fear(icm42670): Add test_app

Closes #353

.build-test-rules.yml

@@ -18,7 +18,6 @@ test_apps/components:
     - "components/ds18b20/**"
     - "components/fbm320/**"
     - "components/hts221/**"
-    - "components/icm42670/**"
     - "components/io_expander/**"
     - "components/lcd/ra8875/**"
     - "components/lcd/sh1107/**"
@@ -71,3 +70,14 @@ components/ds18b20:
   disable:
     - if: SOC_RMT_SUPPORTED != 1
       reason: Onewire component depends on RMT peripheral
+
+components/icm42670:
+  depends_filepatterns:
+    - "components/icm42670/**"
+  disable:
+    - if: (IDF_VERSION_MAJOR == 5 and IDF_VERSION_MINOR < 2) or IDF_VERSION_MAJOR < 5
+      reason: Requires I2C Driver-NG which was introduced in v5.2
+
+components/qma6100p:
+  depends_filepatterns:
+    - "components/qma6100p/**"

components/icm42670/test_apps/CMakeLists.txt

@@ -0,0 +1,7 @@
+# The following lines of boilerplate have to be in your project's CMakeLists
+# in this exact order for cmake to work correctly
+cmake_minimum_required(VERSION 3.5)
+set(EXTRA_COMPONENT_DIRS "$ENV{IDF_PATH}/tools/unit-test-app/components")
+set(COMPONENTS main)
+include($ENV{IDF_PATH}/tools/cmake/project.cmake)
+project(test_app_icm42670)

components/icm42670/test_apps/main/CMakeLists.txt

@@ -0,0 +1,4 @@
+idf_component_register(
+    SRCS "test_app_icm42670.c"
+    REQUIRES unity
+    )

components/icm42670/test_apps/main/idf_component.yml

@@ -0,0 +1,6 @@
+## IDF Component Manager Manifest File
+dependencies:
+  idf: ">=5.2"
+  icm42670:
+    version: "*"
+    override_path: "../../"

components/icm42670/test_apps/main/test_app_icm42670.c

@@ -0,0 +1,107 @@
+/*
+ * SPDX-FileCopyrightText: 2024 Espressif Systems (Shanghai) CO LTD
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#include <stdio.h>
+#include "unity.h"
+#include "driver/i2c_master.h"
+#include "icm42670.h"
+#include "esp_system.h"
+#include "esp_log.h"
+#include "unity.h"
+#include "unity_test_runner.h"
+#include "unity_test_utils_memory.h"
+
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+
+#define I2C_MASTER_SCL_IO 5       /*!< gpio number for I2C master clock */
+#define I2C_MASTER_SDA_IO 4       /*!< gpio number for I2C master data  */
+#define I2C_MASTER_NUM I2C_NUM_0  /*!< I2C port number for master dev */
+
+static const char *TAG = "icm42670 test";
+static icm42670_handle_t icm42670 = NULL;
+static i2c_master_bus_handle_t i2c_handle = NULL;
+
+static void i2c_bus_init(void)
+{
+    const i2c_master_bus_config_t bus_config = {
+        .i2c_port = I2C_MASTER_NUM,
+        .sda_io_num = I2C_MASTER_SDA_IO,
+        .scl_io_num = I2C_MASTER_SCL_IO,
+    };
+
+    esp_err_t ret = i2c_new_master_bus(&bus_config, &i2c_handle);
+    TEST_ASSERT_EQUAL_MESSAGE(ESP_OK, ret, "I2C install returned error");
+}
+
+static void i2c_sensor_icm42670_init(void)
+{
+    esp_err_t ret;
+
+    i2c_bus_init();
+    ret = icm42670_create(I2C_MASTER_NUM, ICM42670_I2C_ADDRESS, &icm42670);
+    TEST_ASSERT_EQUAL(ESP_OK, ret);
+    TEST_ASSERT_NOT_NULL_MESSAGE(icm42670, "icm42670 create returned NULL");
+
+    /* Configuration of the accelerometer and gyroscope */
+    const icm42670_cfg_t imu_cfg = {
+        .acce_fs = ACCE_FS_2G,
+        .acce_odr = ACCE_ODR_400HZ,
+        .gyro_fs = GYRO_FS_2000DPS,
+        .gyro_odr = GYRO_ODR_400HZ,
+    };
+    ret = icm42670_config(icm42670, &imu_cfg);
+    TEST_ASSERT_EQUAL(ESP_OK, ret);
+}
+
+TEST_CASE("Sensor icm42670 test", "[icm42670]")
+{
+    esp_err_t ret;
+    icm42670_value_t acc, gyro;
+    float temperature;
+
+    i2c_sensor_icm42670_init();
+
+    /* Set accelerometer and gyroscope to ON */
+    ret = icm42670_acce_set_pwr(icm42670, ACCE_PWR_LOWNOISE);
+    TEST_ASSERT_EQUAL(ESP_OK, ret);
+    ret = icm42670_gyro_set_pwr(icm42670, GYRO_PWR_LOWNOISE);
+    TEST_ASSERT_EQUAL(ESP_OK, ret);
+
+    for (int i = 0; i < 100; i++) {
+        vTaskDelay(pdMS_TO_TICKS(50));
+        ret = icm42670_get_acce_value(icm42670, &acc);
+        TEST_ASSERT_EQUAL(ESP_OK, ret);
+        ret = icm42670_get_gyro_value(icm42670, &gyro);
+        TEST_ASSERT_EQUAL(ESP_OK, ret);
+        ret = icm42670_get_temp_value(icm42670, &temperature);
+        TEST_ASSERT_EQUAL(ESP_OK, ret);
+        ESP_LOGI(TAG, "\nacc_x:%.2f, acc_y:%.2f, acc_z:%.2f\ngyro_x:%.2f, gyro_y:%.2f, gyro_z:%.2f\ntemp: %.1f",
+                 acc.x, acc.y, acc.z, gyro.x, gyro.y, gyro.z, temperature);
+    }
+
+    icm42670_delete(icm42670);
+    ret = i2c_del_master_bus(i2c_handle);
+    TEST_ASSERT_EQUAL(ESP_OK, ret);
+}
+
+#define TEST_MEMORY_LEAK_THRESHOLD  (300)
+
+void setUp(void)
+{
+    unity_utils_set_leak_level(TEST_MEMORY_LEAK_THRESHOLD);
+    unity_utils_record_free_mem();
+}
+
+void tearDown(void)
+{
+    unity_utils_evaluate_leaks();
+}
+
+void app_main(void)
+{
+    unity_run_menu();
+}

components/icm42670/test_apps/sdkconfig.defaults

@@ -0,0 +1,12 @@
+CONFIG_IDF_TARGET="esp32s3"
+CONFIG_ESPTOOLPY_FLASHFREQ_80M=y
+CONFIG_COMPILER_OPTIMIZATION_PERF=y
+CONFIG_SPIRAM=y
+CONFIG_SPIRAM_MODE_OCT=y
+CONFIG_SPIRAM_FETCH_INSTRUCTIONS=y
+CONFIG_SPIRAM_RODATA=y
+CONFIG_SPIRAM_SPEED_80M=y
+CONFIG_ESP_DEFAULT_CPU_FREQ_MHZ_240=y
+CONFIG_ESP_TASK_WDT_EN=n
+CONFIG_FREERTOS_HZ=1000
+CONFIG_FREERTOS_TIMER_TASK_STACK_DEPTH=4096

components/qma6100p/test_apps/CMakeLists.txt

@@ -2,5 +2,6 @@
 # in this exact order for cmake to work correctly
 cmake_minimum_required(VERSION 3.5)
 set(EXTRA_COMPONENT_DIRS "$ENV{IDF_PATH}/tools/unit-test-app/components")
+set(COMPONENTS main)
 include($ENV{IDF_PATH}/tools/cmake/project.cmake)
-project(test_esp_acc_qma6100p)
+project(test_esp_acc_qma6100p)

components/qma6100p/test_apps/main/CMakeLists.txt

@@ -1 +1,4 @@
-idf_component_register(SRCS "test_esp_acc_qma6100p.c")
+idf_component_register(
+    SRCS "test_esp_acc_qma6100p.c"
+    REQUIRES unity
+    )

components/qma6100p/test_apps/main/test_esp_acc_qma6100p.c

@@ -81,9 +81,6 @@ TEST_CASE("Sensor qma6100p test", "[qma6100p][iot][sensor]")
 
 #define TEST_MEMORY_LEAK_THRESHOLD  (300)
 
-static size_t before_free_8bit;
-static size_t before_free_32bit;
-
 void setUp(void)
 {
     unity_utils_set_leak_level(TEST_MEMORY_LEAK_THRESHOLD);

test_apps/components/CMakeLists.txt

@@ -35,6 +35,6 @@ if(NOT "${IDF_TARGET}" STREQUAL "esp32s2" AND NOT "${IDF_TARGET}" STREQUAL "esp3
 endif()
 
 # Set the components to include the tests for.
-set(TEST_COMPONENTS bh1750 mpu6050 mag3110 hts221 fbm320 icm42670 qma6100p CACHE STRING "List of components to test")
+set(TEST_COMPONENTS bh1750 mpu6050 mag3110 hts221 fbm320 CACHE STRING "List of components to test")
 include($ENV{IDF_PATH}/tools/cmake/project.cmake)
 project(esp_bsp_test_app)