drivers: stepper: Add unit tests for stepper API using work_q

jbr7rr · kartben · commit c4970880a14e · 2025-05-04T19:55:51.000+02:00
This commit adds unit tests for the stepper API using work_q scheduler.

Signed-off-by: Josselin Bunt &lt;josselin@sensible.health&gt;
diff --git a/tests/drivers/stepper/stepper_api/Kconfig b/tests/drivers/stepper/stepper_api/Kconfig
@@ -0,0 +1,13 @@
+# 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.
diff --git a/tests/drivers/stepper/stepper_api/boards/native_sim_adi_tmc2209_work_q.overlay b/tests/drivers/stepper/stepper_api/boards/native_sim_adi_tmc2209_work_q.overlay
@@ -0,0 +1,24 @@
+/*
+ * 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>;
+	};
+};
diff --git a/tests/drivers/stepper/stepper_api/boards/native_sim_allegro_a4979_work_q.overlay b/tests/drivers/stepper/stepper_api/boards/native_sim_allegro_a4979_work_q.overlay
@@ -0,0 +1,26 @@
+/*
+ * 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>;
+	};
+};
diff --git a/tests/drivers/stepper/stepper_api/boards/native_sim_ti_drv84xx_work_q.overlay b/tests/drivers/stepper/stepper_api/boards/native_sim_ti_drv84xx_work_q.overlay
@@ -0,0 +1,26 @@
+/*
+ * 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>;
+	};
+};
diff --git a/tests/drivers/stepper/stepper_api/src/main.c b/tests/drivers/stepper/stepper_api/src/main.c
@@ -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);
diff --git a/tests/drivers/stepper/stepper_api/testcase.yaml b/tests/drivers/stepper/stepper_api/testcase.yaml
@@ -16,6 +16,15 @@ tests:
       - CONFIG_STEPPER_STEP_DIR_GENERATE_ISR_SAFE_EVENTS=y
     platform_allow:
       - native_sim/native/64
+  drivers.stepper.stepper_api.adi_tmc2209_work_q:
+    extra_args:
+      - platform:native_sim/native/64:DTC_OVERLAY_FILE="boards/native_sim_adi_tmc2209_work_q.overlay"
+    extra_configs:
+      - CONFIG_GPIO=y
+      - CONFIG_STEPPER_STEP_DIR_GENERATE_ISR_SAFE_EVENTS=y
+      - CONFIG_STEPPER_TEST_TIMING_TIMEOUT_TOLERANCE_PCT=30
+    platform_allow:
+      - native_sim/native/64
   drivers.stepper.stepper_api.allegro_a4979:
     extra_args:
       - platform:native_sim/native/64:DTC_OVERLAY_FILE="boards/native_sim_allegro_a4979.overlay"
@@ -25,6 +34,15 @@ tests:
       - CONFIG_STEPPER_STEP_DIR_GENERATE_ISR_SAFE_EVENTS=y
     platform_allow:
       - native_sim/native/64
+  drivers.stepper.stepper_api.allegro_a4979_work_q:
+    extra_args:
+      - platform:native_sim/native/64:DTC_OVERLAY_FILE="boards/native_sim_allegro_a4979_work_q.overlay"
+    extra_configs:
+      - CONFIG_GPIO=y
+      - CONFIG_STEPPER_STEP_DIR_GENERATE_ISR_SAFE_EVENTS=y
+      - CONFIG_STEPPER_TEST_TIMING_TIMEOUT_TOLERANCE_PCT=30
+    platform_allow:
+      - native_sim/native/64
   drivers.stepper.stepper_api.ti_drv84xx:
     extra_args:
       - platform:native_sim/native/64:DTC_OVERLAY_FILE="boards/native_sim_ti_drv84xx.overlay"
@@ -34,6 +52,15 @@ tests:
       - CONFIG_STEPPER_STEP_DIR_GENERATE_ISR_SAFE_EVENTS=y
     platform_allow:
       - native_sim/native/64
+  drivers.stepper.stepper_api.ti_drv84xx_work_q:
+    extra_args:
+      - platform:native_sim/native/64:DTC_OVERLAY_FILE="boards/native_sim_ti_drv84xx_work_q.overlay"
+    extra_configs:
+      - CONFIG_GPIO=y
+      - CONFIG_STEPPER_STEP_DIR_GENERATE_ISR_SAFE_EVENTS=y
+      - CONFIG_STEPPER_TEST_TIMING_TIMEOUT_TOLERANCE_PCT=30
+    platform_allow:
+      - native_sim/native/64
   drivers.stepper.stepper_api.zephyr_gpio_stepper:
     extra_args:
       - platform:native_sim/native/64:DTC_OVERLAY_FILE="boards/native_sim_zephyr_gpio_stepper.overlay"
