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tests: added unit tests for stepper ramp api
testing following criteria: * distance profile * first acceleration interval * next step intervals Signed-off-by: Andre Stefanov <[email protected]>
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‎tests/drivers/stepper/ramp/CMakeLists.txt‎

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# SPDX-FileCopyrightText: Copyright (c) 2025 Andre Stefanov
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# SPDX-License-Identifier: Apache-2.0
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cmake_minimum_required(VERSION 3.20.0)
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find_package(Zephyr REQUIRED HINTS $ENV{ZEPHYR_BASE})
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project(ramp)
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target_sources(app PRIVATE src/main.c)

‎tests/drivers/stepper/ramp/prj.conf‎

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# SPDX-FileCopyrightText: Copyright (c) 2025 Andre Stefanov
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# SPDX-License-Identifier: Apache-2.0
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CONFIG_ZTEST=y
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CONFIG_TEST=y
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CONFIG_TEST_USERSPACE=y
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CONFIG_LOG=y
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CONFIG_STEPPER_LOG_LEVEL_DBG=y
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CONFIG_STEPPER=y
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CONFIG_STEPPER_RAMP=y
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CONFIG_STEPPER_RAMP_TRAPEZOIDAL=y
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CONFIG_POLL=y
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CONFIG_MAIN_STACK_SIZE=8192
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CONFIG_FPU=y

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

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/*
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* SPDX-FileCopyrightText: Copyright (c) 2025 Andre Stefanov
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* SPDX-License-Identifier: Apache-2.0
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*/
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#include <math.h>
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#include <zephyr/ztest.h>
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#include <zephyr/drivers/stepper/stepper_ramp.h>
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#include "../../../drivers/stepper/ramp/ramp.h"
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#include <zephyr/logging/log.h>
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LOG_MODULE_REGISTER(ramp, CONFIG_STEPPER_LOG_LEVEL);
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#define RAMP_PROFILE(accel, velocity, decel) \
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{ \
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.acceleration = accel, \
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.max_velocity = velocity, \
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.deceleration = decel, \
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}
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#define DISTANCE_PROFILE(accel, const_velocity, decel) \
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{ \
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.acceleration = accel, \
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.const_speed = const_velocity, \
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.deceleration = decel, \
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}
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#define RAMP_RUNTIME_DATA(actual_pos, target_pos, pre_decel_steps, threshold, state) \
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{ \
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.ramp_actual_position = actual_pos, \
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.ramp_target_position = target_pos, \
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.pre_deceleration_steps = pre_decel_steps, \
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.ramp_stop_step_interval_threshold_in_ns = threshold, \
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.current_ramp_state = state, \
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}
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#define RAMP_TEST_PARAMS(accel, velocity, decel, pre_decel, steps) \
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{ \
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.acceleration = accel, \
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.max_velocity = velocity, \
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.deceleration = decel, \
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.pre_deceleration_steps = pre_decel, \
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.steps_to_move = steps, \
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}
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struct test_params {
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uint16_t acceleration;
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uint32_t max_velocity;
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uint16_t deceleration;
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uint32_t pre_deceleration_steps;
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uint32_t steps_to_move;
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};
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struct reset_ramp_data_expectation {
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struct stepper_ramp_distance_profile distance_profile;
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};
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struct get_next_step_interval_expectation {
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uint64_t *intervals;
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uint32_t count;
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};
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static void test_reset_ramp_data(const struct test_params params,
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const struct reset_ramp_data_expectation expectation)
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{
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struct stepper_ramp_common common = {
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.ramp_profile =
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RAMP_PROFILE(params.acceleration, params.max_velocity, params.deceleration),
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.ramp_distance_profile = DISTANCE_PROFILE(0, 0, 0),
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};
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struct stepper_ramp_config config = {
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.pre_deceleration_steps = params.pre_deceleration_steps,
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};
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trapezoidal_ramp_api.reset_ramp_runtime_data(&config, &common, params.steps_to_move);
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trapezoidal_ramp_api.recalculate_ramp(&common, params.steps_to_move);
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zexpect_equal(common.ramp_distance_profile.acceleration +
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common.ramp_distance_profile.const_speed +
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common.ramp_distance_profile.deceleration,
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params.steps_to_move, "Expected total steps %d but got %d",
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params.steps_to_move,
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common.ramp_distance_profile.acceleration +
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common.ramp_distance_profile.const_speed +
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common.ramp_distance_profile.deceleration);
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zexpect_equal(common.ramp_distance_profile.acceleration,
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expectation.distance_profile.acceleration,
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"Expected acceleration %d but got %d",
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expectation.distance_profile.acceleration,
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common.ramp_distance_profile.acceleration);
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zexpect_equal(
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common.ramp_distance_profile.const_speed, expectation.distance_profile.const_speed,
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"Expected const_speed %d but got %d", expectation.distance_profile.const_speed,
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common.ramp_distance_profile.const_speed);
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zexpect_equal(common.ramp_distance_profile.deceleration,
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expectation.distance_profile.deceleration,
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"Expected deceleration %d but got %d",
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expectation.distance_profile.deceleration,
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common.ramp_distance_profile.deceleration);
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}
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ZTEST_SUITE(ramp, NULL, NULL, NULL, NULL, NULL);
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ZTEST(ramp, test_ramp_distance_profile)
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{
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/** motion of 0 steps should not result in steps in any ramp phase */
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LOG_DBG("Test zero steps");
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test_reset_ramp_data((struct test_params)RAMP_TEST_PARAMS(1000, 10000, 1000, 0, 0),
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(struct reset_ramp_data_expectation){
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.distance_profile = DISTANCE_PROFILE(0, 0, 0),
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});
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/** motion of 1 step should result in acceleration of 1 step if the requested velocity is
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* higher than the start velocity of the ramp.
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*/
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LOG_DBG("Test 1 fast step");
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test_reset_ramp_data((struct test_params)RAMP_TEST_PARAMS(1000, 10000, 1000, 0, 1),
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(struct reset_ramp_data_expectation){
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.distance_profile = DISTANCE_PROFILE(1, 0, 0),
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});
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/** motion of 1 step should result in a single constant speed step if the requested
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* velocityis lower than the start velocity of the ramp.
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*/
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LOG_DBG("Test 1 slow step");
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test_reset_ramp_data((struct test_params)RAMP_TEST_PARAMS(1000, 1, 1000, 0, 1),
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(struct reset_ramp_data_expectation){
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.distance_profile = DISTANCE_PROFILE(0, 1, 0),
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});
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LOG_DBG("Test 2 steps");
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test_reset_ramp_data((struct test_params)RAMP_TEST_PARAMS(1000, 10000, 1000, 0, 2),
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(struct reset_ramp_data_expectation){
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.distance_profile = DISTANCE_PROFILE(1, 0, 1),
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});
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LOG_DBG("Test 3 steps");
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test_reset_ramp_data((struct test_params)RAMP_TEST_PARAMS(1000, 10000, 1000, 0, 3),
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(struct reset_ramp_data_expectation){
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.distance_profile = DISTANCE_PROFILE(2, 0, 1),
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});
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LOG_DBG("Test 100000 steps");
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test_reset_ramp_data((struct test_params)RAMP_TEST_PARAMS(1000, 10000, 1000, 0, 1000),
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(struct reset_ramp_data_expectation){
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.distance_profile = DISTANCE_PROFILE(500, 0, 500),
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});
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LOG_DBG("Test 100001 steps");
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test_reset_ramp_data((struct test_params)RAMP_TEST_PARAMS(1000, 10000, 1000, 0, 1001),
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(struct reset_ramp_data_expectation){
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.distance_profile = DISTANCE_PROFILE(501, 0, 500),
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});
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LOG_DBG("Test 200000 steps");
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test_reset_ramp_data((struct test_params)RAMP_TEST_PARAMS(1000, 10000, 1000, 0, 110000),
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(struct reset_ramp_data_expectation){
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.distance_profile = DISTANCE_PROFILE(50000, 10000, 50000),
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});
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}
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ZTEST(ramp, test_first_interval)
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{
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uint32_t test_accelerations[] = {1, 100, 1000, UINT32_MAX};
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for (size_t i = 0; i < ARRAY_SIZE(test_accelerations); i++) {
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LOG_DBG("Test acceleration %u steps/s/s", test_accelerations[i]);
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const uint64_t start_interval =
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trapezoidal_ramp_api.calculate_start_interval(test_accelerations[i]);
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LOG_DBG("Start interval in ns: %llu", start_interval);
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/** see AVR446 section 2.3.1, exact calculations of the inter-step delay */
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const double ideal_start_interval =
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NSEC_PER_SEC * sqrt(2.0 / test_accelerations[i]) * 0.676;
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LOG_DBG("Ideal start interval in ns: %f", ideal_start_interval);
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const double ratio = fabs((double)start_interval / ideal_start_interval);
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zassert_within(ratio, 1.0, 0.01);
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}
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LOG_DBG("Test acceleration %u steps/s/s", 0);
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const uint64_t invalid_interval = trapezoidal_ramp_api.calculate_start_interval(0);
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zassert_equal(invalid_interval, UINT64_MAX);
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}
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ZTEST(ramp, test_get_next_step_interval)
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{
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struct stepper_ramp_common common = {
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.ramp_profile = RAMP_PROFILE(1000, 10000, 1000),
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.ramp_distance_profile = DISTANCE_PROFILE(0, 0, 0),
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.ramp_runtime_data = RAMP_RUNTIME_DATA(0, 0, 0, 0, STEPPER_RAMP_STATE_NOT_MOVING),
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};
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const struct stepper_ramp_config config = {
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.pre_deceleration_steps = 0,
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};
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trapezoidal_ramp_api.reset_ramp_runtime_data(&config, &common, 1000);
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trapezoidal_ramp_api.recalculate_ramp(&common, 1000);
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uint64_t intervals[500] = {0};
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intervals[0] = trapezoidal_ramp_api.calculate_start_interval(1000);
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for (uint32_t i = 1; i < 500; i++) {
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intervals[i] = trapezoidal_ramp_api.get_next_step_interval(
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&common, intervals[i - 1], STEPPER_RUN_MODE_POSITION);
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}
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for (uint32_t i = 1; i < 500; i++) {
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LOG_DBG("Compare %llu vs %llu", intervals[i - 1], intervals[i]);
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zexpect(intervals[i - 1] > intervals[i],
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"Acceleration intervals have to decrease over time");
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}
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zexpect(NSEC_PER_SEC / 1000 < intervals[499],
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"Last ramp interval has to be smaller than the requested velocity");
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}

‎tests/drivers/stepper/ramp/testcase.yaml‎

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# SPDX-FileCopyrightText: Copyright (c) 2025 Andre Stefanov
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# SPDX-License-Identifier: Apache-2.0
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common:
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tags:
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- drivers
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- stepper
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- ramp
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tests:
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drivers.stepper.ramp:
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platform_allow:
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- qemu_x86_64/atom
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- native_sim/native/64

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