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drivers: stepper: refactor stepper_handle_timing_signal in step_dir_common & redefine behavior of move_by(dev, 0) #94555

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Merged
merged 2 commits into from
Aug 19, 2025
Merged

drivers: stepper: refactor stepper_handle_timing_signal in step_dir_common & redefine behavior of move_by(dev, 0) #94555

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6f816fd
drivers: stepper: move_by(dev,0) shall return steps_completed
jilaypandya Aug 15, 2025
83d5250
drivers: step_dir: refactor stepper_handle_timing_signal
jilaypandya Aug 15, 2025
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9 changes: 9 additions & 0 deletions drivers/stepper/h_bridge_stepper.c
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Original file line number Diff line number Diff line change
Expand Up @@ -189,6 +189,15 @@ static int h_bridge_stepper_move_by(const struct device *dev, int32_t micro_step
LOG_ERR("Step interval not set or invalid step interval set");
return -EINVAL;
}

if (micro_steps == 0) {
(void)k_work_cancel_delayable(&data->stepper_dwork);
if (data->callback) {
data->callback(data->dev, STEPPER_EVENT_STEPS_COMPLETED,
data->event_cb_user_data);
}
return 0;
}
K_SPINLOCK(&data->lock) {
data->run_mode = STEPPER_RUN_MODE_POSITION;
data->step_count = micro_steps;
Expand Down
84 changes: 38 additions & 46 deletions drivers/stepper/step_dir/step_dir_stepper_common.c
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Original file line number Diff line number Diff line change
Expand Up @@ -11,7 +11,6 @@ LOG_MODULE_REGISTER(step_dir_stepper, CONFIG_STEPPER_LOG_LEVEL);
static inline int step_dir_stepper_perform_step(const struct device *dev)
{
const struct step_dir_stepper_common_config *config = dev->config;
struct step_dir_stepper_common_data *data = dev->data;
int ret;

ret = gpio_pin_toggle_dt(&config->step_pin);
Expand All @@ -28,12 +27,6 @@ static inline int step_dir_stepper_perform_step(const struct device *dev)
}
}

if (data->direction == STEPPER_DIRECTION_POSITIVE) {
data->actual_position++;
} else {
data->actual_position--;
}

return 0;
}

Expand Down Expand Up @@ -120,25 +113,20 @@ static void stepper_work_event_handler(struct k_work *work)

static void update_remaining_steps(struct step_dir_stepper_common_data *data)
{
const struct step_dir_stepper_common_config *config = data->dev->config;

if (data->step_count > 0) {
data->step_count--;
} else if (data->step_count < 0) {
data->step_count++;
} else {
stepper_trigger_callback(data->dev, STEPPER_EVENT_STEPS_COMPLETED);
config->timing_source->stop(data->dev);
if (atomic_get(&data->step_count) > 0) {
atomic_dec(&data->step_count);
} else if (atomic_get(&data->step_count) < 0) {
atomic_inc(&data->step_count);
}
}

static void update_direction_from_step_count(const struct device *dev)
{
struct step_dir_stepper_common_data *data = dev->data;

if (data->step_count > 0) {
if (atomic_get(&data->step_count) > 0) {
data->direction = STEPPER_DIRECTION_POSITIVE;
} else if (data->step_count < 0) {
} else if (atomic_get(&data->step_count) < 0) {
data->direction = STEPPER_DIRECTION_NEGATIVE;
} else {
LOG_ERR("Step count is zero");
Expand All @@ -150,23 +138,20 @@ static void position_mode_task(const struct device *dev)
struct step_dir_stepper_common_data *data = dev->data;
const struct step_dir_stepper_common_config *config = dev->config;

if (data->step_count) {
(void)step_dir_stepper_perform_step(dev);
}
update_remaining_steps(dev->data);

if (config->timing_source->needs_reschedule(dev) && data->step_count != 0) {
if (config->timing_source->needs_reschedule(dev) && atomic_get(&data->step_count) != 0) {
(void)config->timing_source->start(dev);
} else if (atomic_get(&data->step_count) == 0) {
stepper_trigger_callback(data->dev, STEPPER_EVENT_STEPS_COMPLETED);
config->timing_source->stop(data->dev);
}

update_remaining_steps(dev->data);
}

static void velocity_mode_task(const struct device *dev)
{
const struct step_dir_stepper_common_config *config = dev->config;

(void)step_dir_stepper_perform_step(dev);

if (config->timing_source->needs_reschedule(dev)) {
(void)config->timing_source->start(dev);
}
Expand All @@ -176,18 +161,23 @@ void stepper_handle_timing_signal(const struct device *dev)
{
struct step_dir_stepper_common_data *data = dev->data;

K_SPINLOCK(&data->lock) {
switch (data->run_mode) {
case STEPPER_RUN_MODE_POSITION:
position_mode_task(dev);
break;
case STEPPER_RUN_MODE_VELOCITY:
velocity_mode_task(dev);
break;
default:
LOG_WRN("Unsupported run mode: %d", data->run_mode);
break;
}
(void)step_dir_stepper_perform_step(dev);
if (data->direction == STEPPER_DIRECTION_POSITIVE) {
atomic_inc(&data->actual_position);
} else {
atomic_dec(&data->actual_position);
}

switch (data->run_mode) {
case STEPPER_RUN_MODE_POSITION:
position_mode_task(dev);
break;
case STEPPER_RUN_MODE_VELOCITY:
velocity_mode_task(dev);
break;
default:
LOG_WRN("Unsupported run mode: %d", data->run_mode);
break;
}
}

Expand Down Expand Up @@ -243,9 +233,15 @@ int step_dir_stepper_common_move_by(const struct device *dev, const int32_t micr
return -EINVAL;
}

if (micro_steps == 0) {
stepper_trigger_callback(data->dev, STEPPER_EVENT_STEPS_COMPLETED);
config->timing_source->stop(dev);
return 0;
}

K_SPINLOCK(&data->lock) {
data->run_mode = STEPPER_RUN_MODE_POSITION;
data->step_count = micro_steps;
atomic_set(&data->step_count, micro_steps);
update_direction_from_step_count(dev);
ret = update_dir_pin(dev);
if (ret < 0) {
Expand All @@ -259,7 +255,7 @@ int step_dir_stepper_common_move_by(const struct device *dev, const int32_t micr
}

int step_dir_stepper_common_set_microstep_interval(const struct device *dev,
const uint64_t microstep_interval_ns)
const uint64_t microstep_interval_ns)
{
struct step_dir_stepper_common_data *data = dev->data;
const struct step_dir_stepper_common_config *config = dev->config;
Expand Down Expand Up @@ -292,9 +288,7 @@ int step_dir_stepper_common_get_actual_position(const struct device *dev, int32_
{
struct step_dir_stepper_common_data *data = dev->data;

K_SPINLOCK(&data->lock) {
*value = data->actual_position;
}
*value = atomic_get(&data->actual_position);

return 0;
}
Expand All @@ -305,9 +299,7 @@ int step_dir_stepper_common_move_to(const struct device *dev, const int32_t valu
int32_t steps_to_move;

/* Calculate the relative movement required */
K_SPINLOCK(&data->lock) {
steps_to_move = value - data->actual_position;
}
steps_to_move = value - atomic_get(&data->actual_position);

return step_dir_stepper_common_move_by(dev, steps_to_move);
}
Expand Down
4 changes: 2 additions & 2 deletions drivers/stepper/step_dir/step_dir_stepper_common.h
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Original file line number Diff line number Diff line change
Expand Up @@ -71,9 +71,9 @@ struct step_dir_stepper_common_data {
struct k_spinlock lock;
enum stepper_direction direction;
enum stepper_run_mode run_mode;
int32_t actual_position;
uint64_t microstep_interval_ns;
int32_t step_count;
atomic_t actual_position;
atomic_t step_count;
stepper_event_callback_t callback;
void *event_cb_user_data;

Expand Down
29 changes: 22 additions & 7 deletions tests/drivers/stepper/stepper_api/src/main.c
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Original file line number Diff line number Diff line change
Expand Up @@ -72,6 +72,9 @@ static void *stepper_setup(void)
&stepper_signal);

zassert_not_null(fixture.dev);
zassert_equal(
stepper_set_event_callback(fixture.dev, fixture.callback, (void *)fixture.dev), 0,
"Failed to set event callback");
(void)stepper_enable(fixture.dev);
return &fixture;
}
Expand Down Expand Up @@ -131,12 +134,9 @@ ZTEST_F(stepper, test_target_position_w_fixed_step_interval)
int ret;

ret = stepper_set_microstep_interval(fixture->dev, 100 * USEC_PER_SEC);

if (ret == -ENOSYS) {
ztest_test_skip();
}
/* Pass the function name as user data */
(void)stepper_set_event_callback(fixture->dev, fixture->callback, (void *)fixture->dev);

(void)stepper_move_to(fixture->dev, pos);

Expand All @@ -154,7 +154,6 @@ ZTEST_F(stepper, test_move_by_positive_step_count)
int32_t steps = 20;

(void)stepper_set_microstep_interval(fixture->dev, 100 * USEC_PER_SEC);
(void)stepper_set_event_callback(fixture->dev, fixture->callback, (void *)fixture->dev);
(void)stepper_move_by(fixture->dev, steps);

POLL_AND_CHECK_SIGNAL(
Expand All @@ -169,7 +168,6 @@ ZTEST_F(stepper, test_move_by_negative_step_count)
int32_t steps = -20;

(void)stepper_set_microstep_interval(fixture->dev, 100 * USEC_PER_SEC);
(void)stepper_set_event_callback(fixture->dev, fixture->callback, (void *)fixture->dev);
(void)stepper_move_by(fixture->dev, steps);

POLL_AND_CHECK_SIGNAL(
Expand All @@ -181,8 +179,6 @@ ZTEST_F(stepper, test_move_by_negative_step_count)

ZTEST_F(stepper, test_stop)
{
(void)stepper_set_event_callback(fixture->dev, fixture->callback, (void *)fixture->dev);

/* Run the stepper in positive direction */
(void)stepper_run(fixture->dev, STEPPER_DIRECTION_POSITIVE);

Expand All @@ -206,3 +202,22 @@ ZTEST_F(stepper, test_stop)
zassert_unreachable("Stepper stop failed");
}
}

ZTEST_F(stepper, test_move_by_zero_steps)
{
bool is_moving;
int err;

err = stepper_set_microstep_interval(fixture->dev, 100 * USEC_PER_SEC);
if (err == -ENOSYS) {
ztest_test_skip();
}
zassert_equal(err, 0, "Failed to set microstep interval");

zassert_equal(stepper_move_by(fixture->dev, 0), 0, "Failed to move by zero steps");
POLL_AND_CHECK_SIGNAL(stepper_signal, stepper_event, STEPPER_EVENT_STEPS_COMPLETED,
K_NO_WAIT);
zassert_equal(stepper_is_moving(fixture->dev, &is_moving), 0,
"Failed to check if stepper is moving");
zassert_equal(is_moving, false, "Stepper is still moving");
}