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drivers: stepper: introduce rudimentary trapezoidal ramp control #88564

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drivers: stepper: introduce rudimentary trapezoidal ramp control #88564

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6d0b2cf
drivers: stepper: introduce trapezoidal ramp control
jilaypandya Apr 8, 2025
7723317
tests: added unit tests for stepper ramp api
andre-stefanov Apr 24, 2025
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4 changes: 4 additions & 0 deletions drivers/stepper/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -7,6 +7,10 @@ zephyr_syscall_header(${ZEPHYR_BASE}/include/zephyr/drivers/stepper.h)
add_subdirectory_ifdef(CONFIG_STEPPER_ADI_TMC adi_tmc)
add_subdirectory_ifdef(CONFIG_STEPPER_ALLEGRO allegro)
add_subdirectory_ifdef(CONFIG_STEPPER_TI ti)
# zephyr-keep-sorted-stop

# zephyr-keep-sorted-start
add_subdirectory_ifdef(CONFIG_STEPPER_RAMP ramp)
add_subdirectory_ifdef(CONFIG_STEP_DIR_STEPPER step_dir)
# zephyr-keep-sorted-stop

Expand Down
1 change: 1 addition & 0 deletions drivers/stepper/Kconfig
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Expand Up @@ -26,6 +26,7 @@ config STEPPER_SHELL

comment "Stepper Driver Common"

rsource "ramp/Kconfig"
rsource "step_dir/Kconfig"

comment "Stepper Drivers"
Expand Down
149 changes: 141 additions & 8 deletions drivers/stepper/gpio_stepper_controller.c
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Original file line number Diff line number Diff line change
@@ -1,6 +1,6 @@
/*
* SPDX-FileCopyrightText: Copyright (c) 2024 Carl Zeiss Meditec AG
* SPDX-FileCopyrightText: Copyright (c) 2024 Jilay Sandeep Pandya
* SPDX-FileCopyrightText: Copyright (c) 2025 Jilay Sandeep Pandya
* SPDX-License-Identifier: Apache-2.0
*/

Expand All @@ -10,8 +10,14 @@
#include <zephyr/kernel.h>
#include <zephyr/sys_clock.h>
#include <zephyr/drivers/stepper.h>
#include "stepper_common.h"
#include <zephyr/sys/__assert.h>

#ifdef CONFIG_STEPPER_RAMP
#include <stdlib.h>
#include "ramp/ramp.h"
#endif

#include <zephyr/logging/log.h>
LOG_MODULE_REGISTER(gpio_stepper_motor_controller, CONFIG_STEPPER_LOG_LEVEL);

Expand All @@ -26,6 +32,10 @@ static const uint8_t
struct gpio_stepper_config {
const struct gpio_dt_spec *control_pins;
bool invert_direction;
#ifdef CONFIG_STEPPER_RAMP
const struct stepper_ramp_api *ramp_api;
const struct stepper_ramp_config ramp_config;
#endif
};

struct gpio_stepper_data {
Expand All @@ -42,6 +52,9 @@ struct gpio_stepper_data {
bool is_enabled;
stepper_event_callback_t callback;
void *event_cb_user_data;
#ifdef CONFIG_STEPPER_RAMP
struct stepper_ramp_common ramp_common;
#endif
};

static int stepper_motor_set_coil_charge(const struct device *dev)
Expand Down Expand Up @@ -98,6 +111,22 @@ static void update_coil_charge(const struct device *dev)
const struct gpio_stepper_config *config = dev->config;
struct gpio_stepper_data *data = dev->data;

#ifdef CONFIG_STEPPER_RAMP
if (data->ramp_common.ramp_runtime_data.current_ramp_state ==
STEPPER_RAMP_STATE_PRE_DECELERATION) {
if (data->direction == STEPPER_DIRECTION_POSITIVE) {
config->invert_direction ? increment_coil_charge(dev)
: decrement_coil_charge(dev);
data->actual_position--;
} else if (data->direction == STEPPER_DIRECTION_NEGATIVE) {
config->invert_direction ? decrement_coil_charge(dev)
: increment_coil_charge(dev);
data->actual_position++;
}
return;
}
#endif

if (data->direction == STEPPER_DIRECTION_POSITIVE) {
config->invert_direction ? decrement_coil_charge(dev) : increment_coil_charge(dev);
data->actual_position++;
Expand All @@ -111,16 +140,30 @@ static void update_remaining_steps(const struct device *dev)
{
struct gpio_stepper_data *data = dev->data;

#ifdef CONFIG_STEPPER_RAMP

if (data->ramp_common.ramp_runtime_data.current_ramp_state ==
STEPPER_RAMP_STATE_PRE_DECELERATION) {
if (data->step_count > 0) {
data->step_count++;
} else {
data->step_count--;
}
return;
}

#endif
if (data->step_count > 0) {
data->step_count--;
} else if (data->step_count < 0) {
data->step_count++;
}
}

static void update_direction_from_step_count(const struct device *dev)
static bool update_direction_from_step_count(const struct device *dev)
{
struct gpio_stepper_data *data = dev->data;
enum stepper_direction direction = data->direction;

if (data->step_count > 0) {
data->direction = STEPPER_DIRECTION_POSITIVE;
Expand All @@ -129,6 +172,8 @@ static void update_direction_from_step_count(const struct device *dev)
} else {
LOG_ERR("Step count is zero");
}

return data->direction != direction;
}

static void position_mode_task(const struct device *dev)
Expand All @@ -139,6 +184,12 @@ static void position_mode_task(const struct device *dev)
(void)stepper_motor_set_coil_charge(dev);
update_coil_charge(dev);
if (data->step_count) {
#ifdef CONFIG_STEPPER_RAMP
const struct gpio_stepper_config *config = dev->config;

data->delay_in_ns = config->ramp_api->get_next_step_interval(
&data->ramp_common, data->delay_in_ns, STEPPER_RUN_MODE_POSITION);
#endif
(void)k_work_reschedule(&data->stepper_dwork, K_NSEC(data->delay_in_ns));
} else {
if (data->callback) {
Expand All @@ -155,6 +206,14 @@ static void velocity_mode_task(const struct device *dev)

(void)stepper_motor_set_coil_charge(dev);
update_coil_charge(dev);

#ifdef CONFIG_STEPPER_RAMP
const struct gpio_stepper_config *config = dev->config;

data->delay_in_ns = config->ramp_api->get_next_step_interval(
&data->ramp_common, data->delay_in_ns, STEPPER_RUN_MODE_VELOCITY);
#endif

(void)k_work_reschedule(&data->stepper_dwork, K_NSEC(data->delay_in_ns));
}

Expand All @@ -179,6 +238,20 @@ static void stepper_work_step_handler(struct k_work *work)
}
}

static bool is_step_timing_valid(const struct device *dev)
{
struct gpio_stepper_data *data = dev->data;
#ifdef CONFIG_STEPPER_RAMP

if (data->ramp_common.ramp_profile.max_velocity > 0) {
return true;
}
return false;
#else
return data->delay_in_ns > 0;
#endif
}

static int gpio_stepper_move_by(const struct device *dev, int32_t micro_steps)
{
struct gpio_stepper_data *data = dev->data;
Expand All @@ -188,14 +261,35 @@ static int gpio_stepper_move_by(const struct device *dev, int32_t micro_steps)
return -ECANCELED;
}

if (data->delay_in_ns == 0) {
LOG_ERR("Step interval not set or invalid step interval set");
if (!is_step_timing_valid(dev)) {
return -EINVAL;
}

if (micro_steps == 0) {
LOG_WRN("Step count is zero");
return 0;
}

K_SPINLOCK(&data->lock) {
data->run_mode = STEPPER_RUN_MODE_POSITION;
data->step_count = micro_steps;
update_direction_from_step_count(dev);
bool is_dir_changed = update_direction_from_step_count(dev);
#ifdef CONFIG_STEPPER_RAMP
const struct gpio_stepper_config *config = dev->config;
uint32_t steps_to_move = abs(micro_steps);
bool is_stepper_moving = k_work_delayable_is_pending(&data->stepper_dwork);

data->ramp_common.ramp_runtime_data.is_stepper_dir_changed = is_dir_changed;
config->ramp_api->reset_ramp_runtime_data(&config->ramp_config, &data->ramp_common,
is_stepper_moving, steps_to_move);
if (!is_stepper_moving) {
data->delay_in_ns = config->ramp_api->calculate_start_interval(
data->ramp_common.ramp_profile.acceleration);
}
config->ramp_api->recalculate_ramp(&data->ramp_common, steps_to_move);
#else
ARG_UNUSED(is_dir_changed);
#endif
(void)k_work_reschedule(&data->stepper_dwork, K_NO_WAIT);
}
return 0;
Expand Down Expand Up @@ -258,6 +352,23 @@ static int gpio_stepper_set_microstep_interval(const struct device *dev,
return 0;
}

#ifdef CONFIG_STEPPER_RAMP

static int gpio_stepper_set_ramp_profile(const struct device *dev,
const struct stepper_ramp_profile *const ramp_profile)
{
struct gpio_stepper_data *data = dev->data;

K_SPINLOCK(&data->lock) {
data->ramp_common.ramp_profile.acceleration = ramp_profile->acceleration;
data->ramp_common.ramp_profile.max_velocity = ramp_profile->max_velocity;
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You don't need max_velocity, you already have set_microstep_interval.

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We need to find a consensus on how to rename that function, set_microstep_interval imo signifies more like a tick time, could be compared with for instance , can_set_bitrate.

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I would say, once this PR is merged, the CONFIG_STEPPER_RAMP can be deleted and all motors should support ramping by default.

data->ramp_common.ramp_profile.deceleration = ramp_profile->deceleration;
}
return 0;
}

#endif

static int gpio_stepper_run(const struct device *dev, const enum stepper_direction direction)
{
struct gpio_stepper_data *data = dev->data;
Expand All @@ -269,7 +380,22 @@ static int gpio_stepper_run(const struct device *dev, const enum stepper_directi

K_SPINLOCK(&data->lock) {
data->run_mode = STEPPER_RUN_MODE_VELOCITY;
bool is_dir_changed = direction != data->direction;
data->direction = direction;
#ifdef CONFIG_STEPPER_RAMP
const struct gpio_stepper_config *config = dev->config;
const bool is_stepper_moving = k_work_delayable_is_pending(&data->stepper_dwork);

data->ramp_common.ramp_runtime_data.is_stepper_dir_changed = is_dir_changed;
config->ramp_api->reset_ramp_runtime_data(&config->ramp_config, &data->ramp_common,
is_stepper_moving, UINT32_MAX);
if (!is_stepper_moving) {
data->delay_in_ns = config->ramp_api->calculate_start_interval(
data->ramp_common.ramp_profile.acceleration);
}
#else
ARG_UNUSED(is_dir_changed);
#endif
(void)k_work_reschedule(&data->stepper_dwork, K_NO_WAIT);
}
return 0;
Expand Down Expand Up @@ -393,20 +519,27 @@ static DEVICE_API(stepper, gpio_stepper_api) = {
.run = gpio_stepper_run,
.stop = gpio_stepper_stop,
.is_moving = gpio_stepper_is_moving,
IF_ENABLED(CONFIG_STEPPER_RAMP, (.set_ramp_profile = gpio_stepper_set_ramp_profile,))
};

#define GPIO_STEPPER_DEFINE(inst) \
static const struct gpio_dt_spec gpio_stepper_motor_control_pins_##inst[] = { \
DT_INST_FOREACH_PROP_ELEM_SEP(inst, gpios, GPIO_DT_SPEC_GET_BY_IDX, (,)), \
}; \
BUILD_ASSERT(ARRAY_SIZE(gpio_stepper_motor_control_pins_##inst) == 4, \
"gpio_stepper_controller driver currently supports only 4 wire configuration"); \
"gpio_stepper_controller driver currently supports only 4 wire configuration"); \
static const struct gpio_stepper_config gpio_stepper_config_##inst = { \
.invert_direction = DT_INST_PROP(inst, invert_direction), \
.control_pins = gpio_stepper_motor_control_pins_##inst}; \
.control_pins = gpio_stepper_motor_control_pins_##inst, \
IF_ENABLED(CONFIG_STEPPER_RAMP, \
(.ramp_config.pre_deceleration_steps = DT_INST_PROP(inst, pre_decel_steps), \
.ramp_api = RAMP_DT_SPEC_GET_API(inst))) }; \
static struct gpio_stepper_data gpio_stepper_data_##inst = { \
.step_gap = MAX_MICRO_STEP_RES >> (DT_INST_PROP(inst, micro_step_res) - 1), \
}; \
IF_ENABLED(CONFIG_STEPPER_RAMP, ( \
.ramp_common.ramp_profile.acceleration = DT_INST_PROP(inst, acceleration), \
.ramp_common.ramp_profile.deceleration = DT_INST_PROP(inst, deceleration), \
.ramp_common.ramp_profile.max_velocity = DT_INST_PROP(inst, max_speed),)) }; \
BUILD_ASSERT(DT_INST_PROP(inst, micro_step_res) <= STEPPER_MICRO_STEP_2, \
"gpio_stepper_controller driver supports up to 2 micro steps"); \
DEVICE_DT_INST_DEFINE(inst, gpio_stepper_init, NULL, &gpio_stepper_data_##inst, \
Expand Down
6 changes: 6 additions & 0 deletions drivers/stepper/ramp/CMakeLists.txt
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Original file line number Diff line number Diff line change
@@ -0,0 +1,6 @@
# SPDX-FileCopyrightText: Copyright (c) 2025 Jilay Sandeep Pandya
# SPDX-License-Identifier: Apache-2.0

zephyr_library()

zephyr_library_sources_ifdef(CONFIG_STEPPER_RAMP_TRAPEZOIDAL ramp_trapezoidal.c)
18 changes: 18 additions & 0 deletions drivers/stepper/ramp/Kconfig
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@@ -0,0 +1,18 @@
# SPDX-FileCopyrightText: Copyright (c) 2025 Jilay Sandeep Pandya
# SPDX-License-Identifier: Apache-2.0

menuconfig STEPPER_RAMP
bool "Ramp control"
help
Enable ramp control for stepper drivers.

if STEPPER_RAMP

config STEPPER_RAMP_TRAPEZOIDAL
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I would prefer a dt-binding instead to allow for a per stepper-controller decision on using ramps or not.

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done. However, you would need one such variable for the source to be included, or is there a better way?

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I think there is a Kconfig extension for checking if a property is present on a compatible:

drivers/dma/Kconfig.mcux_edma:12:	depends on $(dt_compat_any_has_prop,$(EDMA_COMPAT),$(REV_PROP),2)

but nothing like dt_any_of_driver_class_has_prop, which would be neat.

bool "Trapezoidal ramp control"
help
Enable trapezoidal ramp control for stepper drivers.
The trapezoidal ramp control is implemented as a state machine
and can be used with any stepper driver.

endif
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