tests: drivers: stepper: stepper_api: test cb user_data

This commit tests set_callback and user_data

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

drivers/stepper/adi_tmc/adi_tmc5041_stepper_controller.c

@@ -185,7 +185,7 @@ static void execute_callback(const struct device *dev, const enum stepper_event
  LOG_WRN_ONCE("No callback registered");
  return;
  }
- data->callback(dev, event);
+ data->callback(dev, event, data->event_cb_user_data);
 }
 
 static void rampstat_work_handler(struct k_work *work)

drivers/stepper/gpio_stepper_controller.c

@@ -34,10 +34,10 @@ struct gpio_stepper_data {
  uint8_t step_gap;
  uint8_t coil_charge;
  struct k_work_delayable stepper_dwork;
- stepper_event_callback_t callback;
  int32_t actual_position;
  uint32_t delay_in_us;
  int32_t step_count;
+ stepper_event_callback_t callback;
  void *event_cb_user_data;
 };
 
@@ -84,7 +84,7 @@ static void update_remaining_steps(struct gpio_stepper_data *data)
  LOG_WRN_ONCE("No callback set");
  return;
  }
- data->callback(data->dev, STEPPER_EVENT_STEPS_COMPLETED);
+ data->callback(data->dev, STEPPER_EVENT_STEPS_COMPLETED, data->event_cb_user_data);
  }
 }
 

include/zephyr/drivers/stepper.h

@@ -174,7 +174,8 @@ typedef int (*stepper_enable_constant_velocity_mode_t)(const struct device *dev,
 /**
  * @brief Callback function for stepper events
  */
-typedef void (*stepper_event_callback_t)(const struct device *dev, const enum stepper_event event);
+typedef void (*stepper_event_callback_t)(const struct device *dev, const enum stepper_event event,
+ void *user_data);
 
 /**
  * @brief Set the callback function to be called when a stepper event occurs

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

@@ -14,9 +14,12 @@ struct stepper_fixture {
 
 struct k_poll_signal stepper_signal;
 struct k_poll_event stepper_event;
+void *user_data_received;
 
-static void stepper_print_event_callback(const struct device *dev, enum stepper_event event)
+static void stepper_print_event_callback(const struct device *dev, enum stepper_event event,
+ void *user_data)
 {
+ user_data_received = user_data;
  switch (event) {
  case STEPPER_EVENT_STEPS_COMPLETED:
  k_poll_signal_raise(&stepper_signal, STEPPER_EVENT_STEPS_COMPLETED);
@@ -80,8 +83,13 @@ ZTEST_F(stepper, test_target_position)
  int32_t pos = 100u;
 
  (void)stepper_set_max_velocity(fixture->dev, 100u);
- (void)stepper_set_callback(fixture->dev, fixture->callback, NULL);
+
+ /* Pass the function name as user data */
+ void *user_data_set = (void *)__func__;
+ (void)stepper_set_callback(fixture->dev, fixture->callback, user_data_set);
+
  (void)stepper_set_target_position(fixture->dev, pos);
+
  (void)k_poll(&stepper_event, 1, K_SECONDS(5));
  unsigned int signaled;
  int result;
@@ -91,4 +99,5 @@ ZTEST_F(stepper, test_target_position)
  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(user_data_received, __func__, "User data not received");
 }