drivers: stepper: gpio: return -ECANCELED from move operations

return -ECANCELED when move operations are called with stepper not enabled

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

drivers/stepper/gpio_stepper_controller.c

@@ -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 {