14 	struct step_dir_stepper_common_data *data = dev->data;  in step_dir_stepper_perform_step()  local
17 	switch (data->direction) {  in step_dir_stepper_perform_step()
25 		LOG_ERR("Unsupported direction: %d", data->direction);  in step_dir_stepper_perform_step()
47 	if (data->direction == STEPPER_DIRECTION_POSITIVE) {  in step_dir_stepper_perform_step()
48 		data->actual_position++;  in step_dir_stepper_perform_step()
50 		data->actual_position--;  in step_dir_stepper_perform_step()
58 	struct step_dir_stepper_common_data *data = dev->data;  in stepper_trigger_callback()  local
60 	if (!data->callback) {  in stepper_trigger_callback()
66 		data->callback(dev, event, data->event_cb_user_data);  in stepper_trigger_callback()
72 	int ret = k_msgq_put(&data->event_msgq, &event, K_NO_WAIT);  in stepper_trigger_callback()
78 	ret = k_work_submit(&data->event_callback_work);  in stepper_trigger_callback()
90 	struct step_dir_stepper_common_data *data =  in stepper_work_event_handler()  local
95 	ret = k_msgq_get(&data->event_msgq, &event, K_NO_WAIT);  in stepper_work_event_handler()
101 	if (data->callback != NULL) {  in stepper_work_event_handler()
102 		data->callback(data->dev, event, data->event_cb_user_data);  in stepper_work_event_handler()
106 	if (k_msgq_num_used_get(&data->event_msgq) > 0) {  in stepper_work_event_handler()
112 static void update_remaining_steps(struct step_dir_stepper_common_data *data)  in update_remaining_steps()  argument
114 	const struct step_dir_stepper_common_config *config = data->dev->config;  in update_remaining_steps()
116 	if (data->step_count > 0) {  in update_remaining_steps()
117 		data->step_count--;  in update_remaining_steps()
118 	} else if (data->step_count < 0) {  in update_remaining_steps()
119 		data->step_count++;  in update_remaining_steps()
121 		stepper_trigger_callback(data->dev, STEPPER_EVENT_STEPS_COMPLETED);  in update_remaining_steps()
122 		config->timing_source->stop(data->dev);  in update_remaining_steps()
128 	struct step_dir_stepper_common_data *data = dev->data;  in update_direction_from_step_count()  local
130 	if (data->step_count > 0) {  in update_direction_from_step_count()
131 		data->direction = STEPPER_DIRECTION_POSITIVE;  in update_direction_from_step_count()
132 	} else if (data->step_count < 0) {  in update_direction_from_step_count()
133 		data->direction = STEPPER_DIRECTION_NEGATIVE;  in update_direction_from_step_count()
141 	struct step_dir_stepper_common_data *data = dev->data;  in position_mode_task()  local
144 	if (data->step_count) {  in position_mode_task()
148 	update_remaining_steps(dev->data);  in position_mode_task()
150 	if (config->timing_source->needs_reschedule(dev) && data->step_count != 0) {  in position_mode_task()
168 	struct step_dir_stepper_common_data *data = dev->data;  in stepper_handle_timing_signal()  local
170 	K_SPINLOCK(&data->lock) {  in stepper_handle_timing_signal()
171 		switch (data->run_mode) {  in stepper_handle_timing_signal()
179 			LOG_WRN("Unsupported run mode: %d", data->run_mode);  in stepper_handle_timing_signal()
216 	struct step_dir_stepper_common_data *data = dev->data;  in step_dir_stepper_common_init()  local
218 	k_msgq_init(&data->event_msgq, data->event_msgq_buffer, sizeof(enum stepper_event),  in step_dir_stepper_common_init()
220 	k_work_init(&data->event_callback_work, stepper_work_event_handler);  in step_dir_stepper_common_init()
228 	struct step_dir_stepper_common_data *data = dev->data;  in step_dir_stepper_common_move_by()  local
231 	if (data->max_velocity == 0) {  in step_dir_stepper_common_move_by()
236 	K_SPINLOCK(&data->lock) {  in step_dir_stepper_common_move_by()
237 		data->run_mode = STEPPER_RUN_MODE_POSITION;  in step_dir_stepper_common_move_by()
238 		data->step_count = micro_steps;  in step_dir_stepper_common_move_by()
239 		config->timing_source->update(dev, data->max_velocity);  in step_dir_stepper_common_move_by()
249 	struct step_dir_stepper_common_data *data = dev->data;  in step_dir_stepper_common_set_max_velocity()  local
262 	K_SPINLOCK(&data->lock) {  in step_dir_stepper_common_set_max_velocity()
263 		data->max_velocity = velocity;  in step_dir_stepper_common_set_max_velocity()
272 	struct step_dir_stepper_common_data *data = dev->data;  in step_dir_stepper_common_set_reference_position()  local
274 	K_SPINLOCK(&data->lock) {  in step_dir_stepper_common_set_reference_position()
275 		data->actual_position = value;  in step_dir_stepper_common_set_reference_position()
283 	struct step_dir_stepper_common_data *data = dev->data;  in step_dir_stepper_common_get_actual_position()  local
285 	K_SPINLOCK(&data->lock) {  in step_dir_stepper_common_get_actual_position()
286 		*value = data->actual_position;  in step_dir_stepper_common_get_actual_position()
294 	struct step_dir_stepper_common_data *data = dev->data;  in step_dir_stepper_common_move_to()  local
297 	if (data->max_velocity == 0) {  in step_dir_stepper_common_move_to()
302 	K_SPINLOCK(&data->lock) {  in step_dir_stepper_common_move_to()
303 		data->run_mode = STEPPER_RUN_MODE_POSITION;  in step_dir_stepper_common_move_to()
304 		data->step_count = value - data->actual_position;  in step_dir_stepper_common_move_to()
305 		config->timing_source->update(dev, data->max_velocity);  in step_dir_stepper_common_move_to()
324 	struct step_dir_stepper_common_data *data = dev->data;  in step_dir_stepper_common_run()  local
327 	K_SPINLOCK(&data->lock) {  in step_dir_stepper_common_run()
328 		data->run_mode = STEPPER_RUN_MODE_VELOCITY;  in step_dir_stepper_common_run()
329 		data->direction = direction;  in step_dir_stepper_common_run()
330 		data->max_velocity = velocity;  in step_dir_stepper_common_run()
345 	struct step_dir_stepper_common_data *data = dev->data;  in step_dir_stepper_common_set_event_callback()  local
347 	data->callback = callback;  in step_dir_stepper_common_set_event_callback()
348 	data->event_cb_user_data = user_data;  in step_dir_stepper_common_set_event_callback()