feat(sensors): Add BMI270 unit test

Author: PetrESP

components/sensors/bmi270/README.md

@@ -51,7 +51,8 @@ bmi270_get_acce_data(bmi270_handle_pointer, &x, &y, &z);
 Disable measurements and clean up the BMI270 driver using:
 ``` c
 bmi270_stop(bmi270_handle_pointer);
-bmi270_delete(&bmi270_handle_pointer);
+bmi270_delete(bmi270_handle_pointer);
+free(bmi270_handle_pointer);
 ```
 
 ### Espressif sensor hub

components/sensors/bmi270/test_app/CMakeLists.txt

@@ -0,0 +1,6 @@
+# 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(COMPONENTS main)
+include($ENV{IDF_PATH}/tools/cmake/project.cmake)
+project(test_app_bmi270)

components/sensors/bmi270/test_app/main/CMakeLists.txt

@@ -0,0 +1,4 @@
+idf_component_register(
+    SRCS "test_app_bmi270.c"
+    REQUIRES unity
+    )

components/sensors/bmi270/test_app/main/idf_component.yml

@@ -0,0 +1,6 @@
+## IDF Component Manager Manifest File
+dependencies:
+  idf: ">=5.2"
+  bmi270:
+    version: "*"
+    override_path: "../../"

components/sensors/bmi270/test_app/main/test_app_bmi270.c

@@ -0,0 +1,144 @@
+/*
+ * SPDX-FileCopyrightText: 2024-2026 Espressif Systems (Shanghai) CO LTD
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#include <stdio.h>
+#include "driver/i2c_master.h"
+#include "bmi270.h"
+#include "esp_err.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_SDA_IO GPIO_NUM_31
+#define I2C_MASTER_SCL_IO GPIO_NUM_32
+#define I2C_MASTER_NUM I2C_NUM_0
+
+#define TEST_MEMORY_LEAK_THRESHOLD  (108)
+
+static const char *TAG = "BMI270 test";
+
+static i2c_master_bus_handle_t i2c_handle = NULL;
+static bmi270_handle_t *bmi270 = NULL;
+
+static void bmi270_sensor_init()
+{
+    esp_err_t ret;
+
+    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,
+        .clk_source = I2C_CLK_SRC_DEFAULT,
+    };
+
+    ret = i2c_new_master_bus(&bus_config, &i2c_handle);
+    TEST_ASSERT_EQUAL_MESSAGE(ESP_OK, ret, "Failed to add new I2C master");
+
+    const bmi270_driver_config_t bmi270_driver = {
+        .addr = BMI270_I2C_ADDRESS_L,
+        .interface = BMI270_USE_I2C,
+        .i2c_bus = i2c_handle
+    };
+    ret = bmi270_create(&bmi270_driver, &bmi270);
+    TEST_ASSERT_EQUAL(ESP_OK, ret);
+    TEST_ASSERT_NOT_NULL_MESSAGE(bmi270, "Initialized BMI270 handle is NULL");
+}
+
+TEST_CASE("BMI270 memory leak test", "[bmi270]")
+{
+    unity_utils_set_leak_level(TEST_MEMORY_LEAK_THRESHOLD);
+    unity_utils_record_free_mem();
+
+    esp_err_t ret;
+    float x, y, z;
+
+    bmi270_sensor_init();
+
+    const bmi270_config_t bmi270_config = {
+        .acce_odr = BMI270_ACC_ODR_100_HZ,
+        .acce_range = BMI270_ACC_RANGE_4_G,
+        .gyro_odr = BMI270_GYR_ODR_100_HZ,
+        .gyro_range = BMI270_GYR_RANGE_1000_DPS
+    };
+
+    ret = bmi270_start(bmi270, &bmi270_config);
+    TEST_ASSERT_EQUAL(ESP_OK, ret);
+
+    ret = bmi270_get_acce_data(bmi270, &x, &y, &z);
+    TEST_ASSERT_EQUAL(ESP_OK, ret);
+    ret = bmi270_get_gyro_data(bmi270, &x, &y, &z);
+    TEST_ASSERT_EQUAL(ESP_OK, ret);
+
+    ret = bmi270_stop(bmi270);
+    TEST_ASSERT_EQUAL(ESP_OK, ret);
+
+    ret = bmi270_delete(bmi270);
+    TEST_ASSERT_EQUAL(ESP_OK, ret);
+
+    ret = i2c_del_master_bus(i2c_handle);
+    TEST_ASSERT_EQUAL(ESP_OK, ret);
+
+    unity_utils_evaluate_leaks();
+}
+
+TEST_CASE("BMI270 unintialized handle", "[bmi270]")
+{
+    esp_err_t ret;
+    uint8_t chip_id;
+    bmi270_handle_t bmi270_handle;
+    bmi270_handle.initialized = false;
+
+    const bmi270_config_t bmi270_config = {
+        .acce_odr = BMI270_ACC_ODR_100_HZ,
+        .acce_range = BMI270_ACC_RANGE_4_G,
+        .gyro_odr = BMI270_GYR_ODR_100_HZ,
+        .gyro_range = BMI270_GYR_RANGE_1000_DPS
+    };
+
+    ret = bmi270_start(&bmi270_handle, &bmi270_config);
+    TEST_ASSERT_NOT_EQUAL(ESP_OK, ret);
+
+    ret = bmi270_stop(&bmi270_handle);
+    TEST_ASSERT_NOT_EQUAL(ESP_OK, ret);
+
+    ret = bmi270_get_chip_id(&bmi270_handle, &chip_id);
+    TEST_ASSERT_NOT_EQUAL(ESP_OK, ret);
+
+    ret = bmi270_set_acce_odr(&bmi270_handle, BMI270_ACC_ODR_100_HZ);
+    TEST_ASSERT_NOT_EQUAL(ESP_OK, ret);
+
+    ret = bmi270_set_acce_range(&bmi270_handle, BMI270_ACC_RANGE_4_G);
+    TEST_ASSERT_NOT_EQUAL(ESP_OK, ret);
+
+    ret = bmi270_set_gyro_odr(&bmi270_handle, BMI270_GYR_ODR_100_HZ);
+    TEST_ASSERT_NOT_EQUAL(ESP_OK, ret);
+
+    ret = bmi270_set_gyro_range(&bmi270_handle, BMI270_GYR_RANGE_1000_DPS);
+    TEST_ASSERT_NOT_EQUAL(ESP_OK, ret);
+}
+
+void setUp(void)
+{
+
+}
+
+void tearDown(void)
+{
+
+}
+
+void app_main(void)
+{
+    ESP_LOGI(TAG, "Running tests with [bmi270] tag");
+    UNITY_BEGIN();
+    unity_run_tests_by_tag("[bmi270]", false);
+    UNITY_END();
+}

components/sensors/bmi270/test_app/sdkconfig.defaults

@@ -0,0 +1,13 @@
+CONFIG_IDF_TARGET="esp32p4"
+CONFIG_COMPILER_OPTIMIZATION_PERF=y
+
+CONFIG_FREERTOS_HZ=1000
+CONFIG_FREERTOS_TIMER_TASK_STACK_DEPTH=4096
+
+CONFIG_ESPTOOLPY_FLASHSIZE_4MB=y
+CONFIG_CODEC_I2C_BACKWARD_COMPATIBLE=n
+
+# SPIRAM for ESP32-P4
+CONFIG_SPIRAM=y
+CONFIG_SPIRAM_SPEED_200M=y
+CONFIG_IDF_EXPERIMENTAL_FEATURES=y