add support to drv8825

boards/arm/stm32/common/include/stm32_drv8266.h

@@ -0,0 +1,73 @@
+/****************************************************************************
+ * boards/arm/stm32/common/include/stm32_drv8266.h
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.  The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License.  You may obtain a copy of the License at
+ *
+ *   http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+#ifndef __BOARDS_ARM_STM32_COMMON_INCLUDE_STM32_DRV8825_H
+#define __BOARDS_ARM_STM32_COMMON_INCLUDE_STM32_DRV8825_H
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Public Types
+ ****************************************************************************/
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+#ifdef __cplusplus
+#define EXTERN extern "C"
+extern "C"
+{
+#else
+#define EXTERN extern
+#endif
+
+/****************************************************************************
+ * Inline Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Public Function Prototypes
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: board_drv8825_initialize
+ *
+ * Description:
+ *   Initialize drv8825 and register the stepper motor driver.
+ *
+ ****************************************************************************/
+
+int board_drv8825_initialize(int devno);
+
+#undef EXTERN
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __BOARDS_ARM_STM32_COMMON_INCLUDE_STM32_DRV8825_H */

boards/arm/stm32/common/src/CMakeLists.txt

@@ -132,4 +132,8 @@ if(CONFIG_BOARD_STM32_IHM16M1)
   list(APPEND SRCS stm32_ihm16m1.c)
 endif()
 
+if(CONFIG_STEPPER_DRV8825)
+  list(APPEND SRCS stm32_drv8825.c)
+endif()
+
 target_sources(board PRIVATE ${SRCS})

boards/arm/stm32/common/src/Make.defs

@@ -140,6 +140,10 @@ ifeq ($(CONFIG_BOARD_STM32_IHM16M1),y)
   CSRCS += stm32_ihm16m1.c
 endif
 
+ifeq ($(CONFIG_STEPPER_DRV8825),y)
+  CSRCS += stm32_drv8825.c
+endif
+
 DEPPATH += --dep-path src
 VPATH += :src
 CFLAGS += ${INCDIR_PREFIX}$(TOPDIR)$(DELIM)arch$(DELIM)$(CONFIG_ARCH)$(DELIM)src$(DELIM)board$(DELIM)src

boards/arm/stm32/common/src/stm32_drv8825.c

@@ -0,0 +1,198 @@
+/****************************************************************************
+ * boards/arm/stm32/common/src/stm32_drv8825.c
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.  The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License.  You may obtain a copy of the License at
+ *
+ *   http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/motor/drv8825.h>
+#include <nuttx/motor/stepper.h>
+#include <nuttx/config.h>
+#include <stdint.h>
+#include <stdio.h>
+#include <errno.h>
+
+#include <nuttx/arch.h>
+#include <nuttx/board.h>
+#include <arch/board/board.h>
+
+#include "stm32.h"
+#include "chip.h"
+#include "arm_internal.h"
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Function Prototypes
+ ****************************************************************************/
+
+static void drv8825_initialize(void);
+static void drv8825_step(int level);
+static void drv8825_direction(int level);
+static void drv8825_microstepping(int ms1, int ms2, int ms3);
+static void drv8825_enable(int level);
+static void drv8825_idle(int level);
+static int drv8825_fault(void);
+
+/****************************************************************************
+ * Private Data
+ ****************************************************************************/
+
+static struct drv8825_ops_s g_drv8825_ops =
+{
+    drv8825_initialize,    /* initialize */
+    drv8825_step,          /* step */
+    drv8825_direction,     /* direction */
+    drv8825_microstepping, /* microstepping */
+    drv8825_enable,        /* enable */
+    drv8825_idle,          /* idle */
+    drv8825_fault          /* fault */
+};
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: drv8825_initialize
+ *
+ * Description:
+ *  Initialize and configure the GPIOs.
+ *
+ ****************************************************************************/
+
+static void drv8825_initialize(void)
+{
+    stm32_configgpio(GPIO_DIR);
+    stm32_configgpio(GPIO_STEP);
+    stm32_configgpio(GPIO_SLEEP);
+    stm32_configgpio(GPIO_M1);
+    stm32_configgpio(GPIO_M2);
+    stm32_configgpio(GPIO_M3);
+    stm32_configgpio(GPIO_RESET);
+}
+
+/****************************************************************************
+ * Name: drv8825_step
+ *
+ * Description:
+ *  Control the step output.
+ *
+ ****************************************************************************/
+
+static void drv8825_step(int level)
+{
+    stm32_gpiowrite(GPIO_STEP, (bool)level);
+}
+
+/****************************************************************************
+ * Name: drv8825_direction
+ *
+ * Description:
+ *  Control the direction (clockwise or counterclockwise).
+ *
+ ****************************************************************************/
+
+static void drv8825_direction(int level)
+{
+    stm32_gpiowrite(GPIO_DIR, (bool)level);
+}
+
+/****************************************************************************
+ * Name: drv8825_microstepping
+ *
+ * Description:
+ *  Configure the step resolution.
+ *
+ ****************************************************************************/
+
+static void drv8825_microstepping(int ms1, int ms2, int ms3)
+{
+    stm32_gpiowrite(GPIO_M1, (bool)ms1);
+    stm32_gpiowrite(GPIO_M2, (bool)ms2);
+    stm32_gpiowrite(GPIO_M3, (bool)ms3);
+}
+
+/****************************************************************************
+ * Name: drv8825_enable
+ *
+ * Description:
+ *  Enable control.
+ *
+ ****************************************************************************/
+
+static void drv8825_enable(int level)
+{
+    stm32_gpiowrite(GPIO_RESET, (bool)level);
+}
+
+/****************************************************************************
+ * Name: drv8825_idle
+ *
+ * Description:
+ *  Idle control.
+ *
+ ****************************************************************************/
+
+static void drv8825_idle(int level)
+{
+    stm32_gpiowrite(GPIO_SLEEP, !level);
+}
+
+/****************************************************************************
+ * Name: drv8825_fault
+ *
+ * Description:
+ *  Fault fetch.
+ *
+ ****************************************************************************/
+
+static int drv8825_fault(void)
+{
+  return 0;
+}
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: board_drv8825_initialize
+ *
+ * Description:
+ *  Initialize drv8825 and register the stepper motor driver.
+ *
+ ****************************************************************************/
+
+int board_drv8825_initialize(int devno)
+{
+    int ret;
+    char devname[15];
+
+    drv8825_initialize();
+
+    snprintf(devname, 15, "/dev/stepper%d", devno);
+
+    ret = drv8825_register(devname, &g_drv8825_ops);
+
+  return ret;
+}

boards/arm/stm32/stm32f401rc-rs485/include/board.h

@@ -406,4 +406,23 @@ extern "C"
 #define GPIO_TIM2_CH1IN (GPIO_TIM2_CH1IN_1 | GPIO_PULLUP)
 #define GPIO_TIM2_CH2IN (GPIO_TIM2_CH2IN_1 | GPIO_PULLUP)
 
+/* Stepper Motor - DRV8266 */
+
+#define GPIO_DIR     (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|\
+                           GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN7)
+#define GPIO_STEP    (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|\
+                           GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN4)
+#define GPIO_SLEEP   (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|\
+                           GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN5)
+
+#define GPIO_M1      (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|\
+                           GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN0)
+#define GPIO_M2      (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|\
+                           GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN1)
+#define GPIO_M3      (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|\
+                           GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN2)
+
+#define GPIO_RESET   (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|\
+                           GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN10)
+
 #endif /* __BOARDS_ARM_STM32F401RC_RS485_INCLUDE_BOARD_H */

boards/arm/stm32/stm32f401rc-rs485/src/stm32_bringup.c

@@ -63,6 +63,10 @@
 #include "stm32_hcsr04.h"
 #endif
 
+#ifdef CONFIG_STEPPER_DRV8825
+#include "stm32_drv8266.h"
+#endif
+
 /****************************************************************************
  * Public Functions
  ****************************************************************************/
@@ -257,5 +261,15 @@ int stm32_bringup(void)
     }
 #endif
 
+#ifdef CONFIG_STEPPER_DRV8825
+  /* Configure and initialize the drv8825 driver */
+
+  ret = board_drv8825_initialize(0);
+  if (ret < 0)
+    {
+      syslog(LOG_ERR, "ERROR: board_drv8825_initialize failed: %d\n", ret);
+    }
+#endif
+
   return ret;
 }