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tests: stepper_api: test stop, set_micro_step_res, set_micro_step_interval

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unify error codes from all drivers based on stepper specification
add a generic test case for set_micro_step_interval and stop

Signed-off-by: Jilay Pandya <jilay.pandya@outlook.com>
This commit is contained in:
Jilay Pandya 2025-03-09 12:26:28 +01:00 committed by Benjamin Cabé
parent f780df495d
commit 761c6fbae6
5 changed files with 77 additions and 28 deletions
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2
drivers/stepper/adi_tmc/adi_tmc22xx_stepper_controller.c
View File

@ -71,7 +71,7 @@ static int tmc22xx_stepper_set_micro_step_res(const struct device *dev,
}
LOG_ERR("Unsupported microstep resolution: %d", micro_step_res);
return -EINVAL;
return -ENOTSUP;
}
static int tmc22xx_stepper_get_micro_step_res(const struct device *dev,

5
drivers/stepper/gpio_stepper_controller.c
View File

@ -289,6 +289,7 @@ static int gpio_stepper_set_micro_step_res(const struct device *dev,
enum stepper_micro_step_resolution micro_step_res)
{
struct gpio_stepper_data *data = dev->data;
int err = 0;
K_SPINLOCK(&data->lock) {
switch (micro_step_res) {
@ -298,10 +299,10 @@ static int gpio_stepper_set_micro_step_res(const struct device *dev,
break;
default:
LOG_ERR("Unsupported micro step resolution %d", micro_step_res);
return -ENOTSUP;
err = -ENOTSUP;
}
}
return 0;
return err;
}
static int gpio_stepper_get_micro_step_res(const struct device *dev,

2
drivers/stepper/ti/drv8424.c
View File

@ -212,7 +212,7 @@ static int drv8424_set_micro_step_res(const struct device *dev,
m1_value = 2;
break;
default:
return -EINVAL;
return -ENOTSUP;
};
ret = drv8424_set_microstep_pin(dev, &config->m0_pin, m0_value);

9
tests/drivers/stepper/drv8424/api/src/main.c
View File

@ -79,15 +79,6 @@ ZTEST_F(drv8424_api, test_micro_step_res_set)
res);
}
ZTEST_F(drv8424_api, test_micro_step_res_set_incorrect_value_detection)
{
int ret = 0;
ret = stepper_set_micro_step_res(fixture->dev, 3);
zassert_equal(ret, -EINVAL, "Command should fail with error %d but returned %d", -EINVAL,
ret);
}
ZTEST_F(drv8424_api, test_actual_position_set)
{
int32_t pos = 100u;

87
tests/drivers/stepper/stepper_api/src/main.c
View File

@ -1,6 +1,5 @@
/*
* SPDX-FileCopyrightText: Copyright (c) 2024 Jilay Sandeep Pandya
*
* SPDX-FileCopyrightText: Copyright (c) 2025 Jilay Sandeep Pandya
* SPDX-License-Identifier: Apache-2.0
*/
@ -19,6 +18,18 @@ struct k_poll_signal stepper_signal;
struct k_poll_event stepper_event;
void *user_data_received;
#define POLL_AND_CHECK_SIGNAL(signal, event, expected_event, timeout) \
({ \
do { \
(void)k_poll(&(event), 1, timeout); \
unsigned int signaled; \
int result; \
k_poll_signal_check(&(signal), &signaled, &result); \
zassert_equal(signaled, 1, "Signal not set"); \
zassert_equal(result, (expected_event), "Signal not set"); \
} while (0); \
})
static void stepper_print_event_callback(const struct device *dev, enum stepper_event event,
void *user_data)
{
@ -38,12 +49,15 @@ static void stepper_print_event_callback(const struct device *dev, enum stepper_
case STEPPER_EVENT_STALL_DETECTED:
k_poll_signal_raise(&stepper_signal, STEPPER_EVENT_STALL_DETECTED);
break;
case STEPPER_EVENT_STOPPED:
k_poll_signal_raise(&stepper_signal, STEPPER_EVENT_STOPPED);
break;
default:
break;
}
LOG_DBG("Event %d, %s called for %s, expected for %s\n", event, __func__,
dev_callback->name, dev->name);
dev_callback->name, dev->name);
}
static void *stepper_setup(void)
@ -56,7 +70,7 @@ static void *stepper_setup(void)
k_poll_signal_init(&stepper_signal);
k_poll_event_init(&stepper_event, K_POLL_TYPE_SIGNAL, K_POLL_MODE_NOTIFY_ONLY,
&stepper_signal);
user_data_received = NULL;
zassert_not_null(fixture.dev);
(void)stepper_enable(fixture.dev, true);
return &fixture;
@ -66,12 +80,22 @@ static void stepper_before(void *f)
{
struct stepper_fixture *fixture = f;
(void)stepper_set_reference_position(fixture->dev, 0);
k_poll_signal_reset(&stepper_signal);
user_data_received = NULL;
}
ZTEST_SUITE(stepper, NULL, stepper_setup, stepper_before, NULL, NULL);
ZTEST_F(stepper, test_micro_step_res)
ZTEST_F(stepper, test_set_micro_step_res_incorrect)
{
int ret = stepper_set_micro_step_res(fixture->dev, 127);
zassert_equal(ret, -ENOTSUP, "Incorrect micro step resolution should return -ENOTSUP");
}
ZTEST_F(stepper, test_get_micro_step_res)
{
enum stepper_micro_step_resolution res;
(void)stepper_get_micro_step_res(fixture->dev, &res);
@ -79,33 +103,66 @@ ZTEST_F(stepper, test_micro_step_res)
"Micro step resolution not set correctly");
}
ZTEST_F(stepper, test_set_micro_step_interval_invalid_zero)
{
int err = stepper_set_microstep_interval(fixture->dev, 0);
zassert_equal(err, -EINVAL, "ustep interval cannot be zero");
}
ZTEST_F(stepper, test_actual_position)
{
int32_t pos = 100u;
(void)stepper_set_reference_position(fixture->dev, pos);
(void)stepper_get_actual_position(fixture->dev, &pos);
zassert_equal(pos, 100u, "Actual position not set correctly");
}
ZTEST_F(stepper, test_target_position)
ZTEST_F(stepper, test_target_position_w_fixed_step_interval)
{
int32_t pos = 100u;
int32_t pos = 10u;
(void)stepper_set_microstep_interval(fixture->dev, 10000);
(void)stepper_set_microstep_interval(fixture->dev, 100 * USEC_PER_SEC);
/* Pass the function name as user data */
(void)stepper_set_event_callback(fixture->dev, fixture->callback, (void *)fixture->dev);
(void)stepper_move_to(fixture->dev, pos);
(void)k_poll(&stepper_event, 1, K_SECONDS(5));
unsigned int signaled;
int result;
/* timeout is set with 20% tolerance */
POLL_AND_CHECK_SIGNAL(stepper_signal, stepper_event, STEPPER_EVENT_STEPS_COMPLETED,
K_MSEC(pos * 120));
k_poll_signal_check(&stepper_signal, &signaled, &result);
zassert_equal(signaled, 1, "Signal not set");
zassert_equal(result, STEPPER_EVENT_STEPS_COMPLETED, "Signal not set");
(void)stepper_get_actual_position(fixture->dev, &pos);
zassert_equal(pos, 100u, "Target position should be %d but is %d", 100u, pos);
zassert_equal(pos, 10u, "Target position should be %d but is %d", 10u, pos);
zassert_equal(user_data_received, fixture->dev, "User data not received");
}
ZTEST_F(stepper, test_stop)
{
(void)stepper_set_event_callback(fixture->dev, fixture->callback, (void *)fixture->dev);
/* Run the stepper in positive direction */
(void)stepper_run(fixture->dev, STEPPER_DIRECTION_POSITIVE);
/* Stop the stepper */
int ret = stepper_stop(fixture->dev);
bool is_moving;
if (ret == 0) {
POLL_AND_CHECK_SIGNAL(stepper_signal, stepper_event, STEPPER_EVENT_STOPPED,
K_NO_WAIT);
zassert_equal(user_data_received, fixture->dev, "User data not received");
/* Check if the stepper is stopped */
stepper_is_moving(fixture->dev, &is_moving);
zassert_equal(is_moving, false, "Stepper is still moving");
} else if (ret == -ENOSYS) {
stepper_is_moving(fixture->dev, &is_moving);
zassert_equal(is_moving, true,
"Stepper should be moving since stop is not implemented");
} else {
zassert_unreachable("Stepper stop failed");
}
}