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Steppers
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########
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- The stepper driver API provides a set of functions for controlling and configuring stepper drivers.
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+ The stepper driver subsystem consists of two device driver APIs:
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- Configure Stepper Driver
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- ========================
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+ Stepper Driver API
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+ ==================
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+
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+ The stepper driver API provides a common interface for stepper drivers.
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+
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+ - Configure **micro-stepping resolution ** using :c:func: `stepper_drv_set_micro_step_res `
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+ and :c:func: `stepper_drv_get_micro_step_res `.
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+ - **Enable ** the stepper driver using :c:func: `stepper_drv_enable `.
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+ - **Disable ** the stepper driver using :c:func: `stepper_drv_disable `.
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+
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+ Stepper API
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+ ===========
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+
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+ The stepper API provides a common interface for stepper controllers.
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- - Configure **micro-stepping resolution ** using :c:func: `stepper_set_micro_step_res `
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- and :c:func: `stepper_get_micro_step_res `.
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- Configure **reference position ** in microsteps using :c:func: `stepper_set_reference_position `
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and :c:func: `stepper_get_actual_position `.
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- Set **step interval ** in nanoseconds between steps using :c:func: `stepper_set_microstep_interval `
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- - **Enable ** the stepper driver using :c:func: `stepper_enable `.
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- - **Disable ** the stepper driver using :c:func: `stepper_disable `.
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-
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- Control Stepper
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- ===============
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-
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- **Move by ** +/- micro-steps also known as **relative movement ** using :c:func: `stepper_move_by `.
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- **Move to ** a specific position also known as **absolute movement ** using :c:func: `stepper_move_to `.
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- Run continuously with a **constant step interval ** in a specific direction until
@@ -38,7 +42,7 @@ be used in a boards devicetree to configure a stepper driver to its initial stat
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See examples in:
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- - :dtcompatible: `zephyr,gpio -stepper `
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+ - :dtcompatible: `zephyr,h-bridge -stepper `
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- :dtcompatible: `adi,tmc50xx `
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Discord
@@ -48,6 +52,7 @@ Zephyr has a `stepper discord`_ channel for stepper related discussions, which
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is open to all.
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.. _stepper-api-reference :
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+ .. _stepper-drv-api-reference :
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Stepper API Test Suite
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======================
@@ -93,6 +98,10 @@ API Reference
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A common set of functions which should be implemented by all stepper drivers.
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+ .. doxygengroup :: stepper_drv_interface
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+
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+ A common set of functions which should be implemented by all stepper controllers.
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+
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.. doxygengroup :: stepper_interface
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Stepper controller specific APIs
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