drivers: stepper: Add adi,tmc2209 driver

Adds the tmc2209 driver using the step dir interface.

Signed-off-by: Fabian Blatz <[email protected]>

drivers/stepper/adi_tmc/CMakeLists.txt

@@ -5,4 +5,5 @@ zephyr_library()
 zephyr_library_property(ALLOW_EMPTY TRUE)
 
 zephyr_library_sources_ifdef(CONFIG_STEPPER_ADI_TMC_SPI adi_tmc_spi.c)
+zephyr_library_sources_ifdef(CONFIG_STEPPER_ADI_TMC2209 adi_tmc22xx_stepper_controller.c)
 zephyr_library_sources_ifdef(CONFIG_STEPPER_ADI_TMC5041 adi_tmc5041_stepper_controller.c)

drivers/stepper/adi_tmc/Kconfig

@@ -26,30 +26,7 @@ config STEPPER_ADI_TMC_SPI
 
 comment "Trinamic Stepper Drivers"
 
-config STEPPER_ADI_TMC5041
-	bool "Activate trinamic tmc5041 stepper driver"
-	depends on DT_HAS_ADI_TMC5041_ENABLED && STEPPER_ADI_TMC
-	select STEPPER_ADI_TMC_SPI
-	default y
-	help
-	  Stepper driver for TMC5041.
-
-config STEPPER_ADI_TMC5041_RAMPSTAT_POLL
-	bool "TMC5041 poll ramp status"
-	depends on STEPPER_ADI_TMC5041
-	default y
-	help
-	  When enabled, the ramp status will be polled on TMC5041, to check for events:
-	  - TMC5041_POS_REACHED_EVENT
-	  - TMC5041_STOP_SG_EVENT
-	  - TMC5041_STOP_LEFT_EVENT
-	  - TMC5041_STOP_RIGHT_EVENT
-
-config STEPPER_ADI_TMC5041_RAMPSTAT_POLL_INTERVAL_IN_MSEC
-	int "TMC5041 poll ramp status interval in ms"
-	depends on STEPPER_ADI_TMC5041_RAMPSTAT_POLL
-	default 100
-	help
-	  The interval in ms to poll the ramp status on TMC5041.
+rsource "Kconfig.tmc22xx"
+rsource "Kconfig.tmc5041"
 
 endif # STEPPER_ADI_TMC

drivers/stepper/adi_tmc/Kconfig.tmc22xx

@@ -0,0 +1,10 @@
+# SPDX-FileCopyrightText: Copyright (c) 2024 Fabian Blatz <[email protected]>
+# SPDX-License-Identifier: Apache-2.0
+
+config STEPPER_ADI_TMC2209
+	bool "Activate trinamic tmc2209 stepper driver"
+	depends on DT_HAS_ADI_TMC2209_ENABLED
+	select STEP_DIR_STEPPER
+	default y
+	help
+	  Stepper driver for TMC2209.

drivers/stepper/adi_tmc/Kconfig.tmc5041

@@ -0,0 +1,28 @@
+# SPDX-FileCopyrightText: Copyright (c) 2024 Fabian Blatz <[email protected]>
+# SPDX-License-Identifier: Apache-2.0
+
+config STEPPER_ADI_TMC5041
+	bool "Activate trinamic tmc5041 stepper driver"
+	depends on DT_HAS_ADI_TMC5041_ENABLED && STEPPER_ADI_TMC
+	select STEPPER_ADI_TMC_SPI
+	default y
+	help
+	  Stepper driver for TMC5041.
+
+config STEPPER_ADI_TMC5041_RAMPSTAT_POLL
+	bool "TMC5041 poll ramp status"
+	depends on STEPPER_ADI_TMC5041
+	default y
+	help
+	  When enabled, the ramp status will be polled on TMC5041, to check for events:
+	  - TMC5041_POS_REACHED_EVENT
+	  - TMC5041_STOP_SG_EVENT
+	  - TMC5041_STOP_LEFT_EVENT
+	  - TMC5041_STOP_RIGHT_EVENT
+
+config STEPPER_ADI_TMC5041_RAMPSTAT_POLL_INTERVAL_IN_MSEC
+	int "TMC5041 poll ramp status interval in ms"
+	depends on STEPPER_ADI_TMC5041_RAMPSTAT_POLL
+	default 100
+	help
+	  The interval in ms to poll the ramp status on TMC5041.

drivers/stepper/adi_tmc/adi_tmc22xx_stepper_controller.c

@@ -0,0 +1,196 @@
+/*
+ * SPDX-FileCopyrightText: Copyright (c) 2024 Fabian Blatz <[email protected]>
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#include "../step_dir_stepper_common.h"
+
+#include <zephyr/logging/log.h>
+LOG_MODULE_REGISTER(tmc22xx, CONFIG_STEPPER_LOG_LEVEL);
+
+#define MSX_PIN_COUNT       2
+#define MSX_PIN_STATE_COUNT 4
+
+struct tmc22xx_config {
+	struct step_dir_stepper_common_config common;
+	const struct gpio_dt_spec enable_pin;
+	const struct gpio_dt_spec *msx_pins;
+	enum stepper_micro_step_resolution *msx_resolutions;
+};
+
+struct tmc22xx_data {
+	struct step_dir_stepper_common_data common;
+	enum stepper_micro_step_resolution resolution;
+};
+
+STEP_DIR_STEPPER_STRUCT_CHECK(struct tmc22xx_config, struct tmc22xx_data);
+
+static int tmc22xx_stepper_enable(const struct device *dev, const bool enable)
+{
+	const struct tmc22xx_config *config = dev->config;
+
+	LOG_DBG("Stepper motor controller %s %s", dev->name, enable ? "enabled" : "disabled");
+	if (enable) {
+		return gpio_pin_set_dt(&config->enable_pin, 1);
+	} else {
+		return gpio_pin_set_dt(&config->enable_pin, 0);
+	}
+}
+
+static int tmc22xx_stepper_set_micro_step_res(const struct device *dev,
+					      enum stepper_micro_step_resolution micro_step_res)
+{
+	struct tmc22xx_data *data = dev->data;
+	const struct tmc22xx_config *config = dev->config;
+	int ret;
+
+	if (!config->msx_pins) {
+		LOG_ERR("Microstep resolution pins are not configured");
+		return -ENODEV;
+	}
+
+	for (uint8_t i = 0; i < MSX_PIN_STATE_COUNT; i++) {
+		if (micro_step_res != config->msx_resolutions[i]) {
+			continue;
+		}
+
+		ret = gpio_pin_set_dt(&config->msx_pins[0], i & 0x01);
+		if (ret < 0) {
+			LOG_ERR("Failed to set MS1 pin: %d", ret);
+			return ret;
+		}
+
+		ret = gpio_pin_set_dt(&config->msx_pins[1], (i & 0x02) >> 1);
+		if (ret < 0) {
+			LOG_ERR("Failed to set MS2 pin: %d", ret);
+			return ret;
+		}
+
+		data->resolution = micro_step_res;
+		return 0;
+	}
+
+	LOG_ERR("Unsupported microstep resolution: %d", micro_step_res);
+	return -EINVAL;
+}
+
+static int tmc22xx_stepper_get_micro_step_res(const struct device *dev,
+					      enum stepper_micro_step_resolution *micro_step_res)
+{
+	struct tmc22xx_data *data = dev->data;
+
+	*micro_step_res = data->resolution;
+	return 0;
+}
+
+static int tmc22xx_stepper_configure_msx_pins(const struct device *dev)
+{
+	const struct tmc22xx_config *config = dev->config;
+	int ret;
+
+	for (uint8_t i = 0; i < MSX_PIN_COUNT; i++) {
+		if (!gpio_is_ready_dt(&config->msx_pins[i])) {
+			LOG_ERR("MSX pin %u are not ready", i);
+			return -ENODEV;
+		}
+
+		ret = gpio_pin_configure_dt(&config->msx_pins[i], GPIO_OUTPUT);
+		if (ret < 0) {
+			LOG_ERR("Failed to configure msx pin %u", i);
+			return ret;
+		}
+	}
+	return 0;
+}
+
+static int tmc22xx_stepper_init(const struct device *dev)
+{
+	const struct tmc22xx_config *config = dev->config;
+	struct tmc22xx_data *data = dev->data;
+	int ret;
+
+	if (!gpio_is_ready_dt(&config->enable_pin)) {
+		LOG_ERR("GPIO pins are not ready");
+		return -ENODEV;
+	}
+
+	ret = gpio_pin_configure_dt(&config->enable_pin, GPIO_OUTPUT);
+	if (ret < 0) {
+		LOG_ERR("Failed to configure enable pin: %d", ret);
+		return ret;
+	}
+
+	if (config->msx_pins) {
+		ret = tmc22xx_stepper_configure_msx_pins(dev);
+		if (ret < 0) {
+			LOG_ERR("Failed to configure MSX pins: %d", ret);
+			return ret;
+		}
+
+		ret = tmc22xx_stepper_set_micro_step_res(dev, data->resolution);
+		if (ret < 0) {
+			LOG_ERR("Failed to set microstep resolution: %d", ret);
+			return ret;
+		}
+	}
+
+	ret = step_dir_stepper_common_init(dev);
+	if (ret < 0) {
+		LOG_ERR("Failed to init step dir common stepper: %d", ret);
+		return ret;
+	}
+
+	return 0;
+}
+
+static DEVICE_API(stepper, tmc22xx_stepper_api) = {
+	.enable = tmc22xx_stepper_enable,
+	.move_by = step_dir_stepper_common_move_by,
+	.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,
+	.move_to = step_dir_stepper_common_move_to,
+	.set_max_velocity = step_dir_stepper_common_set_max_velocity,
+	.run = step_dir_stepper_common_run,
+	.set_event_callback = step_dir_stepper_common_set_event_callback,
+	.set_micro_step_res = tmc22xx_stepper_set_micro_step_res,
+	.get_micro_step_res = tmc22xx_stepper_get_micro_step_res,
+};
+
+#define TMC22XX_STEPPER_DEFINE(inst, msx_table)                                                    \
+	IF_ENABLED(DT_INST_NODE_HAS_PROP(inst, msx_gpios), (                                       \
+	static const struct gpio_dt_spec tmc22xx_stepper_msx_pins_##inst[] = {                     \
+		DT_INST_FOREACH_PROP_ELEM_SEP(                                                     \
+			inst, msx_gpios, GPIO_DT_SPEC_GET_BY_IDX, (,)                              \
+		),                                                                                 \
+	};                                                                                         \
+	BUILD_ASSERT(                                                                              \
+		ARRAY_SIZE(tmc22xx_stepper_msx_pins_##inst) == MSX_PIN_COUNT,                      \
+		"Two microstep config pins needed");                                               \
+	))                                                                                         \
+                                                                                                   \
+	static const struct tmc22xx_config tmc22xx_config_##inst = {                               \
+		.common = STEP_DIR_STEPPER_DT_INST_COMMON_CONFIG_INIT(inst),                       \
+		.enable_pin = GPIO_DT_SPEC_INST_GET(inst, enable_gpios),                           \
+		.msx_pins = DT_INST_NODE_HAS_PROP(inst, msx_gpios)                                 \
+				    ? tmc22xx_stepper_msx_pins_##inst                              \
+				    : NULL,                                                        \
+		.msx_resolutions = msx_table,                                                      \
+	};                                                                                         \
+	static struct tmc22xx_data tmc22xx_data_##inst = {                                         \
+		.common = STEP_DIR_STEPPER_DT_INST_COMMON_DATA_INIT(inst),                         \
+		.resolution = DT_INST_PROP(inst, micro_step_res),                                  \
+	};                                                                                         \
+	DEVICE_DT_INST_DEFINE(inst, tmc22xx_stepper_init, NULL, &tmc22xx_data_##inst,              \
+			      &tmc22xx_config_##inst, POST_KERNEL, CONFIG_STEPPER_INIT_PRIORITY,   \
+			      &tmc22xx_stepper_api);
+
+#define DT_DRV_COMPAT adi_tmc2209
+static enum stepper_micro_step_resolution tmc2209_msx_resolutions[MSX_PIN_STATE_COUNT] = {
+	STEPPER_MICRO_STEP_8,
+	STEPPER_MICRO_STEP_32,
+	STEPPER_MICRO_STEP_64,
+	STEPPER_MICRO_STEP_16,
+};
+DT_INST_FOREACH_STATUS_OKAY_VARGS(TMC22XX_STEPPER_DEFINE, tmc2209_msx_resolutions)
+#undef DT_DRV_COMPAT

drivers/stepper/step_dir_stepper_common.c

@@ -241,7 +241,7 @@ int step_dir_stepper_common_run(const struct device *dev, const enum stepper_dir
 	K_SPINLOCK(&data->lock) {
 		data->run_mode = STEPPER_RUN_MODE_VELOCITY;
 		data->direction = direction;
-		if (value != 0) {
+		if (velocity != 0) {
 			data->delay_in_us = USEC_PER_SEC / velocity;
 			(void)k_work_reschedule(&data->stepper_dwork, K_NO_WAIT);
 		} else {

dts/bindings/stepper/adi/adi,tmc2209.yaml

@@ -0,0 +1,45 @@
+# SPDX-FileCopyrightText: Copyright (c) 2024 Fabian Blatz <[email protected]>
+# SPDX-License-Identifier: Apache-2.0
+
+description: |
+  Analog Devices TMC2209 stepper motor driver.
+
+  Example:
+  tmc2209: tmc2209 {
+      compatible = "adi,tmc2209";
+      enable-gpios = <&gpio0 0 GPIO_ACTIVE_HIGH>;
+      msx-gpios = <&gpio0 1 GPIO_ACTIVE_HIGH>,
+                  <&gpio0 2 GPIO_ACTIVE_HIGH>;
+      step-gpios = <&gpio0 3 GPIO_ACTIVE_HIGH>;
+      direction-gpios = <&gpio0 4 GPIO_ACTIVE_HIGH>;
+      dual-edge-step;
+  }
+
+compatible: "adi,tmc2209"
+
+include:
+  - name: stepper-controller.yaml
+    property-allowlist:
+      - micro-step-res
+      - step-gpios
+      - direction-gpios
+
+properties:
+  enable-gpios:
+    type: phandle-array
+    description: |
+      GPIO pins used to control the enable signal of the motor driver.
+
+  msx-gpios:
+    type: phandle-array
+    description: |
+      An array of GPIO pins for configuring the microstep resolution of the driver.
+      The pins should be listed in the following order:
+      - MS1
+      - MS2
+
+  dual-edge-step:
+    type: boolean
+    description: |
+      If present, the stepper motor controller supports dual edge step signals.
+      This means that the step signal can be toggled on both the rising and falling edge.