stepper_tmcm3216.h

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/*
 * SPDX-FileCopyrightText: Copyright (c) 2025 Alexis Czezar C Torreno
 * SPDX-License-Identifier: Apache-2.0
 */

 
#ifndef ZEPHYR_INCLUDE_DRIVERS_STEPPER_TMCM3216_H_
#define ZEPHYR_INCLUDE_DRIVERS_STEPPER_TMCM3216_H_
 
#include <zephyr/device.h>
#include <zephyr/drivers/stepper/stepper.h>
 
#ifdef __cplusplus
extern "C" {
#endif

struct tmcm3216_status {
        bool position_reached;
        bool right_endstop;
        bool left_endstop;
        bool is_moving;
        int32_t actual_position;
        int32_t actual_velocity;
};

int tmcm3216_set_max_velocity(const struct device *dev, uint32_t velocity);

int tmcm3216_get_max_velocity(const struct device *dev, uint32_t *velocity);

int tmcm3216_set_max_acceleration(const struct device *dev, uint32_t acceleration);

int tmcm3216_get_actual_velocity(const struct device *dev, int32_t *velocity);

int tmcm3216_get_status(const struct device *dev, struct tmcm3216_status *status);
 
#ifdef __cplusplus
}
#endif
 
#endif /* ZEPHYR_INCLUDE_DRIVERS_STEPPER_TMCM3216_H_ */