drivers: stepper: move_by(dev,0) shall return steps_completed

move_by(dev,0) shall stop the timing source and trigger
STEPPER_EVENT_STEPS_COMPLETED event

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

Author: jilaypandya

drivers/stepper/h_bridge_stepper.c

@@ -189,6 +189,15 @@ static int h_bridge_stepper_move_by(const struct device *dev, int32_t micro_step
 		LOG_ERR("Step interval not set or invalid step interval set");
 		return -EINVAL;
 	}
+
+	if (micro_steps == 0) {
+		if (data->callback) {
+			data->callback(data->dev, STEPPER_EVENT_STEPS_COMPLETED,
+				       data->event_cb_user_data);
+		}
+		(void)k_work_cancel_delayable(&data->stepper_dwork);
+		return 0;
+	}
 	K_SPINLOCK(&data->lock) {
 		data->run_mode = STEPPER_RUN_MODE_POSITION;
 		data->step_count = micro_steps;

drivers/stepper/step_dir/step_dir_stepper_common.c

@@ -243,6 +243,12 @@ int step_dir_stepper_common_move_by(const struct device *dev, const int32_t micr
 		return -EINVAL;
 	}
 
+	if (micro_steps == 0) {
+		stepper_trigger_callback(data->dev, STEPPER_EVENT_STEPS_COMPLETED);
+		config->timing_source->stop(dev);
+		return 0;
+	}
+
 	K_SPINLOCK(&data->lock) {
 		data->run_mode = STEPPER_RUN_MODE_POSITION;
 		data->step_count = micro_steps;

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

@@ -72,6 +72,9 @@ static void *stepper_setup(void)
 			  &stepper_signal);
 
 	zassert_not_null(fixture.dev);
+	zassert_equal(
+		stepper_set_event_callback(fixture.dev, fixture.callback, (void *)fixture.dev), 0,
+		"Failed to set event callback");
 	(void)stepper_enable(fixture.dev);
 	return &fixture;
 }
@@ -131,12 +134,9 @@ ZTEST_F(stepper, test_target_position_w_fixed_step_interval)
 	int ret;
 
 	ret = stepper_set_microstep_interval(fixture->dev, 100 * USEC_PER_SEC);
-
 	if (ret == -ENOSYS) {
 		ztest_test_skip();
 	}
-	/* Pass the function name as user data */
-	(void)stepper_set_event_callback(fixture->dev, fixture->callback, (void *)fixture->dev);
 
 	(void)stepper_move_to(fixture->dev, pos);
 
@@ -154,7 +154,6 @@ ZTEST_F(stepper, test_move_by_positive_step_count)
 	int32_t steps = 20;
 
 	(void)stepper_set_microstep_interval(fixture->dev, 100 * USEC_PER_SEC);
-	(void)stepper_set_event_callback(fixture->dev, fixture->callback, (void *)fixture->dev);
 	(void)stepper_move_by(fixture->dev, steps);
 
 	POLL_AND_CHECK_SIGNAL(
@@ -169,7 +168,6 @@ ZTEST_F(stepper, test_move_by_negative_step_count)
 	int32_t steps = -20;
 
 	(void)stepper_set_microstep_interval(fixture->dev, 100 * USEC_PER_SEC);
-	(void)stepper_set_event_callback(fixture->dev, fixture->callback, (void *)fixture->dev);
 	(void)stepper_move_by(fixture->dev, steps);
 
 	POLL_AND_CHECK_SIGNAL(
@@ -181,8 +179,6 @@ ZTEST_F(stepper, test_move_by_negative_step_count)
 
 ZTEST_F(stepper, test_stop)
 {
-	(void)stepper_set_event_callback(fixture->dev, fixture->callback, (void *)fixture->dev);
-
 	/* Run the stepper in positive direction */
 	(void)stepper_run(fixture->dev, STEPPER_DIRECTION_POSITIVE);
 
@@ -206,3 +202,22 @@ ZTEST_F(stepper, test_stop)
 		zassert_unreachable("Stepper stop failed");
 	}
 }
+
+ZTEST_F(stepper, test_move_by_zero_steps)
+{
+	bool is_moving;
+	int err;
+
+	err = stepper_set_microstep_interval(fixture->dev, 100 * USEC_PER_SEC);
+	if (err == -ENOSYS) {
+		ztest_test_skip();
+	}
+	zassert_equal(err, 0, "Failed to set microstep interval");
+
+	zassert_equal(stepper_move_by(fixture->dev, 0), 0, "Failed to move by zero steps");
+	POLL_AND_CHECK_SIGNAL(stepper_signal, stepper_event, STEPPER_EVENT_STEPS_COMPLETED,
+			      K_NO_WAIT);
+	zassert_equal(stepper_is_moving(fixture->dev, &is_moving), 0,
+		      "Failed to check if stepper is moving");
+	zassert_equal(is_moving, false, "Stepper is still moving");
+}