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/Zephyr-latest/drivers/stepper/
DKconfig4 menuconfig STEPPER config
5 bool "Stepper Controller"
7 Enable stepper controller
9 if STEPPER
11 module = STEPPER
12 module-str = stepper
16 int "Stepper Motor Controller init priority"
19 Stepper motor controller initialization priority.
22 bool "Stepper shell"
25 Enable stepper shell for testing.
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DKconfig.stepper_event_template5 bool "$(module-str) guarantee non ISR callbacks upon stepper events"
7 Enable the dispatch of stepper generated events via
10 then registered stepper event callback must be ISR safe.
13 int "$(module-str) maximum number of pending stepper events"
17 The maximum number of stepper events that can be pending before new events
DKconfig.gpio5 menu "GPIO stepper driver"
8 bool "Activate driver for gpio stepper control"
12 GPIO Stepper driver for stepper motor control with darlington arrays or dual H-bridge.
DKconfig.fake1 # Fake stepper configuration options
7 bool "Fake stepper driver"
11 Enable support for the FFF-based fake stepper driver.
/Zephyr-latest/doc/hardware/peripherals/
Dstepper.rst6 The stepper driver API provides a set of functions for controlling and configuring stepper drivers.
8 Configure Stepper Driver
16 - **Enable** the stepper driver using :c:func:`stepper_enable`.
18 Control Stepper
25 - Check if the stepper is **moving** using :c:func:`stepper_is_moving`.
31 In the context of stepper controllers device tree provides the initial hardware
32 configuration for stepper drivers on a per device level. Each device must specify
35 be used in a boards devicetree to configure a stepper driver to its initial state.
39 - :dtcompatible:`zephyr,gpio-stepper`
45 Zephyr has a `stepper discord`_ channel for stepper related discussions, which
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/Zephyr-latest/drivers/stepper/adi_tmc/
DKconfig5 bool "Trinamic Stepper Controller"
6 depends on STEPPER
9 Enable trinamic stepper controller
14 bool "Use Trinamic Stepper Controller with SPI"
18 A Trinamic Stepper Controller with SPI is enabled
20 comment "Trinamic Stepper Drivers"
Dadi_tmc5041_stepper_controller.c11 #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()
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DKconfig.tmc22xx5 bool "Activate trinamic tmc2209 stepper driver"
10 Stepper driver for TMC2209.
/Zephyr-latest/dts/bindings/stepper/
Dzephyr,gpio-stepper.yaml6 GPIO Stepper Controller for darlington transistor arrays or dual H-bridge
10 stepper: stepper {
11 compatible = "zephyr,gpio-stepper";
18 compatible: "zephyr,gpio-stepper"
20 include: stepper-controller.yaml
27 The gpio pin array on which the stepper inputs are to be connected
Dzephyr,fake-stepper.yaml5 This binding provides a fake stepper controller for use as either a stub or a mock in
8 compatible: "zephyr,fake-stepper"
10 include: stepper-controller.yaml
Dstepper-controller.yaml4 description: Stepper Controller
36 The GPIO pins used to send step signals to the stepper motor.
41 The GPIO pins used to send direction signals to the stepper motor.
/Zephyr-latest/include/zephyr/drivers/
Dstepper.h2 * @file drivers/stepper.h
4 * @brief Public API for Stepper Driver
18 * @brief Stepper Controller Interface
19 * @defgroup stepper_interface Stepper Controller Interface
35 * @brief Stepper Motor micro step resolution options
59 * @brief Stepper Motor direction options
69 * @brief Stepper Motor run mode options
81 * @brief Stepper Events
97 * Stepper motor controller driver API definition and system call entry points.
102 * @brief enable or disable the stepper motor controller.
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/Zephyr-latest/drivers/stepper/step_dir/
Dstep_dir_stepper_common.h11 * @brief Stepper Driver APIs
12 * @defgroup step_dir_stepper Stepper Driver APIs
19 #include <zephyr/drivers/stepper.h>
25 * @brief Common step direction stepper config.
38 * @brief Initialize common step direction stepper config from devicetree instance.
56 * @brief Initialize common step direction stepper config from devicetree instance.
63 * @brief Common step direction stepper data.
94 * @brief Initialize common step direction stepper data from devicetree instance.
104 * @brief Initialize common step direction stepper data from devicetree instance.
123 * @brief Common function to initialize a step direction stepper device at init time.
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Dstep_dir_stepper_timing_source.h12 * @brief Initialize the stepper timing source.
20 * @brief Update the stepper timing source.
29 * @brief Start the stepper timing source.
37 * @brief Whether the stepper timing source requires rescheduling (keeps running
46 * @brief Stop the stepper timing source.
54 * @brief Check if the stepper timing source is running.
62 * @brief Stepper timing source API.
/Zephyr-latest/tests/drivers/stepper/shell/src/
Dmain.c9 #include <zephyr/drivers/stepper.h>
10 #include <zephyr/drivers/stepper/stepper_fake.h>
46 int err = shell_execute_cmd(sh, "stepper enable " FAKE_STEPPER_NAME " on"); in ZTEST()
53 err = shell_execute_cmd(sh, "stepper enable " FAKE_STEPPER_NAME " off"); in ZTEST()
61 int err = shell_execute_cmd(sh, "stepper move_by " FAKE_STEPPER_NAME " 1000"); in ZTEST()
70 int err = shell_execute_cmd(sh, "stepper set_max_velocity " FAKE_STEPPER_NAME " 200"); in ZTEST()
79 int err = shell_execute_cmd(sh, "stepper set_micro_step_res " FAKE_STEPPER_NAME " 64"); in ZTEST()
89 int err = shell_execute_cmd(sh, "stepper set_micro_step_res " FAKE_STEPPER_NAME " 111"); in ZTEST()
97 int err = shell_execute_cmd(sh, "stepper get_micro_step_res " FAKE_STEPPER_NAME); in ZTEST()
105 int err = shell_execute_cmd(sh, "stepper set_reference_position " FAKE_STEPPER_NAME " 100"); in ZTEST()
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/Zephyr-latest/drivers/stepper/ti/
DKconfig5 bool "TI Stepper Controller"
6 depends on STEPPER
9 Enable ti stepper controller
13 comment "TI Stepper Drivers"
DKconfig.drv84245 bool "TI DRV8424 stepper motor driver"
11 Enable driver for TI DRV8424 stepper motor driver.
/Zephyr-latest/include/zephyr/drivers/stepper/
Dstepper_drv8424.h2 * @file drivers/stepper/stepper_drv8424.h
4 * @brief Public API for DRV8424 Stepper Controller Specific Functions
15 #include <zephyr/drivers/stepper.h>
24 * @param dev Pointer to the stepper motor controller instance
Dstepper_trinamic.h2 * @file drivers/stepper/stepper_trinamic.h
4 * @brief Public API for Trinamic Stepper Controller Specific Functions
18 * @brief Trinamic Stepper Controller Interface
19 * @defgroup trinamic_stepper_interface Trinamic Stepper Controller Interface
25 #include <zephyr/drivers/stepper.h>
32 * @brief Trinamic stepper controller ramp generator data limits
63 * @brief Trinamic Stepper Ramp Generator data
128 * @brief Get Trinamic Stepper Ramp Generator data from DT
153 * @brief Configure Trinamic Stepper Ramp Generator
155 * @param dev Pointer to the stepper motor controller instance
/Zephyr-latest/tests/drivers/stepper/shell/
Dtestcase.yaml4 - stepper
8 drivers.stepper.shell:
12 drivers.stepper.shell_async:
/Zephyr-latest/tests/drivers/stepper/drv8424/emul/
Dtestcase.yaml5 drivers.stepper.drv8424.emul:
8 - stepper
/Zephyr-latest/tests/drivers/build_all/stepper/
Dtestcase.yaml5 drivers.stepper.build:
8 - stepper
/Zephyr-latest/tests/drivers/stepper/stepper_api/
Dtestcase.yaml5 drivers.stepper.stepper_api:
8 - stepper
/Zephyr-latest/tests/drivers/stepper/stepper_api/src/
Dmain.c8 #include <zephyr/drivers/stepper.h>
64 ZTEST_SUITE(stepper, NULL, stepper_setup, stepper_before, NULL, NULL);
66 ZTEST_F(stepper, test_micro_step_res) in ZTEST_F() argument
74 ZTEST_F(stepper, test_actual_position) in ZTEST_F() argument
82 ZTEST_F(stepper, test_target_position) in ZTEST_F() argument
/Zephyr-latest/dts/bindings/stepper/adi/
Dadi,tmc2209.yaml5 Analog Devices TMC2209 stepper motor driver.
21 - name: stepper-controller.yaml
41 If present, the stepper motor controller supports dual edge step signals.

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