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drivers: stepper: test: Added drv8424 driver tests
Adds 2 test suites for the drv8424 stepper driver, testing API conformity and return values in the first suite and gpio pin values in the second suite Signed-off-by: Jan Behrens <[email protected]>
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‎tests/drivers/stepper/drv8424/api/CMakeLists.txt‎

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# Copyright (c) 2024 Navimatix GmbH
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# SPDX-License-Identifier: Apache-2.0
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cmake_minimum_required(VERSION 3.20.0)
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find_package(Zephyr REQUIRED HINTS $ENV{ZEPHYR_BASE})
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project(stepper_drv8424_api)
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target_sources(app PRIVATE
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src/main.c
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)

‎tests/drivers/stepper/drv8424/api/Kconfig‎

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# Copyright (c) 2024 Navimatix GmbH
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# SPDX-License-Identifier: Apache-2.0
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config ENTROPY_GENERATOR
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depends on ZTEST_SHUFFLE
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bool "Shuffle the order of tests and suites"
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default y
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source "Kconfig.zephyr"

‎tests/drivers/stepper/drv8424/api/boards/mimxrt1060_evkb.overlay‎

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/*
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* Copyright (c) 2024 Navimatix GmbH
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* SPDX-License-Identifier: Apache-2.0
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*/
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#include <zephyr/dt-bindings/gpio/gpio.h>
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/ {
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zephyr,user {
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stepper-motors = <&drv8424 0>;
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};
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};
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&lpi2c1 {
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status = "okay";
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mikroe_stepper_gpios: mikroe_stepper_ctrl_tca9538a@70 {
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status = "okay";
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compatible = "ti,tca9538";
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reg = <0x70>;
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gpio-controller;
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ngpios = <8>;
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#gpio-cells = <2>;
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gpio-reserved-ranges = <7 1>;
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gpio-line-names =
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"M0",
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"M1",
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"DEC0",
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"DEC1",
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"TOFF",
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"STP",
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"DIR";
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};
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};
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/ {
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drv8424: drv8424 {
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status = "okay";
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compatible = "ti,drv8424";
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dir-gpios = <&arduino_header 9 0>; /* D3 */
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step-gpios = <&arduino_header 10 0>; /* D4 */
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sleep-gpios = <&arduino_header 8 GPIO_ACTIVE_LOW>; /* D2 */
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en-gpios = <&arduino_header 11 0>; /* D5 */
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m0-gpios = <&mikroe_stepper_gpios 0 0>;
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m1-gpios = <&mikroe_stepper_gpios 1 0>;
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counter = <&pit0_channel0>;
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#address-cells = <1>;
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#size-cells = <0>;
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#stepper-motor-cells = <0>;
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};
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};
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&pit0_channel0 {
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status = "okay";
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};

‎tests/drivers/stepper/drv8424/api/boards/native_sim.overlay‎

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/*
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* Copyright (c) 2024 Navimatix GmbH
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* SPDX-License-Identifier: Apache-2.0
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*/
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#include <zephyr/dt-bindings/gpio/gpio.h>
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/ {
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drv8424: drv8424 {
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status = "okay";
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compatible = "ti,drv8424";
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dir-gpios = <&gpio1 0 0>; /* D3 */
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step-gpios = <&gpio1 1 0>; /* D4 */
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sleep-gpios = <&gpio2 0 GPIO_ACTIVE_LOW>; /* D2 */
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en-gpios = <&gpio2 1 0>; /* 5 */
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m0-gpios = <&gpio3 0 0>;
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m1-gpios = <&gpio3 1 0>;
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counter = <&counter0>;
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#address-cells = <1>;
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#size-cells = <0>;
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#stepper-motor-cells = <0>;
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};
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gpio1: gpio1 {
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compatible = "zephyr,gpio-emul";
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#gpio-cells = <0x2>;
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status = "okay";
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gpio-controller;
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};
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gpio2: gpio2 {
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compatible = "zephyr,gpio-emul";
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#gpio-cells = <0x2>;
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status = "okay";
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gpio-controller;
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};
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gpio3: gpio3 {
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compatible = "zephyr,gpio-emul";
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#gpio-cells = <0x2>;
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status = "okay";
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gpio-controller;
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};
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};

‎tests/drivers/stepper/drv8424/api/boards/nucleo_f767zi.overlay‎

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/*
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* Copyright (c) 2024 Navimatix GmbH
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* SPDX-License-Identifier: Apache-2.0
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*/
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#include <zephyr/dt-bindings/gpio/gpio.h>
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/ {
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zephyr,user {
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stepper-motors = <&drv8424 0>;
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};
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};
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&i2c1 {
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status = "okay";
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mikroe_stepper_gpios: mikroe_stepper_ctrl_tca9538a@70 {
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status = "okay";
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compatible = "ti,tca9538";
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reg = <0x70>;
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gpio-controller;
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ngpios = <8>;
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#gpio-cells = <2>;
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gpio-reserved-ranges = <7 1>;
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gpio-line-names =
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"M0",
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"M1",
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"DEC0",
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"DEC1",
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"TOFF",
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"STP",
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"DIR";
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};
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};
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/ {
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drv8424: drv8424 {
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status = "okay";
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compatible = "ti,drv8424";
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dir-gpios = <&arduino_header 18 0>; /* D12 */
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step-gpios = <&arduino_header 19 0>; /* D13 */
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sleep-gpios = <&arduino_header 15 GPIO_ACTIVE_LOW>; /* D9 */
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en-gpios = <&arduino_header 14 0>; /* D8 */
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m0-gpios = <&mikroe_stepper_gpios 0 0>;
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m1-gpios = <&mikroe_stepper_gpios 1 0>;
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counter = <&counter2>;
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#address-cells = <1>;
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#size-cells = <0>;
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#stepper-motor-cells = <0>;
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};
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};
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&timers2 {
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status = "okay";
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counter2: counter {
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status = "okay";
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};
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};

‎tests/drivers/stepper/drv8424/api/prj.conf‎

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# Copyright (c) 2024 Navimatix GmbH
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# SPDX-License-Identifier: Apache-2.0
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CONFIG_ZTEST=y
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CONFIG_TEST=y
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CONFIG_TEST_USERSPACE=y
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CONFIG_LOG=y
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CONFIG_STEPPER_LOG_LEVEL_DBG=y
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CONFIG_STEPPER=y
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CONFIG_POLL=y
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CONFIG_I2C=y
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CONFIG_GPIO=y

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