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]>
pdgendt · Dec 19, 2024 · 4bd2ab7 · 4bd2ab7
1 parent 79d6294
commit 4bd2ab7
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diff --git a/tests/drivers/stepper/drv8424/api/CMakeLists.txt b/tests/drivers/stepper/drv8424/api/CMakeLists.txt
@@ -0,0 +1,10 @@
+# Copyright (c) 2024 Navimatix GmbH
+# SPDX-License-Identifier: Apache-2.0
+
+cmake_minimum_required(VERSION 3.20.0)
+
+find_package(Zephyr REQUIRED HINTS $ENV{ZEPHYR_BASE})
+project(stepper_drv8424_api)
+target_sources(app PRIVATE
+	src/main.c
+)
diff --git a/tests/drivers/stepper/drv8424/api/Kconfig b/tests/drivers/stepper/drv8424/api/Kconfig
@@ -0,0 +1,9 @@
+# Copyright (c) 2024 Navimatix GmbH
+# SPDX-License-Identifier: Apache-2.0
+
+config ENTROPY_GENERATOR
+	depends on ZTEST_SHUFFLE
+	bool "Shuffle the order of tests and suites"
+	default y
+
+source "Kconfig.zephyr"
diff --git a/tests/drivers/stepper/drv8424/api/boards/mimxrt1060_evkb.overlay b/tests/drivers/stepper/drv8424/api/boards/mimxrt1060_evkb.overlay
@@ -0,0 +1,61 @@
+/*
+ * Copyright (c) 2024 Navimatix GmbH
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#include <zephyr/dt-bindings/gpio/gpio.h>
+
+/ {
+	zephyr,user {
+		stepper-motors = <&drv8424 0>;
+	};
+};
+
+&lpi2c1 {
+	status = "okay";
+
+	mikroe_stepper_gpios: mikroe_stepper_ctrl_tca9538a@70 {
+		status = "okay";
+		compatible = "ti,tca9538";
+
+		reg = <0x70>;
+
+		gpio-controller;
+		ngpios = <8>;
+		#gpio-cells = <2>;
+
+		gpio-reserved-ranges = <7 1>;
+
+		gpio-line-names =
+			"M0",
+			"M1",
+			"DEC0",
+			"DEC1",
+			"TOFF",
+			"STP",
+			"DIR";
+	};
+};
+
+/ {
+	drv8424: drv8424 {
+		status = "okay";
+		compatible = "ti,drv8424";
+
+		dir-gpios = <&arduino_header 9 0>; /* D3 */
+		step-gpios = <&arduino_header 10 0>; /* D4 */
+		sleep-gpios = <&arduino_header 8 GPIO_ACTIVE_LOW>; /* D2 */
+		en-gpios  = <&arduino_header 11 0>; /* D5 */
+		m0-gpios = <&mikroe_stepper_gpios 0 0>;
+		m1-gpios = <&mikroe_stepper_gpios 1 0>;
+		counter = <&pit0_channel0>;
+
+		#address-cells = <1>;
+		#size-cells = <0>;
+		#stepper-motor-cells = <0>;
+	};
+};
+
+&pit0_channel0 {
+	status = "okay";
+};
diff --git a/tests/drivers/stepper/drv8424/api/boards/native_sim.overlay b/tests/drivers/stepper/drv8424/api/boards/native_sim.overlay
@@ -0,0 +1,47 @@
+/*
+ * Copyright (c) 2024 Navimatix GmbH
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#include <zephyr/dt-bindings/gpio/gpio.h>
+
+/ {
+	drv8424: drv8424 {
+		status = "okay";
+		compatible = "ti,drv8424";
+
+
+		dir-gpios = <&gpio1 0 0>; /* D3 */
+		step-gpios = <&gpio1 1 0>; /* D4 */
+		sleep-gpios = <&gpio2 0 GPIO_ACTIVE_LOW>; /* D2 */
+		en-gpios = <&gpio2 1 0>; /* 5 */
+		m0-gpios = <&gpio3 0 0>;
+		m1-gpios = <&gpio3 1 0>;
+		counter = <&counter0>;
+
+		#address-cells = <1>;
+		#size-cells = <0>;
+		#stepper-motor-cells = <0>;
+	};
+
+	gpio1: gpio1 {
+		compatible = "zephyr,gpio-emul";
+		#gpio-cells = <0x2>;
+		status = "okay";
+		gpio-controller;
+	};
+
+	gpio2: gpio2 {
+		compatible = "zephyr,gpio-emul";
+		#gpio-cells = <0x2>;
+		status = "okay";
+		gpio-controller;
+	};
+
+	gpio3: gpio3 {
+		compatible = "zephyr,gpio-emul";
+		#gpio-cells = <0x2>;
+		status = "okay";
+		gpio-controller;
+	};
+};
diff --git a/tests/drivers/stepper/drv8424/api/boards/nucleo_f767zi.overlay b/tests/drivers/stepper/drv8424/api/boards/nucleo_f767zi.overlay
@@ -0,0 +1,64 @@
+/*
+ * Copyright (c) 2024 Navimatix GmbH
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#include <zephyr/dt-bindings/gpio/gpio.h>
+
+/ {
+	zephyr,user {
+		stepper-motors = <&drv8424 0>;
+	};
+};
+
+&i2c1 {
+	status = "okay";
+
+	mikroe_stepper_gpios: mikroe_stepper_ctrl_tca9538a@70 {
+		status = "okay";
+		compatible = "ti,tca9538";
+
+		reg = <0x70>;
+
+		gpio-controller;
+		ngpios = <8>;
+		#gpio-cells = <2>;
+
+		gpio-reserved-ranges = <7 1>;
+
+		gpio-line-names =
+			"M0",
+			"M1",
+			"DEC0",
+			"DEC1",
+			"TOFF",
+			"STP",
+			"DIR";
+	};
+};
+
+/ {
+	 drv8424: drv8424 {
+		status = "okay";
+		compatible = "ti,drv8424";
+
+		dir-gpios = <&arduino_header 18 0>; /* D12 */
+		step-gpios = <&arduino_header 19 0>; /* D13 */
+		sleep-gpios = <&arduino_header 15 GPIO_ACTIVE_LOW>; /* D9 */
+		en-gpios  = <&arduino_header 14 0>; /* D8 */
+		m0-gpios = <&mikroe_stepper_gpios 0 0>;
+		m1-gpios = <&mikroe_stepper_gpios 1 0>;
+		counter = <&counter2>;
+
+		#address-cells = <1>;
+		#size-cells = <0>;
+		#stepper-motor-cells = <0>;
+	};
+};
+
+&timers2 {
+	status = "okay";
+	counter2: counter {
+		status = "okay";
+	};
+};
diff --git a/tests/drivers/stepper/drv8424/api/prj.conf b/tests/drivers/stepper/drv8424/api/prj.conf
@@ -0,0 +1,12 @@
+# Copyright (c) 2024 Navimatix GmbH
+# SPDX-License-Identifier: Apache-2.0
+
+CONFIG_ZTEST=y
+CONFIG_TEST=y
+CONFIG_TEST_USERSPACE=y
+CONFIG_LOG=y
+CONFIG_STEPPER_LOG_LEVEL_DBG=y
+CONFIG_STEPPER=y
+CONFIG_POLL=y
+CONFIG_I2C=y
+CONFIG_GPIO=y