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test_imu config, documentation typos

This commit is contained in:
myles-parfeniuk 2024-11-18 10:02:56 -08:00
parent 5fd7220371
commit 08d7c26616
1 changed files with 22 additions and 22 deletions
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44
include/BNO08xTestHelper.hpp
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@ -15,13 +15,13 @@
class BNO08xTestHelper class BNO08xTestHelper
{ {
private: private:
inline static BNO08x* test_imu = nullptr; inline static BNO08x* test_imu = nullptr; ///< IMU to be used in unit tets, created and destroyed with create_test_imu() and destroy_test_imu().
inline static bno08x_config_t imu_cfg; inline static bno08x_config_t imu_cfg; ///< Config for test imu, set with set_test_imu_config().
static const constexpr char* TAG = "BNO08xTestHelper"; static const constexpr char* TAG = "BNO08xTestHelper"; ///< Class tag for debug statements.
public: public:
/// @brief IMU configuration settings passed into constructor /// @brief Container for report data returned from BNO08x getter functions.
typedef struct imu_report_data_t typedef struct imu_report_data_t
{ {
uint32_t time_stamp; uint32_t time_stamp;
@ -137,7 +137,7 @@ class BNO08xTestHelper
if (test_imu != nullptr) if (test_imu != nullptr)
destroy_test_imu(); destroy_test_imu();
test_imu = new BNO08x(); test_imu = new BNO08x(imu_cfg);
} }
/** /**
@ -155,7 +155,7 @@ class BNO08xTestHelper
} }
/** /**
* @brief Deletes test IMU calling deconstructor and releases heap allocated memory. * @brief Returns pointer to test_imu that was created with create_test_imu().
* *
* @return Pointer to BNO08x IMU object to test. * @return Pointer to BNO08x IMU object to test.
*/ */
@ -230,7 +230,7 @@ class BNO08xTestHelper
} }
/** /**
* @brief Checks if report_data matches the default states stored within prev_report_data data for respective report. * @brief Checks if report_data matches the default states stored within default_report_data data for respective report.
* *
* @param report_data Current report data. * @param report_data Current report data.
* @param default_report_data Default report data to compare (should always contain default values) * @param default_report_data Default report data to compare (should always contain default values)
@ -264,7 +264,7 @@ class BNO08xTestHelper
} }
/** /**
* @brief Checks if report_data matches the default states stored within prev_report_data data for respective report. * @brief Checks if report_data matches the default states stored within default_report_data data for respective report.
* *
* @param report_data Current report data. * @param report_data Current report data.
* @param default_report_data Default report data to compare (should always contain default values) * @param default_report_data Default report data to compare (should always contain default values)
@ -300,7 +300,7 @@ class BNO08xTestHelper
} }
/** /**
* @brief Checks if report_data matches the default states stored within prev_report_data data for respective report. * @brief Checks if report_data matches the default states stored within default_report_data data for respective report.
* *
* @param report_data Current report data. * @param report_data Current report data.
* @param default_report_data Default report data to compare (should always contain default values) * @param default_report_data Default report data to compare (should always contain default values)
@ -333,7 +333,7 @@ class BNO08xTestHelper
} }
/** /**
* @brief Checks if report_data matches the default states stored within prev_report_data data for respective report. * @brief Checks if report_data matches the default states stored within default_report_data data for respective report.
* *
* @param report_data Current report data. * @param report_data Current report data.
* @param default_report_data Default report data to compare (should always contain default values) * @param default_report_data Default report data to compare (should always contain default values)
@ -357,7 +357,7 @@ class BNO08xTestHelper
} }
/** /**
* @brief Checks if report_data matches the default states stored within prev_report_data data for respective report. * @brief Checks if report_data matches the default states stored within default_report_data data for respective report.
* *
* @param report_data Current report data. * @param report_data Current report data.
* @param default_report_data Default report data to compare (should always contain default values) * @param default_report_data Default report data to compare (should always contain default values)
@ -384,7 +384,7 @@ class BNO08xTestHelper
} }
/** /**
* @brief Checks if report_data matches the default states stored within prev_report_data data for respective report. * @brief Checks if report_data matches the default states stored within default_report_data data for respective report.
* *
* @param report_data Current report data. * @param report_data Current report data.
* @param default_report_data Default report data to compare (should always contain default values) * @param default_report_data Default report data to compare (should always contain default values)
@ -411,7 +411,7 @@ class BNO08xTestHelper
} }
/** /**
* @brief Checks if report_data matches the default states stored within prev_report_data data for respective report. * @brief Checks if report_data matches the default states stored within default_report_data data for respective report.
* *
* @param report_data Current report data. * @param report_data Current report data.
* @param default_report_data Default report data to compare (should always contain default values) * @param default_report_data Default report data to compare (should always contain default values)
@ -438,7 +438,7 @@ class BNO08xTestHelper
} }
/** /**
* @brief Checks if report_data matches the default states stored within prev_report_data data for respective report. * @brief Checks if report_data matches the default states stored within default_report_data data for respective report.
* *
* @param report_data Current report data. * @param report_data Current report data.
* @param default_report_data Default report data to compare (should always contain default values) * @param default_report_data Default report data to compare (should always contain default values)
@ -465,7 +465,7 @@ class BNO08xTestHelper
} }
/** /**
* @brief Checks if report_data matches the default states stored within prev_report_data data for respective report. * @brief Checks if report_data matches the default states stored within default_report_data data for respective report.
* *
* @param report_data Current report data. * @param report_data Current report data.
* @param default_report_data Default report data to compare (should always contain default values) * @param default_report_data Default report data to compare (should always contain default values)
@ -483,7 +483,7 @@ class BNO08xTestHelper
} }
/** /**
* @brief Checks if report_data matches the default states stored within prev_report_data data for respective report. * @brief Checks if report_data matches the default states stored within default_report_data data for respective report.
* *
* @param report_data Current report data. * @param report_data Current report data.
* @param default_report_data Default report data to compare (should always contain default values) * @param default_report_data Default report data to compare (should always contain default values)
@ -501,7 +501,7 @@ class BNO08xTestHelper
} }
/** /**
* @brief Checks if report_data matches the default states stored within prev_report_data data for respective report. * @brief Checks if report_data matches the default states stored within default_report_data data for respective report.
* *
* @param report_data Current report data. * @param report_data Current report data.
* @param default_report_data Default report data to compare (should always contain default values) * @param default_report_data Default report data to compare (should always contain default values)
@ -547,7 +547,7 @@ class BNO08xTestHelper
} }
/** /**
* @brief Resets internal test imu data with test defaults. * @brief Resets internal test imu data with test defaults via accessing its private members directly.
* *
* @return void, nothing to return. * @return void, nothing to return.
*/ */
@ -572,10 +572,10 @@ class BNO08xTestHelper
test_imu->raw_calib_gyro_Z = TEST_VAL_UINT16; test_imu->raw_calib_gyro_Z = TEST_VAL_UINT16;
// reset quaternion to nan // reset quaternion to nan
test_imu->raw_quat_I = TEST_VAL_UINT16; test_imu->raw_quat_I = 0U;
test_imu->raw_quat_J = TEST_VAL_UINT16; test_imu->raw_quat_J = 0U;
test_imu->raw_quat_K = TEST_VAL_UINT16; test_imu->raw_quat_K = 0U;
test_imu->raw_quat_real = TEST_VAL_UINT16; test_imu->raw_quat_real = 0U;
test_imu->raw_quat_radian_accuracy = static_cast<uint16_t>(BNO08xAccuracy::UNDEFINED); test_imu->raw_quat_radian_accuracy = static_cast<uint16_t>(BNO08xAccuracy::UNDEFINED);
test_imu->quat_accuracy = static_cast<uint16_t>(BNO08xAccuracy::UNDEFINED); test_imu->quat_accuracy = static_cast<uint16_t>(BNO08xAccuracy::UNDEFINED);