| .. _stepper_api: |
| |
| Steppers |
| ######## |
| |
| The stepper driver API provides a set of functions for controlling and configuring stepper drivers. |
| |
| Configure Stepper Driver |
| ======================== |
| |
| - Configure **micro-stepping resolution** using :c:func:`stepper_set_micro_step_res` |
| and :c:func:`stepper_get_micro_step_res`. |
| - Configure **actual position a.k.a step count** in microsteps using :c:func:`stepper_set_actual_position` |
| and :c:func:`stepper_get_actual_position`. |
| - Set **max velocity** in micro-steps per second using :c:func:`stepper_set_max_velocity` |
| - **Enable** the stepper driver using :c:func:`stepper_enable`. |
| |
| Control Stepper |
| =============== |
| |
| - **Move by** +/- micro-steps also known as **relative movement** using :c:func:`stepper_move`. |
| - **Move to** a specific position also known as **absolute movement** |
| using :c:func:`stepper_set_target_position`. |
| - Run continuously with a **constant velocity** in a specific direction until |
| a stop is detected using :c:func:`stepper_enable_constant_velocity_mode`. |
| - Check if the stepper is **moving** using :c:func:`stepper_is_moving`. |
| |
| Device Tree |
| =========== |
| |
| In the context of stepper controllers device tree provides the initial hardware |
| configuration for stepper drivers on a per device level. Each device must specify |
| a device tree binding in Zephyr, and ideally, a set of hardware configuration options |
| for things such as current settings, ramp parameters and furthermore. These can then |
| be used in a boards devicetree to configure a stepper driver to its initial state. |
| |
| See examples in: |
| |
| - :dtcompatible:`adi,tmc5041` |
| |
| Discord |
| ======= |
| |
| Zephyr has a `stepper discord`_ channel for stepper related discussions, which |
| is open to all. |
| |
| .. _stepper-api-reference: |
| |
| API Reference |
| ************* |
| |
| A common set of functions which should be implemented by all stepper drivers. |
| |
| .. doxygengroup:: stepper_interface |
| |
| Stepper controller specific APIs |
| ******************************** |
| |
| Trinamic |
| ======== |
| |
| .. doxygengroup:: trinamic_stepper_interface |
| |
| .. _stepper discord: |
| https://discord.com/channels/720317445772017664/1278263869982375946 |
