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fix sanity tests

This commit is contained in:
myles-parfeniuk 2025-05-31 13:25:59 -07:00
parent ff24ba5185
commit 884df6aba0
6 changed files with 66 additions and 66 deletions
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4
include/BNO08x.hpp
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@ -52,8 +52,8 @@ class BNO08x
bool dynamic_calibration_autosave_enable(); bool dynamic_calibration_autosave_enable();
bool dynamic_calibration_autosave_disable(); bool dynamic_calibration_autosave_disable();
bool dynamic_calibration_save(); bool dynamic_calibration_save();
bool dynamic_calibration_clear_data_ram(); bool dynamic_calibration_data_clear_ram();
bool dynamic_calibration_delete_data(); bool dynamic_calibration_data_delete();
bool dynamic_calibration_run_routine(); bool dynamic_calibration_run_routine();
constexpr static float SQRT2OVER2 = 0.7071067811865476f; // sqrt(2)/2, used for setting system orientation constexpr static float SQRT2OVER2 = 0.7071067811865476f; // sqrt(2)/2, used for setting system orientation

6
source/BNO08x.cpp
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@ -1413,7 +1413,7 @@ bool BNO08x::dynamic_calibration_save()
* *
* @return True if save dynamic/ME calibration data succeeded. * @return True if save dynamic/ME calibration data succeeded.
*/ */
bool BNO08x::dynamic_calibration_clear_data_ram() bool BNO08x::dynamic_calibration_data_clear_ram()
{ {
int op_success = SH2_ERR; int op_success = SH2_ERR;
@ -1686,7 +1686,7 @@ bool BNO08x::dynamic_calibration_run_routine()
* Follows the steps outlined in ref. manual 6.4.9 * Follows the steps outlined in ref. manual 6.4.9
* @return True if delete dynamic calibration data operation succeeded. * @return True if delete dynamic calibration data operation succeeded.
*/ */
bool BNO08x::dynamic_calibration_delete_data() bool BNO08x::dynamic_calibration_data_delete()
{ {
// 1. Reset hub (using hard_reset) // 1. Reset hub (using hard_reset)
if (!hard_reset()) { if (!hard_reset()) {
@ -1702,7 +1702,7 @@ bool BNO08x::dynamic_calibration_delete_data()
return false; return false;
// 3. Issue Clear DCD and Reset Command (atomic clear DCD from RAM and reset) // 3. Issue Clear DCD and Reset Command (atomic clear DCD from RAM and reset)
if(!dynamic_calibration_clear_data_ram()) if(!dynamic_calibration_data_clear_ram())
return false; return false;
#ifdef CONFIG_ESP32_BNO08x_LOG_STATEMENTS #ifdef CONFIG_ESP32_BNO08x_LOG_STATEMENTS

34
test/CallbackTests.cpp
View File

@ -72,7 +72,7 @@ TEST_CASE("Void Input Param Flavor Cb", "[CallbackAllReportVoidInputParam]")
sprintf(msg_buff, sprintf(msg_buff,
"Rx Data Trial %d Success: Accel: [m/s^2] x: %.2f y: %.2f z: %.2f " "Rx Data Trial %d Success: Accel: [m/s^2] x: %.2f y: %.2f z: %.2f "
"accuracy: %s ", "accuracy: %s ",
(i + 1), data_accel.x, data_accel.y, data_accel.z, BNO08x::accuracy_to_str(data_accel.accuracy)); (i + 1), data_accel.x, data_accel.y, data_accel.z, BNO08xAccuracy_to_str(data_accel.accuracy));
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff); BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
} }
else if (imu->rpt.linear_accelerometer.has_new_data()) else if (imu->rpt.linear_accelerometer.has_new_data())
@ -82,7 +82,7 @@ TEST_CASE("Void Input Param Flavor Cb", "[CallbackAllReportVoidInputParam]")
sprintf(msg_buff, sprintf(msg_buff,
"Rx Data Trial %d Success: LinAccel: [m/s^2] x: %.2f y: %.2f z: " "Rx Data Trial %d Success: LinAccel: [m/s^2] x: %.2f y: %.2f z: "
"%.2f accuracy: %s ", "%.2f accuracy: %s ",
(i + 1), data_accel.x, data_accel.y, data_accel.z, BNO08x::accuracy_to_str(data_accel.accuracy)); (i + 1), data_accel.x, data_accel.y, data_accel.z, BNO08xAccuracy_to_str(data_accel.accuracy));
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff); BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
} }
else if (imu->rpt.gravity.has_new_data()) else if (imu->rpt.gravity.has_new_data())
@ -92,7 +92,7 @@ TEST_CASE("Void Input Param Flavor Cb", "[CallbackAllReportVoidInputParam]")
sprintf(msg_buff, sprintf(msg_buff,
"Rx Data Trial %d Success: Gravity: [m/s^2] x: %.2f y: %.2f z: " "Rx Data Trial %d Success: Gravity: [m/s^2] x: %.2f y: %.2f z: "
"%.2f accuracy: %s ", "%.2f accuracy: %s ",
(i + 1), data_accel.x, data_accel.y, data_accel.z, BNO08x::accuracy_to_str(data_accel.accuracy)); (i + 1), data_accel.x, data_accel.y, data_accel.z, BNO08xAccuracy_to_str(data_accel.accuracy));
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff); BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
} }
else if (imu->rpt.cal_gyro.has_new_data()) else if (imu->rpt.cal_gyro.has_new_data())
@ -102,7 +102,7 @@ TEST_CASE("Void Input Param Flavor Cb", "[CallbackAllReportVoidInputParam]")
sprintf(msg_buff, sprintf(msg_buff,
"Rx Data Trial %d Success: CalGyro: [rad/s] x: %.2f y: %.2f z: " "Rx Data Trial %d Success: CalGyro: [rad/s] x: %.2f y: %.2f z: "
"%.2f accuracy: %s ", "%.2f accuracy: %s ",
(i + 1), data_vel.x, data_vel.y, data_vel.z, BNO08x::accuracy_to_str(data_vel.accuracy)); (i + 1), data_vel.x, data_vel.y, data_vel.z, BNO08xAccuracy_to_str(data_vel.accuracy));
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff); BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
} }
else if (imu->rpt.cal_magnetometer.has_new_data()) else if (imu->rpt.cal_magnetometer.has_new_data())
@ -112,7 +112,7 @@ TEST_CASE("Void Input Param Flavor Cb", "[CallbackAllReportVoidInputParam]")
sprintf(msg_buff, sprintf(msg_buff,
"Rx Data Trial %d Success: CalMagnetometer: [uTesla] x: %.2f y: " "Rx Data Trial %d Success: CalMagnetometer: [uTesla] x: %.2f y: "
"%.2f z: %.2f accuracy: %s ", "%.2f z: %.2f accuracy: %s ",
(i + 1), data_magf.x, data_magf.y, data_magf.z, BNO08x::accuracy_to_str(data_magf.accuracy)); (i + 1), data_magf.x, data_magf.y, data_magf.z, BNO08xAccuracy_to_str(data_magf.accuracy));
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff); BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
} }
else if (imu->rpt.rv.has_new_data()) else if (imu->rpt.rv.has_new_data())
@ -123,7 +123,7 @@ TEST_CASE("Void Input Param Flavor Cb", "[CallbackAllReportVoidInputParam]")
"Rx Data Trial %d Success: RV: [n/a] real: %.2f i: %.2f j: %.2f k: " "Rx Data Trial %d Success: RV: [n/a] real: %.2f i: %.2f j: %.2f k: "
"%.2f accuracy: %s ", "%.2f accuracy: %s ",
(i + 1), data_quat.real, data_quat.i, data_quat.j, data_quat.k, (i + 1), data_quat.real, data_quat.i, data_quat.j, data_quat.k,
BNO08x::accuracy_to_str(data_quat.accuracy)); BNO08xAccuracy_to_str(data_quat.accuracy));
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff); BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
} }
else if (imu->rpt.rv_game.has_new_data()) else if (imu->rpt.rv_game.has_new_data())
@ -134,7 +134,7 @@ TEST_CASE("Void Input Param Flavor Cb", "[CallbackAllReportVoidInputParam]")
"Rx Data Trial %d Success: RV Game: [n/a] real: %.2f i: %.2f j: " "Rx Data Trial %d Success: RV Game: [n/a] real: %.2f i: %.2f j: "
"%.2f k: %.2f accuracy: %s ", "%.2f k: %.2f accuracy: %s ",
(i + 1), data_quat.real, data_quat.i, data_quat.j, data_quat.k, (i + 1), data_quat.real, data_quat.i, data_quat.j, data_quat.k,
BNO08x::accuracy_to_str(data_quat.accuracy)); BNO08xAccuracy_to_str(data_quat.accuracy));
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff); BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
} }
else if (imu->rpt.rv_geomagnetic.has_new_data()) else if (imu->rpt.rv_geomagnetic.has_new_data())
@ -145,7 +145,7 @@ TEST_CASE("Void Input Param Flavor Cb", "[CallbackAllReportVoidInputParam]")
"Rx Data Trial %d Success: RV Geomagnetic: [n/a] real: %.2f i: " "Rx Data Trial %d Success: RV Geomagnetic: [n/a] real: %.2f i: "
"%.2f j: %.2f k: %.2f accuracy: %s ", "%.2f j: %.2f k: %.2f accuracy: %s ",
(i + 1), data_quat.real, data_quat.i, data_quat.j, data_quat.k, (i + 1), data_quat.real, data_quat.i, data_quat.j, data_quat.k,
BNO08x::accuracy_to_str(data_quat.accuracy)); BNO08xAccuracy_to_str(data_quat.accuracy));
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff); BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
} }
@ -257,7 +257,7 @@ TEST_CASE("Report ID Input Param Flavor Cb", "[CallbackAllReportIDInputParam]")
"Rx Data Trial %d Success: Accel: [m/s^2] x: %.2f y: %.2f z: " "Rx Data Trial %d Success: Accel: [m/s^2] x: %.2f y: %.2f z: "
"%.2f accuracy: %s ", "%.2f accuracy: %s ",
(i + 1), data_accel.x, data_accel.y, data_accel.z, (i + 1), data_accel.x, data_accel.y, data_accel.z,
BNO08x::accuracy_to_str(data_accel.accuracy)); BNO08xAccuracy_to_str(data_accel.accuracy));
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff); BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
break; break;
@ -268,7 +268,7 @@ TEST_CASE("Report ID Input Param Flavor Cb", "[CallbackAllReportIDInputParam]")
"Rx Data Trial %d Success: LinAccel: [m/s^2] x: %.2f y: %.2f " "Rx Data Trial %d Success: LinAccel: [m/s^2] x: %.2f y: %.2f "
"z: %.2f accuracy: %s ", "z: %.2f accuracy: %s ",
(i + 1), data_accel.x, data_accel.y, data_accel.z, (i + 1), data_accel.x, data_accel.y, data_accel.z,
BNO08x::accuracy_to_str(data_accel.accuracy)); BNO08xAccuracy_to_str(data_accel.accuracy));
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff); BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
break; break;
@ -279,7 +279,7 @@ TEST_CASE("Report ID Input Param Flavor Cb", "[CallbackAllReportIDInputParam]")
"Rx Data Trial %d Success: Gravity: [m/s^2] x: %.2f y: %.2f z: " "Rx Data Trial %d Success: Gravity: [m/s^2] x: %.2f y: %.2f z: "
"%.2f accuracy: %s ", "%.2f accuracy: %s ",
(i + 1), data_accel.x, data_accel.y, data_accel.z, (i + 1), data_accel.x, data_accel.y, data_accel.z,
BNO08x::accuracy_to_str(data_accel.accuracy)); BNO08xAccuracy_to_str(data_accel.accuracy));
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff); BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
break; break;
@ -289,7 +289,7 @@ TEST_CASE("Report ID Input Param Flavor Cb", "[CallbackAllReportIDInputParam]")
sprintf(msg_buff, sprintf(msg_buff,
"Rx Data Trial %d Success: CalGyro: [rad/s] x: %.2f y: %.2f z: " "Rx Data Trial %d Success: CalGyro: [rad/s] x: %.2f y: %.2f z: "
"%.2f accuracy: %s ", "%.2f accuracy: %s ",
(i + 1), data_vel.x, data_vel.y, data_vel.z, BNO08x::accuracy_to_str(data_vel.accuracy)); (i + 1), data_vel.x, data_vel.y, data_vel.z, BNO08xAccuracy_to_str(data_vel.accuracy));
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff); BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
break; break;
@ -299,7 +299,7 @@ TEST_CASE("Report ID Input Param Flavor Cb", "[CallbackAllReportIDInputParam]")
sprintf(msg_buff, sprintf(msg_buff,
"Rx Data Trial %d Success: CalMagnetometer: [uTesla] x: %.2f " "Rx Data Trial %d Success: CalMagnetometer: [uTesla] x: %.2f "
"y: %.2f z: %.2f accuracy: %s ", "y: %.2f z: %.2f accuracy: %s ",
(i + 1), data_magf.x, data_magf.y, data_magf.z, BNO08x::accuracy_to_str(data_magf.accuracy)); (i + 1), data_magf.x, data_magf.y, data_magf.z, BNO08xAccuracy_to_str(data_magf.accuracy));
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff); BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
break; break;
@ -310,7 +310,7 @@ TEST_CASE("Report ID Input Param Flavor Cb", "[CallbackAllReportIDInputParam]")
"Rx Data Trial %d Success: RV: [n/a] real: %.2f i: %.2f j: " "Rx Data Trial %d Success: RV: [n/a] real: %.2f i: %.2f j: "
"%.2f k: %.2f accuracy: %s ", "%.2f k: %.2f accuracy: %s ",
(i + 1), data_quat.real, data_quat.i, data_quat.j, data_quat.k, (i + 1), data_quat.real, data_quat.i, data_quat.j, data_quat.k,
BNO08x::accuracy_to_str(data_quat.accuracy)); BNO08xAccuracy_to_str(data_quat.accuracy));
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff); BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
break; break;
@ -321,7 +321,7 @@ TEST_CASE("Report ID Input Param Flavor Cb", "[CallbackAllReportIDInputParam]")
"Rx Data Trial %d Success: RV Game: [n/a] real: %.2f i: %.2f " "Rx Data Trial %d Success: RV Game: [n/a] real: %.2f i: %.2f "
"j: %.2f k: %.2f accuracy: %s ", "j: %.2f k: %.2f accuracy: %s ",
(i + 1), data_quat.real, data_quat.i, data_quat.j, data_quat.k, (i + 1), data_quat.real, data_quat.i, data_quat.j, data_quat.k,
BNO08x::accuracy_to_str(data_quat.accuracy)); BNO08xAccuracy_to_str(data_quat.accuracy));
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff); BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
break; break;
@ -332,7 +332,7 @@ TEST_CASE("Report ID Input Param Flavor Cb", "[CallbackAllReportIDInputParam]")
"Rx Data Trial %d Success: RV Geomagnetic: [n/a] real: %.2f i: " "Rx Data Trial %d Success: RV Geomagnetic: [n/a] real: %.2f i: "
"%.2f j: %.2f k: %.2f accuracy: %s ", "%.2f j: %.2f k: %.2f accuracy: %s ",
(i + 1), data_quat.real, data_quat.i, data_quat.j, data_quat.k, (i + 1), data_quat.real, data_quat.i, data_quat.j, data_quat.k,
BNO08x::accuracy_to_str(data_quat.accuracy)); BNO08xAccuracy_to_str(data_quat.accuracy));
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff); BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
break; break;
@ -432,7 +432,7 @@ TEST_CASE("Single Report Void Input Param Flavor Cb", "[CallbackSingleReportVoid
sprintf(msg_buff, sprintf(msg_buff,
"Rx Data Trial %d Success: Accel: [m/s^2] x: %.2f y: %.2f z: %.2f " "Rx Data Trial %d Success: Accel: [m/s^2] x: %.2f y: %.2f z: %.2f "
"accuracy: %s ", "accuracy: %s ",
(i + 1), data_accel.x, data_accel.y, data_accel.z, BNO08x::accuracy_to_str(data_accel.accuracy)); (i + 1), data_accel.x, data_accel.y, data_accel.z, BNO08xAccuracy_to_str(data_accel.accuracy));
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff); BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
i++; i++;

32
test/FeatureTests.cpp
View File

@ -50,7 +50,7 @@ TEST_CASE("Hard Reset", "[FeatureTests]")
TEST_ASSERT_EQUAL(true, imu->rpt.accelerometer.has_new_data()); TEST_ASSERT_EQUAL(true, imu->rpt.accelerometer.has_new_data());
data_accel = imu->rpt.accelerometer.get(); data_accel = imu->rpt.accelerometer.get();
sprintf(msg_buff, "Rx Data Trial %d Success: Accel: [m/s^2] x: %.2f y: %.2f z: %.2f accuracy: %s ", (i + 1), data_accel.x, sprintf(msg_buff, "Rx Data Trial %d Success: Accel: [m/s^2] x: %.2f y: %.2f z: %.2f accuracy: %s ", (i + 1), data_accel.x,
data_accel.y, data_accel.z, BNO08x::accuracy_to_str(data_accel.accuracy)); data_accel.y, data_accel.z, BNO08xAccuracy_to_str(data_accel.accuracy));
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff); BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
} }
@ -63,7 +63,7 @@ TEST_CASE("Hard Reset", "[FeatureTests]")
TEST_ASSERT_EQUAL(true, imu->rpt.accelerometer.has_new_data()); TEST_ASSERT_EQUAL(true, imu->rpt.accelerometer.has_new_data());
data_accel = imu->rpt.accelerometer.get(); data_accel = imu->rpt.accelerometer.get();
sprintf(msg_buff, "Rx Data Trial %d Success: Accel: [m/s^2] x: %.2f y: %.2f z: %.2f accuracy: %s ", (i + 1), data_accel.x, sprintf(msg_buff, "Rx Data Trial %d Success: Accel: [m/s^2] x: %.2f y: %.2f z: %.2f accuracy: %s ", (i + 1), data_accel.x,
data_accel.y, data_accel.z, BNO08x::accuracy_to_str(data_accel.accuracy)); data_accel.y, data_accel.z, BNO08xAccuracy_to_str(data_accel.accuracy));
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff); BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
} }
@ -95,7 +95,7 @@ TEST_CASE("Soft Reset", "[FeatureTests]")
TEST_ASSERT_EQUAL(true, imu->rpt.accelerometer.has_new_data()); TEST_ASSERT_EQUAL(true, imu->rpt.accelerometer.has_new_data());
data_accel = imu->rpt.accelerometer.get(); data_accel = imu->rpt.accelerometer.get();
sprintf(msg_buff, "Rx Data Trial %d Success: Accel: [m/s^2] x: %.2f y: %.2f z: %.2f accuracy: %s ", (i + 1), data_accel.x, sprintf(msg_buff, "Rx Data Trial %d Success: Accel: [m/s^2] x: %.2f y: %.2f z: %.2f accuracy: %s ", (i + 1), data_accel.x,
data_accel.y, data_accel.z, BNO08x::accuracy_to_str(data_accel.accuracy)); data_accel.y, data_accel.z, BNO08xAccuracy_to_str(data_accel.accuracy));
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff); BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
} }
@ -108,7 +108,7 @@ TEST_CASE("Soft Reset", "[FeatureTests]")
TEST_ASSERT_EQUAL(true, imu->rpt.accelerometer.has_new_data()); TEST_ASSERT_EQUAL(true, imu->rpt.accelerometer.has_new_data());
data_accel = imu->rpt.accelerometer.get(); data_accel = imu->rpt.accelerometer.get();
sprintf(msg_buff, "Rx Data Trial %d Success: Accel: [m/s^2] x: %.2f y: %.2f z: %.2f accuracy: %s ", (i + 1), data_accel.x, sprintf(msg_buff, "Rx Data Trial %d Success: Accel: [m/s^2] x: %.2f y: %.2f z: %.2f accuracy: %s ", (i + 1), data_accel.x,
data_accel.y, data_accel.z, BNO08x::accuracy_to_str(data_accel.accuracy)); data_accel.y, data_accel.z, BNO08xAccuracy_to_str(data_accel.accuracy));
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff); BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
} }
@ -140,7 +140,7 @@ TEST_CASE("Sleep", "[FeatureTests]")
TEST_ASSERT_EQUAL(true, imu->rpt.accelerometer.has_new_data()); TEST_ASSERT_EQUAL(true, imu->rpt.accelerometer.has_new_data());
data_accel = imu->rpt.accelerometer.get(); data_accel = imu->rpt.accelerometer.get();
sprintf(msg_buff, "Rx Data Trial %d Success: Accel: [m/s^2] x: %.2f y: %.2f z: %.2f accuracy: %s ", (i + 1), data_accel.x, sprintf(msg_buff, "Rx Data Trial %d Success: Accel: [m/s^2] x: %.2f y: %.2f z: %.2f accuracy: %s ", (i + 1), data_accel.x,
data_accel.y, data_accel.z, BNO08x::accuracy_to_str(data_accel.accuracy)); data_accel.y, data_accel.z, BNO08xAccuracy_to_str(data_accel.accuracy));
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff); BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
} }
@ -162,7 +162,7 @@ TEST_CASE("Sleep", "[FeatureTests]")
TEST_ASSERT_EQUAL(true, imu->rpt.accelerometer.has_new_data()); TEST_ASSERT_EQUAL(true, imu->rpt.accelerometer.has_new_data());
data_accel = imu->rpt.accelerometer.get(); data_accel = imu->rpt.accelerometer.get();
sprintf(msg_buff, "Rx Data Trial %d Success: Accel: [m/s^2] x: %.2f y: %.2f z: %.2f accuracy: %s ", (i + 1), data_accel.x, sprintf(msg_buff, "Rx Data Trial %d Success: Accel: [m/s^2] x: %.2f y: %.2f z: %.2f accuracy: %s ", (i + 1), data_accel.x,
data_accel.y, data_accel.z, BNO08x::accuracy_to_str(data_accel.accuracy)); data_accel.y, data_accel.z, BNO08xAccuracy_to_str(data_accel.accuracy));
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff); BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
} }
@ -195,7 +195,7 @@ TEST_CASE("Get Metadata", "[FeatureTests]")
TEST_ASSERT_EQUAL(true, imu->rpt.accelerometer.has_new_data()); TEST_ASSERT_EQUAL(true, imu->rpt.accelerometer.has_new_data());
data_accel = imu->rpt.accelerometer.get(); data_accel = imu->rpt.accelerometer.get();
sprintf(msg_buff, "Rx Data Trial %d Success: Accel: [m/s^2] x: %.2f y: %.2f z: %.2f accuracy: %s ", (i + 1), data_accel.x, sprintf(msg_buff, "Rx Data Trial %d Success: Accel: [m/s^2] x: %.2f y: %.2f z: %.2f accuracy: %s ", (i + 1), data_accel.x,
data_accel.y, data_accel.z, BNO08x::accuracy_to_str(data_accel.accuracy)); data_accel.y, data_accel.z, BNO08xAccuracy_to_str(data_accel.accuracy));
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff); BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
} }
@ -215,7 +215,7 @@ TEST_CASE("Get Metadata", "[FeatureTests]")
TEST_ASSERT_EQUAL(true, imu->rpt.accelerometer.has_new_data()); TEST_ASSERT_EQUAL(true, imu->rpt.accelerometer.has_new_data());
data_accel = imu->rpt.accelerometer.get(); data_accel = imu->rpt.accelerometer.get();
sprintf(msg_buff, "Rx Data Trial %d Success: Accel: [m/s^2] x: %.2f y: %.2f z: %.2f accuracy: %s ", (i + 1), data_accel.x, sprintf(msg_buff, "Rx Data Trial %d Success: Accel: [m/s^2] x: %.2f y: %.2f z: %.2f accuracy: %s ", (i + 1), data_accel.x,
data_accel.y, data_accel.z, BNO08x::accuracy_to_str(data_accel.accuracy)); data_accel.y, data_accel.z, BNO08xAccuracy_to_str(data_accel.accuracy));
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff); BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
} }
@ -248,7 +248,7 @@ TEST_CASE("Get Sample Counts", "[FeatureTests]")
TEST_ASSERT_EQUAL(true, imu->rpt.accelerometer.has_new_data()); TEST_ASSERT_EQUAL(true, imu->rpt.accelerometer.has_new_data());
data_accel = imu->rpt.accelerometer.get(); data_accel = imu->rpt.accelerometer.get();
sprintf(msg_buff, "Rx Data Trial %d Success: Accel: [m/s^2] x: %.2f y: %.2f z: %.2f accuracy: %s ", (i + 1), data_accel.x, sprintf(msg_buff, "Rx Data Trial %d Success: Accel: [m/s^2] x: %.2f y: %.2f z: %.2f accuracy: %s ", (i + 1), data_accel.x,
data_accel.y, data_accel.z, BNO08x::accuracy_to_str(data_accel.accuracy)); data_accel.y, data_accel.z, BNO08xAccuracy_to_str(data_accel.accuracy));
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff); BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
} }
@ -265,7 +265,7 @@ TEST_CASE("Get Sample Counts", "[FeatureTests]")
TEST_ASSERT_EQUAL(true, imu->rpt.accelerometer.has_new_data()); TEST_ASSERT_EQUAL(true, imu->rpt.accelerometer.has_new_data());
data_accel = imu->rpt.accelerometer.get(); data_accel = imu->rpt.accelerometer.get();
sprintf(msg_buff, "Rx Data Trial %d Success: Accel: [m/s^2] x: %.2f y: %.2f z: %.2f accuracy: %s ", (i + 1), data_accel.x, sprintf(msg_buff, "Rx Data Trial %d Success: Accel: [m/s^2] x: %.2f y: %.2f z: %.2f accuracy: %s ", (i + 1), data_accel.x,
data_accel.y, data_accel.z, BNO08x::accuracy_to_str(data_accel.accuracy)); data_accel.y, data_accel.z, BNO08xAccuracy_to_str(data_accel.accuracy));
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff); BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
} }
@ -299,7 +299,7 @@ TEST_CASE("Enable Dynamic Calibration", "[FeatureTests]")
TEST_ASSERT_EQUAL(true, imu->rpt.accelerometer.has_new_data()); TEST_ASSERT_EQUAL(true, imu->rpt.accelerometer.has_new_data());
data_accel = imu->rpt.accelerometer.get(); data_accel = imu->rpt.accelerometer.get();
sprintf(msg_buff, "Rx Data Trial %d Success: Accel: [m/s^2] x: %.2f y: %.2f z: %.2f accuracy: %s ", (i + 1), data_accel.x, sprintf(msg_buff, "Rx Data Trial %d Success: Accel: [m/s^2] x: %.2f y: %.2f z: %.2f accuracy: %s ", (i + 1), data_accel.x,
data_accel.y, data_accel.z, BNO08x::accuracy_to_str(data_accel.accuracy)); data_accel.y, data_accel.z, BNO08xAccuracy_to_str(data_accel.accuracy));
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff); BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
} }
} }
@ -327,7 +327,7 @@ TEST_CASE("Save Dynamic Calibration", "[FeatureTests]")
TEST_ASSERT_EQUAL(true, imu->rpt.accelerometer.has_new_data()); TEST_ASSERT_EQUAL(true, imu->rpt.accelerometer.has_new_data());
data_accel = imu->rpt.accelerometer.get(); data_accel = imu->rpt.accelerometer.get();
sprintf(msg_buff, "Rx Data Trial %d Success: Accel: [m/s^2] x: %.2f y: %.2f z: %.2f accuracy: %s ", (i + 1), data_accel.x, sprintf(msg_buff, "Rx Data Trial %d Success: Accel: [m/s^2] x: %.2f y: %.2f z: %.2f accuracy: %s ", (i + 1), data_accel.x,
data_accel.y, data_accel.z, BNO08x::accuracy_to_str(data_accel.accuracy)); data_accel.y, data_accel.z, BNO08xAccuracy_to_str(data_accel.accuracy));
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff); BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
} }
} }
@ -355,7 +355,7 @@ TEST_CASE("Autosave Dynamic Calibration", "[FeatureTests]")
TEST_ASSERT_EQUAL(true, imu->rpt.accelerometer.has_new_data()); TEST_ASSERT_EQUAL(true, imu->rpt.accelerometer.has_new_data());
data_accel = imu->rpt.accelerometer.get(); data_accel = imu->rpt.accelerometer.get();
sprintf(msg_buff, "Rx Data Trial %d Success: Accel: [m/s^2] x: %.2f y: %.2f z: %.2f accuracy: %s ", (i + 1), data_accel.x, sprintf(msg_buff, "Rx Data Trial %d Success: Accel: [m/s^2] x: %.2f y: %.2f z: %.2f accuracy: %s ", (i + 1), data_accel.x,
data_accel.y, data_accel.z, BNO08x::accuracy_to_str(data_accel.accuracy)); data_accel.y, data_accel.z, BNO08xAccuracy_to_str(data_accel.accuracy));
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff); BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
} }
@ -385,7 +385,7 @@ TEST_CASE("Disable Dynamic Calibration", "[FeatureTests]")
TEST_ASSERT_EQUAL(true, imu->rpt.accelerometer.has_new_data()); TEST_ASSERT_EQUAL(true, imu->rpt.accelerometer.has_new_data());
data_accel = imu->rpt.accelerometer.get(); data_accel = imu->rpt.accelerometer.get();
sprintf(msg_buff, "Rx Data Trial %d Success: Accel: [m/s^2] x: %.2f y: %.2f z: %.2f accuracy: %s ", (i + 1), data_accel.x, sprintf(msg_buff, "Rx Data Trial %d Success: Accel: [m/s^2] x: %.2f y: %.2f z: %.2f accuracy: %s ", (i + 1), data_accel.x,
data_accel.y, data_accel.z, BNO08x::accuracy_to_str(data_accel.accuracy)); data_accel.y, data_accel.z, BNO08xAccuracy_to_str(data_accel.accuracy));
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff); BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
} }
} }
@ -405,7 +405,7 @@ TEST_CASE("Clear Dynamic Calibration", "[FeatureTests]")
imu = BNO08xTestHelper::get_test_imu(); imu = BNO08xTestHelper::get_test_imu();
TEST_ASSERT_EQUAL(true, imu->dynamic_calibration_clear()); TEST_ASSERT_EQUAL(true, imu->dynamic_calibration_data_clear_ram());
for (int i = 0; i < RX_REPORT_TRIAL_CNT; i++) for (int i = 0; i < RX_REPORT_TRIAL_CNT; i++)
{ {
@ -413,7 +413,7 @@ TEST_CASE("Clear Dynamic Calibration", "[FeatureTests]")
TEST_ASSERT_EQUAL(true, imu->rpt.accelerometer.has_new_data()); TEST_ASSERT_EQUAL(true, imu->rpt.accelerometer.has_new_data());
data_accel = imu->rpt.accelerometer.get(); data_accel = imu->rpt.accelerometer.get();
sprintf(msg_buff, "Rx Data Trial %d Success: Accel: [m/s^2] x: %.2f y: %.2f z: %.2f accuracy: %s ", (i + 1), data_accel.x, sprintf(msg_buff, "Rx Data Trial %d Success: Accel: [m/s^2] x: %.2f y: %.2f z: %.2f accuracy: %s ", (i + 1), data_accel.x,
data_accel.y, data_accel.z, BNO08x::accuracy_to_str(data_accel.accuracy)); data_accel.y, data_accel.z, BNO08xAccuracy_to_str(data_accel.accuracy));
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff); BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
} }

28
test/MultiReportTests.cpp
View File

@ -61,7 +61,7 @@ TEST_CASE("Enable/Disable Dual Report", "[MultiReportEnableDisable]")
sprintf(msg_buff, sprintf(msg_buff,
"Rx Data Trial %d Success: Accel: [m/s^2] x: %.2f y: %.2f z: %.2f accuracy: " "Rx Data Trial %d Success: Accel: [m/s^2] x: %.2f y: %.2f z: %.2f accuracy: "
"%s ", "%s ",
(i + 1), data.x, data.y, data.z, BNO08x::accuracy_to_str(data.accuracy)); (i + 1), data.x, data.y, data.z, BNO08xAccuracy_to_str(data.accuracy));
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff); BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
} }
@ -72,7 +72,7 @@ TEST_CASE("Enable/Disable Dual Report", "[MultiReportEnableDisable]")
sprintf(msg_buff, sprintf(msg_buff,
"Rx Data Trial %d Success: LinAccel: [m/s^2] x: %.2f y: %.2f z: %.2f accuracy: " "Rx Data Trial %d Success: LinAccel: [m/s^2] x: %.2f y: %.2f z: %.2f accuracy: "
"%s ", "%s ",
(i + 1), data.x, data.y, data.z, BNO08x::accuracy_to_str(data.accuracy)); (i + 1), data.x, data.y, data.z, BNO08xAccuracy_to_str(data.accuracy));
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff); BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
} }
} }
@ -124,7 +124,7 @@ TEST_CASE("Enable/Disable Quad Report", "[MultiReportEnableDisable]")
sprintf(msg_buff, sprintf(msg_buff,
"Rx Data Trial %d Success: Accel: [m/s^2] x: %.2f y: %.2f z: %.2f accuracy: " "Rx Data Trial %d Success: Accel: [m/s^2] x: %.2f y: %.2f z: %.2f accuracy: "
"%s ", "%s ",
(i + 1), data_accel.x, data_accel.y, data_accel.z, BNO08x::accuracy_to_str(data_accel.accuracy)); (i + 1), data_accel.x, data_accel.y, data_accel.z, BNO08xAccuracy_to_str(data_accel.accuracy));
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff); BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
} }
@ -135,7 +135,7 @@ TEST_CASE("Enable/Disable Quad Report", "[MultiReportEnableDisable]")
sprintf(msg_buff, sprintf(msg_buff,
"Rx Data Trial %d Success: LinAccel: [m/s^2] x: %.2f y: %.2f z: %.2f accuracy: " "Rx Data Trial %d Success: LinAccel: [m/s^2] x: %.2f y: %.2f z: %.2f accuracy: "
"%s ", "%s ",
(i + 1), data_accel.x, data_accel.y, data_accel.z, BNO08x::accuracy_to_str(data_accel.accuracy)); (i + 1), data_accel.x, data_accel.y, data_accel.z, BNO08xAccuracy_to_str(data_accel.accuracy));
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff); BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
} }
@ -146,7 +146,7 @@ TEST_CASE("Enable/Disable Quad Report", "[MultiReportEnableDisable]")
sprintf(msg_buff, sprintf(msg_buff,
"Rx Data Trial %d Success: Gravity: [m/s^2] x: %.2f y: %.2f z: %.2f accuracy: " "Rx Data Trial %d Success: Gravity: [m/s^2] x: %.2f y: %.2f z: %.2f accuracy: "
"%s ", "%s ",
(i + 1), data_accel.x, data_accel.y, data_accel.z, BNO08x::accuracy_to_str(data_accel.accuracy)); (i + 1), data_accel.x, data_accel.y, data_accel.z, BNO08xAccuracy_to_str(data_accel.accuracy));
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff); BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
} }
@ -157,7 +157,7 @@ TEST_CASE("Enable/Disable Quad Report", "[MultiReportEnableDisable]")
sprintf(msg_buff, sprintf(msg_buff,
"Rx Data Trial %d Success: CalGyro: [rad/s] x: %.2f y: %.2f z: %.2f accuracy: " "Rx Data Trial %d Success: CalGyro: [rad/s] x: %.2f y: %.2f z: %.2f accuracy: "
"%s ", "%s ",
(i + 1), data_vel.x, data_vel.y, data_vel.z, BNO08x::accuracy_to_str(data_vel.accuracy)); (i + 1), data_vel.x, data_vel.y, data_vel.z, BNO08xAccuracy_to_str(data_vel.accuracy));
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff); BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
} }
} }
@ -221,7 +221,7 @@ TEST_CASE("Enable/Disable Octo Report", "[MultiReportEnableDisable]")
sprintf(msg_buff, sprintf(msg_buff,
"Rx Data Trial %d Success: Accel: [m/s^2] x: %.2f y: %.2f z: %.2f accuracy: " "Rx Data Trial %d Success: Accel: [m/s^2] x: %.2f y: %.2f z: %.2f accuracy: "
"%s ", "%s ",
(i + 1), data_accel.x, data_accel.y, data_accel.z, BNO08x::accuracy_to_str(data_accel.accuracy)); (i + 1), data_accel.x, data_accel.y, data_accel.z, BNO08xAccuracy_to_str(data_accel.accuracy));
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff); BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
} }
@ -232,7 +232,7 @@ TEST_CASE("Enable/Disable Octo Report", "[MultiReportEnableDisable]")
sprintf(msg_buff, sprintf(msg_buff,
"Rx Data Trial %d Success: LinAccel: [m/s^2] x: %.2f y: %.2f z: %.2f accuracy: " "Rx Data Trial %d Success: LinAccel: [m/s^2] x: %.2f y: %.2f z: %.2f accuracy: "
"%s ", "%s ",
(i + 1), data_accel.x, data_accel.y, data_accel.z, BNO08x::accuracy_to_str(data_accel.accuracy)); (i + 1), data_accel.x, data_accel.y, data_accel.z, BNO08xAccuracy_to_str(data_accel.accuracy));
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff); BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
} }
@ -243,7 +243,7 @@ TEST_CASE("Enable/Disable Octo Report", "[MultiReportEnableDisable]")
sprintf(msg_buff, sprintf(msg_buff,
"Rx Data Trial %d Success: Gravity: [m/s^2] x: %.2f y: %.2f z: %.2f accuracy: " "Rx Data Trial %d Success: Gravity: [m/s^2] x: %.2f y: %.2f z: %.2f accuracy: "
"%s ", "%s ",
(i + 1), data_accel.x, data_accel.y, data_accel.z, BNO08x::accuracy_to_str(data_accel.accuracy)); (i + 1), data_accel.x, data_accel.y, data_accel.z, BNO08xAccuracy_to_str(data_accel.accuracy));
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff); BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
} }
@ -254,7 +254,7 @@ TEST_CASE("Enable/Disable Octo Report", "[MultiReportEnableDisable]")
sprintf(msg_buff, sprintf(msg_buff,
"Rx Data Trial %d Success: CalGyro: [rad/s] x: %.2f y: %.2f z: %.2f accuracy: " "Rx Data Trial %d Success: CalGyro: [rad/s] x: %.2f y: %.2f z: %.2f accuracy: "
"%s ", "%s ",
(i + 1), data_vel.x, data_vel.y, data_vel.z, BNO08x::accuracy_to_str(data_vel.accuracy)); (i + 1), data_vel.x, data_vel.y, data_vel.z, BNO08xAccuracy_to_str(data_vel.accuracy));
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff); BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
} }
@ -265,7 +265,7 @@ TEST_CASE("Enable/Disable Octo Report", "[MultiReportEnableDisable]")
sprintf(msg_buff, sprintf(msg_buff,
"Rx Data Trial %d Success: CalMagnetometer: [uTesla] x: %.2f y: %.2f z: %.2f " "Rx Data Trial %d Success: CalMagnetometer: [uTesla] x: %.2f y: %.2f z: %.2f "
"accuracy: %s ", "accuracy: %s ",
(i + 1), data_magf.x, data_magf.y, data_magf.z, BNO08x::accuracy_to_str(data_magf.accuracy)); (i + 1), data_magf.x, data_magf.y, data_magf.z, BNO08xAccuracy_to_str(data_magf.accuracy));
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff); BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
} }
@ -276,7 +276,7 @@ TEST_CASE("Enable/Disable Octo Report", "[MultiReportEnableDisable]")
sprintf(msg_buff, sprintf(msg_buff,
"Rx Data Trial %d Success: RV: [n/a] real: %.2f i: %.2f j: %.2f k: %.2f " "Rx Data Trial %d Success: RV: [n/a] real: %.2f i: %.2f j: %.2f k: %.2f "
"accuracy: %s ", "accuracy: %s ",
(i + 1), data_quat.real, data_quat.i, data_quat.j, data_quat.k, BNO08x::accuracy_to_str(data_quat.accuracy)); (i + 1), data_quat.real, data_quat.i, data_quat.j, data_quat.k, BNO08xAccuracy_to_str(data_quat.accuracy));
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff); BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
} }
@ -287,7 +287,7 @@ TEST_CASE("Enable/Disable Octo Report", "[MultiReportEnableDisable]")
sprintf(msg_buff, sprintf(msg_buff,
"Rx Data Trial %d Success: RV Game: [n/a] real: %.2f i: %.2f j: %.2f k: %.2f " "Rx Data Trial %d Success: RV Game: [n/a] real: %.2f i: %.2f j: %.2f k: %.2f "
"accuracy: %s ", "accuracy: %s ",
(i + 1), data_quat.real, data_quat.i, data_quat.j, data_quat.k, BNO08x::accuracy_to_str(data_quat.accuracy)); (i + 1), data_quat.real, data_quat.i, data_quat.j, data_quat.k, BNO08xAccuracy_to_str(data_quat.accuracy));
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff); BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
} }
@ -298,7 +298,7 @@ TEST_CASE("Enable/Disable Octo Report", "[MultiReportEnableDisable]")
sprintf(msg_buff, sprintf(msg_buff,
"Rx Data Trial %d Success: RV Geomagnetic: [n/a] real: %.2f i: %.2f j: %.2f k: " "Rx Data Trial %d Success: RV Geomagnetic: [n/a] real: %.2f i: %.2f j: %.2f k: "
"%.2f accuracy: %s ", "%.2f accuracy: %s ",
(i + 1), data_quat.real, data_quat.i, data_quat.j, data_quat.k, BNO08x::accuracy_to_str(data_quat.accuracy)); (i + 1), data_quat.real, data_quat.i, data_quat.j, data_quat.k, BNO08xAccuracy_to_str(data_quat.accuracy));
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff); BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
} }
} }

28
test/SingleReportTests.cpp
View File

@ -58,7 +58,7 @@ TEST_CASE("Enable Incorrect Report", "[SingleReportEnableDisable]")
sprintf(msg_buff, sprintf(msg_buff,
"No Rx Data Trial %d Success: LinAccelDefaults: [m/s^2] x: %.2f y: %.2f z: %.2f " "No Rx Data Trial %d Success: LinAccelDefaults: [m/s^2] x: %.2f y: %.2f z: %.2f "
"accuracy: %s ", "accuracy: %s ",
(i + 1), data.x, data.y, data.z, BNO08x::accuracy_to_str(data.accuracy)); (i + 1), data.x, data.y, data.z, BNO08xAccuracy_to_str(data.accuracy));
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff); BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
} }
@ -96,7 +96,7 @@ TEST_CASE("Enable/Disable Accelerometer", "[SingleReportEnableDisable]")
data = imu->rpt.accelerometer.get(); data = imu->rpt.accelerometer.get();
sprintf(msg_buff, "Rx Data Trial %d Success: Accel: [m/s^2] x: %.2f y: %.2f z: %.2f accuracy: %s ", (i + 1), data.x, sprintf(msg_buff, "Rx Data Trial %d Success: Accel: [m/s^2] x: %.2f y: %.2f z: %.2f accuracy: %s ", (i + 1), data.x,
data.y, data.z, BNO08x::accuracy_to_str(data.accuracy)); data.y, data.z, BNO08xAccuracy_to_str(data.accuracy));
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff); BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
} }
@ -136,7 +136,7 @@ TEST_CASE("Enable/Disable Linear Accelerometer", "[SingleReportEnableDisable]")
sprintf(msg_buff, sprintf(msg_buff,
"Rx Data Trial %d Success: LinearAccel: [m/s^2] x: %.2f y: %.2f z: %.2f accuracy: " "Rx Data Trial %d Success: LinearAccel: [m/s^2] x: %.2f y: %.2f z: %.2f accuracy: "
"%s ", "%s ",
(i + 1), data.x, data.y, data.z, BNO08x::accuracy_to_str(data.accuracy)); (i + 1), data.x, data.y, data.z, BNO08xAccuracy_to_str(data.accuracy));
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff); BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
} }
@ -174,7 +174,7 @@ TEST_CASE("Enable/Disable Gravity", "[SingleReportEnableDisable]")
data = imu->rpt.gravity.get(); data = imu->rpt.gravity.get();
sprintf(msg_buff, "Rx Data Trial %d Success: Gravity: [m/s^2] x: %.2f y: %.2f z: %.2f accuracy: %s ", (i + 1), data.x, sprintf(msg_buff, "Rx Data Trial %d Success: Gravity: [m/s^2] x: %.2f y: %.2f z: %.2f accuracy: %s ", (i + 1), data.x,
data.y, data.z, BNO08x::accuracy_to_str(data.accuracy)); data.y, data.z, BNO08xAccuracy_to_str(data.accuracy));
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff); BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
} }
@ -214,7 +214,7 @@ TEST_CASE("Enable/Disable Cal Magnetometer", "[SingleReportEnableDisable]")
sprintf(msg_buff, sprintf(msg_buff,
"Rx Data Trial %d Success: CalMagnetometer: [uTesla] x: %.2f y: %.2f z: %.2f " "Rx Data Trial %d Success: CalMagnetometer: [uTesla] x: %.2f y: %.2f z: %.2f "
"accuracy: %s ", "accuracy: %s ",
(i + 1), data.x, data.y, data.z, BNO08x::accuracy_to_str(data.accuracy)); (i + 1), data.x, data.y, data.z, BNO08xAccuracy_to_str(data.accuracy));
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff); BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
} }
@ -256,7 +256,7 @@ TEST_CASE("Enable/Disable Uncal Magnetometer", "[SingleReportEnableDisable]")
"Rx Data Trial %d Success: UncalMagnetometer: [uTesla] x: %.2f y: %.2f z: %.2f " "Rx Data Trial %d Success: UncalMagnetometer: [uTesla] x: %.2f y: %.2f z: %.2f "
"x_bias: %.2f y_bias: %.2f z_bias: %.2f accuracy: %s ", "x_bias: %.2f y_bias: %.2f z_bias: %.2f accuracy: %s ",
(i + 1), data_magf.x, data_magf.y, data_magf.z, data_bias.x, data_bias.y, data_bias.z, (i + 1), data_magf.x, data_magf.y, data_magf.z, data_bias.x, data_bias.y, data_bias.z,
BNO08x::accuracy_to_str(data_magf.accuracy)); BNO08xAccuracy_to_str(data_magf.accuracy));
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff); BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
} }
@ -294,7 +294,7 @@ TEST_CASE("Enable/Disable Cal Gyro", "[SingleReportEnableDisable]")
data = imu->rpt.cal_gyro.get(); data = imu->rpt.cal_gyro.get();
sprintf(msg_buff, "Rx Data Trial %d Success: CalGyro: [rad/s] x: %.2f y: %.2f z: %.2f accuracy: %s ", (i + 1), data.x, sprintf(msg_buff, "Rx Data Trial %d Success: CalGyro: [rad/s] x: %.2f y: %.2f z: %.2f accuracy: %s ", (i + 1), data.x,
data.y, data.z, BNO08x::accuracy_to_str(data.accuracy)); data.y, data.z, BNO08xAccuracy_to_str(data.accuracy));
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff); BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
} }
@ -336,7 +336,7 @@ TEST_CASE("Enable/Disable Uncal Gyro", "[SingleReportEnableDisable]")
"Rx Data Trial %d Success: UncalGyro: [rad/s] x: %.2f y: %.2f z: %.2f x_bias: %.2f " "Rx Data Trial %d Success: UncalGyro: [rad/s] x: %.2f y: %.2f z: %.2f x_bias: %.2f "
"y_bias: %.2f z_bias: %.2f accuracy: %s ", "y_bias: %.2f z_bias: %.2f accuracy: %s ",
(i + 1), data_vel.x, data_vel.y, data_vel.z, data_bias.x, data_bias.y, data_bias.z, (i + 1), data_vel.x, data_vel.y, data_vel.z, data_bias.x, data_bias.y, data_bias.z,
BNO08x::accuracy_to_str(data_vel.accuracy)); BNO08xAccuracy_to_str(data_vel.accuracy));
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff); BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
} }
@ -376,7 +376,7 @@ TEST_CASE("Enable/Disable RV", "[SingleReportEnableDisable]")
sprintf(msg_buff, sprintf(msg_buff,
"Rx Data Trial %d Success: RV: [n/a] real: %.2f i: %.2f j: %.2f k: %.2f accuracy: " "Rx Data Trial %d Success: RV: [n/a] real: %.2f i: %.2f j: %.2f k: %.2f accuracy: "
"%s ", "%s ",
(i + 1), data.real, data.i, data.j, data.k, BNO08x::accuracy_to_str(data.accuracy)); (i + 1), data.real, data.i, data.j, data.k, BNO08xAccuracy_to_str(data.accuracy));
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff); BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
} }
@ -416,7 +416,7 @@ TEST_CASE("Enable/Disable Game RV", "[SingleReportEnableDisable]")
sprintf(msg_buff, sprintf(msg_buff,
"Rx Data Trial %d Success: RV Game: [n/a] real: %.2f i: %.2f j: %.2f k: %.2f " "Rx Data Trial %d Success: RV Game: [n/a] real: %.2f i: %.2f j: %.2f k: %.2f "
"accuracy: %s ", "accuracy: %s ",
(i + 1), data.real, data.i, data.j, data.k, BNO08x::accuracy_to_str(data.accuracy)); (i + 1), data.real, data.i, data.j, data.k, BNO08xAccuracy_to_str(data.accuracy));
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff); BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
} }
@ -456,7 +456,7 @@ TEST_CASE("Enable/Disable ARVR Stabilized RV", "[SingleReportEnableDisable]")
sprintf(msg_buff, sprintf(msg_buff,
"Rx Data Trial %d Success: RV ARVR Stabilized: [n/a] real: %.2f i: %.2f j: %.2f k: " "Rx Data Trial %d Success: RV ARVR Stabilized: [n/a] real: %.2f i: %.2f j: %.2f k: "
"%.2f accuracy: %s ", "%.2f accuracy: %s ",
(i + 1), data.real, data.i, data.j, data.k, BNO08x::accuracy_to_str(data.accuracy)); (i + 1), data.real, data.i, data.j, data.k, BNO08xAccuracy_to_str(data.accuracy));
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff); BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
} }
@ -496,7 +496,7 @@ TEST_CASE("Enable/Disable ARVR Stabilized Game RV", "[SingleReportEnableDisable]
sprintf(msg_buff, sprintf(msg_buff,
"Rx Data Trial %d Success: RV ARVR Stabilized Game: [n/a] real: %.2f i: %.2f j: " "Rx Data Trial %d Success: RV ARVR Stabilized Game: [n/a] real: %.2f i: %.2f j: "
"%.2f k: %.2f accuracy: %s ", "%.2f k: %.2f accuracy: %s ",
(i + 1), data.real, data.i, data.j, data.k, BNO08x::accuracy_to_str(data.accuracy)); (i + 1), data.real, data.i, data.j, data.k, BNO08xAccuracy_to_str(data.accuracy));
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff); BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
} }
@ -536,7 +536,7 @@ TEST_CASE("Enable/Disable Gyro Integrated RV", "[SingleReportEnableDisable]")
sprintf(msg_buff, sprintf(msg_buff,
"Rx Data Trial %d Success: RV Gyro Integrated: [n/a] real: %.2f i: %.2f j: %.2f k: " "Rx Data Trial %d Success: RV Gyro Integrated: [n/a] real: %.2f i: %.2f j: %.2f k: "
"%.2f accuracy: %s ", "%.2f accuracy: %s ",
(i + 1), data.real, data.i, data.j, data.k, BNO08x::accuracy_to_str(data.accuracy)); (i + 1), data.real, data.i, data.j, data.k, BNO08xAccuracy_to_str(data.accuracy));
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff); BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
} }
@ -576,7 +576,7 @@ TEST_CASE("Enable/Disable Geomagnetic RV", "[SingleReportEnableDisable]")
sprintf(msg_buff, sprintf(msg_buff,
"Rx Data Trial %d Success: RV Geomagnetic: [n/a] real: %.2f i: %.2f j: %.2f k: " "Rx Data Trial %d Success: RV Geomagnetic: [n/a] real: %.2f i: %.2f j: %.2f k: "
"%.2f accuracy: %s ", "%.2f accuracy: %s ",
(i + 1), data.real, data.i, data.j, data.k, BNO08x::accuracy_to_str(data.accuracy)); (i + 1), data.real, data.i, data.j, data.k, BNO08xAccuracy_to_str(data.accuracy));
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff); BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
} }