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Report tests

This commit is contained in:
myles-parfeniuk 2024-11-14 17:48:02 -08:00
parent 2112d19903
commit 0f4e13f3a9
5 changed files with 389 additions and 31 deletions
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17
include/BNO08x.hpp
View File

@ -40,7 +40,8 @@ enum class IMUAccuracy
{
LOW = 1,
MED,
HIGH
HIGH,
UNDEFINED
};
/// @brief Reason for previous IMU reset (returned by get_reset_reason())
@ -171,9 +172,11 @@ class BNO08x
void save_tare();
void clear_tare();
bool data_available();
bool data_available(bool ignore_no_reports_enabled = false);
void register_cb(std::function<void()> cb_fxn);
void reset_all_data();
uint32_t get_time_stamp();
void get_magf(float& x, float& y, float& z, uint8_t& accuracy);
@ -201,6 +204,7 @@ class BNO08x
float get_quat_J();
float get_quat_K();
float get_quat_real();
uint8_t get_raw_quat_radian_accuracy();
float get_quat_radian_accuracy();
uint8_t get_quat_accuracy();
@ -469,9 +473,12 @@ class BNO08x
200UL /
portTICK_PERIOD_MS; ///<How long RST pin is held low during hard reset (min 10ns according to datasheet, but should be longer for stable operation)
static const constexpr TickType_t CMD_EXECUTION_DELAY_MS = 10UL / portTICK_PERIOD_MS; ///<How long to delay after queueing command to allow it to execute (for ex. after sending command to enable report).
static const constexpr TickType_t CMD_EXECUTION_DELAY_MS =
10UL /
portTICK_PERIOD_MS; ///<How long to delay after queueing command to allow it to execute (for ex. after sending command to enable report).
static const constexpr TickType_t FLUSH_PKT_DELAY_MS = 20UL / portTICK_PERIOD_MS; ///<How long to delay between wait_for_rx_done() calls when flush_rx_packets() is called.
static const constexpr TickType_t FLUSH_PKT_DELAY_MS =
20UL / portTICK_PERIOD_MS; ///<How long to delay between wait_for_rx_done() calls when flush_rx_packets() is called.
static const constexpr uint32_t SCLK_MAX_SPEED = 3000000UL; ///<Max SPI SCLK speed BNO08x is capable of
@ -576,5 +583,5 @@ class BNO08x
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
friend class BNO08xTestHelper; // allow test helper to access private members for unit tests
};

16
include/BNO08xTestSuite.hpp
View File

@ -18,7 +18,7 @@ class BNO08xTestSuite
printf("####################### BEGIN TESTS: %s #######################\n\r", test_set_name);
}
static void print_end_tests_banner(const char *test_set_name)
static void print_end_tests_banner(const char* test_set_name)
{
printf("####################### END TESTS: %s #######################\n\r", test_set_name);
}
@ -27,6 +27,7 @@ class BNO08xTestSuite
static void run_all_tests()
{
run_init_deinit_tests();
run_report_tests();
}
static void run_init_deinit_tests()
@ -35,9 +36,20 @@ class BNO08xTestSuite
UNITY_BEGIN();
unity_run_tests_by_tag("[Init]", false);
unity_run_tests_by_tag("[FullInitDenit]", false);
unity_run_tests_by_tag("[InitDenit]", false);
UNITY_END();
print_end_tests_banner("init_denit_tests");
}
static void run_report_tests()
{
print_begin_tests_banner("report_tests");
UNITY_BEGIN();
unity_run_tests_by_tag("[ReportEnableDisable]", false);
UNITY_END();
print_end_tests_banner("report_tests");
}
};

129
source/BNO08x.cpp
View File

@ -132,6 +132,8 @@ esp_err_t BNO08x::init_config_args()
return ESP_ERR_INVALID_ARG;
}
reset_all_data(); // reset data members that are returned by public getter APIs (for ex. get_roll_deg())
// SPI bus config
bus_config.mosi_io_num = imu_config.io_mosi; // assign mosi gpio pin
bus_config.miso_io_num = imu_config.io_miso; // assign miso gpio pin
@ -872,7 +874,7 @@ void BNO08x::queue_request_product_id_command()
void BNO08x::calibrate_all()
{
queue_calibrate_command(CALIBRATE_ACCEL_GYRO_MAG);
wait_for_tx_done(); // wait for transmit operation to complete
wait_for_tx_done(); // wait for transmit operation to complete
vTaskDelay(CMD_EXECUTION_DELAY_MS); // allow some time for command to be executed
}
@ -884,7 +886,7 @@ void BNO08x::calibrate_all()
void BNO08x::calibrate_accelerometer()
{
queue_calibrate_command(CALIBRATE_ACCEL);
wait_for_tx_done(); // wait for transmit operation to complete
wait_for_tx_done(); // wait for transmit operation to complete
vTaskDelay(CMD_EXECUTION_DELAY_MS); // allow some time for command to be executed
}
@ -896,7 +898,7 @@ void BNO08x::calibrate_accelerometer()
void BNO08x::calibrate_gyro()
{
queue_calibrate_command(CALIBRATE_GYRO);
wait_for_tx_done(); // wait for transmit operation to complete
wait_for_tx_done(); // wait for transmit operation to complete
vTaskDelay(CMD_EXECUTION_DELAY_MS); // allow some time for command to be executed
}
@ -908,7 +910,7 @@ void BNO08x::calibrate_gyro()
void BNO08x::calibrate_magnetometer()
{
queue_calibrate_command(CALIBRATE_MAG);
wait_for_tx_done(); // wait for transmit operation to complete
wait_for_tx_done(); // wait for transmit operation to complete
vTaskDelay(CMD_EXECUTION_DELAY_MS); // allow some time for command to be executed
}
@ -920,7 +922,7 @@ void BNO08x::calibrate_magnetometer()
void BNO08x::calibrate_planar_accelerometer()
{
queue_calibrate_command(CALIBRATE_PLANAR_ACCEL);
wait_for_tx_done(); // wait for transmit operation to complete
wait_for_tx_done(); // wait for transmit operation to complete
vTaskDelay(CMD_EXECUTION_DELAY_MS); // allow some time for command to be executed
}
@ -985,7 +987,7 @@ void BNO08x::request_calibration_status()
// Using this commands packet, send a command
queue_command(COMMAND_ME_CALIBRATE, commands);
wait_for_tx_done(); // wait for transmit operation to complete
wait_for_tx_done(); // wait for transmit operation to complete
vTaskDelay(CMD_EXECUTION_DELAY_MS); // allow some time for command to be executed
}
@ -1011,7 +1013,7 @@ void BNO08x::end_calibration()
{
queue_calibrate_command(CALIBRATE_STOP); // Disables all calibrations
wait_for_tx_done(); // wait for transmit operation to complete
vTaskDelay(CMD_EXECUTION_DELAY_MS); // allow some time for command to be executed
vTaskDelay(CMD_EXECUTION_DELAY_MS); // allow some time for command to be executed
}
/**
@ -1026,7 +1028,7 @@ void BNO08x::save_calibration()
// Using this shtpData packet, send a command
queue_command(COMMAND_DCD, commands); // Save DCD command
wait_for_tx_done(); // wait for transmit operation to complete
vTaskDelay(CMD_EXECUTION_DELAY_MS); // allow some time for command to be executed
vTaskDelay(CMD_EXECUTION_DELAY_MS); // allow some time for command to be executed
}
/**
@ -1043,13 +1045,13 @@ bool BNO08x::run_full_calibration_routine()
float magf_x = 0;
float magf_y = 0;
float magf_z = 0;
uint8_t magnetometer_accuracy = (uint8_t) IMUAccuracy::LOW;
uint8_t magnetometer_accuracy = static_cast<uint8_t>(IMUAccuracy::LOW);
float quat_I = 0;
float quat_J = 0;
float quat_K = 0;
float quat_real = 0;
uint8_t quat_accuracy = (uint8_t) IMUAccuracy::LOW;
uint8_t quat_accuracy = static_cast<uint8_t>(IMUAccuracy::LOW);
uint16_t high_accuracy = 0;
uint16_t save_calibration_attempt = 0;
@ -1084,7 +1086,7 @@ bool BNO08x::run_full_calibration_routine()
vTaskDelay(5 / portTICK_PERIOD_MS);
if ((magnetometer_accuracy >= (uint8_t) IMUAccuracy::MED) && (quat_accuracy == (uint8_t) IMUAccuracy::HIGH))
if ((magnetometer_accuracy >= static_cast<uint8_t>(IMUAccuracy::MED)) && (quat_accuracy == static_cast<uint8_t>(IMUAccuracy::HIGH)))
high_accuracy++;
else
high_accuracy = 0;
@ -1130,15 +1132,17 @@ bool BNO08x::run_full_calibration_routine()
/**
* @brief Checks if BNO08x has asserted interrupt and sent data.
*
* @param ignore_no_reports_enabled Forces a wait for data even if no reports are enabled (default is false), used for unit tests.
* @return true if new data has been parsed and saved
*/
bool BNO08x::data_available()
bool BNO08x::data_available(bool ignore_no_reports_enabled)
{
if (xEventGroupGetBits(evt_grp_report_en) == 0)
{
ESP_LOGE(TAG, "No reports enabled.");
return false;
}
if (!ignore_no_reports_enabled)
if (xEventGroupGetBits(evt_grp_report_en) == 0)
{
ESP_LOGE(TAG, "No reports enabled.");
return false;
}
return wait_for_data();
}
@ -1869,7 +1873,7 @@ void BNO08x::disable_raw_magnetometer()
void BNO08x::tare_now(uint8_t axis_sel, uint8_t rotation_vector_basis)
{
queue_tare_command(TARE_NOW, axis_sel, rotation_vector_basis);
wait_for_tx_done(); // wait for transmit operation to complete
wait_for_tx_done(); // wait for transmit operation to complete
vTaskDelay(CMD_EXECUTION_DELAY_MS); // allow some time for command to be executed
}
@ -1881,7 +1885,7 @@ void BNO08x::tare_now(uint8_t axis_sel, uint8_t rotation_vector_basis)
void BNO08x::save_tare()
{
queue_tare_command(TARE_PERSIST);
wait_for_tx_done(); // wait for transmit operation to complete
wait_for_tx_done(); // wait for transmit operation to complete
vTaskDelay(CMD_EXECUTION_DELAY_MS); // allow some time for command to be executed
}
@ -1893,7 +1897,7 @@ void BNO08x::save_tare()
void BNO08x::clear_tare()
{
queue_tare_command(TARE_SET_REORIENTATION);
wait_for_tx_done(); // wait for transmit operation to complete
wait_for_tx_done(); // wait for transmit operation to complete
vTaskDelay(CMD_EXECUTION_DELAY_MS); // allow some time for command to be executed
}
@ -1916,13 +1920,84 @@ float BNO08x::q_to_float(int16_t fixed_point_value, uint8_t q_point)
/**
* @brief Return timestamp of most recent report.
*
* @return void, nothing to return
* @return uint32_t containing the timestamp of the most recent report in microseconds.
*/
uint32_t BNO08x::get_time_stamp()
{
return time_stamp;
}
/**
* @brief Resets all data returned by public getter APIs to initial values of 0 and low accuracy.
*
* @return void, nothing to return
*/
void BNO08x::reset_all_data()
{
time_stamp = 0UL;
raw_accel_X = 0U;
raw_accel_Y = 0U;
raw_accel_Z = 0U;
accel_accuracy = static_cast<uint16_t>(IMUAccuracy::UNDEFINED);
raw_lin_accel_X = 0U;
raw_lin_accel_Y = 0U;
raw_lin_accel_Z = 0U;
accel_lin_accuracy = static_cast<uint16_t>(IMUAccuracy::UNDEFINED);
raw_gyro_X = 0U;
raw_gyro_Y = 0U;
raw_gyro_Z = 0U;
gyro_accuracy = static_cast<uint16_t>(IMUAccuracy::UNDEFINED);
raw_quat_I = 0U;
raw_quat_J = 0U;
raw_quat_K = 0U;
raw_quat_real = 1U;
raw_quat_radian_accuracy = static_cast<uint16_t>(IMUAccuracy::UNDEFINED);
quat_accuracy = static_cast<uint16_t>(IMUAccuracy::UNDEFINED);
raw_velocity_gyro_X = 0U;
raw_velocity_gyro_Y = 0U;
raw_velocity_gyro_Z = 0U;
gravity_X = 0U;
gravity_Y = 0U;
gravity_Z = 0U;
gravity_accuracy = static_cast<uint16_t>(IMUAccuracy::UNDEFINED);
raw_uncalib_gyro_X = 0U;
raw_uncalib_gyro_Y = 0U;
raw_uncalib_gyro_Z = 0U;
raw_bias_X = 0U;
raw_bias_Y = 0U;
raw_bias_Z = 0U;
uncalib_gyro_accuracy = static_cast<uint16_t>(IMUAccuracy::UNDEFINED);
raw_magf_X = 0U;
raw_magf_Y = 0U;
raw_magf_Z = 0U;
magf_accuracy = static_cast<uint16_t>(IMUAccuracy::UNDEFINED);
tap_detector = 0U;
step_count = 0U;
stability_classifier = 0U;
activity_classifier = 0U;
mems_raw_accel_X = 0U;
mems_raw_accel_Y = 0U;
mems_raw_accel_Z = 0U;
mems_raw_gyro_X = 0U;
mems_raw_gyro_Y = 0U;
mems_raw_gyro_Z = 0U;
mems_raw_magf_X = 0U;
mems_raw_magf_Y = 0U;
mems_raw_magf_Z = 0U;
}
/**
* @brief Get the full magnetic field vector.
*
@ -2221,6 +2296,16 @@ float BNO08x::get_quat_real()
return quat;
}
/**
* @brief Get the raw radian accuracy of reported quaternion before it is converted to float.
*
* @return The raw radian accuracy of reported quaternion.
*/
uint8_t BNO08x::get_raw_quat_radian_accuracy()
{
return raw_quat_radian_accuracy;
}
/**
* @brief Get radian accuracy of reported quaternion.
*
@ -3193,7 +3278,7 @@ esp_err_t BNO08x::kill_all_tasks()
bno08x_rx_packet_t dummy_packet;
sem_kill_tasks = xSemaphoreCreateCounting(init_status.task_count, 0);
memset(&dummy_packet, 0, sizeof(dummy_packet));
memset(&dummy_packet, 0, sizeof(bno08x_rx_packet_t));
xEventGroupClearBits(
evt_grp_task_flow, EVT_GRP_TSK_FLW_RUNNING_BIT); // clear task running bit in task flow event group to request deletion of tasks

4
test/InitDeinitTests.cpp
View File

@ -94,9 +94,9 @@ TEST_CASE("Finish Init", "[Init]")
BNO08xTestHelper::print_test_end_banner(TEST_TAG);
}
TEST_CASE("Full Init & Deinit", "[FullInitDenit]")
TEST_CASE("Init & Deinit", "[InitDenit]")
{
const constexpr char* TEST_TAG = "Full Init & Deinit";
const constexpr char* TEST_TAG = "Init & Deinit";
BNO08x* imu = nullptr;
BNO08xTestHelper::print_test_start_banner(TEST_TAG);

254
test/ReportTests.cpp
View File

@ -1,2 +1,256 @@
#include "unity.h"
#include "../include/BNO08xTestHelper.hpp"
static const constexpr uint8_t RX_REPORT_TRIAL_CNT = 5;
typedef struct imu_report_data_t
{
uint32_t time_stamp;
float quat_I;
float quat_J;
float quat_K;
float quat_real;
IMUAccuracy raw_quat_radian_accuracy;
IMUAccuracy quat_accuracy;
} imu_report_data_t;
void update_report_data(imu_report_data_t* report_data, BNO08x* imu)
{
report_data->quat_I = imu->get_quat_I();
report_data->quat_J = imu->get_quat_J();
report_data->quat_K = imu->get_quat_K();
report_data->quat_real = imu->get_quat_real();
report_data->raw_quat_radian_accuracy = static_cast<IMUAccuracy>(imu->get_raw_quat_radian_accuracy());
report_data->quat_accuracy = static_cast<IMUAccuracy>(imu->get_quat_accuracy());
}
TEST_CASE("Enable/Disable Rotation Vector", "[ReportEnableDisable]")
{
const constexpr char* TEST_TAG = "Enable/Disable Rotation Vector";
BNO08x* imu = nullptr;
imu_report_data_t report_data;
bool new_data = false;
char msg_buff[200] = {};
BNO08xTestHelper::print_test_start_banner(TEST_TAG);
BNO08xTestHelper::print_test_msg(TEST_TAG, "Creating & initializing IMU for Enable/Disable report tests.");
BNO08xTestHelper::create_test_imu();
imu = BNO08xTestHelper::get_test_imu();
// ensure IMU initialized successfully
TEST_ASSERT_EQUAL(true, imu->initialize());
// reset all data used in report test
imu->reset_all_data();
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_rotation_vector(100000UL);
for (int i = 0; i < RX_REPORT_TRIAL_CNT; i++)
{
new_data = false;
if (imu->data_available())
{
update_report_data(&report_data, imu);
// check if any default values have been overwritten, implying new data from respective report
if (report_data.quat_I != 0.0f)
new_data = true;
if (report_data.quat_J != 0.0f)
new_data = true;
if (report_data.quat_K != 0.0f)
new_data = true;
if (report_data.quat_real != 1.0f)
new_data = true;
// if the accuracy still contains its default value, something has gone wrong, a defined accuracy should be received with every report
if (report_data.quat_accuracy == IMUAccuracy::UNDEFINED)
new_data = false;
if (report_data.raw_quat_radian_accuracy == IMUAccuracy::UNDEFINED)
new_data = false;
}
// assert whether new data was received or not
TEST_ASSERT_EQUAL(true, new_data);
sprintf(msg_buff, "Enabled Report Rx Data Trial %d Success: I: %.2lf J: %.2lf K: %.2lf real: %.2lf", (i + 1), report_data.quat_I,
report_data.quat_J, report_data.quat_K, report_data.quat_real);
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
// reset all data used in report test
imu->reset_all_data();
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_rotation_vector();
for (int i = 0; i < RX_REPORT_TRIAL_CNT; i++)
{
new_data = false;
// use "true" argument to force wait for data even if no reports are enabled
if (imu->data_available(true))
{
update_report_data(&report_data, imu);
// check if any default values have been overwritten, implying new data from respective report
if (report_data.quat_I != 0.0f)
new_data = true;
if (report_data.quat_J != 0.0f)
new_data = true;
if (report_data.quat_K != 0.0f)
new_data = true;
if (report_data.quat_real != 1.0f)
new_data = true;
// if the accuracy does not contain its default value, something has gone wrong, respective report should be disabled
if (report_data.quat_accuracy != IMUAccuracy::UNDEFINED)
new_data = true;
if (report_data.raw_quat_radian_accuracy != IMUAccuracy::UNDEFINED)
new_data = true;
}
// assert that no new data from this report has been received
TEST_ASSERT_NOT_EQUAL(true, new_data);
sprintf(msg_buff, "Disabled Report No Rx Data Trial %d Success", (i + 1));
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
// reset all data used in report test
imu->reset_all_data();
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 Game Rotation Vector", "[ReportEnableDisable]")
{
const constexpr char* TEST_TAG = "Enable/Disable Game Rotation Vector";
BNO08x* imu = nullptr;
imu_report_data_t 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
imu->reset_all_data();
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_game_rotation_vector(100000UL);
for (int i = 0; i < RX_REPORT_TRIAL_CNT; i++)
{
new_data = false;
if (imu->data_available())
{
update_report_data(&report_data, imu);
// check if any default values have been overwritten, implying new data from respective report
if (report_data.quat_I != 0.0f)
new_data = true;
if (report_data.quat_J != 0.0f)
new_data = true;
if (report_data.quat_K != 0.0f)
new_data = true;
if (report_data.quat_real != 1.0f)
new_data = true;
// if the accuracy still contains its default value, something has gone wrong, a defined accuracy should be received with every report
if (report_data.quat_accuracy == IMUAccuracy::UNDEFINED)
new_data = false;
if (report_data.raw_quat_radian_accuracy == IMUAccuracy::UNDEFINED)
new_data = false;
}
// assert whether new data was received or not
TEST_ASSERT_EQUAL(true, new_data);
sprintf(msg_buff, "Enabled Report Rx Data Trial %d Success: I: %.2lf J: %.2lf K: %.2lf real: %.2lf", (i + 1), report_data.quat_I,
report_data.quat_J, report_data.quat_K, report_data.quat_real);
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
// reset all data used in report test
imu->reset_all_data();
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_game_rotation_vector();
for (int i = 0; i < RX_REPORT_TRIAL_CNT; i++)
{
new_data = false;
// use "true" argument to force wait for data even if no reports are enabled
if (imu->data_available(true))
{
update_report_data(&report_data, imu);
// check if any default values have been overwritten, implying new data from respective report
if (report_data.quat_I != 0.0f)
new_data = true;
if (report_data.quat_J != 0.0f)
new_data = true;
if (report_data.quat_K != 0.0f)
new_data = true;
if (report_data.quat_real != 1.0f)
new_data = true;
// if the accuracy does not contain its default value, something has gone wrong, respective report should be disabled
if (report_data.quat_accuracy != IMUAccuracy::UNDEFINED)
new_data = true;
if (report_data.raw_quat_radian_accuracy != IMUAccuracy::UNDEFINED)
new_data = true;
}
// assert that no new data from this report has been received
TEST_ASSERT_NOT_EQUAL(true, new_data);
sprintf(msg_buff, "Disabled Report No Rx Data Trial %d Success", (i + 1));
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
// reset all data used in report test
imu->reset_all_data();
update_report_data(&report_data, imu);
}
BNO08xTestHelper::print_test_msg(TEST_TAG, "Report disabled testing phase completed.");
BNO08xTestHelper::print_test_end_banner(TEST_TAG);
}