michaelh/zephyr
1
0
Fork 0
Code Releases Activity

drivers: stepper: gpio: refactor work rescheduling logic

Browse source 
update remaining steps should just update the remaining steps, rescheduling
should happen after updating steps and hence is moved to position mode task
which is also in coherence with velocity mode task

Signed-off-by: Jilay Pandya <jilay.pandya@outlook.com>
This commit is contained in:
Jilay Pandya 2025-04-19 19:28:59 +02:00 • committed by Benjamin Cabé
commit 82c6add9b1
1 changed files with 13 additions and 12 deletions
Download patch file Download diff file Expand all files Collapse all files

23
drivers/stepper/gpio_stepper_controller.c
View file

@ -107,20 +107,14 @@ static void update_coil_charge(const struct device *dev)
}
}
static void update_remaining_steps(struct gpio_stepper_data *data)
static void update_remaining_steps(const struct device *dev)
{
struct gpio_stepper_data *data = dev->data;
if (data->step_count > 0) {
data->step_count--;
(void)k_work_reschedule(&data->stepper_dwork, K_NSEC(data->delay_in_ns));
} else if (data->step_count < 0) {
data->step_count++;
(void)k_work_reschedule(&data->stepper_dwork, K_NSEC(data->delay_in_ns));
} else {
if (!data->callback) {
LOG_WRN_ONCE("No callback set");
return;
}
data->callback(data->dev, STEPPER_EVENT_STEPS_COMPLETED, data->event_cb_user_data);
}
}
@ -141,11 +135,18 @@ static void position_mode_task(const struct device *dev)
{
struct gpio_stepper_data *data = dev->data;
if (data->step_count) {
update_remaining_steps(dev);
(void)stepper_motor_set_coil_charge(dev);
update_coil_charge(dev);
if (data->step_count) {
(void)k_work_reschedule(&data->stepper_dwork, K_NSEC(data->delay_in_ns));
} else {
if (data->callback) {
data->callback(data->dev, STEPPER_EVENT_STEPS_COMPLETED,
data->event_cb_user_data);
}
(void)k_work_cancel_delayable(&data->stepper_dwork);
}
update_remaining_steps(dev->data);
}
static void velocity_mode_task(const struct device *dev)