adafruit-mirror/zephyr
1
0
Fork 0
Code Issues Pull requests Projects Releases Packages Wiki Activity Actions 9

drivers: stepper: Add fake stepper driver

Browse source 
Add `zephyr,fake-stepper` compatible which can be used inside of unit
tests.

Signed-off-by: Fabian Blatz <fabianblatz@gmail.com>
This commit is contained in:
Fabian Blatz 2024-09-15 17:37:48 +02:00 committed by Fabio Baltieri
parent c694858d06
commit c525dc0813
6 changed files with 217 additions and 0 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

1
drivers/stepper/CMakeLists.txt
View file

@ -5,6 +5,7 @@ zephyr_syscall_header(${ZEPHYR_BASE}/include/zephyr/drivers/stepper.h)
zephyr_library()
zephyr_library_sources_ifdef(CONFIG_FAKE_STEPPER fake_stepper_controller.c)
zephyr_library_sources_ifdef(CONFIG_GPIO_STEPPER gpio_stepper_controller.c)
zephyr_library_sources_ifdef(CONFIG_STEPPER_SHELL stepper_shell.c)

1
drivers/stepper/Kconfig
View file

@ -49,6 +49,7 @@ config STEPPER_SHELL_THREAD_PRIORITY
comment "Stepper Drivers"
rsource "Kconfig.fake"
rsource "Kconfig.gpio"
endif

11
drivers/stepper/Kconfig.fake Normal file
View file

@ -0,0 +1,11 @@
# Fake stepper configuration options
# Copyright (c) 2024 Fabian Blatz <fabianblatz@gmail.com>
# SPDX-License-Identifier: Apache-2.0
config FAKE_STEPPER
bool "Fake stepper driver"
default y
depends on DT_HAS_ZEPHYR_FAKE_STEPPER_ENABLED
help
Enable support for the FFF-based fake stepper driver.

147
drivers/stepper/fake_stepper_controller.c Normal file
View file

@ -0,0 +1,147 @@
/*
* SPDX-FileCopyrightText: Copyright (c) 2024 Fabian Blatz <fabianblatz@gmail.com>
* SPDX-License-Identifier: Apache-2.0
*/
#include <zephyr/device.h>
#include <zephyr/drivers/stepper.h>
#include <zephyr/drivers/stepper/stepper_fake.h>
#include <zephyr/fff.h>
#ifdef CONFIG_ZTEST
#include <zephyr/ztest.h>
#endif /* CONFIG_ZTEST */
#define DT_DRV_COMPAT zephyr_fake_stepper
struct fake_stepper_data {
enum micro_step_resolution micro_step_res;
int32_t actual_position;
};
DEFINE_FAKE_VALUE_FUNC(int, fake_stepper_enable, const struct device *, const bool);
DEFINE_FAKE_VALUE_FUNC(int, fake_stepper_is_moving, const struct device *, bool *);
DEFINE_FAKE_VALUE_FUNC(int, fake_stepper_move, const struct device *, const int32_t,
struct k_poll_signal *);
DEFINE_FAKE_VALUE_FUNC(int, fake_stepper_set_max_velocity, const struct device *, const uint32_t);
DEFINE_FAKE_VALUE_FUNC(int, fake_stepper_set_micro_step_res, const struct device *,
const enum micro_step_resolution);
DEFINE_FAKE_VALUE_FUNC(int, fake_stepper_get_micro_step_res, const struct device *,
enum micro_step_resolution *);
DEFINE_FAKE_VALUE_FUNC(int, fake_stepper_set_actual_position, const struct device *, const int32_t);
DEFINE_FAKE_VALUE_FUNC(int, fake_stepper_get_actual_position, const struct device *, int32_t *);
DEFINE_FAKE_VALUE_FUNC(int, fake_stepper_set_target_position, const struct device *, const int32_t,
struct k_poll_signal *);
DEFINE_FAKE_VALUE_FUNC(int, fake_stepper_enable_constant_velocity_mode, const struct device *,
const enum stepper_direction, const uint32_t);
static int fake_stepper_set_micro_step_res_delegate(const struct device *dev,
const enum micro_step_resolution res)
{
struct fake_stepper_data *data = dev->data;
data->micro_step_res = res;
return 0;
}
static int fake_stepper_get_micro_step_res_delegate(const struct device *dev,
enum micro_step_resolution *res)
{
struct fake_stepper_data *data = dev->data;
*res = data->micro_step_res;
return 0;
}
static int fake_stepper_set_actual_position_delegate(const struct device *dev, const int32_t pos)
{
struct fake_stepper_data *data = dev->data;
data->actual_position = pos;
return 0;
}
static int fake_stepper_get_actual_position_delegate(const struct device *dev, int32_t *pos)
{
struct fake_stepper_data *data = dev->data;
*pos = data->actual_position;
return 0;
}
#ifdef CONFIG_ZTEST
static void fake_stepper_reset_rule_before(const struct ztest_unit_test *test, void *fixture)
{
ARG_UNUSED(test);
ARG_UNUSED(fixture);
RESET_FAKE(fake_stepper_enable);
RESET_FAKE(fake_stepper_move);
RESET_FAKE(fake_stepper_is_moving);
RESET_FAKE(fake_stepper_set_max_velocity);
RESET_FAKE(fake_stepper_set_micro_step_res);
RESET_FAKE(fake_stepper_get_micro_step_res);
RESET_FAKE(fake_stepper_set_actual_position);
RESET_FAKE(fake_stepper_get_actual_position);
RESET_FAKE(fake_stepper_set_target_position);
RESET_FAKE(fake_stepper_enable_constant_velocity_mode);
/* Install custom fakes for the setter and getter functions */
fake_stepper_set_micro_step_res_fake.custom_fake = fake_stepper_set_micro_step_res_delegate;
fake_stepper_get_micro_step_res_fake.custom_fake = fake_stepper_get_micro_step_res_delegate;
fake_stepper_set_actual_position_fake.custom_fake =
fake_stepper_set_actual_position_delegate;
fake_stepper_get_actual_position_fake.custom_fake =
fake_stepper_get_actual_position_delegate;
}
ZTEST_RULE(fake_stepper_reset_rule, fake_stepper_reset_rule_before, NULL);
#endif /* CONFIG_ZTEST */
static int fake_stepper_init(const struct device *dev)
{
fake_stepper_set_micro_step_res_fake.custom_fake = fake_stepper_set_micro_step_res_delegate;
fake_stepper_get_micro_step_res_fake.custom_fake = fake_stepper_get_micro_step_res_delegate;
fake_stepper_set_actual_position_fake.custom_fake =
fake_stepper_set_actual_position_delegate;
fake_stepper_get_actual_position_fake.custom_fake =
fake_stepper_get_actual_position_delegate;
return 0;
}
static const struct stepper_driver_api fake_stepper_driver_api = {
.enable = fake_stepper_enable,
.move = fake_stepper_move,
.is_moving = fake_stepper_is_moving,
.set_max_velocity = fake_stepper_set_max_velocity,
.set_micro_step_res = fake_stepper_set_micro_step_res,
.get_micro_step_res = fake_stepper_get_micro_step_res,
.set_actual_position = fake_stepper_set_actual_position,
.get_actual_position = fake_stepper_get_actual_position,
.set_target_position = fake_stepper_set_target_position,
.enable_constant_velocity_mode = fake_stepper_enable_constant_velocity_mode,
};
#define FAKE_STEPPER_INIT(inst) \
\
static struct fake_stepper_data fake_stepper_data_##inst; \
\
DEVICE_DT_INST_DEFINE(inst, fake_stepper_init, NULL, &fake_stepper_data_##inst, NULL, \
POST_KERNEL, CONFIG_STEPPER_INIT_PRIORITY, \
&fake_stepper_driver_api);
DT_INST_FOREACH_STATUS_OKAY(FAKE_STEPPER_INIT)

10
dts/bindings/stepper/zephyr,fake-stepper.yaml Normal file
View file

@ -0,0 +1,10 @@
# Copyright (c) 2024 Fabian Blatz <fabianblatz@gmail.com>
# SPDX-License-Identifier: Apache-2.0
description: |
This binding provides a fake stepper controller for use as either a stub or a mock in
Zephyr testing.
compatible: "zephyr,fake-stepper"
include: stepper-controller.yaml

47
include/zephyr/drivers/stepper/stepper_fake.h Normal file
View file

@ -0,0 +1,47 @@
/*
* Copyright (c) 2024 Fabian Blatz <fabianblatz@gmail.com>
*
* SPDX-License-Identifier: Apache-2.0
*/
#ifndef ZEPHYR_INCLUDE_DRIVERS_STEPPER_STEPPER_FAKE_H_
#define ZEPHYR_INCLUDE_DRIVERS_STEPPER_STEPPER_FAKE_H_
#include <zephyr/drivers/stepper.h>
#include <zephyr/fff.h>
#ifdef __cplusplus
extern "C" {
#endif
DECLARE_FAKE_VALUE_FUNC(int, fake_stepper_enable, const struct device *, const bool);
DECLARE_FAKE_VALUE_FUNC(int, fake_stepper_move, const struct device *, const int32_t,
struct k_poll_signal *);
DECLARE_FAKE_VALUE_FUNC(int, fake_stepper_set_max_velocity, const struct device *, const uint32_t);
DECLARE_FAKE_VALUE_FUNC(int, fake_stepper_set_micro_step_res, const struct device *,
const enum micro_step_resolution);
DECLARE_FAKE_VALUE_FUNC(int, fake_stepper_get_micro_step_res, const struct device *,
enum micro_step_resolution *);
DECLARE_FAKE_VALUE_FUNC(int, fake_stepper_set_actual_position, const struct device *,
const int32_t);
DECLARE_FAKE_VALUE_FUNC(int, fake_stepper_get_actual_position, const struct device *, int32_t *);
DECLARE_FAKE_VALUE_FUNC(int, fake_stepper_set_target_position, const struct device *, const int32_t,
struct k_poll_signal *);
DECLARE_FAKE_VALUE_FUNC(int, fake_stepper_is_moving, const struct device *, bool *);
DECLARE_FAKE_VALUE_FUNC(int, fake_stepper_enable_constant_velocity_mode, const struct device *,
const enum stepper_direction, const uint32_t);
#ifdef __cplusplus
}
#endif
#endif /* ZEPHYR_INCLUDE_DRIVERS_STEPPER_STEPPER_FAKE_H_ */