drivers: stepper: gpio: refactor work rescheduling logic

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 <[email protected]>

Author: jilaypandya

drivers/stepper/gpio_stepper_controller.c

@@ -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;
 
+	update_remaining_steps(dev);
+	(void)stepper_motor_set_coil_charge(dev);
+	update_coil_charge(dev);
 	if (data->step_count) {
-		(void)stepper_motor_set_coil_charge(dev);
-		update_coil_charge(dev);
+		(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)