Merge pull request 'Merge main with the latest changes and its tag into dev' (!40) from main into dev

Reviewed-on: #40

.gitignore

@@ -59,6 +59,7 @@ tools/test_apps/**/sdkconfig.old
 # autogenerated config files
 sdkconfig
 test_apps/sdkconfig
+test_apps/sdkconfig.old
 
 TEST_LOGS/
 build_summary_*.xml
@@ -113,4 +114,4 @@ XUNIT_RESULT*.xml
 .clangd
 
 # Vale
-.vale/styles/*
+.vale/styles/*

README.md

@@ -130,7 +130,7 @@ dependencies:
   # Add as a custom component from git repository
   relay_chn:
     git: https://git.kozmotronik.com.tr/KozmotronikTech/relay_chn.git
-    version: '>=0.5.0'
+    version: '>=1.0.0'
 ```
 
 ## Usage

idf_component.yml

@@ -1,6 +1,12 @@
-name: relay_chn
+version: "1.0.0"
-version: "0.5.0"
+description: "Relay channel driver for bipolar motors."
-description: "Custom component for relay channel control"
 license: "MIT"
 url: "https://git.kozmotronik.com.tr/KozmotronikTech/relay_chn"
-repository: "https://git.kozmotronik.com.tr/KozmotronikTech/relay_chn.git"
+repository: "https://git.kozmotronik.com.tr/KozmotronikTech/relay_chn.git"
+dependencies:
+  idf: ">=5.0"
+examples:
+  - path: examples/relay_chn_single
+  - path: examples/relay_chn_multi
+files:
+  use_gitignore: true

scripts/run_tests.sh

@@ -98,8 +98,7 @@ fi
 script_dir=$(dirname "$(readlink -f "$0")")
 project_root=$(dirname "$script_dir")
 
-echo "🔍 Searching for 'test_apps' directory in '$project_root'..."
+test_apps_dir="${project_root}/test_apps"
-test_apps_dir=$(find "$project_root" -type d -name "test_apps" | head -n 1)
 
 if [[ -z "$test_apps_dir" || ! -d "$test_apps_dir" ]]; then
     echo "❌ 'test_apps' directory not found within the project root: '$project_root'"
@@ -107,7 +106,7 @@ if [[ -z "$test_apps_dir" || ! -d "$test_apps_dir" ]]; then
     exit 1
 fi
 
-echo "✅ Found 'test_apps' at: $test_apps_dir"
+echo "⏳ Current time is: $(date +"%Y-%m-%d %H:%M:%S")"
 echo "🧪 Test mode: $arg_tag | Profile: $arg_profile"
 echo "🧹 Clean: $arg_clean | 📄 Log: $arg_log"
 

scripts/run_tests_all_profiles.sh

@@ -14,10 +14,15 @@ project_root=$(dirname "$script_dir")
 echo "Script dir: ${script_dir}"
 echo "Project root: ${project_root}"
 
-echo "🔍 Searching for 'test_apps' directory in '$project_root'..."
+test_apps_dir="${project_root}/test_apps"
-test_apps_dir=$(find "$project_root" -type d -name "test_apps" | head -n 1)
 echo "test_apps dir: ${test_apps_dir}"
 
+if [[ -z "$test_apps_dir" || ! -d "$test_apps_dir" ]]; then
+    echo "❌ 'test_apps' directory not found within the project root: '$project_root'"
+    echo "   Please ensure the script is in a 'scripts' directory and 'test_apps' is a sibling."
+    exit 1
+fi
+
 # Execute tests for all profiles
 mapfile -t profiles < <(find "${test_apps_dir}/profiles" -maxdepth 1 -type f)
 

src/relay_chn_ctl_single.c

@@ -15,7 +15,7 @@
 #include "relay_chn_nvs.h"
 #endif
 
-static const char *TAG = "RELAY_CHN_CTL";
+static const char *TAG __attribute__((unused)) = "RELAY_CHN_CTL";
 
 static relay_chn_ctl_t s_chn_ctl;
 

test_apps/main/test_relay_chn_tilt_multi.c

@@ -21,14 +21,13 @@
 void check_all_channels_for_state(relay_chn_state_t state)
 {
     for (int i = 0; i < CONFIG_RELAY_CHN_COUNT; i++) {
+        // ESP_LOGI(TEST_TAG, "Checking channel %d for state %d", i, state);
         TEST_ASSERT_EQUAL(state, relay_chn_get_state(i));
     }
 }
 
 // Helper function to prepare channel for tilt tests
 void prepare_channels_for_tilt_with_mixed_runs() {
-    // Ensure the channel reset tilt control
-    relay_chn_tilt_stop_all();
     vTaskDelay(pdMS_TO_TICKS(TEST_DELAY_MARGIN_MS));
 
     // Ensure the channel has had a 'last_run_cmd'
@@ -40,16 +39,19 @@ void prepare_channels_for_tilt_with_mixed_runs() {
         }
     }
 
-    vTaskDelay(pdMS_TO_TICKS(TEST_DELAY_MARGIN_MS)); // Allow command to process
+    for (int i = 0; i < CONFIG_RELAY_CHN_COUNT; i++) {
-    relay_chn_stop_all(); // Stop it to set last_run_cmd but return to FREE for next test
+        relay_chn_state_t expect_state;
-    vTaskDelay(pdMS_TO_TICKS(CONFIG_RELAY_CHN_OPPOSITE_INERTIA_MS + TEST_DELAY_MARGIN_MS));
+        if (i % 2 == 0) {
-    check_all_channels_for_state(RELAY_CHN_STATE_IDLE);
+            expect_state = RELAY_CHN_STATE_FORWARD;
+        } else { // Assuming initial_cmd is RELAY_CHN_CMD_REVERSE
+            expect_state = RELAY_CHN_STATE_REVERSE;
+        }
+        TEST_ASSERT_EQUAL(expect_state, relay_chn_get_state(i));
+    }
 }
 
 // Helper function to prepare channel for tilt tests
 void prepare_all_channels_for_tilt(int initial_cmd) {
-    // Ensure the channel reset tilt control
-    relay_chn_tilt_stop_all();
     vTaskDelay(pdMS_TO_TICKS(TEST_DELAY_MARGIN_MS));
 
     // If the channels are not IDLE yet, wait more
@@ -64,6 +66,8 @@ void prepare_all_channels_for_tilt(int initial_cmd) {
     if (not_idle) {
         vTaskDelay(pdMS_TO_TICKS(CONFIG_RELAY_CHN_OPPOSITE_INERTIA_MS));
     }
+    // Ensure all channels are IDLE
+    check_all_channels_for_state(RELAY_CHN_STATE_IDLE);
 
     // Ensure the channel has had a 'last_run_cmd'
     if (initial_cmd == RELAY_CHN_CMD_FORWARD) {
@@ -71,20 +75,17 @@ void prepare_all_channels_for_tilt(int initial_cmd) {
     } else { // Assuming initial_cmd is RELAY_CHN_CMD_REVERSE
         relay_chn_run_reverse_all();
     }
-    vTaskDelay(pdMS_TO_TICKS(TEST_DELAY_MARGIN_MS)); // Allow command to process
-    relay_chn_stop_all(); // Stop all to set last_run_cmd but return to FREE for next test
-    vTaskDelay(pdMS_TO_TICKS(CONFIG_RELAY_CHN_OPPOSITE_INERTIA_MS + TEST_DELAY_MARGIN_MS));
 
-    check_all_channels_for_state(RELAY_CHN_STATE_IDLE);
+    relay_chn_state_t expect_state = initial_cmd == RELAY_CHN_CMD_FORWARD 
+                                     ? RELAY_CHN_STATE_FORWARD : RELAY_CHN_STATE_REVERSE;
+    check_all_channels_for_state(expect_state);
+    ESP_LOGI(TEST_TAG, "All channels prepared for tilt test");
 }
 
 // TEST_CASE: 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]")
 {
-    // Prepare channel by running forward first to set last_run_cmd
-    prepare_all_channels_for_tilt(RELAY_CHN_CMD_FORWARD);
-
     // 1. Start in forward direction
     relay_chn_run_forward_all();
     vTaskDelay(pdMS_TO_TICKS(TEST_DELAY_MARGIN_MS));
@@ -99,15 +100,15 @@ TEST_CASE("Run Forward to Tilt Forward transition with inertia", "[relay_chn][ti
     // Wait for the inertia period (after which the tilt command will be dispatched)
     vTaskDelay(pdMS_TO_TICKS(CONFIG_RELAY_CHN_OPPOSITE_INERTIA_MS));
     check_all_channels_for_state(RELAY_CHN_STATE_TILT_FORWARD);
+
+    // Ensure the channel reset tilt control
+    relay_chn_tilt_stop_all();
 }
 
 // TEST_CASE: 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]")
 {
-    // Prepare channel by running reverse first to set last_run_cmd
-    prepare_all_channels_for_tilt(RELAY_CHN_CMD_REVERSE);
-
     // 1. Start in reverse direction
     relay_chn_run_reverse_all();
     vTaskDelay(pdMS_TO_TICKS(TEST_DELAY_MARGIN_MS));
@@ -120,6 +121,9 @@ TEST_CASE("Run Reverse to Tilt Reverse transition with inertia", "[relay_chn][ti
 
     vTaskDelay(pdMS_TO_TICKS(CONFIG_RELAY_CHN_OPPOSITE_INERTIA_MS + TEST_DELAY_MARGIN_MS));
     check_all_channels_for_state(RELAY_CHN_STATE_TILT_REVERSE);
+
+    // Ensure the channel reset tilt control
+    relay_chn_tilt_stop_all();
 }
 
 // TEST_CASE: Test transition from FREE state to tilt forward (now with preparation)
@@ -128,12 +132,19 @@ TEST_CASE("FREE to Tilt Forward transition with inertia (prepared)", "[relay_chn
 {
     // Prepare channel by running forward first to set last_run_cmd
     prepare_all_channels_for_tilt(RELAY_CHN_CMD_FORWARD);
+    relay_chn_stop_all(); // Stop to trigger IDLE
+    // Wait for the channel to transition to IDLE
+    vTaskDelay(pdMS_TO_TICKS(CONFIG_RELAY_CHN_OPPOSITE_INERTIA_MS + TEST_DELAY_MARGIN_MS));
+    check_all_channels_for_state(RELAY_CHN_STATE_IDLE); // Ensure we are back to IDLE
 
     // Issue tilt forward command
     relay_chn_tilt_forward_all();
     // From FREE state, tilt command should still incur the inertia due to the internal timer logic
     vTaskDelay(pdMS_TO_TICKS(TEST_DELAY_MARGIN_MS));
     check_all_channels_for_state(RELAY_CHN_STATE_TILT_FORWARD);
+
+    // Ensure the channel reset tilt control
+    relay_chn_tilt_stop_all();
 }
 
 // TEST_CASE: Test transition from FREE state to tilt reverse (now with preparation)
@@ -142,11 +153,18 @@ TEST_CASE("FREE to Tilt Reverse transition with inertia (prepared)", "[relay_chn
 {
     // Prepare channel by running reverse first to set last_run_cmd
     prepare_all_channels_for_tilt(RELAY_CHN_CMD_REVERSE);
+    relay_chn_stop_all(); // Stop to trigger IDLE
+    // Wait for the channel to transition to IDLE
+    vTaskDelay(pdMS_TO_TICKS(CONFIG_RELAY_CHN_OPPOSITE_INERTIA_MS + TEST_DELAY_MARGIN_MS));
+    check_all_channels_for_state(RELAY_CHN_STATE_IDLE); // Ensure we are back to IDLE
 
     // Issue tilt reverse command
     relay_chn_tilt_reverse_all();
     vTaskDelay(pdMS_TO_TICKS(TEST_DELAY_MARGIN_MS));
     check_all_channels_for_state(RELAY_CHN_STATE_TILT_REVERSE);
+
+    // Ensure the channel reset tilt control
+    relay_chn_tilt_stop_all();
 }
 
 // TEST_CASE: Test transition from tilt forward to run forward (inertia expected for run)
@@ -165,6 +183,9 @@ TEST_CASE("Tilt Forward to Run Forward transition with inertia", "[relay_chn][ti
     check_all_channels_for_state(RELAY_CHN_STATE_FORWARD_PENDING);
     vTaskDelay(pdMS_TO_TICKS(CONFIG_RELAY_CHN_OPPOSITE_INERTIA_MS + TEST_DELAY_MARGIN_MS));
     check_all_channels_for_state(RELAY_CHN_STATE_FORWARD);
+
+    // Ensure the channel reset tilt control
+    relay_chn_tilt_stop_all();
 }
 
 // TEST_CASE: Test transition from tilt reverse to run reverse (no inertia expected for run)
@@ -182,6 +203,9 @@ TEST_CASE("Tilt Reverse to Run Reverse transition with inertia", "[relay_chn][ti
     check_all_channels_for_state(RELAY_CHN_STATE_REVERSE_PENDING);
     vTaskDelay(pdMS_TO_TICKS(CONFIG_RELAY_CHN_OPPOSITE_INERTIA_MS + TEST_DELAY_MARGIN_MS));
     check_all_channels_for_state(RELAY_CHN_STATE_REVERSE);
+
+    // Ensure the channel reset tilt control
+    relay_chn_tilt_stop_all();
 }
 
 // TEST_CASE: Test transition from tilt forward to run reverse (without inertia)
@@ -198,6 +222,9 @@ TEST_CASE("Tilt Forward to Run Reverse transition without inertia", "[relay_chn]
     relay_chn_run_reverse_all();
     vTaskDelay(pdMS_TO_TICKS(TEST_DELAY_MARGIN_MS));
     check_all_channels_for_state(RELAY_CHN_STATE_REVERSE);
+
+    // Ensure the channel reset tilt control
+    relay_chn_tilt_stop_all();
 }
 
 // TEST_CASE: Test stopping from a tilt state (no inertia for stop command itself)
@@ -228,10 +255,14 @@ TEST_CASE("tilt_forward_all sets all channels to TILT_FORWARD", "[relay_chn][til
 
     // 2. Issue tilt forward to all channels
     relay_chn_tilt_forward_all();
-    vTaskDelay(pdMS_TO_TICKS(TEST_DELAY_MARGIN_MS)); // Tilt from FREE doesn't have stop-inertia
+    // Should incur inertia timer
+    vTaskDelay(pdMS_TO_TICKS(CONFIG_RELAY_CHN_OPPOSITE_INERTIA_MS + TEST_DELAY_MARGIN_MS));
 
     // 3. Verify all channels are tilting forward
     check_all_channels_for_state(RELAY_CHN_STATE_TILT_FORWARD);
+
+    // Ensure the channel reset tilt control
+    relay_chn_tilt_stop_all();
 }
 
 TEST_CASE("tilt_reverse_all sets all channels to TILT_REVERSE", "[relay_chn][tilt][batch]")
@@ -241,10 +272,14 @@ TEST_CASE("tilt_reverse_all sets all channels to TILT_REVERSE", "[relay_chn][til
 
     // 2. Issue tilt reverse to all channels
     relay_chn_tilt_reverse_all();
-    vTaskDelay(pdMS_TO_TICKS(TEST_DELAY_MARGIN_MS));
+    // Should incur inertia timer
+    vTaskDelay(pdMS_TO_TICKS(CONFIG_RELAY_CHN_OPPOSITE_INERTIA_MS + TEST_DELAY_MARGIN_MS));
 
     // 3. Verify all channels are tilting reverse
     check_all_channels_for_state(RELAY_CHN_STATE_TILT_REVERSE);
+
+    // Ensure the channel reset tilt control
+    relay_chn_tilt_stop_all();
 }
 
 TEST_CASE("tilt_stop_all stops all tilting channels", "[relay_chn][tilt][batch]")
@@ -253,7 +288,10 @@ TEST_CASE("tilt_stop_all stops all tilting channels", "[relay_chn][tilt][batch]"
     prepare_all_channels_for_tilt(RELAY_CHN_CMD_FORWARD);
 
     relay_chn_tilt_forward_all();
-    vTaskDelay(pdMS_TO_TICKS(TEST_DELAY_MARGIN_MS));
+    // Should incur inertia timer
+    vTaskDelay(pdMS_TO_TICKS(CONFIG_RELAY_CHN_OPPOSITE_INERTIA_MS + TEST_DELAY_MARGIN_MS));
+    // 3. Verify all channels are tilting forward
+    check_all_channels_for_state(RELAY_CHN_STATE_TILT_FORWARD);
 
     // 2. Stop tilting on all channels
     relay_chn_tilt_stop_all();
@@ -265,15 +303,13 @@ TEST_CASE("tilt_stop_all stops all tilting channels", "[relay_chn][tilt][batch]"
 
 TEST_CASE("tilt_auto_all tilts channels based on last run direction", "[relay_chn][tilt][batch]")
 {
-    // This test requires at least 2 channels to demonstrate different behaviors
-    TEST_ASSERT_GREATER_OR_EQUAL_MESSAGE(2, CONFIG_RELAY_CHN_COUNT, "Test requires at least 2 channels");
-
     // 1. Prepare channel 0 with last run FORWARD and channel 1 with last run REVERSE
     prepare_channels_for_tilt_with_mixed_runs();
 
     // 2. Issue auto tilt command to all channels
     relay_chn_tilt_auto_all();
-    vTaskDelay(pdMS_TO_TICKS(TEST_DELAY_MARGIN_MS)); // Tilt from FREE state is dispatched immediately
+    // Should incur inertia timer
+    vTaskDelay(pdMS_TO_TICKS(CONFIG_RELAY_CHN_OPPOSITE_INERTIA_MS + TEST_DELAY_MARGIN_MS));
 
     // 3. Verify even channels tilt forward (last run was forward) and odd channels tilt reverse (last run was reverse)
     for (int i = 0; i < CONFIG_RELAY_CHN_COUNT; i++) {
@@ -282,6 +318,9 @@ TEST_CASE("tilt_auto_all tilts channels based on last run direction", "[relay_ch
 
         TEST_ASSERT_EQUAL(state, relay_chn_get_state(i));
     }
+
+    // Ensure the channel reset tilt control
+    relay_chn_tilt_stop_all();
 }
 
 // Test relay_chn_tilt_auto() chooses correct tilt direction
@@ -290,19 +329,24 @@ TEST_CASE("relay_chn_tilt_auto chooses correct direction", "[relay_chn][tilt][au
     // Prepare FORWARD
     prepare_all_channels_for_tilt(RELAY_CHN_CMD_FORWARD);
     relay_chn_tilt_auto_all();
-    vTaskDelay(pdMS_TO_TICKS(TEST_DELAY_MARGIN_MS));
+    // Should incur inertia timer
+    vTaskDelay(pdMS_TO_TICKS(CONFIG_RELAY_CHN_OPPOSITE_INERTIA_MS + TEST_DELAY_MARGIN_MS));
     // Verify all tilt forward
     check_all_channels_for_state(RELAY_CHN_STATE_TILT_FORWARD);
 
+    // Ensure the channel reset tilt control
     relay_chn_tilt_stop_all();
-    vTaskDelay(pdMS_TO_TICKS(TEST_DELAY_MARGIN_MS));
 
     // Prepare REVERSE
     prepare_all_channels_for_tilt(RELAY_CHN_CMD_REVERSE);
     relay_chn_tilt_auto_all();
-    vTaskDelay(pdMS_TO_TICKS(TEST_DELAY_MARGIN_MS));
+    // Should incur inertia timer
+    vTaskDelay(pdMS_TO_TICKS(CONFIG_RELAY_CHN_OPPOSITE_INERTIA_MS + TEST_DELAY_MARGIN_MS));
     // Verify all tilt reverse
     check_all_channels_for_state(RELAY_CHN_STATE_TILT_REVERSE);
+
+    // Ensure the channel reset tilt control
+    relay_chn_tilt_stop_all();
 }
 
 // Test sensitivity set/get
@@ -375,7 +419,14 @@ TEST_CASE("tilt counter logic: forward and reverse consumption", "[relay_chn][ti
 #define TEST_TILT_EXECUTION_TIME_MS 100
 
     prepare_all_channels_for_tilt(RELAY_CHN_CMD_FORWARD);
+
     relay_chn_tilt_set_sensitivity_all_with(100); // Set sentivity to max for fastest execution
+    // Ensure sensitivities are set correctly
+    uint8_t sensitivities[CONFIG_RELAY_CHN_COUNT];
+    uint8_t expect[CONFIG_RELAY_CHN_COUNT];
+    memset(expect, 100, CONFIG_RELAY_CHN_COUNT);
+    relay_chn_tilt_get_sensitivity_all(sensitivities);
+    TEST_ASSERT_EQUAL_UINT8_ARRAY(expect, sensitivities, CONFIG_RELAY_CHN_COUNT);
 
     // Tilt forward 3 times
     relay_chn_tilt_forward_all();
@@ -393,12 +444,12 @@ TEST_CASE("tilt counter logic: forward and reverse consumption", "[relay_chn][ti
 
     // Now tilt reverse 3 times (should succeed)
     relay_chn_tilt_reverse_all();
-    vTaskDelay(pdMS_TO_TICKS(TEST_TILT_EXECUTION_TIME_MS * 3 + TEST_DELAY_MARGIN_MS));
+    vTaskDelay(pdMS_TO_TICKS(TEST_TILT_EXECUTION_TIME_MS));
     check_all_channels_for_state(RELAY_CHN_STATE_TILT_REVERSE);
-
+    // Let it execute 2 at least, or more
-    // One more reverse tilt should fail (counter exhausted)
     vTaskDelay(pdMS_TO_TICKS(TEST_TILT_EXECUTION_TIME_MS * 3));
-    // Should not enter TILT_REVERSE, should remain IDLE
+
+    // More reverse tilt should fail (counter exhausted)
     check_all_channels_for_state(RELAY_CHN_STATE_IDLE);
 }
 
@@ -423,12 +474,12 @@ TEST_CASE("run_all command during active tilt cycle stops tilt", "[relay_chn][ti
     // Set a known sensitivity for predictable timing.
     // For sensitivity=50, move_time=30ms, pause_time=270ms.
     relay_chn_tilt_set_sensitivity_all_with(50);
-    const uint32_t move_time_ms = 30;
 
     // --- Test interrupting during MOVE step ---
     prepare_all_channels_for_tilt(RELAY_CHN_CMD_FORWARD);
     relay_chn_tilt_forward_all();
-    vTaskDelay(pdMS_TO_TICKS(move_time_ms / 2)); // Wait for half of the move time
+    // Should incur inertia timer
+    vTaskDelay(pdMS_TO_TICKS(CONFIG_RELAY_CHN_OPPOSITE_INERTIA_MS + TEST_DELAY_MARGIN_MS));
     check_all_channels_for_state(RELAY_CHN_STATE_TILT_FORWARD);
 
     // Interrupt with run_reverse_all while in the MOVE part of the cycle
@@ -438,9 +489,12 @@ TEST_CASE("run_all command during active tilt cycle stops tilt", "[relay_chn][ti
     check_all_channels_for_state(RELAY_CHN_STATE_REVERSE);
 
     // --- Test interrupting during PAUSE step ---
+    relay_chn_stop_all(); // Stop the reverse runs
+    vTaskDelay(pdMS_TO_TICKS(TEST_DELAY_MARGIN_MS));
     prepare_all_channels_for_tilt(RELAY_CHN_CMD_FORWARD);
     relay_chn_tilt_forward_all();
-    vTaskDelay(pdMS_TO_TICKS(move_time_ms + TEST_DELAY_MARGIN_MS)); // Wait past MOVE, into PAUSE
+    // Should incur inertia timer
+    vTaskDelay(pdMS_TO_TICKS(CONFIG_RELAY_CHN_OPPOSITE_INERTIA_MS + TEST_DELAY_MARGIN_MS)); // Wait past MOVE, into PAUSE
     check_all_channels_for_state(RELAY_CHN_STATE_TILT_FORWARD);
 
     // Interrupt with run_forward_all while in the PAUSE part of the cycle

test_apps/main/test_relay_chn_tilt_single.c

@@ -30,19 +30,15 @@ void prepare_channel_for_tilt(int initial_cmd) {
     } else { // Assuming initial_cmd is RELAY_CHN_CMD_REVERSE
         relay_chn_run_reverse();
     }
-    vTaskDelay(pdMS_TO_TICKS(TEST_DELAY_MARGIN_MS)); // Allow command to process
-    relay_chn_stop(); // Stop it to set last_run_cmd but return to FREE for next test
     vTaskDelay(pdMS_TO_TICKS(CONFIG_RELAY_CHN_OPPOSITE_INERTIA_MS + TEST_DELAY_MARGIN_MS));
-    TEST_ASSERT_EQUAL(RELAY_CHN_STATE_IDLE, relay_chn_get_state());
+    relay_chn_state_t expect_state = initial_cmd == RELAY_CHN_CMD_FORWARD ? RELAY_CHN_STATE_FORWARD : RELAY_CHN_STATE_REVERSE;
+    TEST_ASSERT_EQUAL(expect_state, relay_chn_get_state());
 }
 
 // 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]")
 {
-    // Prepare channel by running forward first to set last_run_cmd
-    prepare_channel_for_tilt(RELAY_CHN_CMD_FORWARD);
-
     // 1. Start in forward direction
     relay_chn_run_forward();
     vTaskDelay(pdMS_TO_TICKS(TEST_DELAY_MARGIN_MS));
@@ -63,9 +59,6 @@ TEST_CASE("Run Forward to Tilt Forward transition with inertia", "[relay_chn][ti
 // 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]")
 {
-    // Prepare channel by running reverse first to set last_run_cmd
-    prepare_channel_for_tilt(RELAY_CHN_CMD_REVERSE);
-
     // 1. Start in reverse direction
     relay_chn_run_reverse();
     vTaskDelay(pdMS_TO_TICKS(TEST_DELAY_MARGIN_MS));
@@ -86,6 +79,9 @@ TEST_CASE("FREE to Tilt Forward transition with inertia (prepared)", "[relay_chn
 {
     // Prepare channel by running forward first to set last_run_cmd
     prepare_channel_for_tilt(RELAY_CHN_CMD_FORWARD);
+    relay_chn_stop(); // Stop to trigger IDLE
+    // Wait for the channel to transition to IDLE
+    vTaskDelay(pdMS_TO_TICKS(CONFIG_RELAY_CHN_OPPOSITE_INERTIA_MS + TEST_DELAY_MARGIN_MS));
     TEST_ASSERT_EQUAL(RELAY_CHN_STATE_IDLE, relay_chn_get_state()); // Ensure we are back to FREE
 
     // Issue tilt forward command
@@ -101,6 +97,9 @@ TEST_CASE("FREE to Tilt Reverse transition with inertia (prepared)", "[relay_chn
 {
     // Prepare channel by running reverse first to set last_run_cmd
     prepare_channel_for_tilt(RELAY_CHN_CMD_REVERSE);
+    relay_chn_stop(); // Stop to trigger IDLE
+    // Wait for the channel to transition to IDLE
+    vTaskDelay(pdMS_TO_TICKS(CONFIG_RELAY_CHN_OPPOSITE_INERTIA_MS + TEST_DELAY_MARGIN_MS));
     TEST_ASSERT_EQUAL(RELAY_CHN_STATE_IDLE, relay_chn_get_state()); // Ensure we are back to FREE
 
     // Issue tilt reverse command
@@ -183,7 +182,8 @@ TEST_CASE("relay_chn_tilt_auto chooses correct direction", "[relay_chn][tilt][au
     // Prepare FORWARD
     prepare_channel_for_tilt(RELAY_CHN_CMD_FORWARD);
     relay_chn_tilt_auto();
-    vTaskDelay(pdMS_TO_TICKS(TEST_DELAY_MARGIN_MS));
+    // Should incur inertia timer
+    vTaskDelay(pdMS_TO_TICKS(CONFIG_RELAY_CHN_OPPOSITE_INERTIA_MS + TEST_DELAY_MARGIN_MS));
     TEST_ASSERT_EQUAL(RELAY_CHN_STATE_TILT_FORWARD, relay_chn_get_state());
     relay_chn_tilt_stop();
     vTaskDelay(pdMS_TO_TICKS(TEST_DELAY_MARGIN_MS));
@@ -191,7 +191,8 @@ TEST_CASE("relay_chn_tilt_auto chooses correct direction", "[relay_chn][tilt][au
     // Prepare REVERSE
     prepare_channel_for_tilt(RELAY_CHN_CMD_REVERSE);
     relay_chn_tilt_auto();
-    vTaskDelay(pdMS_TO_TICKS(TEST_DELAY_MARGIN_MS));
+    // Should incur inertia timer
+    vTaskDelay(pdMS_TO_TICKS(CONFIG_RELAY_CHN_OPPOSITE_INERTIA_MS + TEST_DELAY_MARGIN_MS));
     TEST_ASSERT_EQUAL(RELAY_CHN_STATE_TILT_REVERSE, relay_chn_get_state());
 }
 
@@ -237,31 +238,25 @@ TEST_CASE("relay_chn_tilt_set_sensitivity handles upper boundary", "[relay_chn][
 // Test tilt counter logic: forward x3, reverse x3, extra reverse fails
 TEST_CASE("tilt counter logic: forward and reverse consumption", "[relay_chn][tilt][counter]")
 {
+// Tilt execution time at 100% sensitivity in milliseconds (10 + 90)
+#define TEST_TILT_EXECUTION_TIME_MS 100
+
     prepare_channel_for_tilt(RELAY_CHN_CMD_FORWARD);
 
     // Tilt forward 3 times
-    for (int i = 0; i < 3; ++i) {
+    relay_chn_tilt_forward();
-        relay_chn_tilt_forward();
+    vTaskDelay(pdMS_TO_TICKS(TEST_TILT_EXECUTION_TIME_MS * 3 + TEST_DELAY_MARGIN_MS));
-        vTaskDelay(pdMS_TO_TICKS(TEST_DELAY_MARGIN_MS));
+    TEST_ASSERT_EQUAL(RELAY_CHN_STATE_TILT_FORWARD, relay_chn_get_state());
-        TEST_ASSERT_EQUAL(RELAY_CHN_STATE_TILT_FORWARD, relay_chn_get_state());
+    relay_chn_tilt_stop();
-        relay_chn_tilt_stop();
-        vTaskDelay(pdMS_TO_TICKS(TEST_DELAY_MARGIN_MS));
-    }
 
     // Now tilt reverse 3 times (should succeed)
-    for (int i = 0; i < 3; ++i) {
-        relay_chn_tilt_reverse();
-        vTaskDelay(pdMS_TO_TICKS(TEST_DELAY_MARGIN_MS));
-        if (i < 3) {
-            TEST_ASSERT_EQUAL(RELAY_CHN_STATE_TILT_REVERSE, relay_chn_get_state());
-            relay_chn_tilt_stop();
-            vTaskDelay(pdMS_TO_TICKS(TEST_DELAY_MARGIN_MS));
-        }
-    }
-
-    // Extra reverse tilt should fail (counter exhausted)
     relay_chn_tilt_reverse();
-    vTaskDelay(pdMS_TO_TICKS(TEST_DELAY_MARGIN_MS));
+    // Let it execute one time
+    vTaskDelay(pdMS_TO_TICKS(TEST_TILT_EXECUTION_TIME_MS));
+    TEST_ASSERT_EQUAL(RELAY_CHN_STATE_TILT_REVERSE, relay_chn_get_state());
+    // Let it execute 2 at least, or more
+    vTaskDelay(pdMS_TO_TICKS(TEST_TILT_EXECUTION_TIME_MS * 3));
+    
     // Should not enter TILT_REVERSE, should remain FREE or STOPPED
     relay_chn_state_t state = relay_chn_get_state();
     TEST_ASSERT(state != RELAY_CHN_STATE_TILT_REVERSE);
@@ -289,12 +284,12 @@ TEST_CASE("run command during active tilt cycle stops tilt", "[relay_chn][tilt][
     // Set a known sensitivity for predictable timing.
     // For sensitivity=50, move_time=30ms, pause_time=270ms.
     relay_chn_tilt_set_sensitivity(50);
-    const uint32_t move_time_ms = 30;
 
     // --- Test interrupting during MOVE step ---
     prepare_channel_for_tilt(RELAY_CHN_CMD_FORWARD);
     relay_chn_tilt_forward();
-    vTaskDelay(pdMS_TO_TICKS(move_time_ms / 2)); // Wait for half of the move time
+    // Should incur inertia timer
+    vTaskDelay(pdMS_TO_TICKS(CONFIG_RELAY_CHN_OPPOSITE_INERTIA_MS + TEST_DELAY_MARGIN_MS));
     TEST_ASSERT_EQUAL(RELAY_CHN_STATE_TILT_FORWARD, relay_chn_get_state());
 
     // Interrupt with run_reverse while in the MOVE part of the cycle
@@ -304,9 +299,14 @@ TEST_CASE("run command during active tilt cycle stops tilt", "[relay_chn][tilt][
     TEST_ASSERT_EQUAL(RELAY_CHN_STATE_REVERSE, relay_chn_get_state());
 
     // --- Test interrupting during PAUSE step ---
-    prepare_channel_for_tilt(RELAY_CHN_CMD_FORWARD);
+    relay_chn_stop(); // Stop the reverse run
+    // Wait the channel to be IDLE
+    vTaskDelay(pdMS_TO_TICKS(CONFIG_RELAY_CHN_OPPOSITE_INERTIA_MS + TEST_DELAY_MARGIN_MS));
+
+    prepare_channel_for_tilt(RELAY_CHN_CMD_FORWARD); // Prepare channel again
     relay_chn_tilt_forward();
-    vTaskDelay(pdMS_TO_TICKS(move_time_ms + TEST_DELAY_MARGIN_MS)); // Wait past MOVE, into PAUSE
+    // Should incur inertia timer
+    vTaskDelay(pdMS_TO_TICKS(CONFIG_RELAY_CHN_OPPOSITE_INERTIA_MS + TEST_DELAY_MARGIN_MS));
     TEST_ASSERT_EQUAL(RELAY_CHN_STATE_TILT_FORWARD, relay_chn_get_state());
 
     // Interrupt with run_forward while in the PAUSE part of the cycle

test_apps/sdkconfig.defaults

@@ -1,6 +1,9 @@
 # Disable task WDT for tests
 CONFIG_ESP_TASK_WDT_INIT=n
 
+CONFIG_LOG_MAXIMUM_LEVEL_DEBUG=y
+CONFIG_LOG_MAXIMUM_LEVEL=4
+
 # Relay Channel Driver Default Configuration for Testing
 # Keep this as short as possible for tests
 CONFIG_RELAY_CHN_OPPOSITE_INERTIA_MS=200