drivers: stepper: Add unit tests for stepper API using work_q (c4970880) · Commits · Wenxi XU / zephyr

tests/drivers/stepper/stepper_api/Kconfig

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		# Copyright (c) 2024 Josselin Bunt
		# SPDX-License-Identifier: Apache-2.0

		mainmenu "Stepper API Test"

		source "Kconfig.zephyr"

		config STEPPER_TEST_TIMING_TIMEOUT_TOLERANCE_PCT
		int "Stepper timing tolerance percentage"
		default 20
		help
		Additional margin (%) added to step timing during test timeouts.
		Accounts for execution and scheduling jitter.

tests/drivers/stepper/stepper_api/boards/native_sim_adi_tmc2209_work_q.overlay

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		/*
		* Copyright (c) 2025 Josselin Bunt
		* SPDX-License-Identifier: Apache-2.0
		*/

		#include "native_sim.overlay"

		/ {
		aliases {
		stepper = &adi_tmc2209;
		};
		};

		/ {
		adi_tmc2209: adi_tmc2209 {
		status = "okay";
		compatible = "adi,tmc2209";
		micro-step-res = <32>;
		dir-gpios = <&gpio1 0 0>;
		step-gpios = <&gpio1 1 0>;
		en-gpios = <&gpio2 1 0>;
		msx-gpios = <&gpio3 0 0>, <&gpio4 1 0>;
		};
		};

tests/drivers/stepper/stepper_api/boards/native_sim_allegro_a4979_work_q.overlay

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		/*
		* Copyright (c) 2025 Josselin Bunt
		* SPDX-License-Identifier: Apache-2.0
		*/

		#include "native_sim.overlay"

		/ {
		aliases {
		stepper = &allegro_a4979;
		};
		};

		/ {
		allegro_a4979: allegro_a4979 {
		status = "okay";
		compatible = "allegro,a4979";
		micro-step-res = <1>;
		reset-gpios = <&gpio4 0 0>;
		dir-gpios = <&gpio1 0 0>;
		step-gpios = <&gpio1 1 0>;
		en-gpios = <&gpio2 1 0>;
		m0-gpios = <&gpio3 0 0>;
		m1-gpios = <&gpio3 1 0>;
		};
		};

tests/drivers/stepper/stepper_api/boards/native_sim_ti_drv84xx_work_q.overlay

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		/*
		* Copyright (c) 2025 Josselin Bunt
		* SPDX-License-Identifier: Apache-2.0
		*/

		#include "native_sim.overlay"

		/ {
		aliases {
		stepper = &ti_drv84xx;
		};
		};

		/ {
		ti_drv84xx: ti_drv84xx {
		status = "okay";
		compatible = "ti,drv84xx";
		micro-step-res = <8>;
		dir-gpios = <&gpio1 0 0>;
		step-gpios = <&gpio1 1 0>;
		sleep-gpios = <&gpio2 0 GPIO_ACTIVE_LOW>;
		en-gpios = <&gpio2 1 0>;
		m0-gpios = <&gpio3 0 0>;
		m1-gpios = <&gpio3 1 0>;
		};
		};

tests/drivers/stepper/stepper_api/src/main.c

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		@@ -140,15 +140,45 @@ ZTEST_F(stepper, test_target_position_w_fixed_step_interval)

		(void)stepper_move_to(fixture->dev, pos);

		/* timeout is set with 20% tolerance */
		POLL_AND_CHECK_SIGNAL(stepper_signal, stepper_event, STEPPER_EVENT_STEPS_COMPLETED,
		K_MSEC(pos * 120));
		POLL_AND_CHECK_SIGNAL(
		stepper_signal, stepper_event, STEPPER_EVENT_STEPS_COMPLETED,
		K_MSEC(pos * (100 + CONFIG_STEPPER_TEST_TIMING_TIMEOUT_TOLERANCE_PCT)));

		(void)stepper_get_actual_position(fixture->dev, &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_move_by_positive_step_count)
		{
		int32_t steps = 20;

		(void)stepper_set_microstep_interval(fixture->dev, 100 * USEC_PER_SEC);
		(void)stepper_set_event_callback(fixture->dev, fixture->callback, (void *)fixture->dev);
		(void)stepper_move_by(fixture->dev, steps);

		POLL_AND_CHECK_SIGNAL(
		stepper_signal, stepper_event, STEPPER_EVENT_STEPS_COMPLETED,
		K_MSEC(steps * (100 + CONFIG_STEPPER_TEST_TIMING_TIMEOUT_TOLERANCE_PCT)));
		(void)stepper_get_actual_position(fixture->dev, &steps);
		zassert_equal(steps, 20u, "Target position should be %d but is %d", 20u, steps);
		}

		ZTEST_F(stepper, test_move_by_negative_step_count)
		{
		int32_t steps = -20;

		(void)stepper_set_microstep_interval(fixture->dev, 100 * USEC_PER_SEC);
		(void)stepper_set_event_callback(fixture->dev, fixture->callback, (void *)fixture->dev);
		(void)stepper_move_by(fixture->dev, steps);

		POLL_AND_CHECK_SIGNAL(
		stepper_signal, stepper_event, STEPPER_EVENT_STEPS_COMPLETED,
		K_MSEC(-steps * (100 + CONFIG_STEPPER_TEST_TIMING_TIMEOUT_TOLERANCE_PCT)));
		(void)stepper_get_actual_position(fixture->dev, &steps);
		zassert_equal(steps, -20u, "Target position should be %d but is %d", -20u, steps);
		}

		ZTEST_F(stepper, test_stop)
		{
		(void)stepper_set_event_callback(fixture->dev, fixture->callback, (void *)fixture->dev);

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