11 #include <zephyr/drivers/stepper.h>
12 #include <zephyr/drivers/stepper/stepper_trinamic.h>
38 	const struct device *stepper;  member
155 	const struct tmc5041_stepper_config *stepper_config = stepper_data->stepper->config;  in stallguard_work_handler()
157 	err = stallguard_enable(stepper_data->stepper, true);  in stallguard_work_handler()
187 	const struct tmc5041_stepper_config *stepper_config = stepper_data->stepper->config;  in rampstat_work_handler()
197 		LOG_ERR("%s: Failed to read DRVSTATUS register", stepper_data->stepper->name);  in rampstat_work_handler()
202 		LOG_INF("%s: Stall detected", stepper_data->stepper->name);  in rampstat_work_handler()
207 			LOG_ERR("%s: Failed to stop motor", stepper_data->stepper->name);  in rampstat_work_handler()
217 		LOG_ERR("%s: Failed to read RAMPSTAT register", stepper_data->stepper->name);  in rampstat_work_handler()
227 			LOG_DBG("RAMPSTAT %s:Left end-stop detected", stepper_data->stepper->name);  in rampstat_work_handler()
228 			execute_callback(stepper_data->stepper,  in rampstat_work_handler()
233 			LOG_DBG("RAMPSTAT %s:Right end-stop detected", stepper_data->stepper->name);  in rampstat_work_handler()
234 			execute_callback(stepper_data->stepper,  in rampstat_work_handler()
239 			LOG_DBG("RAMPSTAT %s:Position reached", stepper_data->stepper->name);  in rampstat_work_handler()
240 			execute_callback(stepper_data->stepper, STEPPER_EVENT_STEPS_COMPLETED);  in rampstat_work_handler()
244 			LOG_DBG("RAMPSTAT %s:Stall detected", stepper_data->stepper->name);  in rampstat_work_handler()
245 			stallguard_enable(stepper_data->stepper, false);  in rampstat_work_handler()
246 			execute_callback(stepper_data->stepper, STEPPER_EVENT_STALL_DETECTED);  in rampstat_work_handler()
263 	LOG_DBG("Stepper motor controller %s %s", dev->name, enable ? "enabled" : "disabled");  in tmc5041_stepper_enable()
300 	LOG_DBG("Stepper motor controller %s is moving: %d", dev->name, *is_moving);  in tmc5041_stepper_is_moving()
330 	LOG_DBG("Stepper motor controller %s moved to %d by steps: %d", dev->name, target_position,  in tmc5041_stepper_move_by()
390 	LOG_DBG("Stepper motor controller %s set micro step resolution to 0x%x", dev->name,  in tmc5041_stepper_set_micro_step_res()
409 	LOG_DBG("Stepper motor controller %s get micro step resolution: %d", dev->name, *res);  in tmc5041_stepper_get_micro_step_res()
428 	LOG_DBG("Stepper motor controller %s set actual position to %d", dev->name, position);  in tmc5041_stepper_set_reference_position()
447 	LOG_DBG("Stepper motor controller %s set target position to %d", dev->name, micro_steps);  in tmc5041_stepper_move_to()
483 	LOG_DBG("Stepper motor controller %s run with velocity %d", dev->name, velocity);  in tmc5041_stepper_run()
545 	LOG_DBG("Stepper motor controller %s set ramp", dev->name);  in tmc5041_stepper_set_ramp()
607 	LOG_DBG("TMC5041 stepper motor controller %s initialized", dev->name);  in tmc5041_init()
644 	LOG_DBG("Controller: %s, Stepper: %s", stepper_config->controller->name, dev->name);  in tmc5041_stepper_init()
720 		.stepper = DEVICE_DT_GET(child),};
723 	static DEVICE_API(stepper, tmc5041_stepper_api_##child) = {				\