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bperseghettijgoppert
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kartben
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tests: boards: vmu_rt1170: icm42688: hardware test
Adds a test for icm42688 on vmu_rt1170. Co-authored-by: James Goppert <[email protected]> Signed-off-by: Benjamin Perseghetti <[email protected]>
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‎tests/boards/vmu_rt1170/icm42688/CMakeLists.txt‎

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# Copyright 2025 CogniPilot Foundation
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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(device)
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target_sources(app PRIVATE src/main.c)

‎tests/boards/vmu_rt1170/icm42688/boards/vmu_rt1170_mimxrt1176_cm7.overlay‎

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/* Copyright 2025 CogniPilot Foundation */
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/* SPDX-License-Identifier: Apache-2.0 */
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&lpspi1 {
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/delete-node/ icm42688p0@0;
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/delete-property/ dmas;
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/delete-property/ dma-names;
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};

‎tests/boards/vmu_rt1170/icm42688/prj.conf‎

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# Copyright 2025 CogniPilot Foundation
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# SPDX-License-Identifier: Apache-2.0
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CONFIG_ZTEST=y
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CONFIG_GPIO=y
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CONFIG_DEBUG=y
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CONFIG_SPEED_OPTIMIZATIONS=n
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CONFIG_SIZE_OPTIMIZATIONS=n
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CONFIG_SENSOR=y
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CONFIG_SENSOR_SHELL_STREAM=y
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CONFIG_SENSOR_LOG_LEVEL_DBG=n
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CONFIG_RTIO_SUBMIT_SEM=y
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CONFIG_SPI_RTIO=y
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CONFIG_SPI_ASYNC=y
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CONFIG_SYS_CLOCK_TICKS_PER_SEC=10000
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CONFIG_CBPRINTF_FP_SUPPORT=y

‎tests/boards/vmu_rt1170/icm42688/src/main.c‎

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/*
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* Copyright 2025 CogniPilot Foundation
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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 <math.h>
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#include <zephyr/device.h>
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#include <zephyr/kernel.h>
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#include <zephyr/ztest.h>
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#include <zephyr/rtio/rtio.h>
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#include <zephyr/drivers/sensor.h>
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#include <zephyr/logging/log.h>
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#define BATCH_DURATION 50
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double q31_to_double(int32_t q31_value, int8_t shift)
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{
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return ((double)q31_value) / (double)(1 << (31 - shift));
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}
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static struct rtio_sqe *streaming_handle;
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static struct sensor_stream_trigger stream_trigger = {
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.opt = SENSOR_STREAM_DATA_INCLUDE,
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.trigger = SENSOR_TRIG_FIFO_WATERMARK,
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};
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static struct sensor_read_config stream_config = {
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.sensor = DEVICE_DT_GET(DT_NODELABEL(icm42688_1)),
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.is_streaming = true,
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.triggers = &stream_trigger,
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.count = 0,
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.max = 1,
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};
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static RTIO_IODEV_DEFINE(iodev_stream, &__sensor_iodev_api, &stream_config);
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RTIO_DEFINE_WITH_MEMPOOL(rtio, 4, 4, 32, 64, 4);
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static void callback(int result, uint8_t *buf, uint32_t buf_len, void *userdata)
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{
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static uint8_t decoded_buffer[127];
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zassert_not_null(stream_config.sensor->api);
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const struct sensor_decoder_api *decoder;
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zassert_ok(sensor_get_decoder(stream_config.sensor, &decoder));
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int channels[] = {
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SENSOR_CHAN_GYRO_XYZ,
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SENSOR_CHAN_ACCEL_XYZ,
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};
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for (int i = 0; i < ARRAY_SIZE(channels); i++) {
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int chan = channels[i];
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struct sensor_chan_spec ch = {
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.chan_idx = 0,
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.chan_type = chan,
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};
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uint32_t fit = 0;
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int count = 0;
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while (decoder->decode(buf, ch, &fit, 1, decoded_buffer) > 0) {
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zassert(count++ < 127, "fifo overflow");
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if (ch.chan_type == SENSOR_CHAN_ACCEL_XYZ) {
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struct sensor_three_axis_data *data =
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(struct sensor_three_axis_data *)decoded_buffer;
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double x = q31_to_double(data->readings[0].values[0], data->shift);
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double y = q31_to_double(data->readings[0].values[1], data->shift);
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double z = q31_to_double(data->readings[0].values[2], data->shift);
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zassert(fabs(x) < 1.0, "fail", "accel x out of range: %10.4f", x);
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zassert(fabs(y) < 1.0, "fail", "accel y out of range: %10.4f", y);
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zassert(fabs(z - 9.8) < 1.0, "fail",
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"accel z out of range: %10.4f", z);
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} else if (ch.chan_type == SENSOR_CHAN_GYRO_XYZ) {
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struct sensor_three_axis_data *data =
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(struct sensor_three_axis_data *)decoded_buffer;
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double x = q31_to_double(data->readings[0].values[0], data->shift);
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double y = q31_to_double(data->readings[0].values[1], data->shift);
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double z = q31_to_double(data->readings[0].values[2], data->shift);
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zassert(fabs(x) < 0.1, "fail", "gyro x out of range: %10.4f", x);
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zassert(fabs(y) < 0.1, "fail", "gyro y out of range: %10.4f", y);
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zassert(fabs(z) < 0.1, "fail", "gyro z out of range: %10.4f", z);
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}
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}
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}
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}
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ZTEST(icm42688_stream, test_icm42688_stream)
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{
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stream_config.count = 1;
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struct sensor_value val_in = { BATCH_DURATION, 0 };
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zassert_ok(sensor_attr_set(
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stream_config.sensor,
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SENSOR_CHAN_ALL,
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SENSOR_ATTR_BATCH_DURATION, &val_in));
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struct sensor_value val_out;
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zassert_ok(sensor_attr_get(
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stream_config.sensor,
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SENSOR_CHAN_ALL,
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SENSOR_ATTR_BATCH_DURATION, &val_out));
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zassert_equal(val_in.val1, val_out.val1);
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zassert_ok(sensor_stream(&iodev_stream, &rtio, NULL,
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&streaming_handle));
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sensor_processing_with_callback(&rtio, callback);
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zassert_ok(rtio_sqe_cancel(streaming_handle));
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}
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static void *icm42688_stream_setup(void)
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{
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return NULL;
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}
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ZTEST_SUITE(icm42688_stream, NULL, icm42688_stream_setup, NULL, NULL, NULL);

‎tests/boards/vmu_rt1170/icm42688/testcase.yaml‎

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# Copyright 2025 CogniPilot Foundation
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# SPDX-License-Identifier: Apache-2.0
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tests:
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boards.vmu_rt1170.icm42688:
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tags:
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- drivers
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- sensor
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- subsys
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platform_allow:
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- vmu_rt1170/mimxrt1176/cm7

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