# SPDX-FileCopyrightText: Copyright (c) 2024 Carl Zeiss Meditec AG
# SPDX-License-Identifier: Apache-2.0

menuconfig STEPPER_ADI_TMC
	bool "Trinamic Stepper Controller"
	depends on STEPPER
	default y
	help
	  Enable trinamic stepper controller

if STEPPER_ADI_TMC

config STEPPER_ADI_TMC_RAMP_GEN
	bool "Use Trinamic Stepper Controller with Ramp Generator"
	depends on STEPPER_ADI_TMC
	default y
	help
	  Enable ramp generator for trinamic stepper controller

config STEPPER_ADI_TMC_SPI
	bool "Use Trinamic Stepper Controller with SPI"
	depends on STEPPER_ADI_TMC
	select SPI
	help
	  A Trinamic Stepper Controller with SPI is enabled

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.

endif # STEPPER_ADI_TMC