more report tests

include/BNO08x.hpp

@@ -423,7 +423,7 @@ class BNO08x
                 portTICK_PERIOD_MS; ///<Max wait between HINT being asserted by BNO08x before transaction is considered failed (in miliseconds)
 
         static const constexpr TickType_t HARD_RESET_DELAY_MS =
-                200UL /
+                100UL /
                 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 =

source/BNO08x.cpp

@@ -2397,10 +2397,11 @@ void BNO08x::reset_all_data()
     raw_gyro_Z = 0U;
     gyro_accuracy = static_cast<uint16_t>(IMUAccuracy::UNDEFINED);
 
+    //reset quaternion to nan
     raw_quat_I = 0U;
     raw_quat_J = 0U;
     raw_quat_K = 0U;
-    raw_quat_real = 1U;
+    raw_quat_real = 0U;
     raw_quat_radian_accuracy = static_cast<uint16_t>(IMUAccuracy::UNDEFINED);
     quat_accuracy = static_cast<uint16_t>(IMUAccuracy::UNDEFINED);
 
@@ -3673,7 +3674,11 @@ void BNO08x::data_proc_task()
                 }
                 else
                 {
-                    print_packet(&packet);
+                    // clang-format on
+                    #ifdef CONFIG_ESP32_BNO08x_DEBUG_STATEMENTS
+                        print_packet(&packet);
+                    #endif
+                    //clang-format off
                     xEventGroupSetBits(evt_grp_spi, EVT_GRP_SPI_RX_INVALID_PACKET_BIT); // indicated invalid packet to wait_for_data()
                 }
             }

test/ReportTests.cpp

@@ -14,16 +14,32 @@ typedef struct imu_report_data_t
         IMUAccuracy raw_quat_radian_accuracy;
         IMUAccuracy quat_accuracy;
 
+        float gyro_vel_x;
+        float gyro_vel_y;
+        float gyro_vel_z;
+
+        float accel_x;
+        float accel_y;
+        float accel_z;
+        IMUAccuracy accel_accuracy;
+
 } imu_report_data_t;
 
 void update_report_data(imu_report_data_t* report_data, BNO08x* imu)
 {
+    uint8_t accel_accuracy = 0;
+
     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());
+
+    imu->get_gyro_velocity(report_data->gyro_vel_x, report_data->gyro_vel_y, report_data->gyro_vel_z);
+
+    imu->get_accel(report_data->accel_x, report_data->accel_y, report_data->accel_z, accel_accuracy);
+    report_data->accel_accuracy = static_cast<IMUAccuracy>(accel_accuracy);
 }
 
 TEST_CASE("Enable/Disable Rotation Vector", "[ReportEnableDisable]")
@@ -102,7 +118,7 @@ TEST_CASE("Enable/Disable Rotation Vector", "[ReportEnableDisable]")
         new_data = false;
 
         // use "true" argument to force wait for data even if no reports are enabled
-        if (imu->data_available(true))
+        if (imu->data_available())
         {
             update_report_data(&report_data, imu);
 
@@ -213,8 +229,7 @@ TEST_CASE("Enable/Disable Game Rotation Vector", "[ReportEnableDisable]")
     {
         new_data = false;
 
-        // use "true" argument to force wait for data even if no reports are enabled
-        if (imu->data_available(true))
+        if (imu->data_available())
         {
             update_report_data(&report_data, imu);
 
@@ -254,3 +269,444 @@ TEST_CASE("Enable/Disable Game Rotation Vector", "[ReportEnableDisable]")
 
     BNO08xTestHelper::print_test_end_banner(TEST_TAG);
 }
+
+TEST_CASE("Enable/Disable ARVR Stabilized Rotation Vector", "[ReportEnableDisable]")
+{
+    const constexpr char* TEST_TAG = "Enable/Disable ARVR Stabilized 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_ARVR_stabilized_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_ARVR_stabilized_rotation_vector();
+    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 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 ARVR Stabilized Game Rotation Vector", "[ReportEnableDisable]")
+{
+    const constexpr char* TEST_TAG = "Enable/Disable ARVR Stabilized 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_ARVR_stabilized_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_ARVR_stabilized_game_rotation_vector();
+    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 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 Gyro Integrated Roation Vector", "[ReportEnableDisable]")
+{
+    const constexpr char* TEST_TAG = "Enable/Disable Gyro Integrated Roation 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_gyro_integrated_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 (report_data.gyro_vel_x != 0.0f)
+                new_data = true;
+
+            if (report_data.gyro_vel_y != 0.0f)
+                new_data = true;
+
+            if (report_data.gyro_vel_z != 0.0f)
+                new_data = true;
+        }
+
+        // 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 gyro vel X: %.2lf gyro vel Y: %.2lf gyro vel Z: "
+                "%.2lf ",
+                (i + 1), report_data.quat_I, report_data.quat_J, report_data.quat_K, report_data.quat_real, report_data.gyro_vel_x,
+                report_data.gyro_vel_y, report_data.gyro_vel_z);
+        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_gyro_integrated_rotation_vector();
+    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 (report_data.gyro_vel_x != 0.0f)
+                new_data = true;
+
+            if (report_data.gyro_vel_y != 0.0f)
+                new_data = true;
+
+            if (report_data.gyro_vel_z != 0.0f)
+                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 Accelerometer", "[ReportEnableDisable]")
+{
+    const constexpr char* TEST_TAG = "Enable/Disable Accelerometer";
+    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_accelerometer(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.accel_x != 0.0f)
+                new_data = true;
+
+            if (report_data.accel_y != 0.0f)
+                new_data = true;
+
+            if (report_data.accel_z != 0.0f)
+                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.accel_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: accel X: %.2lf accel Y: %.2lf accel Z: "
+                "%.2lf ",
+                (i + 1), report_data.accel_x, report_data.accel_y, report_data.accel_z);
+        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_accelerometer();
+    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.accel_x != 0.0f)
+                new_data = true;
+
+            if (report_data.accel_y != 0.0f)
+                new_data = true;
+
+            if (report_data.accel_z != 0.0f)
+                new_data = true;
+
+            // if the accuracy does not contain its default value, something has gone wrong, respective report should be disabled
+            if (report_data.accel_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);
+}