tests: stepper: deprecate drv84xx_api test suite

refactor move_to_negative_direction, run_positive as well as
run_negative direction from drv84xx_api to stepper test-suite

refactor test_microstep_resolution to drv84xx_emul

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

Author: jilaypandya

tests/drivers/stepper/drv84xx/api/CMakeLists.txt

@@ -16,7 +16,7 @@
 		sleep-gpios = <&gpio2 0 GPIO_ACTIVE_LOW>; /* D2 */
 		en-gpios = <&gpio2 1 0>; /* 5 */
 		m0-gpios = <&gpio3 0 0>;
-		m1-gpios = <&gpio3 1 0>;
+		m1-gpios = <&gpio4 1 0>;
 		counter = <&counter0>;
 
 		#address-cells = <1>;
@@ -44,4 +44,11 @@
 		status = "okay";
 		gpio-controller;
 	};
+
+	gpio4: gpio4 {
+		compatible = "zephyr,gpio-emul";
+		#gpio-cells = <0x2>;
+		status = "okay";
+		gpio-controller;
+	};
 };

tests/drivers/stepper/drv84xx/api/Kconfig

@@ -19,6 +19,8 @@ struct drv84xx_emul_fixture {
 
 struct gpio_dt_spec en_pin = GPIO_DT_SPEC_GET_OR(DT_NODELABEL(drv84xx), en_gpios, {0});
 struct gpio_dt_spec slp_pin = GPIO_DT_SPEC_GET_OR(DT_NODELABEL(drv84xx), sleep_gpios, {0});
+struct gpio_dt_spec m0_pin = GPIO_DT_SPEC_GET_OR(DT_NODELABEL(drv84xx), m0_gpios, {0});
+struct gpio_dt_spec m1_pin = GPIO_DT_SPEC_GET_OR(DT_NODELABEL(drv84xx), m1_gpios, {0});
 
 static void *drv84xx_emul_setup(void)
 {
@@ -77,4 +79,26 @@ ZTEST_F(drv84xx_emul, test_enable_off_gpio_pins)
 	}
 }
 
+ZTEST_F(drv84xx_emul, test_micro_step_res_set)
+{
+	enum stepper_micro_step_resolution res;
+	int value = 0;
+
+	zassert_ok(stepper_set_micro_step_res(fixture->dev, 4));
+
+	if (m0_pin.port == NULL || m1_pin.port == NULL) {
+		ztest_test_skip();
+	}
+
+	value = gpio_emul_output_get(m0_pin.port, m0_pin.pin);
+	zassert_equal(value, 0, "M0 pin should be 0");
+
+	value = gpio_emul_output_get(m1_pin.port, m1_pin.pin);
+	zassert_equal(value, 1, "M1 pin should be 1");
+
+	zassert_ok(stepper_get_micro_step_res(fixture->dev, &res));
+	zassert_equal(res, 4, "Micro step resolution not set correctly, should be %d but is %d", 4,
+		      res);
+}
+
 ZTEST_SUITE(drv84xx_emul, NULL, drv84xx_emul_setup, drv84xx_emul_before, drv84xx_emul_after, NULL);

tests/drivers/stepper/drv84xx/api/boards/native_sim.overlay

@@ -156,6 +156,33 @@ ZTEST_F(stepper, test_move_to_positive_step_count)
 		      fixture->dev->name);
 }
 
+ZTEST_F(stepper, test_move_to_negative_step_count)
+{
+	int32_t pos = -10;
+	int32_t actual_steps;
+	bool moving = false;
+	int ret;
+
+	ret = stepper_set_microstep_interval(fixture->dev, 100 * USEC_PER_SEC);
+	if (ret == -ENOSYS) {
+		ztest_test_skip();
+	}
+
+	zassert_ok(stepper_move_to(fixture->dev, pos));
+	zassert_ok(stepper_is_moving(fixture->dev, &moving));
+	zassert_true(moving, "%s reported not moving after move_to", fixture->dev->name);
+
+	POLL_AND_CHECK_SIGNAL(
+		stepper_signal, stepper_event, STEPPER_EVENT_STEPS_COMPLETED,
+		K_MSEC(-pos * (100 + CONFIG_STEPPER_TEST_TIMING_TIMEOUT_TOLERANCE_PCT)));
+
+	zassert_ok(stepper_get_actual_position(fixture->dev, &actual_steps));
+	zassert_equal(pos, actual_steps, "Position should be %d but is %d", pos, actual_steps);
+	zassert_ok(stepper_is_moving(fixture->dev, &moving));
+	zassert_false(moving, "%s reported moving even after completion of steps",
+		      fixture->dev->name);
+}
+
 ZTEST_F(stepper, test_move_by_positive_step_count)
 {
 	int32_t steps = 20;
@@ -210,6 +237,44 @@ ZTEST_F(stepper, test_move_by_negative_step_count)
 		      fixture->dev->name);
 }
 
+ZTEST_F(stepper, test_run_positive_direction)
+{
+	uint64_t step_interval = 20000000;
+	int32_t actual_steps = 0;
+	int ret;
+
+	ret = stepper_set_microstep_interval(fixture->dev, step_interval);
+	if (ret == -ENOSYS) {
+		ztest_test_skip();
+	}
+
+	zassert_ok(stepper_run(fixture->dev, STEPPER_DIRECTION_POSITIVE));
+	k_usleep(110000);
+
+	zassert_ok(stepper_get_actual_position(fixture->dev, &actual_steps));
+	zassert_true(IN_RANGE(actual_steps, 1, 6),
+		     "Current position should be between 1 and 6 but is %d", actual_steps);
+}
+
+ZTEST_F(stepper, test_run_negative_direction)
+{
+	uint64_t step_interval = 20000000;
+	int32_t actual_steps = 0;
+	int ret;
+
+	ret = stepper_set_microstep_interval(fixture->dev, step_interval);
+	if (ret == -ENOSYS) {
+		ztest_test_skip();
+	}
+
+	zassert_ok(stepper_run(fixture->dev, STEPPER_DIRECTION_NEGATIVE));
+	k_usleep(110000);
+
+	zassert_ok(stepper_get_actual_position(fixture->dev, &actual_steps));
+	zassert_true(IN_RANGE(actual_steps, -6, -1),
+		     "Current position should be between -6 and -1 but is %d", actual_steps);
+}
+
 ZTEST_F(stepper, test_stop)
 {
 	/* Run the stepper in positive direction */