drivers: stepper: refactor stepper move_to and move_by calls

Refactored stepper move_to calls and move_by calls.
Now, relative movement required or absolute target position
is calculated and then redirected to move_by or move_to calls
respectively.

Signed-off-by: Dipak Shetty <[email protected]>

Author: dipakgmx

drivers/stepper/adi_tmc/adi_tmc50xx_stepper_controller.c

@@ -310,53 +310,6 @@ static int tmc50xx_stepper_is_moving(const struct device *dev, bool *is_moving)
 	return 0;
 }
 
-static int tmc50xx_stepper_move_by(const struct device *dev, const int32_t micro_steps)
-{
-	const struct tmc50xx_stepper_config *config = dev->config;
-	struct tmc50xx_stepper_data *data = dev->data;
-	int err;
-
-	if (config->is_sg_enabled) {
-		err = stallguard_enable(dev, false);
-		if (err != 0) {
-			return -EIO;
-		}
-	}
-
-	int32_t position;
-
-	err = stepper_get_actual_position(dev, &position);
-	if (err != 0) {
-		return -EIO;
-	}
-	int32_t target_position = position + micro_steps;
-
-	err = tmc50xx_write(config->controller, TMC50XX_RAMPMODE(config->index),
-			    TMC5XXX_RAMPMODE_POSITIONING_MODE);
-	if (err != 0) {
-		return -EIO;
-	}
-	LOG_DBG("Stepper motor controller %s moved to %d by steps: %d", dev->name, target_position,
-		micro_steps);
-	err = tmc50xx_write(config->controller, TMC50XX_XTARGET(config->index), target_position);
-	if (err != 0) {
-		return -EIO;
-	}
-
-	if (config->is_sg_enabled) {
-		k_work_reschedule(&data->stallguard_dwork,
-				  K_MSEC(config->sg_velocity_check_interval_ms));
-	}
-#ifdef CONFIG_STEPPER_ADI_TMC50XX_RAMPSTAT_POLL
-	if (data->callback) {
-		k_work_reschedule(
-			&data->rampstat_callback_dwork,
-			K_MSEC(CONFIG_STEPPER_ADI_TMC50XX_RAMPSTAT_POLL_INTERVAL_IN_MSEC));
-	}
-#endif
-	return 0;
-}
-
 int tmc50xx_stepper_set_max_velocity(const struct device *dev, uint32_t velocity)
 {
 	const struct tmc50xx_stepper_config *config = dev->config;
@@ -458,7 +411,7 @@ static int tmc50xx_stepper_get_actual_position(const struct device *dev, int32_t
 
 static int tmc50xx_stepper_move_to(const struct device *dev, const int32_t micro_steps)
 {
-	LOG_DBG("Stepper motor controller %s set target position to %d", dev->name, micro_steps);
+	LOG_DBG("%s set target position to %d", dev->name, micro_steps);
 	const struct tmc50xx_stepper_config *config = dev->config;
 	struct tmc50xx_stepper_data *data = dev->data;
 	int err;
@@ -491,6 +444,22 @@ static int tmc50xx_stepper_move_to(const struct device *dev, const int32_t micro
 	return 0;
 }
 
+static int tmc50xx_stepper_move_by(const struct device *dev, const int32_t micro_steps)
+{
+	int err;
+	int32_t position;
+
+	err = stepper_get_actual_position(dev, &position);
+	if (err != 0) {
+		return -EIO;
+	}
+	int32_t target_position = position + micro_steps;
+
+	LOG_DBG("%s moved to %d by steps: %d", dev->name, target_position, micro_steps);
+
+	return tmc50xx_stepper_move_to(dev, target_position);
+}
+
 static int tmc50xx_stepper_run(const struct device *dev, const enum stepper_direction direction)
 {
 	LOG_DBG("Stepper motor controller %s run", dev->name);

drivers/stepper/gpio_stepper_controller.c

@@ -223,23 +223,12 @@ static int gpio_stepper_get_actual_position(const struct device *dev, int32_t *p
 static int gpio_stepper_move_to(const struct device *dev, int32_t micro_steps)
 {
 	struct gpio_stepper_data *data = dev->data;
+	int32_t steps_to_move;
 
-	if (!data->is_enabled) {
-		LOG_ERR("Stepper motor is not enabled");
-		return -ECANCELED;
-	}
-
-	if (data->delay_in_ns == 0) {
-		LOG_ERR("Step interval not set or invalid step interval set");
-		return -EINVAL;
-	}
 	K_SPINLOCK(&data->lock) {
-		data->run_mode = STEPPER_RUN_MODE_POSITION;
-		data->step_count = micro_steps - data->actual_position;
-		update_direction_from_step_count(dev);
-		(void)k_work_reschedule(&data->stepper_dwork, K_NO_WAIT);
+		steps_to_move = micro_steps - data->actual_position;
 	}
-	return 0;
+	return gpio_stepper_move_by(dev, steps_to_move);
 }
 
 static int gpio_stepper_is_moving(const struct device *dev, bool *is_moving)

drivers/stepper/step_dir/step_dir_stepper_common.c

@@ -288,22 +288,14 @@ int step_dir_stepper_common_get_actual_position(const struct device *dev, int32_
 int step_dir_stepper_common_move_to(const struct device *dev, const int32_t value)
 {
 	struct step_dir_stepper_common_data *data = dev->data;
-	const struct step_dir_stepper_common_config *config = dev->config;
-
-	if (data->microstep_interval_ns == 0) {
-		LOG_ERR("Step interval not set or invalid step interval set");
-		return -EINVAL;
-	}
+	int32_t steps_to_move;
 
+	/* Calculate the relative movement required */
 	K_SPINLOCK(&data->lock) {
-		data->run_mode = STEPPER_RUN_MODE_POSITION;
-		data->step_count = value - data->actual_position;
-		config->timing_source->update(dev, data->microstep_interval_ns);
-		update_direction_from_step_count(dev);
-		config->timing_source->start(dev);
+		steps_to_move = value - data->actual_position;
 	}
 
-	return 0;
+	return step_dir_stepper_common_move_by(dev, steps_to_move);
 }
 
 int step_dir_stepper_common_is_moving(const struct device *dev, bool *is_moving)