Motion: add initial test infrastructure and stubs

tests/unit/modules/CMakeLists.txt

@@ -3,3 +3,4 @@ add_subdirectory(leds)
 add_subdirectory(protocol)
 add_subdirectory(speed_table)
 add_subdirectory(pulse_gen)
+add_subdirectory(motion)

tests/unit/modules/motion/CMakeLists.txt

@@ -0,0 +1,19 @@
+# define the test executable
+add_executable(
+  motion_tests
+  ${CMAKE_SOURCE_DIR}/src/modules/motion.cpp
+  ${CMAKE_SOURCE_DIR}/src/modules/speed_table.cpp
+  ${CMAKE_SOURCE_DIR}/src/modules/pulse_gen.cpp
+  ${MODULES_STUBS_DIR}/stub_gpio.cpp
+  ${MODULES_STUBS_DIR}/stub_shr16.cpp
+  ${MODULES_STUBS_DIR}/stub_tmc2130.cpp
+  test_motion.cpp
+  )
+
+# define required search paths
+target_include_directories(
+  motion_tests PUBLIC ${CMAKE_SOURCE_DIR}/src/modules ${CMAKE_SOURCE_DIR}/src/hal
+  )
+
+# tell build system about the test case
+add_catch_test(motion_tests)

tests/unit/modules/motion/test_motion.cpp

@@ -0,0 +1,8 @@
+#include "catch2/catch.hpp"
+#include "motion.h"
+
+using modules::motion::motion;
+
+TEST_CASE("motion::basic", "[motion]") {
+    // TODO
+}

tests/unit/modules/stubs/stub_tmc2130.cpp

@@ -6,6 +6,11 @@ namespace tmc2130 {
 TMC2130::TMC2130(const MotorParams &params,
     const MotorCurrents &currents,
     MotorMode mode) {
+    // TODO
+}
+
+void TMC2130::SetMode(MotorMode mode) {
+    // TODO
 }
 
 } // namespace tmc2130