1 /*
2 * SPDX-FileCopyrightText: Copyright (c) 2024 Fabian Blatz <fabianblatz@gmail.com>
3 * SPDX-License-Identifier: Apache-2.0
4 */
5
6 #include <zephyr/drivers/counter.h>
7 #include "step_dir_stepper_common.h"
8
9 #include <zephyr/logging/log.h>
10 LOG_MODULE_DECLARE(step_dir_stepper);
11
step_counter_top_interrupt(const struct device * dev,void * user_data)12 static void step_counter_top_interrupt(const struct device *dev, void *user_data)
13 {
14 ARG_UNUSED(dev);
15 struct step_dir_stepper_common_data *data = user_data;
16
17 stepper_handle_timing_signal(data->dev);
18 }
19
step_counter_timing_source_update(const struct device * dev,const uint64_t microstep_interval_ns)20 int step_counter_timing_source_update(const struct device *dev,
21 const uint64_t microstep_interval_ns)
22 {
23 const struct step_dir_stepper_common_config *config = dev->config;
24 struct step_dir_stepper_common_data *data = dev->data;
25 int ret;
26
27 if (microstep_interval_ns == 0) {
28 return -EINVAL;
29 }
30
31 data->counter_top_cfg.ticks = DIV_ROUND_UP(
32 counter_get_frequency(config->counter) * microstep_interval_ns, NSEC_PER_SEC);
33
34 /* Lock interrupts while modifying counter settings */
35 int key = irq_lock();
36
37 ret = counter_set_top_value(config->counter, &data->counter_top_cfg);
38
39 irq_unlock(key);
40
41 if (ret != 0) {
42 LOG_ERR("%s: Failed to set counter top value (error: %d)", dev->name, ret);
43 return ret;
44 }
45
46 return 0;
47 }
48
step_counter_timing_source_start(const struct device * dev)49 int step_counter_timing_source_start(const struct device *dev)
50 {
51 const struct step_dir_stepper_common_config *config = dev->config;
52 struct step_dir_stepper_common_data *data = dev->data;
53 int ret;
54
55 ret = counter_start(config->counter);
56 if (ret < 0 && ret != -EALREADY) {
57 LOG_ERR("Failed to start counter: %d", ret);
58 return ret;
59 }
60
61 data->counter_running = true;
62
63 return 0;
64 }
65
step_counter_timing_source_stop(const struct device * dev)66 int step_counter_timing_source_stop(const struct device *dev)
67 {
68 const struct step_dir_stepper_common_config *config = dev->config;
69 struct step_dir_stepper_common_data *data = dev->data;
70 int ret;
71
72 ret = counter_stop(config->counter);
73 if (ret < 0 && ret != -EALREADY) {
74 LOG_ERR("Failed to stop counter: %d", ret);
75 return ret;
76 }
77
78 data->counter_running = false;
79
80 return 0;
81 }
82
step_counter_timing_source_needs_reschedule(const struct device * dev)83 bool step_counter_timing_source_needs_reschedule(const struct device *dev)
84 {
85 ARG_UNUSED(dev);
86 return false;
87 }
88
step_counter_timing_source_is_running(const struct device * dev)89 bool step_counter_timing_source_is_running(const struct device *dev)
90 {
91 struct step_dir_stepper_common_data *data = dev->data;
92
93 return data->counter_running;
94 }
95
step_counter_timing_source_init(const struct device * dev)96 int step_counter_timing_source_init(const struct device *dev)
97 {
98 const struct step_dir_stepper_common_config *config = dev->config;
99 struct step_dir_stepper_common_data *data = dev->data;
100
101 if (!device_is_ready(config->counter)) {
102 LOG_ERR("Counter device is not ready");
103 return -ENODEV;
104 }
105
106 data->counter_top_cfg.callback = step_counter_top_interrupt;
107 data->counter_top_cfg.user_data = data;
108 data->counter_top_cfg.flags = 0;
109 data->counter_top_cfg.ticks = counter_us_to_ticks(config->counter, 1000000);
110
111 return 0;
112 }
113
114 const struct stepper_timing_source_api step_counter_timing_source_api = {
115 .init = step_counter_timing_source_init,
116 .update = step_counter_timing_source_update,
117 .start = step_counter_timing_source_start,
118 .needs_reschedule = step_counter_timing_source_needs_reschedule,
119 .stop = step_counter_timing_source_stop,
120 .is_running = step_counter_timing_source_is_running,
121 };
122
