e93279e773
- Include the enable, m0, and m1 microstep to the common init config. - Refactor drivers that manually init these pins to use the pins from the common config. Signed-off-by: Hong Nguyen <hong.nguyen.k54@gmail.com>
67 lines
2.3 KiB
C
67 lines
2.3 KiB
C
/*
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* Copyright 2024 Fabian Blatz <fabianblatz@gmail.com>
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*
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* SPDX-License-Identifier: Apache-2.0
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*/
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#ifndef ZEPHYR_DRIVER_STEPPER_STEP_DIR_STEPPER_COMMON_H_
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#define ZEPHYR_DRIVER_STEPPER_STEP_DIR_STEPPER_COMMON_H_
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/**
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* @brief Stepper Driver APIs
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* @defgroup step_dir_stepper Stepper Driver APIs
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* @ingroup io_interfaces
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* @{
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*/
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#include <zephyr/device.h>
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/**
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* @brief Common step direction stepper config.
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*
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* This structure **must** be placed first in the driver's config structure.
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*/
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struct step_dir_stepper_common_config {
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struct gpio_dt_spec en_pin;
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struct gpio_dt_spec m0_pin;
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struct gpio_dt_spec m1_pin;
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uint32_t step_width_ns;
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bool dual_edge;
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};
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/**
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* @brief Initialize common step direction stepper config from devicetree instance.
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* If the counter property is set, the timing source will be set to the counter timing
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* source.
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*
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* @param node_id The devicetree node identifier.
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*/
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#define STEP_DIR_STEPPER_DT_COMMON_CONFIG_INIT(node_id) \
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{ \
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.en_pin = GPIO_DT_SPEC_GET_OR(node_id, en_gpios, {0}), \
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.m0_pin = GPIO_DT_SPEC_GET_OR(node_id, m0_gpios, {0}), \
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.m1_pin = GPIO_DT_SPEC_GET_OR(node_id, m1_gpios, {0}), \
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.dual_edge = DT_PROP_OR(node_id, dual_edge_step, false), \
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.step_width_ns = DT_PROP(node_id, step_width_ns), \
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}
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/**
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* @brief Initialize common step direction stepper config from devicetree instance.
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* @param inst Instance.
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*/
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#define STEP_DIR_STEPPER_DT_INST_COMMON_CONFIG_INIT(inst) \
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STEP_DIR_STEPPER_DT_COMMON_CONFIG_INIT(DT_DRV_INST(inst))
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/**
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* @brief Validate the offset of the common data structures.
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*
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* @param config Name of the config structure.
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*/
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#define STEP_DIR_STEPPER_STRUCT_CHECK(config) \
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BUILD_ASSERT(offsetof(config, common) == 0, \
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"struct step_dir_stepper_common_config must be placed first");
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/** @} */
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#endif /* ZEPHYR_DRIVER_STEPPER_STEP_DIR_STEPPER_COMMON_H_ */
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