2  * SPDX-FileCopyrightText: Copyright (c) 2024 Carl Zeiss Meditec AG
3  * SPDX-FileCopyrightText: Copyright (c) 2024 Jilay Sandeep Pandya
4  * SPDX-License-Identifier: Apache-2.0
49 	struct gpio_stepper_data *data = dev->data;  in stepper_motor_set_coil_charge()
50 	const struct gpio_stepper_config *config = dev->config;  in stepper_motor_set_coil_charge()
53 		(void)gpio_pin_set_dt(&config->control_pins[i],  in stepper_motor_set_coil_charge()
54 				      half_step_lookup_table[data->coil_charge][i]);  in stepper_motor_set_coil_charge()
61 	struct gpio_stepper_data *data = dev->data;  in increment_coil_charge()
63 	if (data->coil_charge == NUM_CONTROL_PINS * MAX_MICRO_STEP_RES - data->step_gap) {  in increment_coil_charge()
64 		data->coil_charge = 0;  in increment_coil_charge()
66 		data->coil_charge = data->coil_charge + data->step_gap;  in increment_coil_charge()
72 	struct gpio_stepper_data *data = dev->data;  in decrement_coil_charge()
74 	if (data->coil_charge == 0) {  in decrement_coil_charge()
75 		data->coil_charge = NUM_CONTROL_PINS * MAX_MICRO_STEP_RES - data->step_gap;  in decrement_coil_charge()
77 		data->coil_charge = data->coil_charge - data->step_gap;  in decrement_coil_charge()
83 	const struct gpio_stepper_config *config = dev->config;  in power_down_coils()
86 		const int err = gpio_pin_set_dt(&config->control_pins[i], 0u);  in power_down_coils()
89 			LOG_ERR("Failed to power down coil %d", i);  in power_down_coils()
98 	const struct gpio_stepper_config *config = dev->config;  in update_coil_charge()
99 	struct gpio_stepper_data *data = dev->data;  in update_coil_charge()
101 	if (data->direction == STEPPER_DIRECTION_POSITIVE) {  in update_coil_charge()
102 		config->invert_direction ? decrement_coil_charge(dev) : increment_coil_charge(dev);  in update_coil_charge()
103 		data->actual_position++;  in update_coil_charge()
104 	} else if (data->direction == STEPPER_DIRECTION_NEGATIVE) {  in update_coil_charge()
105 		config->invert_direction ? increment_coil_charge(dev) : decrement_coil_charge(dev);  in update_coil_charge()
106 		data->actual_position--;  in update_coil_charge()
112 	if (data->step_count > 0) {  in update_remaining_steps()
113 		data->step_count--;  in update_remaining_steps()
114 		(void)k_work_reschedule(&data->stepper_dwork, K_USEC(data->delay_in_us));  in update_remaining_steps()
115 	} else if (data->step_count < 0) {  in update_remaining_steps()
116 		data->step_count++;  in update_remaining_steps()
117 		(void)k_work_reschedule(&data->stepper_dwork, K_USEC(data->delay_in_us));  in update_remaining_steps()
119 		if (!data->callback) {  in update_remaining_steps()
123 		data->callback(data->dev, STEPPER_EVENT_STEPS_COMPLETED, data->event_cb_user_data);  in update_remaining_steps()
129 	struct gpio_stepper_data *data = dev->data;  in update_direction_from_step_count()
131 	if (data->step_count > 0) {  in update_direction_from_step_count()
132 		data->direction = STEPPER_DIRECTION_POSITIVE;  in update_direction_from_step_count()
133 	} else if (data->step_count < 0) {  in update_direction_from_step_count()
134 		data->direction = STEPPER_DIRECTION_NEGATIVE;  in update_direction_from_step_count()
136 		LOG_ERR("Step count is zero");  in update_direction_from_step_count()
142 	struct gpio_stepper_data *data = dev->data;  in position_mode_task()
144 	if (data->step_count) {  in position_mode_task()
148 	update_remaining_steps(dev->data);  in position_mode_task()
153 	struct gpio_stepper_data *data = dev->data;  in velocity_mode_task()
157 	(void)k_work_reschedule(&data->stepper_dwork, K_USEC(data->delay_in_us));  in velocity_mode_task()
166 	K_SPINLOCK(&data->lock) {  in stepper_work_step_handler()
167 		switch (data->run_mode) {  in stepper_work_step_handler()
169 			position_mode_task(data->dev);  in stepper_work_step_handler()
172 			velocity_mode_task(data->dev);  in stepper_work_step_handler()
175 			LOG_WRN("Unsupported run mode %d", data->run_mode);  in stepper_work_step_handler()
183 	struct gpio_stepper_data *data = dev->data;  in gpio_stepper_move_by()
185 	if (!data->is_enabled) {  in gpio_stepper_move_by()
187 		return -ECANCELED;  in gpio_stepper_move_by()
190 	if (data->delay_in_us == 0) {  in gpio_stepper_move_by()
192 		return -EINVAL;  in gpio_stepper_move_by()
194 	K_SPINLOCK(&data->lock) {  in gpio_stepper_move_by()
195 		data->run_mode = STEPPER_RUN_MODE_POSITION;  in gpio_stepper_move_by()
196 		data->step_count = micro_steps;  in gpio_stepper_move_by()
198 		(void)k_work_reschedule(&data->stepper_dwork, K_NO_WAIT);  in gpio_stepper_move_by()
205 	struct gpio_stepper_data *data = dev->data;  in gpio_stepper_set_reference_position()
207 	K_SPINLOCK(&data->lock) {  in gpio_stepper_set_reference_position()
208 		data->actual_position = position;  in gpio_stepper_set_reference_position()
215 	struct gpio_stepper_data *data = dev->data;  in gpio_stepper_get_actual_position()
217 	K_SPINLOCK(&data->lock) {  in gpio_stepper_get_actual_position()
218 		*position = data->actual_position;  in gpio_stepper_get_actual_position()
225 	struct gpio_stepper_data *data = dev->data;  in gpio_stepper_move_to()
227 	if (!data->is_enabled) {  in gpio_stepper_move_to()
229 		return -ECANCELED;  in gpio_stepper_move_to()
232 	if (data->delay_in_us == 0) {  in gpio_stepper_move_to()
234 		return -EINVAL;  in gpio_stepper_move_to()
236 	K_SPINLOCK(&data->lock) {  in gpio_stepper_move_to()
237 		data->run_mode = STEPPER_RUN_MODE_POSITION;  in gpio_stepper_move_to()
238 		data->step_count = micro_steps - data->actual_position;  in gpio_stepper_move_to()
240 		(void)k_work_reschedule(&data->stepper_dwork, K_NO_WAIT);  in gpio_stepper_move_to()
247 	struct gpio_stepper_data *data = dev->data;  in gpio_stepper_is_moving()
249 	*is_moving = k_work_delayable_is_pending(&data->stepper_dwork);  in gpio_stepper_is_moving()
256 	struct gpio_stepper_data *data = dev->data;  in gpio_stepper_set_max_velocity()
260 		return -EINVAL;  in gpio_stepper_set_max_velocity()
265 		return -EINVAL;  in gpio_stepper_set_max_velocity()
268 	K_SPINLOCK(&data->lock) {  in gpio_stepper_set_max_velocity()
269 		data->delay_in_us = USEC_PER_SEC / velocity;  in gpio_stepper_set_max_velocity()
278 	struct gpio_stepper_data *data = dev->data;  in gpio_stepper_run()
280 	if (!data->is_enabled) {  in gpio_stepper_run()
282 		return -ECANCELED;  in gpio_stepper_run()
285 	K_SPINLOCK(&data->lock) {  in gpio_stepper_run()
286 		data->run_mode = STEPPER_RUN_MODE_VELOCITY;  in gpio_stepper_run()
287 		data->direction = direction;  in gpio_stepper_run()
289 			data->delay_in_us = USEC_PER_SEC / velocity;  in gpio_stepper_run()
290 			(void)k_work_reschedule(&data->stepper_dwork, K_NO_WAIT);  in gpio_stepper_run()
292 			(void)k_work_cancel_delayable(&data->stepper_dwork);  in gpio_stepper_run()
301 	struct gpio_stepper_data *data = dev->data;  in gpio_stepper_set_micro_step_res()
303 	K_SPINLOCK(&data->lock) {  in gpio_stepper_set_micro_step_res()
307 			data->step_gap = MAX_MICRO_STEP_RES >> (micro_step_res - 1);  in gpio_stepper_set_micro_step_res()
310 			LOG_ERR("Unsupported micro step resolution %d", micro_step_res);  in gpio_stepper_set_micro_step_res()
311 			return -ENOTSUP;  in gpio_stepper_set_micro_step_res()
320 	struct gpio_stepper_data *data = dev->data;  in gpio_stepper_get_micro_step_res()
321 	*micro_step_res = MAX_MICRO_STEP_RES >> (data->step_gap - 1);  in gpio_stepper_get_micro_step_res()
328 	struct gpio_stepper_data *data = dev->data;  in gpio_stepper_set_event_callback()
330 	K_SPINLOCK(&data->lock) {  in gpio_stepper_set_event_callback()
331 		data->callback = callback;  in gpio_stepper_set_event_callback()
333 	data->event_cb_user_data = user_data;  in gpio_stepper_set_event_callback()
339 	struct gpio_stepper_data *data = dev->data;  in gpio_stepper_enable()
341 	K_SPINLOCK(&data->lock) {  in gpio_stepper_enable()
343 		data->is_enabled = enable;  in gpio_stepper_enable()
346 			(void)k_work_reschedule(&data->stepper_dwork, K_NO_WAIT);  in gpio_stepper_enable()
348 			(void)k_work_cancel_delayable(&data->stepper_dwork);  in gpio_stepper_enable()
352 				return -EIO;  in gpio_stepper_enable()
361 	struct gpio_stepper_data *data = dev->data;  in gpio_stepper_init()
362 	const struct gpio_stepper_config *config = dev->config;  in gpio_stepper_init()
364 	data->dev = dev;  in gpio_stepper_init()
365 	LOG_DBG("Initializing %s gpio_stepper with %d pin", dev->name, NUM_CONTROL_PINS);  in gpio_stepper_init()
367 		(void)gpio_pin_configure_dt(&config->control_pins[n_pin], GPIO_OUTPUT_INACTIVE);  in gpio_stepper_init()
369 	k_work_init_delayable(&data->stepper_dwork, stepper_work_step_handler);  in gpio_stepper_init()
397 		.step_gap = MAX_MICRO_STEP_RES >> (DT_INST_PROP(inst, micro_step_res) - 1),	\