drivers: stepper: Fix stepper callbacks when using work_q

jbr7rr · kartben · commit 902824db1f60 · 2025-05-04T19:55:51.000+02:00
Fix issue where stepper callbacks were not being called when
using work_q. This was due to the steps being counted down before
the work_q was rescheduled.

Signed-off-by: Josselin Bunt &lt;josselin@sensible.health&gt;
diff --git a/drivers/stepper/step_dir/step_dir_stepper_common.c b/drivers/stepper/step_dir/step_dir_stepper_common.c
@@ -145,11 +145,11 @@ static void position_mode_task(const struct device *dev)
 		(void)step_dir_stepper_perform_step(dev);
 	}
 
-	update_remaining_steps(dev->data);
-
 	if (config->timing_source->needs_reschedule(dev) && data->step_count != 0) {
 		(void)config->timing_source->start(dev);
 	}
+
+	update_remaining_steps(dev->data);
 }
 
 static void velocity_mode_task(const struct device *dev)

Original file line number	Diff line number	Diff line change
`@@ -145,11 +145,11 @@ static void position_mode_task(const struct device *dev)`
`145`	`145`	`(void)step_dir_stepper_perform_step(dev);`
`146`	`146`	`}`
`147`	`147`
`148`		`- update_remaining_steps(dev->data);`
`149`		`-`
`150`	`148`	`if (config->timing_source->needs_reschedule(dev) && data->step_count != 0) {`
`151`	`149`	`(void)config->timing_source->start(dev);`
`152`	`150`	`}`
	`151`	`+`
	`152`	`+ update_remaining_steps(dev->data);`
`153`	`153`	`}`
`154`	`154`
`155`	`155`	`static void velocity_mode_task(const struct device *dev)`