83956260f7
- split stepper api into stepper and stepper_drv api - stepper api now comprises only of motion control apis - stepper_drv api comprises of apis for configuring stepper drivers - add documentation about stepper and stepper_drv api - move stepper.rst in a dedicated stepper folder - add information about stepper_drv api and relevant functions in stepper documentation. - drop motion control functions from all the stepper_drv drivers - create a common a library for controlling stepper motors by toggling gpios via h-bridge or step-dir stepper_drivers - tmc5xxx devices are a combination of motion controller and stepper driver devices. tmc5xxx devices need to be modelled as mfds in order to address the split in stepper driver subsystem Signed-off-by: Jilay Pandya <jilay.pandya@outlook.com>
191 lines
6.7 KiB
C
191 lines
6.7 KiB
C
/*
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* SPDX-FileCopyrightText: Copyright (c) 2024 Fabian Blatz <fabianblatz@gmail.com>
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* SPDX-License-Identifier: Apache-2.0
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*/
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#include <zephyr/device.h>
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#include <zephyr/drivers/stepper.h>
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#include <zephyr/drivers/stepper/stepper_fake.h>
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#include <zephyr/fff.h>
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#ifdef CONFIG_ZTEST
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#include <zephyr/ztest.h>
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#endif /* CONFIG_ZTEST */
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struct fake_stepper_drv_data {
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enum stepper_drv_micro_step_resolution micro_step_res;
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};
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struct fake_stepper_data {
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int32_t actual_position;
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};
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DEFINE_FAKE_VALUE_FUNC(int, fake_stepper_drv_enable, const struct device *);
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DEFINE_FAKE_VALUE_FUNC(int, fake_stepper_drv_disable, const struct device *);
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DEFINE_FAKE_VALUE_FUNC(int, fake_stepper_drv_set_micro_step_res, const struct device *,
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enum stepper_drv_micro_step_resolution);
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DEFINE_FAKE_VALUE_FUNC(int, fake_stepper_drv_get_micro_step_res, const struct device *,
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enum stepper_drv_micro_step_resolution *);
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DEFINE_FAKE_VALUE_FUNC(int, fake_stepper_drv_set_event_cb, const struct device *,
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stepper_drv_event_cb_t, void *);
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DEFINE_FAKE_VALUE_FUNC(int, fake_stepper_is_moving, const struct device *, bool *);
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DEFINE_FAKE_VALUE_FUNC(int, fake_stepper_move_by, const struct device *, int32_t);
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DEFINE_FAKE_VALUE_FUNC(int, fake_stepper_set_microstep_interval, const struct device *, uint64_t);
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DEFINE_FAKE_VALUE_FUNC(int, fake_stepper_set_reference_position, const struct device *, int32_t);
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DEFINE_FAKE_VALUE_FUNC(int, fake_stepper_get_actual_position, const struct device *, int32_t *);
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DEFINE_FAKE_VALUE_FUNC(int, fake_stepper_move_to, const struct device *, int32_t);
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DEFINE_FAKE_VALUE_FUNC(int, fake_stepper_run, const struct device *, enum stepper_direction);
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DEFINE_FAKE_VALUE_FUNC(int, fake_stepper_stop, const struct device *);
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DEFINE_FAKE_VALUE_FUNC(int, fake_stepper_set_event_callback, const struct device *,
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stepper_event_callback_t, void *);
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static int
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fake_stepper_drv_set_micro_step_res_delegate(const struct device *dev,
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const enum stepper_drv_micro_step_resolution res)
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{
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struct fake_stepper_drv_data *data = dev->data;
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data->micro_step_res = res;
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return 0;
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}
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static int fake_stepper_drv_get_micro_step_res_delegate(const struct device *dev,
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enum stepper_drv_micro_step_resolution *res)
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{
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struct fake_stepper_drv_data *data = dev->data;
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*res = data->micro_step_res;
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return 0;
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}
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static int fake_stepper_set_reference_position_delegate(const struct device *dev, const int32_t pos)
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{
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struct fake_stepper_data *data = dev->data;
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data->actual_position = pos;
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return 0;
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}
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static int fake_stepper_get_actual_position_delegate(const struct device *dev, int32_t *pos)
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{
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struct fake_stepper_data *data = dev->data;
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*pos = data->actual_position;
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return 0;
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}
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#ifdef CONFIG_ZTEST
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static void fake_stepper_reset_rule_before(const struct ztest_unit_test *test, void *fixture)
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{
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ARG_UNUSED(test);
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ARG_UNUSED(fixture);
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RESET_FAKE(fake_stepper_drv_enable);
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RESET_FAKE(fake_stepper_drv_disable);
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RESET_FAKE(fake_stepper_drv_set_micro_step_res);
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RESET_FAKE(fake_stepper_drv_get_micro_step_res);
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RESET_FAKE(fake_stepper_drv_set_event_cb);
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RESET_FAKE(fake_stepper_move_by);
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RESET_FAKE(fake_stepper_is_moving);
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RESET_FAKE(fake_stepper_set_microstep_interval);
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RESET_FAKE(fake_stepper_set_reference_position);
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RESET_FAKE(fake_stepper_get_actual_position);
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RESET_FAKE(fake_stepper_move_to);
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RESET_FAKE(fake_stepper_run);
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RESET_FAKE(fake_stepper_stop);
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/* Install custom fakes for the setter and getter functions */
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fake_stepper_drv_set_micro_step_res_fake.custom_fake =
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fake_stepper_drv_set_micro_step_res_delegate;
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fake_stepper_drv_get_micro_step_res_fake.custom_fake =
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fake_stepper_drv_get_micro_step_res_delegate;
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fake_stepper_set_reference_position_fake.custom_fake =
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fake_stepper_set_reference_position_delegate;
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fake_stepper_get_actual_position_fake.custom_fake =
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fake_stepper_get_actual_position_delegate;
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}
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ZTEST_RULE(fake_stepper_reset_rule, fake_stepper_reset_rule_before, NULL);
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#endif /* CONFIG_ZTEST */
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static int fake_stepper_driver_init(const struct device *dev)
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{
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fake_stepper_drv_set_micro_step_res_fake.custom_fake =
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fake_stepper_drv_set_micro_step_res_delegate;
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fake_stepper_drv_get_micro_step_res_fake.custom_fake =
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fake_stepper_drv_get_micro_step_res_delegate;
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return 0;
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}
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static int fake_stepper_init(const struct device *dev)
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{
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fake_stepper_set_reference_position_fake.custom_fake =
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fake_stepper_set_reference_position_delegate;
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fake_stepper_get_actual_position_fake.custom_fake =
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fake_stepper_get_actual_position_delegate;
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return 0;
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}
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static DEVICE_API(stepper_drv, fake_stepper_drv_api) = {
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.enable = fake_stepper_drv_enable,
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.disable = fake_stepper_drv_disable,
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.set_micro_step_res = fake_stepper_drv_set_micro_step_res,
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.get_micro_step_res = fake_stepper_drv_get_micro_step_res,
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.set_event_cb = fake_stepper_drv_set_event_cb,
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};
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static DEVICE_API(stepper, fake_stepper_api) = {
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.move_by = fake_stepper_move_by,
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.is_moving = fake_stepper_is_moving,
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.set_microstep_interval = fake_stepper_set_microstep_interval,
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.set_reference_position = fake_stepper_set_reference_position,
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.get_actual_position = fake_stepper_get_actual_position,
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.move_to = fake_stepper_move_to,
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.run = fake_stepper_run,
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.stop = fake_stepper_stop,
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.set_event_callback = fake_stepper_set_event_callback,
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};
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#define FAKE_STEPPER_DRV_INIT(inst) \
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\
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static struct fake_stepper_drv_data fake_stepper_drv_data_##inst; \
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\
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DEVICE_DT_INST_DEFINE(inst, fake_stepper_driver_init, NULL, \
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&fake_stepper_drv_data_##inst, NULL, POST_KERNEL, \
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CONFIG_STEPPER_INIT_PRIORITY, &fake_stepper_drv_api);
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#define FAKE_STEPPER_INIT(inst) \
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\
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static struct fake_stepper_data fake_stepper_data_##inst; \
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\
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DEVICE_DT_INST_DEFINE(inst, fake_stepper_init, NULL, \
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&fake_stepper_data_##inst, NULL, POST_KERNEL, \
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CONFIG_STEPPER_INIT_PRIORITY, &fake_stepper_api);
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#define DT_DRV_COMPAT zephyr_fake_stepper_drv
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DT_INST_FOREACH_STATUS_OKAY(FAKE_STEPPER_DRV_INIT)
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#undef DT_DRV_COMPAT
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#define DT_DRV_COMPAT zephyr_fake_stepper
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DT_INST_FOREACH_STATUS_OKAY(FAKE_STEPPER_INIT)
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#undef DT_DRV_COMPAT
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