1 /* 2 * SPDX-FileCopyrightText: Copyright (c) 2024 Fabian Blatz <fabianblatz@gmail.com> 3 * SPDX-License-Identifier: Apache-2.0 4 */ 5 6 #ifndef ZEPHYR_DRIVER_STEPPER_STEP_DIR_STEPPER_TIMING_SOURCE_H_ 7 #define ZEPHYR_DRIVER_STEPPER_STEP_DIR_STEPPER_TIMING_SOURCE_H_ 8 9 #include <zephyr/device.h> 10 11 /** 12 * @brief Initialize the stepper timing source. 13 * 14 * @param dev Pointer to the device structure. 15 * @return 0 on success, or a negative error code on failure. 16 */ 17 typedef int (*stepper_timing_source_init)(const struct device *dev); 18 19 /** 20 * @brief Update the stepper timing source. 21 * 22 * @param dev Pointer to the device structure. 23 * @param velocity Velocity in microsteps per second. 24 * @return 0 on success, or a negative error code on failure. 25 */ 26 typedef int (*stepper_timing_source_update)(const struct device *dev, uint32_t velocity); 27 28 /** 29 * @brief Start the stepper timing source. 30 * 31 * @param dev Pointer to the device structure. 32 * @return 0 on success, or a negative error code on failure. 33 */ 34 typedef int (*stepper_timing_source_start)(const struct device *dev); 35 36 /** 37 * @brief Whether the stepper timing source requires rescheduling (keeps running 38 * after the initial start). 39 * 40 * @param dev Pointer to the device structure. 41 * @return true if the timing source requires rescheduling, false otherwise. 42 */ 43 typedef bool (*stepper_timing_sources_requires_reschedule)(const struct device *dev); 44 45 /** 46 * @brief Stop the stepper timing source. 47 * 48 * @param dev Pointer to the device structure. 49 * @return 0 on success, or a negative error code on failure. 50 */ 51 typedef int (*stepper_timing_source_stop)(const struct device *dev); 52 53 /** 54 * @brief Check if the stepper timing source is running. 55 * 56 * @param dev Pointer to the device structure. 57 * @return true if the timing source is running, false otherwise. 58 */ 59 typedef bool (*stepper_timing_source_is_running)(const struct device *dev); 60 61 /** 62 * @brief Stepper timing source API. 63 */ 64 struct stepper_timing_source_api { 65 stepper_timing_source_init init; 66 stepper_timing_source_update update; 67 stepper_timing_source_start start; 68 stepper_timing_sources_requires_reschedule needs_reschedule; 69 stepper_timing_source_stop stop; 70 stepper_timing_source_is_running is_running; 71 }; 72 73 extern const struct stepper_timing_source_api step_work_timing_source_api; 74 #ifdef CONFIG_STEP_DIR_STEPPER_COUNTER_TIMING 75 extern const struct stepper_timing_source_api step_counter_timing_source_api; 76 #endif /* CONFIG_STEP_DIR_STEPPER_COUNTER_TIMING */ 77 78 #endif /* ZEPHYR_DRIVER_STEPPER_STEP_DIR_STEPPER_TIMING_SOURCE_H_ */ 79
