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dynamic hint timeout, more tests

This commit is contained in:
myles-parfeniuk 2024-11-16 19:37:35 -08:00
parent 4c1456da3b
commit 047ff45347
4 changed files with 472 additions and 62 deletions
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38
include/BNO08x.hpp
View File

@ -77,10 +77,10 @@ class BNO08x
void disable_calibrated_gyro();
void disable_uncalibrated_gyro();
void disable_magnetometer();
void disable_tap_detector();
void disable_step_counter();
void disable_stability_classifier();
void disable_activity_classifier();
void disable_tap_detector();
void disable_raw_mems_accelerometer();
void disable_raw_mems_gyro();
void disable_raw_mems_magnetometer();
@ -254,6 +254,12 @@ class BNO08x
uint16_t length; ///< Packet length in bytes.
} bno08x_tx_packet_t;
typedef struct bno08x_report_period_tracker_t
{
uint8_t report_ID;
uint32_t period;
} bno08x_report_period_tracker_t;
/// @brief Holds info about which functionality has been successfully initialized (used by deconstructor during cleanup).
typedef struct bno08x_init_status_t
{
@ -359,6 +365,9 @@ class BNO08x
esp_err_t launch_tasks();
esp_err_t kill_all_tasks();
void update_report_period(uint8_t report_ID, uint32_t new_period);
static uint8_t report_ID_to_report_period_idx(uint8_t report_ID);
EventGroupHandle_t
evt_grp_spi; ///<Event group for indicating when bno08x hint pin has triggered and when new data has been processed. Used by calls to sending or receiving functions.
EventGroupHandle_t evt_grp_report_en; ///<Event group for indicating which reports are currently enabled.
@ -402,7 +411,7 @@ class BNO08x
uint16_t step_count; ///<Step counter reading (See SH-2 Ref. Manual 6.5.29)
uint8_t stability_classifier; ///<Stability status reading (See SH-2 Ref. Manual 6.5.31)
uint8_t activity_classifier; ///<Activity status reading (See SH-2 Ref. Manual 6.5.36)
uint8_t* activity_confidences; ///<Confidence of read activities (See SH-2 Ref. Manual 6.5.36)
uint8_t* activity_confidences = nullptr; ///<Confidence of read activities (See SH-2 Ref. Manual 6.5.36)
uint8_t calibration_status; ///<Calibration status of device (See SH-2 Ref. Manual 6.4.7.1 & 6.4.7.2)
uint16_t mems_raw_accel_X, mems_raw_accel_Y,
mems_raw_accel_Z; ///<Raw accelerometer readings from MEMS sensor (See SH2 Ref. Manual 6.5.8)
@ -418,9 +427,9 @@ class BNO08x
static const constexpr uint16_t RX_DATA_LENGTH = 300U; ///<length buffer containing data received over spi
static const constexpr uint16_t MAX_METADATA_LENGTH = 9U; ///<max length of metadata used in frs read operations
static const constexpr TickType_t HOST_INT_TIMEOUT_MS =
300UL /
portTICK_PERIOD_MS; ///<Max wait between HINT being asserted by BNO08x before transaction is considered failed (in miliseconds)
static const constexpr TickType_t HOST_INT_TIMEOUT_DEFAULT_MS =
3000UL /
portTICK_PERIOD_MS; ///<Max wait between HINT being asserted by BNO08x before transaction is considered failed (in miliseconds), when no reports are enabled (ie during reset)
static const constexpr TickType_t HARD_RESET_DELAY_MS =
100UL /
@ -532,6 +541,25 @@ class BNO08x
static const constexpr uint8_t TARE_PERSIST = 1U; ///< See SH2 Ref. Manual 6.4.4.2
static const constexpr uint8_t TARE_SET_REORIENTATION = 2U; ///< See SH2 Ref. Manual 6.4.4.3
static const constexpr uint8_t REPORT_CNT = 19; ///< Total unique reports that can be returned by BNO08x.
bno08x_report_period_tracker_t report_period_trackers[REPORT_CNT] = {{SENSOR_REPORT_ID_ACCELEROMETER, 0}, {SENSOR_REPORT_ID_GYROSCOPE, 0},
{SENSOR_REPORT_ID_MAGNETIC_FIELD, 0}, {SENSOR_REPORT_ID_LINEAR_ACCELERATION, 0}, {SENSOR_REPORT_ID_ROTATION_VECTOR, 0},
{SENSOR_REPORT_ID_GRAVITY, 0}, {SENSOR_REPORT_ID_UNCALIBRATED_GYRO, 0}, {SENSOR_REPORT_ID_GAME_ROTATION_VECTOR, 0},
{SENSOR_REPORT_ID_GEOMAGNETIC_ROTATION_VECTOR, 0}, {SENSOR_REPORT_ID_GYRO_INTEGRATED_ROTATION_VECTOR, 0},
{SENSOR_REPORT_ID_TAP_DETECTOR, 0}, {SENSOR_REPORT_ID_STEP_COUNTER, 0}, {SENSOR_REPORT_ID_STABILITY_CLASSIFIER, 0},
{SENSOR_REPORT_ID_RAW_ACCELEROMETER, 0}, {SENSOR_REPORT_ID_RAW_GYROSCOPE, 0}, {SENSOR_REPORT_ID_RAW_MAGNETOMETER, 0},
{SENSOR_REPORT_ID_PERSONAL_ACTIVITY_CLASSIFIER, 0}, {SENSOR_REPORT_ID_ARVR_STABILIZED_ROTATION_VECTOR, 0},
{SENSOR_REPORT_ID_ARVR_STABILIZED_GAME_ROTATION_VECTOR,
0}}; ///< Current sample period of each report in microseconds linked to report ID (0 if not enabled).
uint32_t largest_sample_period_us =
0; ///< Current largest sample period of any enabled report in microseconds (used to determine timeout for hint ISR).
uint8_t current_slowest_report_ID; ///< ID of the currently enabled report with the largest sample period.
TickType_t host_int_timeout_ms =
HOST_INT_TIMEOUT_DEFAULT_MS; ///<Max wait between HINT being asserted by BNO08x before transaction is considered failed (in miliseconds), determined by enabled report with longest period.
static const constexpr char* TAG = "BNO08x"; ///< Class tag used for serial print statements
friend class BNO08xTestHelper; // allow test helper to access private members for unit tests

27
include/BNO08xTestHelper.hpp
View File

@ -62,7 +62,9 @@ class BNO08xTestHelper
uint16_t raw_mems_gyro_y;
uint16_t raw_mems_gyro_z;
uint8_t tap_count;
uint16_t step_count;
uint8_t stability_classifier;
uint8_t activity_classifier;
} imu_report_data_t;
@ -319,18 +321,31 @@ class BNO08xTestHelper
return new_data;
}
static bool raw_mems_gyro_data_is_default(imu_report_data_t* report_data, imu_report_data_t* prev_report_data)
static bool step_detector_data_is_default(imu_report_data_t* report_data, imu_report_data_t* prev_report_data)
{
bool new_data = false;
if (report_data->step_count != prev_report_data->step_count)
new_data = true;
return new_data;
}
static bool tap_detector_data_is_default(imu_report_data_t* report_data, imu_report_data_t* prev_report_data)
static bool stability_classifier_data_is_default(imu_report_data_t* report_data, imu_report_data_t* prev_report_data)
{
bool new_data = false;
if (report_data->tap_count != prev_report_data->tap_count)
if (report_data->stability_classifier != prev_report_data->stability_classifier)
new_data = true;
return new_data;
}
static bool activity_classifier_data_is_default(imu_report_data_t* report_data, imu_report_data_t* prev_report_data)
{
bool new_data = false;
if (report_data->activity_classifier != prev_report_data->activity_classifier)
new_data = true;
return new_data;
@ -351,7 +366,9 @@ class BNO08xTestHelper
report_data->uncalib_gyro_drift_x, report_data->uncalib_gyro_drift_y, report_data->uncalib_gyro_drift_z);
imu->get_magf(report_data->magf_x, report_data->magf_y, report_data->magf_z, report_data->magf_accuracy);
imu->get_raw_mems_gyro(report_data->raw_mems_gyro_x, report_data->raw_mems_gyro_y, report_data->raw_mems_gyro_z);
report_data->tap_count = imu->get_tap_detector();
report_data->step_count = imu->get_step_count();
report_data->stability_classifier = imu->get_stability_classifier();
report_data->activity_classifier = imu->get_activity_classifier();
}
static void reset_all_imu_data_to_test_defaults(BNO08x* imu)

198
source/BNO08x.cpp
View File

@ -424,13 +424,13 @@ esp_err_t BNO08x::deinit_spi()
}
/**
* @brief Waits for data to be received over SPI, or HOST_INT_TIMEOUT_MS to elapse.
* @brief Waits for data to be received over SPI, or host_int_timeout_ms to elapse.
*
* If no reports are currently enabled the hint pin interrupt will be re-enabled by this function.
* This function is for when the validity of packets is not a concern, it is for flushing packets
* we do not care about.
*
* @return True if data has been received over SPI within HOST_INT_TIMEOUT_MS.
* @return True if data has been received over SPI within host_int_timeout_ms.
*/
bool BNO08x::wait_for_rx_done()
{
@ -441,7 +441,7 @@ bool BNO08x::wait_for_rx_done()
gpio_intr_enable(imu_config.io_int); // re-enable interrupts
// wait until an interrupt has been asserted and data received or timeout has occured
if (xEventGroupWaitBits(evt_grp_spi, EVT_GRP_SPI_RX_DONE_BIT, pdTRUE, pdTRUE, HOST_INT_TIMEOUT_MS))
if (xEventGroupWaitBits(evt_grp_spi, EVT_GRP_SPI_RX_DONE_BIT, pdTRUE, pdTRUE, host_int_timeout_ms))
{
// clang-format off
#ifdef CONFIG_ESP32_BNO08x_DEBUG_STATEMENTS
@ -461,11 +461,11 @@ bool BNO08x::wait_for_rx_done()
}
/**
* @brief Waits for a valid or invalid packet to be received or HOST_INT_TIMEOUT_MS to elapse.
* @brief Waits for a valid or invalid packet to be received or host_int_timeout_ms to elapse.
*
* If no reports are currently enabled the hint pin interrupt will be re-enabled by this function.
*
* @return True if valid packet has been received within HOST_INT_TIMEOUT_MS, false if otherwise.
* @return True if valid packet has been received within host_int_timeout_ms, false if otherwise.
*/
bool BNO08x::wait_for_data()
{
@ -476,11 +476,11 @@ bool BNO08x::wait_for_data()
gpio_intr_enable(imu_config.io_int); // re-enable interrupts
// check to see receive operation has finished
if (xEventGroupWaitBits(evt_grp_spi, EVT_GRP_SPI_RX_DONE_BIT, pdTRUE, pdTRUE, HOST_INT_TIMEOUT_MS))
if (xEventGroupWaitBits(evt_grp_spi, EVT_GRP_SPI_RX_DONE_BIT, pdTRUE, pdTRUE, host_int_timeout_ms))
{
// wait until processing is done, this should never go to timeout; however, it will be set slightly after EVT_GRP_SPI_RX_DONE_BIT
if (xEventGroupWaitBits(
evt_grp_spi, EVT_GRP_SPI_RX_VALID_PACKET_BIT | EVT_GRP_SPI_RX_INVALID_PACKET_BIT, pdFALSE, pdFALSE, HOST_INT_TIMEOUT_MS))
evt_grp_spi, EVT_GRP_SPI_RX_VALID_PACKET_BIT | EVT_GRP_SPI_RX_INVALID_PACKET_BIT, pdFALSE, pdFALSE, host_int_timeout_ms))
{
// only return true if packet is valid
if (xEventGroupGetBits(evt_grp_spi) & EVT_GRP_SPI_RX_VALID_PACKET_BIT)
@ -509,11 +509,11 @@ bool BNO08x::wait_for_data()
}
/**
* @brief Waits for a queued packet to be sent or HOST_INT_TIMEOUT_MS to elapse.
* @brief Waits for a queued packet to be sent or host_int_timeout_ms to elapse.
*
* If no reports are currently enabled the hint pin interrupt will be re-enabled by this function.
*
* @return True if packet was sent within HOST_INT_TIMEOUT_MS, false if otherwise.
* @return True if packet was sent within host_int_timeout_ms, false if otherwise.
*/
bool BNO08x::wait_for_tx_done()
{
@ -521,7 +521,7 @@ bool BNO08x::wait_for_tx_done()
if (xEventGroupGetBits(evt_grp_report_en) == 0)
gpio_intr_enable(imu_config.io_int); // re-enable interrupts
if (xEventGroupWaitBits(evt_grp_spi, EVT_GRP_SPI_TX_DONE_BIT, pdTRUE, pdTRUE, HOST_INT_TIMEOUT_MS))
if (xEventGroupWaitBits(evt_grp_spi, EVT_GRP_SPI_TX_DONE_BIT, pdTRUE, pdTRUE, host_int_timeout_ms))
{
// clang-format off
#ifdef CONFIG_ESP32_BNO08x_DEBUG_STATEMENTS
@ -547,6 +547,7 @@ bool BNO08x::wait_for_tx_done()
bool BNO08x::hard_reset()
{
bool success = false;
// resetting disables all reports
xEventGroupClearBits(evt_grp_report_en, EVT_GRP_RPT_ALL_BITS);
@ -626,7 +627,7 @@ BNO08xResetReason BNO08x::get_reset_reason()
{
// receive product ID report
if (wait_for_data())
xQueueReceive(queue_reset_reason, &reset_reason, HOST_INT_TIMEOUT_MS);
xQueueReceive(queue_reset_reason, &reset_reason, host_int_timeout_ms);
else
ESP_LOGE(TAG, "Failed to receive product ID report.");
}
@ -781,6 +782,8 @@ void BNO08x::enable_report(uint8_t report_ID, uint32_t time_between_reports, con
if ((xEventGroupGetBits(evt_grp_report_en) & ~report_evt_grp_bit) == 0)
hard_reset();
update_report_period(report_ID, time_between_reports);
queue_feature_command(report_ID, time_between_reports, special_config);
if (wait_for_tx_done()) // wait for transmit operation to complete
{
@ -794,7 +797,7 @@ void BNO08x::enable_report(uint8_t report_ID, uint32_t time_between_reports, con
}
// flush the first few reports returned to ensure new data
flush_rx_packets(3);
flush_rx_packets(2);
}
/**
@ -809,6 +812,7 @@ void BNO08x::enable_report(uint8_t report_ID, uint32_t time_between_reports, con
*/
void BNO08x::disable_report(uint8_t report_ID, const EventBits_t report_evt_grp_bit)
{
update_report_period(report_ID, 0);
queue_feature_command(report_ID, 0);
if (wait_for_tx_done()) // wait for transmit operation to complete
{
@ -839,9 +843,12 @@ void BNO08x::disable_report(uint8_t report_ID, const EventBits_t report_evt_grp_
// no reports enabled, disable hint to avoid wasting processing time
if ((xEventGroupGetBits(evt_grp_report_en)) == 0)
{
host_int_timeout_ms = HOST_INT_TIMEOUT_DEFAULT_MS;
gpio_intr_disable(imu_config.io_int);
}
}
}
/**
* @brief Queues an SHTP packet to be sent via SPI.
@ -1245,8 +1252,8 @@ uint16_t BNO08x::parse_packet(bno08x_rx_packet_t* packet, bool& notify_users)
#ifdef CONFIG_ESP32_BNO08x_DEBUG_STATEMENTS
ESP_LOGW(TAG, "SHTP Header RX'd: 0x%X 0x%X 0x%X 0x%X", packet->header[0], packet->header[1], packet->header[2], packet->header[3]);
#endif
// clang-format on
switch (packet->body[0])
{
case SHTP_REPORT_PRODUCT_ID_RESPONSE:
@ -1392,91 +1399,91 @@ uint16_t BNO08x::parse_frs_read_response_report(bno08x_rx_packet_t* packet)
uint16_t BNO08x::parse_feature_get_response_report(bno08x_rx_packet_t* packet)
{
uint16_t report_id = 0;
uint16_t report_ID = 0;
switch (packet->body[1])
{
case SENSOR_REPORT_ID_ACCELEROMETER:
report_id = packet->body[0];
report_ID = packet->body[0];
break;
case SENSOR_REPORT_ID_GYROSCOPE:
report_id = packet->body[0];
report_ID = packet->body[0];
break;
case SENSOR_REPORT_ID_MAGNETIC_FIELD:
report_id = packet->body[0];
report_ID = packet->body[0];
break;
case SENSOR_REPORT_ID_LINEAR_ACCELERATION:
report_id = packet->body[0];
report_ID = packet->body[0];
break;
case SENSOR_REPORT_ID_ROTATION_VECTOR:
report_id = packet->body[0];
report_ID = packet->body[0];
break;
case SENSOR_REPORT_ID_GRAVITY:
report_id = packet->body[0];
report_ID = packet->body[0];
break;
case SENSOR_REPORT_ID_UNCALIBRATED_GYRO:
report_id = packet->body[0];
report_ID = packet->body[0];
break;
case SENSOR_REPORT_ID_GAME_ROTATION_VECTOR:
report_id = packet->body[0];
report_ID = packet->body[0];
break;
case SENSOR_REPORT_ID_GEOMAGNETIC_ROTATION_VECTOR:
report_id = packet->body[0];
report_ID = packet->body[0];
break;
case SENSOR_REPORT_ID_GYRO_INTEGRATED_ROTATION_VECTOR:
report_id = packet->body[0];
report_ID = packet->body[0];
break;
case SENSOR_REPORT_ID_TAP_DETECTOR:
report_id = packet->body[0];
report_ID = packet->body[0];
break;
case SENSOR_REPORT_ID_STEP_COUNTER:
report_id = packet->body[0];
report_ID = packet->body[0];
break;
case SENSOR_REPORT_ID_STABILITY_CLASSIFIER:
report_id = packet->body[0];
report_ID = packet->body[0];
break;
case SENSOR_REPORT_ID_RAW_ACCELEROMETER:
report_id = packet->body[0];
report_ID = packet->body[0];
break;
case SENSOR_REPORT_ID_RAW_GYROSCOPE:
report_id = packet->body[0];
report_ID = packet->body[0];
break;
case SENSOR_REPORT_ID_RAW_MAGNETOMETER:
report_id = packet->body[0];
report_ID = packet->body[0];
break;
case SENSOR_REPORT_ID_PERSONAL_ACTIVITY_CLASSIFIER:
report_id = packet->body[0];
report_ID = packet->body[0];
break;
case SENSOR_REPORT_ID_ARVR_STABILIZED_ROTATION_VECTOR:
report_id = packet->body[0];
report_ID = packet->body[0];
break;
case SENSOR_REPORT_ID_ARVR_STABILIZED_GAME_ROTATION_VECTOR:
report_id = packet->body[0];
report_ID = packet->body[0];
break;
default:
break;
}
return report_id;
return report_ID;
}
/**
@ -1504,7 +1511,7 @@ uint16_t BNO08x::parse_input_report(bno08x_rx_packet_t* packet)
{
uint8_t status = PARSE_INPUT_REPORT_STATUS_BITS(packet);
uint16_t data_length = PARSE_PACKET_DATA_LENGTH(packet);
uint16_t report_id = PARSE_INPUT_REPORT_REPORT_ID(packet);
uint16_t report_ID = PARSE_INPUT_REPORT_REPORT_ID(packet);
uint16_t data[6] = {0};
data_length &= ~(1U << 15U); // Clear the MSbit. This bit indicates if this package is a continuation of the last.
@ -1516,7 +1523,7 @@ uint16_t BNO08x::parse_input_report(bno08x_rx_packet_t* packet)
parse_input_report_data(packet, data, data_length);
// Store these generic values to their proper global variable
switch (report_id)
switch (report_ID)
{
case SENSOR_REPORT_ID_ACCELEROMETER:
update_accelerometer_data(data, status);
@ -1585,7 +1592,7 @@ uint16_t BNO08x::parse_input_report(bno08x_rx_packet_t* packet)
// TODO additional feature reports may be strung together. Parse them all.
return report_id;
return report_ID;
}
/**
@ -1884,6 +1891,7 @@ void BNO08x::update_personal_activity_classifier_data(bno08x_rx_packet_t* packet
activity_classifier = packet->body[5 + 5]; // Most likely state
// Load activity classification confidences into the array
if (activity_confidences != nullptr)
for (int i = 0; i < 9; i++) // Hardcoded to max of 9. TODO - bring in array size
activity_confidences[i] = packet->body[5 + 6 + i]; // 5 bytes of timestamp, byte 6 is first confidence
// byte
@ -2273,6 +2281,7 @@ void BNO08x::disable_stability_classifier()
*/
void BNO08x::disable_activity_classifier()
{
activity_confidences = nullptr;
disable_report(SENSOR_REPORT_ID_PERSONAL_ACTIVITY_CLASSIFIER, EVT_GRP_RPT_ACTIVITY_CLASSIFIER_BIT);
}
@ -3481,7 +3490,7 @@ bool BNO08x::FRS_read_data(uint16_t record_ID, uint8_t start_location, uint8_t w
return false;
}
if (xQueueReceive(queue_frs_read_data, &packet_body, HOST_INT_TIMEOUT_MS))
if (xQueueReceive(queue_frs_read_data, &packet_body, host_int_timeout_ms))
{
if (PARSE_FRS_READ_RESPONSE_REPORT_RECORD_ID(packet_body) == record_ID)
break;
@ -3682,11 +3691,12 @@ void BNO08x::data_proc_task()
}
else
{
// clang-format on
// clang-format off
#ifdef CONFIG_ESP32_BNO08x_DEBUG_STATEMENTS
print_packet(&packet);
#endif
//clang-format off
// clang-format on
xEventGroupSetBits(evt_grp_spi, EVT_GRP_SPI_RX_INVALID_PACKET_BIT); // indicated invalid packet to wait_for_data()
}
}
@ -3774,6 +3784,114 @@ esp_err_t BNO08x::kill_all_tasks()
return ESP_OK;
}
/**
* @brief Updates period of respective report in report_period_trackers and recalculates host_int_timeout_ms according to next longest report period.
*
*
* @param report_ID report ID to update period of.
* @return void, nothing to return
*/
void BNO08x::update_report_period(uint8_t report_ID, uint32_t new_period)
{
uint8_t idx = report_ID_to_report_period_idx(report_ID);
if (idx != REPORT_CNT)
{
report_period_trackers[idx].period = new_period;
if (new_period > largest_sample_period_us)
{
current_slowest_report_ID = report_ID;
largest_sample_period_us = new_period;
host_int_timeout_ms = (2 * (largest_sample_period_us / 1000UL)) / portTICK_PERIOD_MS;
// clang-format off
#ifdef CONFIG_ESP32_BNO08x_DEBUG_STATEMENTS
ESP_LOGW(TAG, "new hint timeout: %d", static_cast<uint16_t>(host_int_timeout_ms));
#endif
// clang-format on
}
else
{
if (current_slowest_report_ID == report_ID)
{
largest_sample_period_us = 0;
// no longer true, find the slowest
for (int i = 0; i < REPORT_CNT; i++)
{
if (report_period_trackers[i].period > largest_sample_period_us)
{
current_slowest_report_ID = report_period_trackers[i].report_ID;
largest_sample_period_us = report_period_trackers[i].period;
host_int_timeout_ms = (2 * (largest_sample_period_us / 1000UL)) / portTICK_PERIOD_MS;
// clang-format off
#ifdef CONFIG_ESP32_BNO08x_DEBUG_STATEMENTS
ESP_LOGW(TAG, "new hint timeout (due to period tracker search): %d", static_cast<uint16_t>(host_int_timeout_ms));
#endif
// clang-format on
}
}
}
}
}
}
/**
* @brief Converts report id to respective index in report_period_trackers.
*
*
* @param report_ID report ID to return index for.
* @return Index in report_period_trackers corresponding to passed report ID.
*/
uint8_t BNO08x::report_ID_to_report_period_idx(uint8_t report_ID)
{
switch (report_ID)
{
case SENSOR_REPORT_ID_ACCELEROMETER:
return 0;
case SENSOR_REPORT_ID_GYROSCOPE:
return 1;
case SENSOR_REPORT_ID_MAGNETIC_FIELD:
return 2;
case SENSOR_REPORT_ID_LINEAR_ACCELERATION:
return 3;
case SENSOR_REPORT_ID_ROTATION_VECTOR:
return 4;
case SENSOR_REPORT_ID_GRAVITY:
return 5;
case SENSOR_REPORT_ID_UNCALIBRATED_GYRO:
return 6;
case SENSOR_REPORT_ID_GAME_ROTATION_VECTOR:
return 7;
case SENSOR_REPORT_ID_GEOMAGNETIC_ROTATION_VECTOR:
return 8;
case SENSOR_REPORT_ID_GYRO_INTEGRATED_ROTATION_VECTOR:
return 9;
case SENSOR_REPORT_ID_TAP_DETECTOR:
return 10;
case SENSOR_REPORT_ID_STEP_COUNTER:
return 11;
case SENSOR_REPORT_ID_STABILITY_CLASSIFIER:
return 12;
case SENSOR_REPORT_ID_RAW_ACCELEROMETER:
return 13;
case SENSOR_REPORT_ID_RAW_GYROSCOPE:
return 14;
case SENSOR_REPORT_ID_RAW_MAGNETOMETER:
return 15;
case SENSOR_REPORT_ID_PERSONAL_ACTIVITY_CLASSIFIER:
return 16;
case SENSOR_REPORT_ID_ARVR_STABILIZED_ROTATION_VECTOR:
return 17;
case SENSOR_REPORT_ID_ARVR_STABILIZED_GAME_ROTATION_VECTOR:
return 18;
default:
return 19;
}
}
/**
* @brief HINT interrupt service routine, handles falling edge of BNO08x HINT pin.
*

247
test/SingleReportTests.cpp
View File

@ -1023,3 +1023,250 @@ TEST_CASE("Enable/Disable Magnetometer", "[SingleReportEnableDisable]")
BNO08xTestHelper::print_test_end_banner(TEST_TAG);
}
TEST_CASE("Enable/Disable Step Counter", "[SingleReportEnableDisable]")
{
const constexpr char* TEST_TAG = "Enable/Disable Step Counter";
BNO08x* imu = nullptr;
BNO08xTestHelper::imu_report_data_t report_data;
BNO08xTestHelper::imu_report_data_t prev_report_data;
bool new_data = false;
char msg_buff[200] = {};
BNO08xTestHelper::print_test_start_banner(TEST_TAG);
imu = BNO08xTestHelper::get_test_imu();
// reset all data used in report test
BNO08xTestHelper::reset_all_imu_data_to_test_defaults(imu);
BNO08xTestHelper::update_report_data(&report_data, imu);
BNO08xTestHelper::print_test_msg(TEST_TAG, "Report enabled testing phase started.");
/*enable respective report to test and ensure it reports new data */
imu->enable_step_counter(100000UL);
for (int i = 0; i < RX_REPORT_TRIAL_CNT; i++)
{
new_data = false;
if (imu->data_available())
{
prev_report_data = report_data;
BNO08xTestHelper::update_report_data(&report_data, imu);
// check if any default values have been overwritten, implying new data from respective report
new_data = BNO08xTestHelper::step_detector_data_is_default(&report_data, &prev_report_data);
}
// assert that new data from respective report has been received
TEST_ASSERT_EQUAL(true, new_data);
sprintf(msg_buff, "Rx Data Trial %d Success: StepCounter: %d steps", (i + 1), report_data.step_count);
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
// reset all data used in report test
BNO08xTestHelper::reset_all_imu_data_to_test_defaults(imu);
BNO08xTestHelper::update_report_data(&report_data, imu);
}
BNO08xTestHelper::print_test_msg(TEST_TAG, "Report enabled testing phase completed.");
BNO08xTestHelper::print_test_msg(TEST_TAG, "Report disabled testing phase started.");
/*disable respective report to test and ensure it stops reporting new data */
imu->disable_step_counter();
for (int i = 0; i < RX_REPORT_TRIAL_CNT; i++)
{
new_data = false;
if (imu->data_available())
{
prev_report_data = report_data;
BNO08xTestHelper::update_report_data(&report_data, imu);
// check if any default values have been overwritten, implying new data from respective report
new_data = BNO08xTestHelper::step_detector_data_is_default(&report_data, &prev_report_data);
}
// assert that no new data from respective report has been received
TEST_ASSERT_NOT_EQUAL(true, new_data);
sprintf(msg_buff, "No Rx Data Trial %d Success: StepCounterDefault: %d steps", (i + 1), report_data.step_count);
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
// reset all data used in report test
BNO08xTestHelper::reset_all_imu_data_to_test_defaults(imu);
BNO08xTestHelper::update_report_data(&report_data, imu);
}
BNO08xTestHelper::print_test_msg(TEST_TAG, "Report disabled testing phase completed.");
BNO08xTestHelper::print_test_end_banner(TEST_TAG);
}
TEST_CASE("Enable/Disable Stability Classifier", "[SingleReportEnableDisable]")
{
const constexpr char* TEST_TAG = "Enable/Disable Stability Classifier";
BNO08x* imu = nullptr;
BNO08xTestHelper::imu_report_data_t report_data;
BNO08xTestHelper::imu_report_data_t prev_report_data;
bool new_data = false;
char msg_buff[200] = {};
BNO08xTestHelper::print_test_start_banner(TEST_TAG);
imu = BNO08xTestHelper::get_test_imu();
// reset all data used in report test
BNO08xTestHelper::reset_all_imu_data_to_test_defaults(imu);
BNO08xTestHelper::update_report_data(&report_data, imu);
BNO08xTestHelper::print_test_msg(TEST_TAG, "Report enabled testing phase started.");
/*enable respective report to test and ensure it reports new data */
imu->enable_stability_classifier(100000UL);
for (int i = 0; i < RX_REPORT_TRIAL_CNT; i++)
{
new_data = false;
if (imu->data_available())
{
prev_report_data = report_data;
BNO08xTestHelper::update_report_data(&report_data, imu);
// check if any default values have been overwritten, implying new data from respective report
new_data = BNO08xTestHelper::stability_classifier_data_is_default(&report_data, &prev_report_data);
}
// assert that new data from respective report has been received
TEST_ASSERT_EQUAL(true, new_data);
sprintf(msg_buff, "Rx Data Trial %d Success: StabilityClassifier: %d", (i + 1), report_data.stability_classifier);
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
// reset all data used in report test
BNO08xTestHelper::reset_all_imu_data_to_test_defaults(imu);
BNO08xTestHelper::update_report_data(&report_data, imu);
}
BNO08xTestHelper::print_test_msg(TEST_TAG, "Report enabled testing phase completed.");
BNO08xTestHelper::print_test_msg(TEST_TAG, "Report disabled testing phase started.");
/*disable respective report to test and ensure it stops reporting new data */
imu->disable_stability_classifier();
for (int i = 0; i < RX_REPORT_TRIAL_CNT; i++)
{
new_data = false;
if (imu->data_available())
{
prev_report_data = report_data;
BNO08xTestHelper::update_report_data(&report_data, imu);
// check if any default values have been overwritten, implying new data from respective report
new_data = BNO08xTestHelper::stability_classifier_data_is_default(&report_data, &prev_report_data);
}
// assert that no new data from respective report has been received
TEST_ASSERT_NOT_EQUAL(true, new_data);
sprintf(msg_buff, "No Rx Data Trial %d Success: StabilityClassifierDefault: %d", (i + 1), report_data.stability_classifier);
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
// reset all data used in report test
BNO08xTestHelper::reset_all_imu_data_to_test_defaults(imu);
BNO08xTestHelper::update_report_data(&report_data, imu);
}
BNO08xTestHelper::print_test_msg(TEST_TAG, "Report disabled testing phase completed.");
BNO08xTestHelper::print_test_end_banner(TEST_TAG);
}
TEST_CASE("Enable/Disable Activity Classifier", "[SingleReportEnableDisable]")
{
const constexpr char* TEST_TAG = "Enable/Disable Activity Classifier";
BNO08x* imu = nullptr;
BNO08xTestHelper::imu_report_data_t report_data;
BNO08xTestHelper::imu_report_data_t prev_report_data;
bool new_data = false;
char msg_buff[200] = {};
uint8_t activity_confidence_vals[9] = {};
BNO08xTestHelper::print_test_start_banner(TEST_TAG);
imu = BNO08xTestHelper::get_test_imu();
// reset all data used in report test
BNO08xTestHelper::reset_all_imu_data_to_test_defaults(imu);
BNO08xTestHelper::update_report_data(&report_data, imu);
BNO08xTestHelper::print_test_msg(TEST_TAG, "Report enabled testing phase started.");
/*enable respective report to test and ensure it reports new data */
imu->enable_activity_classifier(1000000UL, BNO08x::ACTIVITY_CLASSIFIER_ALL_EN, activity_confidence_vals);
imu->enable_stability_classifier(50000UL);
imu->enable_step_counter(2000000UL);
imu->disable_stability_classifier();
imu->disable_step_counter();
for (int i = 0; i < RX_REPORT_TRIAL_CNT; i++)
{
new_data = false;
if (imu->data_available())
{
prev_report_data = report_data;
BNO08xTestHelper::update_report_data(&report_data, imu);
// check if any default values have been overwritten, implying new data from respective report
new_data = BNO08xTestHelper::activity_classifier_data_is_default(&report_data, &prev_report_data);
}
// assert that new data from respective report has been received
TEST_ASSERT_EQUAL(true, new_data);
sprintf(msg_buff, "Rx Data Trial %d Success: ActivityClassifier: %d", (i + 1), report_data.activity_classifier);
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
// reset all data used in report test
BNO08xTestHelper::reset_all_imu_data_to_test_defaults(imu);
BNO08xTestHelper::update_report_data(&report_data, imu);
}
BNO08xTestHelper::print_test_msg(TEST_TAG, "Report enabled testing phase completed.");
BNO08xTestHelper::print_test_msg(TEST_TAG, "Report disabled testing phase started.");
/*disable respective report to test and ensure it stops reporting new data */
imu->disable_activity_classifier();
for (int i = 0; i < RX_REPORT_TRIAL_CNT; i++)
{
new_data = false;
if (imu->data_available())
{
prev_report_data = report_data;
BNO08xTestHelper::update_report_data(&report_data, imu);
// check if any default values have been overwritten, implying new data from respective report
new_data = BNO08xTestHelper::activity_classifier_data_is_default(&report_data, &prev_report_data);
}
// assert that no new data from respective report has been received
TEST_ASSERT_NOT_EQUAL(true, new_data);
sprintf(msg_buff, "No Rx Data Trial %d Success: ActivityClassifierDefault: %d", (i + 1), report_data.activity_classifier);
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
// reset all data used in report test
BNO08xTestHelper::reset_all_imu_data_to_test_defaults(imu);
BNO08xTestHelper::update_report_data(&report_data, imu);
}
BNO08xTestHelper::print_test_msg(TEST_TAG, "Report disabled testing phase completed.");
BNO08xTestHelper::print_test_end_banner(TEST_TAG);
}