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zephyr/drivers/stepper/stepper_shell.c

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/*
* Copyright (c) 2024, Fabian Blatz <fabianblatz@gmail.com>
* Copyright (c) 2024, Jilay Sandeep Pandya
*
* SPDX-License-Identifier: Apache-2.0
*/
#include <zephyr/shell/shell.h>
#include <zephyr/device.h>
#include <zephyr/drivers/stepper.h>
#include <zephyr/logging/log.h>
LOG_MODULE_REGISTER(stepper_shell, CONFIG_STEPPER_LOG_LEVEL);
enum {
ARG_IDX_DEV = 1,
ARG_IDX_PARAM = 2,
ARG_IDX_VALUE = 3,
};
struct stepper_microstep_map {
const char *name;
enum stepper_micro_step_resolution microstep;
};
struct stepper_direction_map {
const char *name;
enum stepper_direction direction;
};
#define STEPPER_DIRECTION_MAP_ENTRY(_name, _dir) \
{ \
.name = _name, \
.direction = _dir, \
}
#define STEPPER_MICROSTEP_MAP(_name, _microstep) \
{ \
.name = _name, \
.microstep = _microstep, \
}
static void print_callback(const struct device *dev, const enum stepper_event event,
void *user_data)
{
const struct shell *sh = user_data;
switch (event) {
case STEPPER_EVENT_STEPS_COMPLETED:
shell_info(sh, "%s: Steps completed.", dev->name);
break;
case STEPPER_EVENT_STALL_DETECTED:
shell_info(sh, "%s: Stall detected.", dev->name);
break;
case STEPPER_EVENT_LEFT_END_STOP_DETECTED:
shell_info(sh, "%s: Left limit switch pressed.", dev->name);
break;
case STEPPER_EVENT_RIGHT_END_STOP_DETECTED:
shell_info(sh, "%s: Right limit switch pressed.", dev->name);
break;
default:
shell_info(sh, "%s: Unknown signal received.", dev->name);
break;
}
}
static const struct stepper_direction_map stepper_direction_map[] = {
STEPPER_DIRECTION_MAP_ENTRY("positive", STEPPER_DIRECTION_POSITIVE),
STEPPER_DIRECTION_MAP_ENTRY("negative", STEPPER_DIRECTION_NEGATIVE),
};
static const struct stepper_microstep_map stepper_microstep_map[] = {
STEPPER_MICROSTEP_MAP("1", STEPPER_MICRO_STEP_1),
STEPPER_MICROSTEP_MAP("2", STEPPER_MICRO_STEP_2),
STEPPER_MICROSTEP_MAP("4", STEPPER_MICRO_STEP_4),
STEPPER_MICROSTEP_MAP("8", STEPPER_MICRO_STEP_8),
STEPPER_MICROSTEP_MAP("16", STEPPER_MICRO_STEP_16),
STEPPER_MICROSTEP_MAP("32", STEPPER_MICRO_STEP_32),
STEPPER_MICROSTEP_MAP("64", STEPPER_MICRO_STEP_64),
STEPPER_MICROSTEP_MAP("128", STEPPER_MICRO_STEP_128),
STEPPER_MICROSTEP_MAP("256", STEPPER_MICRO_STEP_256),
};
static void cmd_stepper_direction(size_t idx, struct shell_static_entry *entry)
{
if (idx < ARRAY_SIZE(stepper_direction_map)) {
entry->syntax = stepper_direction_map[idx].name;
} else {
entry->syntax = NULL;
}
entry->handler = NULL;
entry->help = "Stepper direction";
entry->subcmd = NULL;
}
SHELL_DYNAMIC_CMD_CREATE(dsub_stepper_direction, cmd_stepper_direction);
static void cmd_stepper_microstep(size_t idx, struct shell_static_entry *entry)
{
if (idx < ARRAY_SIZE(stepper_microstep_map)) {
entry->syntax = stepper_microstep_map[idx].name;
} else {
entry->syntax = NULL;
}
entry->handler = NULL;
entry->help = "Stepper microstep resolution";
entry->subcmd = NULL;
}
SHELL_DYNAMIC_CMD_CREATE(dsub_stepper_microstep, cmd_stepper_microstep);
static void cmd_pos_stepper_motor_name(size_t idx, struct shell_static_entry *entry)
{
const struct device *dev = shell_device_lookup(idx, NULL);
entry->syntax = (dev != NULL) ? dev->name : NULL;
entry->handler = NULL;
entry->help = "List Devices";
entry->subcmd = NULL;
}
SHELL_DYNAMIC_CMD_CREATE(dsub_pos_stepper_motor_name, cmd_pos_stepper_motor_name);
static void cmd_pos_stepper_motor_name_dir(size_t idx, struct shell_static_entry *entry)
{
const struct device *dev = shell_device_lookup(idx, NULL);
if (dev != NULL) {
entry->syntax = dev->name;
} else {
entry->syntax = NULL;
}
entry->handler = NULL;
entry->help = "List Devices";
entry->subcmd = &dsub_stepper_direction;
}
SHELL_DYNAMIC_CMD_CREATE(dsub_pos_stepper_motor_name_dir, cmd_pos_stepper_motor_name_dir);
static void cmd_pos_stepper_motor_name_microstep(size_t idx, struct shell_static_entry *entry)
{
const struct device *dev = shell_device_lookup(idx, NULL);
if (dev != NULL) {
entry->syntax = dev->name;
} else {
entry->syntax = NULL;
}
entry->handler = NULL;
entry->help = "List Devices";
entry->subcmd = &dsub_stepper_microstep;
}
SHELL_DYNAMIC_CMD_CREATE(dsub_pos_stepper_motor_name_microstep,
cmd_pos_stepper_motor_name_microstep);
static int parse_device_arg(const struct shell *sh, char **argv, const struct device **dev)
{
*dev = device_get_binding(argv[ARG_IDX_DEV]);
if (!*dev) {
shell_error(sh, "Stepper device %s not found", argv[ARG_IDX_DEV]);
return -ENODEV;
}
return 0;
}
static int cmd_stepper_enable(const struct shell *sh, size_t argc, char **argv)
{
const struct device *dev;
int err = 0;
bool enable = shell_strtobool(argv[ARG_IDX_PARAM], 10, &err);
if (err < 0) {
return err;
}
err = parse_device_arg(sh, argv, &dev);
if (err < 0) {
return err;
}
err = stepper_enable(dev, enable);
if (err) {
shell_error(sh, "Error: %d", err);
}
return err;
}
static int cmd_stepper_move(const struct shell *sh, size_t argc, char **argv)
{
const struct device *dev;
int err = 0;
int32_t micro_steps = shell_strtol(argv[ARG_IDX_PARAM], 10, &err);
if (err < 0) {
return err;
}
err = parse_device_arg(sh, argv, &dev);
if (err < 0) {
return err;
}
err = stepper_set_callback(dev, print_callback, (void *)sh);
if (err != 0) {
shell_error(sh, "Failed to set callback: %d", err);
}
err = stepper_move(dev, micro_steps);
if (err) {
shell_error(sh, "Error: %d", err);
}
return err;
}
static int cmd_stepper_set_max_velocity(const struct shell *sh, size_t argc, char **argv)
{
const struct device *dev;
int err = 0;
uint32_t velocity = shell_strtoul(argv[ARG_IDX_PARAM], 10, &err);
if (err < 0) {
return err;
}
err = parse_device_arg(sh, argv, &dev);
if (err < 0) {
return err;
}
err = stepper_set_max_velocity(dev, velocity);
if (err) {
shell_error(sh, "Error: %d", err);
}
return err;
}
static int cmd_stepper_set_micro_step_res(const struct shell *sh, size_t argc, char **argv)
{
const struct device *dev;
enum stepper_micro_step_resolution resolution;
int err = -EINVAL;
for (int i = 0; i < ARRAY_SIZE(stepper_microstep_map); i++) {
if (strcmp(argv[ARG_IDX_PARAM], stepper_microstep_map[i].name) == 0) {
resolution = stepper_microstep_map[i].microstep;
err = 0;
break;
}
}
if (err != 0) {
shell_error(sh, "Invalid microstep value %s", argv[ARG_IDX_PARAM]);
return err;
}
err = parse_device_arg(sh, argv, &dev);
if (err < 0) {
return err;
}
err = stepper_set_micro_step_res(dev, resolution);
if (err) {
shell_error(sh, "Error: %d", err);
}
return err;
}
static int cmd_stepper_get_micro_step_res(const struct shell *sh, size_t argc, char **argv)
{
const struct device *dev;
int err;
enum stepper_micro_step_resolution micro_step_res;
err = parse_device_arg(sh, argv, &dev);
if (err < 0) {
return err;
}
err = stepper_get_micro_step_res(dev, &micro_step_res);
if (err < 0) {
shell_warn(sh, "Failed to get micro-step resolution: %d", err);
} else {
shell_print(sh, "Micro-step Resolution: %d", micro_step_res);
}
return err;
}
static int cmd_stepper_set_actual_position(const struct shell *sh, size_t argc, char **argv)
{
const struct device *dev;
int err = 0;
int32_t position = shell_strtol(argv[ARG_IDX_PARAM], 10, &err);
if (err < 0) {
return err;
}
err = parse_device_arg(sh, argv, &dev);
if (err < 0) {
return err;
}
err = stepper_set_actual_position(dev, position);
if (err) {
shell_error(sh, "Error: %d", err);
}
return err;
}
static int cmd_stepper_get_actual_position(const struct shell *sh, size_t argc, char **argv)
{
const struct device *dev;
int err;
int32_t actual_position;
err = parse_device_arg(sh, argv, &dev);
if (err < 0) {
return err;
}
err = stepper_get_actual_position(dev, &actual_position);
if (err < 0) {
shell_warn(sh, "Failed to get actual position: %d", err);
} else {
shell_print(sh, "Actual Position: %d", actual_position);
}
return err;
}
static int cmd_stepper_set_target_position(const struct shell *sh, size_t argc, char **argv)
{
const struct device *dev;
int err = 0;
const int32_t position = shell_strtol(argv[ARG_IDX_PARAM], 10, &err);
if (err < 0) {
return err;
}
err = parse_device_arg(sh, argv, &dev);
if (err < 0) {
return err;
}
err = stepper_set_callback(dev, print_callback, NULL);
if (err != 0) {
shell_error(sh, "Failed to set callback: %d", err);
}
err = stepper_set_target_position(dev, position);
if (err) {
shell_error(sh, "Error: %d", err);
}
return err;
}
static int cmd_stepper_enable_constant_velocity_mode(const struct shell *sh, size_t argc,
char **argv)
{
const struct device *dev;
int err = -EINVAL;
enum stepper_direction direction = STEPPER_DIRECTION_POSITIVE;
for (int i = 0; i < ARRAY_SIZE(stepper_direction_map); i++) {
if (strcmp(argv[ARG_IDX_PARAM], stepper_direction_map[i].name) == 0) {
direction = stepper_direction_map[i].direction;
err = 0;
break;
}
}
if (err != 0) {
shell_error(sh, "Invalid direction %s", argv[ARG_IDX_PARAM]);
return err;
}
uint32_t velocity = shell_strtoul(argv[ARG_IDX_VALUE], 10, &err);
if (err < 0) {
return err;
}
err = parse_device_arg(sh, argv, &dev);
if (err < 0) {
return err;
}
err = stepper_set_callback(dev, print_callback, NULL);
if (err != 0) {
shell_error(sh, "Failed to set callback: %d", err);
}
err = stepper_enable_constant_velocity_mode(dev, direction, velocity);
if (err) {
shell_error(sh, "Error: %d", err);
return err;
}
return 0;
}
static int cmd_stepper_info(const struct shell *sh, size_t argc, char **argv)
{
const struct device *dev;
int err;
bool is_moving;
int32_t actual_position;
enum stepper_micro_step_resolution micro_step_res;
err = parse_device_arg(sh, argv, &dev);
if (err < 0) {
return err;
}
shell_print(sh, "Stepper Info:");
shell_print(sh, "Device: %s", dev->name);
err = stepper_get_actual_position(dev, &actual_position);
if (err < 0) {
shell_warn(sh, "Failed to get actual position: %d", err);
} else {
shell_print(sh, "Actual Position: %d", actual_position);
}
err = stepper_get_micro_step_res(dev, &micro_step_res);
if (err < 0) {
shell_warn(sh, "Failed to get micro-step resolution: %d", err);
} else {
shell_print(sh, "Micro-step Resolution: %d", micro_step_res);
}
err = stepper_is_moving(dev, &is_moving);
if (err < 0) {
shell_warn(sh, "Failed to check if the motor is moving: %d", err);
} else {
shell_print(sh, "Is Moving: %s", is_moving ? "Yes" : "No");
}
return 0;
}
SHELL_STATIC_SUBCMD_SET_CREATE(
stepper_cmds,
SHELL_CMD_ARG(enable, &dsub_pos_stepper_motor_name, "<device> <on/off>", cmd_stepper_enable,
3, 0),
SHELL_CMD_ARG(move, &dsub_pos_stepper_motor_name, "<device> <micro_steps>",
cmd_stepper_move, 3, 0),
SHELL_CMD_ARG(set_max_velocity, &dsub_pos_stepper_motor_name, "<device> <velocity>",
cmd_stepper_set_max_velocity, 3, 0),
SHELL_CMD_ARG(set_micro_step_res, &dsub_pos_stepper_motor_name_microstep,
"<device> <resolution>", cmd_stepper_set_micro_step_res, 3, 0),
SHELL_CMD_ARG(get_micro_step_res, &dsub_pos_stepper_motor_name, "<device>",
cmd_stepper_get_micro_step_res, 2, 0),
SHELL_CMD_ARG(set_actual_position, &dsub_pos_stepper_motor_name, "<device> <position>",
cmd_stepper_set_actual_position, 3, 0),
SHELL_CMD_ARG(get_actual_position, &dsub_pos_stepper_motor_name, "<device>",
cmd_stepper_get_actual_position, 2, 0),
SHELL_CMD_ARG(set_target_position, &dsub_pos_stepper_motor_name, "<device> <micro_steps>",
cmd_stepper_set_target_position, 3, 0),
SHELL_CMD_ARG(enable_constant_velocity_mode, &dsub_pos_stepper_motor_name_dir,
"<device> <direction> <velocity>", cmd_stepper_enable_constant_velocity_mode,
4, 0),
SHELL_CMD_ARG(info, &dsub_pos_stepper_motor_name, "<device>", cmd_stepper_info, 2, 0),
SHELL_SUBCMD_SET_END);
SHELL_CMD_REGISTER(stepper, &stepper_cmds, "Stepper motor commands", NULL);
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