| /* |
| * SPDX-FileCopyrightText: Copyright (c) 2025 Carl Zeiss Meditec AG |
| * SPDX-License-Identifier: Apache-2.0 |
| */ |
| |
| #define DT_DRV_COMPAT allegro_a4979 |
| |
| #include <zephyr/kernel.h> |
| #include <zephyr/drivers/stepper.h> |
| #include <zephyr/drivers/gpio.h> |
| #include "../step_dir/step_dir_stepper_common.h" |
| |
| #include <zephyr/logging/log.h> |
| LOG_MODULE_REGISTER(a4979, CONFIG_STEPPER_LOG_LEVEL); |
| |
| struct a4979_config { |
| const struct step_dir_stepper_common_config common; |
| const struct gpio_dt_spec en_pin; |
| const struct gpio_dt_spec reset_pin; |
| const struct gpio_dt_spec m0_pin; |
| const struct gpio_dt_spec m1_pin; |
| }; |
| |
| struct a4979_data { |
| const struct step_dir_stepper_common_data common; |
| enum stepper_micro_step_resolution micro_step_res; |
| }; |
| |
| STEP_DIR_STEPPER_STRUCT_CHECK(struct a4979_config, struct a4979_data); |
| |
| static int a4979_set_microstep_pin(const struct device *dev, const struct gpio_dt_spec *pin, |
| int value) |
| { |
| int ret; |
| |
| /* Reset microstep pin as it may have been disconnected. */ |
| ret = gpio_pin_configure_dt(pin, GPIO_OUTPUT_INACTIVE); |
| if (ret != 0) { |
| LOG_ERR("Failed to configure microstep pin (error: %d)", ret); |
| return ret; |
| } |
| |
| ret = gpio_pin_set_dt(pin, value); |
| if (ret != 0) { |
| LOG_ERR("Failed to set microstep pin (error: %d)", ret); |
| return ret; |
| } |
| |
| return 0; |
| } |
| |
| static int a4979_stepper_enable(const struct device *dev) |
| { |
| int ret; |
| const struct a4979_config *config = dev->config; |
| bool has_enable_pin = config->en_pin.port != NULL; |
| |
| /* Check availability of enable pin, as it might be hardwired. */ |
| if (!has_enable_pin) { |
| LOG_ERR("%s: Enable pin undefined.", dev->name); |
| return -ENOTSUP; |
| } |
| |
| ret = gpio_pin_set_dt(&config->en_pin, 1); |
| if (ret != 0) { |
| LOG_ERR("%s: Failed to set en_pin (error: %d)", dev->name, ret); |
| return ret; |
| } |
| |
| return 0; |
| } |
| |
| static int a4979_stepper_disable(const struct device *dev) |
| { |
| int ret; |
| const struct a4979_config *config = dev->config; |
| bool has_enable_pin = config->en_pin.port != NULL; |
| |
| /* Check availability of enable pin, as it might be hardwired. */ |
| if (!has_enable_pin) { |
| LOG_ERR("%s: Enable pin undefined.", dev->name); |
| return -ENOTSUP; |
| } |
| |
| ret = gpio_pin_set_dt(&config->en_pin, 0); |
| if (ret != 0) { |
| LOG_ERR("%s: Failed to set en_pin (error: %d)", dev->name, ret); |
| return ret; |
| } |
| |
| return 0; |
| } |
| |
| static int a4979_stepper_set_micro_step_res(const struct device *dev, |
| const enum stepper_micro_step_resolution micro_step_res) |
| { |
| const struct a4979_config *config = dev->config; |
| struct a4979_data *data = dev->data; |
| int ret; |
| |
| uint8_t m0_value = 0; |
| uint8_t m1_value = 0; |
| |
| switch (micro_step_res) { |
| case STEPPER_MICRO_STEP_1: |
| m0_value = 0; |
| m1_value = 0; |
| break; |
| case STEPPER_MICRO_STEP_2: |
| m0_value = 1; |
| m1_value = 0; |
| break; |
| case STEPPER_MICRO_STEP_4: |
| m0_value = 0; |
| m1_value = 1; |
| break; |
| case STEPPER_MICRO_STEP_16: |
| m0_value = 1; |
| m1_value = 1; |
| break; |
| default: |
| LOG_ERR("Unsupported micro step resolution %d", micro_step_res); |
| return -ENOTSUP; |
| } |
| |
| ret = a4979_set_microstep_pin(dev, &config->m0_pin, m0_value); |
| if (ret != 0) { |
| return ret; |
| } |
| ret = a4979_set_microstep_pin(dev, &config->m1_pin, m1_value); |
| if (ret != 0) { |
| return ret; |
| } |
| |
| data->micro_step_res = micro_step_res; |
| return 0; |
| } |
| |
| static int a4979_stepper_get_micro_step_res(const struct device *dev, |
| enum stepper_micro_step_resolution *micro_step_res) |
| { |
| struct a4979_data *data = dev->data; |
| |
| *micro_step_res = data->micro_step_res; |
| return 0; |
| } |
| |
| static int a4979_init(const struct device *dev) |
| { |
| const struct a4979_config *config = dev->config; |
| struct a4979_data *data = dev->data; |
| int ret; |
| |
| bool has_enable_pin = config->en_pin.port != NULL; |
| bool has_reset_pin = config->reset_pin.port != NULL; |
| |
| LOG_DBG("Initializing %s gpios", dev->name); |
| |
| /* Configure reset pin if it is available */ |
| if (has_reset_pin) { |
| if (!gpio_is_ready_dt(&config->reset_pin)) { |
| LOG_ERR("Enable Pin is not ready"); |
| return -ENODEV; |
| } |
| |
| ret = gpio_pin_configure_dt(&config->reset_pin, GPIO_OUTPUT_ACTIVE); |
| if (ret != 0) { |
| LOG_ERR("%s: Failed to configure reset_pin (error: %d)", dev->name, ret); |
| return ret; |
| } |
| } |
| |
| /* Configure enable pin if it is available */ |
| if (has_enable_pin) { |
| if (!gpio_is_ready_dt(&config->en_pin)) { |
| LOG_ERR("Enable Pin is not ready"); |
| return -ENODEV; |
| } |
| |
| ret = gpio_pin_configure_dt(&config->en_pin, GPIO_OUTPUT_INACTIVE); |
| if (ret != 0) { |
| LOG_ERR("%s: Failed to configure en_pin (error: %d)", dev->name, ret); |
| return ret; |
| } |
| } |
| |
| /* Configure microstep pin 0 */ |
| if (!gpio_is_ready_dt(&config->m0_pin)) { |
| LOG_ERR("m0 Pin is not ready"); |
| return -ENODEV; |
| } |
| ret = gpio_pin_configure_dt(&config->m0_pin, GPIO_OUTPUT_INACTIVE); |
| if (ret != 0) { |
| LOG_ERR("%s: Failed to configure m0_pin (error: %d)", dev->name, ret); |
| return ret; |
| } |
| |
| /* Configure microstep pin 1 */ |
| if (!gpio_is_ready_dt(&config->m1_pin)) { |
| LOG_ERR("m1 Pin is not ready"); |
| return -ENODEV; |
| } |
| ret = gpio_pin_configure_dt(&config->m1_pin, GPIO_OUTPUT_INACTIVE); |
| if (ret != 0) { |
| LOG_ERR("%s: Failed to configure m1_pin (error: %d)", dev->name, ret); |
| return ret; |
| } |
| |
| ret = a4979_stepper_set_micro_step_res(dev, data->micro_step_res); |
| if (ret != 0) { |
| LOG_ERR("Failed to set micro step resolution: %d", ret); |
| return ret; |
| } |
| |
| ret = step_dir_stepper_common_init(dev); |
| if (ret != 0) { |
| LOG_ERR("Failed to initialize common stepper data: %d", ret); |
| return ret; |
| } |
| gpio_pin_set_dt(&config->common.step_pin, 0); |
| |
| return 0; |
| } |
| |
| static DEVICE_API(stepper, a4979_stepper_api) = { |
| .enable = a4979_stepper_enable, |
| .disable = a4979_stepper_disable, |
| .move_by = step_dir_stepper_common_move_by, |
| .move_to = step_dir_stepper_common_move_to, |
| .is_moving = step_dir_stepper_common_is_moving, |
| .set_reference_position = step_dir_stepper_common_set_reference_position, |
| .get_actual_position = step_dir_stepper_common_get_actual_position, |
| .set_microstep_interval = step_dir_stepper_common_set_microstep_interval, |
| .run = step_dir_stepper_common_run, |
| .stop = step_dir_stepper_common_stop, |
| .set_micro_step_res = a4979_stepper_set_micro_step_res, |
| .get_micro_step_res = a4979_stepper_get_micro_step_res, |
| .set_event_callback = step_dir_stepper_common_set_event_callback, |
| }; |
| |
| #define A4979_DEVICE(inst) \ |
| \ |
| static const struct a4979_config a4979_config_##inst = { \ |
| .common = STEP_DIR_STEPPER_DT_INST_COMMON_CONFIG_INIT(inst), \ |
| .en_pin = GPIO_DT_SPEC_INST_GET_OR(inst, en_gpios, {0}), \ |
| .reset_pin = GPIO_DT_SPEC_INST_GET_OR(inst, reset_gpios, {0}), \ |
| .m0_pin = GPIO_DT_SPEC_INST_GET(inst, m0_gpios), \ |
| .m1_pin = GPIO_DT_SPEC_INST_GET(inst, m1_gpios), \ |
| }; \ |
| \ |
| static struct a4979_data a4979_data_##inst = { \ |
| .common = STEP_DIR_STEPPER_DT_INST_COMMON_DATA_INIT(inst), \ |
| .micro_step_res = DT_INST_PROP(inst, micro_step_res), \ |
| }; \ |
| \ |
| DEVICE_DT_INST_DEFINE(inst, a4979_init, NULL, &a4979_data_##inst, &a4979_config_##inst, \ |
| POST_KERNEL, CONFIG_STEPPER_INIT_PRIORITY, &a4979_stepper_api); |
| |
| DT_INST_FOREACH_STATUS_OKAY(A4979_DEVICE) |
