test: drivers: stepper: add tests for stepper api

This commit adds tests for stepper api

Signed-off-by: Jilay Pandya <jilay.pandya@outlook.com>

tests/drivers/build_all/stepper/prj.conf

@@ -2,6 +2,5 @@ CONFIG_TEST=y
 CONFIG_TEST_USERSPACE=y
 CONFIG_LOG=y
 CONFIG_STEPPER_LOG_LEVEL_DBG=y
-CONFIG_POLL=y
 CONFIG_GPIO=y
 CONFIG_STEPPER=y

tests/drivers/stepper/stepper_api/CMakeLists.txt

@@ -0,0 +1,10 @@
+# Copyright (c) 2024 Jilay Sandeep Pandya
+# SPDX-License-Identifier: Apache-2.0
+
+cmake_minimum_required(VERSION 3.20.0)
+
+find_package(Zephyr REQUIRED HINTS $ENV{ZEPHYR_BASE})
+project(stepper_api)
+target_sources(app PRIVATE
+	src/main.c
+)

tests/drivers/stepper/stepper_api/boards/nucleo_g071rb.conf

@@ -0,0 +1,5 @@
+# Copyright (c) 2024 Jilay Sandeep Pandya
+# SPDX-License-Identifier: Apache-2.0
+
+CONFIG_GPIO=y
+CONFIG_GPIO_STEPPER=y

tests/drivers/stepper/stepper_api/boards/nucleo_g071rb.overlay

@@ -0,0 +1,13 @@
+/ {
+	uln2003_motor: uln2003_1 {
+		compatible = "gpio-steppers";
+		status = "okay";
+		motor_1: motor_1 {
+			micro-step-res = <1>;
+			gpios = <&gpioa 9 GPIO_ACTIVE_HIGH>,
+				<&gpioc 7 GPIO_ACTIVE_HIGH>,
+				<&gpiob 0 GPIO_ACTIVE_HIGH>,
+				<&gpioa 7 GPIO_ACTIVE_HIGH>;
+		};
+	};
+};

tests/drivers/stepper/stepper_api/boards/qemu_x86_64.conf

@@ -0,0 +1,5 @@
+# Copyright (c) 2024 Jilay Sandeep Pandya
+# SPDX-License-Identifier: Apache-2.0
+
+CONFIG_GPIO=y
+CONFIG_GPIO_STEPPER=y

tests/drivers/stepper/stepper_api/boards/qemu_x86_64.overlay

@@ -0,0 +1,34 @@
+/*
+ * Copyright (c) 2024 Jilay Sandeep Pandya
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+/ {
+	test {
+		#address-cells = <1>;
+		#size-cells = <1>;
+
+		test_gpio: gpio@deadbeef {
+			compatible = "vnd,gpio";
+			gpio-controller;
+			reg = <0xdeadbeef 0x1000>;
+			#gpio-cells = <0x2>;
+			status = "okay";
+		};
+	};
+};
+
+/ {
+	test_uln2003_motor_cluster: uln2003_motor_cluster {
+		compatible = "gpio-steppers";
+		status = "okay";
+
+		motor_1: motor_1 {
+			micro-step-res = <1>;
+			gpios = <&test_gpio 0 0>,
+				<&test_gpio 0 0>,
+				<&test_gpio 0 0>,
+				<&test_gpio 0 0>;
+		};
+	};
+};

tests/drivers/stepper/stepper_api/prj.conf

@@ -0,0 +1,9 @@
+# Copyright (c) 2024 Jilay Sandeep Pandya
+# SPDX-License-Identifier: Apache-2.0
+
+CONFIG_ZTEST=y
+CONFIG_TEST=y
+CONFIG_TEST_USERSPACE=y
+CONFIG_LOG=y
+CONFIG_STEPPER_LOG_LEVEL_DBG=y
+CONFIG_STEPPER=y

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

@@ -0,0 +1,68 @@
+/*
+ * Copyright 2024 Jilay Sandeep Pandya
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#include <zephyr/ztest.h>
+#include <zephyr/drivers/stepper.h>
+
+struct stepper_fixture {
+	const struct device *dev;
+};
+
+static void *stepper_setup(void)
+{
+	static struct stepper_fixture fixture = {
+		.dev = DEVICE_DT_GET(DT_NODELABEL(motor_1)),
+	};
+
+	zassert_not_null(fixture.dev);
+	return &fixture;
+}
+
+static void stepper_before(void *f)
+{
+	struct stepper_fixture *fixture = f;
+	(void)stepper_set_actual_position(fixture->dev, 0);
+}
+
+ZTEST_SUITE(stepper, NULL, stepper_setup, stepper_before, NULL, NULL);
+
+ZTEST_F(stepper, test_micro_step_res)
+{
+	(void)stepper_set_micro_step_res(fixture->dev, 2);
+	enum micro_step_resolution res;
+	(void)stepper_get_micro_step_res(fixture->dev, &res);
+	zassert_equal(res, 2, "Micro step resolution not set correctly");
+}
+
+ZTEST_F(stepper, test_actual_position)
+{
+	int32_t pos = 100u;
+	(void)stepper_set_actual_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)
+{
+	int32_t pos = 100u;
+	struct k_poll_signal signal;
+
+	k_poll_signal_init(&signal);
+	struct k_poll_event event;
+
+	k_poll_event_init(&event, K_POLL_TYPE_SIGNAL, K_POLL_MODE_NOTIFY_ONLY, &signal);
+	(void)stepper_set_max_velocity(fixture->dev, 100u);
+	(void)stepper_set_target_position(fixture->dev, pos, &signal);
+	(void)k_poll(&event, 1, K_SECONDS(2));
+	unsigned int signaled;
+	int result;
+
+	k_poll_signal_check(&signal, &signaled, &result);
+	zassert_equal(signaled, 1, "Signal not set");
+	zassert_equal(result, STEPPER_SIGNAL_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);
+}

tests/drivers/stepper/stepper_api/testcase.yaml

@@ -0,0 +1,12 @@
+# Copyright (c) 2024 Jilay Sandeep Pandya
+# SPDX-License-Identifier: Apache-2.0
+
+tests:
+  drivers.stepper.stepper_api:
+    tags:
+      - drivers
+      - stepper
+      - api
+    platform_allow:
+      - nucleo_g071rb
+      - qemu_x86_64