tests: drivers: stepper: stepper_api: test cb user_data

This commit does the following:
1. tests set_callback and user_data
2. fixes the api as well as the drivers by passing user_data
back to the set callback

Signed-off-by: Jilay Pandya <[email protected]>

Author: jilaypandya

drivers/stepper/adi_tmc/CMakeLists.txt

@@ -2,5 +2,7 @@
 # SPDX-License-Identifier: Apache-2.0
 
 zephyr_library()
+zephyr_library_property(ALLOW_EMPTY TRUE)
+
 zephyr_library_sources_ifdef(CONFIG_STEPPER_ADI_TMC_SPI adi_tmc_spi.c)
 zephyr_library_sources_ifdef(CONFIG_STEPPER_ADI_TMC5041 adi_tmc5041_stepper_controller.c)

drivers/stepper/adi_tmc/adi_tmc5041_stepper_controller.c

@@ -185,7 +185,7 @@ static void execute_callback(const struct device *dev, const enum stepper_event
 		LOG_WRN_ONCE("No callback registered");
 		return;
 	}
-	data->callback(dev, event);
+	data->callback(dev, event, data->event_cb_user_data);
 }
 
 static void rampstat_work_handler(struct k_work *work)

drivers/stepper/gpio_stepper_controller.c

@@ -9,9 +9,9 @@
 #include <zephyr/kernel.h>
 #include <zephyr/sys_clock.h>
 #include <zephyr/drivers/stepper.h>
-#include <zephyr/logging/log.h>
 #include <zephyr/sys/__assert.h>
 
+#include <zephyr/logging/log.h>
 LOG_MODULE_REGISTER(gpio_stepper_motor_controller, CONFIG_STEPPER_LOG_LEVEL);
 
 #define MAX_MICRO_STEP_RES STEPPER_MICRO_STEP_2
@@ -34,10 +34,10 @@ struct gpio_stepper_data {
 	uint8_t step_gap;
 	uint8_t coil_charge;
 	struct k_work_delayable stepper_dwork;
-	stepper_event_callback_t callback;
 	int32_t actual_position;
 	uint32_t delay_in_us;
 	int32_t step_count;
+	stepper_event_callback_t callback;
 	void *event_cb_user_data;
 };
 
@@ -84,7 +84,7 @@ static void update_remaining_steps(struct gpio_stepper_data *data)
 			LOG_WRN_ONCE("No callback set");
 			return;
 		}
-		data->callback(data->dev, STEPPER_EVENT_STEPS_COMPLETED);
+		data->callback(data->dev, STEPPER_EVENT_STEPS_COMPLETED, data->event_cb_user_data);
 	}
 }
 

drivers/stepper/stepper_shell.c

@@ -40,23 +40,26 @@ struct stepper_direction_map {
 		.microstep = _microstep,                                                           \
 	}
 
-static void print_callback(const struct device *dev, const enum stepper_event event)
+static void print_callback(const struct device *dev, const enum stepper_event event,
+			   void *user_data)
 {
+	const struct shell *sh = user_data;
+
 	switch (event) {
 	case STEPPER_EVENT_STEPS_COMPLETED:
-		LOG_INF("%s: Steps completed.", dev->name);
+		shell_info(sh, "%s: Steps completed.", dev->name);
 		break;
 	case STEPPER_EVENT_STALL_DETECTED:
-		LOG_INF("%s: Stall detected.", dev->name);
+		shell_info(sh, "%s: Stall detected.", dev->name);
 		break;
 	case STEPPER_EVENT_LEFT_END_STOP_DETECTED:
-		LOG_INF("%s: Left limit switch pressed.", dev->name);
+		shell_info(sh, "%s: Left limit switch pressed.", dev->name);
 		break;
 	case STEPPER_EVENT_RIGHT_END_STOP_DETECTED:
-		LOG_INF("%s: Right limit switch pressed.", dev->name);
+		shell_info(sh, "%s: Right limit switch pressed.", dev->name);
 		break;
 	default:
-		LOG_INF("%s: Unknown signal received.", dev->name);
+		shell_info(sh, "%s: Unknown signal received.", dev->name);
 		break;
 	}
 }
@@ -200,7 +203,7 @@ static int cmd_stepper_move(const struct shell *sh, size_t argc, char **argv)
 		return err;
 	}
 
-	err = stepper_set_callback(dev, print_callback, NULL);
+	err = stepper_set_callback(dev, print_callback, (void *)sh);
 	if (err != 0) {
 		shell_error(sh, "Failed to set callback: %d", err);
 	}

include/zephyr/drivers/stepper.h

@@ -174,7 +174,8 @@ typedef int (*stepper_enable_constant_velocity_mode_t)(const struct device *dev,
 /**
  * @brief Callback function for stepper events
  */
-typedef void (*stepper_event_callback_t)(const struct device *dev, const enum stepper_event event);
+typedef void (*stepper_event_callback_t)(const struct device *dev, const enum stepper_event event,
+					 void *user_data);
 
 /**
  * @brief Set the callback function to be called when a stepper event occurs

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

@@ -14,9 +14,12 @@ struct stepper_fixture {
 
 struct k_poll_signal stepper_signal;
 struct k_poll_event stepper_event;
+void *user_data_received;
 
-static void stepper_print_event_callback(const struct device *dev, enum stepper_event event)
+static void stepper_print_event_callback(const struct device *dev, enum stepper_event event,
+					void *user_data)
 {
+	user_data_received = user_data;
 	switch (event) {
 	case STEPPER_EVENT_STEPS_COMPLETED:
 		k_poll_signal_raise(&stepper_signal, STEPPER_EVENT_STEPS_COMPLETED);
@@ -45,7 +48,7 @@ static void *stepper_setup(void)
 	k_poll_signal_init(&stepper_signal);
 	k_poll_event_init(&stepper_event, K_POLL_TYPE_SIGNAL, K_POLL_MODE_NOTIFY_ONLY,
 			  &stepper_signal);
-
+	user_data_received = NULL;
 	zassert_not_null(fixture.dev);
 	return &fixture;
 }
@@ -80,8 +83,12 @@ ZTEST_F(stepper, test_target_position)
 	int32_t pos = 100u;
 
 	(void)stepper_set_max_velocity(fixture->dev, 100u);
-	(void)stepper_set_callback(fixture->dev, fixture->callback, NULL);
+
+	/* Pass the function name as user data */
+	(void)stepper_set_callback(fixture->dev, fixture->callback, &fixture);
+
 	(void)stepper_set_target_position(fixture->dev, pos);
+
 	(void)k_poll(&stepper_event, 1, K_SECONDS(5));
 	unsigned int signaled;
 	int result;
@@ -91,4 +98,5 @@ ZTEST_F(stepper, test_target_position)
 	zassert_equal(result, STEPPER_EVENT_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);
+	zassert_equal(user_data_received, &fixture, "User data not received");
 }