drivers: stepper: tmc_spi: remove print_status_byte

print_status_byte is specific to tmc50xx and hence shoud not
be placeed in common tmc_spi.c which is supposed to be reused
by a variety of drivers

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

Author: jilaypandya

drivers/stepper/adi_tmc/adi_tmc50xx_stepper_controller.c

@@ -56,6 +56,20 @@ struct tmc50xx_stepper_config {
 
 static int read_actual_position(const struct tmc50xx_stepper_config *config, int32_t *position);
 
+static void parse_tmc50xx_spi_status(const uint8_t *const rx_buffer)
+{
+	const uint8_t status_byte = rx_buffer[0];
+	if ((status_byte & BIT_MASK(0)) != 0) {
+		LOG_WRN("spi dataframe: reset_flag detected");
+	}
+	if ((status_byte & BIT_MASK(1)) != 0) {
+		LOG_WRN("spi dataframe: driver_error(1) detected");
+	}
+	if ((status_byte & BIT_MASK(2)) != 0) {
+		LOG_WRN("spi dataframe: driver_error(2) detected");
+	}
+}
+
 static int tmc50xx_write(const struct device *dev, const uint8_t reg_addr, const uint32_t reg_val)
 {
 	const struct tmc50xx_config *config = dev->config;
@@ -65,7 +79,8 @@ static int tmc50xx_write(const struct device *dev, const uint8_t reg_addr, const
 
 	k_sem_take(&data->sem, K_FOREVER);
 
-	err = tmc_spi_write_register(&bus, TMC5XXX_WRITE_BIT, reg_addr, reg_val);
+	err = tmc_spi_write_register(&bus, TMC5XXX_WRITE_BIT, reg_addr, reg_val,
+				     parse_tmc_spi_status);
 
 	k_sem_give(&data->sem);
 
@@ -85,7 +100,8 @@ static int tmc50xx_read(const struct device *dev, const uint8_t reg_addr, uint32
 
 	k_sem_take(&data->sem, K_FOREVER);
 
-	err = tmc_spi_read_register(&bus, TMC5XXX_ADDRESS_MASK, reg_addr, reg_val);
+	err = tmc_spi_read_register(&bus, TMC5XXX_ADDRESS_MASK, reg_addr, reg_val,
+				    parse_tmc_spi_status);
 
 	k_sem_give(&data->sem);
 
@@ -198,8 +214,8 @@ static void log_stallguard(struct tmc50xx_stepper_data *stepper_data, const uint
 	const uint8_t sg_result = FIELD_GET(TMC5XXX_DRV_STATUS_SG_RESULT_MASK, drv_status);
 	const bool sg_status = FIELD_GET(TMC5XXX_DRV_STATUS_SG_STATUS_MASK, drv_status);
 
-	LOG_DBG("%s position: %d | sg result: %d status: %d",
-		stepper_data->stepper->name, position, sg_result, sg_status);
+	LOG_DBG("%s position: %d | sg result: %d status: %d", stepper_data->stepper->name, position,
+		sg_result, sg_status);
 }
 
 #endif

drivers/stepper/adi_tmc/adi_tmc_spi.c

@@ -4,36 +4,22 @@
  */
 
 #include <zephyr/sys/util.h>
-
 #include "adi_tmc_spi.h"
 
 #define BUFFER_SIZE 5U
 
 #include <zephyr/logging/log.h>
-
 LOG_MODULE_REGISTER(tmc_spi, CONFIG_SPI_LOG_LEVEL);
 
-static void parse_tmc_spi_status(const uint8_t status_byte)
-{
-	if ((status_byte & BIT_MASK(0)) != 0) {
-		LOG_WRN("spi dataframe: reset_flag detected");
-	}
-	if ((status_byte & BIT_MASK(1)) != 0) {
-		LOG_WRN("spi dataframe: driver_error(1) detected");
-	}
-	if ((status_byte & BIT_MASK(2)) != 0) {
-		LOG_WRN("spi dataframe: driver_error(2) detected");
-	}
-}
-
 static void print_tx_rx_buffer(const uint8_t *const tx_buffer, const uint8_t *const rx_buffer)
 {
 	LOG_HEXDUMP_DBG(tx_buffer, BUFFER_SIZE, "TX: ");
 	LOG_HEXDUMP_DBG(rx_buffer, BUFFER_SIZE, "RX: ");
 }
 
 int tmc_spi_read_register(const struct spi_dt_spec *bus, const uint8_t read_address_mask,
-			  const uint8_t register_address, uint32_t *data)
+			  const uint8_t register_address, uint32_t *data,
+			  parse_rx_buffer_cb_t parse_rx_buffer_cb)
 {
 	uint8_t tx_buffer[BUFFER_SIZE] = {read_address_mask & register_address, 0U, 0U, 0U, 0U};
 	uint8_t rx_buffer[BUFFER_SIZE];
@@ -64,7 +50,9 @@ int tmc_spi_read_register(const struct spi_dt_spec *bus, const uint8_t read_addr
 	}
 
 	print_tx_rx_buffer(tx_buffer, rx_buffer);
-	parse_tmc_spi_status(rx_buffer[0]);
+	if (parse_rx_buffer_cb) {
+		parse_rx_buffer_cb(rx_buffer);
+	}
 
 	/** read the value from the address */
 	status = spi_transceive_dt(bus, &spi_buffer_array_tx, &spi_buffer_array_rx);
@@ -76,12 +64,15 @@ int tmc_spi_read_register(const struct spi_dt_spec *bus, const uint8_t read_addr
 		((uint32_t)rx_buffer[3] << 8) + (uint32_t)rx_buffer[4];
 
 	print_tx_rx_buffer(tx_buffer, rx_buffer);
-	parse_tmc_spi_status(rx_buffer[0]);
+	if (parse_rx_buffer_cb) {
+		parse_rx_buffer_cb(rx_buffer);
+	}
 	return status;
 }
 
 int tmc_spi_write_register(const struct spi_dt_spec *bus, const uint8_t write_bit,
-			   const uint8_t register_address, const uint32_t data)
+			   const uint8_t register_address, const uint32_t data,
+			   parse_rx_buffer_cb_t parse_rx_buffer_cb)
 {
 	uint8_t tx_buffer[BUFFER_SIZE] = {write_bit | register_address, data >> 24, data >> 16,
 					  data >> 8, data};
@@ -112,7 +103,9 @@ int tmc_spi_write_register(const struct spi_dt_spec *bus, const uint8_t write_bi
 	}
 
 	print_tx_rx_buffer(tx_buffer, rx_buffer);
-	parse_tmc_spi_status(rx_buffer[0]);
+	if (parse_rx_buffer_cb) {
+		parse_rx_buffer_cb(rx_buffer);
+	}
 
 	return status;
 }

drivers/stepper/adi_tmc/adi_tmc_spi.h

@@ -26,18 +26,27 @@ extern "C" {
 
 #include <zephyr/drivers/spi.h>
 
+/**
+ * @brief Callback function to parse the RX buffer.
+ *
+ * @param rx_buffer Pointer to the RX buffer.
+ */
+typedef void (*parse_rx_buffer_cb_t)(const uint8_t *const rx_buffer);
+
 /**
  * @brief Read a register from the TMC module using the SPI Bus.
  *
  * @param bus SPI DT information of the bus.
  * @param read_address_mask Address Mask for read operation.
  * @param register_address Register.
  * @param data Pointer to read value.
+ * @param parse_rx_buffer_cb Callback function to parse the RX buffer.
  *
  * @return a value from spi_transceive().
  */
 int tmc_spi_read_register(const struct spi_dt_spec *bus, const uint8_t read_address_mask,
-			  const uint8_t register_address, uint32_t *data);
+			  const uint8_t register_address, uint32_t *data,
+			  parse_rx_buffer_cb_t parse_rx_buffer_cb);
 
 /**
  * @brief Write into a register in the TMC module using the SPI Bus.
@@ -46,11 +55,13 @@ int tmc_spi_read_register(const struct spi_dt_spec *bus, const uint8_t read_addr
  * @param write_bit Write bit for write operation.
  * @param register_address Register.
  * @param data Value to be written in the register.
+ * @param parse_rx_buffer_cb Callback function to parse the RX buffer.
  *
  * @return a value from spi_transceive().
  */
 int tmc_spi_write_register(const struct spi_dt_spec *bus, const uint8_t write_bit,
-			   const uint8_t register_address, const uint32_t data);
+			   const uint8_t register_address, const uint32_t data,
+			   parse_rx_buffer_cb_t parse_rx_buffer_cb);
 
 /**
  * @}