tests: boards: vmu_rt1170: icm42688: hardware test

Adds a test for icm42688 on vmu_rt1170.

Co-authored-by: James Goppert <james.goppert@gmail.com>
Signed-off-by: Benjamin Perseghetti <bperseghetti@rudislabs.com>

tests/boards/vmu_rt1170/icm42688/CMakeLists.txt

@@ -0,0 +1,8 @@
+# Copyright 2025 CogniPilot Foundation
+# SPDX-License-Identifier: Apache-2.0
+
+cmake_minimum_required(VERSION 3.20.0)
+find_package(Zephyr REQUIRED HINTS $ENV{ZEPHYR_BASE})
+project(device)
+
+target_sources(app PRIVATE src/main.c)

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

@@ -0,0 +1,8 @@
+/* Copyright 2025 CogniPilot Foundation */
+/* SPDX-License-Identifier: Apache-2.0 */
+
+&lpspi1 {
+	/delete-node/ icm42688p0@0;
+	/delete-property/ dmas;
+	/delete-property/ dma-names;
+};

tests/boards/vmu_rt1170/icm42688/prj.conf

@@ -0,0 +1,16 @@
+# Copyright 2025 CogniPilot Foundation
+# SPDX-License-Identifier: Apache-2.0
+
+CONFIG_ZTEST=y
+CONFIG_GPIO=y
+CONFIG_DEBUG=y
+CONFIG_SPEED_OPTIMIZATIONS=n
+CONFIG_SIZE_OPTIMIZATIONS=n
+CONFIG_SENSOR=y
+CONFIG_SENSOR_SHELL_STREAM=y
+CONFIG_SENSOR_LOG_LEVEL_DBG=n
+CONFIG_RTIO_SUBMIT_SEM=y
+CONFIG_SPI_RTIO=y
+CONFIG_SPI_ASYNC=y
+CONFIG_SYS_CLOCK_TICKS_PER_SEC=10000
+CONFIG_CBPRINTF_FP_SUPPORT=y

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

@@ -0,0 +1,119 @@
+/*
+ * Copyright 2025 CogniPilot Foundation
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#include <stdio.h>
+#include <math.h>
+#include <zephyr/device.h>
+#include <zephyr/kernel.h>
+#include <zephyr/ztest.h>
+#include <zephyr/rtio/rtio.h>
+#include <zephyr/drivers/sensor.h>
+#include <zephyr/logging/log.h>
+
+#define BATCH_DURATION 50
+
+double q31_to_double(int32_t q31_value, int8_t shift)
+{
+	return ((double)q31_value) / (double)(1 << (31 - shift));
+}
+
+static struct rtio_sqe *streaming_handle;
+
+static struct sensor_stream_trigger stream_trigger = {
+	.opt = SENSOR_STREAM_DATA_INCLUDE,
+	.trigger = SENSOR_TRIG_FIFO_WATERMARK,
+};
+
+static struct sensor_read_config stream_config = {
+	.sensor = DEVICE_DT_GET(DT_NODELABEL(icm42688_1)),
+	.is_streaming = true,
+	.triggers = &stream_trigger,
+	.count = 0,
+	.max = 1,
+};
+
+static RTIO_IODEV_DEFINE(iodev_stream, &__sensor_iodev_api, &stream_config);
+RTIO_DEFINE_WITH_MEMPOOL(rtio, 4, 4, 32, 64, 4);
+
+static void callback(int result, uint8_t *buf, uint32_t buf_len, void *userdata)
+{
+	static uint8_t decoded_buffer[127];
+
+	zassert_not_null(stream_config.sensor->api);
+	const struct sensor_decoder_api *decoder;
+
+	zassert_ok(sensor_get_decoder(stream_config.sensor, &decoder));
+	int channels[] = {
+		SENSOR_CHAN_GYRO_XYZ,
+		SENSOR_CHAN_ACCEL_XYZ,
+	};
+
+	for (int i = 0; i < ARRAY_SIZE(channels); i++) {
+		int chan = channels[i];
+		struct sensor_chan_spec ch = {
+			.chan_idx = 0,
+			.chan_type = chan,
+		};
+
+		uint32_t fit = 0;
+		int count = 0;
+
+		while (decoder->decode(buf, ch, &fit, 1, decoded_buffer) > 0) {
+			zassert(count++ < 127, "fifo overflow");
+			if (ch.chan_type == SENSOR_CHAN_ACCEL_XYZ) {
+				struct sensor_three_axis_data *data =
+					(struct sensor_three_axis_data *)decoded_buffer;
+				double x = q31_to_double(data->readings[0].values[0], data->shift);
+				double y = q31_to_double(data->readings[0].values[1], data->shift);
+				double z = q31_to_double(data->readings[0].values[2], data->shift);
+
+				zassert(fabs(x) < 1.0, "fail", "accel x out of range: %10.4f", x);
+				zassert(fabs(y) < 1.0, "fail", "accel y out of range: %10.4f", y);
+				zassert(fabs(z - 9.8) < 1.0, "fail",
+					"accel z out of range: %10.4f", z);
+			} else if (ch.chan_type == SENSOR_CHAN_GYRO_XYZ) {
+				struct sensor_three_axis_data *data =
+					(struct sensor_three_axis_data *)decoded_buffer;
+				double x = q31_to_double(data->readings[0].values[0], data->shift);
+				double y = q31_to_double(data->readings[0].values[1], data->shift);
+				double z = q31_to_double(data->readings[0].values[2], data->shift);
+
+				zassert(fabs(x) < 0.1, "fail", "gyro x out of range: %10.4f", x);
+				zassert(fabs(y) < 0.1, "fail", "gyro y out of range: %10.4f", y);
+				zassert(fabs(z) < 0.1, "fail", "gyro z out of range: %10.4f", z);
+			}
+		}
+	}
+}
+
+ZTEST(icm42688_stream, test_icm42688_stream)
+{
+	stream_config.count = 1;
+	struct sensor_value val_in = { BATCH_DURATION, 0 };
+
+	zassert_ok(sensor_attr_set(
+		stream_config.sensor,
+		SENSOR_CHAN_ALL,
+		SENSOR_ATTR_BATCH_DURATION, &val_in));
+	struct sensor_value val_out;
+
+	zassert_ok(sensor_attr_get(
+		stream_config.sensor,
+		SENSOR_CHAN_ALL,
+		SENSOR_ATTR_BATCH_DURATION, &val_out));
+	zassert_equal(val_in.val1, val_out.val1);
+	zassert_ok(sensor_stream(&iodev_stream, &rtio, NULL,
+		&streaming_handle));
+	sensor_processing_with_callback(&rtio, callback);
+	zassert_ok(rtio_sqe_cancel(streaming_handle));
+}
+
+static void *icm42688_stream_setup(void)
+{
+	return NULL;
+}
+
+
+ZTEST_SUITE(icm42688_stream, NULL, icm42688_stream_setup, NULL, NULL, NULL);

tests/boards/vmu_rt1170/icm42688/testcase.yaml

@@ -0,0 +1,11 @@
+# Copyright 2025 CogniPilot Foundation
+# SPDX-License-Identifier: Apache-2.0
+
+tests:
+  boards.vmu_rt1170.icm42688:
+    tags:
+      - drivers
+      - sensor
+      - subsys
+    platform_allow:
+      - vmu_rt1170/mimxrt1176/cm7