1 /*
2 * SPDX-FileCopyrightText: Copyright (c) 2024 Fabian Blatz <fabianblatz@gmail.com>
3 * SPDX-License-Identifier: Apache-2.0
4 */
5
6 #include <zephyr/device.h>
7 #include <zephyr/drivers/stepper.h>
8 #include <zephyr/drivers/stepper/stepper_fake.h>
9 #include <zephyr/fff.h>
10
11 #ifdef CONFIG_ZTEST
12 #include <zephyr/ztest.h>
13 #endif /* CONFIG_ZTEST */
14
15 #define DT_DRV_COMPAT zephyr_fake_stepper
16
17 struct fake_stepper_data {
18 enum stepper_micro_step_resolution micro_step_res;
19 int32_t actual_position;
20 };
21
22 DEFINE_FAKE_VALUE_FUNC(int, fake_stepper_enable, const struct device *);
23
24 DEFINE_FAKE_VALUE_FUNC(int, fake_stepper_disable, const struct device *);
25
26 DEFINE_FAKE_VALUE_FUNC(int, fake_stepper_is_moving, const struct device *, bool *);
27
28 DEFINE_FAKE_VALUE_FUNC(int, fake_stepper_move_by, const struct device *, int32_t);
29
30 DEFINE_FAKE_VALUE_FUNC(int, fake_stepper_set_microstep_interval, const struct device *, uint64_t);
31
32 DEFINE_FAKE_VALUE_FUNC(int, fake_stepper_set_micro_step_res, const struct device *,
33 enum stepper_micro_step_resolution);
34
35 DEFINE_FAKE_VALUE_FUNC(int, fake_stepper_get_micro_step_res, const struct device *,
36 enum stepper_micro_step_resolution *);
37
38 DEFINE_FAKE_VALUE_FUNC(int, fake_stepper_set_reference_position, const struct device *, int32_t);
39
40 DEFINE_FAKE_VALUE_FUNC(int, fake_stepper_get_actual_position, const struct device *, int32_t *);
41
42 DEFINE_FAKE_VALUE_FUNC(int, fake_stepper_move_to, const struct device *, int32_t);
43
44 DEFINE_FAKE_VALUE_FUNC(int, fake_stepper_run, const struct device *, enum stepper_direction);
45
46 DEFINE_FAKE_VALUE_FUNC(int, fake_stepper_stop, const struct device *);
47
48 DEFINE_FAKE_VALUE_FUNC(int, fake_stepper_set_event_callback, const struct device *,
49 stepper_event_callback_t, void *);
50
fake_stepper_set_micro_step_res_delegate(const struct device * dev,const enum stepper_micro_step_resolution res)51 static int fake_stepper_set_micro_step_res_delegate(const struct device *dev,
52 const enum stepper_micro_step_resolution res)
53 {
54 struct fake_stepper_data *data = dev->data;
55
56 data->micro_step_res = res;
57
58 return 0;
59 }
60
fake_stepper_get_micro_step_res_delegate(const struct device * dev,enum stepper_micro_step_resolution * res)61 static int fake_stepper_get_micro_step_res_delegate(const struct device *dev,
62 enum stepper_micro_step_resolution *res)
63 {
64 struct fake_stepper_data *data = dev->data;
65
66 *res = data->micro_step_res;
67
68 return 0;
69 }
70
fake_stepper_set_reference_position_delegate(const struct device * dev,const int32_t pos)71 static int fake_stepper_set_reference_position_delegate(const struct device *dev, const int32_t pos)
72 {
73 struct fake_stepper_data *data = dev->data;
74
75 data->actual_position = pos;
76
77 return 0;
78 }
79
fake_stepper_get_actual_position_delegate(const struct device * dev,int32_t * pos)80 static int fake_stepper_get_actual_position_delegate(const struct device *dev, int32_t *pos)
81 {
82 struct fake_stepper_data *data = dev->data;
83
84 *pos = data->actual_position;
85
86 return 0;
87 }
88
89 #ifdef CONFIG_ZTEST
fake_stepper_reset_rule_before(const struct ztest_unit_test * test,void * fixture)90 static void fake_stepper_reset_rule_before(const struct ztest_unit_test *test, void *fixture)
91 {
92 ARG_UNUSED(test);
93 ARG_UNUSED(fixture);
94
95 RESET_FAKE(fake_stepper_enable);
96 RESET_FAKE(fake_stepper_disable);
97 RESET_FAKE(fake_stepper_move_by);
98 RESET_FAKE(fake_stepper_is_moving);
99 RESET_FAKE(fake_stepper_set_microstep_interval);
100 RESET_FAKE(fake_stepper_set_micro_step_res);
101 RESET_FAKE(fake_stepper_get_micro_step_res);
102 RESET_FAKE(fake_stepper_set_reference_position);
103 RESET_FAKE(fake_stepper_get_actual_position);
104 RESET_FAKE(fake_stepper_move_to);
105 RESET_FAKE(fake_stepper_run);
106 RESET_FAKE(fake_stepper_stop);
107
108 /* Install custom fakes for the setter and getter functions */
109 fake_stepper_set_micro_step_res_fake.custom_fake = fake_stepper_set_micro_step_res_delegate;
110 fake_stepper_get_micro_step_res_fake.custom_fake = fake_stepper_get_micro_step_res_delegate;
111 fake_stepper_set_reference_position_fake.custom_fake =
112 fake_stepper_set_reference_position_delegate;
113 fake_stepper_get_actual_position_fake.custom_fake =
114 fake_stepper_get_actual_position_delegate;
115 }
116
117 ZTEST_RULE(fake_stepper_reset_rule, fake_stepper_reset_rule_before, NULL);
118 #endif /* CONFIG_ZTEST */
119
fake_stepper_init(const struct device * dev)120 static int fake_stepper_init(const struct device *dev)
121 {
122 fake_stepper_set_micro_step_res_fake.custom_fake = fake_stepper_set_micro_step_res_delegate;
123 fake_stepper_get_micro_step_res_fake.custom_fake = fake_stepper_get_micro_step_res_delegate;
124 fake_stepper_set_reference_position_fake.custom_fake =
125 fake_stepper_set_reference_position_delegate;
126 fake_stepper_get_actual_position_fake.custom_fake =
127 fake_stepper_get_actual_position_delegate;
128
129 return 0;
130 }
131
132 static DEVICE_API(stepper, fake_stepper_driver_api) = {
133 .enable = fake_stepper_enable,
134 .disable = fake_stepper_disable,
135 .move_by = fake_stepper_move_by,
136 .is_moving = fake_stepper_is_moving,
137 .set_microstep_interval = fake_stepper_set_microstep_interval,
138 .set_micro_step_res = fake_stepper_set_micro_step_res,
139 .get_micro_step_res = fake_stepper_get_micro_step_res,
140 .set_reference_position = fake_stepper_set_reference_position,
141 .get_actual_position = fake_stepper_get_actual_position,
142 .move_to = fake_stepper_move_to,
143 .run = fake_stepper_run,
144 .stop = fake_stepper_stop,
145 .set_event_callback = fake_stepper_set_event_callback,
146 };
147
148 #define FAKE_STEPPER_INIT(inst) \
149 \
150 static struct fake_stepper_data fake_stepper_data_##inst; \
151 \
152 DEVICE_DT_INST_DEFINE(inst, fake_stepper_init, NULL, &fake_stepper_data_##inst, NULL, \
153 POST_KERNEL, CONFIG_STEPPER_INIT_PRIORITY, \
154 &fake_stepper_driver_api);
155
156 DT_INST_FOREACH_STATUS_OKAY(FAKE_STEPPER_INIT)
157