tests: stepper_api: test stop, set_micro_step_res, set_micro_step_interval

unify error codes from all drivers based on stepper specification
add a generic test case for set_micro_step_interval and stop

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

Author: jilaypandya

drivers/stepper/adi_tmc/adi_tmc22xx_stepper_controller.c

@@ -71,7 +71,7 @@ static int tmc22xx_stepper_set_micro_step_res(const struct device *dev,
 	}
 
 	LOG_ERR("Unsupported microstep resolution: %d", micro_step_res);
-	return -EINVAL;
+	return -ENOTSUP;
 }
 
 static int tmc22xx_stepper_get_micro_step_res(const struct device *dev,

drivers/stepper/gpio_stepper_controller.c

@@ -289,6 +289,7 @@ static int gpio_stepper_set_micro_step_res(const struct device *dev,
 					   enum stepper_micro_step_resolution micro_step_res)
 {
 	struct gpio_stepper_data *data = dev->data;
+	int err = 0;
 
 	K_SPINLOCK(&data->lock) {
 		switch (micro_step_res) {
@@ -298,10 +299,10 @@ static int gpio_stepper_set_micro_step_res(const struct device *dev,
 			break;
 		default:
 			LOG_ERR("Unsupported micro step resolution %d", micro_step_res);
-			return -ENOTSUP;
+			err = -ENOTSUP;
 		}
 	}
-	return 0;
+	return err;
 }
 
 static int gpio_stepper_get_micro_step_res(const struct device *dev,

drivers/stepper/ti/drv8424.c

@@ -212,7 +212,7 @@ static int drv8424_set_micro_step_res(const struct device *dev,
 		m1_value = 2;
 		break;
 	default:
-		return -EINVAL;
+		return -ENOTSUP;
 	};
 
 	ret = drv8424_set_microstep_pin(dev, &config->m0_pin, m0_value);

tests/drivers/stepper/drv8424/api/src/main.c

@@ -79,15 +79,6 @@ ZTEST_F(drv8424_api, test_micro_step_res_set)
 		      res);
 }
 
-ZTEST_F(drv8424_api, test_micro_step_res_set_incorrect_value_detection)
-{
-	int ret = 0;
-
-	ret = stepper_set_micro_step_res(fixture->dev, 3);
-	zassert_equal(ret, -EINVAL, "Command should fail with error %d but returned %d", -EINVAL,
-		      ret);
-}
-
 ZTEST_F(drv8424_api, test_actual_position_set)
 {
 	int32_t pos = 100u;

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

@@ -1,6 +1,5 @@
 /*
- * SPDX-FileCopyrightText: Copyright (c) 2024 Jilay Sandeep Pandya
- *
+ * SPDX-FileCopyrightText: Copyright (c) 2025 Jilay Sandeep Pandya
  * SPDX-License-Identifier: Apache-2.0
  */
 
@@ -19,6 +18,18 @@ struct k_poll_signal stepper_signal;
 struct k_poll_event stepper_event;
 void *user_data_received;
 
+#define POLL_AND_CHECK_SIGNAL(signal, event, expected_event, timeout)                              \
+	({                                                                                         \
+		do {                                                                               \
+			(void)k_poll(&(event), 1, timeout);                                        \
+			unsigned int signaled;                                                     \
+			int result;                                                                \
+			k_poll_signal_check(&(signal), &signaled, &result);                        \
+			zassert_equal(signaled, 1, "Signal not set");                              \
+			zassert_equal(result, (expected_event), "Signal not set");                 \
+		} while (0);                                                                       \
+	})
+
 static void stepper_print_event_callback(const struct device *dev, enum stepper_event event,
 					 void *user_data)
 {
@@ -38,12 +49,15 @@ static void stepper_print_event_callback(const struct device *dev, enum stepper_
 	case STEPPER_EVENT_STALL_DETECTED:
 		k_poll_signal_raise(&stepper_signal, STEPPER_EVENT_STALL_DETECTED);
 		break;
+	case STEPPER_EVENT_STOPPED:
+		k_poll_signal_raise(&stepper_signal, STEPPER_EVENT_STOPPED);
+		break;
 	default:
 		break;
 	}
 
 	LOG_DBG("Event %d, %s called for %s, expected for %s\n", event, __func__,
-	dev_callback->name, dev->name);
+		dev_callback->name, dev->name);
 }
 
 static void *stepper_setup(void)
@@ -56,7 +70,7 @@ 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);
 	(void)stepper_enable(fixture.dev, true);
 	return &fixture;
@@ -66,46 +80,89 @@ static void stepper_before(void *f)
 {
 	struct stepper_fixture *fixture = f;
 	(void)stepper_set_reference_position(fixture->dev, 0);
+
 	k_poll_signal_reset(&stepper_signal);
+
+	user_data_received = NULL;
 }
 
 ZTEST_SUITE(stepper, NULL, stepper_setup, stepper_before, NULL, NULL);
 
-ZTEST_F(stepper, test_micro_step_res)
+ZTEST_F(stepper, test_set_micro_step_res_incorrect)
+{
+	int ret = stepper_set_micro_step_res(fixture->dev, 127);
+
+	zassert_equal(ret, -ENOTSUP, "Incorrect micro step resolution should return -ENOTSUP");
+}
+
+ZTEST_F(stepper, test_get_micro_step_res)
 {
 	enum stepper_micro_step_resolution res;
 	(void)stepper_get_micro_step_res(fixture->dev, &res);
 	zassert_equal(res, DT_PROP(DT_ALIAS(stepper), micro_step_res),
 		      "Micro step resolution not set correctly");
 }
 
+ZTEST_F(stepper, test_set_micro_step_interval_invalid_zero)
+{
+	int err = stepper_set_microstep_interval(fixture->dev, 0);
+
+	zassert_equal(err, -EINVAL, "ustep interval cannot be zero");
+}
+
 ZTEST_F(stepper, test_actual_position)
 {
 	int32_t pos = 100u;
+
 	(void)stepper_set_reference_position(fixture->dev, pos);
 	(void)stepper_get_actual_position(fixture->dev, &pos);
 	zassert_equal(pos, 100u, "Actual position not set correctly");
 }
 
-ZTEST_F(stepper, test_target_position)
+ZTEST_F(stepper, test_target_position_w_fixed_step_interval)
 {
-	int32_t pos = 100u;
+	int32_t pos = 10u;
 
-	(void)stepper_set_microstep_interval(fixture->dev, 10000);
+	(void)stepper_set_microstep_interval(fixture->dev, 100 * USEC_PER_SEC);
 
 	/* 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);
 
-	(void)k_poll(&stepper_event, 1, K_SECONDS(5));
-	unsigned int signaled;
-	int result;
+	/* timeout is set with 20% tolerance */
+	POLL_AND_CHECK_SIGNAL(stepper_signal, stepper_event, STEPPER_EVENT_STEPS_COMPLETED,
+			      K_MSEC(pos * 120));
 
-	k_poll_signal_check(&stepper_signal, &signaled, &result);
-	zassert_equal(signaled, 1, "Signal not set");
-	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(pos, 10u, "Target position should be %d but is %d", 10u, pos);
 	zassert_equal(user_data_received, fixture->dev, "User data not received");
 }
+
+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);
+
+	/* Stop the stepper */
+	int ret = stepper_stop(fixture->dev);
+	bool is_moving;
+
+	if (ret == 0) {
+		POLL_AND_CHECK_SIGNAL(stepper_signal, stepper_event, STEPPER_EVENT_STOPPED,
+				      K_NO_WAIT);
+		zassert_equal(user_data_received, fixture->dev, "User data not received");
+
+		/* Check if the stepper is stopped */
+		stepper_is_moving(fixture->dev, &is_moving);
+		zassert_equal(is_moving, false, "Stepper is still moving");
+	} else if (ret == -ENOSYS) {
+		stepper_is_moving(fixture->dev, &is_moving);
+		zassert_equal(is_moving, true,
+			      "Stepper should be moving since stop is not implemented");
+	} else {
+		zassert_unreachable("Stepper stop failed");
+	}
+}