Update device tree overlay and driver enable functions for stepper controller (#3)

Author: andre-stefanov

.github/workflows/docs.yml

@@ -3,7 +3,11 @@
 
 name: Documentation
 
-on: [push, pull_request]
+on:
+  push:
+    branches:
+      - main
+  pull_request:
 
 permissions:
   contents: read

app/boards/esp32s3_devkitc_procpu.overlay

@@ -4,24 +4,31 @@
  */
 
 /* Devicetree overlay enabling the Moonlite focuser firmware on ESP32-S3 DevKitC
- * (PROCPU). The TMC2209 stepper driver is exposed via the "stepper" and
- * "stepper-drv" aliases, while the zephyr,user node supplies the UART phandle
+ * (PROCPU). The zephyr,gpio-step-dir-controller drives the step/dir pins
+ * referenced by the "stepper" alias, while the dedicated TMC2209 device is
+ * referenced by the "stepper-drv" alias so the application can toggle the
+ * external driver rails. The zephyr,user node supplies the UART phandle
  * consumed by the application.
  */
 
 / {
 	aliases {
 		stepper = &focuser_stepper;
-		stepper-drv = &focuser_stepper;
+		stepper-drv = &focuser_stepper_drv;
 	};
 
-	focuser_stepper: focuser_stepper {
+	focuser_stepper_drv: focuser_stepper_drv {
 		compatible = "adi,tmc2209";
+		en-gpios = <&gpio0 18 GPIO_ACTIVE_LOW>;
+		micro-step-res = <1>;
+		status = "okay";
+	};
+
+	focuser_stepper: focuser_stepper {
+		compatible = "zephyr,gpio-step-dir-controller";
 		step-gpios = <&gpio0 16 GPIO_ACTIVE_HIGH>;
 		dir-gpios = <&gpio0 17 GPIO_ACTIVE_HIGH>;
-		en-gpios = <&gpio0 18 GPIO_ACTIVE_LOW>;
 		step-width-ns = <10000>;
-		micro-step-res = <1>;
 		status = "okay";
 	};
 

app/boards/qemu_cortex_m0.overlay

@@ -3,24 +3,24 @@
  *
  * Devicetree overlay enabling the Moonlite focuser firmware on the
  * qemu_cortex_m0 board. The design uses the generic GPIO H-bridge stepper
- * controller so the application can run entirely in the simulator.
+ * controller for motion ("stepper" alias) plus the Zephyr fake stepper
+ * driver ("stepper-drv" alias) so the application can exercise the driver
+ * enable path under simulation.
  */
 
 / {
 	aliases {
 		stepper = &focuser_stepper;
-		stepper-drv = &focuser_stepper;
+		stepper-drv = &focuser_stepper_drv;
+	};
+
+	focuser_stepper_drv: focuser_stepper_drv {
+		compatible = "zephyr,fake-stepper-driver";
+		status = "okay";
 	};
 
 	focuser_stepper: focuser_stepper {
-		compatible = "zephyr,h-bridge-stepper";
-		/* Four phase outputs feeding a simulated H-bridge. */
-		gpios = <&gpio0 1 GPIO_ACTIVE_HIGH>,
-			<&gpio0 2 GPIO_ACTIVE_HIGH>,
-			<&gpio0 3 GPIO_ACTIVE_HIGH>,
-			<&gpio0 4 GPIO_ACTIVE_HIGH>;
-		en-gpios = <&gpio0 0 GPIO_ACTIVE_HIGH>;
-		micro-step-res = <1>;
+		compatible = "zephyr,fake-stepper-controller";
 		status = "okay";
 	};
 

app/prj.conf

@@ -24,6 +24,8 @@ CONFIG_LOG_BACKEND_UART=y
 # Set the application log level.
 CONFIG_APP_LOG_LEVEL_INF=y
 
+CONFIG_COUNTER=y
+
 # Enable Zephyr's generic stepper controller subsystem and the TMC2209 backend.
 CONFIG_STEPPER=y
 CONFIG_STEPPER_ADI_TMC2209=y

app/sample.yaml

@@ -8,7 +8,6 @@ common:
   build_only: true
   integration_platforms:
     - esp32s3_devkitc/esp32s3/procpu
-    - qemu_cortex_m0
 tests:
   app.default: {}
   app.debug:

app/src/ZephyrStepper.cpp

@@ -93,5 +93,5 @@ int ZephyrFocuserStepper::enable_driver(bool enable)
 		return 0;
 	}
 
-	return enable ? stepper_enable(m_stepper_drv) : stepper_disable(m_stepper_drv);
+	return enable ? stepper_drv_enable(m_stepper_drv) : stepper_drv_disable(m_stepper_drv);
 }