tests: stepper_api: drop test_run_zero_step_interval_correct_position

Setting 0 as microstep interval is invalid. If microstep_interval is
not set then the motion related functions should return -EINVAL.

drop test_run_zero_step_interval_correct_position

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

Author: jilaypandya

drivers/stepper/h_bridge_stepper.c

@@ -268,6 +268,11 @@ static int h_bridge_stepper_run(const struct device *dev, const enum stepper_dir
 {
 	struct h_bridge_stepper_data *data = dev->data;
 
+	if (data->delay_in_ns == 0) {
+		LOG_ERR("Step interval not set or invalid step interval set");
+		return -EINVAL;
+	}
+
 	K_SPINLOCK(&data->lock) {
 		data->run_mode = STEPPER_RUN_MODE_VELOCITY;
 		data->direction = direction;

drivers/stepper/step_dir/step_dir_stepper_common.c

@@ -347,6 +347,11 @@ int step_dir_stepper_common_run(const struct device *dev, const enum stepper_dir
 	struct step_dir_stepper_common_data *data = dev->data;
 	int ret;
 
+	if (data->microstep_interval_ns == 0) {
+		LOG_ERR("Step interval not set or invalid step interval set");
+		return -EINVAL;
+	}
+
 	K_SPINLOCK(&data->lock) {
 		data->run_mode = STEPPER_RUN_MODE_VELOCITY;
 		data->direction = direction;

include/zephyr/drivers/stepper.h

@@ -441,6 +441,7 @@ static inline int z_impl_stepper_set_microstep_interval(const struct device *dev
  * @param micro_steps target micro-steps to be moved from the current position
  *
  * @retval -EIO General input / output error
+ * @retval -EINVAL If the timing for steps is incorrectly configured
  * @retval 0 Success
  */
 __syscall int stepper_move_by(const struct device *dev, int32_t micro_steps);
@@ -462,7 +463,7 @@ static inline int z_impl_stepper_move_by(const struct device *dev, const int32_t
  * @param micro_steps target position to set in micro-steps
  *
  * @retval -EIO General input / output error
- * @retval -ENOSYS If not implemented by device driver
+ * @retval -EINVAL If the timing for steps is incorrectly configured
  * @retval 0 Success
  */
 __syscall int stepper_move_to(const struct device *dev, int32_t micro_steps);
@@ -488,6 +489,7 @@ static inline int z_impl_stepper_move_to(const struct device *dev, const int32_t
  * @param direction The direction to set
  *
  * @retval -EIO General input / output error
+ * @retval -EINVAL If the timing for steps is incorrectly configured
  * @retval -ENOSYS If not implemented by device driver
  * @retval 0 Success
  */

tests/drivers/stepper/drv84xx/api/src/main.c

@@ -265,20 +265,6 @@ ZTEST_F(drv84xx_api, test_run_negative_direction_correct_position)
 		     "Current position should be between -6 and -4 but is %d", steps);
 }
 
-ZTEST_F(drv84xx_api, test_run_zero_step_interval_correct_position)
-{
-	uint64_t step_interval = 0;
-	int32_t steps = 0;
-
-	(void)stepper_enable(fixture->dev);
-	(void)stepper_set_microstep_interval(fixture->dev, step_interval);
-	(void)stepper_run(fixture->dev, STEPPER_DIRECTION_POSITIVE);
-	k_msleep(100);
-
-	zassert_equal(steps, 0, "Current position should not have changed from %d but is %d", 0,
-		      steps);
-}
-
 ZTEST_F(drv84xx_api, test_run_is_moving_true_when_step_interval_greater_zero)
 {
 	uint64_t step_interval = 20000000;