Merge pull request 'fix/134-testing-issues' (!27) from fix/134-testing-issues into dev

Reviewed-on: KozmotronikTech/relay_chn_component#27

.gitignore

@@ -1,102 +1,111 @@
-# ---> C
-# Prerequisites
-*.d
-
-# Object files
+.config
 *.o
-*.ko
-*.obj
-*.elf
+*.pyc
 
-# Linker output
-*.ilk
-*.map
-*.exp
+# gtags
+GTAGS
+GRTAGS
+GPATH
 
-# Precompiled Headers
-*.gch
-*.pch
+# emacs
+.dir-locals.el
 
-# Libraries
-*.lib
-*.a
-*.la
-*.lo
+# emacs temp file suffixes
+*~
+.#*
+\#*#
 
-# Shared objects (inc. Windows DLLs)
-*.dll
-*.so
-*.so.*
-*.dylib
+# eclipse setting
+.settings
 
-# Executables
-*.exe
-*.out
-*.app
-*.i*86
-*.x86_64
-*.hex
+# MacOS directory files
+.DS_Store
 
-# Debug files
-*.dSYM/
-*.su
-*.idb
-*.pdb
+# cache dir
+.cache/
 
-# Kernel Module Compile Results
-*.mod*
-*.cmd
-.tmp_versions/
-modules.order
-Module.symvers
-Mkfile.old
-dkms.conf
+# Doc build artifacts
+docs/_build/
+docs/doxygen_sqlite3.db
 
-# ---> C++
-# Prerequisites
-*.d
+# Downloaded font files
+docs/_static/DejaVuSans.ttf
+docs/_static/NotoSansSC-Regular.otf
 
-# Compiled Object files
-*.slo
-*.lo
-*.o
-*.obj
+# Components Unit Test Apps files
+components/**/build/
+components/**/build_*_*/
+components/**/sdkconfig
+components/**/sdkconfig.old
 
-# Precompiled Headers
-*.gch
-*.pch
+# Example project files
+examples/**/build/
+examples/**/build_*_*/
+examples/**/sdkconfig
+examples/**/sdkconfig.old
 
-# Compiled Dynamic libraries
-*.so
-*.dylib
-*.dll
+# Unit test app files
+tools/unit-test-app/build
+tools/unit-test-app/build_*_*/
+tools/unit-test-app/sdkconfig
+tools/unit-test-app/sdkconfig.old
 
-# Fortran module files
-*.mod
-*.smod
+# test application build files
+tools/test_apps/**/build/
+tools/test_apps/**/build_*_*/
+tools/test_apps/**/sdkconfig
+tools/test_apps/**/sdkconfig.old
 
-# Compiled Static libraries
-*.lai
-*.la
-*.a
-*.lib
+TEST_LOGS/
+build_summary_*.xml
 
-# Executables
-*.exe
-*.out
-*.app
+# gcov coverage reports
+*.gcda
+*.gcno
+coverage.info
+coverage_report/
 
-# ---> CMake
-CMakeLists.txt.user
-CMakeCache.txt
-CMakeFiles
-CMakeScripts
-Testing
-Makefile
-cmake_install.cmake
-install_manifest.txt
-compile_commands.json
-CTestTestfile.cmake
-_deps
-CMakeUserPresets.json
+test_multi_heap_host
 
+# VS Code Settings
+.vscode/
+
+# VIM files
+*.swp
+*.swo
+
+# Sublime Text files
+*.sublime-project
+*.sublime-workspace
+
+# Clion IDE CMake build & config
+.idea/
+cmake-build-*/
+
+# Results for the checking of the Python coding style and static analysis
+.mypy_cache
+flake8_output.txt
+
+# ESP-IDF default build directory name
+build
+
+# lock files for examples and components
+dependencies.lock
+
+# managed_components for examples
+managed_components
+
+# pytest log
+pytest-embedded/
+# legacy one
+pytest_embedded_log/
+list_job*.txt
+size_info*.txt
+XUNIT_RESULT*.xml
+.manifest_sha
+
+# clang config (for LSP)
+.clangd
+
+# Vale
+.vale/styles/*

.vscode/settings.json

@@ -0,0 +1,6 @@
+{
+    "files.associations": {
+        "relay_chn.h": "c"
+    },
+    "idf.port": "/dev/ttyUSB0"
+}

README.md

@@ -1,3 +1,113 @@
-# relay_chn
+# relay_chn - Relay Channel Controller
 
-A custom ESP-IDF component for controlling a relay channel
+An ESP-IDF component for controlling relay channels, specifically designed for driving bipolar motors through relay pairs.
+
+## Features
+
+- Controls multiple relay channel pairs (up to 8 channels)
+- Built-in direction change inertia protection
+- Automatic command sequencing and timing
+- Event-driven architecture for reliable operation
+- Forward/Reverse direction control
+- Direction flipping capability
+- State monitoring and reporting
+- Optional sensitivty adjustable tilting feature
+
+## Description
+
+Each relay channel consists of 2 output relays controlled by 2 GPIO pins. The component provides APIs to control these relay pairs while ensuring safe operation, particularly for driving bipolar motors. To prevent mechanical strain on the motor, the component automatically manages direction changes with a configurable inertia delay, protecting it from abrupt reversals.
+
+It also provides an optional tilting interface per channel base. Tilting makes a channel move with a specific pattern moving with small steps at a time. Tilting is specifically designed for controlling some types of curtains that need to be adjusted to let enter specific amount of day light.  
+Since it operates on relays, the switching frequency is limited to 10Hz which complies with the most of the general purpose relays' requirements. The minimum frequency is 2Hz and the duty cycle is about 10% in all ranges.  
+The module also handles all the required timing between the movement transitions automatically to ensure reliable operation.
+
+## Configuration
+
+Configure the component through menuconfig under "Relay Channel Driver Configuration":
+
+- `CONFIG_RELAY_CHN_OPPOSITE_INERTIA_MS`: Time to wait before changing direction (200-1500ms, default: 800ms)
+- `CONFIG_RELAY_CHN_COUNT`: Number of relay channels (1-8, default: 1)
+- `CONFIG_RELAY_CHN_ENABLE_TILTING`: Enable tilting interface on all channels. (default: n)
+
+## Installation
+
+Just add it as a custom dependency to your project's `idf_component.yml`:
+
+```yaml
+dependencies:
+  # Add as a custom component from git repository
+  relay_chn:
+    git: https://git.kozmotronik.com.tr/KozmotronikTech/relay_chn.git
+    version: '>=0.4.0'
+```
+
+## Usage
+
+### 1. Initialize relay channels
+
+```c
+// Define GPIO pins for relay channels
+const gpio_num_t gpio_map[] = {GPIO_NUM_4, GPIO_NUM_5};  // One channel example
+const uint8_t gpio_count = sizeof(gpio_map) / sizeof(gpio_map[0]);
+
+// Create and initialize relay channels
+esp_err_t ret = relay_chn_create(gpio_map, gpio_count);
+if (ret != ESP_OK) {
+    // Handle error
+}
+```
+
+### 2. Control relay channels
+
+```c
+// Run channel 0 forward
+relay_chn_run_forward(0);
+
+// Run channel 0 reverse
+relay_chn_run_reverse(0);
+
+// Stop channel 0
+relay_chn_stop(0);
+
+// Flip direction of channel 0
+relay_chn_flip_direction(0);
+```
+
+### 3. Monitor channel state
+
+```c
+// Get channel state
+relay_chn_state_t state = relay_chn_get_state(0);
+char *state_str = relay_chn_get_state_str(0);
+
+// Get channel direction
+relay_chn_direction_t direction = relay_chn_get_direction(0);
+```
+
+### 4. Tilting Interface (if enabled)
+
+```c
+// Assuming CONFIG_RELAY_CHN_ENABLE_TILTING is enabled
+
+// Start tilting automatically (channel 0)
+relay_chn_tilt_auto(0);
+
+// Tilt forward (channel 0)
+relay_chn_tilt_forward(0);
+
+// Tilt reverse (channel 0)
+relay_chn_tilt_reverse(0);
+
+// Stop tilting (channel 0)
+relay_chn_tilt_stop(0);
+
+// Set tilting sensitivity (channel 0, sensitivity as percentage)
+relay_chn_tilt_sensitivity_set(0, 90);
+
+// Get tilting sensitivity (channel 0, sensitivty as percentage)
+uint8_t sensitivity = relay_chn_tilt_sensitivity_get(0);
+```
+
+## License
+
+[MIT License](LICENSE) - Copyright (c) 2025 kozmotronik.

app_test/CMakeLists.txt

@@ -0,0 +1,13 @@
+cmake_minimum_required(VERSION 3.5)
+
+# Define component search paths
+# IMPORTANT: We should tell to the ESP-IDF
+# where it can find relay_chn component.
+# We add the 'relay_chn' directory to the COMPONENT_DIRS by specifying: ../relay_chn
+set(EXTRA_COMPONENT_DIRS "${CMAKE_CURRENT_SOURCE_DIR}/../relay_chn")
+
+# Include ESP-IDF project build system
+include($ENV{IDF_PATH}/tools/cmake/project.cmake)
+
+# Define the name of this project
+project(relay_chn_app_test)

app_test/main/CMakeLists.txt

@@ -0,0 +1,3 @@
+idf_component_register(SRCS "test_relay_chn.c"
+                       INCLUDE_DIRS "."
+                       REQUIRES unity relay_chn)

app_test/main/test_relay_chn.c

@@ -0,0 +1,443 @@
+#include "driver/gpio.h"
+#include "unity.h"
+#include "unity_test_utils.h"
+#include "relay_chn.h" // Main header file for the relay_chn component
+#include <esp_log.h>
+#include <freertos/FreeRTOS.h>
+#include <freertos/task.h>
+#include "sdkconfig.h" // For accessing CONFIG_* values
+
+// Test GPIOs and channel IDs
+// Please ensure these GPIOs are correct and suitable for your board.
+// Two channels (4 GPIOs) are used as an example.
+const gpio_num_t gpio_map[] = {GPIO_NUM_4, GPIO_NUM_5, GPIO_NUM_18, GPIO_NUM_19};
+const uint8_t gpio_count = sizeof(gpio_map) / sizeof(gpio_map[0]);
+// Assuming 2 GPIOs are used per channel
+const uint8_t relay_chn_count = gpio_count / 2; 
+
+// Retrieve inertia value from SDKconfig
+#ifndef CONFIG_RELAY_CHN_OPPOSITE_INERTIA_MS
+#define CONFIG_RELAY_CHN_OPPOSITE_INERTIA_MS 500 // Default if not defined in SDKconfig
+#endif
+
+const uint32_t opposite_inertia_ms = CONFIG_RELAY_CHN_OPPOSITE_INERTIA_MS;
+
+// Tolerant delay margin to ensure operations complete, especially after inertia.
+const uint32_t test_delay_margin_ms = 50; 
+
+// --- Test Setup/Teardown Functions ---
+void setUp(void) {
+    ESP_LOGI("TEST_SETUP", "Running setUp for relay_chn tests.");
+    // Re-create the component before each test. relay_chn_create returns esp_err_t.
+    TEST_ESP_OK(relay_chn_create(gpio_map, gpio_count)); 
+    // Ensure all relays are stopped at the beginning, and transition to FREE state
+    for (uint8_t i = 0; i < relay_chn_count; i++) {
+        relay_chn_stop(i); // relay_chn_stop returns void
+        vTaskDelay(pdMS_TO_TICKS(opposite_inertia_ms + test_delay_margin_ms)); // Wait for FREE state
+    }
+    ESP_LOGI("TEST_SETUP", "All channels initialized to RELAY_CHN_STATE_FREE.");
+}
+
+void tearDown(void) {
+    ESP_LOGI("TEST_TEARDOWN", "Running tearDown for relay_chn tests.");
+    // Stop all relays after each test, and transition to FREE state
+    for (uint8_t i = 0; i < relay_chn_count; i++) {
+        relay_chn_stop(i); // relay_chn_stop returns void
+        vTaskDelay(pdMS_TO_TICKS(opposite_inertia_ms + test_delay_margin_ms)); // Wait for FREE state
+    }
+    ESP_LOGI("TEST_TEARDOWN", "All channels returned to RELAY_CHN_STATE_FREE.");
+}
+
+// --- Basic Functionality Tests ---
+
+// TEST_CASE 1: Test that relay channels initialize correctly to RELAY_CHN_STATE_FREE
+TEST_CASE("Relay channels initialize correctly to FREE state", "[relay_chn]") {
+    ESP_LOGI("TEST", "Running test: Relay channels initialize correctly to FREE state");
+    for (uint8_t i = 0; i < relay_chn_count; i++) {
+        TEST_ASSERT_EQUAL(RELAY_CHN_STATE_FREE, relay_chn_get_state(i));
+    }
+}
+
+// TEST_CASE 2: Test that relays run in the forward direction and update their state
+TEST_CASE("Relay channels run forward and update state", "[relay_chn]") {
+    ESP_LOGI("TEST", "Running test: Relay channels run forward and update state");
+    for (uint8_t i = 0; i < relay_chn_count; i++) {
+        relay_chn_run_forward(i); // relay_chn_run_forward returns void
+        // Short delay for state to update
+        vTaskDelay(pdMS_TO_TICKS(test_delay_margin_ms));
+        TEST_ASSERT_EQUAL(RELAY_CHN_STATE_FORWARD, relay_chn_get_state(i));
+    }
+}
+
+// TEST_CASE 3: Test that relays run in the reverse direction and update their state
+TEST_CASE("Relay channels run reverse and update state", "[relay_chn]") {
+    ESP_LOGI("TEST", "Running test: Relay channels run reverse and update state");
+    for (uint8_t i = 0; i < relay_chn_count; i++) {
+        relay_chn_run_reverse(i); // relay_chn_run_reverse returns void
+        vTaskDelay(pdMS_TO_TICKS(test_delay_margin_ms));
+        TEST_ASSERT_EQUAL(RELAY_CHN_STATE_REVERSE, relay_chn_get_state(i));
+    }
+}
+
+// TEST_CASE 4: Test that relays stop and transition to RELAY_CHN_STATE_FREE
+// This test also verifies the transition to FREE state after a STOP command.
+TEST_CASE("Relay channels stop and update to FREE state", "[relay_chn]") {
+    ESP_LOGI("TEST", "Running test: Relay channels stop and update to FREE state");
+    for (uint8_t i = 0; i < relay_chn_count; i++) {
+        // First, run forward to test stopping and transitioning to FREE state
+        relay_chn_run_forward(i); // relay_chn_run_forward returns void
+        vTaskDelay(pdMS_TO_TICKS(test_delay_margin_ms));
+        TEST_ASSERT_EQUAL(RELAY_CHN_STATE_FORWARD, relay_chn_get_state(i));
+
+        // Now, issue the stop command
+        relay_chn_stop(i); // relay_chn_stop returns void
+        // Immediately after stop, state should be STOPPED
+        vTaskDelay(pdMS_TO_TICKS(test_delay_margin_ms));
+        TEST_ASSERT_EQUAL(RELAY_CHN_STATE_STOPPED, relay_chn_get_state(i));
+
+        // Then, wait for the inertia period for it to transition to RELAY_CHN_STATE_FREE
+        vTaskDelay(pdMS_TO_TICKS(opposite_inertia_ms + test_delay_margin_ms));
+        TEST_ASSERT_EQUAL(RELAY_CHN_STATE_FREE, relay_chn_get_state(i));
+    }
+}
+
+// TEST_CASE 5: Test function calls with invalid channel IDs
+// TEST_CASE("Invalid channel ID handling", "[relay_chn]") {
+//     ESP_LOGI("TEST", "Running test: Invalid channel ID handling");
+//     uint8_t invalid_channel_id = relay_chn_count + 1; // An ID that is out of bounds
+
+//     // These calls are expected to return ESP_ERR_INVALID_ARG, so TEST_ASSERT_EQUAL is appropriate.
+//     TEST_ASSERT_EQUAL(ESP_ERR_INVALID_ARG, relay_chn_run_forward(invalid_channel_id));
+//     TEST_ASSERT_EQUAL(ESP_ERR_INVALID_ARG, relay_chn_run_reverse(invalid_channel_id));
+//     TEST_ASSERT_EQUAL(ESP_ERR_INVALID_ARG, relay_chn_stop(invalid_channel_id));
+    
+//     // Test tilt commands only if tilt functionality is enabled
+// #if CONFIG_RELAY_CHN_ENABLE_TILTING == 1
+//     TEST_ASSERT_EQUAL(ESP_ERR_INVALID_ARG, relay_chn_tilt_forward(invalid_channel_id));
+//     TEST_ASSERT_EQUAL(ESP_ERR_INVALID_ARG, relay_chn_tilt_reverse(invalid_channel_id));
+// #endif
+    
+//     TEST_ASSERT_EQUAL(ESP_ERR_INVALID_ARG, relay_chn_get_state(invalid_channel_id));
+// }
+
+// TEST_CASE 6: Test independent operation of multiple relay channels
+TEST_CASE("Multiple channels can operate independently", "[relay_chn]") {
+    ESP_LOGI("TEST", "Running test: Multiple channels can operate independently");
+    if (relay_chn_count >= 2) {
+        // Start Channel 0 in forward direction
+        relay_chn_run_forward(0); // relay_chn_run_forward returns void
+        vTaskDelay(pdMS_TO_TICKS(test_delay_margin_ms));
+        TEST_ASSERT_EQUAL(RELAY_CHN_STATE_FORWARD, relay_chn_get_state(0));
+        TEST_ASSERT_EQUAL(RELAY_CHN_STATE_FREE, relay_chn_get_state(1)); // Other channel should not be affected
+
+        // Start Channel 1 in reverse direction
+        relay_chn_run_reverse(1); // relay_chn_run_reverse returns void
+        vTaskDelay(pdMS_TO_TICKS(test_delay_margin_ms));
+        TEST_ASSERT_EQUAL(RELAY_CHN_STATE_FORWARD, relay_chn_get_state(0));
+        TEST_ASSERT_EQUAL(RELAY_CHN_STATE_REVERSE, relay_chn_get_state(1));
+
+        // Stop Channel 0 and wait for it to become FREE
+        relay_chn_stop(0); // relay_chn_stop returns void
+        vTaskDelay(pdMS_TO_TICKS(opposite_inertia_ms + test_delay_margin_ms));
+        TEST_ASSERT_EQUAL(RELAY_CHN_STATE_FREE, relay_chn_get_state(0));
+        TEST_ASSERT_EQUAL(RELAY_CHN_STATE_REVERSE, relay_chn_get_state(1)); // Other channel should continue running
+
+        // Stop Channel 1 and wait for it to become FREE
+        relay_chn_stop(1); // relay_chn_stop returns void
+        vTaskDelay(pdMS_TO_TICKS(opposite_inertia_ms + test_delay_margin_ms));
+        TEST_ASSERT_EQUAL(RELAY_CHN_STATE_FREE, relay_chn_get_state(0));
+        TEST_ASSERT_EQUAL(RELAY_CHN_STATE_FREE, relay_chn_get_state(1));
+    } else {
+        ESP_LOGW("TEST", "Skipping 'Multiple channels can operate independently' test: Not enough channels available.");
+    }
+}
+
+
+// ### Inertia and State Transition Tests
+
+// This section specifically targets the inertia periods and complex state transitions as per the component's logic.
+
+// TEST_CASE 7: Test transition from forward to reverse with inertia and state checks
+// Scenario: RELAY_CHN_STATE_FORWARD -> (relay_chn_run_reverse) -> RELAY_CHN_STATE_STOPPED -> (inertia) -> RELAY_CHN_STATE_REVERSE
+TEST_CASE("Forward to Reverse transition with opposite inertia", "[relay_chn][inertia]") {
+    ESP_LOGI("TEST", "Running test: Forward to Reverse transition with opposite inertia");
+    uint8_t ch = 0; // Channel to test
+
+    // 1. Start in forward direction
+    relay_chn_run_forward(ch); // relay_chn_run_forward returns void
+    vTaskDelay(pdMS_TO_TICKS(test_delay_margin_ms)); // Short delay for state stabilization
+    TEST_ASSERT_EQUAL(RELAY_CHN_STATE_FORWARD, relay_chn_get_state(ch));
+
+    // 2. Issue reverse command
+    relay_chn_run_reverse(ch); // relay_chn_run_reverse returns void
+    // Immediately after the command, the motor should be stopped
+    vTaskDelay(pdMS_TO_TICKS(test_delay_margin_ms)); 
+    TEST_ASSERT_EQUAL(RELAY_CHN_STATE_REVERSE_PENDING, relay_chn_get_state(ch)); 
+
+    // Wait for the inertia period (after which the reverse command will be dispatched)
+    vTaskDelay(pdMS_TO_TICKS(opposite_inertia_ms + test_delay_margin_ms)); 
+    TEST_ASSERT_EQUAL(RELAY_CHN_STATE_REVERSE, relay_chn_get_state(ch)); // Should now be in reverse state
+}
+
+// TEST_CASE 8: Test transition from reverse to forward with inertia and state checks
+// Scenario: RELAY_CHN_STATE_REVERSE -> (relay_chn_run_forward) -> RELAY_CHN_STATE_STOPPED -> (inertia) -> RELAY_CHN_STATE_FORWARD
+TEST_CASE("Reverse to Forward transition with opposite inertia", "[relay_chn][inertia]") {
+    ESP_LOGI("TEST", "Running test: Reverse to Forward transition with opposite inertia");
+    uint8_t ch = 0;
+
+    // 1. Start in reverse direction
+    relay_chn_run_reverse(ch); // relay_chn_run_reverse returns void
+    vTaskDelay(pdMS_TO_TICKS(test_delay_margin_ms));
+    TEST_ASSERT_EQUAL(RELAY_CHN_STATE_REVERSE, relay_chn_get_state(ch));
+
+    // 2. Issue forward command
+    relay_chn_run_forward(ch); // relay_chn_run_forward returns void
+    vTaskDelay(pdMS_TO_TICKS(test_delay_margin_ms));
+    TEST_ASSERT_EQUAL(RELAY_CHN_STATE_FORWARD_PENDING, relay_chn_get_state(ch));
+
+    // Wait for inertia
+    vTaskDelay(pdMS_TO_TICKS(opposite_inertia_ms + test_delay_margin_ms));
+    TEST_ASSERT_EQUAL(RELAY_CHN_STATE_FORWARD, relay_chn_get_state(ch));
+}
+
+// TEST_CASE 9: Test issuing the same run command while already running (no inertia expected)
+// Scenario: RELAY_CHN_STATE_FORWARD -> (relay_chn_run_forward) -> RELAY_CHN_STATE_FORWARD
+TEST_CASE("Running in same direction does not incur inertia", "[relay_chn][inertia]") {
+    ESP_LOGI("TEST", "Running test: Running in same direction does not incur inertia");
+    uint8_t ch = 0;
+
+    // 1. Start in forward direction
+    relay_chn_run_forward(ch); // relay_chn_run_forward returns void
+    vTaskDelay(pdMS_TO_TICKS(test_delay_margin_ms));
+    TEST_ASSERT_EQUAL(RELAY_CHN_STATE_FORWARD, relay_chn_get_state(ch));
+
+    // 2. Issue the same forward command again
+    relay_chn_run_forward(ch); // relay_chn_run_forward returns void
+    // As per the code, is_direction_opposite_to_current_motion should return false, so no inertia.
+    // Just a short delay to check state remains the same.
+    vTaskDelay(pdMS_TO_TICKS(test_delay_margin_ms)); 
+    TEST_ASSERT_EQUAL(RELAY_CHN_STATE_FORWARD, relay_chn_get_state(ch));
+}
+
+// TEST_CASE 10: Test transition from FREE state to running (no inertia expected)
+// Scenario: RELAY_CHN_STATE_FREE -> (relay_chn_run_forward) -> RELAY_CHN_STATE_FORWARD
+TEST_CASE("FREE to Running transition without inertia", "[relay_chn][inertia]") {
+    ESP_LOGI("TEST", "Running test: FREE to Running transition without inertia");
+    uint8_t ch = 0;
+
+    // setUp() should have already brought the channel to FREE state
+    TEST_ASSERT_EQUAL(RELAY_CHN_STATE_FREE, relay_chn_get_state(ch));
+
+    // Start in forward direction
+    relay_chn_run_forward(ch); // relay_chn_run_forward returns void
+    // No inertia is expected when starting from FREE state.
+    vTaskDelay(pdMS_TO_TICKS(test_delay_margin_ms));
+    TEST_ASSERT_EQUAL(RELAY_CHN_STATE_FORWARD, relay_chn_get_state(ch));
+}
+
+
+// ### Tilt Functionality Tests (Conditional)
+
+// This section will only be compiled if **`CONFIG_RELAY_CHN_ENABLE_TILTING`** is defined as **`1`** in `sdkconfig`.
+
+#if CONFIG_RELAY_CHN_ENABLE_TILTING == 1
+
+#define RELAY_CHN_CMD_FORWARD 1
+#define RELAY_CHN_CMD_REVERSE 2
+
+// Helper function to prepare channel for tilt tests
+void prepare_channel_for_tilt(uint8_t chn_id, int initial_cmd) {
+    // Ensure the channel has had a 'last_run_cmd'
+    if (initial_cmd == RELAY_CHN_CMD_FORWARD) {
+        relay_chn_run_forward(chn_id);
+    } else { // Assuming initial_cmd is RELAY_CHN_CMD_REVERSE
+        relay_chn_run_reverse(chn_id);
+    }
+    vTaskDelay(pdMS_TO_TICKS(test_delay_margin_ms)); // Allow command to process
+    relay_chn_stop(chn_id); // Stop it to set last_run_cmd but return to FREE for next test
+    vTaskDelay(pdMS_TO_TICKS(opposite_inertia_ms + test_delay_margin_ms));
+    TEST_ASSERT_EQUAL(RELAY_CHN_STATE_FREE, relay_chn_get_state(chn_id));
+}
+
+// TEST_CASE 11: Test transition from running forward to tilt forward
+// Scenario: RELAY_CHN_STATE_FORWARD -> (relay_chn_tilt_forward) -> RELAY_CHN_STATE_STOPPED -> (inertia) -> RELAY_CHN_STATE_TILT_FORWARD
+TEST_CASE("Run Forward to Tilt Forward transition with inertia", "[relay_chn][tilt][inertia]") {
+    ESP_LOGI("TEST", "Running test: Run Forward to Tilt Forward transition with inertia");
+    uint8_t ch = 0;
+
+    // Prepare channel by running forward first to set last_run_cmd
+    prepare_channel_for_tilt(ch, RELAY_CHN_CMD_FORWARD);
+
+    // 1. Start in forward direction
+    relay_chn_run_forward(ch); 
+    vTaskDelay(pdMS_TO_TICKS(test_delay_margin_ms));
+    TEST_ASSERT_EQUAL(RELAY_CHN_STATE_FORWARD, relay_chn_get_state(ch));
+
+    // 2. Issue tilt forward command
+    relay_chn_tilt_forward(ch); 
+    // After tilt command, it should immediately stop and then trigger inertia.
+    vTaskDelay(pdMS_TO_TICKS(test_delay_margin_ms)); 
+    TEST_ASSERT_EQUAL(RELAY_CHN_STATE_STOPPED, relay_chn_get_state(ch)); 
+
+    // Wait for the inertia period (after which the tilt command will be dispatched)
+    vTaskDelay(pdMS_TO_TICKS(opposite_inertia_ms + test_delay_margin_ms));
+    TEST_ASSERT_EQUAL(RELAY_CHN_STATE_TILT_FORWARD, relay_chn_get_state(ch));
+}
+
+// TEST_CASE 12: Test transition from running reverse to tilt reverse
+// Scenario: RELAY_CHN_STATE_REVERSE -> (relay_chn_tilt_reverse) -> RELAY_CHN_STATE_STOPPED -> (inertia) -> RELAY_CHN_STATE_TILT_REVERSE
+TEST_CASE("Run Reverse to Tilt Reverse transition with inertia", "[relay_chn][tilt][inertia]") {
+    ESP_LOGI("TEST", "Running test: Run Reverse to Tilt Reverse transition with inertia");
+    uint8_t ch = 0;
+
+    // Prepare channel by running reverse first to set last_run_cmd
+    prepare_channel_for_tilt(ch, RELAY_CHN_CMD_REVERSE);
+
+    // 1. Start in reverse direction
+    relay_chn_run_reverse(ch); 
+    vTaskDelay(pdMS_TO_TICKS(test_delay_margin_ms));
+    TEST_ASSERT_EQUAL(RELAY_CHN_STATE_REVERSE, relay_chn_get_state(ch));
+
+    // 2. Issue tilt reverse command
+    relay_chn_tilt_reverse(ch); 
+    vTaskDelay(pdMS_TO_TICKS(test_delay_margin_ms));
+    TEST_ASSERT_EQUAL(RELAY_CHN_STATE_STOPPED, relay_chn_get_state(ch));
+
+    vTaskDelay(pdMS_TO_TICKS(opposite_inertia_ms + test_delay_margin_ms));
+    TEST_ASSERT_EQUAL(RELAY_CHN_STATE_TILT_REVERSE, relay_chn_get_state(ch));
+}
+
+// TEST_CASE 13: Test transition from FREE state to tilt forward (now with preparation)
+// Scenario: RELAY_CHN_STATE_FREE -> (prepare) -> RELAY_CHN_STATE_FREE -> (relay_chn_tilt_forward) -> RELAY_CHN_STATE_STOPPED -> (inertia) -> RELAY_CHN_STATE_TILT_FORWARD
+TEST_CASE("FREE to Tilt Forward transition with inertia (prepared)", "[relay_chn][tilt][inertia]") {
+    ESP_LOGI("TEST", "Running test: FREE to Tilt Forward transition with inertia (prepared)");
+    uint8_t ch = 0;
+
+    // Prepare channel by running forward first to set last_run_cmd
+    prepare_channel_for_tilt(ch, RELAY_CHN_CMD_FORWARD);
+    TEST_ASSERT_EQUAL(RELAY_CHN_STATE_FREE, relay_chn_get_state(ch)); // Ensure we are back to FREE
+
+    // Issue tilt forward command
+    relay_chn_tilt_forward(ch); 
+    // From FREE state, tilt command should still incur the inertia due to the internal timer logic
+    vTaskDelay(pdMS_TO_TICKS(test_delay_margin_ms)); 
+    TEST_ASSERT_EQUAL(RELAY_CHN_STATE_TILT_FORWARD, relay_chn_get_state(ch));
+}
+
+// TEST_CASE 14: Test transition from FREE state to tilt reverse (now with preparation)
+// Scenario: RELAY_CHN_STATE_FREE -> (prepare) -> RELAY_CHN_STATE_FREE -> (relay_chn_tilt_reverse) -> RELAY_CHN_STATE_STOPPED -> (inertia) -> RELAY_CHN_STATE_TILT_REVERSE
+TEST_CASE("FREE to Tilt Reverse transition with inertia (prepared)", "[relay_chn][tilt][inertia]") {
+    ESP_LOGI("TEST", "Running test: FREE to Tilt Reverse transition with inertia (prepared)");
+    uint8_t ch = 0;
+
+    // Prepare channel by running reverse first to set last_run_cmd
+    prepare_channel_for_tilt(ch, RELAY_CHN_CMD_REVERSE);
+    TEST_ASSERT_EQUAL(RELAY_CHN_STATE_FREE, relay_chn_get_state(ch)); // Ensure we are back to FREE
+
+    // Issue tilt reverse command
+    relay_chn_tilt_reverse(ch); 
+    vTaskDelay(pdMS_TO_TICKS(test_delay_margin_ms));
+    TEST_ASSERT_EQUAL(RELAY_CHN_STATE_TILT_REVERSE, relay_chn_get_state(ch));
+}
+
+// TEST_CASE 15: Test transition from tilt forward to run forward (inertia expected for run)
+// Scenario: RELAY_CHN_STATE_TILT_FORWARD -> (relay_chn_run_forward) -> RELAY_CHN_STATE_FORWARD
+TEST_CASE("Tilt Forward to Run Forward transition with inertia", "[relay_chn][tilt][inertia]") {
+    ESP_LOGI("TEST", "Running test: Tilt Forward to Run Forward transition with inertia");
+    uint8_t ch = 0;
+
+    // Prepare channel by running forward first to set last_run_cmd, then tilt
+    prepare_channel_for_tilt(ch, RELAY_CHN_CMD_FORWARD);
+    relay_chn_tilt_forward(ch); // Go to tilt state
+    vTaskDelay(pdMS_TO_TICKS(opposite_inertia_ms + test_delay_margin_ms));
+    TEST_ASSERT_EQUAL(RELAY_CHN_STATE_TILT_FORWARD, relay_chn_get_state(ch));
+
+    // 2. Issue run forward command
+    relay_chn_run_forward(ch); 
+    // From Tilt to Run in the same logical name but in the opposite direction, inertia is expected.
+    TEST_ASSERT_EQUAL(RELAY_CHN_STATE_FORWARD_PENDING, relay_chn_get_state(ch));
+    vTaskDelay(pdMS_TO_TICKS(opposite_inertia_ms + test_delay_margin_ms));
+    TEST_ASSERT_EQUAL(RELAY_CHN_STATE_FORWARD, relay_chn_get_state(ch));
+}
+
+// TEST_CASE 16: Test transition from tilt reverse to run reverse (no inertia expected for run)
+// Scenario: RELAY_CHN_STATE_TILT_REVERSE -> (relay_chn_run_reverse) -> RELAY_CHN_STATE_REVERSE
+TEST_CASE("Tilt Reverse to Run Reverse transition with inertia", "[relay_chn][tilt][inertia]") {
+    ESP_LOGI("TEST", "Running test: Tilt Reverse to Run Reverse transition with inertia");
+    uint8_t ch = 0;
+
+    // Prepare channel by running reverse first to set last_run_cmd, then tilt
+    prepare_channel_for_tilt(ch, RELAY_CHN_CMD_REVERSE);
+    relay_chn_tilt_reverse(ch); // Go to tilt state
+    vTaskDelay(pdMS_TO_TICKS(opposite_inertia_ms + test_delay_margin_ms));
+    TEST_ASSERT_EQUAL(RELAY_CHN_STATE_TILT_REVERSE, relay_chn_get_state(ch));
+
+    // 2. Issue run reverse command
+    relay_chn_run_reverse(ch); 
+    TEST_ASSERT_EQUAL(RELAY_CHN_STATE_REVERSE_PENDING, relay_chn_get_state(ch));
+    vTaskDelay(pdMS_TO_TICKS(opposite_inertia_ms + test_delay_margin_ms));
+    TEST_ASSERT_EQUAL(RELAY_CHN_STATE_REVERSE, relay_chn_get_state(ch));
+}
+
+// TEST_CASE 17: Test transition from tilt forward to run reverse (without inertia)
+// Scenario: RELAY_CHN_STATE_TILT_FORWARD -> (relay_chn_run_reverse) -> RELAY_CHN_STATE_REVERSE
+TEST_CASE("Tilt Forward to Run Reverse transition without inertia", "[relay_chn][tilt][inertia]") {
+    ESP_LOGI("TEST", "Running test: Tilt Forward to Run Reverse transition without inertia");
+    uint8_t ch = 0;
+
+    // Prepare channel by running forward first to set last_run_cmd, then tilt
+    prepare_channel_for_tilt(ch, RELAY_CHN_CMD_FORWARD);
+    relay_chn_tilt_forward(ch); // Go to tilt state
+    vTaskDelay(pdMS_TO_TICKS(opposite_inertia_ms + test_delay_margin_ms));
+    TEST_ASSERT_EQUAL(RELAY_CHN_STATE_TILT_FORWARD, relay_chn_get_state(ch));
+
+    // 2. Issue run reverse command (opposite direction)
+    relay_chn_run_reverse(ch); 
+    vTaskDelay(pdMS_TO_TICKS(test_delay_margin_ms));
+    TEST_ASSERT_EQUAL(RELAY_CHN_STATE_REVERSE, relay_chn_get_state(ch));
+}
+
+// TEST_CASE 18: Test stopping from a tilt state (no inertia for stop command itself)
+// Scenario: RELAY_CHN_STATE_TILT_FORWARD -> (relay_chn_stop) -> RELAY_CHN_STATE_STOPPED -> (inertia) -> RELAY_CHN_STATE_FREE
+TEST_CASE("Tilt to Stop transition without immediate inertia for stop", "[relay_chn][tilt][inertia]") {
+    ESP_LOGI("TEST", "Running test: Tilt to Stop transition without immediate inertia for stop");
+    uint8_t ch = 0;
+
+    // Prepare channel by running forward first to set last_run_cmd, then tilt
+    prepare_channel_for_tilt(ch, RELAY_CHN_CMD_FORWARD);
+    relay_chn_tilt_forward(ch); // Go to tilt state
+    vTaskDelay(pdMS_TO_TICKS(opposite_inertia_ms + test_delay_margin_ms));
+    TEST_ASSERT_EQUAL(RELAY_CHN_STATE_TILT_FORWARD, relay_chn_get_state(ch));
+
+    // 2. Issue stop command
+    relay_chn_stop(ch);
+    // Stop command should apply immediately, setting state to FREE since last state was tilt.
+    vTaskDelay(pdMS_TO_TICKS(test_delay_margin_ms));
+    TEST_ASSERT_EQUAL(RELAY_CHN_STATE_FREE, relay_chn_get_state(ch));
+}
+
+#else // CONFIG_RELAY_CHN_ENABLE_TILTING == 0
+// If tilt functionality is disabled, these tests are skipped.
+// A dummy test case is added to indicate this in the test output.
+TEST_CASE("Tilt functionality is disabled, skipping tilt tests", "[relay_chn][tilt_disabled]") {
+    ESP_LOGI("TEST", "Tilt functionality is disabled (CONFIG_RELAY_CHN_ENABLE_TILTING is 0). Skipping tilt tests.");
+    TEST_ASSERT_TRUE(true); // Just to ensure at least one test passes for visibility
+}
+#endif // CONFIG_RELAY_CHN_ENABLE_TILTING
+
+
+// ### `app_main` Function
+
+// --- app_main function ---
+void app_main(void) {
+    ESP_LOGI("APP_MAIN", "Starting relay_chn unit tests...");
+
+    // Run the Unity test runner
+    unity_run_all_tests();
+
+    // After tests complete, instead of restarting, the device will halt.
+    ESP_LOGI("APP_MAIN", "All relay_chn tests completed. Device halted.");
+    while (1) {
+        vTaskDelay(pdMS_TO_TICKS(1000)); // Wait with low power consumption
+    }
+}

relay_chn/CMakeLists.txt

@@ -0,0 +1,4 @@
+idf_component_register(SRCS "src/relay_chn.c"
+                    INCLUDE_DIRS include
+                    REQUIRES driver
+                    PRIV_REQUIRES esp_timer esp_event)

relay_chn/Kconfig

@@ -0,0 +1,29 @@
+menu "Relay Channel Driver Configuration"
+
+    config RELAY_CHN_OPPOSITE_INERTIA_MS
+        int "Inertia time before it runs opposite direction (ms)"
+        range 200 1500
+        default 800
+        help
+            Time to wait after changing the direction of the output before
+            starting the output. This is useful for the motors or some other
+            mechanical actuators to allow them to stop and settle before
+            changing the direction.
+    
+    config RELAY_CHN_COUNT
+        int "Number of relay channels"
+        range 1 8
+        default 1
+        help
+            Number of relay channels between 1 and 8.
+    
+    config RELAY_CHN_ENABLE_TILTING
+        bool "Enable tilting on relay channels"
+        default n
+        help
+            This option controls enabling tilting on channels. Tilting makes
+            a channel move with a specific pattern moving with small steps
+            at a time. Tilting is specifically designed for controlling some
+            types of curtains that need to be adjusted to let enter specific
+            amount of day light.
+endmenu

relay_chn/idf_component.yml

@@ -0,0 +1,6 @@
+name: relay_chn
+version: "0.4.0"
+description: "Custom component for relay channel control"
+license: "MIT"
+url: "https://git.kozmotronik.com.tr/KozmotronikTech/relay_chn_component"
+repository: "https://git.kozmotronik.com.tr/KozmotronikTech/relay_chn_component.git"

relay_chn/include/relay_chn.h

@@ -0,0 +1,283 @@
+#ifndef RELAY_CHN_H
+#define RELAY_CHN_H
+/**
+ * @file relay_chn.h
+ * 
+ * @author
+ * Ismail Sahillioglu <ismailsahillioglu@gmail.com>
+ *
+ * @date 2025.02.08
+ * 
+ * @defgroup relay_chn Relay Channel Controller
+ * @ingroup components
+ * @{
+ * One relay channel consists of 2 output relays, hence 2 GPIO pins are required for each relay channel.
+ * This module provides an API to control the relay channels, specifically to drive bipolar motors.
+ * It also provides APIs to control the direction of the relay channel, bipolar motors in mind.
+ * To prevent mechanical strain on the motor, the component automatically manages direction changes 
+ * with a configurable inertia delay, protecting it from abrupt reversals.
+ * The STOP command overrides any other command and clears the pending command if any.
+ * 
+ * The module internally uses a custom esp event loop to handle relay commands serially to ensure
+ * reliability and prevent conflict operations. Also, the esp timer is used to manage the direction change inertia.
+ */
+
+#include "esp_err.h"
+#include "driver/gpio.h"
+#include <stdint.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#define RELAY_CHN_ID_ALL   CONFIG_RELAY_CHN_COUNT ///< Special ID to address all channels
+
+/**
+ * @brief Enumeration for relay channel direction.
+ */
+enum relay_chn_direction_enum {
+    RELAY_CHN_DIRECTION_DEFAULT, ///< Default direction of the relay channel.
+    RELAY_CHN_DIRECTION_FLIPPED  ///< Flipped direction of the relay channel.
+};
+
+/**
+ * @brief Alias for the enum type relay_chn_direction_enum.
+ */
+typedef enum relay_chn_direction_enum relay_chn_direction_t;
+
+/**
+ * @brief Enums that represent the state of a relay channel.
+ */
+enum relay_chn_state_enum {
+    RELAY_CHN_STATE_FREE,       ///< The relay channel is free to run or execute commands.
+    RELAY_CHN_STATE_STOPPED,    ///< The relay channel is stopped and not running.
+    RELAY_CHN_STATE_FORWARD,    ///< The relay channel is running in the forward direction.
+    RELAY_CHN_STATE_REVERSE,    ///< The relay channel is running in the reverse direction.
+    RELAY_CHN_STATE_FORWARD_PENDING,    ///< The relay channel is pending to run in the forward direction.
+    RELAY_CHN_STATE_REVERSE_PENDING,    ///< The relay channel is pending to run in the reverse direction.
+#if CONFIG_RELAY_CHN_ENABLE_TILTING == 1
+    RELAY_CHN_STATE_TILT_FORWARD,    ///< The relay channel is tilting for forward.
+    RELAY_CHN_STATE_TILT_REVERSE,    ///< The relay channel is tilting for reverse.
+#endif
+};
+
+/**
+ * @brief Alias for the enum type relay_chn_state_enum.
+ */
+typedef enum relay_chn_state_enum relay_chn_state_t;
+
+/**
+ * @brief Relay channel state change listener.
+ *
+ * An optional interface to listen to the channel state change events.
+ * The listeners SHOULD be implemented as light functions and SHOULD NOT contain
+ * any blocking calls. Otherwise the relay_chn module would not function properly
+ * since it is designed as event driven.
+ *
+ * @param chn_id The ID of the channel whose state has changed.
+ * @param old_state The old state of the channel.
+ * @param new_state The new state of the channel.
+ */
+typedef void (*relay_chn_state_listener_t)(uint8_t chn_id, relay_chn_state_t old_state, relay_chn_state_t new_state);
+
+
+/**
+ * @brief Create and initialize relay channels.
+ *
+ * This function initializes the relay channels based on the provided GPIO map.
+ *
+ * @param gpio_map Pointer to an array of GPIO numbers that correspond to the relay channels.
+ * @param gpio_count The number of GPIOs in the gpio_map array.
+ *
+ * @return
+ *     - ESP_OK: Success
+ *     - ESP_ERR_INVALID_ARG: Invalid argument
+ *     - ESP_FAIL: General failure
+ */
+esp_err_t relay_chn_create(const gpio_num_t* gpio_map, uint8_t gpio_count);
+
+/**
+ * @brief Register a channel state change listener.
+ * 
+ * @param listener A function that implements relay_chn_state_listener_t interface.
+ *
+ * @return
+ *     - ESP_OK: Success
+ *     - ESP_ERR_INVALID_ARG: Invalid argument
+ *     - ESP_ERR_NO_MEM: No enough memory
+ *     - ESP_FAIL: General failure
+ */
+esp_err_t relay_chn_register_listener(relay_chn_state_listener_t listener);
+
+/**
+ * @brief Unregister a channel state change listener.
+ * 
+ * @param listener A function that implements relay_chn_state_listener_t interface.
+ */
+void relay_chn_unregister_listener(relay_chn_state_listener_t listener);
+
+/**
+ * @brief Get the state of the specified relay channel.
+ *
+ * This function retrieves the current state of the relay channel identified by the given channel ID.
+ *
+ * @param chn_id The ID of the relay channel whose state is to be retrieved.
+ * @return The current state of the specified relay channel.
+ */
+relay_chn_state_t relay_chn_get_state(uint8_t chn_id);
+
+/**
+ * @brief Get the state string of the specified relay channel.
+ *
+ * This function returns a string representation of the state of the relay
+ * channel identified by the given channel ID.
+ *
+ * @param chn_id The ID of the relay channel whose state is to be retrieved.
+ *               The valid range of channel IDs depends on the specific hardware
+ *               and implementation.
+ *
+ * @return A pointer to a string representing the state of the specified relay
+ *         channel. The returned string is managed internally and should not be
+ *         modified or freed by the caller.
+ */
+char *relay_chn_get_state_str(uint8_t chn_id);
+
+/**
+ * @brief Return the text presentation of an state.
+ * 
+ * @param state A state with type of relay_chn_state_t.
+ * @return char* The text presentation of the state. "UNKNOWN" if the state is not known.
+ */
+char *relay_chn_state_str(relay_chn_state_t state);
+
+/**
+ * @brief Runs the relay channel in the forward direction.
+ *
+ * This function activates the specified relay channel to run in the forward direction.
+ *
+ * @param chn_id The ID of the relay channel to be activated.
+ */
+void relay_chn_run_forward(uint8_t chn_id);
+
+/**
+ * @brief Runs the relay channel in reverse.
+ *
+ * This function activates the specified relay channel to run in reverse.
+ *
+ * @param chn_id The ID of the relay channel to be reversed.
+ */
+void relay_chn_run_reverse(uint8_t chn_id);
+
+/**
+ * @brief Stops the relay channel specified by the channel ID.
+ *
+ * This function stops the operation of the relay channel identified by the 
+ * provided channel ID. It is typically used to turn off or disable the relay 
+ * channel.
+ *
+ * @param chn_id The ID of the relay channel to stop.
+ */
+void relay_chn_stop(uint8_t chn_id);
+
+/**
+ * @brief Flips the direction of the specified relay channel.
+ *
+ * This function toggles the direction of the relay channel identified by the
+ * given channel ID. It is typically used to change the state of the relay
+ * from its current direction to the opposite direction.
+ *
+ * @param chn_id The ID of the relay channel to flip. This should be a valid
+ *               channel ID within the range of available relay channels.
+ */
+void relay_chn_flip_direction(uint8_t chn_id);
+
+/**
+ * @brief Get the direction of the specified relay channel.
+ *
+ * This function retrieves the direction configuration of a relay channel
+ * identified by the given channel ID.
+ *
+ * @param chn_id The ID of the relay channel to query.
+ * @return The direction of the specified relay channel as a value of type
+ *         relay_chn_direction_t.
+ */
+relay_chn_direction_t relay_chn_get_direction(uint8_t chn_id);
+
+
+#if CONFIG_RELAY_CHN_ENABLE_TILTING == 1
+
+/**
+ * @brief Enables automatic tilting for the specified relay channel.
+ *
+ * This function enables automatic tilting mode for the given relay channel.  The channel will automatically
+ * switch between forward and reverse tilting based on some internal sensing mechanism (not detailed here).  
+ * Requires appropriate hardware support and configuration.
+ *
+ * @param chn_id The ID of the relay channel to enable automatic tilting.
+ */
+void relay_chn_tilt_auto(uint8_t chn_id);
+
+/**
+ * @brief Tilts the specified relay channel forward.
+ *
+ * This function initiates a forward tilting action for the specified relay channel.  This is a manual tilting 
+ * operation, unlike `relay_chn_tilt_auto()`.
+ *
+ * @param chn_id The ID of the relay channel to tilt forward.
+ */
+void relay_chn_tilt_forward(uint8_t chn_id);
+
+/**
+ * @brief Tilts the specified relay channel reverse.
+ *
+ * This function initiates a reverse tilting action for the specified relay channel. This is a manual tilting
+ * operation, unlike `relay_chn_tilt_auto()`.
+ *
+ * @param chn_id The ID of the relay channel to tilt reverse.
+ */
+void relay_chn_tilt_reverse(uint8_t chn_id);
+
+/**
+ * @brief Stops the tilting action on the specified relay channel.
+ *
+ * This function stops any ongoing tilting action (automatic or manual) on the specified relay channel.
+ *
+ * @param chn_id The ID of the relay channel to stop tilting.
+ */
+void relay_chn_tilt_stop(uint8_t chn_id);
+
+/**
+ * @brief Sets the tilting sensitivity for the specified relay channel.
+ *
+ * This function sets the sensitivity for the automatic tilting mechanism. A higher sensitivity value
+ * typically means the channel will react more readily to tilting events.
+ *
+ * @param chn_id The ID of the relay channel to set the sensitivity for.
+ * @param sensitivity The sensitivity in percentage: 0 - 100%.
+ */
+void relay_chn_tilt_sensitivity_set(uint8_t chn_id, uint8_t sensitivity);
+
+/**
+ * @brief Gets the tilting sensitivity for the specified relay channel.
+ *
+ * This function retrieves the currently set sensitivity for the specified relay channel's automatic
+ * tilting mechanism.
+ *
+ * @param chn_id The ID of the relay channel to get the sensitivity for.
+ * @param sensitivity The pointer to the memory in to which the sensitivity values will be copied.
+ * @param length The length of the sensitvity memory.
+ * @return
+ *      - ESP_OK: Success
+ *      - ESP_ERR_INVALID_ARG: Invalid argument
+ */
+esp_err_t relay_chn_tilt_sensitivity_get(uint8_t chn_id, uint8_t *sensitivity, size_t length);
+
+#endif // CONFIG_RELAY_CHN_ENABLE_TILTING
+
+#ifdef __cplusplus
+}
+#endif
+
+/// @}
+
+#endif // RELAY_CHN_H

relay_chn/sdkconfig.defaults

@@ -0,0 +1,5 @@
+# For IDF 5.0
+CONFIG_ESP_TASK_WDT_EN=n
+
+# For IDF4.4
+CONFIG_ESP_TASK_WDT=n