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drivers: stepper: drv8424 use step_dir common code #83430

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merged 3 commits into from
Jan 1, 2025
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Merged

drivers: stepper: drv8424 use step_dir common code #83430

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6911c83
drivers: stepper: step_dir: Add fallback for dual-edge-step
faxe1008 Dec 28, 2024
0f91c1c
drivers: stepper: step_dir: Fix actual position increment
faxe1008 Dec 28, 2024
d6aeb98
drivers: stepper: drv8424: Use step_dir common code
faxe1008 Dec 28, 2024
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9 changes: 9 additions & 0 deletions drivers/stepper/step_dir/step_dir_stepper_common.c
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Original file line number Diff line number Diff line change
Expand Up @@ -44,6 +44,12 @@ static inline int step_dir_stepper_perform_step(const struct device *dev)
}
}

if (data->direction == STEPPER_DIRECTION_POSITIVE) {
data->actual_position++;
} else {
data->actual_position--;
}

return 0;
}

Expand Down Expand Up @@ -105,12 +111,15 @@ static void stepper_work_event_handler(struct k_work *work)

static void update_remaining_steps(struct step_dir_stepper_common_data *data)
{
const struct step_dir_stepper_common_config *config = data->dev->config;

if (data->step_count > 0) {
data->step_count--;
} else if (data->step_count < 0) {
data->step_count++;
} else {
stepper_trigger_callback(data->dev, STEPPER_EVENT_STEPS_COMPLETED);
config->timing_source->stop(data->dev);
}
}

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2 changes: 1 addition & 1 deletion drivers/stepper/step_dir/step_dir_stepper_common.h
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Expand Up @@ -45,7 +45,7 @@ struct step_dir_stepper_common_config {
{ \
.step_pin = GPIO_DT_SPEC_GET(node_id, step_gpios), \
.dir_pin = GPIO_DT_SPEC_GET(node_id, dir_gpios), \
.dual_edge = DT_PROP(node_id, dual_edge_step), \
.dual_edge = DT_PROP_OR(node_id, dual_edge_step, false), \
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This commit is not required, i suppose :)

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It's needed otherwise the dual-edge-step property needs to be part of either the driver dts or the stepper-controller dts binding. You might not want to do this if the IC does not support this setting. But if the property is not present in dts compilation with just DT_PROP will fail.

This way only drivers that have that setting can declare it in their own dts, otherwise its just false.

.counter = DEVICE_DT_GET_OR_NULL(DT_PHANDLE(node_id, counter)), \
.timing_source = COND_CODE_1(DT_NODE_HAS_PROP(node_id, counter), \
(&step_counter_timing_source_api), \
Expand Down
14 changes: 2 additions & 12 deletions drivers/stepper/ti/Kconfig.drv8424
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Expand Up @@ -5,17 +5,7 @@ config DRV8424
bool "TI DRV8424 stepper motor driver"
default y
depends on DT_HAS_TI_DRV8424_ENABLED
select COUNTER
select STEP_DIR_STEPPER
select STEPPER_STEP_DIR_GENERATE_ISR_SAFE_EVENTS
help
Enable driver for TI DRV8424 stepper motor driver.

if DRV8424

config DRV8424_EVENT_QUEUE_LEN
int "Maximum number of pending stepper events"
default 4
help
The maximum number of stepper events that can be pending before new events
are dropped.

endif # DRV8424
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