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feat(sensors): Add BMI270 unit test
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‎components/sensors/bmi270/test_app/CMakeLists.txt‎

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# The following lines of boilerplate have to be in your project's CMakeLists
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# in this exact order for cmake to work correctly
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cmake_minimum_required(VERSION 3.5)
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set(COMPONENTS main)
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include($ENV{IDF_PATH}/tools/cmake/project.cmake)
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project(test_app_bmi270)

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

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idf_component_register(
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SRCS "test_app_bmi270.c"
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REQUIRES unity
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)

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

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## IDF Component Manager Manifest File
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dependencies:
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idf: ">=5.2"
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bmi270:
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version: "*"
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override_path: "../../"

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

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/*
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* SPDX-FileCopyrightText: 2024-2026 Espressif Systems (Shanghai) CO LTD
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*
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* SPDX-License-Identifier: Apache-2.0
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*/
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#include <stdio.h>
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#include "driver/i2c_master.h"
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#include "bmi270.h"
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#include "esp_err.h"
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#include "esp_system.h"
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#include "esp_log.h"
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#include "unity.h"
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#include "unity_test_runner.h"
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#include "unity_test_utils_memory.h"
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#include "freertos/FreeRTOS.h"
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#include "freertos/task.h"
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#define I2C_MASTER_SDA_IO GPIO_NUM_31
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#define I2C_MASTER_SCL_IO GPIO_NUM_32
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#define I2C_MASTER_NUM I2C_NUM_0
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#define TEST_MEMORY_LEAK_THRESHOLD (108)
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static const char *TAG = "BMI270 test";
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static i2c_master_bus_handle_t i2c_handle = NULL;
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static bmi270_handle_t *bmi270 = NULL;
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static void bmi270_sensor_init()
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{
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esp_err_t ret;
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const i2c_master_bus_config_t bus_config = {
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.i2c_port = I2C_MASTER_NUM,
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.sda_io_num = I2C_MASTER_SDA_IO,
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.scl_io_num = I2C_MASTER_SCL_IO,
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.clk_source = I2C_CLK_SRC_DEFAULT,
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};
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ret = i2c_new_master_bus(&bus_config, &i2c_handle);
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TEST_ASSERT_EQUAL_MESSAGE(ESP_OK, ret, "Failed to add new I2C master");
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const bmi270_driver_config_t bmi270_driver = {
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.addr = BMI270_I2C_ADDRESS_L,
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.interface = BMI270_USE_I2C,
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.i2c_bus = i2c_handle
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};
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ret = bmi270_create(&bmi270_driver, &bmi270);
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TEST_ASSERT_EQUAL(ESP_OK, ret);
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TEST_ASSERT_NOT_NULL_MESSAGE(bmi270, "Initialized BMI270 handle is NULL");
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}
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TEST_CASE("BMI270 memory leak test", "[bmi270]")
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{
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unity_utils_set_leak_level(TEST_MEMORY_LEAK_THRESHOLD);
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unity_utils_record_free_mem();
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esp_err_t ret;
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float x, y, z;
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bmi270_sensor_init();
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const bmi270_config_t bmi270_config = {
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.acce_odr = BMI270_ACC_ODR_100_HZ,
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.acce_range = BMI270_ACC_RANGE_4_G,
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.gyro_odr = BMI270_GYR_ODR_100_HZ,
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.gyro_range = BMI270_GYR_RANGE_1000_DPS
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};
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ret = bmi270_start(bmi270, &bmi270_config);
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TEST_ASSERT_EQUAL(ESP_OK, ret);
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ret = bmi270_get_acce_data(bmi270, &x, &y, &z);
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TEST_ASSERT_EQUAL(ESP_OK, ret);
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ret = bmi270_get_gyro_data(bmi270, &x, &y, &z);
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TEST_ASSERT_EQUAL(ESP_OK, ret);
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ret = bmi270_stop(bmi270);
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TEST_ASSERT_EQUAL(ESP_OK, ret);
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ret = bmi270_delete(bmi270);
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TEST_ASSERT_EQUAL(ESP_OK, ret);
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ret = i2c_del_master_bus(i2c_handle);
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TEST_ASSERT_EQUAL(ESP_OK, ret);
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unity_utils_evaluate_leaks();
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}
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TEST_CASE("BMI270 unintialized handle", "[bmi270]")
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{
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esp_err_t ret;
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uint8_t chip_id;
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bmi270_handle_t bmi270_handle;
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bmi270_handle.initialized = false;
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const bmi270_config_t bmi270_config = {
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.acce_odr = BMI270_ACC_ODR_100_HZ,
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.acce_range = BMI270_ACC_RANGE_4_G,
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.gyro_odr = BMI270_GYR_ODR_100_HZ,
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.gyro_range = BMI270_GYR_RANGE_1000_DPS
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};
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ret = bmi270_start(&bmi270_handle, &bmi270_config);
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TEST_ASSERT_NOT_EQUAL(ESP_OK, ret);
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ret = bmi270_stop(&bmi270_handle);
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TEST_ASSERT_NOT_EQUAL(ESP_OK, ret);
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ret = bmi270_get_chip_id(&bmi270_handle, &chip_id);
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TEST_ASSERT_NOT_EQUAL(ESP_OK, ret);
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ret = bmi270_set_acce_odr(&bmi270_handle, BMI270_ACC_ODR_100_HZ);
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TEST_ASSERT_NOT_EQUAL(ESP_OK, ret);
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ret = bmi270_set_acce_range(&bmi270_handle, BMI270_ACC_RANGE_4_G);
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TEST_ASSERT_NOT_EQUAL(ESP_OK, ret);
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ret = bmi270_set_gyro_odr(&bmi270_handle, BMI270_GYR_ODR_100_HZ);
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TEST_ASSERT_NOT_EQUAL(ESP_OK, ret);
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ret = bmi270_set_gyro_range(&bmi270_handle, BMI270_GYR_RANGE_1000_DPS);
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TEST_ASSERT_NOT_EQUAL(ESP_OK, ret);
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}
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void setUp(void)
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{
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}
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void tearDown(void)
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{
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}
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void app_main(void)
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{
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ESP_LOGI(TAG, "Running tests with [bmi270] tag");
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UNITY_BEGIN();
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unity_run_tests_by_tag("[bmi270]", false);
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UNITY_END();
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}

‎components/sensors/bmi270/test_app/sdkconfig.defaults‎

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CONFIG_IDF_TARGET="esp32p4"
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CONFIG_COMPILER_OPTIMIZATION_PERF=y
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CONFIG_FREERTOS_HZ=1000
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CONFIG_FREERTOS_TIMER_TASK_STACK_DEPTH=4096
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CONFIG_ESPTOOLPY_FLASHSIZE_4MB=y
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CONFIG_CODEC_I2C_BACKWARD_COMPATIBLE=n
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# SPIRAM for ESP32-P4
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CONFIG_SPIRAM=y
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CONFIG_SPIRAM_SPEED_200M=y
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CONFIG_IDF_EXPERIMENTAL_FEATURES=y

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