Adapting to MISRA and unit tests

.devcontainer/Dockerfile

@@ -1,10 +1,7 @@
-# Use the base image for ESP-IDF development
 FROM espressif/idf:v6.0-dev
 
-# Install necessary packages
 USER root
 
-# Install sudo and other essential packages
 RUN apt-get update && apt-get install -y \
     sudo \
     curl \
@@ -19,41 +16,39 @@ RUN apt-get update && apt-get install -y \
     locales \
     doxygen \
     graphviz \
-    texlive-full \
+    texlive-latex-extra \
+    texlive-fonts-recommended \
+    texlive-plain-generic \
+    latexmk \
+    clang \
+    clangd \
     clang-format \
     clang-tidy \
+    clang-tools \
     cppcheck \
+    flawfinder \
+    python3-pip \
+    && locale-gen en_US.UTF-8 \
+    && update-locale LANG=en_US.UTF-8 LC_ALL=en_US.UTF-8 \
     && rm -rf /var/lib/apt/lists/*
 
-# Set nano as the default Git editor
 RUN git config --global core.editor "nano"
 
-# Set the working directory
 WORKDIR /root
 
-# Install arduino-cli as the root user
 RUN curl -fsSL https://raw.githubusercontent.com/arduino/arduino-cli/master/install.sh | sh
 
-# Install git completion
 RUN curl -o /etc/bash_completion.d/git-completion.bash \
     https://raw.githubusercontent.com/git/git/master/contrib/completion/git-completion.bash
 
-# Copy and set up terminal scripts
 COPY .devcontainer/setup-terminal.sh /root/setup-terminal.sh
 RUN chmod +x /root/setup-terminal.sh
 
-# Update .bashrc for git completion and custom scripts
 RUN echo "source /etc/bash_completion.d/git-completion.bash" >> /root/.bashrc \
     && echo "source /root/setup-terminal.sh" >> /root/.bashrc \
     && echo "source /opt/esp/idf/export.sh >/dev/null 2>&1" >> /root/.bashrc
 
-# Set locale to a UTF-8 compatible setting
-RUN apt-get update && apt-get install -y locales && \
-    locale-gen en_US.UTF-8 && \
-    update-locale LANG=en_US.UTF-8 LC_ALL=en_US.UTF-8
+ENV LANG=en_US.UTF-8
+ENV LC_ALL=en_US.UTF-8
 
-ENV LANG en_US.UTF-8
-ENV LC_ALL en_US.UTF-8
-
-# Ensure the final user is root
-USER root
+USER root

.devcontainer/devcontainer.json

@@ -3,40 +3,52 @@
   "build": {
     "dockerfile": "Dockerfile",
     "context": "..",
-    "args": { "USERNAME": "root", "USER_UID": "1000", "USER_GID": "1000" }
+    "args": {
+      "USERNAME": "root",
+      "USER_UID": "1000",
+      "USER_GID": "1000"
+    }
   },
-
   "runArgs": [
     "--device=/dev/ttyACM0",
     "--privileged"
-
   ],
-
-  "settings": { "terminal.integrated.defaultProfile.linux": "bash" },
-
-  "extensions": [
-    "vsciot-vscode.vscode-arduino",
-    "ms-vscode.cpptools",
-    "eamodio.gitlens",
-    "cschlosser.doxdocgen",
-    "samubarb.vscode-doxyfile",
-    "openai.tu-extension-codex",
-    "github.vscode-pull-request-github",
-    "llvm-vs-code-extensions.vscode-clangd",
-    "jbenden.c-cpp-flylint"
-  ],
-
   "remoteUser": "root",
-
   "mounts": [
     "source=${localEnv:HOME}/.ssh,target=/tmp/host-ssh,type=bind,consistency=cached,readonly",
     "source=${localEnv:HOME}/.gitconfig,target=/root/.gitconfig,type=bind,consistency=cached,readonly"
   ],
-
   "postCreateCommand": "/bin/bash -lc 'echo \"source /opt/esp/idf/export.sh\" >> ~/.bashrc && mkdir -p /root/.ssh && cp -a /tmp/host-ssh/. /root/.ssh/ 2>/dev/null || true && chown -R root:root /root/.ssh && chmod 700 /root/.ssh && for f in /root/.ssh/config /root/.ssh/known_hosts /root/.ssh/id_rsa /root/.ssh/raspberrypi /root/.ssh/id_ed25519; do [ -f \"$f\" ] && chmod 600 \"$f\"; done && for f in /root/.ssh/id_rsa.pub /root/.ssh/raspberrypi.pub /root/.ssh/id_ed25519.pub; do [ -f \"$f\" ] && chmod 644 \"$f\"; done && echo \"Dev container ready for ESP-IDF development!\"'",
-
   "remoteEnv": {
     "IDF_PATH": "/opt/esp/idf",
     "PATH": "/opt/esp/idf/tools:${env:PATH}"
+  },
+  "customizations": {
+    "vscode": {
+      "settings": {
+        "terminal.integrated.defaultProfile.linux": "bash",
+        "C_Cpp.intelliSenseEngine": "disabled",
+        "editor.formatOnSave": true,
+        "clangd.path": "/usr/bin/clangd",
+        "[c]": {
+          "editor.defaultFormatter": "xaver.clang-format"
+        },
+        "[cpp]": {
+          "editor.defaultFormatter": "xaver.clang-format"
+        }
+      },
+      "extensions": [
+        "vsciot-vscode.vscode-arduino",
+        "ms-vscode.cpptools",
+        "eamodio.gitlens",
+        "cschlosser.doxdocgen",
+        "samubarb.vscode-doxyfile",
+        "openai.tu-extension-codex",
+        "github.vscode-pull-request-github",
+        "llvm-vs-code-extensions.vscode-clangd",
+        "xaver.clang-format",
+        "jbenden.c-cpp-flylint"
+      ]
+    }
   }
 }

solaris-v1/components/general/CMakeLists.txt

@@ -4,5 +4,5 @@ idf_component_register(
     "gpio_int.c"
     INCLUDE_DIRS "."
     REQUIRES esp_driver_spi esp_driver_gpio
-    PRIV_REQUIRES icm_driver pressure_sensor_driver    
+    PRIV_REQUIRES icm_driver pressureSensorDriver    
 )

solaris-v1/components/general/macros.h

@@ -29,6 +29,20 @@ extern "C" {
 /** @brief GPIO pin for SPI clock. */
 #define PIN_NUM_CLK        48
 
+/* ----------------------------------------------------------------
+ * SPI operation type
+ * ---------------------------------------------------------------- */
+
+/**
+ * @brief SPI read operation bit.
+ */
+#define K_READ_OP 0x80U
+
+/**
+ * @brief SPI write operation bit.
+ */
+#define K_WRITE_OP 0x00U
+
 /**
  * @brief Legacy SPI device context.
  *

solaris-v1/components/icm_driver/icm20948.c

@@ -1,4 +1,5 @@
 #include "icm20948.h"
+#include "macros.h"
 #include "spp/core/returntypes.h"
 #include "spp/hal/spi/spi.h"
 #include "spp/osal/task.h"
@@ -97,7 +98,7 @@ static const spp_uint8_t s_dmp3Image[] = {
  */
 static retval_t ICM20948_writeReg(void *p_spi, spp_uint8_t reg, spp_uint8_t value)
 {
-    spp_uint8_t txBuffer[2] = {K_ICM20948_WRITE_OP | reg, value};
+    spp_uint8_t txBuffer[2] = {K_WRITE_OP | reg, value};
     return SPP_HAL_SPI_Transmit(p_spi, txBuffer, 2U);
 }
 
@@ -112,7 +113,7 @@ static retval_t ICM20948_writeReg(void *p_spi, spp_uint8_t reg, spp_uint8_t valu
  */
 static retval_t ICM20948_readReg(void *p_spi, spp_uint8_t reg, spp_uint8_t *p_value)
 {
-    spp_uint8_t txRxBuffer[2] = {K_ICM20948_READ_OP | reg, K_ICM20948_EMPTY_MESSAGE};
+    spp_uint8_t txRxBuffer[2] = {K_READ_OP | reg, K_WRITE_OP};
     retval_t ret = SPP_HAL_SPI_Transmit(p_spi, txRxBuffer, 2U);
 
     if (p_value != NULL)
@@ -1427,8 +1428,8 @@ void ICM20948_checkFifoData(void *p_data)
         return;
     }
 
-    txRxData[0] = K_ICM20948_READ_OP | K_ICM20948_REG_INT_STATUS;
-    txRxData[1] = K_ICM20948_EMPTY_MESSAGE;
+    txRxData[0] = K_READ_OP | K_ICM20948_REG_INT_STATUS;
+    txRxData[1] = K_WRITE_OP;
 
     ret = SPP_HAL_SPI_Transmit(p_spi, txRxData, 2U);
     if (ret != SPP_OK)
@@ -1439,8 +1440,8 @@ void ICM20948_checkFifoData(void *p_data)
     {
         spp_uint8_t intStatus = txRxData[1];
 
-        txRxData[0] = K_ICM20948_READ_OP | K_ICM20948_REG_DMP_INT_STATUS;
-        txRxData[1] = K_ICM20948_EMPTY_MESSAGE;
+        txRxData[0] = K_READ_OP | K_ICM20948_REG_DMP_INT_STATUS;
+        txRxData[1] = K_WRITE_OP;
 
         ret = SPP_HAL_SPI_Transmit(p_spi, txRxData, 2U);
         if (ret != SPP_OK)
@@ -1450,9 +1451,9 @@ void ICM20948_checkFifoData(void *p_data)
 
         if ((intStatus & 0x02U) != 0U)
         {
-            txRxData[0] = K_ICM20948_READ_OP | K_ICM20948_REG_FIFO_COUNTH;
-            txRxData[1] = K_ICM20948_EMPTY_MESSAGE;
-            txRxData[2] = K_ICM20948_EMPTY_MESSAGE;
+            txRxData[0] = K_READ_OP | K_ICM20948_REG_FIFO_COUNTH;
+            txRxData[1] = K_WRITE_OP;
+            txRxData[2] = K_WRITE_OP;
 
             ret = SPP_HAL_SPI_Transmit(p_spi, txRxData, 3U);
             if (ret != SPP_OK)
@@ -1476,7 +1477,7 @@ void ICM20948_checkFifoData(void *p_data)
                     {
                         spp_uint8_t fifoBuffer[K_ICM20948_DMP_PACKET_SIZE_BYTES + 1U] = {0U};
 
-                        fifoBuffer[0] = K_ICM20948_READ_OP | K_ICM20948_REG_FIFO_R_W;
+                        fifoBuffer[0] = K_READ_OP | K_ICM20948_REG_FIFO_R_W;
                         ret = SPP_HAL_SPI_Transmit(p_spi, fifoBuffer,
                                                    K_ICM20948_DMP_PACKET_SIZE_BYTES + 1U);
                         if (ret != SPP_OK)

solaris-v1/components/icm_driver/include/icm20948.h

@@ -47,49 +47,12 @@
  * Hardware pins
  * ---------------------------------------------------------------- */
 
-/**
- * @brief SPI host used by the ICM20948 device.
- */
-#define K_ICM20948_SPI_HOST_USED SPI2_HOST
 
 /**
  * @brief Chip-select GPIO number.
  */
 #define K_ICM20948_PIN_NUM_CS 21U
 
-/**
- * @brief CIPO/MISO GPIO number.
- */
-#define K_ICM20948_PIN_NUM_CIPO 47U
-
-/**
- * @brief COPI/MOSI GPIO number.
- */
-#define K_ICM20948_PIN_NUM_COPI 38U
-
-/**
- * @brief SPI clock GPIO number.
- */
-#define K_ICM20948_PIN_NUM_CLK 48U
-
-/* ----------------------------------------------------------------
- * SPI operation type
- * ---------------------------------------------------------------- */
-
-/**
- * @brief SPI read operation bit.
- */
-#define K_ICM20948_READ_OP 0x80U
-
-/**
- * @brief SPI write operation bit.
- */
-#define K_ICM20948_WRITE_OP 0x00U
-
-/**
- * @brief Dummy byte used during SPI read operations.
- */
-#define K_ICM20948_EMPTY_MESSAGE 0x00U
 
 /* ----------------------------------------------------------------
  * Register banks