drivers: stepper: gpio: return -ECANCELED from move operations (2382d239) · Commits · Wenxi XU / zephyr

drivers/stepper/gpio_stepper_controller.c

+19 −0

Original line number	Diff line number	Diff line
		@@ -39,6 +39,7 @@ struct gpio_stepper_data {
		int32_t actual_position;
		uint32_t delay_in_us;
		int32_t step_count;
		bool is_enabled;
		stepper_event_callback_t callback;
		void *event_cb_user_data;
		};
		@@ -181,6 +182,11 @@ static int gpio_stepper_move_by(const struct device *dev, int32_t micro_steps)
		{
		struct gpio_stepper_data *data = dev->data;

		if (!data->is_enabled) {
		LOG_ERR("Stepper motor is not enabled");
		return -ECANCELED;
		}

		if (data->delay_in_us == 0) {
		LOG_ERR("Velocity not set or invalid velocity set");
		return -EINVAL;
		@@ -218,6 +224,11 @@ static int gpio_stepper_move_to(const struct device *dev, int32_t micro_steps)
		{
		struct gpio_stepper_data *data = dev->data;

		if (!data->is_enabled) {
		LOG_ERR("Stepper motor is not enabled");
		return -ECANCELED;
		}

		if (data->delay_in_us == 0) {
		LOG_ERR("Velocity not set or invalid velocity set");
		return -EINVAL;
		@@ -266,6 +277,11 @@ static int gpio_stepper_run(const struct device *dev, const enum stepper_directi
		{
		struct gpio_stepper_data *data = dev->data;

		if (!data->is_enabled) {
		LOG_ERR("Stepper motor is not enabled");
		return -ECANCELED;
		}

		K_SPINLOCK(&data->lock) {
		data->run_mode = STEPPER_RUN_MODE_VELOCITY;
		data->direction = direction;
		@@ -323,6 +339,9 @@ static int gpio_stepper_enable(const struct device *dev, bool enable)
		struct gpio_stepper_data *data = dev->data;

		K_SPINLOCK(&data->lock) {

		data->is_enabled = enable;

		if (enable) {
		(void)k_work_reschedule(&data->stepper_dwork, K_NO_WAIT);
		} else {