148 lines
5.1 KiB
C
148 lines
5.1 KiB
C
/*
|
|
* 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)
|