150 lines
5.3 KiB
C
150 lines
5.3 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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#define DT_DRV_COMPAT zephyr_fake_stepper
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struct fake_stepper_data {
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enum stepper_micro_step_resolution micro_step_res;
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int32_t actual_position;
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};
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DEFINE_FAKE_VALUE_FUNC(int, fake_stepper_enable, const struct device *, const bool);
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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, const struct device *, const int32_t);
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DEFINE_FAKE_VALUE_FUNC(int, fake_stepper_set_max_velocity, const struct device *, const uint32_t);
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DEFINE_FAKE_VALUE_FUNC(int, fake_stepper_set_micro_step_res, const struct device *,
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const enum stepper_micro_step_resolution);
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DEFINE_FAKE_VALUE_FUNC(int, fake_stepper_get_micro_step_res, const struct device *,
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enum stepper_micro_step_resolution *);
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DEFINE_FAKE_VALUE_FUNC(int, fake_stepper_set_actual_position, const struct device *, const 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_set_target_position, const struct device *, const int32_t);
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DEFINE_FAKE_VALUE_FUNC(int, fake_stepper_enable_constant_velocity_mode, const struct device *,
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const enum stepper_direction, const uint32_t);
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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 fake_stepper_set_micro_step_res_delegate(const struct device *dev,
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const enum stepper_micro_step_resolution res)
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{
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struct fake_stepper_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_get_micro_step_res_delegate(const struct device *dev,
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enum stepper_micro_step_resolution *res)
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{
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struct fake_stepper_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_actual_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_enable);
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RESET_FAKE(fake_stepper_move);
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RESET_FAKE(fake_stepper_is_moving);
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RESET_FAKE(fake_stepper_set_max_velocity);
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RESET_FAKE(fake_stepper_set_micro_step_res);
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RESET_FAKE(fake_stepper_get_micro_step_res);
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RESET_FAKE(fake_stepper_set_actual_position);
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RESET_FAKE(fake_stepper_get_actual_position);
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RESET_FAKE(fake_stepper_set_target_position);
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RESET_FAKE(fake_stepper_enable_constant_velocity_mode);
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/* Install custom fakes for the setter and getter functions */
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fake_stepper_set_micro_step_res_fake.custom_fake = fake_stepper_set_micro_step_res_delegate;
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fake_stepper_get_micro_step_res_fake.custom_fake = fake_stepper_get_micro_step_res_delegate;
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fake_stepper_set_actual_position_fake.custom_fake =
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fake_stepper_set_actual_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_init(const struct device *dev)
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{
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fake_stepper_set_micro_step_res_fake.custom_fake = fake_stepper_set_micro_step_res_delegate;
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fake_stepper_get_micro_step_res_fake.custom_fake = fake_stepper_get_micro_step_res_delegate;
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fake_stepper_set_actual_position_fake.custom_fake =
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fake_stepper_set_actual_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 const struct stepper_driver_api fake_stepper_driver_api = {
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.enable = fake_stepper_enable,
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.move = fake_stepper_move,
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.is_moving = fake_stepper_is_moving,
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.set_max_velocity = fake_stepper_set_max_velocity,
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.set_micro_step_res = fake_stepper_set_micro_step_res,
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.get_micro_step_res = fake_stepper_get_micro_step_res,
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.set_actual_position = fake_stepper_set_actual_position,
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.get_actual_position = fake_stepper_get_actual_position,
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.set_target_position = fake_stepper_set_target_position,
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.enable_constant_velocity_mode = fake_stepper_enable_constant_velocity_mode,
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.set_event_callback = fake_stepper_set_event_callback,
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};
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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, &fake_stepper_data_##inst, NULL, \
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POST_KERNEL, CONFIG_STEPPER_INIT_PRIORITY, \
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&fake_stepper_driver_api);
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DT_INST_FOREACH_STATUS_OKAY(FAKE_STEPPER_INIT)
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