Integrated Stepper Motion Control and Driver - Zephyr

.. _stepper-integrated-controller-driver:

Integrated Stepper Motion Control and Driver ############################################

A device composed of both motion controller and stepper driver blocks in a single IC is modeled as a multi-functional device in devicetree, and has two software drivers implementing :c:group:stepper_ctrl and :c:group:stepper_hw_driver APIs respectively. An example of such device is :dtcompatible:adi,tmc50xx.

.. code-block:: dts

/ { aliases { x_axis_stepper_ctrl = &tmc50xx_0_motion_controller; y_axis_stepper_ctrl = &tmc50xx_1_motion_controller; x_axis_stepper_driver = &tmc50xx_0_stepper_driver; y_axis_stepper_driver = &tmc50xx_1_stepper_driver; }; };

&spi0 { /* SPI bus options here, not shown */

   /* Dual controller/driver for up to two 2-phase bipolar stepper motors */
   tmc50xx: tmc50xx@0 {
       compatible = "adi,tmc50xx";
       reg = <0>;
       spi-max-frequency = <DT_FREQ_M(8)>; /* Maximum SPI bus frequency */

       poscmp-enable; test-mode; lock-gconf; /* ADI TMC Global configuration flags */
       clock-frequency = <DT_FREQ_M(16)>; /* Internal/External Clock frequency */

       tmc50xx_0_stepper_driver: stepper-driver-0 {
           idx = <0>;
            compatible = "adi,tmc50xx-stepper-driver";
            micro-step-res = <256>;
            /* ADI TMC stallguard settings specific to TMC50XX */
            stallguard2-threshold=<30>;
        };

       tmc50xx_0_motion_controller: motion-controller-0 {
           idx = <0>;
           compatible = "adi,tmc50xx-stepper-ctrl";
           ...
           vmax = <900000>;
           amax = <50000>;
           ...
           activate-stallguard2;
           ...
        };

       tmc50xx_1_stepper_driver: stepper-driver-1 {
           idx = <1>;
            compatible = "adi,tmc50xx-stepper-driver";
            micro-step-res = <256>;
            /* ADI TMC stallguard settings specific to TMC50XX */
            stallguard2-threshold=<30>;
        };

       tmc50xx_1_motion_controller: motion-controller-1 {
           idx = <1>;
           compatible = "adi,tmc50xx-stepper-ctrl";
           ...
           vstart = <1000>;
           ...
           stallguard-threshold-velocity=<200000>;
        };
    };

};

Following the aforementioned configurations, the stepper driver subsystem can be used in the application code as follows:

.. code-block:: c

static const struct device *x_stepper_ctrl = DEVICE_DT_GET(DT_ALIAS(x_axis_stepper_ctrl)); static const struct device *x_stepper_driver = DEVICE_DT_GET(DT_ALIAS(x_axis_stepper_driver)); static const struct device *y_stepper_ctrl = DEVICE_DT_GET(DT_ALIAS(y_axis_stepper_ctrl)); static const struct device *y_stepper_driver = DEVICE_DT_GET(DT_ALIAS(y_axis_stepper_driver)); ... stepper_ctrl_move_to(x_stepper_ctrl, 200); stepper_ctrl_stop(x_stepper_ctrl); stepper_disable(x_stepper_driver); stepper_disable(y_stepper_driver);