Testing and CI

How the driver is checked: host unit tests against a model of the chip, compiled documentation, ESP32 builds and static analysis, on every pull request.

Host unit tests

The tests build the real driver against a model of the AS5047U SPI slave (tests/mock_as5047u.hpp): the frame length selects the format, the reply to a command arrives during the next frame, write data frames return the old and then the new content, wrong CRCs set ERRFL, and ERRFL clears when read. Every MOSI frame is logged, so tests check the exact bytes on the bus, and the model can fail a transfer, corrupt a reply on MISO or set the reply's warning and error bits on demand, to check that bus and reply errors reach the caller.

cmake -S . -B build-host -DHF_AS5047U_BUILD_TESTS=ON
cmake --build build-host
ctest --test-dir build-host --output-on-failure

CTest also runs hf_as5047u_install_consumer: it installs the build tree into build-host/install-test and builds a find_package(hf_as5047u) consumer (tests/install_consumer/) that includes every public header and instantiates the driver, so a header missing from the install or a wrong exported target name fails the tests.

File	Covers
tests/test_frames.cpp	CRC-8 against an independent implementation for every input; the bytes of 16-, 24- and 32-bit reads; writes promoted to 24 bit; reply CRC checks and the reply warning and error bits
tests/test_driver.cpp	Velocity sign and scale, zero position split, ABIRES codes, outputs, direction, filter presets, write verification, sticky flags, angle output source, bus-error propagation, void legacy ports
tests/test_otp.cpp	ProgramOTP() against the datasheet procedure: the register writes of Figure 60, step 15, the guard-band test, failures before and after the burn, the poll timeout, the power-on check
tests/mock_as5047u.hpp	The chip model, including the OTP (burn, refresh, guard band, power-on cycle)
tests/test_harness.hpp	A dependency-free test registry and CHECK macros

Documentation snippets

Every C++ block on this site is included from tests/docs/, which the host build compiles (target hf_as5047u_doc_snippets) with the driver explicitly instantiated over the documented port, so every member of AS5047U<> is compiled. A change to the API that breaks a page breaks the build first.

CI workflows

Workflow	What it checks
Host unit tests	GCC and Clang build and run the tests and the doc snippets
ESP32 examples build	The apps in examples/esp32/app_config.yml with ci_enabled, for each listed ESP-IDF version and build type
C++ lint, C++ analysis	clang-format, clang-tidy and cppcheck
Docs	Strict site build, figure and generated-table drift, Doxygen, link check, Lighthouse budget
Markdown lint, YAML lint, link check	Repository text files

The workflows call the shared, versioned workflows of hf-general-ci-tools and hf-espidf-ci-tools.

On hardware

The ESP32 examples are the hardware test suite: driver_integration_test runs the API against a connected sensor and prints a pass / fail summary over the serial monitor.