
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static int gpio_stepper_move(const struct device *dev, int32_t micro_steps,
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struct k_poll_signal *async)
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static int gpio_stepper_move(const struct device *dev, int32_t micro_steps)
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{
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struct gpio_stepper_data *data = dev->data;
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@ -148,11 +149,7 @@ static int gpio_stepper_move(const struct device *dev, int32_t micro_steps,
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return -EINVAL;
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}
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K_SPINLOCK(&data->lock) {
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if (data->async_signal) {
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k_poll_signal_reset(data->async_signal);
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}
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data->async_signal = async;
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data->run_mode = STEPPER_POSITION_MODE;
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data->run_mode = STEPPER_RUN_MODE_POSITION;
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data->step_count = micro_steps;
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update_direction_from_step_count(data);
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(void)k_work_reschedule(&data->stepper_dwork, K_NO_WAIT);
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@ -180,8 +177,7 @@ static int gpio_stepper_get_actual_position(const struct device *dev, int32_t *p
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return 0;
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}
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static int gpio_stepper_set_target_position(const struct device *dev, int32_t position,
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struct k_poll_signal *async)
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static int gpio_stepper_set_target_position(const struct device *dev, int32_t position)
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{
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struct gpio_stepper_data *data = dev->data;
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@ -190,11 +186,7 @@ static int gpio_stepper_set_target_position(const struct device *dev, int32_t po
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return -EINVAL;
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}
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K_SPINLOCK(&data->lock) {
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if (data->async_signal) {
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k_poll_signal_reset(data->async_signal);
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}
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data->async_signal = async;
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data->run_mode = STEPPER_POSITION_MODE;
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data->run_mode = STEPPER_RUN_MODE_POSITION;
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data->step_count = position - data->actual_position;
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update_direction_from_step_count(data);
|
||||
(void)k_work_reschedule(&data->stepper_dwork, K_NO_WAIT);
|
||||
|
|
@ -239,7 +231,7 @@ static int gpio_stepper_enable_constant_velocity_mode(const struct device *dev,
|
|||
struct gpio_stepper_data *data = dev->data;
|
||||
|
||||
K_SPINLOCK(&data->lock) {
|
||||
data->run_mode = STEPPER_VELOCITY_MODE;
|
||||
data->run_mode = STEPPER_RUN_MODE_VELOCITY;
|
||||
data->direction = direction;
|
||||
if (value != 0) {
|
||||
data->delay_in_us = USEC_PER_SEC / value;
|
||||
|
|
@ -252,13 +244,13 @@ static int gpio_stepper_enable_constant_velocity_mode(const struct device *dev,
|
|||
}
|
||||
|
||||
static int gpio_stepper_set_micro_step_res(const struct device *dev,
|
||||
enum micro_step_resolution micro_step_res)
|
||||
enum stepper_micro_step_resolution micro_step_res)
|
||||
{
|
||||
struct gpio_stepper_data *data = dev->data;
|
||||
|
||||
K_SPINLOCK(&data->lock) {
|
||||
switch (micro_step_res) {
|
||||
case STEPPER_FULL_STEP:
|
||||
case STEPPER_MICRO_STEP_1:
|
||||
case STEPPER_MICRO_STEP_2:
|
||||
data->step_gap = MAX_MICRO_STEP_RES >> (micro_step_res - 1);
|
||||
break;
|
||||
|
|
@ -271,13 +263,25 @@ static int gpio_stepper_set_micro_step_res(const struct device *dev,
|
|||
}
|
||||
|
||||
static int gpio_stepper_get_micro_step_res(const struct device *dev,
|
||||
enum micro_step_resolution *micro_step_res)
|
||||
enum stepper_micro_step_resolution *micro_step_res)
|
||||
{
|
||||
struct gpio_stepper_data *data = dev->data;
|
||||
*micro_step_res = MAX_MICRO_STEP_RES >> (data->step_gap - 1);
|
||||
return 0;
|
||||
}
|
||||
|
||||
static int gpio_stepper_set_event_callback(const struct device *dev,
|
||||
stepper_event_callback_t callback, void *user_data)
|
||||
{
|
||||
struct gpio_stepper_data *data = dev->data;
|
||||
|
||||
K_SPINLOCK(&data->lock) {
|
||||
data->callback = callback;
|
||||
}
|
||||
data->event_cb_user_data = user_data;
|
||||
return 0;
|
||||
}
|
||||
|
||||
static int gpio_stepper_enable(const struct device *dev, bool enable)
|
||||
{
|
||||
struct gpio_stepper_data *data = dev->data;
|
||||
|
|
@ -335,7 +339,8 @@ static int gpio_stepper_motor_controller_init(const struct device *dev)
|
|||
.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};
|
||||
.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, \
|
||||
|
|
|
|||
|
|
@ -8,7 +8,6 @@
|
|||
#include <zephyr/shell/shell.h>
|
||||
#include <zephyr/device.h>
|
||||
#include <zephyr/drivers/stepper.h>
|
||||
#include <stdlib.h>
|
||||
|
||||
#include <zephyr/logging/log.h>
|
||||
LOG_MODULE_REGISTER(stepper_shell, CONFIG_STEPPER_LOG_LEVEL);
|
||||
|
|
@ -21,7 +20,7 @@ enum {
|
|||
|
||||
struct stepper_microstep_map {
|
||||
const char *name;
|
||||
enum micro_step_resolution microstep;
|
||||
enum stepper_micro_step_resolution microstep;
|
||||
};
|
||||
|
||||
struct stepper_direction_map {
|
||||
|
|
@ -41,18 +40,26 @@ struct stepper_direction_map {
|
|||
.microstep = _microstep, \
|
||||
}
|
||||
|
||||
#ifdef CONFIG_STEPPER_SHELL_ASYNC
|
||||
|
||||
static struct k_poll_signal stepper_signal;
|
||||
static struct k_poll_event stepper_poll_event =
|
||||
K_POLL_EVENT_INITIALIZER(K_POLL_TYPE_SIGNAL, K_POLL_MODE_NOTIFY_ONLY, &stepper_signal);
|
||||
|
||||
static bool poll_thread_started;
|
||||
K_THREAD_STACK_DEFINE(poll_thread_stack, CONFIG_STEPPER_SHELL_THREAD_STACK_SIZE);
|
||||
static struct k_thread poll_thread;
|
||||
static int start_polling(const struct shell *sh);
|
||||
|
||||
#endif /* CONFIG_STEPPER_SHELL_ASYNC */
|
||||
static void print_callback(const struct device *dev, const enum stepper_event event)
|
||||
{
|
||||
switch (event) {
|
||||
case STEPPER_EVENT_STEPS_COMPLETED:
|
||||
LOG_INF("%s: Steps completed.", dev->name);
|
||||
break;
|
||||
case STEPPER_EVENT_STALL_DETECTED:
|
||||
LOG_INF("%s: Stall detected.", dev->name);
|
||||
break;
|
||||
case STEPPER_EVENT_LEFT_END_STOP_DETECTED:
|
||||
LOG_INF("%s: Left limit switch pressed.", dev->name);
|
||||
break;
|
||||
case STEPPER_EVENT_RIGHT_END_STOP_DETECTED:
|
||||
LOG_INF("%s: Right limit switch pressed.", dev->name);
|
||||
break;
|
||||
default:
|
||||
LOG_INF("%s: Unknown signal received.", dev->name);
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
static const struct stepper_direction_map stepper_direction_map[] = {
|
||||
STEPPER_DIRECTION_MAP_ENTRY("positive", STEPPER_DIRECTION_POSITIVE),
|
||||
|
|
@ -60,7 +67,7 @@ static const struct stepper_direction_map stepper_direction_map[] = {
|
|||
};
|
||||
|
||||
static const struct stepper_microstep_map stepper_microstep_map[] = {
|
||||
STEPPER_MICROSTEP_MAP("1", STEPPER_FULL_STEP),
|
||||
STEPPER_MICROSTEP_MAP("1", STEPPER_MICRO_STEP_1),
|
||||
STEPPER_MICROSTEP_MAP("2", STEPPER_MICRO_STEP_2),
|
||||
STEPPER_MICROSTEP_MAP("4", STEPPER_MICRO_STEP_4),
|
||||
STEPPER_MICROSTEP_MAP("8", STEPPER_MICRO_STEP_8),
|
||||
|
|
@ -181,8 +188,7 @@ static int cmd_stepper_move(const struct shell *sh, size_t argc, char **argv)
|
|||
{
|
||||
const struct device *dev;
|
||||
int err = 0;
|
||||
struct k_poll_signal *poll_signal =
|
||||
COND_CODE_1(CONFIG_STEPPER_SHELL_ASYNC, (&stepper_signal), (NULL));
|
||||
|
||||
int32_t micro_steps = shell_strtol(argv[ARG_IDX_PARAM], 10, &err);
|
||||
|
||||
if (err < 0) {
|
||||
|
|
@ -194,11 +200,12 @@ static int cmd_stepper_move(const struct shell *sh, size_t argc, char **argv)
|
|||
return err;
|
||||
}
|
||||
|
||||
#ifdef CONFIG_STEPPER_SHELL_ASYNC
|
||||
start_polling(sh);
|
||||
#endif /* CONFIG_STEPPER_SHELL_ASYNC */
|
||||
err = stepper_set_callback(dev, print_callback, NULL);
|
||||
if (err != 0) {
|
||||
shell_error(sh, "Failed to set callback: %d", err);
|
||||
}
|
||||
|
||||
err = stepper_move(dev, micro_steps, poll_signal);
|
||||
err = stepper_move(dev, micro_steps);
|
||||
if (err) {
|
||||
shell_error(sh, "Error: %d", err);
|
||||
}
|
||||
|
|
@ -232,7 +239,7 @@ static int cmd_stepper_set_max_velocity(const struct shell *sh, size_t argc, cha
|
|||
static int cmd_stepper_set_micro_step_res(const struct shell *sh, size_t argc, char **argv)
|
||||
{
|
||||
const struct device *dev;
|
||||
enum micro_step_resolution resolution;
|
||||
enum stepper_micro_step_resolution resolution;
|
||||
int err = -EINVAL;
|
||||
|
||||
for (int i = 0; i < ARRAY_SIZE(stepper_microstep_map); i++) {
|
||||
|
|
@ -264,7 +271,7 @@ static int cmd_stepper_get_micro_step_res(const struct shell *sh, size_t argc, c
|
|||
{
|
||||
const struct device *dev;
|
||||
int err;
|
||||
enum micro_step_resolution micro_step_res;
|
||||
enum stepper_micro_step_resolution micro_step_res;
|
||||
|
||||
err = parse_device_arg(sh, argv, &dev);
|
||||
if (err < 0) {
|
||||
|
|
@ -335,19 +342,17 @@ static int cmd_stepper_set_target_position(const struct shell *sh, size_t argc,
|
|||
return err;
|
||||
}
|
||||
|
||||
struct k_poll_signal *poll_signal =
|
||||
COND_CODE_1(CONFIG_STEPPER_SHELL_ASYNC, (&stepper_signal), (NULL));
|
||||
|
||||
err = parse_device_arg(sh, argv, &dev);
|
||||
if (err < 0) {
|
||||
return err;
|
||||
}
|
||||
|
||||
#ifdef CONFIG_STEPPER_SHELL_ASYNC
|
||||
start_polling(sh);
|
||||
#endif /* CONFIG_STEPPER_SHELL_ASYNC */
|
||||
err = stepper_set_callback(dev, print_callback, NULL);
|
||||
if (err != 0) {
|
||||
shell_error(sh, "Failed to set callback: %d", err);
|
||||
}
|
||||
|
||||
err = stepper_set_target_position(dev, position, poll_signal);
|
||||
err = stepper_set_target_position(dev, position);
|
||||
if (err) {
|
||||
shell_error(sh, "Error: %d", err);
|
||||
}
|
||||
|
|
@ -385,6 +390,11 @@ static int cmd_stepper_enable_constant_velocity_mode(const struct shell *sh, siz
|
|||
return err;
|
||||
}
|
||||
|
||||
err = stepper_set_callback(dev, print_callback, NULL);
|
||||
if (err != 0) {
|
||||
shell_error(sh, "Failed to set callback: %d", err);
|
||||
}
|
||||
|
||||
err = stepper_enable_constant_velocity_mode(dev, direction, velocity);
|
||||
if (err) {
|
||||
shell_error(sh, "Error: %d", err);
|
||||
|
|
@ -400,7 +410,7 @@ static int cmd_stepper_info(const struct shell *sh, size_t argc, char **argv)
|
|||
int err;
|
||||
bool is_moving;
|
||||
int32_t actual_position;
|
||||
enum micro_step_resolution micro_step_res;
|
||||
enum stepper_micro_step_resolution micro_step_res;
|
||||
|
||||
err = parse_device_arg(sh, argv, &dev);
|
||||
if (err < 0) {
|
||||
|
|
@ -434,66 +444,6 @@ static int cmd_stepper_info(const struct shell *sh, size_t argc, char **argv)
|
|||
return 0;
|
||||
}
|
||||
|
||||
#ifdef CONFIG_STEPPER_SHELL_ASYNC
|
||||
|
||||
static void stepper_poll_thread(void *p1, void *p2, void *p3)
|
||||
{
|
||||
ARG_UNUSED(p2);
|
||||
ARG_UNUSED(p3);
|
||||
const struct shell *sh = p1;
|
||||
|
||||
while (1) {
|
||||
k_poll(&stepper_poll_event, 1, K_FOREVER);
|
||||
|
||||
switch (stepper_poll_event.signal->result) {
|
||||
case STEPPER_SIGNAL_STEPS_COMPLETED:
|
||||
shell_fprintf_info(sh, "Stepper: All steps completed.\n");
|
||||
break;
|
||||
case STEPPER_SIGNAL_SENSORLESS_STALL_DETECTED:
|
||||
shell_fprintf_info(sh, "Stepper: Sensorless stall detected.\n");
|
||||
break;
|
||||
case STEPPER_SIGNAL_LEFT_END_STOP_DETECTED:
|
||||
shell_fprintf_info(sh, "Stepper: Left limit switch pressed.\n");
|
||||
break;
|
||||
case STEPPER_SIGNAL_RIGHT_END_STOP_DETECTED:
|
||||
shell_fprintf_normal(sh, "Stepper: Right limit switch pressed.\n");
|
||||
break;
|
||||
default:
|
||||
shell_fprintf_error(sh, "Stepper: Unknown signal received.\n");
|
||||
break;
|
||||
}
|
||||
|
||||
k_poll_signal_reset(&stepper_signal);
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
static int start_polling(const struct shell *sh)
|
||||
{
|
||||
k_tid_t tid;
|
||||
|
||||
if (poll_thread_started) {
|
||||
return 0;
|
||||
}
|
||||
|
||||
k_poll_signal_init(&stepper_signal);
|
||||
tid = k_thread_create(&poll_thread, poll_thread_stack,
|
||||
K_KERNEL_STACK_SIZEOF(poll_thread_stack), stepper_poll_thread,
|
||||
(void *)sh, NULL, NULL, CONFIG_STEPPER_SHELL_THREAD_PRIORITY, 0,
|
||||
K_NO_WAIT);
|
||||
if (!tid) {
|
||||
shell_error(sh, "Cannot start poll thread");
|
||||
return -ENOEXEC;
|
||||
}
|
||||
|
||||
k_thread_name_set(tid, "stepper_shell");
|
||||
k_thread_start(tid);
|
||||
poll_thread_started = true;
|
||||
return 0;
|
||||
}
|
||||
|
||||
#endif /* CONFIG_STEPPER_SHELL_ASYNC */
|
||||
|
||||
SHELL_STATIC_SUBCMD_SET_CREATE(
|
||||
stepper_cmds,
|
||||
SHELL_CMD_ARG(enable, &dsub_pos_stepper_motor_name, "<device> <on/off>", cmd_stepper_enable,
|
||||
|
|
|
|||
|
|
@ -16,30 +16,32 @@ extern "C" {
|
|||
|
||||
DECLARE_FAKE_VALUE_FUNC(int, fake_stepper_enable, const struct device *, const bool);
|
||||
|
||||
DECLARE_FAKE_VALUE_FUNC(int, fake_stepper_move, const struct device *, const int32_t,
|
||||
struct k_poll_signal *);
|
||||
DECLARE_FAKE_VALUE_FUNC(int, fake_stepper_move, const struct device *, const int32_t);
|
||||
|
||||
DECLARE_FAKE_VALUE_FUNC(int, fake_stepper_set_max_velocity, const struct device *, const uint32_t);
|
||||
|
||||
DECLARE_FAKE_VALUE_FUNC(int, fake_stepper_set_micro_step_res, const struct device *,
|
||||
const enum micro_step_resolution);
|
||||
const enum stepper_micro_step_resolution);
|
||||
|
||||
DECLARE_FAKE_VALUE_FUNC(int, fake_stepper_get_micro_step_res, const struct device *,
|
||||
enum micro_step_resolution *);
|
||||
enum stepper_micro_step_resolution *);
|
||||
|
||||
DECLARE_FAKE_VALUE_FUNC(int, fake_stepper_set_actual_position, const struct device *,
|
||||
const int32_t);
|
||||
|
||||
DECLARE_FAKE_VALUE_FUNC(int, fake_stepper_get_actual_position, const struct device *, int32_t *);
|
||||
|
||||
DECLARE_FAKE_VALUE_FUNC(int, fake_stepper_set_target_position, const struct device *, const int32_t,
|
||||
struct k_poll_signal *);
|
||||
DECLARE_FAKE_VALUE_FUNC(int, fake_stepper_set_target_position, const struct device *,
|
||||
const int32_t);
|
||||
|
||||
DECLARE_FAKE_VALUE_FUNC(int, fake_stepper_is_moving, const struct device *, bool *);
|
||||
|
||||
DECLARE_FAKE_VALUE_FUNC(int, fake_stepper_enable_constant_velocity_mode, const struct device *,
|
||||
const enum stepper_direction, const uint32_t);
|
||||
|
||||
DECLARE_FAKE_VALUE_FUNC(int, fake_stepper_set_event_callback, const struct device *,
|
||||
stepper_event_callback_t, void *);
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
|
|
|||
Loading…
Reference in a new issue