drivers: stepper: add fault handling in drv84xx

Add fault handling in drv84xx using a fault cb mechanism

Signed-off-by: Jilay Pandya <[email protected]>

Author: jilaypandya

drivers/stepper/ti/drv84xx.c

@@ -53,6 +53,8 @@ struct drv84xx_data {
 	struct drv84xx_pin_states pin_states;
 	enum stepper_micro_step_resolution ustep_res;
 	struct gpio_callback fault_cb_data;
+	stepper_fault_callback_t fault_cb;
+	void *fault_cb_user_data;
 };
 
 STEP_DIR_STEPPER_STRUCT_CHECK(struct drv84xx_config, struct drv84xx_data);
@@ -260,6 +262,17 @@ static int drv84xx_disable(const struct device *dev)
 	return ret;
 }
 
+static int drv84xx_set_fault_cb(const struct device *dev,
+				stepper_fault_callback_t fault_cb, void *user_data)
+{
+	struct drv84xx_data *data = dev->data;
+
+	data->fault_cb = fault_cb;
+	data->fault_cb_user_data = user_data;
+
+	return 0;
+}
+
 static int drv84xx_set_micro_step_res(const struct device *dev,
 				      enum stepper_micro_step_resolution micro_step_res)
 {
@@ -353,7 +366,11 @@ void fault_event(const struct device *dev, struct gpio_callback *cb, uint32_t pi
 {
 	struct drv84xx_data *data = CONTAINER_OF(cb, struct drv84xx_data, fault_cb_data);
 
-	/* Todo: Handle fault event. */
+	if (data->fault_cb != NULL) {
+		data->fault_cb(data->dev, data->fault_cb_user_data);
+	} else {
+		LOG_WRN_ONCE("%s: Fault pin triggered but no callback is set", dev->name);
+	}
 }
 
 static int drv84xx_init(const struct device *dev)
@@ -440,6 +457,7 @@ static int drv84xx_init(const struct device *dev)
 static DEVICE_API(stepper, drv84xx_stepper_api) = {
 	.enable = drv84xx_enable,
 	.disable = drv84xx_disable,
+	.set_fault_cb = drv84xx_set_fault_cb,
 	.set_micro_step_res = drv84xx_set_micro_step_res,
 	.get_micro_step_res = drv84xx_get_micro_step_res,
 	.step = step_dir_stepper_common_step,

include/zephyr/drivers/stepper.h

@@ -102,8 +102,6 @@ enum stepper_event {
 	STEPPER_EVENT_RIGHT_END_STOP_DETECTED = 3,
 	/** Stepper has stopped */
 	STEPPER_EVENT_STOPPED = 4,
-	/** Fault with the stepper controller detected */
-	STEPPER_EVENT_FAULT_DETECTED = 5,
 };
 
 /**
@@ -177,13 +175,26 @@ typedef int (*stepper_get_actual_position_t)(const struct device *dev, int32_t *
 typedef void (*stepper_event_callback_t)(const struct device *dev, const enum stepper_event event,
 					 void *user_data);
 
+/**
+ * @brief Callback function for stepper fault events
+ */
+typedef void (*stepper_fault_callback_t)(const struct device *dev, void *user_data);
+
 /**
  * @brief Set the callback function to be called when a stepper event occurs
  *
  * @see stepper_set_event_callback() for details.
  */
 typedef int (*stepper_set_event_callback_t)(const struct device *dev,
 					    stepper_event_callback_t callback, void *user_data);
+
+/**
+ * @brief Set the callback function to be called when a stepper fault occurs
+ *
+ * @see stepper_set_fault_callback() for details.
+ */
+typedef int (*stepper_set_fault_callback_t)(const struct device *dev,
+					    stepper_fault_callback_t callback, void *user_data);
 /**
  * @brief Set the time interval between steps in nanoseconds.
  *
@@ -236,6 +247,8 @@ __subsystem struct stepper_driver_api {
 	stepper_get_micro_step_res_t get_micro_step_res;
 	stepper_set_direction_t set_direction;
 	stepper_step_t step;
+	stepper_set_fault_callback_t set_fault_cb;
+
 	stepper_set_reference_position_t set_reference_position;
 	stepper_get_actual_position_t get_actual_position;
 	stepper_set_event_callback_t set_event_callback;
@@ -393,6 +406,33 @@ static inline int z_impl_stepper_get_micro_step_res(const struct device *dev,
 	return api->get_micro_step_res(dev, resolution);
 }
 
+/**
+ * @brief Set the callback function to be called when a stepper fault occurs
+ *
+ * @param dev pointer to the stepper driver instance
+ * @param callback Callback function to be called when a stepper fault occurs
+ * passing NULL will disable the callback
+ * @param user_data User data to be passed to the callback function
+ *
+ * @retval -ENOSYS If not implemented by device driver
+ * @retval 0 Success
+ */
+__syscall int stepper_set_fault_callback(const struct device *dev,
+					 stepper_fault_callback_t callback, void *user_data);
+
+static inline int z_impl_stepper_set_fault_callback(const struct device *dev,
+						    stepper_fault_callback_t callback,
+						    void *user_data)
+{
+	const struct stepper_driver_api *api = (const struct stepper_driver_api *)dev->api;
+
+	if (api->set_fault_cb == NULL) {
+		return -ENOSYS;
+	}
+
+	return api->set_fault_cb(dev, callback, user_data);
+}
+
 /**
  * @brief Set the reference position of the stepper
  *