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drivers: stepper: api: add -ECANCELLED error code for move operations #83241

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Dec 23, 2024
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drivers: stepper: api: add -ECANCELLED error code for move operations #83241

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70f4556
drivers: stepper: api: add -ECANCELED error code for move operations
jilaypandya Dec 19, 2024
31d973f
drivers: stepper: gpio: return -ECANCELED from move operations
jilaypandya Dec 19, 2024
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19 changes: 19 additions & 0 deletions drivers/stepper/gpio_stepper_controller.c
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Original file line number Diff line number Diff line change
Expand Up @@ -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;
};
Expand Down Expand Up @@ -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;
Expand Down Expand Up @@ -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;
Expand Down Expand Up @@ -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;
Expand Down Expand Up @@ -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 {
Expand Down
3 changes: 3 additions & 0 deletions include/zephyr/drivers/stepper.h
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Original file line number Diff line number Diff line change
Expand Up @@ -233,6 +233,7 @@ static inline int z_impl_stepper_enable(const struct device *dev, const bool ena
* @param dev pointer to the stepper motor controller instance
* @param micro_steps target micro_steps to be moved from the current position
*
* @retval -ECANCELED If the stepper is disabled
* @retval -EIO General input / output error
* @retval 0 Success
*/
Expand Down Expand Up @@ -374,6 +375,7 @@ static inline int z_impl_stepper_get_actual_position(const struct device *dev, i
* @param dev pointer to the stepper motor controller instance
* @param micro_steps target position to set in micro_steps
*
* @retval -ECANCELED If the stepper is disabled
* @retval -EIO General input / output error
* @retval -ENOSYS If not implemented by device driver
* @retval 0 Success
Expand Down Expand Up @@ -425,6 +427,7 @@ static inline int z_impl_stepper_is_moving(const struct device *dev, bool *is_mo
* - > 0: Run the stepper with the given velocity in a given direction
* - 0: Stop the stepper
*
* @retval -ECANCELED If the stepper is disabled
* @retval -EIO General input / output error
* @retval -ENOSYS If not implemented by device driver
* @retval 0 Success
Expand Down
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