MultiReportTests, unit test refactoring

README.md

@@ -78,7 +78,7 @@ To access the menu:
 1. Within esp-idf enabled terminal, execute the menuconfig command:
     ```sh
     idf.py menuconfig
-
+    ```
 2. Scroll down to the esp_BNO08x menu and enter it, if you're using vsCode you may have to use the "j" and "k" keys instead of the arrow keys.
     ![image](README_images/esp32_BNO08x_menuconfig_1.png)
 
@@ -89,12 +89,12 @@ To access the menu:
 ### Examples
 There are two ways data returned from the BNO08x can be accessed with this library:
 
-1. Polling Method with `data_available()` Function:
+1. **Polling Method with** `data_available()` **Function**:
   - Use the `data_available()` function to poll for new data, similar to the SparkFun library.
   - Behavior: It is a blocking function that returns `true` when new data is received or `false` if a timeout occurs.
   - See the **Polling Example** below.
 
-2. Callback Registration with `register_cb()` Function:
+2. **Callback Registration with** `register_cb()` **Function**:
   - Register callback functions that automatically execute upon receiving new data.
   - Behavior: The registered callback will be invoked whenever new data is available.
   - See the **Call-Back Function Example** below. 
@@ -198,8 +198,8 @@ extern "C" void app_main(void)
 <p align="right">(<a href="#readme-top">back to top</a>)</p>
 
 ## Unit Tests
-A basic unit testing suite is included with this library, but it is very rudimentary. 
+A basic unit testing suite is included with this library, but it is very rudimentary.  
-It can be used to verify some of the basic features of a BNO08x device. 
+It can be used to verify some of the basic features of a BNO08x device.
 <p align="right">(<a href="#readme-top">back to top</a>)</p>
 
 ### Running Tests

include/BNO08xTestHelper.hpp

@@ -7,6 +7,7 @@
 #include "stdio.h"
 #include "BNO08x.hpp"
 
+
 /**
  * @class BNO08xTestHelper
  * @brief BNO08x unit test helper class.
@@ -234,9 +235,9 @@ class BNO08xTestHelper
          * @param report_data Current report data.
          * @param default_report_data Default report data to compare (should always contain default values)
          *
-         * @return ESP_OK if init succeeded.
+         * @return True if new data was received for respective report.
          */
-        static bool rotation_vector_data_is_default(imu_report_data_t* report_data, imu_report_data_t* default_report_data)
+        static bool rotation_vector_data_is_new(imu_report_data_t* report_data, imu_report_data_t* default_report_data)
         {
             bool new_data = false;
 
@@ -268,9 +269,9 @@ class BNO08xTestHelper
          * @param report_data Current report data.
          * @param default_report_data Default report data to compare (should always contain default values)
          *
-         * @return ESP_OK if init succeeded.
+         * @return True if new data was received for respective report.
          */
-        static bool gyro_integrated_rotation_vector_data_is_default(imu_report_data_t* report_data, imu_report_data_t* default_report_data)
+        static bool gyro_integrated_rotation_vector_data_is_new(imu_report_data_t* report_data, imu_report_data_t* default_report_data)
         {
             bool new_data = false;
 
@@ -304,9 +305,9 @@ class BNO08xTestHelper
          * @param report_data Current report data.
          * @param default_report_data Default report data to compare (should always contain default values)
          *
-         * @return ESP_OK if init succeeded.
+         * @return True if new data was received for respective report.
          */
-        static bool uncalibrated_gyro_data_is_default(imu_report_data_t* report_data, imu_report_data_t* default_report_data)
+        static bool uncalibrated_gyro_data_is_new(imu_report_data_t* report_data, imu_report_data_t* default_report_data)
         {
             bool new_data = false;
 
@@ -337,9 +338,9 @@ class BNO08xTestHelper
          * @param report_data Current report data.
          * @param default_report_data Default report data to compare (should always contain default values)
          *
-         * @return ESP_OK if init succeeded.
+         * @return True if new data was received for respective report.
          */
-        static bool calibrated_gyro_data_is_default(imu_report_data_t* report_data, imu_report_data_t* default_report_data)
+        static bool calibrated_gyro_data_is_new(imu_report_data_t* report_data, imu_report_data_t* default_report_data)
         {
             bool new_data = false;
 
@@ -361,9 +362,9 @@ class BNO08xTestHelper
          * @param report_data Current report data.
          * @param default_report_data Default report data to compare (should always contain default values)
          *
-         * @return ESP_OK if init succeeded.
+         * @return True if new data was received for respective report.
          */
-        static bool accelerometer_data_is_default(imu_report_data_t* report_data, imu_report_data_t* default_report_data)
+        static bool accelerometer_data_is_new(imu_report_data_t* report_data, imu_report_data_t* default_report_data)
         {
             bool new_data = false;
 
@@ -388,9 +389,9 @@ class BNO08xTestHelper
          * @param report_data Current report data.
          * @param default_report_data Default report data to compare (should always contain default values)
          *
-         * @return ESP_OK if init succeeded.
+         * @return True if new data was received for respective report.
          */
-        static bool linear_accelerometer_data_is_default(imu_report_data_t* report_data, imu_report_data_t* default_report_data)
+        static bool linear_accelerometer_data_is_new(imu_report_data_t* report_data, imu_report_data_t* default_report_data)
         {
             bool new_data = false;
 
@@ -415,9 +416,9 @@ class BNO08xTestHelper
          * @param report_data Current report data.
          * @param default_report_data Default report data to compare (should always contain default values)
          *
-         * @return ESP_OK if init succeeded.
+         * @return True if new data was received for respective report.
          */
-        static bool gravity_data_is_default(imu_report_data_t* report_data, imu_report_data_t* default_report_data)
+        static bool gravity_data_is_new(imu_report_data_t* report_data, imu_report_data_t* default_report_data)
         {
             bool new_data = false;
 
@@ -442,9 +443,9 @@ class BNO08xTestHelper
          * @param report_data Current report data.
          * @param default_report_data Default report data to compare (should always contain default values)
          *
-         * @return ESP_OK if init succeeded.
+         * @return True if new data was received for respective report.
          */
-        static bool magnetometer_data_is_default(imu_report_data_t* report_data, imu_report_data_t* default_report_data)
+        static bool magnetometer_data_is_new(imu_report_data_t* report_data, imu_report_data_t* default_report_data)
         {
             bool new_data = false;
 
@@ -469,9 +470,9 @@ class BNO08xTestHelper
          * @param report_data Current report data.
          * @param default_report_data Default report data to compare (should always contain default values)
          *
-         * @return ESP_OK if init succeeded.
+         * @return True if new data was received for respective report.
          */
-        static bool step_detector_data_is_default(imu_report_data_t* report_data, imu_report_data_t* default_report_data)
+        static bool step_detector_data_is_new(imu_report_data_t* report_data, imu_report_data_t* default_report_data)
         {
             bool new_data = false;
 
@@ -487,9 +488,9 @@ class BNO08xTestHelper
          * @param report_data Current report data.
          * @param default_report_data Default report data to compare (should always contain default values)
          *
-         * @return ESP_OK if init succeeded.
+         * @return True if new data was received for respective report.
          */
-        static bool stability_classifier_data_is_default(imu_report_data_t* report_data, imu_report_data_t* default_report_data)
+        static bool stability_classifier_data_is_new(imu_report_data_t* report_data, imu_report_data_t* default_report_data)
         {
             bool new_data = false;
 
@@ -505,9 +506,9 @@ class BNO08xTestHelper
          * @param report_data Current report data.
          * @param default_report_data Default report data to compare (should always contain default values)
          *
-         * @return ESP_OK if init succeeded.
+         * @return True if new data was received for respective report.
          */
-        static bool activity_classifier_data_is_default(imu_report_data_t* report_data, imu_report_data_t* default_report_data)
+        static bool activity_classifier_data_is_new(imu_report_data_t* report_data, imu_report_data_t* default_report_data)
         {
             bool new_data = false;
 
@@ -522,7 +523,7 @@ class BNO08xTestHelper
          *
          * @param report_data Pointer to imu_report_data_t struct to save report data.
          *
-         * @return ESP_OK if init succeeded.
+         * @return void, noting to return.
          */
         static void update_report_data(imu_report_data_t* report_data)
         {
@@ -548,7 +549,7 @@ class BNO08xTestHelper
         /**
          * @brief Resets internal test imu data with test defaults.
          *
-         * @return ESP_OK if init succeeded.
+         * @return void, nothing to return.
          */
         static void reset_all_imu_data_to_test_defaults()
         {

include/BNO08xTestSuite.hpp

@@ -13,6 +13,7 @@
 #include "unity.h"
 #include "BNO08xTestHelper.hpp"
 
+
 /**
  * @class BNO08xTestSuite
  * @brief BNO08x unit test launch point class.
@@ -35,7 +36,8 @@ class BNO08xTestSuite
         {
             UNITY_BEGIN();
             run_init_deinit_tests(false);
-            run_report_tests(false);
+            run_single_report_tests(false);
+            run_multi_report_tests(false);
             UNITY_END();
         }
 
@@ -55,9 +57,9 @@ class BNO08xTestSuite
             print_end_tests_banner("init_denit_tests");
         }
 
-        static void run_report_tests(bool call_unity_end_begin = true)
+        static void run_single_report_tests(bool call_unity_end_begin = true)
         {
-            print_begin_tests_banner("report_tests");
+            print_begin_tests_banner("single_report_tests");
 
             if (call_unity_end_begin)
                 UNITY_BEGIN();
@@ -67,6 +69,21 @@ class BNO08xTestSuite
             if (call_unity_end_begin)
                 UNITY_END();
 
-            print_end_tests_banner("report_tests");
+            print_end_tests_banner("single_report_tests");
+        }
+
+        static void run_multi_report_tests(bool call_unity_end_begin = true)
+        {
+            print_begin_tests_banner("multi_report_tests");
+
+            if (call_unity_end_begin)
+                UNITY_BEGIN();
+
+            unity_run_tests_by_tag("[MultiReportEnableDisable]", false);
+
+            if (call_unity_end_begin)
+                UNITY_END();
+
+            print_end_tests_banner("multi_report_tests");
         }
 };

test/InitDeinitTests.cpp

@@ -101,18 +101,18 @@ TEST_CASE("Init & Deinit", "[InitDenit]")
 
     BNO08xTestHelper::print_test_start_banner(TEST_TAG);
 
-    BNO08xTestHelper::print_test_msg(TEST_TAG, "Initializing IMU attempt 1.");
+    BNO08xTestHelper::print_test_msg(TEST_TAG, "Initializing BNO08x Driver Object attempt 1.");
     BNO08xTestHelper::create_test_imu();
     imu = BNO08xTestHelper::get_test_imu();
     TEST_ASSERT_EQUAL(true, imu->initialize());
-    BNO08xTestHelper::print_test_msg(TEST_TAG, "Success, deinitializing IMU.");
+    BNO08xTestHelper::print_test_msg(TEST_TAG, "Success, deinitializing BNO08x Driver Object.");
     BNO08xTestHelper::destroy_test_imu();
 
-    BNO08xTestHelper::print_test_msg(TEST_TAG, "Initializing IMU attempt 2.");
+    BNO08xTestHelper::print_test_msg(TEST_TAG,  "Initializing BNO08x Driver Object attempt 2.");
     BNO08xTestHelper::create_test_imu();
     imu = BNO08xTestHelper::get_test_imu();
     TEST_ASSERT_EQUAL(true, imu->initialize());
-    BNO08xTestHelper::print_test_msg(TEST_TAG, "Success, deinitializing IMU.");
+    BNO08xTestHelper::print_test_msg(TEST_TAG, "Success, deinitializing BNO08x Driver Object.");
     BNO08xTestHelper::destroy_test_imu();
 
     BNO08xTestHelper::print_test_end_banner(TEST_TAG);

test/MultiReportTests.cpp

@@ -0,0 +1,141 @@
+#include "unity.h"
+#include "../include/BNO08xTestHelper.hpp"
+
+TEST_CASE("BNO08x Driver Creation for [MultiReportEnableDisable] Tests", "[MultiReportEnableDisable]")
+{
+    const constexpr char* TEST_TAG = "BNO08x Driver Creation for [MultiReportEnableDisable] Tests";
+    BNO08x* imu = nullptr;
+
+    BNO08xTestHelper::print_test_msg(TEST_TAG, "Creating & initializing BNO08x driver.");
+    BNO08xTestHelper::create_test_imu();
+    imu = BNO08xTestHelper::get_test_imu();
+
+    // ensure IMU initialized successfully
+    TEST_ASSERT_EQUAL(true, imu->initialize());
+}
+
+TEST_CASE("Dual Report Enable/Disable", "[MultiReportEnableDisable]")
+{
+    const constexpr char* TEST_TAG = "Dual Report Enable/Disable";
+    BNO08x* imu = nullptr;
+    BNO08xTestHelper::imu_report_data_t report_data;
+    BNO08xTestHelper::imu_report_data_t prev_report_data;
+    char msg_buff[200] = {};
+    const constexpr uint8_t ENABLED_REPORT_CNT = 2;
+    const constexpr uint8_t RX_REPORT_TRIAL_CNT = ENABLED_REPORT_CNT + 1;
+    const constexpr uint32_t REPORT_PERIOD = 100000UL; // 100ms
+
+    bool new_data[ENABLED_REPORT_CNT] = {false, false};
+
+    imu = BNO08xTestHelper::get_test_imu();
+
+    // reset all data used in report test
+    BNO08xTestHelper::reset_all_imu_data_to_test_defaults();
+    BNO08xTestHelper::update_report_data(&report_data);
+
+    BNO08xTestHelper::print_test_msg(TEST_TAG, "Enabling Accelerometer and Linear Accelerometer reports, checking for new data on both.");
+
+    imu->enable_accelerometer(REPORT_PERIOD);
+    imu->enable_linear_accelerometer(REPORT_PERIOD);
+
+    for (int i = 0; i < RX_REPORT_TRIAL_CNT; i++)
+    {
+        if (imu->data_available())
+        {
+            prev_report_data = report_data;
+            BNO08xTestHelper::update_report_data(&report_data);
+
+            // check if any default values have been overwritten, implying new data from respective report
+            if (BNO08xTestHelper::accelerometer_data_is_new(&report_data, &prev_report_data))
+            {
+                new_data[0] = true;
+
+                sprintf(msg_buff,
+                        "Rx Data Trial %d Success: AngularAccel: aX: %.2lf accel aY: %.2lf accel aZ: "
+                        "%.2lf Accuracy %s",
+                        (i + 1), report_data.accel_x, report_data.accel_y, report_data.accel_z,
+                        BNO08xTestHelper::BNO08xAccuracy_to_str(report_data.accel_accuracy));
+
+                BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
+            }
+
+            if (BNO08xTestHelper::linear_accelerometer_data_is_new(&report_data, &prev_report_data))
+            {
+                new_data[1] = true;
+
+                sprintf(msg_buff,
+                        "Rx Data Trial %d Success: LinearAccel: laX: %.2lf laY: %.2lf laZ: "
+                        "%.2lf Accuracy: %s",
+                        (i + 1), report_data.lin_accel_x, report_data.lin_accel_y, report_data.lin_accel_z,
+                        BNO08xTestHelper::BNO08xAccuracy_to_str(report_data.lin_accel_accuracy));
+
+                BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
+            }
+        }
+    }
+
+    // check that new data was received for each report
+    TEST_ASSERT_EQUAL(true, new_data[0]);
+    TEST_ASSERT_EQUAL(true, new_data[1]);
+
+    // reset all data used in report test
+    new_data[0] = false;
+    new_data[1] = false;
+    BNO08xTestHelper::reset_all_imu_data_to_test_defaults();
+    BNO08xTestHelper::update_report_data(&report_data);
+
+    BNO08xTestHelper::print_test_msg(TEST_TAG, "Test completed, disabling only Linear Accelerometer report and checking for new data on both.");
+    imu->disable_linear_accelerometer();
+
+    for (int i = 0; i < RX_REPORT_TRIAL_CNT; i++)
+    {
+        if (imu->data_available())
+        {
+            prev_report_data = report_data;
+            BNO08xTestHelper::update_report_data(&report_data);
+
+            // check if any default values have been overwritten, implying new data from respective report
+            if (BNO08xTestHelper::accelerometer_data_is_new(&report_data, &prev_report_data))
+            {
+                new_data[0] = true;
+
+                sprintf(msg_buff,
+                        "Rx Data Trial %d Success: AngularAccel: aX: %.2lf accel aY: %.2lf accel aZ: "
+                        "%.2lf Accuracy %s",
+                        (i + 1), report_data.accel_x, report_data.accel_y, report_data.accel_z,
+                        BNO08xTestHelper::BNO08xAccuracy_to_str(report_data.accel_accuracy));
+
+                BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
+            }
+
+            if (BNO08xTestHelper::linear_accelerometer_data_is_new(&report_data, &prev_report_data))
+            {
+                // no new data should be detected here, report is disabled.
+                new_data[1] = true;
+
+                sprintf(msg_buff,
+                        "Rx Data Trial %d Failure (REPORT DISABLED): LinearAccel: laX: %.2lf laY: %.2lf laZ: "
+                        "%.2lf Accuracy: %s",
+                        (i + 1), report_data.lin_accel_x, report_data.lin_accel_y, report_data.lin_accel_z,
+                        BNO08xTestHelper::BNO08xAccuracy_to_str(report_data.lin_accel_accuracy));
+
+                BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
+            }
+        }
+    }
+
+    // check that new data was received only for accelerometer report
+    TEST_ASSERT_EQUAL(true, new_data[0]);
+    TEST_ASSERT_NOT_EQUAL(true, new_data[1]);
+
+    BNO08xTestHelper::print_test_msg(TEST_TAG, "Test completed, disabling Accelerometer and Linear Accelerometer report");
+    imu->disable_accelerometer();
+}
+
+TEST_CASE("BNO08x Driver Cleanup for [MultiReportEnableDisable] Tests", "[MultiReportEnableDisable]")
+{
+    const constexpr char* TEST_TAG = "BNO08x Driver Cleanup for [MultiReportEnableDisable] Tests";
+    BNO08xTestHelper::print_test_msg(TEST_TAG, "Destroying BNO08x Driver.");
+
+    BNO08xTestHelper::destroy_test_imu();
+}

test/SingleReportTests.cpp

@@ -2,6 +2,20 @@
 #include "../include/BNO08xTestHelper.hpp"
 
 static const constexpr uint8_t RX_REPORT_TRIAL_CNT = 5;
+static const constexpr uint32_t REPORT_PERIOD = 100000UL; // 100ms
+
+TEST_CASE("BNO08x Driver Creation for [SingleReportEnableDisable] Tests", "[SingleReportEnableDisable]")
+{
+    const constexpr char* TEST_TAG = "BNO08x Driver Creation for [SingleReportEnableDisable] Tests";
+    BNO08x* imu = nullptr;
+
+    BNO08xTestHelper::print_test_msg(TEST_TAG, "Creating & initializing BNO08x driver.");
+    BNO08xTestHelper::create_test_imu();
+    imu = BNO08xTestHelper::get_test_imu();
+
+    // ensure IMU initialized successfully
+    TEST_ASSERT_EQUAL(true, imu->initialize());
+}
 
 TEST_CASE("Enable Incorrect Report", "[SingleReportEnableDisable]")
 {
@@ -14,20 +28,15 @@ TEST_CASE("Enable Incorrect Report", "[SingleReportEnableDisable]")
 
     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
     BNO08xTestHelper::reset_all_imu_data_to_test_defaults();
     BNO08xTestHelper::update_report_data(&report_data);
 
     BNO08xTestHelper::print_test_msg(TEST_TAG, "Report enabled testing phase started.");
     /*enable linear accelerometer report but check for angular accelerometer data (should remain as default test values) */
-    imu->enable_linear_accelerometer(100000UL);
+    imu->enable_linear_accelerometer(REPORT_PERIOD);
 
     for (int i = 0; i < RX_REPORT_TRIAL_CNT; i++)
     {
@@ -39,7 +48,7 @@ TEST_CASE("Enable Incorrect Report", "[SingleReportEnableDisable]")
             BNO08xTestHelper::update_report_data(&report_data);
 
             // check if any default values have been overwritten, implying new data from respective report
-            new_data = BNO08xTestHelper::accelerometer_data_is_default(&report_data, &prev_report_data);
+            new_data = BNO08xTestHelper::accelerometer_data_is_new(&report_data, &prev_report_data);
         }
 
         // assert that new data from accelerometer has not been rx'd, only linear accelerometer data should have been rx'd
@@ -81,7 +90,7 @@ TEST_CASE("Enable/Disable Rotation Vector", "[SingleReportEnableDisable]")
 
     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);
+    imu->enable_rotation_vector(REPORT_PERIOD);
 
     for (int i = 0; i < RX_REPORT_TRIAL_CNT; i++)
     {
@@ -93,7 +102,7 @@ TEST_CASE("Enable/Disable Rotation Vector", "[SingleReportEnableDisable]")
             BNO08xTestHelper::update_report_data(&report_data);
 
             // check if any default values have been overwritten, implying new data from respective report
-            new_data = BNO08xTestHelper::rotation_vector_data_is_default(&report_data, &prev_report_data);
+            new_data = BNO08xTestHelper::rotation_vector_data_is_new(&report_data, &prev_report_data);
         }
 
         // assert that new data from respective report has been received
@@ -124,7 +133,7 @@ TEST_CASE("Enable/Disable Rotation Vector", "[SingleReportEnableDisable]")
             BNO08xTestHelper::update_report_data(&report_data);
 
             // check if any default values have been overwritten, implying new data from respective report
-            new_data = BNO08xTestHelper::rotation_vector_data_is_default(&report_data, &prev_report_data);
+            new_data = BNO08xTestHelper::rotation_vector_data_is_new(&report_data, &prev_report_data);
         }
 
         // assert that no new data from respective report has been received
@@ -165,7 +174,7 @@ TEST_CASE("Enable/Disable Game Rotation Vector", "[SingleReportEnableDisable]")
 
     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);
+    imu->enable_game_rotation_vector(REPORT_PERIOD);
 
     for (int i = 0; i < RX_REPORT_TRIAL_CNT; i++)
     {
@@ -177,7 +186,7 @@ TEST_CASE("Enable/Disable Game Rotation Vector", "[SingleReportEnableDisable]")
             BNO08xTestHelper::update_report_data(&report_data);
 
             // check if any default values have been overwritten, implying new data from respective report
-            new_data = BNO08xTestHelper::rotation_vector_data_is_default(&report_data, &prev_report_data);
+            new_data = BNO08xTestHelper::rotation_vector_data_is_new(&report_data, &prev_report_data);
         }
 
         // assert that new data from respective report has been received
@@ -208,7 +217,7 @@ TEST_CASE("Enable/Disable Game Rotation Vector", "[SingleReportEnableDisable]")
             BNO08xTestHelper::update_report_data(&report_data);
 
             // check if any default values have been overwritten, implying new data from respective report
-            new_data = BNO08xTestHelper::rotation_vector_data_is_default(&report_data, &prev_report_data);
+            new_data = BNO08xTestHelper::rotation_vector_data_is_new(&report_data, &prev_report_data);
         }
 
         // assert that no new data from respective report has been received
@@ -249,7 +258,7 @@ TEST_CASE("Enable/Disable ARVR Stabilized Rotation Vector", "[SingleReportEnable
 
     BNO08xTestHelper::print_test_msg(TEST_TAG, "Report enabled testing phase started.");
     /*enable respective report to test and ensure it reports new data */
-    imu->enable_ARVR_stabilized_rotation_vector(100000UL);
+    imu->enable_ARVR_stabilized_rotation_vector(REPORT_PERIOD);
 
     for (int i = 0; i < RX_REPORT_TRIAL_CNT; i++)
     {
@@ -261,7 +270,7 @@ TEST_CASE("Enable/Disable ARVR Stabilized Rotation Vector", "[SingleReportEnable
             BNO08xTestHelper::update_report_data(&report_data);
 
             // check if any default values have been overwritten, implying new data from respective report
-            new_data = BNO08xTestHelper::rotation_vector_data_is_default(&report_data, &prev_report_data);
+            new_data = BNO08xTestHelper::rotation_vector_data_is_new(&report_data, &prev_report_data);
         }
 
         // assert that new data from respective report has been received
@@ -292,7 +301,7 @@ TEST_CASE("Enable/Disable ARVR Stabilized Rotation Vector", "[SingleReportEnable
             BNO08xTestHelper::update_report_data(&report_data);
 
             // check if any default values have been overwritten, implying new data from respective report
-            new_data = BNO08xTestHelper::rotation_vector_data_is_default(&report_data, &prev_report_data);
+            new_data = BNO08xTestHelper::rotation_vector_data_is_new(&report_data, &prev_report_data);
         }
 
         // assert that no new data from respective report has been received
@@ -333,7 +342,7 @@ TEST_CASE("Enable/Disable ARVR Stabilized Game Rotation Vector", "[SingleReportE
 
     BNO08xTestHelper::print_test_msg(TEST_TAG, "Report enabled testing phase started.");
     /*enable respective report to test and ensure it reports new data */
-    imu->enable_ARVR_stabilized_game_rotation_vector(100000UL);
+    imu->enable_ARVR_stabilized_game_rotation_vector(REPORT_PERIOD);
 
     for (int i = 0; i < RX_REPORT_TRIAL_CNT; i++)
     {
@@ -345,7 +354,7 @@ TEST_CASE("Enable/Disable ARVR Stabilized Game Rotation Vector", "[SingleReportE
             BNO08xTestHelper::update_report_data(&report_data);
 
             // check if any default values have been overwritten, implying new data from respective report
-            new_data = BNO08xTestHelper::rotation_vector_data_is_default(&report_data, &prev_report_data);
+            new_data = BNO08xTestHelper::rotation_vector_data_is_new(&report_data, &prev_report_data);
         }
 
         // assert that new data from respective report has been received
@@ -376,7 +385,7 @@ TEST_CASE("Enable/Disable ARVR Stabilized Game Rotation Vector", "[SingleReportE
             BNO08xTestHelper::update_report_data(&report_data);
 
             // check if any default values have been overwritten, implying new data from respective report
-            new_data = BNO08xTestHelper::rotation_vector_data_is_default(&report_data, &prev_report_data);
+            new_data = BNO08xTestHelper::rotation_vector_data_is_new(&report_data, &prev_report_data);
         }
 
         // assert that no new data from respective report has been received
@@ -417,7 +426,7 @@ TEST_CASE("Enable/Disable Gyro Integrated Rotation Vector", "[SingleReportEnable
 
     BNO08xTestHelper::print_test_msg(TEST_TAG, "Report enabled testing phase started.");
     /*enable respective report to test and ensure it reports new data */
-    imu->enable_gyro_integrated_rotation_vector(100000UL);
+    imu->enable_gyro_integrated_rotation_vector(REPORT_PERIOD);
 
     for (int i = 0; i < RX_REPORT_TRIAL_CNT; i++)
     {
@@ -429,7 +438,7 @@ TEST_CASE("Enable/Disable Gyro Integrated Rotation Vector", "[SingleReportEnable
             BNO08xTestHelper::update_report_data(&report_data);
 
             // check if any default values have been overwritten, implying new data from respective report
-            new_data = BNO08xTestHelper::gyro_integrated_rotation_vector_data_is_default(&report_data, &prev_report_data);
+            new_data = BNO08xTestHelper::gyro_integrated_rotation_vector_data_is_new(&report_data, &prev_report_data);
         }
 
         // assert that new data from respective report has been received
@@ -465,7 +474,7 @@ TEST_CASE("Enable/Disable Gyro Integrated Rotation Vector", "[SingleReportEnable
             BNO08xTestHelper::update_report_data(&report_data);
 
             // check if any default values have been overwritten, implying new data from respective report
-            new_data = BNO08xTestHelper::gyro_integrated_rotation_vector_data_is_default(&report_data, &prev_report_data);
+            new_data = BNO08xTestHelper::gyro_integrated_rotation_vector_data_is_new(&report_data, &prev_report_data);
         }
 
         // assert that no new data from respective report has been received
@@ -510,7 +519,7 @@ TEST_CASE("Enable/Disable Uncalibrated Gyro", "[SingleReportEnableDisable]")
 
     BNO08xTestHelper::print_test_msg(TEST_TAG, "Report enabled testing phase started.");
     /*enable respective report to test and ensure it reports new data */
-    imu->enable_uncalibrated_gyro(100000UL);
+    imu->enable_uncalibrated_gyro(REPORT_PERIOD);
 
     for (int i = 0; i < RX_REPORT_TRIAL_CNT; i++)
     {
@@ -522,7 +531,7 @@ TEST_CASE("Enable/Disable Uncalibrated Gyro", "[SingleReportEnableDisable]")
             BNO08xTestHelper::update_report_data(&report_data);
 
             // check if any default values have been overwritten, implying new data from respective report
-            new_data = BNO08xTestHelper::uncalibrated_gyro_data_is_default(&report_data, &prev_report_data);
+            new_data = BNO08xTestHelper::uncalibrated_gyro_data_is_new(&report_data, &prev_report_data);
         }
 
         // assert that new data from respective report has been received
@@ -556,7 +565,7 @@ TEST_CASE("Enable/Disable Uncalibrated Gyro", "[SingleReportEnableDisable]")
             BNO08xTestHelper::update_report_data(&report_data);
 
             // check if any default values have been overwritten, implying new data from respective report
-            new_data = BNO08xTestHelper::uncalibrated_gyro_data_is_default(&report_data, &prev_report_data);
+            new_data = BNO08xTestHelper::uncalibrated_gyro_data_is_new(&report_data, &prev_report_data);
         }
 
         // assert that no new data from respective report has been received
@@ -599,7 +608,7 @@ TEST_CASE("Enable/Disable Calibrated Gyro", "[SingleReportEnableDisable]")
 
     BNO08xTestHelper::print_test_msg(TEST_TAG, "Report enabled testing phase started.");
     /*enable respective report to test and ensure it reports new data */
-    imu->enable_calibrated_gyro(100000UL);
+    imu->enable_calibrated_gyro(REPORT_PERIOD);
 
     for (int i = 0; i < RX_REPORT_TRIAL_CNT; i++)
     {
@@ -611,7 +620,7 @@ TEST_CASE("Enable/Disable Calibrated Gyro", "[SingleReportEnableDisable]")
             BNO08xTestHelper::update_report_data(&report_data);
 
             // check if any default values have been overwritten, implying new data from respective report
-            new_data = BNO08xTestHelper::calibrated_gyro_data_is_default(&report_data, &prev_report_data);
+            new_data = BNO08xTestHelper::calibrated_gyro_data_is_new(&report_data, &prev_report_data);
         }
 
         // assert that new data from respective report has been received
@@ -644,7 +653,7 @@ TEST_CASE("Enable/Disable Calibrated Gyro", "[SingleReportEnableDisable]")
             BNO08xTestHelper::update_report_data(&report_data);
 
             // check if any default values have been overwritten, implying new data from respective report
-            new_data = BNO08xTestHelper::calibrated_gyro_data_is_default(&report_data, &prev_report_data);
+            new_data = BNO08xTestHelper::calibrated_gyro_data_is_new(&report_data, &prev_report_data);
         }
 
         // assert that no new data from respective report has been received
@@ -686,7 +695,7 @@ TEST_CASE("Enable/Disable Accelerometer", "[SingleReportEnableDisable]")
 
     BNO08xTestHelper::print_test_msg(TEST_TAG, "Report enabled testing phase started.");
     /*enable respective report to test and ensure it reports new data */
-    imu->enable_accelerometer(100000UL);
+    imu->enable_accelerometer(REPORT_PERIOD);
 
     for (int i = 0; i < RX_REPORT_TRIAL_CNT; i++)
     {
@@ -698,7 +707,7 @@ TEST_CASE("Enable/Disable Accelerometer", "[SingleReportEnableDisable]")
             BNO08xTestHelper::update_report_data(&report_data);
 
             // check if any default values have been overwritten, implying new data from respective report
-            new_data = BNO08xTestHelper::accelerometer_data_is_default(&report_data, &prev_report_data);
+            new_data = BNO08xTestHelper::accelerometer_data_is_new(&report_data, &prev_report_data);
         }
 
         // assert that new data from respective report has been received
@@ -732,7 +741,7 @@ TEST_CASE("Enable/Disable Accelerometer", "[SingleReportEnableDisable]")
             BNO08xTestHelper::update_report_data(&report_data);
 
             // check if any default values have been overwritten, implying new data from respective report
-            new_data = BNO08xTestHelper::accelerometer_data_is_default(&report_data, &prev_report_data);
+            new_data = BNO08xTestHelper::accelerometer_data_is_new(&report_data, &prev_report_data);
         }
 
         // assert that no new data from respective report has been received
@@ -775,7 +784,7 @@ TEST_CASE("Enable/Disable Linear Accelerometer", "[SingleReportEnableDisable]")
 
     BNO08xTestHelper::print_test_msg(TEST_TAG, "Report enabled testing phase started.");
     /*enable respective report to test and ensure it reports new data */
-    imu->enable_linear_accelerometer(100000UL);
+    imu->enable_linear_accelerometer(REPORT_PERIOD);
 
     for (int i = 0; i < RX_REPORT_TRIAL_CNT; i++)
     {
@@ -787,7 +796,7 @@ TEST_CASE("Enable/Disable Linear Accelerometer", "[SingleReportEnableDisable]")
             BNO08xTestHelper::update_report_data(&report_data);
 
             // check if any default values have been overwritten, implying new data from respective report
-            new_data = BNO08xTestHelper::linear_accelerometer_data_is_default(&report_data, &prev_report_data);
+            new_data = BNO08xTestHelper::linear_accelerometer_data_is_new(&report_data, &prev_report_data);
         }
 
         // assert that new data from respective report has been received
@@ -821,7 +830,7 @@ TEST_CASE("Enable/Disable Linear Accelerometer", "[SingleReportEnableDisable]")
             BNO08xTestHelper::update_report_data(&report_data);
 
             // check if any default values have been overwritten, implying new data from respective report
-            new_data = BNO08xTestHelper::linear_accelerometer_data_is_default(&report_data, &prev_report_data);
+            new_data = BNO08xTestHelper::linear_accelerometer_data_is_new(&report_data, &prev_report_data);
         }
 
         // assert that no new data from respective report has been received
@@ -864,7 +873,7 @@ TEST_CASE("Enable/Disable Gravity", "[SingleReportEnableDisable]")
 
     BNO08xTestHelper::print_test_msg(TEST_TAG, "Report enabled testing phase started.");
     /*enable respective report to test and ensure it reports new data */
-    imu->enable_gravity(100000UL);
+    imu->enable_gravity(REPORT_PERIOD);
 
     for (int i = 0; i < RX_REPORT_TRIAL_CNT; i++)
     {
@@ -876,7 +885,7 @@ TEST_CASE("Enable/Disable Gravity", "[SingleReportEnableDisable]")
             BNO08xTestHelper::update_report_data(&report_data);
 
             // check if any default values have been overwritten, implying new data from respective report
-            new_data = BNO08xTestHelper::gravity_data_is_default(&report_data, &prev_report_data);
+            new_data = BNO08xTestHelper::gravity_data_is_new(&report_data, &prev_report_data);
         }
 
         // assert that new data from respective report has been received
@@ -910,7 +919,7 @@ TEST_CASE("Enable/Disable Gravity", "[SingleReportEnableDisable]")
             BNO08xTestHelper::update_report_data(&report_data);
 
             // check if any default values have been overwritten, implying new data from respective report
-            new_data = BNO08xTestHelper::gravity_data_is_default(&report_data, &prev_report_data);
+            new_data = BNO08xTestHelper::gravity_data_is_new(&report_data, &prev_report_data);
         }
 
         // assert that no new data from respective report has been received
@@ -953,7 +962,7 @@ TEST_CASE("Enable/Disable Magnetometer", "[SingleReportEnableDisable]")
 
     BNO08xTestHelper::print_test_msg(TEST_TAG, "Report enabled testing phase started.");
     /*enable respective report to test and ensure it reports new data */
-    imu->enable_magnetometer(100000UL);
+    imu->enable_magnetometer(REPORT_PERIOD);
 
     for (int i = 0; i < RX_REPORT_TRIAL_CNT; i++)
     {
@@ -965,7 +974,7 @@ TEST_CASE("Enable/Disable Magnetometer", "[SingleReportEnableDisable]")
             BNO08xTestHelper::update_report_data(&report_data);
 
             // check if any default values have been overwritten, implying new data from respective report
-            new_data = BNO08xTestHelper::magnetometer_data_is_default(&report_data, &prev_report_data);
+            new_data = BNO08xTestHelper::magnetometer_data_is_new(&report_data, &prev_report_data);
         }
 
         // assert that new data from respective report has been received
@@ -999,7 +1008,7 @@ TEST_CASE("Enable/Disable Magnetometer", "[SingleReportEnableDisable]")
             BNO08xTestHelper::update_report_data(&report_data);
 
             // check if any default values have been overwritten, implying new data from respective report
-            new_data = BNO08xTestHelper::magnetometer_data_is_default(&report_data, &prev_report_data);
+            new_data = BNO08xTestHelper::magnetometer_data_is_new(&report_data, &prev_report_data);
         }
 
         // assert that no new data from respective report has been received
@@ -1042,7 +1051,7 @@ TEST_CASE("Enable/Disable Step Counter", "[SingleReportEnableDisable]")
 
     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);
+    imu->enable_step_counter(REPORT_PERIOD);
 
     for (int i = 0; i < RX_REPORT_TRIAL_CNT; i++)
     {
@@ -1054,7 +1063,7 @@ TEST_CASE("Enable/Disable Step Counter", "[SingleReportEnableDisable]")
             BNO08xTestHelper::update_report_data(&report_data);
 
             // 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);
+            new_data = BNO08xTestHelper::step_detector_data_is_new(&report_data, &prev_report_data);
         }
 
         // assert that new data from respective report has been received
@@ -1084,7 +1093,7 @@ TEST_CASE("Enable/Disable Step Counter", "[SingleReportEnableDisable]")
             BNO08xTestHelper::update_report_data(&report_data);
 
             // 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);
+            new_data = BNO08xTestHelper::step_detector_data_is_new(&report_data, &prev_report_data);
         }
 
         // assert that no new data from respective report has been received
@@ -1123,7 +1132,7 @@ TEST_CASE("Enable/Disable Stability Classifier", "[SingleReportEnableDisable]")
 
     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);
+    imu->enable_stability_classifier(REPORT_PERIOD);
 
     for (int i = 0; i < RX_REPORT_TRIAL_CNT; i++)
     {
@@ -1135,7 +1144,7 @@ TEST_CASE("Enable/Disable Stability Classifier", "[SingleReportEnableDisable]")
             BNO08xTestHelper::update_report_data(&report_data);
 
             // 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);
+            new_data = BNO08xTestHelper::stability_classifier_data_is_new(&report_data, &prev_report_data);
         }
 
         // assert that new data from respective report has been received
@@ -1165,7 +1174,7 @@ TEST_CASE("Enable/Disable Stability Classifier", "[SingleReportEnableDisable]")
             BNO08xTestHelper::update_report_data(&report_data);
 
             // 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);
+            new_data = BNO08xTestHelper::stability_classifier_data_is_new(&report_data, &prev_report_data);
         }
 
         // assert that no new data from respective report has been received
@@ -1205,11 +1214,7 @@ TEST_CASE("Enable/Disable Activity Classifier", "[SingleReportEnableDisable]")
 
     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_activity_classifier(5*REPORT_PERIOD, 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++)
     {
@@ -1221,7 +1226,7 @@ TEST_CASE("Enable/Disable Activity Classifier", "[SingleReportEnableDisable]")
             BNO08xTestHelper::update_report_data(&report_data);
 
             // 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);
+            new_data = BNO08xTestHelper::activity_classifier_data_is_new(&report_data, &prev_report_data);
         }
 
         // assert that new data from respective report has been received
@@ -1251,7 +1256,7 @@ TEST_CASE("Enable/Disable Activity Classifier", "[SingleReportEnableDisable]")
             BNO08xTestHelper::update_report_data(&report_data);
 
             // 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);
+            new_data = BNO08xTestHelper::activity_classifier_data_is_new(&report_data, &prev_report_data);
         }
 
         // assert that no new data from respective report has been received
@@ -1270,3 +1275,11 @@ TEST_CASE("Enable/Disable Activity Classifier", "[SingleReportEnableDisable]")
 
     BNO08xTestHelper::print_test_end_banner(TEST_TAG);
 }
+
+TEST_CASE("BNO08x Driver Cleanup for [SingleReportEnableDisable] Tests", "[SingleReportEnableDisable]")
+{
+    const constexpr char* TEST_TAG = "BNO08x Driver Cleanup for [SingleReportEnableDisable] Tests";
+    BNO08xTestHelper::print_test_msg(TEST_TAG, "Destroying BNO08x Driver.");
+
+    BNO08xTestHelper::destroy_test_imu();
+}