1 /*
2 * SPDX-FileCopyrightText: Copyright (c) 2024 Fabian Blatz <fabianblatz@gmail.com>
3 * SPDX-License-Identifier: Apache-2.0
4 */
5
6 #include "../step_dir/step_dir_stepper_common.h"
7
8 #include <zephyr/logging/log.h>
9 LOG_MODULE_REGISTER(tmc22xx, CONFIG_STEPPER_LOG_LEVEL);
10
11 #define MSX_PIN_COUNT 2
12 #define MSX_PIN_STATE_COUNT 4
13
14 struct tmc22xx_config {
15 struct step_dir_stepper_common_config common;
16 const struct gpio_dt_spec enable_pin;
17 const struct gpio_dt_spec *msx_pins;
18 enum stepper_micro_step_resolution *msx_resolutions;
19 };
20
21 struct tmc22xx_data {
22 struct step_dir_stepper_common_data common;
23 enum stepper_micro_step_resolution resolution;
24 };
25
26 STEP_DIR_STEPPER_STRUCT_CHECK(struct tmc22xx_config, struct tmc22xx_data);
27
tmc22xx_stepper_enable(const struct device * dev,const bool enable)28 static int tmc22xx_stepper_enable(const struct device *dev, const bool enable)
29 {
30 const struct tmc22xx_config *config = dev->config;
31
32 LOG_DBG("Stepper motor controller %s %s", dev->name, enable ? "enabled" : "disabled");
33 if (enable) {
34 return gpio_pin_set_dt(&config->enable_pin, 1);
35 } else {
36 return gpio_pin_set_dt(&config->enable_pin, 0);
37 }
38 }
39
tmc22xx_stepper_set_micro_step_res(const struct device * dev,enum stepper_micro_step_resolution micro_step_res)40 static int tmc22xx_stepper_set_micro_step_res(const struct device *dev,
41 enum stepper_micro_step_resolution micro_step_res)
42 {
43 struct tmc22xx_data *data = dev->data;
44 const struct tmc22xx_config *config = dev->config;
45 int ret;
46
47 if (!config->msx_pins) {
48 LOG_ERR("Microstep resolution pins are not configured");
49 return -ENODEV;
50 }
51
52 for (uint8_t i = 0; i < MSX_PIN_STATE_COUNT; i++) {
53 if (micro_step_res != config->msx_resolutions[i]) {
54 continue;
55 }
56
57 ret = gpio_pin_set_dt(&config->msx_pins[0], i & 0x01);
58 if (ret < 0) {
59 LOG_ERR("Failed to set MS1 pin: %d", ret);
60 return ret;
61 }
62
63 ret = gpio_pin_set_dt(&config->msx_pins[1], (i & 0x02) >> 1);
64 if (ret < 0) {
65 LOG_ERR("Failed to set MS2 pin: %d", ret);
66 return ret;
67 }
68
69 data->resolution = micro_step_res;
70 return 0;
71 }
72
73 LOG_ERR("Unsupported microstep resolution: %d", micro_step_res);
74 return -EINVAL;
75 }
76
tmc22xx_stepper_get_micro_step_res(const struct device * dev,enum stepper_micro_step_resolution * micro_step_res)77 static int tmc22xx_stepper_get_micro_step_res(const struct device *dev,
78 enum stepper_micro_step_resolution *micro_step_res)
79 {
80 struct tmc22xx_data *data = dev->data;
81
82 *micro_step_res = data->resolution;
83 return 0;
84 }
85
tmc22xx_stepper_configure_msx_pins(const struct device * dev)86 static int tmc22xx_stepper_configure_msx_pins(const struct device *dev)
87 {
88 const struct tmc22xx_config *config = dev->config;
89 int ret;
90
91 for (uint8_t i = 0; i < MSX_PIN_COUNT; i++) {
92 if (!gpio_is_ready_dt(&config->msx_pins[i])) {
93 LOG_ERR("MSX pin %u are not ready", i);
94 return -ENODEV;
95 }
96
97 ret = gpio_pin_configure_dt(&config->msx_pins[i], GPIO_OUTPUT);
98 if (ret < 0) {
99 LOG_ERR("Failed to configure msx pin %u", i);
100 return ret;
101 }
102 }
103 return 0;
104 }
105
tmc22xx_stepper_init(const struct device * dev)106 static int tmc22xx_stepper_init(const struct device *dev)
107 {
108 const struct tmc22xx_config *config = dev->config;
109 struct tmc22xx_data *data = dev->data;
110 int ret;
111
112 if (!gpio_is_ready_dt(&config->enable_pin)) {
113 LOG_ERR("GPIO pins are not ready");
114 return -ENODEV;
115 }
116
117 ret = gpio_pin_configure_dt(&config->enable_pin, GPIO_OUTPUT);
118 if (ret < 0) {
119 LOG_ERR("Failed to configure enable pin: %d", ret);
120 return ret;
121 }
122
123 if (config->msx_pins) {
124 ret = tmc22xx_stepper_configure_msx_pins(dev);
125 if (ret < 0) {
126 LOG_ERR("Failed to configure MSX pins: %d", ret);
127 return ret;
128 }
129
130 ret = tmc22xx_stepper_set_micro_step_res(dev, data->resolution);
131 if (ret < 0) {
132 LOG_ERR("Failed to set microstep resolution: %d", ret);
133 return ret;
134 }
135 }
136
137 ret = step_dir_stepper_common_init(dev);
138 if (ret < 0) {
139 LOG_ERR("Failed to init step dir common stepper: %d", ret);
140 return ret;
141 }
142
143 return 0;
144 }
145
146 static DEVICE_API(stepper, tmc22xx_stepper_api) = {
147 .enable = tmc22xx_stepper_enable,
148 .move_by = step_dir_stepper_common_move_by,
149 .is_moving = step_dir_stepper_common_is_moving,
150 .set_reference_position = step_dir_stepper_common_set_reference_position,
151 .get_actual_position = step_dir_stepper_common_get_actual_position,
152 .move_to = step_dir_stepper_common_move_to,
153 .set_max_velocity = step_dir_stepper_common_set_max_velocity,
154 .run = step_dir_stepper_common_run,
155 .set_event_callback = step_dir_stepper_common_set_event_callback,
156 .set_micro_step_res = tmc22xx_stepper_set_micro_step_res,
157 .get_micro_step_res = tmc22xx_stepper_get_micro_step_res,
158 };
159
160 #define TMC22XX_STEPPER_DEFINE(inst, msx_table) \
161 IF_ENABLED(DT_INST_NODE_HAS_PROP(inst, msx_gpios), ( \
162 static const struct gpio_dt_spec tmc22xx_stepper_msx_pins_##inst[] = { \
163 DT_INST_FOREACH_PROP_ELEM_SEP( \
164 inst, msx_gpios, GPIO_DT_SPEC_GET_BY_IDX, (,) \
165 ), \
166 }; \
167 BUILD_ASSERT( \
168 ARRAY_SIZE(tmc22xx_stepper_msx_pins_##inst) == MSX_PIN_COUNT, \
169 "Two microstep config pins needed"); \
170 )) \
171 \
172 static const struct tmc22xx_config tmc22xx_config_##inst = { \
173 .common = STEP_DIR_STEPPER_DT_INST_COMMON_CONFIG_INIT(inst), \
174 .enable_pin = GPIO_DT_SPEC_INST_GET(inst, en_gpios), \
175 .msx_resolutions = msx_table, \
176 IF_ENABLED(DT_INST_NODE_HAS_PROP(inst, msx_gpios), \
177 (.msx_pins = tmc22xx_stepper_msx_pins_##inst)) \
178 }; \
179 static struct tmc22xx_data tmc22xx_data_##inst = { \
180 .common = STEP_DIR_STEPPER_DT_INST_COMMON_DATA_INIT(inst), \
181 .resolution = DT_INST_PROP(inst, micro_step_res), \
182 }; \
183 DEVICE_DT_INST_DEFINE(inst, tmc22xx_stepper_init, NULL, &tmc22xx_data_##inst, \
184 &tmc22xx_config_##inst, POST_KERNEL, CONFIG_STEPPER_INIT_PRIORITY, \
185 &tmc22xx_stepper_api);
186
187 #define DT_DRV_COMPAT adi_tmc2209
188 static enum stepper_micro_step_resolution tmc2209_msx_resolutions[MSX_PIN_STATE_COUNT] = {
189 STEPPER_MICRO_STEP_8,
190 STEPPER_MICRO_STEP_32,
191 STEPPER_MICRO_STEP_64,
192 STEPPER_MICRO_STEP_16,
193 };
194 DT_INST_FOREACH_STATUS_OKAY_VARGS(TMC22XX_STEPPER_DEFINE, tmc2209_msx_resolutions)
195 #undef DT_DRV_COMPAT
196
