IMU Mock Driver (C)

This repository contains a small IMU driver and a mock I2C layer so you can build and unit-test everything on a regular PC (no hardware needed).
Unity is vendored for unit testing.

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Folder structure

.
├── include/                 # Public headers
│   ├── imu_driver.h
│   └── mock_i2c.h
├── src/                     # Library and demo sources
│   ├── imu_driver.c
│   ├── mock_i2c.c           # Mocked I2C backend used in tests/demo
│   └── main.c               # Tiny demo that prints one sample
├── tests/
│   ├── test_imu.c           # Unit tests (Unity)
│   └── vendor/unity/        # Vendored Unity framework
│       ├── unity.c
│       ├── unity.h
│       └── unity_internals.h
├── Makefile                 # Build rules (bash & PowerShell with mingw32-make)
├── build.ps1                # PowerShell build script (no make needed)
└── .gitignore

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Prerequisites

• Linux / macOS: GCC or Clang
• Windows:
  • Option A (recommended): MSYS2 with MinGW-w64, then use mingw32-make.
  • Option B: MinGW-w64 standalone + add C:\mingw64\bin to PATH.
  • Option C: Use the included build.ps1 script directly in PowerShell.

No external libraries are required; Unity is vendored.

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Build instructions

Linux / macOS (bash)

# Build both app and tests
make

# Run unit tests
make test

# Run demo app
make run

Windows (PowerShell)

Using mingw32-make

# Build everything
mingw32-make CC=gcc

# Run unit tests
mingw32-make CC=gcc test

# Run demo app
mingw32-make CC=gcc run

Using build.ps1 (no make required)

# Build everything
.\build.ps1

# Build + run unit tests
.\build.ps1 -Tests

# Build + run demo app
.\build.ps1 -Run

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Expected output

When running tests:

tests/test_imu.c:64:test_initialization_sequence:PASS
tests/test_imu.c:65:test_scaling:PASS
tests/test_imu.c:66:test_reading_and_filtering:PASS

-----------------------
3 Tests 0 Failures 0 Ignored
OK

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Notes

• The driver provides simple init and read helpers for an LSM6DSO-style IMU and converts raw sensor values using scale factors defined in imu_driver.h.
• On desktop builds, the mock I2C is enabled via IMU_DRIVER_NO_DEFAULT_I2C (set automatically by the Makefile and build.ps1).
• For real hardware integration, implement the weak i2c_read_reg / i2c_write_reg functions in imu_driver.c (or remove the mock define) to call your platform’s I2C API.