独立的步进电机运动控制器与驱动器

以下是使用专用步进电机运动控制器的步进电机驱动器的 Devicetree 配置示例：

/ {
    aliases {
        stepper_driver = &tmc2209
        stepper_ctrl = &step_dir_motion_control;
    };

    tmc2209: tmc2209 {
        compatible = "adi,tmc2209";
        enable-gpios = <&gpioa 6 GPIO_ACTIVE_HIGH>;
        m0-gpios = <&gpiob 0 GPIO_ACTIVE_HIGH>;
        m1-gpios = <&gpioa 7 GPIO_ACTIVE_HIGH>;
    };

    step_dir_motion_control: step-dir-motion-control {
        compatible = "zephyr,gpio-step-dir-stepper-ctrl";
        step-gpios = <&gpioa 9 GPIO_ACTIVE_HIGH>;
        dir-gpios = <&gpioc 7 GPIO_ACTIVE_HIGH>;
        invert-direction;
        stepper-driver = <&tmc2209>;
    };
};

完成上述配置后，即可在应用代码中按如下方式使用步进电机驱动子系统：

static const struct device *stepper_driver = DEVICE_DT_GET(DT_ALIAS(stepper_driver));
static const struct device *stepper_ctrl = DEVICE_DT_GET(DT_ALIAS(stepper_ctrl));
...
stepper_ctrl_move_to(stepper_ctrl, 200);
stepper_ctrl_stop(stepper_ctrl);
stepper_disable(stepper_driver);