9  * SPDX-FileCopyrightText: Copyright (c) 2024 Carl Zeiss Meditec AG
10  * SPDX-FileCopyrightText: Copyright (c) 2024 Jilay Sandeep Pandya
11  * SPDX-License-Identifier: Apache-2.0
32 #define MICRO_STEP_RES_INDEX(res) LOG2(res)  argument
35  * @brief Stepper Motor micro step resolution options
38 	/** Full step resolution */
40 	/** 2 micro steps per full step */
42 	/** 4 micro steps per full step */
44 	/** 8 micro steps per full step */
46 	/** 16 micro steps per full step */
48 	/** 32 micro steps per full step */
50 	/** 64 micro steps per full step */
52 	/** 128 micro steps per full step */
54 	/** 256 micro steps per full step */
124  * @brief Set the micro-step resolution
132  * @brief Get the micro-step resolution
215  * @retval -EIO Error during Enabling
222 	const struct stepper_driver_api *api = (const struct stepper_driver_api *)dev->api;  in z_impl_stepper_enable()
224 	return api->enable(dev, enable);  in z_impl_stepper_enable()
231  * This function is non-blocking.
236  * @retval -ECANCELED If the stepper is disabled
237  * @retval -EIO General input / output error
244 	const struct stepper_driver_api *api = (const struct stepper_driver_api *)dev->api;  in z_impl_stepper_move_by()
246 	return api->move_by(dev, micro_steps);  in z_impl_stepper_move_by()
253  * toggle the STEP Pin, the pulse_length would have to be calculated based on this parameter in the
261  * @retval -EIO General input / output error
262  * @retval -EINVAL If the requested velocity is not supported
270 	const struct stepper_driver_api *api = (const struct stepper_driver_api *)dev->api;  in z_impl_stepper_set_max_velocity()
272 	return api->set_max_velocity(dev, micro_steps_per_second);  in z_impl_stepper_set_max_velocity()
281  * @retval -EIO General input / output error
282  * @retval -ENOSYS If not implemented by device driver
283  * @retval -ENOTSUP If the requested resolution is not supported
292 	const struct stepper_driver_api *api = (const struct stepper_driver_api *)dev->api;  in z_impl_stepper_set_micro_step_res()
294 	if (api->set_micro_step_res == NULL) {  in z_impl_stepper_set_micro_step_res()
295 		return -ENOSYS;  in z_impl_stepper_set_micro_step_res()
297 	return api->set_micro_step_res(dev, resolution);  in z_impl_stepper_set_micro_step_res()
306  * @retval -EIO General input / output error
307  * @retval -ENOSYS If not implemented by device driver
316 	const struct stepper_driver_api *api = (const struct stepper_driver_api *)dev->api;  in z_impl_stepper_get_micro_step_res()
318 	if (api->get_micro_step_res == NULL) {  in z_impl_stepper_get_micro_step_res()
319 		return -ENOSYS;  in z_impl_stepper_get_micro_step_res()
321 	return api->get_micro_step_res(dev, resolution);  in z_impl_stepper_get_micro_step_res()
328  * @param value The reference position to set in micro-steps.
330  * @retval -EIO General input / output error
331  * @retval -ENOSYS If not implemented by device driver
339 	const struct stepper_driver_api *api = (const struct stepper_driver_api *)dev->api;  in z_impl_stepper_set_reference_position()
341 	if (api->set_reference_position == NULL) {  in z_impl_stepper_set_reference_position()
342 		return -ENOSYS;  in z_impl_stepper_set_reference_position()
344 	return api->set_reference_position(dev, value);  in z_impl_stepper_set_reference_position()
353  * @retval -EIO General input / output error
354  * @retval -ENOSYS If not implemented by device driver
361 	const struct stepper_driver_api *api = (const struct stepper_driver_api *)dev->api;  in z_impl_stepper_get_actual_position()
363 	if (api->get_actual_position == NULL) {  in z_impl_stepper_get_actual_position()
364 		return -ENOSYS;  in z_impl_stepper_get_actual_position()
366 	return api->get_actual_position(dev, value);  in z_impl_stepper_get_actual_position()
373  * This function is non-blocking.
378  * @retval -ECANCELED If the stepper is disabled
379  * @retval -EIO General input / output error
380  * @retval -ENOSYS If not implemented by device driver
387 	const struct stepper_driver_api *api = (const struct stepper_driver_api *)dev->api;  in z_impl_stepper_move_to()
389 	if (api->move_to == NULL) {  in z_impl_stepper_move_to()
390 		return -ENOSYS;  in z_impl_stepper_move_to()
392 	return api->move_to(dev, micro_steps);  in z_impl_stepper_move_to()
401  * @retval -EIO General input / output error
402  * @retval -ENOSYS If not implemented by device driver
409 	const struct stepper_driver_api *api = (const struct stepper_driver_api *)dev->api;  in z_impl_stepper_is_moving()
411 	if (api->is_moving == NULL) {  in z_impl_stepper_is_moving()
412 		return -ENOSYS;  in z_impl_stepper_is_moving()
414 	return api->is_moving(dev, is_moving);  in z_impl_stepper_is_moving()
422  * This function is non-blocking.
427  *                 - > 0: Run the stepper with the given velocity in a given direction
428  *                 - 0: Stop the stepper
430  * @retval -ECANCELED If the stepper is disabled
431  * @retval -EIO General input / output error
432  * @retval -ENOSYS If not implemented by device driver
442 	const struct stepper_driver_api *api = (const struct stepper_driver_api *)dev->api;  in z_impl_stepper_run()
444 	if (api->run == NULL) {  in z_impl_stepper_run()
445 		return -ENOSYS;  in z_impl_stepper_run()
447 	return api->run(dev, direction, velocity);  in z_impl_stepper_run()
458  * @retval -ENOSYS If not implemented by device driver
468 	const struct stepper_driver_api *api = (const struct stepper_driver_api *)dev->api;  in z_impl_stepper_set_event_callback()
470 	if (api->set_event_callback == NULL) {  in z_impl_stepper_set_event_callback()
471 		return -ENOSYS;  in z_impl_stepper_set_event_callback()
473 	return api->set_event_callback(dev, callback, user_data);  in z_impl_stepper_set_event_callback()