SHERPA/microros_turntable_controller
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removed old stepper code leftovers

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This commit is contained in:
Timo Schneider
2025-12-01 11:23:27 +01:00
parent a4c2d82c4c
commit d02d2f24e1
3 changed files with 4 additions and 38 deletions
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29
boards/nucleo_h563zi.overlay
View File

@@ -6,17 +6,6 @@
rotenc0 = &as5600; rotenc0 = &as5600;
stepper0 = &stepper0; stepper0 = &stepper0;
servo0 = &pwm_servo0;
};
pwmleds: pwmleds {
compatible = "pwm-leds";
status = "okay";
pwm_servo0: pwm_servo0 {
pwms = <&pwm4 3 PWM_MSEC(20) PWM_POLARITY_NORMAL>;
label = "servo 0";
};
}; };
stepper0: tmc2209_motor { stepper0: tmc2209_motor {
@@ -34,13 +23,6 @@
}; };
}; };
&uart4 {
status = "okay";
current-speed = <460800>;
pinctrl-0 = <&uart4_tx_pa0 &uart4_rx_pd0>;
pinctrl-names = "default";
};
&usb { &usb {
status = "okay"; status = "okay";
cdc_acm_uart0: cdc_acm_uart0 { cdc_acm_uart0: cdc_acm_uart0 {
@@ -71,17 +53,6 @@
}; };
}; };
&timers4 {
status = "okay";
st,prescaler = <119>;
pwm4: pwm {
status = "okay";
pinctrl-0 = <&tim4_ch3_pb8>;
pinctrl-names = "default";
};
};
&i2c2 { &i2c2 {
status = "okay"; status = "okay";
pinctrl-0 = <&i2c2_scl_pf1 &i2c2_sda_pf0>; pinctrl-0 = <&i2c2_scl_pf1 &i2c2_sda_pf0>;

6
src/devices.cpp
View File

@@ -19,18 +19,16 @@ bool verify_are_devices_available(void) {
devices_ready = false; devices_ready = false;
} }
if (!pwm_is_ready_dt(&servo0)) {
printk("Servo0 not ready\n");
devices_ready = false;
}
if (!device_is_ready(counter5)) { if (!device_is_ready(counter5)) {
printk("Counter 5 not ready\n"); printk("Counter 5 not ready\n");
devices_ready = false; devices_ready = false;
} }
if (!device_is_ready(rotenc0)) { if (!device_is_ready(rotenc0)) {
printk("Rotory encoder 0 not ready\n"); printk("Rotory encoder 0 not ready\n");
devices_ready = false; devices_ready = false;
} }
if (!device_is_ready(stepper0)) { if (!device_is_ready(stepper0)) {
printk("Stepper 0 not ready\n"); printk("Stepper 0 not ready\n");
devices_ready = false; devices_ready = false;

3
src/devices.hpp
View File

@@ -6,12 +6,10 @@
#include <zephyr/device.h> #include <zephyr/device.h>
#include <zephyr/devicetree.h> #include <zephyr/devicetree.h>
#include <zephyr/drivers/gpio.h> #include <zephyr/drivers/gpio.h>
#include <zephyr/drivers/pwm.h>
#include <zephyr/drivers/stepper.h> #include <zephyr/drivers/stepper.h>
#else #else
#include <device.h> #include <device.h>
#include <devicetree.h> #include <devicetree.h>
#include <drivers/pwm.h>
#endif #endif
static const struct gpio_dt_spec led0 = GPIO_DT_SPEC_GET(DT_ALIAS(led0), gpios); static const struct gpio_dt_spec led0 = GPIO_DT_SPEC_GET(DT_ALIAS(led0), gpios);
@@ -20,7 +18,6 @@ static const struct gpio_dt_spec led2 = GPIO_DT_SPEC_GET(DT_ALIAS(led2), gpios);
static const struct device *rotenc0 = DEVICE_DT_GET(DT_ALIAS(rotenc0)); static const struct device *rotenc0 = DEVICE_DT_GET(DT_ALIAS(rotenc0));
static const struct device *stepper0 = DEVICE_DT_GET(DT_ALIAS(stepper0)); static const struct device *stepper0 = DEVICE_DT_GET(DT_ALIAS(stepper0));
static const struct pwm_dt_spec servo0 = PWM_DT_SPEC_GET(DT_ALIAS(servo0));
static const struct device *counter5 = DEVICE_DT_GET(DT_NODELABEL(counter5)); static const struct device *counter5 = DEVICE_DT_GET(DT_NODELABEL(counter5));
bool verify_are_devices_available(void); bool verify_are_devices_available(void);