drivers: stepper: gpio: implement stop function

Implement sample stop function and update enable function

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

Author: jilaypandya

drivers/stepper/gpio_stepper_controller.c

@@ -78,12 +78,12 @@ static void decrement_coil_charge(const struct device *dev)
 	}
 }
 
-static int power_down_coils(const struct device *dev)
+static int energize_coils(const struct device *dev, const bool energized)
 {
 	const struct gpio_stepper_config *config = dev->config;
 
 	for (int i = 0; i < NUM_CONTROL_PINS; i++) {
-		const int err = gpio_pin_set_dt(&config->control_pins[i], 0u);
+		const int err = gpio_pin_set_dt(&config->control_pins[i], energized);
 
 		if (err != 0) {
 			LOG_ERR("Failed to power down coil %d", i);
@@ -327,23 +327,39 @@ static int gpio_stepper_set_event_callback(const struct device *dev,
 static int gpio_stepper_enable(const struct device *dev, bool enable)
 {
 	struct gpio_stepper_data *data = dev->data;
+	int err;
 
-	K_SPINLOCK(&data->lock) {
+	if (data->is_enabled == enable) {
+		return 0;
+	}
 
+	K_SPINLOCK(&data->lock) {
 		data->is_enabled = enable;
 
 		if (enable) {
-			(void)k_work_reschedule(&data->stepper_dwork, K_NO_WAIT);
+			err = energize_coils(dev, true);
 		} else {
 			(void)k_work_cancel_delayable(&data->stepper_dwork);
-			const int err = power_down_coils(dev);
+			err = energize_coils(dev, false);
+		}
+	}
+	return err;
+}
 
-			if (err != 0) {
-				return -EIO;
-			}
+static int gpio_stepper_stop(const struct device *dev)
+{
+	struct gpio_stepper_data *data = dev->data;
+	int err;
+
+	K_SPINLOCK(&data->lock) {
+		(void)k_work_cancel_delayable(&data->stepper_dwork);
+		err = energize_coils(dev, true);
+
+		if (data->callback && !err) {
+			data->callback(data->dev, STEPPER_EVENT_STOPPED, data->event_cb_user_data);
 		}
 	}
-	return 0;
+	return err;
 }
 
 static int gpio_stepper_init(const struct device *dev)
@@ -362,16 +378,17 @@ static int gpio_stepper_init(const struct device *dev)
 
 static DEVICE_API(stepper, gpio_stepper_api) = {
 	.enable = gpio_stepper_enable,
-	.move_by = gpio_stepper_move_by,
-	.is_moving = gpio_stepper_is_moving,
+	.set_micro_step_res = gpio_stepper_set_micro_step_res,
+	.get_micro_step_res = gpio_stepper_get_micro_step_res,
 	.set_reference_position = gpio_stepper_set_reference_position,
 	.get_actual_position = gpio_stepper_get_actual_position,
-	.move_to = gpio_stepper_move_to,
+	.set_event_callback = gpio_stepper_set_event_callback,
 	.set_microstep_interval = gpio_stepper_set_microstep_interval,
+	.move_by = gpio_stepper_move_by,
+	.move_to = gpio_stepper_move_to,
 	.run = gpio_stepper_run,
-	.set_micro_step_res = gpio_stepper_set_micro_step_res,
-	.get_micro_step_res = gpio_stepper_get_micro_step_res,
-	.set_event_callback = gpio_stepper_set_event_callback,
+	.stop = gpio_stepper_stop,
+	.is_moving = gpio_stepper_is_moving,
 };
 
 #define GPIO_STEPPER_DEFINE(inst)								\