return of the test + more documentation
This commit is contained in:
myles-parfeniuk
parent
71e276e76a
commit
e4e6d67e40
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@ -79,6 +79,28 @@ menu "esp32_BNO08x"
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Amount of SPI transactions that can be queued during operation.
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This argument is loaded directly into the spi_device_interface_config_t struct used for SPI configuration.
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config ESP32_BNO08X_HINT_TIMEOUT_MS
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int "HINT TIMEOUT (ms)"
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range 100 10000
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default 500
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help
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Max wait between HINT being asserted by BNO08x before transaction is considered failed. (in miliseconds).
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config ESP32_BNO08X_DATA_AVAILABLE_TIMEOUT_MS
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int "DATA AVAILABLE TIMEOUT (ms)"
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range 100 10000
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default 3000
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help
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Max wait between data_available() being called and no new data/report being detected. (in miliseconds).
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config ESP32_BNO08X_HARD_RESET_DELAY_MS
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int "HARD RESET DELAY (ms)"
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range 100 10000
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default 100
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help
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How long RST pin is held low during hard reset (min 10ns according to datasheet,
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but should be longer for stable operation). Not recommended to lower below 100ms.
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endmenu #SPI Configuration
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menu "Logging"
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@ -97,7 +119,7 @@ menu "esp32_BNO08x"
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endmenu #Logging
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menu "Callbacks"
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menu "Callbacks & Tasks"
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config ESP32_BNO08X_CB_TASK_SZ
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int "Callback task size, (cb_task())"
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@ -108,6 +130,30 @@ menu "esp32_BNO08x"
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Note that callbacks should remain as short as possible, pass the data out of
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the callback with a queue or save it to different variables for longer operations.
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endmenu #Callbacks
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config ESP32_BNO08X_CB_QUEUE_SZ
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int "Callback queue size."
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range 1 200
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default 16
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help
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Amount of callbacks that can be in the air/pending to be executed at any given time.
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config ESP32_BNO08X_DATA_PROC_TASK_SZ
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int "Data processing task size, (data_proc_task())"
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range 1024 20480
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default 2048
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help
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Stack size of task responsible for parsing/handling sensor events sent by SH2 HAL and
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updating data that is returned to user.
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config ESP32_BNO08X_SH2_HAL_SERVICE_TASK_SZ
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int "Data processing task size, (data_proc_task())"
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range 1024 20480
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default 4096
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help
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Stack size of task responsible for calling shtp_service() when HINT is asserted,
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to dispatch any sh2 HAL lib callbacks.
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endmenu #Callbacks & Tasks
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endmenu
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@ -2,10 +2,10 @@
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* @file BNO08x.hpp
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* @author Myles Parfeniuk
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*/
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#pragma once
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// standard library includes
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#include <functional>
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#include <variant>
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#include <vector>
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#include <map>
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@ -119,7 +119,6 @@ class BNO08x
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bool data_proc_task; ///< True if xTaskCreate has been called successfully for data_proc_task.
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bool sh2_HAL_service_task; ///< True if xTaskCreate has been called successfully for sh2_HAL_service_task.
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bool cb_task; ///< True if xTaskCreate has been called successfully for cb_task.
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uint8_t task_init_cnt; ///< Amount of tasks that have been successfully initialized.
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bno08x_init_status_t()
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: gpio_outputs(false)
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@ -131,7 +130,6 @@ class BNO08x
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, data_proc_task(false)
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, sh2_HAL_service_task(false)
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, cb_task(false)
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, task_init_cnt(0)
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{
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}
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} bno08x_init_status_t;
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@ -145,13 +143,15 @@ class BNO08x
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} bno08x_cb_data_t;
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// data processing task
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static const constexpr configSTACK_DEPTH_TYPE DATA_PROC_TASK_SZ = 2048UL; ///< Size of data_proc_task() stack in bytes
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static const constexpr configSTACK_DEPTH_TYPE DATA_PROC_TASK_SZ =
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CONFIG_ESP32_BNO08X_DATA_PROC_TASK_SZ; ///< Size of data_proc_task() stack in bytes
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TaskHandle_t data_proc_task_hdl; ///<data_proc_task() task handle
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static void data_proc_task_trampoline(void* arg);
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void data_proc_task();
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// sh2 service task
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static const constexpr configSTACK_DEPTH_TYPE SH2_HAL_SERVICE_TASK_SZ = 4095UL; ///< Size of sh2_HAL_service_task() stack in bytes
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static const constexpr configSTACK_DEPTH_TYPE SH2_HAL_SERVICE_TASK_SZ =
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CONFIG_ESP32_BNO08X_SH2_HAL_SERVICE_TASK_SZ; ///< Size of sh2_HAL_service_task() stack in bytes
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TaskHandle_t sh2_HAL_service_task_hdl; ///<sh2_HAL_service_task() task handle
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static void sh2_HAL_service_task_trampoline(void* arg);
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void sh2_HAL_service_task();
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@ -172,6 +172,7 @@ class BNO08x
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void unlock_user_data();
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void handle_sensor_report(sh2_SensorValue_t* sensor_val);
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void handle_cb(uint8_t rpt_ID, bno08x_cb_data_t& cb_entry);
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esp_err_t init_config_args();
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esp_err_t init_gpio();
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@ -236,14 +237,15 @@ class BNO08x
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static const constexpr uint16_t RX_DATA_LENGTH = 300U; ///<length buffer containing data received over spi
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static const constexpr TickType_t HOST_INT_TIMEOUT_DEFAULT_MS =
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500UL /
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portTICK_PERIOD_MS; ///<Max wait between HINT being asserted by BNO08x before transaction is considered failed (in miliseconds), when no reports are enabled (ie during reset)
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CONFIG_ESP32_BNO08X_HINT_TIMEOUT_MS /
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portTICK_PERIOD_MS; ///<Max wait between HINT being asserted by BNO08x before transaction is considered failed (in miliseconds).
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static const constexpr TickType_t DATA_AVAILABLE_TIMEOUT_MS =
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3000UL / portTICK_PERIOD_MS; ///<Max wait between data_available() being called and no new data/report being detected.
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CONFIG_ESP32_BNO08X_DATA_AVAILABLE_TIMEOUT_MS /
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portTICK_PERIOD_MS; ///<Max wait between data_available() being called and no new data/report being detected.
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static const constexpr TickType_t HARD_RESET_DELAY_MS =
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100UL /
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CONFIG_ESP32_BNO08X_HARD_RESET_DELAY_MS /
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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)
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static const constexpr uint32_t SCLK_MAX_SPEED = 3000000UL; ///<Max SPI SCLK speed BNO08x is capable of.
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@ -301,6 +303,7 @@ class BNO08x
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// we have a lot of friends
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friend class BNO08xSH2HAL;
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friend class BNO08xTestHelper;
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friend class BNO08xRpt;
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friend class BNO08xRptRVGeneric;
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friend class BNO08xRptRV;
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@ -1,7 +1,13 @@
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/**
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* @file BNO08xRpt.hpp
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* @author Myles Parfeniuk
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*/
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#pragma once
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#include <stdint.h>
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// standard library includes
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#include <functional>
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// in-house includes
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#include "BNO08x_global_types.hpp"
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// forward dec to prevent compile errors
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@ -2,6 +2,7 @@
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* @file BNO08xSH2HAL.hpp
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* @author Myles Parfeniuk
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*/
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#pragma once
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// hill-crest labs includes (apache 2.0 license, compatible with MIT)
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@ -0,0 +1,255 @@
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/**
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* @file BNO08xTestHelper.hpp
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* @author Myles Parfeniuk
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*/
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#pragma once
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// standard library includes
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#include <stdio.h>
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// in-house includes
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#include "BNO08x.hpp"
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/**
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* @class BNO08xTestHelper
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*
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* @brief BNO08x unit test helper class.
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* */
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class BNO08xTestHelper
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{
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private:
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inline static BNO08x* test_imu = nullptr;
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inline static bno08x_config_t imu_cfg;
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static const constexpr char* TAG = "BNO08xTestHelper";
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public:
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/**
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* @brief Prints test begin banner.
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*
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* @param TEST_TAG String containing test name.
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*
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* @return void, nothing to return
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*/
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static void print_test_start_banner(const char* TEST_TAG)
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{
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printf("------------------------ BEGIN TEST: %s ------------------------\n\r", TEST_TAG);
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}
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/**
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* @brief Prints end begin banner.
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*
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* @param TEST_TAG String containing test name.
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*
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* @return void, nothing to return
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*/
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static void print_test_end_banner(const char* TEST_TAG)
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{
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printf("------------------------ END TEST: %s ------------------------\n\r", TEST_TAG);
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}
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/**
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* @brief Prints a message during a test.
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*
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* @param TEST_TAG String containing test name.
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* @param msg String containing message to print.
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*
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* @return void, nothing to return
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*/
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static void print_test_msg(const char* TEST_TAG, const char* msg)
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{
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printf("%s: %s: %s\n\r", TAG, TEST_TAG, msg);
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}
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/**
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* @brief Set test imu configuration used with create_test_imu()
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*
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* @param cfg String containing test name.
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*
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* @return void, nothing to return
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*/
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static void set_test_imu_cfg(bno08x_config_t cfg)
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{
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imu_cfg = cfg;
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}
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/**
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* @brief Calls BNO08x constructor and creates new test IMU on heap.
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*
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* @return void, nothing to return
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*/
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static void create_test_imu()
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{
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if (test_imu != nullptr)
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destroy_test_imu();
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test_imu = new BNO08x();
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}
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/**
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* @brief Deletes test IMU calling deconstructor and releases heap allocated memory.
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*
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* @return void, nothing to return
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*/
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static void destroy_test_imu()
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{
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if (test_imu != nullptr)
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{
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delete test_imu;
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test_imu = nullptr;
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}
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}
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/**
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* @brief Deletes test IMU calling deconstructor and releases heap allocated memory.
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*
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* @return Pointer to BNO08x IMU object to test.
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*/
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static BNO08x* get_test_imu()
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{
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return test_imu;
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}
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/**
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* @brief Used to call private BNO08x::init_config_args() member for tests.
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*
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* @return ESP_OK if init succeeded.
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*/
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static esp_err_t call_init_config_args()
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{
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if (test_imu == nullptr)
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return ESP_FAIL;
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return test_imu->init_config_args();
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}
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/**
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* @brief Used to call private BNO08x::init_gpio() member for tests.
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*
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* @return ESP_OK if init succeeded.
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*/
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static esp_err_t call_init_gpio()
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{
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if (test_imu == nullptr)
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return ESP_FAIL;
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return test_imu->init_gpio();
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}
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/**
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* @brief Used to call private BNO08x::init_hint_isr() member for tests.
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*
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* @return ESP_OK if init succeeded.
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*/
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static esp_err_t call_init_hint_isr()
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{
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if (test_imu == nullptr)
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return ESP_FAIL;
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return test_imu->init_hint_isr();
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}
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/**
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* @brief Used to call private BNO08x::init_spi() member for tests.
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*
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* @return ESP_OK if init succeeded.
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*/
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static esp_err_t call_init_spi()
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{
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if (test_imu == nullptr)
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return ESP_FAIL;
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return test_imu->init_spi();
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}
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/**
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* @brief Used to call private BNO08x::init_tasks() member for tests.
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*
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* @return ESP_OK if init succeeded.
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*/
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static esp_err_t call_init_tasks()
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{
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if (test_imu == nullptr)
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return ESP_FAIL;
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return test_imu->init_tasks();
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}
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/**
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* @brief Used to call private BNO08x::init_tasks() member for tests.
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*
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* @return ESP_OK if init succeeded.
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*/
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static esp_err_t call_init_sh2_HAL()
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{
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if (test_imu == nullptr)
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return ESP_FAIL;
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return test_imu->init_sh2_HAL();
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}
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/**
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* @brief Used to call private BNO08x::deinit_gpio() member for tests.
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*
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* @return ESP_OK if deinit succeeded.
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*/
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static esp_err_t call_deinit_gpio()
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{
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if (test_imu == nullptr)
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return ESP_FAIL;
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return test_imu->deinit_gpio();
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}
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/**
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* @brief Used to call private BNO08x::deinit_hint_isr() member for tests.
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*
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* @return ESP_OK if deinit succeeded.
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*/
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static esp_err_t call_deinit_hint_isr()
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{
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if (test_imu == nullptr)
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return ESP_FAIL;
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return test_imu->deinit_hint_isr();
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}
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/**
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* @brief Used to call private BNO08x::deinit_spi() member for tests.
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*
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* @return ESP_OK if deinit succeeded.
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*/
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static esp_err_t call_deinit_spi()
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{
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if (test_imu == nullptr)
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return ESP_FAIL;
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return test_imu->deinit_spi();
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}
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/**
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* @brief Used to call private BNO08x::deinit_tasks() member for tests.
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*
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* @return ESP_OK if deinit succeeded.
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*/
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static esp_err_t call_deinit_tasks()
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{
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if (test_imu == nullptr)
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return ESP_FAIL;
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return test_imu->deinit_tasks();
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}
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/**
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* @brief Used to call private BNO08x::deinit_tasks() member for tests.
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*
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* @return ESP_OK if deinit succeeded.
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*/
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static esp_err_t call_deinit_sh2_HAL()
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{
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if (test_imu == nullptr)
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return ESP_FAIL;
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return test_imu->deinit_sh2_HAL();
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}
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};
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@ -0,0 +1,125 @@
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/**
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* @file BNO08xTestSuite.hpp
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* @author Myles Parfeniuk
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*/
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#pragma once
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// standard library includes
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#include <stdio.h>
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#include <string.h>
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// esp-idf includes
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#include "unity.h"
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// in-house includes
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#include "BNO08xTestHelper.hpp"
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/**
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* @class BNO08xTestSuite
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*
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* @brief BNO08x unit test launch point class.
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* */
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class BNO08xTestSuite
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{
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private:
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static void print_begin_tests_banner(const char* test_set_name)
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{
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printf("####################### BEGIN TESTS: %s #######################\n\r", test_set_name);
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}
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static void print_end_tests_banner(const char* test_set_name)
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{
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printf("####################### END TESTS: %s #######################\n\r", test_set_name);
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}
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public:
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static void run_all_tests()
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{
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UNITY_BEGIN();
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run_init_deinit_tests(false);
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run_single_report_tests(false);
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run_multi_report_tests(false);
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run_callback_tests(false);
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run_feature_tests(false);
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UNITY_END();
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}
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static void run_init_deinit_tests(bool call_unity_end_begin = true)
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{
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print_begin_tests_banner("init_denit_tests");
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if (call_unity_end_begin)
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UNITY_BEGIN();
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unity_run_tests_by_tag("[InitComprehensive]", false);
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unity_run_tests_by_tag("[DeinitComprehensive]", false);
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unity_run_tests_by_tag("[InitDenit]", false);
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if (call_unity_end_begin)
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UNITY_END();
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print_end_tests_banner("init_denit_tests");
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}
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|
||||
static void run_single_report_tests(bool call_unity_end_begin = true)
|
||||
{
|
||||
print_begin_tests_banner("single_report_enable_disable_tests");
|
||||
|
||||
if (call_unity_end_begin)
|
||||
UNITY_BEGIN();
|
||||
|
||||
unity_run_tests_by_tag("[SingleReportEnableDisable]", false);
|
||||
|
||||
if (call_unity_end_begin)
|
||||
UNITY_END();
|
||||
|
||||
print_end_tests_banner("single_report_enable_disable_tests");
|
||||
}
|
||||
|
||||
static void run_multi_report_tests(bool call_unity_end_begin = true)
|
||||
{
|
||||
print_begin_tests_banner("multi_report_enable_disable_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_enable_disable_tests");
|
||||
}
|
||||
|
||||
static void run_callback_tests(bool call_unity_end_begin = true)
|
||||
{
|
||||
print_begin_tests_banner("callback_tests");
|
||||
|
||||
if (call_unity_end_begin)
|
||||
UNITY_BEGIN();
|
||||
|
||||
unity_run_tests_by_tag("[CallbackAllReportVoidInputParam]", false);
|
||||
unity_run_tests_by_tag("[CallbackAllReportIDInputParam]", false);
|
||||
unity_run_tests_by_tag("[CallbackSingleReportVoidInputParam]", false);
|
||||
|
||||
if (call_unity_end_begin)
|
||||
UNITY_END();
|
||||
|
||||
print_end_tests_banner("callback_tests");
|
||||
}
|
||||
|
||||
static void run_feature_tests(bool call_unity_end_begin = true)
|
||||
{
|
||||
print_begin_tests_banner("feature_tests");
|
||||
|
||||
if (call_unity_end_begin)
|
||||
UNITY_BEGIN();
|
||||
|
||||
unity_run_tests_by_tag("[FeatureTests]", false);
|
||||
|
||||
if (call_unity_end_begin)
|
||||
UNITY_END();
|
||||
|
||||
print_end_tests_banner("feature_tests");
|
||||
}
|
||||
};
|
||||
|
|
@ -2,6 +2,7 @@
|
|||
* @file BNO08x_global_types.hpp
|
||||
* @author Myles Parfeniuk
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
|
||||
// standard library includes
|
||||
|
|
|
|||
|
|
@ -1,3 +1,8 @@
|
|||
/**
|
||||
* @file BNO08xRptARVRStabilizedGameRV.hpp
|
||||
* @author Myles Parfeniuk
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
|
||||
#include "BNO08xRptRVGeneric.hpp"
|
||||
|
|
|
|||
|
|
@ -1,3 +1,8 @@
|
|||
/**
|
||||
* @file BNO08xRptARVRStabilizedRV.hpp
|
||||
* @author Myles Parfeniuk
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
|
||||
#include "BNO08xRptRVGeneric.hpp"
|
||||
|
|
|
|||
|
|
@ -1,3 +1,8 @@
|
|||
/**
|
||||
* @file BNO08xRptAcceleration.hpp
|
||||
* @author Myles Parfeniuk
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
|
||||
#include "BNO08xRpt.hpp"
|
||||
|
|
|
|||
|
|
@ -1,3 +1,8 @@
|
|||
/**
|
||||
* @file BNO08xRptActivityClassifier.hpp
|
||||
* @author Myles Parfeniuk
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
|
||||
#include "BNO08xRpt.hpp"
|
||||
|
|
|
|||
|
|
@ -1,3 +1,8 @@
|
|||
/**
|
||||
* @file BNO08xRptCalGyro.hpp
|
||||
* @author Myles Parfeniuk
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
|
||||
#include "BNO08xRpt.hpp"
|
||||
|
|
|
|||
|
|
@ -1,3 +1,8 @@
|
|||
/**
|
||||
* @file BNO08xRptCalMagnetometer.hpp
|
||||
* @author Myles Parfeniuk
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
|
||||
#include "BNO08xRpt.hpp"
|
||||
|
|
|
|||
|
|
@ -1,3 +1,8 @@
|
|||
/**
|
||||
* @file BNO08xRptGameRV.hpp
|
||||
* @author Myles Parfeniuk
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
|
||||
#include "BNO08xRptRVGeneric.hpp"
|
||||
|
|
|
|||
|
|
@ -1,3 +1,8 @@
|
|||
/**
|
||||
* @file BNO08xRptGravity.hpp
|
||||
* @author Myles Parfeniuk
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
|
||||
#include "BNO08xRpt.hpp"
|
||||
|
|
|
|||
|
|
@ -1,3 +1,8 @@
|
|||
/**
|
||||
* @file BNO08xRptIGyroRV.hpp
|
||||
* @author Myles Parfeniuk
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
|
||||
#include "BNO08xRptRVGeneric.hpp"
|
||||
|
|
|
|||
|
|
@ -1,3 +1,8 @@
|
|||
/**
|
||||
* @file BNO08xRptLinearAcceleration.hpp
|
||||
* @author Myles Parfeniuk
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
|
||||
#include "BNO08xRpt.hpp"
|
||||
|
|
|
|||
|
|
@ -1,3 +1,8 @@
|
|||
/**
|
||||
* @file BNO08xRptRV.hpp
|
||||
* @author Myles Parfeniuk
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
|
||||
#include "BNO08xRptRVGeneric.hpp"
|
||||
|
|
|
|||
|
|
@ -1,3 +1,8 @@
|
|||
/**
|
||||
* @file BNO08xRptRVGeneric.hpp
|
||||
* @author Myles Parfeniuk
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
|
||||
#include "BNO08xRpt.hpp"
|
||||
|
|
|
|||
|
|
@ -1,3 +1,8 @@
|
|||
/**
|
||||
* @file BNO08xRptRVGeomag.hpp
|
||||
* @author Myles Parfeniuk
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
|
||||
#include "BNO08xRptRVGeneric.hpp"
|
||||
|
|
|
|||
|
|
@ -1,3 +1,8 @@
|
|||
/**
|
||||
* @file BNO08xRptRawMEMSAccelerometer.hpp
|
||||
* @author Myles Parfeniuk
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
|
||||
#include "BNO08xRpt.hpp"
|
||||
|
|
|
|||
|
|
@ -1,3 +1,8 @@
|
|||
/**
|
||||
* @file BNO08xRptRawMEMSGyro.hpp
|
||||
* @author Myles Parfeniuk
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
|
||||
#include "BNO08xRpt.hpp"
|
||||
|
|
|
|||
|
|
@ -1,3 +1,8 @@
|
|||
/**
|
||||
* @file BNO08xRptRawMEMSMagnetometer.hpp
|
||||
* @author Myles Parfeniuk
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
|
||||
#include "BNO08xRpt.hpp"
|
||||
|
|
|
|||
|
|
@ -1,3 +1,8 @@
|
|||
/**
|
||||
* @file BNO08xRptStepCounter.hpp
|
||||
* @author Myles Parfeniuk
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
|
||||
#include "BNO08xRpt.hpp"
|
||||
|
|
|
|||
|
|
@ -1,3 +1,8 @@
|
|||
/**
|
||||
* @file BNO08xRptUncalGyro.hpp
|
||||
* @author Myles Parfeniuk
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
|
||||
#include "BNO08xRpt.hpp"
|
||||
|
|
|
|||
|
|
@ -1,3 +1,9 @@
|
|||
|
||||
/**
|
||||
* @file BNO08xRptUncalMagnetometer.hpp
|
||||
* @author Myles Parfeniuk
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
|
||||
#include "BNO08xRpt.hpp"
|
||||
|
|
|
|||
|
|
@ -1,3 +1,8 @@
|
|||
/**
|
||||
* @file BNO08xShakeDetector.hpp
|
||||
* @author Myles Parfeniuk
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
|
||||
#include "BNO08xRpt.hpp"
|
||||
|
|
|
|||
|
|
@ -1,3 +1,8 @@
|
|||
/**
|
||||
* @file BNO08xStabilityClassifier.hpp
|
||||
* @author Myles Parfeniuk
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
|
||||
#include "BNO08xRpt.hpp"
|
||||
|
|
|
|||
|
|
@ -1,3 +1,8 @@
|
|||
/**
|
||||
* @file BNO08xTapDetector.hpp
|
||||
* @author Myles Parfeniuk
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
|
||||
#include "BNO08xRpt.hpp"
|
||||
|
|
|
|||
|
|
@ -1,3 +1,8 @@
|
|||
/**
|
||||
* @file BNO08x.cpp
|
||||
* @author Myles Parfeniuk
|
||||
*/
|
||||
|
||||
#include "BNO08x.hpp"
|
||||
|
||||
/**
|
||||
|
|
@ -39,8 +44,8 @@ BNO08x::BNO08x(bno08x_config_t imu_config)
|
|||
, evt_grp_bno08x_task(xEventGroupCreate())
|
||||
, evt_grp_report_en(xEventGroupCreate())
|
||||
, evt_grp_report_data_available(xEventGroupCreate())
|
||||
, queue_rx_sensor_event(xQueueCreate(5, sizeof(sh2_SensorEvent_t)))
|
||||
, queue_cb_report_id(xQueueCreate(5, sizeof(uint8_t)))
|
||||
, queue_rx_sensor_event(xQueueCreate(10, sizeof(sh2_SensorEvent_t)))
|
||||
, queue_cb_report_id(xQueueCreate(20, sizeof(uint8_t)))
|
||||
, imu_config(imu_config)
|
||||
{
|
||||
}
|
||||
|
|
@ -54,24 +59,21 @@ BNO08x::BNO08x(bno08x_config_t imu_config)
|
|||
*/
|
||||
BNO08x::~BNO08x()
|
||||
{
|
||||
// disable interrupts before beginning so we can ensure SPI transaction doesn't attempt to run
|
||||
gpio_intr_disable(imu_config.io_int);
|
||||
// deinitialize tasks if they have been initialized
|
||||
ESP_ERROR_CHECK(deinit_tasks());
|
||||
|
||||
// deinitialize sh2 HAL if it has been initialized
|
||||
ESP_ERROR_CHECK(deinit_sh2_HAL());
|
||||
|
||||
// deinitialize spi if has been initialized
|
||||
ESP_ERROR_CHECK(deinit_spi());
|
||||
|
||||
// deinitialize hint ISR if it has been initialized
|
||||
ESP_ERROR_CHECK(deinit_hint_isr());
|
||||
|
||||
// deinitialize spi if has been initialized
|
||||
ESP_ERROR_CHECK(deinit_spi());
|
||||
|
||||
// deinitialize GPIO if they have been initialized
|
||||
ESP_ERROR_CHECK(deinit_gpio());
|
||||
|
||||
// deinitialize tasks if they have been initialized
|
||||
ESP_ERROR_CHECK(deinit_tasks());
|
||||
|
||||
// delete all semaphores
|
||||
vSemaphoreDelete(sh2_HAL_lock);
|
||||
vSemaphoreDelete(data_lock);
|
||||
|
|
@ -157,29 +159,26 @@ void BNO08x::data_proc_task_trampoline(void* arg)
|
|||
void BNO08x::data_proc_task()
|
||||
{
|
||||
EventBits_t evt_grp_bno08x_task_bits = 0U;
|
||||
BaseType_t queue_rx_success = pdFALSE;
|
||||
sh2_SensorEvent_t sensor_evt;
|
||||
sh2_SensorValue_t sensor_val;
|
||||
|
||||
while (1)
|
||||
{
|
||||
if (xQueueReceive(queue_rx_sensor_event, &sensor_evt, portMAX_DELAY) == pdTRUE)
|
||||
{
|
||||
evt_grp_bno08x_task_bits = xEventGroupGetBits(evt_grp_bno08x_task);
|
||||
|
||||
if (evt_grp_bno08x_task_bits & EVT_GRP_BNO08x_TASKS_RUNNING)
|
||||
do
|
||||
{
|
||||
|
||||
if (queue_rx_success == pdTRUE)
|
||||
{
|
||||
if (sh2_decodeSensorEvent(&sensor_val, &sensor_evt) != SH2_ERR)
|
||||
handle_sensor_report(&sensor_val);
|
||||
}
|
||||
else
|
||||
{
|
||||
break; // exit loop, deconstructor requested task to commit self-deletion
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
queue_rx_success = xQueueReceive(queue_rx_sensor_event, &sensor_evt, portMAX_DELAY);
|
||||
evt_grp_bno08x_task_bits = xEventGroupGetBits(evt_grp_bno08x_task);
|
||||
|
||||
} while (evt_grp_bno08x_task_bits & EVT_GRP_BNO08x_TASKS_RUNNING);
|
||||
|
||||
xSemaphoreGive(sem_kill_tasks); // signal to deconstructor deletion is completed
|
||||
init_status.data_proc_task = false;
|
||||
vTaskDelete(NULL);
|
||||
}
|
||||
|
||||
|
|
@ -206,16 +205,11 @@ void BNO08x::sh2_HAL_service_task()
|
|||
{
|
||||
EventBits_t evt_grp_bno08x_task_bits = 0U;
|
||||
|
||||
while (1)
|
||||
do
|
||||
{
|
||||
xEventGroupWaitBits(
|
||||
evt_grp_bno08x_task, EVT_GRP_BNO08x_TASK_HINT_ASSRT_BIT | EVT_GRP_BNO08x_TASK_RESET_OCCURRED, pdFALSE, pdFALSE, portMAX_DELAY);
|
||||
|
||||
evt_grp_bno08x_task_bits = xEventGroupGetBits(evt_grp_bno08x_task);
|
||||
|
||||
if (evt_grp_bno08x_task_bits & EVT_GRP_BNO08x_TASKS_RUNNING)
|
||||
{
|
||||
if (evt_grp_bno08x_task_bits & EVT_GRP_BNO08x_TASK_RESET_OCCURRED)
|
||||
{
|
||||
if (!re_enable_reports())
|
||||
{
|
||||
// clang-format off
|
||||
|
|
@ -224,18 +218,22 @@ void BNO08x::sh2_HAL_service_task()
|
|||
#endif
|
||||
// clang-format on
|
||||
}
|
||||
}
|
||||
|
||||
if (evt_grp_bno08x_task_bits & EVT_GRP_BNO08x_TASK_HINT_ASSRT_BIT)
|
||||
{
|
||||
lock_sh2_HAL();
|
||||
sh2_service();
|
||||
unlock_sh2_HAL();
|
||||
}
|
||||
else
|
||||
{
|
||||
break; // exit loop, deconstructor requested task to commit self-deletion
|
||||
}
|
||||
}
|
||||
|
||||
evt_grp_bno08x_task_bits = xEventGroupWaitBits(
|
||||
evt_grp_bno08x_task, EVT_GRP_BNO08x_TASK_HINT_ASSRT_BIT | EVT_GRP_BNO08x_TASK_RESET_OCCURRED, pdFALSE, pdFALSE, portMAX_DELAY);
|
||||
|
||||
} while (evt_grp_bno08x_task_bits & EVT_GRP_BNO08x_TASKS_RUNNING);
|
||||
|
||||
xSemaphoreGive(sem_kill_tasks); // signal to deconstructor deletion is completed
|
||||
init_status.sh2_HAL_service_task = false;
|
||||
vTaskDelete(NULL);
|
||||
}
|
||||
|
||||
|
|
@ -261,47 +259,22 @@ void BNO08x::cb_task_trampoline(void* arg)
|
|||
void BNO08x::cb_task()
|
||||
{
|
||||
EventBits_t evt_grp_bno08x_task_bits = 0U;
|
||||
uint8_t rpt_ID;
|
||||
uint8_t rpt_ID = 0;
|
||||
|
||||
while (1)
|
||||
do
|
||||
{
|
||||
// execute callbacks
|
||||
for (auto& cb_entry : cb_list)
|
||||
handle_cb(rpt_ID, cb_entry);
|
||||
|
||||
xQueueReceive(queue_cb_report_id, &rpt_ID, portMAX_DELAY);
|
||||
|
||||
evt_grp_bno08x_task_bits = xEventGroupGetBits(evt_grp_bno08x_task);
|
||||
|
||||
if (evt_grp_bno08x_task_bits & EVT_GRP_BNO08x_TASKS_RUNNING)
|
||||
{
|
||||
// execute callbacks
|
||||
for (auto& cb_entry : cb_list)
|
||||
{
|
||||
// only execute callback if it is registered to this report or all reports
|
||||
if ((cb_entry.report_ID == 0) || (cb_entry.report_ID == rpt_ID))
|
||||
{
|
||||
std::visit(
|
||||
[rpt_ID](auto&& cb_fxn)
|
||||
{
|
||||
if constexpr (std::is_invocable_v<decltype(cb_fxn)>)
|
||||
{
|
||||
// Handles std::function<void()> (i.e., no parameters)
|
||||
cb_fxn();
|
||||
}
|
||||
else
|
||||
{
|
||||
// Handles std::function<void(uint8_t)> (i.e., with a report ID)
|
||||
cb_fxn(rpt_ID);
|
||||
}
|
||||
},
|
||||
cb_entry.cb);
|
||||
}
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
break; // exit loop, deconstructor requested task to commit self-deletion
|
||||
}
|
||||
}
|
||||
} while (evt_grp_bno08x_task_bits & EVT_GRP_BNO08x_TASKS_RUNNING);
|
||||
|
||||
xSemaphoreGive(sem_kill_tasks); // signal to deconstructor deletion is completed
|
||||
init_status.cb_task = false;
|
||||
vTaskDelete(NULL);
|
||||
}
|
||||
|
||||
|
|
@ -355,15 +328,16 @@ void BNO08x::handle_sensor_report(sh2_SensorValue_t* sensor_val)
|
|||
uint8_t rpt_ID = sensor_val->sensorId;
|
||||
|
||||
// check if report exists within map
|
||||
auto it = usr_reports.find(rpt_ID);
|
||||
if (it != usr_reports.end())
|
||||
if ((rpt_ID > 0) && (rpt_ID < SH2_MAX_SENSOR_ID))
|
||||
{
|
||||
// update respective report with new data
|
||||
it->second->update_data(sensor_val);
|
||||
auto& rpt = usr_reports.at(rpt_ID);
|
||||
|
||||
// send report ids to cb_task for callback execution (only if this report is enabled)
|
||||
if (usr_reports.at(rpt_ID)->rpt_bit & xEventGroupGetBits(evt_grp_report_en))
|
||||
if (rpt->rpt_bit & xEventGroupGetBits(evt_grp_report_en))
|
||||
{
|
||||
// update respective report with new data
|
||||
rpt->update_data(sensor_val);
|
||||
|
||||
if (cb_list.size() != 0)
|
||||
if (xQueueSend(queue_cb_report_id, &rpt_ID, 0) != pdTRUE)
|
||||
{
|
||||
|
|
@ -377,6 +351,30 @@ void BNO08x::handle_sensor_report(sh2_SensorValue_t* sensor_val)
|
|||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Determines the flavor of a passed callback and executes it appropriately.
|
||||
*
|
||||
* @return void, nothing to return
|
||||
*/
|
||||
void BNO08x::handle_cb(uint8_t rpt_ID, bno08x_cb_data_t& cb_entry)
|
||||
{
|
||||
// only execute callback if it is registered to this report or all reports
|
||||
if ((cb_entry.report_ID == 0) || (cb_entry.report_ID == rpt_ID))
|
||||
{
|
||||
// check the type of the callback stored in the variant
|
||||
if (std::holds_alternative<std::function<void()>>(cb_entry.cb))
|
||||
{
|
||||
// handles std::function<void()> (i.e., no parameters)
|
||||
std::get<std::function<void()>>(cb_entry.cb)();
|
||||
}
|
||||
else
|
||||
{
|
||||
// handles std::function<void(uint8_t)> (i.e., with a report ID)
|
||||
std::get<std::function<void(uint8_t)>>(cb_entry.cb)(rpt_ID);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Initializes required esp-idf SPI data structures with values from user passed bno08x_config_t struct.
|
||||
*
|
||||
|
|
@ -647,30 +645,9 @@ esp_err_t BNO08x::init_tasks()
|
|||
}
|
||||
else
|
||||
{
|
||||
init_status.task_init_cnt++;
|
||||
init_status.data_proc_task = true;
|
||||
}
|
||||
|
||||
// launch data processing task
|
||||
task_created =
|
||||
xTaskCreate(&sh2_HAL_service_task_trampoline, "bno08x_sh2_HAL_service_task", SH2_HAL_SERVICE_TASK_SZ, this, 7, &sh2_HAL_service_task_hdl);
|
||||
|
||||
if (task_created != pdTRUE)
|
||||
{
|
||||
// clang-format off
|
||||
#ifdef CONFIG_ESP32_BNO08x_LOG_STATEMENTS
|
||||
ESP_LOGE(TAG, "Initialization failed, sh2_HAL_service_task failed to launch.");
|
||||
#endif
|
||||
// clang-format on
|
||||
|
||||
return ESP_FAIL;
|
||||
}
|
||||
else
|
||||
{
|
||||
init_status.task_init_cnt++;
|
||||
init_status.sh2_HAL_service_task = true;
|
||||
}
|
||||
|
||||
// launch cb task
|
||||
task_created = xTaskCreate(&cb_task_trampoline, "bno08x_cb_task", CB_TASK_SZ, this, 5, &cb_task_hdl);
|
||||
|
||||
|
|
@ -686,10 +663,28 @@ esp_err_t BNO08x::init_tasks()
|
|||
}
|
||||
else
|
||||
{
|
||||
init_status.task_init_cnt++;
|
||||
init_status.cb_task = true;
|
||||
}
|
||||
|
||||
// launch sh2 hal service task
|
||||
task_created =
|
||||
xTaskCreate(&sh2_HAL_service_task_trampoline, "bno08x_sh2_HAL_service_task", SH2_HAL_SERVICE_TASK_SZ, this, 7, &sh2_HAL_service_task_hdl);
|
||||
|
||||
if (task_created != pdTRUE)
|
||||
{
|
||||
// clang-format off
|
||||
#ifdef CONFIG_ESP32_BNO08x_LOG_STATEMENTS
|
||||
ESP_LOGE(TAG, "Initialization failed, sh2_HAL_service_task failed to launch.");
|
||||
#endif
|
||||
// clang-format on
|
||||
|
||||
return ESP_FAIL;
|
||||
}
|
||||
else
|
||||
{
|
||||
init_status.sh2_HAL_service_task = true;
|
||||
}
|
||||
|
||||
return ESP_OK;
|
||||
}
|
||||
|
||||
|
|
@ -810,6 +805,8 @@ esp_err_t BNO08x::deinit_gpio()
|
|||
ret = deinit_gpio_inputs();
|
||||
if (ret != ESP_OK)
|
||||
return ret;
|
||||
|
||||
init_status.gpio_inputs = false;
|
||||
}
|
||||
|
||||
if (init_status.gpio_outputs)
|
||||
|
|
@ -817,6 +814,8 @@ esp_err_t BNO08x::deinit_gpio()
|
|||
ret = deinit_gpio_outputs();
|
||||
if (ret != ESP_OK)
|
||||
return ret;
|
||||
|
||||
init_status.gpio_outputs = false;
|
||||
}
|
||||
|
||||
return ret;
|
||||
|
|
@ -917,6 +916,8 @@ esp_err_t BNO08x::deinit_hint_isr()
|
|||
|
||||
return ret;
|
||||
}
|
||||
|
||||
init_status.isr_handler = false;
|
||||
}
|
||||
|
||||
if (init_status.isr_service)
|
||||
|
|
@ -953,6 +954,8 @@ esp_err_t BNO08x::deinit_spi()
|
|||
|
||||
return ret;
|
||||
}
|
||||
|
||||
init_status.spi_device = false;
|
||||
}
|
||||
|
||||
if (init_status.spi_bus)
|
||||
|
|
@ -968,6 +971,8 @@ esp_err_t BNO08x::deinit_spi()
|
|||
|
||||
return ret;
|
||||
}
|
||||
|
||||
init_status.spi_bus = false;
|
||||
}
|
||||
|
||||
return ret;
|
||||
|
|
@ -980,15 +985,25 @@ esp_err_t BNO08x::deinit_spi()
|
|||
*/
|
||||
esp_err_t BNO08x::deinit_tasks()
|
||||
{
|
||||
static const constexpr uint8_t TASK_DELETE_TIMEOUT_MS = 100UL;
|
||||
static const constexpr uint8_t TASK_DELETE_TIMEOUT_MS = HOST_INT_TIMEOUT_DEFAULT_MS;
|
||||
uint8_t kill_count = 0;
|
||||
uint8_t init_count = 0;
|
||||
sh2_SensorEvent_t empty_event;
|
||||
uint8_t empty_ID = 0;
|
||||
|
||||
sem_kill_tasks = xSemaphoreCreateCounting(init_status.task_init_cnt, 0);
|
||||
// disable interrupts before beginning so we can ensure SPI transaction doesn't attempt to run
|
||||
gpio_intr_disable(imu_config.io_int);
|
||||
|
||||
// signal tasks to commit self-deletion
|
||||
xEventGroupClearBits(evt_grp_bno08x_task, EVT_GRP_BNO08x_TASKS_RUNNING);
|
||||
init_count += (static_cast<uint8_t>(init_status.cb_task) + static_cast<uint8_t>(init_status.data_proc_task) +
|
||||
static_cast<uint8_t>(init_status.sh2_HAL_service_task));
|
||||
|
||||
if (init_count != 0)
|
||||
{
|
||||
sem_kill_tasks = xSemaphoreCreateCounting(init_count, 0);
|
||||
xEventGroupClearBits(evt_grp_bno08x_task, EVT_GRP_BNO08x_TASKS_RUNNING); // clear task running bit request deletion of tasks
|
||||
|
||||
if (init_status.cb_task)
|
||||
xQueueSend(queue_cb_report_id, &empty_ID, 0);
|
||||
|
||||
if (init_status.data_proc_task)
|
||||
xQueueSend(queue_rx_sensor_event, &empty_event, 0);
|
||||
|
|
@ -996,23 +1011,21 @@ esp_err_t BNO08x::deinit_tasks()
|
|||
if (init_status.sh2_HAL_service_task)
|
||||
xEventGroupSetBits(evt_grp_bno08x_task, EVT_GRP_BNO08x_TASK_HINT_ASSRT_BIT);
|
||||
|
||||
if (init_status.cb_task)
|
||||
xQueueSend(queue_cb_report_id, &empty_ID, 0);
|
||||
|
||||
for (uint8_t i = 0; i < init_status.task_init_cnt; i++)
|
||||
if (xSemaphoreTake(sem_kill_tasks, TASK_DELETE_TIMEOUT_MS / portTICK_PERIOD_MS) == pdTRUE)
|
||||
for (uint8_t i = 0; i < init_count; i++)
|
||||
if (xSemaphoreTake(sem_kill_tasks, TASK_DELETE_TIMEOUT_MS) == pdTRUE)
|
||||
kill_count++;
|
||||
|
||||
if (kill_count != init_status.task_init_cnt)
|
||||
if (kill_count != init_count)
|
||||
{
|
||||
// clang-format off
|
||||
#ifdef CONFIG_ESP32_BNO08x_LOG_STATEMENTS
|
||||
#ifdef CONFIG_ESP32_BNO08x_DEBUG_STATEMENTS
|
||||
ESP_LOGE(TAG, "Task deletion timed out in deconstructor call.");
|
||||
#endif
|
||||
// clang-format on
|
||||
|
||||
return ESP_FAIL;
|
||||
}
|
||||
}
|
||||
|
||||
return ESP_OK;
|
||||
}
|
||||
|
|
@ -1025,7 +1038,10 @@ esp_err_t BNO08x::deinit_tasks()
|
|||
esp_err_t BNO08x::deinit_sh2_HAL()
|
||||
{
|
||||
if (init_status.sh2_HAL)
|
||||
{
|
||||
init_status.sh2_HAL = false;
|
||||
sh2_close();
|
||||
}
|
||||
|
||||
return ESP_OK;
|
||||
}
|
||||
|
|
|
|||
|
|
@ -1,3 +1,8 @@
|
|||
/**
|
||||
* @file BNO08xRpt.cpp
|
||||
* @author Myles Parfeniuk
|
||||
*/
|
||||
|
||||
#include "BNO08xRpt.hpp"
|
||||
#include "BNO08x.hpp"
|
||||
|
||||
|
|
@ -29,7 +34,7 @@ bool BNO08xRpt::enable(uint32_t time_between_reports, sh2_SensorConfig_t sensor_
|
|||
{
|
||||
period_us = time_between_reports; // Update the period
|
||||
xEventGroupSetBits(imu->evt_grp_report_en, rpt_bit); // Set the event group bit
|
||||
vTaskDelay(20UL / portTICK_PERIOD_MS); // delay a bit to allow command to execute
|
||||
vTaskDelay(30UL / portTICK_PERIOD_MS); // delay a bit to allow command to execute
|
||||
return true;
|
||||
}
|
||||
}
|
||||
|
|
|
|||
|
|
@ -1,13 +1,30 @@
|
|||
/**
|
||||
* @file BNO08xSH2HAL.cpp
|
||||
* @author Myles Parfeniuk
|
||||
*/
|
||||
|
||||
#include "BNO08xSH2HAL.hpp"
|
||||
#include "BNO08x.hpp"
|
||||
|
||||
BNO08x* BNO08xSH2HAL::imu;
|
||||
|
||||
/**
|
||||
* @brief Sets the BNO08x driver object to be used with sh2 HAL lib callbacks.
|
||||
*
|
||||
* @param hal_imu Pointer to BNO08x driver object to be used with sh2 HAL lib callbacks.
|
||||
*
|
||||
* @return void, nothing to return
|
||||
*/
|
||||
void BNO08xSH2HAL::set_hal_imu(BNO08x* hal_imu)
|
||||
{
|
||||
imu = hal_imu;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Opens SPI instance by waiting for interrupt.
|
||||
*
|
||||
* @return Always returns 0.
|
||||
*/
|
||||
int BNO08xSH2HAL::spi_open(sh2_Hal_t* self)
|
||||
{
|
||||
spi_wait_for_int();
|
||||
|
|
@ -15,11 +32,26 @@ int BNO08xSH2HAL::spi_open(sh2_Hal_t* self)
|
|||
return 0;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Closes SPI instance (nothing to do here, but required by sh2 HAL lib for cases where other communication protocols are used.)
|
||||
*
|
||||
* @return void, nothing to return
|
||||
*/
|
||||
void BNO08xSH2HAL::spi_close(sh2_Hal_t* self)
|
||||
{
|
||||
// do nothing
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief SPI rx callback for sh2 HAL lib.
|
||||
*
|
||||
* @param self sh2 HAL lib object being used with BNO08x driver instance.
|
||||
* @param pBuffer Buffer to store received packet.
|
||||
* @param len Length of bytes to read.
|
||||
* @param t_us Time in microseconds (unused, forced sh2 HAL lib required function type)
|
||||
*
|
||||
* @return Size of received packet in bytes, 0 on failure.
|
||||
*/
|
||||
int BNO08xSH2HAL::spi_read(sh2_Hal_t* self, uint8_t* pBuffer, unsigned len, uint32_t* t_us)
|
||||
{
|
||||
uint16_t packet_sz = 0;
|
||||
|
|
@ -47,6 +79,15 @@ int BNO08xSH2HAL::spi_read(sh2_Hal_t* self, uint8_t* pBuffer, unsigned len, uint
|
|||
return packet_sz;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief SPI tx callback for sh2 HAL lib.
|
||||
*
|
||||
* @param self sh2 HAL lib object being used with BNO08x driver instance.
|
||||
* @param pBuffer Buffer containing data to write.
|
||||
* @param len Length in bytes to write.
|
||||
*
|
||||
* @return Size of sent data (len param), 0 on failure.
|
||||
*/
|
||||
int BNO08xSH2HAL::spi_write(sh2_Hal_t* self, uint8_t* pBuffer, unsigned len)
|
||||
{
|
||||
// hint never asserted, fail transaction
|
||||
|
|
@ -67,6 +108,13 @@ int BNO08xSH2HAL::spi_write(sh2_Hal_t* self, uint8_t* pBuffer, unsigned len)
|
|||
return len;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get time in microseconds callback for sh2 HAL lib.
|
||||
*
|
||||
* @param self sh2 HAL lib object being used with BNO08x driver instance.
|
||||
*
|
||||
* @return Time in microseconds.
|
||||
*/
|
||||
uint32_t BNO08xSH2HAL::get_time_us(sh2_Hal_t* self)
|
||||
{
|
||||
uint64_t time_us = esp_timer_get_time();
|
||||
|
|
@ -77,22 +125,48 @@ uint32_t BNO08xSH2HAL::get_time_us(sh2_Hal_t* self)
|
|||
return static_cast<uint32_t>(time_us & 0xFFFFFFFFU);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief General event callback for sh2 HAL lib, used to notify tasks of reset.
|
||||
*
|
||||
* @param cookie User set input parameter as void pointer (unused), see sh2_Open().
|
||||
* @param pEvent Pointer to asynchronous event.
|
||||
*
|
||||
* @return void, nothing to return
|
||||
*/
|
||||
void BNO08xSH2HAL::hal_cb(void* cookie, sh2_AsyncEvent_t* pEvent)
|
||||
{
|
||||
if (pEvent->eventId == SH2_RESET)
|
||||
xEventGroupSetBits(imu->evt_grp_bno08x_task, BNO08x::EVT_GRP_BNO08x_TASK_RESET_OCCURRED);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Sensor event callback for sh2 HAL lib, sends received reports to data_proc_task().
|
||||
*
|
||||
* @param cookie User set input parameter as void pointer (unused), see sh2_Open().
|
||||
* @param event Pointer to sensor event.
|
||||
*
|
||||
* @return void, nothing to return
|
||||
*/
|
||||
void BNO08xSH2HAL::sensor_event_cb(void* cookie, sh2_SensorEvent_t* event)
|
||||
{
|
||||
xQueueSend(imu->queue_rx_sensor_event, event, 0);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Hardware reset callback for sh2 HAL lib, toggle RST gpio.
|
||||
*
|
||||
* @return void, nothing to return
|
||||
*/
|
||||
void BNO08xSH2HAL::hardware_reset()
|
||||
{
|
||||
imu->toggle_reset();
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief SPI wait for HINT sh2 HAL lib callback.
|
||||
*
|
||||
* @return True if interrupt was detected before timeout.
|
||||
*/
|
||||
bool BNO08xSH2HAL::spi_wait_for_int()
|
||||
{
|
||||
if (imu->wait_for_hint() != ESP_OK)
|
||||
|
|
@ -104,6 +178,13 @@ bool BNO08xSH2HAL::spi_wait_for_int()
|
|||
return true;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief SPI rx packet header (invoked from SPI rx callback.)
|
||||
*
|
||||
* @param pBuffer Buffer to store received header.
|
||||
*
|
||||
* @return Packet size (should always be 4), 0 on failure.
|
||||
*/
|
||||
uint16_t BNO08xSH2HAL::spi_read_sh2_packet_header(uint8_t* pBuffer)
|
||||
{
|
||||
uint8_t dummy_header_tx[4] = {0};
|
||||
|
|
@ -127,6 +208,13 @@ uint16_t BNO08xSH2HAL::spi_read_sh2_packet_header(uint8_t* pBuffer)
|
|||
return packet_sz;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief SPI rx packet body (invoked from SPI rx callback.)
|
||||
*
|
||||
* @param pBuffer Buffer to store received packet body.
|
||||
*
|
||||
* @return Packet size, 0 on failure.
|
||||
*/
|
||||
int BNO08xSH2HAL::spi_read_sh2_packet_body(uint8_t* pBuffer, uint16_t packet_sz)
|
||||
{
|
||||
imu->spi_transaction.rx_buffer = pBuffer + 4;
|
||||
|
|
|
|||
|
|
@ -1,3 +1,8 @@
|
|||
/**
|
||||
* @file BNO08xRptARVRStabilizedGameRV.cpp
|
||||
* @author Myles Parfeniuk
|
||||
*/
|
||||
|
||||
#include "BNO08xRptARVRStabilizedGameRV.hpp"
|
||||
#include "BNO08x.hpp"
|
||||
|
||||
|
|
|
|||
|
|
@ -1,3 +1,8 @@
|
|||
/**
|
||||
* @file BNO08xRptARVRStabilizedRV.cpp
|
||||
* @author Myles Parfeniuk
|
||||
*/
|
||||
|
||||
#include "BNO08xRptARVRStabilizedRV.hpp"
|
||||
#include "BNO08x.hpp"
|
||||
|
||||
|
|
|
|||
|
|
@ -1,3 +1,8 @@
|
|||
/**
|
||||
* @file BNO08xRptAcceleration.cpp
|
||||
* @author Myles Parfeniuk
|
||||
*/
|
||||
|
||||
#include "BNO08xRptAcceleration.hpp"
|
||||
#include "BNO08x.hpp"
|
||||
|
||||
|
|
|
|||
|
|
@ -1,3 +1,8 @@
|
|||
/**
|
||||
* @file BNO08xRptActivityClassifier.cpp
|
||||
* @author Myles Parfeniuk
|
||||
*/
|
||||
|
||||
#include "BNO08xRptActivityClassifier.hpp"
|
||||
#include "BNO08x.hpp"
|
||||
|
||||
|
|
|
|||
|
|
@ -1,3 +1,8 @@
|
|||
/**
|
||||
* @file BNO08xRptCalGyro.cpp
|
||||
* @author Myles Parfeniuk
|
||||
*/
|
||||
|
||||
#include "BNO08xRptCalGyro.hpp"
|
||||
#include "BNO08x.hpp"
|
||||
|
||||
|
|
|
|||
|
|
@ -1,3 +1,8 @@
|
|||
/**
|
||||
* @file BNO08xRptCalMagnetometer.cpp
|
||||
* @author Myles Parfeniuk
|
||||
*/
|
||||
|
||||
#include "BNO08xRptCalMagnetometer.hpp"
|
||||
#include "BNO08x.hpp"
|
||||
|
||||
|
|
|
|||
|
|
@ -1,3 +1,8 @@
|
|||
/**
|
||||
* @file BNO08xRptGameRV.cpp
|
||||
* @author Myles Parfeniuk
|
||||
*/
|
||||
|
||||
#include "BNO08xRptGameRV.hpp"
|
||||
#include "BNO08x.hpp"
|
||||
|
||||
|
|
|
|||
|
|
@ -1,3 +1,8 @@
|
|||
/**
|
||||
* @file BNO08xRptGravity.cpp
|
||||
* @author Myles Parfeniuk
|
||||
*/
|
||||
|
||||
#include "BNO08xRptGravity.hpp"
|
||||
#include "BNO08x.hpp"
|
||||
|
||||
|
|
|
|||
|
|
@ -1,3 +1,8 @@
|
|||
/**
|
||||
* @file BNO08xRptIGyroRV.cpp
|
||||
* @author Myles Parfeniuk
|
||||
*/
|
||||
|
||||
#include "BNO08xRptIGyroRV.hpp"
|
||||
#include "BNO08x.hpp"
|
||||
|
||||
|
|
|
|||
|
|
@ -1,3 +1,8 @@
|
|||
/**
|
||||
* @file BNO08xRptLinearAcceleration.cpp
|
||||
* @author Myles Parfeniuk
|
||||
*/
|
||||
|
||||
#include "BNO08xRptLinearAcceleration.hpp"
|
||||
#include "BNO08x.hpp"
|
||||
|
||||
|
|
|
|||
|
|
@ -1,3 +1,8 @@
|
|||
/**
|
||||
* @file BNO08xRptRV.cpp
|
||||
* @author Myles Parfeniuk
|
||||
*/
|
||||
|
||||
#include "BNO08xRptRV.hpp"
|
||||
#include "BNO08x.hpp"
|
||||
|
||||
|
|
|
|||
|
|
@ -1,3 +1,8 @@
|
|||
/**
|
||||
* @file BNO08xRptRVGeneric.cpp
|
||||
* @author Myles Parfeniuk
|
||||
*/
|
||||
|
||||
#include "BNO08xRptRVGeneric.hpp"
|
||||
#include "BNO08x.hpp"
|
||||
|
||||
|
|
|
|||
|
|
@ -1,3 +1,8 @@
|
|||
/**
|
||||
* @file BNO08xRptRVGeomag.cpp
|
||||
* @author Myles Parfeniuk
|
||||
*/
|
||||
|
||||
#include "BNO08xRptRVGeomag.hpp"
|
||||
#include "BNO08x.hpp"
|
||||
|
||||
|
|
|
|||
|
|
@ -1,3 +1,8 @@
|
|||
/**
|
||||
* @file BNO08xRptRawMEMSAccelerometer.cpp
|
||||
* @author Myles Parfeniuk
|
||||
*/
|
||||
|
||||
#include "BNO08xRptRawMEMSAccelerometer.hpp"
|
||||
#include "BNO08x.hpp"
|
||||
|
||||
|
|
|
|||
|
|
@ -1,3 +1,8 @@
|
|||
/**
|
||||
* @file BNO08xRptRawMEMSGyro.cpp
|
||||
* @author Myles Parfeniuk
|
||||
*/
|
||||
|
||||
#include "BNO08xRptRawMEMSGyro.hpp"
|
||||
#include "BNO08x.hpp"
|
||||
|
||||
|
|
|
|||
|
|
@ -1,3 +1,8 @@
|
|||
/**
|
||||
* @file BNO08xRptRawMEMSMagnetometer.cpp
|
||||
* @author Myles Parfeniuk
|
||||
*/
|
||||
|
||||
#include "BNO08xRptRawMEMSMagnetometer.hpp"
|
||||
#include "BNO08x.hpp"
|
||||
|
||||
|
|
|
|||
|
|
@ -1,3 +1,8 @@
|
|||
/**
|
||||
* @file BNO08xRptStepCounter.cpp
|
||||
* @author Myles Parfeniuk
|
||||
*/
|
||||
|
||||
#include "BNO08xRptStepCounter.hpp"
|
||||
#include "BNO08x.hpp"
|
||||
|
||||
|
|
|
|||
|
|
@ -1,3 +1,8 @@
|
|||
/**
|
||||
* @file BNO08xRptUncalGyro.cpp
|
||||
* @author Myles Parfeniuk
|
||||
*/
|
||||
|
||||
#include "BNO08xRptUncalGyro.hpp"
|
||||
#include "BNO08x.hpp"
|
||||
|
||||
|
|
|
|||
|
|
@ -1,3 +1,8 @@
|
|||
/**
|
||||
* @file BNO08xRptUncalMagnetometer.cpp
|
||||
* @author Myles Parfeniuk
|
||||
*/
|
||||
|
||||
#include "BNO08xRptUncalMagnetometer.hpp"
|
||||
#include "BNO08x.hpp"
|
||||
|
||||
|
|
|
|||
|
|
@ -1,3 +1,8 @@
|
|||
/**
|
||||
* @file BNO08xShakeDetector.cpp
|
||||
* @author Myles Parfeniuk
|
||||
*/
|
||||
|
||||
#include "BNO08xShakeDetector.hpp"
|
||||
#include "BNO08x.hpp"
|
||||
|
||||
|
|
|
|||
|
|
@ -1,3 +1,8 @@
|
|||
/**
|
||||
* @file BNO08xStabilityClassifier.cpp
|
||||
* @author Myles Parfeniuk
|
||||
*/
|
||||
|
||||
#include "BNO08xStabilityClassifier.hpp"
|
||||
#include "BNO08x.hpp"
|
||||
|
||||
|
|
|
|||
|
|
@ -1,3 +1,8 @@
|
|||
/**
|
||||
* @file BNO08xTapDetector.cpp
|
||||
* @author Myles Parfeniuk
|
||||
*/
|
||||
|
||||
#include "BNO08xTapDetector.hpp"
|
||||
#include "BNO08x.hpp"
|
||||
|
||||
|
|
|
|||
|
|
@ -1,5 +1,5 @@
|
|||
idf_component_register(SRC_DIRS "source" "SH2"
|
||||
INCLUDE_DIRS "include" "include/report" "SH2"
|
||||
idf_component_register(SRC_DIRS "."
|
||||
INCLUDE_DIRS "."
|
||||
REQUIRES cmock esp32_BNO08x)
|
||||
|
||||
# supress unused var warnings from test_imu
|
||||
|
|
|
|||
|
|
@ -0,0 +1,436 @@
|
|||
/**
|
||||
* @file CallbackTests.cpp
|
||||
* @author Myles Parfeniuk
|
||||
*
|
||||
*
|
||||
* @warning YOU MUST ADD THE FOLLOWING LINE TO YOUR MAIN PROJECTS CMakeLists.txt IN ORDER FOR THIS TEST SUITE TO BE BUILT WITH PROJECT:
|
||||
* set(TEST_COMPONENTS "esp32_BNO08x" CACHE STRING "Components to test.")
|
||||
*/
|
||||
|
||||
#include "unity.h"
|
||||
#include "../include/BNO08xTestHelper.hpp"
|
||||
|
||||
TEST_CASE("BNO08x Driver Creation for [CallbackAllReportVoidInputParam] Tests", "[CallbackAllReportVoidInputParam]")
|
||||
{
|
||||
const constexpr char* TEST_TAG = "BNO08x Driver Creation for [CallbackAllReportVoidInputParam] Tests";
|
||||
|
||||
BNO08x* imu = nullptr;
|
||||
|
||||
BNO08xTestHelper::print_test_start_banner(TEST_TAG);
|
||||
|
||||
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());
|
||||
BNO08xTestHelper::print_test_end_banner(TEST_TAG);
|
||||
}
|
||||
|
||||
TEST_CASE("Void Input Param Flavor Cb", "[CallbackAllReportVoidInputParam]")
|
||||
{
|
||||
const constexpr char* TEST_TAG = "Void Input Param Flavor Cb";
|
||||
static const constexpr uint8_t ENABLED_REPORT_COUNT = 8;
|
||||
static const constexpr uint8_t RX_REPORT_TRIAL_CNT = ENABLED_REPORT_COUNT * 5;
|
||||
static const constexpr uint32_t REPORT_PERIOD = 100000UL; // 100ms
|
||||
|
||||
BNO08x* imu = nullptr;
|
||||
char msg_buff[200] = {};
|
||||
bool data_available_accel = false;
|
||||
bool data_available_lin_accel = false;
|
||||
bool data_available_grav = false;
|
||||
bool data_available_cal_gyro = false;
|
||||
bool data_available_cal_magnetometer = false;
|
||||
bool data_available_rv = false;
|
||||
bool data_available_rv_game = false;
|
||||
bool data_available_rv_geomagnetic = false;
|
||||
|
||||
bool test_running = true;
|
||||
|
||||
bno08x_accel_t data_accel;
|
||||
bno08x_gyro_t data_vel;
|
||||
bno08x_magf_t data_magf;
|
||||
bno08x_quat_t data_quat;
|
||||
|
||||
BNO08xTestHelper::print_test_start_banner(TEST_TAG);
|
||||
imu = BNO08xTestHelper::get_test_imu();
|
||||
|
||||
imu->register_cb(
|
||||
[&imu, &data_available_accel, &data_available_lin_accel, &data_available_grav, &data_available_cal_gyro, &data_available_cal_magnetometer,
|
||||
&data_accel, &data_available_rv, &data_available_rv_game, &data_available_rv_geomagnetic, &data_quat, &data_vel, &data_magf,
|
||||
&msg_buff, &test_running]()
|
||||
{
|
||||
static int i = 0;
|
||||
|
||||
if (i < RX_REPORT_TRIAL_CNT)
|
||||
{
|
||||
if (imu->accelerometer.has_new_data())
|
||||
{
|
||||
data_available_accel = true;
|
||||
data_accel = imu->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,
|
||||
data_accel.y, data_accel.z, BNO08x::accuracy_to_str(data_accel.accuracy));
|
||||
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
|
||||
}
|
||||
else if (imu->linear_accelerometer.has_new_data())
|
||||
{
|
||||
data_available_lin_accel = true;
|
||||
data_accel = imu->linear_accelerometer.get();
|
||||
sprintf(msg_buff, "Rx Data Trial %d Success: LinAccel: [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));
|
||||
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
|
||||
}
|
||||
else if (imu->gravity.has_new_data())
|
||||
{
|
||||
data_available_grav = true;
|
||||
data_accel = imu->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_accel.x,
|
||||
data_accel.y, data_accel.z, BNO08x::accuracy_to_str(data_accel.accuracy));
|
||||
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
|
||||
}
|
||||
else if (imu->cal_gyro.has_new_data())
|
||||
{
|
||||
data_available_cal_gyro = true;
|
||||
data_vel = imu->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_vel.x,
|
||||
data_vel.y, data_vel.z, BNO08x::accuracy_to_str(data_vel.accuracy));
|
||||
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
|
||||
}
|
||||
else if (imu->cal_magnetometer.has_new_data())
|
||||
{
|
||||
data_available_cal_magnetometer = true;
|
||||
data_magf = imu->cal_magnetometer.get();
|
||||
sprintf(msg_buff, "Rx Data Trial %d Success: CalMagnetometer: [uTesla] x: %.2f y: %.2f z: %.2f accuracy: %s ", (i + 1),
|
||||
data_magf.x, data_magf.y, data_magf.z, BNO08x::accuracy_to_str(data_magf.accuracy));
|
||||
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
|
||||
}
|
||||
else if (imu->rv.has_new_data())
|
||||
{
|
||||
data_available_rv = true;
|
||||
data_quat = imu->rv.get_quat();
|
||||
sprintf(msg_buff, "Rx Data Trial %d Success: RV: [n/a] real: %.2f i: %.2f j: %.2f k: %.2f accuracy: %s ", (i + 1),
|
||||
data_quat.real, data_quat.i, data_quat.j, data_quat.k, BNO08x::accuracy_to_str(data_quat.accuracy));
|
||||
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
|
||||
}
|
||||
else if (imu->rv_game.has_new_data())
|
||||
{
|
||||
data_available_rv_game = true;
|
||||
data_quat = imu->rv_game.get_quat();
|
||||
sprintf(msg_buff, "Rx Data Trial %d Success: RV Game: [n/a] real: %.2f i: %.2f j: %.2f k: %.2f accuracy: %s ", (i + 1),
|
||||
data_quat.real, data_quat.i, data_quat.j, data_quat.k, BNO08x::accuracy_to_str(data_quat.accuracy));
|
||||
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
|
||||
}
|
||||
else if (imu->rv_geomagnetic.has_new_data())
|
||||
{
|
||||
data_available_rv_geomagnetic = true;
|
||||
data_quat = imu->rv_geomagnetic.get_quat();
|
||||
sprintf(msg_buff, "Rx Data Trial %d Success: RV Geomagnetic: [n/a] real: %.2f i: %.2f j: %.2f k: %.2f accuracy: %s ", (i + 1),
|
||||
data_quat.real, data_quat.i, data_quat.j, data_quat.k, BNO08x::accuracy_to_str(data_quat.accuracy));
|
||||
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
|
||||
}
|
||||
|
||||
i++;
|
||||
}
|
||||
else if (test_running)
|
||||
{
|
||||
TEST_ASSERT_EQUAL(true, imu->accelerometer.disable());
|
||||
TEST_ASSERT_EQUAL(true, imu->linear_accelerometer.disable());
|
||||
TEST_ASSERT_EQUAL(true, imu->gravity.disable());
|
||||
TEST_ASSERT_EQUAL(true, imu->cal_gyro.disable());
|
||||
TEST_ASSERT_EQUAL(true, imu->cal_magnetometer.disable());
|
||||
TEST_ASSERT_EQUAL(true, imu->rv.disable());
|
||||
TEST_ASSERT_EQUAL(true, imu->rv_game.disable());
|
||||
TEST_ASSERT_EQUAL(true, imu->rv_geomagnetic.disable());
|
||||
test_running = false;
|
||||
}
|
||||
});
|
||||
|
||||
TEST_ASSERT_EQUAL(true, imu->accelerometer.enable(REPORT_PERIOD));
|
||||
TEST_ASSERT_EQUAL(true, imu->linear_accelerometer.enable(REPORT_PERIOD));
|
||||
TEST_ASSERT_EQUAL(true, imu->gravity.enable(REPORT_PERIOD));
|
||||
TEST_ASSERT_EQUAL(true, imu->cal_gyro.enable(REPORT_PERIOD));
|
||||
TEST_ASSERT_EQUAL(true, imu->cal_magnetometer.enable(REPORT_PERIOD));
|
||||
TEST_ASSERT_EQUAL(true, imu->rv.enable(REPORT_PERIOD));
|
||||
TEST_ASSERT_EQUAL(true, imu->rv_game.enable(REPORT_PERIOD));
|
||||
TEST_ASSERT_EQUAL(true, imu->rv_geomagnetic.enable(REPORT_PERIOD));
|
||||
|
||||
while (test_running)
|
||||
{
|
||||
}
|
||||
|
||||
TEST_ASSERT_EQUAL(true, data_available_accel);
|
||||
TEST_ASSERT_EQUAL(true, data_available_lin_accel);
|
||||
TEST_ASSERT_EQUAL(true, data_available_grav);
|
||||
TEST_ASSERT_EQUAL(true, data_available_cal_gyro);
|
||||
TEST_ASSERT_EQUAL(true, data_available_cal_magnetometer);
|
||||
TEST_ASSERT_EQUAL(true, data_available_rv);
|
||||
TEST_ASSERT_EQUAL(true, data_available_rv_game);
|
||||
TEST_ASSERT_EQUAL(true, data_available_rv_geomagnetic);
|
||||
|
||||
BNO08xTestHelper::print_test_end_banner(TEST_TAG);
|
||||
}
|
||||
|
||||
TEST_CASE("BNO08x Driver Cleanup for [CallbackAllReportVoidInputParam] Tests", "[CallbackAllReportVoidInputParam]")
|
||||
{
|
||||
const constexpr char* TEST_TAG = "BNO08x Driver Cleanup for [CallbackAllReportVoidInputParam] Tests";
|
||||
|
||||
BNO08xTestHelper::print_test_start_banner(TEST_TAG);
|
||||
BNO08xTestHelper::print_test_msg(TEST_TAG, "Destroying BNO08x Driver.");
|
||||
|
||||
BNO08xTestHelper::destroy_test_imu();
|
||||
BNO08xTestHelper::print_test_end_banner(TEST_TAG);
|
||||
}
|
||||
|
||||
TEST_CASE("BNO08x Driver Creation for [CallbackAllReportIDInputParam] Tests", "[CallbackAllReportIDInputParam]")
|
||||
{
|
||||
const constexpr char* TEST_TAG = "BNO08x Driver Creation for [CallbackAllReportIDInputParam] Tests";
|
||||
|
||||
BNO08x* imu = nullptr;
|
||||
|
||||
BNO08xTestHelper::print_test_start_banner(TEST_TAG);
|
||||
|
||||
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());
|
||||
BNO08xTestHelper::print_test_end_banner(TEST_TAG);
|
||||
}
|
||||
|
||||
TEST_CASE("Report ID Input Param Flavor Cb", "[CallbackAllReportIDInputParam]")
|
||||
{
|
||||
const constexpr char* TEST_TAG = "Report ID Input Param Flavor Cb";
|
||||
static const constexpr uint8_t ENABLED_REPORT_COUNT = 8;
|
||||
static const constexpr uint8_t RX_REPORT_TRIAL_CNT = ENABLED_REPORT_COUNT * 5;
|
||||
static const constexpr uint32_t REPORT_PERIOD = 100000UL; // 100ms
|
||||
|
||||
BNO08x* imu = nullptr;
|
||||
char msg_buff[200] = {};
|
||||
bool data_available_accel = false;
|
||||
bool data_available_lin_accel = false;
|
||||
bool data_available_grav = false;
|
||||
bool data_available_cal_gyro = false;
|
||||
bool data_available_cal_magnetometer = false;
|
||||
bool data_available_rv = false;
|
||||
bool data_available_rv_game = false;
|
||||
bool data_available_rv_geomagnetic = false;
|
||||
bool test_running = true;
|
||||
|
||||
bno08x_accel_t data_accel;
|
||||
bno08x_gyro_t data_vel;
|
||||
bno08x_magf_t data_magf;
|
||||
bno08x_quat_t data_quat;
|
||||
|
||||
BNO08xTestHelper::print_test_start_banner(TEST_TAG);
|
||||
imu = BNO08xTestHelper::get_test_imu();
|
||||
|
||||
imu->register_cb(
|
||||
[&imu, &data_available_accel, &data_available_lin_accel, &data_available_grav, &data_available_cal_gyro, &data_available_cal_magnetometer,
|
||||
&data_accel, &data_available_rv, &data_available_rv_game, &data_available_rv_geomagnetic, &data_quat, &data_vel, &data_magf,
|
||||
&msg_buff, &test_running](uint8_t report_ID)
|
||||
{
|
||||
static int i = 0;
|
||||
if (i < RX_REPORT_TRIAL_CNT)
|
||||
{
|
||||
switch (report_ID)
|
||||
{
|
||||
case SH2_ACCELEROMETER:
|
||||
|
||||
data_available_accel = true;
|
||||
data_accel = imu->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,
|
||||
data_accel.y, data_accel.z, BNO08x::accuracy_to_str(data_accel.accuracy));
|
||||
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
|
||||
break;
|
||||
|
||||
case SH2_LINEAR_ACCELERATION:
|
||||
data_available_lin_accel = true;
|
||||
data_accel = imu->linear_accelerometer.get();
|
||||
sprintf(msg_buff, "Rx Data Trial %d Success: LinAccel: [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));
|
||||
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
|
||||
break;
|
||||
|
||||
case SH2_GRAVITY:
|
||||
data_available_grav = true;
|
||||
data_accel = imu->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_accel.x, data_accel.y, data_accel.z, BNO08x::accuracy_to_str(data_accel.accuracy));
|
||||
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
|
||||
break;
|
||||
|
||||
case SH2_GYROSCOPE_CALIBRATED:
|
||||
data_available_cal_gyro = true;
|
||||
data_vel = imu->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_vel.x,
|
||||
data_vel.y, data_vel.z, BNO08x::accuracy_to_str(data_vel.accuracy));
|
||||
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
|
||||
break;
|
||||
|
||||
case SH2_MAGNETIC_FIELD_CALIBRATED:
|
||||
data_available_cal_magnetometer = true;
|
||||
data_magf = imu->cal_magnetometer.get();
|
||||
sprintf(msg_buff, "Rx Data Trial %d Success: CalMagnetometer: [uTesla] x: %.2f y: %.2f z: %.2f accuracy: %s ", (i + 1),
|
||||
data_magf.x, data_magf.y, data_magf.z, BNO08x::accuracy_to_str(data_magf.accuracy));
|
||||
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
|
||||
break;
|
||||
|
||||
case SH2_ROTATION_VECTOR:
|
||||
data_available_rv = true;
|
||||
data_quat = imu->rv.get_quat();
|
||||
sprintf(msg_buff, "Rx Data Trial %d Success: RV: [n/a] real: %.2f i: %.2f j: %.2f k: %.2f accuracy: %s ", (i + 1),
|
||||
data_quat.real, data_quat.i, data_quat.j, data_quat.k, BNO08x::accuracy_to_str(data_quat.accuracy));
|
||||
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
|
||||
break;
|
||||
|
||||
case SH2_GAME_ROTATION_VECTOR:
|
||||
data_available_rv_game = true;
|
||||
data_quat = imu->rv_game.get_quat();
|
||||
sprintf(msg_buff, "Rx Data Trial %d Success: RV Game: [n/a] real: %.2f i: %.2f j: %.2f k: %.2f accuracy: %s ", (i + 1),
|
||||
data_quat.real, data_quat.i, data_quat.j, data_quat.k, BNO08x::accuracy_to_str(data_quat.accuracy));
|
||||
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
|
||||
break;
|
||||
|
||||
case SH2_GEOMAGNETIC_ROTATION_VECTOR:
|
||||
data_available_rv_geomagnetic = true;
|
||||
data_quat = imu->rv_geomagnetic.get_quat();
|
||||
sprintf(msg_buff, "Rx Data Trial %d Success: RV Geomagnetic: [n/a] real: %.2f i: %.2f j: %.2f k: %.2f accuracy: %s ",
|
||||
(i + 1), data_quat.real, data_quat.i, data_quat.j, data_quat.k, BNO08x::accuracy_to_str(data_quat.accuracy));
|
||||
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
|
||||
break;
|
||||
|
||||
default:
|
||||
|
||||
break;
|
||||
}
|
||||
|
||||
i++;
|
||||
}
|
||||
else if (test_running)
|
||||
{
|
||||
TEST_ASSERT_EQUAL(true, imu->accelerometer.disable());
|
||||
TEST_ASSERT_EQUAL(true, imu->linear_accelerometer.disable());
|
||||
TEST_ASSERT_EQUAL(true, imu->gravity.disable());
|
||||
TEST_ASSERT_EQUAL(true, imu->cal_gyro.disable());
|
||||
TEST_ASSERT_EQUAL(true, imu->cal_magnetometer.disable());
|
||||
TEST_ASSERT_EQUAL(true, imu->rv.disable());
|
||||
TEST_ASSERT_EQUAL(true, imu->rv_game.disable());
|
||||
TEST_ASSERT_EQUAL(true, imu->rv_geomagnetic.disable());
|
||||
test_running = false;
|
||||
}
|
||||
});
|
||||
|
||||
TEST_ASSERT_EQUAL(true, imu->accelerometer.enable(REPORT_PERIOD));
|
||||
TEST_ASSERT_EQUAL(true, imu->linear_accelerometer.enable(REPORT_PERIOD));
|
||||
TEST_ASSERT_EQUAL(true, imu->gravity.enable(REPORT_PERIOD));
|
||||
TEST_ASSERT_EQUAL(true, imu->cal_gyro.enable(REPORT_PERIOD));
|
||||
TEST_ASSERT_EQUAL(true, imu->cal_magnetometer.enable(REPORT_PERIOD));
|
||||
TEST_ASSERT_EQUAL(true, imu->rv.enable(REPORT_PERIOD));
|
||||
TEST_ASSERT_EQUAL(true, imu->rv_game.enable(REPORT_PERIOD));
|
||||
TEST_ASSERT_EQUAL(true, imu->rv_geomagnetic.enable(REPORT_PERIOD));
|
||||
|
||||
while (test_running)
|
||||
{
|
||||
}
|
||||
|
||||
TEST_ASSERT_EQUAL(true, data_available_accel);
|
||||
TEST_ASSERT_EQUAL(true, data_available_lin_accel);
|
||||
TEST_ASSERT_EQUAL(true, data_available_grav);
|
||||
TEST_ASSERT_EQUAL(true, data_available_cal_gyro);
|
||||
TEST_ASSERT_EQUAL(true, data_available_cal_magnetometer);
|
||||
TEST_ASSERT_EQUAL(true, data_available_rv);
|
||||
TEST_ASSERT_EQUAL(true, data_available_rv_game);
|
||||
TEST_ASSERT_EQUAL(true, data_available_rv_geomagnetic);
|
||||
|
||||
BNO08xTestHelper::print_test_end_banner(TEST_TAG);
|
||||
}
|
||||
|
||||
TEST_CASE("BNO08x Driver Cleanup for [CallbackAllReportIDInputParam] Tests", "[CallbackAllReportIDInputParam]")
|
||||
{
|
||||
const constexpr char* TEST_TAG = "BNO08x Driver Cleanup for [CallbackAllReportIDInputParam] Tests";
|
||||
|
||||
BNO08xTestHelper::print_test_start_banner(TEST_TAG);
|
||||
BNO08xTestHelper::print_test_msg(TEST_TAG, "Destroying BNO08x Driver.");
|
||||
|
||||
BNO08xTestHelper::destroy_test_imu();
|
||||
BNO08xTestHelper::print_test_end_banner(TEST_TAG);
|
||||
}
|
||||
|
||||
TEST_CASE("BNO08x Driver Creation for [CallbackSingleReportVoidInputParam] Tests", "[CallbackSingleReportVoidInputParam]")
|
||||
{
|
||||
const constexpr char* TEST_TAG = "BNO08x Driver Creation for [CallbackSingleReportVoidInputParam] Tests";
|
||||
|
||||
BNO08x* imu = nullptr;
|
||||
|
||||
BNO08xTestHelper::print_test_start_banner(TEST_TAG);
|
||||
|
||||
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());
|
||||
BNO08xTestHelper::print_test_end_banner(TEST_TAG);
|
||||
}
|
||||
|
||||
TEST_CASE("Single Report Void Input Param Flavor Cb", "[CallbackSingleReportVoidInputParam]")
|
||||
{
|
||||
const constexpr char* TEST_TAG = "Single Report Void Input Param Flavor Cb";
|
||||
static const constexpr uint8_t ENABLED_REPORT_COUNT = 1;
|
||||
static const constexpr uint8_t RX_REPORT_TRIAL_CNT = ENABLED_REPORT_COUNT * 5;
|
||||
static const constexpr uint32_t REPORT_PERIOD = 100000UL; // 100ms
|
||||
|
||||
BNO08x* imu = nullptr;
|
||||
char msg_buff[200] = {};
|
||||
bool data_available_accel = false;
|
||||
bool test_running = true;
|
||||
|
||||
bno08x_accel_t data_accel;
|
||||
|
||||
BNO08xTestHelper::print_test_start_banner(TEST_TAG);
|
||||
imu = BNO08xTestHelper::get_test_imu();
|
||||
|
||||
imu->accelerometer.register_cb(
|
||||
[&imu, &data_available_accel, &data_accel, &msg_buff, &test_running]()
|
||||
{
|
||||
static int i = 0;
|
||||
|
||||
if (i < RX_REPORT_TRIAL_CNT)
|
||||
{
|
||||
data_available_accel = true;
|
||||
data_accel = imu->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,
|
||||
data_accel.y, data_accel.z, BNO08x::accuracy_to_str(data_accel.accuracy));
|
||||
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
|
||||
|
||||
i++;
|
||||
}
|
||||
else if (test_running)
|
||||
{
|
||||
TEST_ASSERT_EQUAL(true, imu->accelerometer.disable());
|
||||
test_running = false;
|
||||
}
|
||||
});
|
||||
|
||||
TEST_ASSERT_EQUAL(true, imu->accelerometer.enable(REPORT_PERIOD));
|
||||
|
||||
while (test_running)
|
||||
{
|
||||
}
|
||||
|
||||
TEST_ASSERT_EQUAL(true, data_available_accel);
|
||||
|
||||
BNO08xTestHelper::print_test_end_banner(TEST_TAG);
|
||||
}
|
||||
|
||||
TEST_CASE("BNO08x Driver Cleanup for [CallbackSingleReportVoidInputParam] Tests", "[CallbackSingleReportVoidInputParam]")
|
||||
{
|
||||
const constexpr char* TEST_TAG = "BNO08x Driver Cleanup for [CallbackSingleReportVoidInputParam] Tests";
|
||||
|
||||
BNO08xTestHelper::print_test_start_banner(TEST_TAG);
|
||||
BNO08xTestHelper::print_test_msg(TEST_TAG, "Destroying BNO08x Driver.");
|
||||
|
||||
BNO08xTestHelper::destroy_test_imu();
|
||||
BNO08xTestHelper::print_test_end_banner(TEST_TAG);
|
||||
}
|
||||
|
|
@ -0,0 +1,282 @@
|
|||
/**
|
||||
* @file FeatureTets.cpp
|
||||
* @author Myles Parfeniuk
|
||||
*
|
||||
*
|
||||
* @warning YOU MUST ADD THE FOLLOWING LINE TO YOUR MAIN PROJECTS CMakeLists.txt IN ORDER FOR THIS TEST SUITE TO BE BUILT WITH PROJECT:
|
||||
* set(TEST_COMPONENTS "esp32_BNO08x" CACHE STRING "Components to test.")
|
||||
*/
|
||||
|
||||
#include "unity.h"
|
||||
#include "../include/BNO08xTestHelper.hpp"
|
||||
|
||||
TEST_CASE("BNO08x Driver Creation for [FeatureTests] Tests", "[FeatureTests]")
|
||||
{
|
||||
const constexpr char* TEST_TAG = "BNO08x Driver Creation for [FeatureTests] Tests";
|
||||
BNO08x* imu = nullptr;
|
||||
|
||||
BNO08xTestHelper::print_test_start_banner(TEST_TAG);
|
||||
|
||||
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());
|
||||
BNO08xTestHelper::print_test_end_banner(TEST_TAG);
|
||||
}
|
||||
|
||||
TEST_CASE("Hard Reset", "[FeatureTests]")
|
||||
{
|
||||
const constexpr char* TEST_TAG = "Hard Reset";
|
||||
static const constexpr uint8_t ENABLED_REPORT_COUNT = 1;
|
||||
static const constexpr uint8_t RX_REPORT_TRIAL_CNT = ENABLED_REPORT_COUNT * 5;
|
||||
static const constexpr uint32_t REPORT_PERIOD = 100000UL; // 100ms
|
||||
|
||||
BNO08x* imu = nullptr;
|
||||
char msg_buff[200] = {};
|
||||
bno08x_accel_t data_accel;
|
||||
|
||||
BNO08xTestHelper::print_test_start_banner(TEST_TAG);
|
||||
|
||||
imu = BNO08xTestHelper::get_test_imu();
|
||||
|
||||
TEST_ASSERT_EQUAL(true, imu->accelerometer.enable(REPORT_PERIOD));
|
||||
|
||||
for (int i = 0; i < RX_REPORT_TRIAL_CNT; i++)
|
||||
{
|
||||
TEST_ASSERT_EQUAL(true, imu->data_available());
|
||||
TEST_ASSERT_EQUAL(true, imu->accelerometer.has_new_data());
|
||||
data_accel = imu->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, data_accel.y,
|
||||
data_accel.z, BNO08x::accuracy_to_str(data_accel.accuracy));
|
||||
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
|
||||
}
|
||||
|
||||
BNO08xTestHelper::print_test_msg(TEST_TAG, "Hard reseting...");
|
||||
TEST_ASSERT_EQUAL(true, imu->hard_reset());
|
||||
|
||||
for (int i = 0; i < RX_REPORT_TRIAL_CNT; i++)
|
||||
{
|
||||
TEST_ASSERT_EQUAL(true, imu->data_available());
|
||||
TEST_ASSERT_EQUAL(true, imu->accelerometer.has_new_data());
|
||||
data_accel = imu->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, data_accel.y,
|
||||
data_accel.z, BNO08x::accuracy_to_str(data_accel.accuracy));
|
||||
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
|
||||
}
|
||||
|
||||
TEST_ASSERT_EQUAL(true, imu->accelerometer.disable());
|
||||
|
||||
BNO08xTestHelper::print_test_end_banner(TEST_TAG);
|
||||
}
|
||||
|
||||
TEST_CASE("Soft Reset", "[FeatureTests]")
|
||||
{
|
||||
const constexpr char* TEST_TAG = "Soft Reset";
|
||||
static const constexpr uint8_t ENABLED_REPORT_COUNT = 1;
|
||||
static const constexpr uint8_t RX_REPORT_TRIAL_CNT = ENABLED_REPORT_COUNT * 5;
|
||||
static const constexpr uint32_t REPORT_PERIOD = 100000UL; // 100ms
|
||||
|
||||
BNO08x* imu = nullptr;
|
||||
char msg_buff[200] = {};
|
||||
bno08x_accel_t data_accel;
|
||||
|
||||
BNO08xTestHelper::print_test_start_banner(TEST_TAG);
|
||||
|
||||
imu = BNO08xTestHelper::get_test_imu();
|
||||
|
||||
TEST_ASSERT_EQUAL(true, imu->accelerometer.enable(REPORT_PERIOD));
|
||||
|
||||
for (int i = 0; i < RX_REPORT_TRIAL_CNT; i++)
|
||||
{
|
||||
TEST_ASSERT_EQUAL(true, imu->data_available());
|
||||
TEST_ASSERT_EQUAL(true, imu->accelerometer.has_new_data());
|
||||
data_accel = imu->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, data_accel.y,
|
||||
data_accel.z, BNO08x::accuracy_to_str(data_accel.accuracy));
|
||||
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
|
||||
}
|
||||
|
||||
BNO08xTestHelper::print_test_msg(TEST_TAG, "Soft reseting...");
|
||||
TEST_ASSERT_EQUAL(true, imu->soft_reset());
|
||||
|
||||
for (int i = 0; i < RX_REPORT_TRIAL_CNT; i++)
|
||||
{
|
||||
TEST_ASSERT_EQUAL(true, imu->data_available());
|
||||
TEST_ASSERT_EQUAL(true, imu->accelerometer.has_new_data());
|
||||
data_accel = imu->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, data_accel.y,
|
||||
data_accel.z, BNO08x::accuracy_to_str(data_accel.accuracy));
|
||||
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
|
||||
}
|
||||
|
||||
TEST_ASSERT_EQUAL(true, imu->accelerometer.disable());
|
||||
|
||||
BNO08xTestHelper::print_test_end_banner(TEST_TAG);
|
||||
}
|
||||
|
||||
TEST_CASE("Sleep", "[FeatureTests]")
|
||||
{
|
||||
const constexpr char* TEST_TAG = "Sleep";
|
||||
static const constexpr uint8_t ENABLED_REPORT_COUNT = 1;
|
||||
static const constexpr uint8_t RX_REPORT_TRIAL_CNT = ENABLED_REPORT_COUNT * 5;
|
||||
static const constexpr uint32_t REPORT_PERIOD = 100000UL; // 100ms
|
||||
|
||||
BNO08x* imu = nullptr;
|
||||
char msg_buff[200] = {};
|
||||
bno08x_accel_t data_accel;
|
||||
|
||||
BNO08xTestHelper::print_test_start_banner(TEST_TAG);
|
||||
|
||||
imu = BNO08xTestHelper::get_test_imu();
|
||||
|
||||
TEST_ASSERT_EQUAL(true, imu->accelerometer.enable(REPORT_PERIOD));
|
||||
|
||||
for (int i = 0; i < RX_REPORT_TRIAL_CNT; i++)
|
||||
{
|
||||
TEST_ASSERT_EQUAL(true, imu->data_available());
|
||||
TEST_ASSERT_EQUAL(true, imu->accelerometer.has_new_data());
|
||||
data_accel = imu->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, data_accel.y,
|
||||
data_accel.z, BNO08x::accuracy_to_str(data_accel.accuracy));
|
||||
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
|
||||
}
|
||||
|
||||
TEST_ASSERT_EQUAL(true, imu->sleep());
|
||||
|
||||
for (int i = 0; i < RX_REPORT_TRIAL_CNT; i++)
|
||||
{
|
||||
sprintf(msg_buff, "Sleeping... %ds", RX_REPORT_TRIAL_CNT - i);
|
||||
vTaskDelay(1000UL / portTICK_PERIOD_MS);
|
||||
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
|
||||
}
|
||||
|
||||
TEST_ASSERT_EQUAL(true, imu->on());
|
||||
BNO08xTestHelper::print_test_msg(TEST_TAG, "Woke.");
|
||||
|
||||
for (int i = 0; i < RX_REPORT_TRIAL_CNT; i++)
|
||||
{
|
||||
TEST_ASSERT_EQUAL(true, imu->data_available());
|
||||
TEST_ASSERT_EQUAL(true, imu->accelerometer.has_new_data());
|
||||
data_accel = imu->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, data_accel.y,
|
||||
data_accel.z, BNO08x::accuracy_to_str(data_accel.accuracy));
|
||||
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
|
||||
}
|
||||
|
||||
TEST_ASSERT_EQUAL(true, imu->accelerometer.disable());
|
||||
|
||||
BNO08xTestHelper::print_test_end_banner(TEST_TAG);
|
||||
}
|
||||
|
||||
TEST_CASE("Get Metadata", "[FeatureTests]")
|
||||
{
|
||||
const constexpr char* TEST_TAG = "Get Metadata";
|
||||
static const constexpr uint8_t ENABLED_REPORT_COUNT = 1;
|
||||
static const constexpr uint8_t RX_REPORT_TRIAL_CNT = ENABLED_REPORT_COUNT * 5;
|
||||
static const constexpr uint32_t REPORT_PERIOD = 100000UL; // 100ms
|
||||
|
||||
BNO08x* imu = nullptr;
|
||||
char msg_buff[200] = {};
|
||||
bno08x_accel_t data_accel;
|
||||
bno08x_meta_data_t meta_data;
|
||||
|
||||
BNO08xTestHelper::print_test_start_banner(TEST_TAG);
|
||||
|
||||
imu = BNO08xTestHelper::get_test_imu();
|
||||
|
||||
TEST_ASSERT_EQUAL(true, imu->accelerometer.enable(REPORT_PERIOD));
|
||||
|
||||
for (int i = 0; i < RX_REPORT_TRIAL_CNT; i++)
|
||||
{
|
||||
TEST_ASSERT_EQUAL(true, imu->data_available());
|
||||
TEST_ASSERT_EQUAL(true, imu->accelerometer.has_new_data());
|
||||
data_accel = imu->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, data_accel.y,
|
||||
data_accel.z, BNO08x::accuracy_to_str(data_accel.accuracy));
|
||||
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
|
||||
}
|
||||
|
||||
BNO08xTestHelper::print_test_msg(TEST_TAG, "Getting meta data...");
|
||||
TEST_ASSERT_EQUAL(true, imu->accelerometer.get_meta_data(meta_data));
|
||||
|
||||
sprintf(msg_buff, "Re-enabling report with fastest possible period of %ldus from accelerometer meta data.", meta_data.min_period_us);
|
||||
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
|
||||
TEST_ASSERT_EQUAL(true, imu->accelerometer.enable(meta_data.min_period_us));
|
||||
|
||||
for (int i = 0; i < RX_REPORT_TRIAL_CNT; i++)
|
||||
{
|
||||
TEST_ASSERT_EQUAL(true, imu->data_available());
|
||||
TEST_ASSERT_EQUAL(true, imu->accelerometer.has_new_data());
|
||||
data_accel = imu->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, data_accel.y,
|
||||
data_accel.z, BNO08x::accuracy_to_str(data_accel.accuracy));
|
||||
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
|
||||
}
|
||||
|
||||
TEST_ASSERT_EQUAL(true, imu->accelerometer.disable());
|
||||
|
||||
BNO08xTestHelper::print_test_end_banner(TEST_TAG);
|
||||
}
|
||||
|
||||
TEST_CASE("Get Sample Counts", "[FeatureTests]")
|
||||
{
|
||||
const constexpr char* TEST_TAG = "Get Sample Counts";
|
||||
static const constexpr uint8_t ENABLED_REPORT_COUNT = 1;
|
||||
static const constexpr uint8_t RX_REPORT_TRIAL_CNT = ENABLED_REPORT_COUNT * 5;
|
||||
static const constexpr uint32_t REPORT_PERIOD = 100000UL; // 100ms
|
||||
|
||||
BNO08x* imu = nullptr;
|
||||
char msg_buff[200] = {};
|
||||
bno08x_accel_t data_accel;
|
||||
bno08x_sample_counts_t sample_counts;
|
||||
|
||||
BNO08xTestHelper::print_test_start_banner(TEST_TAG);
|
||||
|
||||
imu = BNO08xTestHelper::get_test_imu();
|
||||
|
||||
TEST_ASSERT_EQUAL(true, imu->accelerometer.enable(REPORT_PERIOD));
|
||||
|
||||
for (int i = 0; i < RX_REPORT_TRIAL_CNT; i++)
|
||||
{
|
||||
TEST_ASSERT_EQUAL(true, imu->data_available());
|
||||
TEST_ASSERT_EQUAL(true, imu->accelerometer.has_new_data());
|
||||
data_accel = imu->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, data_accel.y,
|
||||
data_accel.z, BNO08x::accuracy_to_str(data_accel.accuracy));
|
||||
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
|
||||
}
|
||||
|
||||
BNO08xTestHelper::print_test_msg(TEST_TAG, "Getting sample counts...");
|
||||
TEST_ASSERT_EQUAL(true, imu->accelerometer.get_sample_counts(sample_counts));
|
||||
sprintf(msg_buff, "offered: %ld on: %ld accepted: %ld attempted: %ld", sample_counts.offered, sample_counts.on, sample_counts.accepted,
|
||||
sample_counts.attempted);
|
||||
|
||||
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
|
||||
|
||||
for (int i = 0; i < RX_REPORT_TRIAL_CNT; i++)
|
||||
{
|
||||
TEST_ASSERT_EQUAL(true, imu->data_available());
|
||||
TEST_ASSERT_EQUAL(true, imu->accelerometer.has_new_data());
|
||||
data_accel = imu->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, data_accel.y,
|
||||
data_accel.z, BNO08x::accuracy_to_str(data_accel.accuracy));
|
||||
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
|
||||
}
|
||||
|
||||
TEST_ASSERT_EQUAL(true, imu->accelerometer.disable());
|
||||
|
||||
BNO08xTestHelper::print_test_end_banner(TEST_TAG);
|
||||
}
|
||||
|
||||
TEST_CASE("BNO08x Driver Cleanup for [FeatureTests] Tests", "[FeatureTests]")
|
||||
{
|
||||
const constexpr char* TEST_TAG = "BNO08x Driver Cleanup for [FeatureTests] Tests";
|
||||
|
||||
BNO08xTestHelper::print_test_start_banner(TEST_TAG);
|
||||
BNO08xTestHelper::print_test_msg(TEST_TAG, "Destroying BNO08x Driver.");
|
||||
|
||||
BNO08xTestHelper::destroy_test_imu();
|
||||
BNO08xTestHelper::print_test_end_banner(TEST_TAG);
|
||||
}
|
||||
|
|
@ -0,0 +1,191 @@
|
|||
/**
|
||||
* @file InitDenitTests.cpp
|
||||
* @author Myles Parfeniuk
|
||||
*
|
||||
*
|
||||
* @warning YOU MUST ADD THE FOLLOWING LINE TO YOUR MAIN PROJECTS CMakeLists.txt IN ORDER FOR THIS TEST SUITE TO BE BUILT WITH PROJECT:
|
||||
* set(TEST_COMPONENTS "esp32_BNO08x" CACHE STRING "Components to test.")
|
||||
*/
|
||||
|
||||
#include "unity.h"
|
||||
#include "../include/BNO08xTestHelper.hpp"
|
||||
|
||||
TEST_CASE("InitComprehensive Config Args", "[InitComprehensive]")
|
||||
{
|
||||
const constexpr char* TEST_TAG = "InitComprehensive Config Args";
|
||||
BNO08x* imu = nullptr;
|
||||
|
||||
BNO08xTestHelper::print_test_start_banner(TEST_TAG);
|
||||
|
||||
BNO08xTestHelper::print_test_msg(TEST_TAG, "Creating test IMU for [InitComprehensive] and [DeinitComprehensive].");
|
||||
BNO08xTestHelper::create_test_imu();
|
||||
imu = BNO08xTestHelper::get_test_imu();
|
||||
|
||||
TEST_ASSERT_EQUAL(ESP_OK, BNO08xTestHelper::call_init_config_args());
|
||||
|
||||
BNO08xTestHelper::print_test_end_banner(TEST_TAG);
|
||||
}
|
||||
|
||||
TEST_CASE("InitComprehensive GPIO", "[InitComprehensive]")
|
||||
{
|
||||
const constexpr char* TEST_TAG = "InitComprehensive GPIO";
|
||||
BNO08x* imu = nullptr;
|
||||
|
||||
BNO08xTestHelper::print_test_start_banner(TEST_TAG);
|
||||
|
||||
imu = BNO08xTestHelper::get_test_imu();
|
||||
|
||||
TEST_ASSERT_EQUAL(ESP_OK, BNO08xTestHelper::call_init_gpio());
|
||||
|
||||
BNO08xTestHelper::print_test_end_banner(TEST_TAG);
|
||||
}
|
||||
|
||||
TEST_CASE("InitComprehensive HINT ISR", "[InitComprehensive]")
|
||||
{
|
||||
const constexpr char* TEST_TAG = "InitComprehensive HINT ISR";
|
||||
BNO08x* imu = nullptr;
|
||||
|
||||
BNO08xTestHelper::print_test_start_banner(TEST_TAG);
|
||||
|
||||
imu = BNO08xTestHelper::get_test_imu();
|
||||
|
||||
TEST_ASSERT_EQUAL(ESP_OK, BNO08xTestHelper::call_init_hint_isr());
|
||||
|
||||
BNO08xTestHelper::print_test_end_banner(TEST_TAG);
|
||||
}
|
||||
|
||||
TEST_CASE("InitComprehensive SPI", "[InitComprehensive]")
|
||||
{
|
||||
const constexpr char* TEST_TAG = "InitComprehensive SPI";
|
||||
BNO08x* imu = nullptr;
|
||||
|
||||
BNO08xTestHelper::print_test_start_banner(TEST_TAG);
|
||||
|
||||
imu = BNO08xTestHelper::get_test_imu();
|
||||
|
||||
TEST_ASSERT_EQUAL(ESP_OK, BNO08xTestHelper::call_init_spi());
|
||||
|
||||
BNO08xTestHelper::print_test_end_banner(TEST_TAG);
|
||||
}
|
||||
|
||||
TEST_CASE("InitComprehensive sh2 HAL", "[InitComprehensive]")
|
||||
{
|
||||
const constexpr char* TEST_TAG = "InitComprehensive sh2 HAL";
|
||||
BNO08x* imu = nullptr;
|
||||
|
||||
BNO08xTestHelper::print_test_start_banner(TEST_TAG);
|
||||
|
||||
imu = BNO08xTestHelper::get_test_imu();
|
||||
|
||||
TEST_ASSERT_EQUAL(ESP_OK, BNO08xTestHelper::call_init_sh2_HAL());
|
||||
|
||||
BNO08xTestHelper::print_test_end_banner(TEST_TAG);
|
||||
}
|
||||
|
||||
TEST_CASE("InitComprehensive Tasks", "[InitComprehensive]")
|
||||
{
|
||||
const constexpr char* TEST_TAG = "InitComprehensive Tasks";
|
||||
BNO08x* imu = nullptr;
|
||||
|
||||
BNO08xTestHelper::print_test_start_banner(TEST_TAG);
|
||||
|
||||
imu = BNO08xTestHelper::get_test_imu();
|
||||
|
||||
TEST_ASSERT_EQUAL(ESP_OK, BNO08xTestHelper::call_init_tasks());
|
||||
|
||||
BNO08xTestHelper::print_test_end_banner(TEST_TAG);
|
||||
}
|
||||
|
||||
TEST_CASE("DeinitComprehensive Tasks", "[DeinitComprehensive]")
|
||||
{
|
||||
const constexpr char* TEST_TAG = "DeinitComprehensive Tasks";
|
||||
BNO08x* imu = nullptr;
|
||||
|
||||
BNO08xTestHelper::print_test_start_banner(TEST_TAG);
|
||||
|
||||
imu = BNO08xTestHelper::get_test_imu();
|
||||
|
||||
TEST_ASSERT_EQUAL(ESP_OK, BNO08xTestHelper::call_deinit_tasks());
|
||||
|
||||
BNO08xTestHelper::print_test_end_banner(TEST_TAG);
|
||||
}
|
||||
|
||||
TEST_CASE("DeinitComprehensive sh2 HAL", "[DeinitComprehensive]")
|
||||
{
|
||||
const constexpr char* TEST_TAG = "DeinitComprehensive sh2 HAL";
|
||||
BNO08x* imu = nullptr;
|
||||
|
||||
BNO08xTestHelper::print_test_start_banner(TEST_TAG);
|
||||
|
||||
imu = BNO08xTestHelper::get_test_imu();
|
||||
|
||||
TEST_ASSERT_EQUAL(ESP_OK, BNO08xTestHelper::call_deinit_sh2_HAL());
|
||||
|
||||
BNO08xTestHelper::print_test_end_banner(TEST_TAG);
|
||||
}
|
||||
|
||||
TEST_CASE("DeinitComprehensive HINT ISR", "[DeinitComprehensive]")
|
||||
{
|
||||
const constexpr char* TEST_TAG = "DeinitComprehensive HINT ISR";
|
||||
BNO08x* imu = nullptr;
|
||||
|
||||
BNO08xTestHelper::print_test_start_banner(TEST_TAG);
|
||||
|
||||
imu = BNO08xTestHelper::get_test_imu();
|
||||
|
||||
TEST_ASSERT_EQUAL(ESP_OK, BNO08xTestHelper::call_deinit_hint_isr());
|
||||
|
||||
BNO08xTestHelper::print_test_end_banner(TEST_TAG);
|
||||
}
|
||||
|
||||
TEST_CASE("DeinitComprehensive SPI", "[DeinitComprehensive]")
|
||||
{
|
||||
const constexpr char* TEST_TAG = "DeinitComprehensive SPI";
|
||||
BNO08x* imu = nullptr;
|
||||
|
||||
BNO08xTestHelper::print_test_start_banner(TEST_TAG);
|
||||
|
||||
imu = BNO08xTestHelper::get_test_imu();
|
||||
|
||||
TEST_ASSERT_EQUAL(ESP_OK, BNO08xTestHelper::call_deinit_spi());
|
||||
|
||||
BNO08xTestHelper::print_test_end_banner(TEST_TAG);
|
||||
}
|
||||
|
||||
TEST_CASE("DeinitComprehensive GPIO", "[DeinitComprehensive]")
|
||||
{
|
||||
const constexpr char* TEST_TAG = "DeinitComprehensive GPIO";
|
||||
BNO08x* imu = nullptr;
|
||||
|
||||
BNO08xTestHelper::print_test_start_banner(TEST_TAG);
|
||||
|
||||
imu = BNO08xTestHelper::get_test_imu();
|
||||
|
||||
TEST_ASSERT_EQUAL(ESP_OK, BNO08xTestHelper::call_deinit_gpio());
|
||||
BNO08xTestHelper::destroy_test_imu();
|
||||
BNO08xTestHelper::print_test_end_banner(TEST_TAG);
|
||||
}
|
||||
|
||||
TEST_CASE("Init and Deinit", "[InitDenit]")
|
||||
{
|
||||
const constexpr char* TEST_TAG = "Init and Deinit";
|
||||
BNO08x* imu = nullptr;
|
||||
|
||||
BNO08xTestHelper::print_test_start_banner(TEST_TAG);
|
||||
|
||||
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 BNO08x Driver Object.");
|
||||
BNO08xTestHelper::destroy_test_imu();
|
||||
|
||||
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 BNO08x Driver Object.");
|
||||
BNO08xTestHelper::destroy_test_imu();
|
||||
|
||||
BNO08xTestHelper::print_test_end_banner(TEST_TAG);
|
||||
}
|
||||
|
|
@ -0,0 +1,311 @@
|
|||
/**
|
||||
* @file MultiReportTests.cpp
|
||||
* @author Myles Parfeniuk
|
||||
*
|
||||
*
|
||||
* @warning YOU MUST ADD THE FOLLOWING LINE TO YOUR MAIN PROJECTS CMakeLists.txt IN ORDER FOR THIS TEST SUITE TO BE BUILT WITH PROJECT:
|
||||
* set(TEST_COMPONENTS "esp32_BNO08x" CACHE STRING "Components to test.")
|
||||
*/
|
||||
|
||||
#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_start_banner(TEST_TAG);
|
||||
|
||||
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());
|
||||
BNO08xTestHelper::print_test_end_banner(TEST_TAG);
|
||||
}
|
||||
|
||||
TEST_CASE("Enable/Disable Dual Report", "[MultiReportEnableDisable]")
|
||||
{
|
||||
const constexpr char* TEST_TAG = "Enable/Disable Dual Report";
|
||||
static const constexpr uint8_t ENABLED_REPORT_COUNT = 2;
|
||||
static const constexpr uint8_t RX_REPORT_TRIAL_CNT = ENABLED_REPORT_COUNT * 5;
|
||||
static const constexpr uint32_t REPORT_PERIOD = 100000UL; // 100ms
|
||||
|
||||
BNO08x* imu = nullptr;
|
||||
char msg_buff[200] = {};
|
||||
bool data_available = false;
|
||||
bool data_available_accel = false;
|
||||
bool data_available_lin_accel = false;
|
||||
|
||||
bno08x_accel_t data;
|
||||
|
||||
BNO08xTestHelper::print_test_start_banner(TEST_TAG);
|
||||
|
||||
imu = BNO08xTestHelper::get_test_imu();
|
||||
|
||||
TEST_ASSERT_EQUAL(true, imu->accelerometer.enable(REPORT_PERIOD));
|
||||
TEST_ASSERT_EQUAL(true, imu->linear_accelerometer.enable(REPORT_PERIOD));
|
||||
|
||||
for (int i = 0; i < RX_REPORT_TRIAL_CNT; i++)
|
||||
{
|
||||
data_available = imu->data_available();
|
||||
TEST_ASSERT_EQUAL(true, data_available);
|
||||
|
||||
if (imu->accelerometer.has_new_data())
|
||||
{
|
||||
data_available_accel = true;
|
||||
data = imu->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, data.y, data.z,
|
||||
BNO08x::accuracy_to_str(data.accuracy));
|
||||
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
|
||||
}
|
||||
|
||||
if (imu->linear_accelerometer.has_new_data())
|
||||
{
|
||||
data_available_lin_accel = true;
|
||||
data = imu->linear_accelerometer.get();
|
||||
sprintf(msg_buff, "Rx Data Trial %d Success: LinAccel: [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));
|
||||
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
|
||||
}
|
||||
}
|
||||
|
||||
TEST_ASSERT_EQUAL(true, imu->accelerometer.disable());
|
||||
TEST_ASSERT_EQUAL(true, imu->linear_accelerometer.disable());
|
||||
|
||||
TEST_ASSERT_EQUAL(true, data_available_accel);
|
||||
TEST_ASSERT_EQUAL(true, data_available_lin_accel);
|
||||
|
||||
BNO08xTestHelper::print_test_end_banner(TEST_TAG);
|
||||
}
|
||||
|
||||
TEST_CASE("Enable/Disable Quad Report", "[MultiReportEnableDisable]")
|
||||
{
|
||||
const constexpr char* TEST_TAG = "Enable/Disable Quad Report";
|
||||
static const constexpr uint8_t ENABLED_REPORT_COUNT = 4;
|
||||
static const constexpr uint8_t RX_REPORT_TRIAL_CNT = ENABLED_REPORT_COUNT * 5;
|
||||
static const constexpr uint32_t REPORT_PERIOD = 100000UL; // 100ms
|
||||
|
||||
BNO08x* imu = nullptr;
|
||||
char msg_buff[200] = {};
|
||||
bool data_available = false;
|
||||
bool data_available_accel = false;
|
||||
bool data_available_lin_accel = false;
|
||||
bool data_available_gravity = false;
|
||||
bool data_available_cal_gyro = false;
|
||||
|
||||
bno08x_accel_t data_accel;
|
||||
bno08x_gyro_t data_vel;
|
||||
|
||||
BNO08xTestHelper::print_test_start_banner(TEST_TAG);
|
||||
|
||||
imu = BNO08xTestHelper::get_test_imu();
|
||||
|
||||
TEST_ASSERT_EQUAL(true, imu->accelerometer.enable(REPORT_PERIOD));
|
||||
TEST_ASSERT_EQUAL(true, imu->linear_accelerometer.enable(REPORT_PERIOD));
|
||||
TEST_ASSERT_EQUAL(true, imu->gravity.enable(REPORT_PERIOD));
|
||||
TEST_ASSERT_EQUAL(true, imu->cal_gyro.enable(REPORT_PERIOD));
|
||||
|
||||
for (int i = 0; i < RX_REPORT_TRIAL_CNT; i++)
|
||||
{
|
||||
data_available = imu->data_available();
|
||||
TEST_ASSERT_EQUAL(true, data_available);
|
||||
|
||||
if (imu->accelerometer.has_new_data())
|
||||
{
|
||||
data_available_accel = true;
|
||||
data_accel = imu->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, data_accel.y,
|
||||
data_accel.z, BNO08x::accuracy_to_str(data_accel.accuracy));
|
||||
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
|
||||
}
|
||||
|
||||
if (imu->linear_accelerometer.has_new_data())
|
||||
{
|
||||
data_available_lin_accel = true;
|
||||
data_accel = imu->linear_accelerometer.get();
|
||||
sprintf(msg_buff, "Rx Data Trial %d Success: LinAccel: [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));
|
||||
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
|
||||
}
|
||||
|
||||
if (imu->gravity.has_new_data())
|
||||
{
|
||||
data_available_gravity = true;
|
||||
data_accel = imu->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_accel.x, data_accel.y,
|
||||
data_accel.z, BNO08x::accuracy_to_str(data_accel.accuracy));
|
||||
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
|
||||
}
|
||||
|
||||
if (imu->cal_gyro.has_new_data())
|
||||
{
|
||||
data_available_cal_gyro = true;
|
||||
data_vel = imu->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_vel.x, data_vel.y,
|
||||
data_vel.z, BNO08x::accuracy_to_str(data_vel.accuracy));
|
||||
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
|
||||
}
|
||||
}
|
||||
|
||||
TEST_ASSERT_EQUAL(true, imu->accelerometer.disable());
|
||||
TEST_ASSERT_EQUAL(true, imu->linear_accelerometer.disable());
|
||||
TEST_ASSERT_EQUAL(true, imu->gravity.disable());
|
||||
TEST_ASSERT_EQUAL(true, imu->cal_gyro.disable());
|
||||
|
||||
TEST_ASSERT_EQUAL(true, data_available_accel);
|
||||
TEST_ASSERT_EQUAL(true, data_available_lin_accel);
|
||||
TEST_ASSERT_EQUAL(true, data_available_gravity);
|
||||
TEST_ASSERT_EQUAL(true, data_available_cal_gyro);
|
||||
|
||||
BNO08xTestHelper::print_test_end_banner(TEST_TAG);
|
||||
}
|
||||
|
||||
TEST_CASE("Enable/Disable Octo Report", "[MultiReportEnableDisable]")
|
||||
{
|
||||
const constexpr char* TEST_TAG = "Enable/Disable Octo Report";
|
||||
static const constexpr uint8_t ENABLED_REPORT_COUNT = 8;
|
||||
static const constexpr uint8_t RX_REPORT_TRIAL_CNT = ENABLED_REPORT_COUNT * 5;
|
||||
static const constexpr uint32_t REPORT_PERIOD = 100000UL; // 100ms
|
||||
|
||||
BNO08x* imu = nullptr;
|
||||
char msg_buff[200] = {};
|
||||
bool data_available = false;
|
||||
bool data_available_accel = false;
|
||||
bool data_available_lin_accel = false;
|
||||
bool data_available_gravity = false;
|
||||
bool data_available_cal_gyro = false;
|
||||
bool data_available_cal_magnetometer = false;
|
||||
bool data_available_rv = false;
|
||||
bool data_available_rv_game = false;
|
||||
bool data_available_rv_geomagnetic = false;
|
||||
|
||||
bno08x_accel_t data_accel;
|
||||
bno08x_gyro_t data_vel;
|
||||
bno08x_magf_t data_magf;
|
||||
bno08x_quat_t data_quat;
|
||||
|
||||
BNO08xTestHelper::print_test_start_banner(TEST_TAG);
|
||||
|
||||
imu = BNO08xTestHelper::get_test_imu();
|
||||
|
||||
TEST_ASSERT_EQUAL(true, imu->accelerometer.enable(REPORT_PERIOD));
|
||||
TEST_ASSERT_EQUAL(true, imu->linear_accelerometer.enable(REPORT_PERIOD));
|
||||
TEST_ASSERT_EQUAL(true, imu->gravity.enable(REPORT_PERIOD));
|
||||
TEST_ASSERT_EQUAL(true, imu->cal_gyro.enable(REPORT_PERIOD));
|
||||
TEST_ASSERT_EQUAL(true, imu->cal_magnetometer.enable(REPORT_PERIOD));
|
||||
TEST_ASSERT_EQUAL(true, imu->rv.enable(REPORT_PERIOD));
|
||||
TEST_ASSERT_EQUAL(true, imu->rv_game.enable(REPORT_PERIOD));
|
||||
TEST_ASSERT_EQUAL(true, imu->rv_geomagnetic.enable(REPORT_PERIOD));
|
||||
|
||||
for (int i = 0; i < RX_REPORT_TRIAL_CNT; i++)
|
||||
{
|
||||
data_available = imu->data_available();
|
||||
TEST_ASSERT_EQUAL(true, data_available);
|
||||
|
||||
if (imu->accelerometer.has_new_data())
|
||||
{
|
||||
data_available_accel = true;
|
||||
data_accel = imu->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, data_accel.y,
|
||||
data_accel.z, BNO08x::accuracy_to_str(data_accel.accuracy));
|
||||
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
|
||||
}
|
||||
|
||||
if (imu->linear_accelerometer.has_new_data())
|
||||
{
|
||||
data_available_lin_accel = true;
|
||||
data_accel = imu->linear_accelerometer.get();
|
||||
sprintf(msg_buff, "Rx Data Trial %d Success: LinAccel: [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));
|
||||
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
|
||||
}
|
||||
|
||||
if (imu->gravity.has_new_data())
|
||||
{
|
||||
data_available_gravity = true;
|
||||
data_accel = imu->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_accel.x, data_accel.y,
|
||||
data_accel.z, BNO08x::accuracy_to_str(data_accel.accuracy));
|
||||
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
|
||||
}
|
||||
|
||||
if (imu->cal_gyro.has_new_data())
|
||||
{
|
||||
data_available_cal_gyro = true;
|
||||
data_vel = imu->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_vel.x, data_vel.y,
|
||||
data_vel.z, BNO08x::accuracy_to_str(data_vel.accuracy));
|
||||
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
|
||||
}
|
||||
|
||||
if (imu->cal_magnetometer.has_new_data())
|
||||
{
|
||||
data_available_cal_magnetometer = true;
|
||||
data_magf = imu->cal_magnetometer.get();
|
||||
sprintf(msg_buff, "Rx Data Trial %d Success: CalMagnetometer: [uTesla] x: %.2f y: %.2f z: %.2f accuracy: %s ", (i + 1), data_magf.x,
|
||||
data_magf.y, data_magf.z, BNO08x::accuracy_to_str(data_magf.accuracy));
|
||||
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
|
||||
}
|
||||
|
||||
if (imu->rv.has_new_data())
|
||||
{
|
||||
data_available_rv = true;
|
||||
data_quat = imu->rv.get_quat();
|
||||
sprintf(msg_buff, "Rx Data Trial %d Success: RV: [n/a] real: %.2f i: %.2f j: %.2f k: %.2f accuracy: %s ", (i + 1), data_quat.real,
|
||||
data_quat.i, data_quat.j, data_quat.k, BNO08x::accuracy_to_str(data_quat.accuracy));
|
||||
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
|
||||
}
|
||||
|
||||
if (imu->rv_game.has_new_data())
|
||||
{
|
||||
data_available_rv_game = true;
|
||||
data_quat = imu->rv_game.get_quat();
|
||||
sprintf(msg_buff, "Rx Data Trial %d Success: RV Game: [n/a] real: %.2f i: %.2f j: %.2f k: %.2f accuracy: %s ", (i + 1), data_quat.real,
|
||||
data_quat.i, data_quat.j, data_quat.k, BNO08x::accuracy_to_str(data_quat.accuracy));
|
||||
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
|
||||
}
|
||||
|
||||
if (imu->rv_geomagnetic.has_new_data())
|
||||
{
|
||||
data_available_rv_geomagnetic = true;
|
||||
data_quat = imu->rv_geomagnetic.get_quat();
|
||||
sprintf(msg_buff, "Rx Data Trial %d Success: RV Geomagnetic: [n/a] real: %.2f i: %.2f j: %.2f k: %.2f accuracy: %s ", (i + 1),
|
||||
data_quat.real, data_quat.i, data_quat.j, data_quat.k, BNO08x::accuracy_to_str(data_quat.accuracy));
|
||||
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
|
||||
}
|
||||
}
|
||||
|
||||
TEST_ASSERT_EQUAL(true, imu->accelerometer.disable());
|
||||
TEST_ASSERT_EQUAL(true, imu->linear_accelerometer.disable());
|
||||
TEST_ASSERT_EQUAL(true, imu->gravity.disable());
|
||||
TEST_ASSERT_EQUAL(true, imu->cal_gyro.disable());
|
||||
TEST_ASSERT_EQUAL(true, imu->cal_magnetometer.disable());
|
||||
TEST_ASSERT_EQUAL(true, imu->rv.disable());
|
||||
TEST_ASSERT_EQUAL(true, imu->rv_game.disable());
|
||||
TEST_ASSERT_EQUAL(true, imu->rv_geomagnetic.disable());
|
||||
|
||||
TEST_ASSERT_EQUAL(true, data_available_accel);
|
||||
TEST_ASSERT_EQUAL(true, data_available_lin_accel);
|
||||
TEST_ASSERT_EQUAL(true, data_available_gravity);
|
||||
TEST_ASSERT_EQUAL(true, data_available_cal_gyro);
|
||||
TEST_ASSERT_EQUAL(true, data_available_cal_magnetometer);
|
||||
TEST_ASSERT_EQUAL(true, data_available_rv);
|
||||
TEST_ASSERT_EQUAL(true, data_available_rv_game);
|
||||
TEST_ASSERT_EQUAL(true, data_available_rv_geomagnetic);
|
||||
|
||||
BNO08xTestHelper::print_test_end_banner(TEST_TAG);
|
||||
}
|
||||
|
||||
TEST_CASE("BNO08x Driver Cleanup for [MultiReportEnableDisable] Tests", "[MultiReportEnableDisable]")
|
||||
{
|
||||
const constexpr char* TEST_TAG = "BNO08x Driver Cleanup for [MultiReportEnableDisable] Tests";
|
||||
|
||||
BNO08xTestHelper::print_test_start_banner(TEST_TAG);
|
||||
BNO08xTestHelper::print_test_msg(TEST_TAG, "Destroying BNO08x Driver.");
|
||||
|
||||
BNO08xTestHelper::destroy_test_imu();
|
||||
BNO08xTestHelper::print_test_end_banner(TEST_TAG);
|
||||
}
|
||||
|
|
@ -0,0 +1,574 @@
|
|||
/**
|
||||
* @file SingleReportTests.cpp
|
||||
* @author Myles Parfeniuk
|
||||
*
|
||||
*
|
||||
* @warning YOU MUST ADD THE FOLLOWING LINE TO YOUR MAIN PROJECTS CMakeLists.txt IN ORDER FOR THIS TEST SUITE TO BE BUILT WITH PROJECT:
|
||||
* set(TEST_COMPONENTS "esp32_BNO08x" CACHE STRING "Components to test.")
|
||||
*/
|
||||
|
||||
#include "unity.h"
|
||||
#include "../include/BNO08xTestHelper.hpp"
|
||||
|
||||
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_start_banner(TEST_TAG);
|
||||
|
||||
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());
|
||||
BNO08xTestHelper::print_test_end_banner(TEST_TAG);
|
||||
}
|
||||
|
||||
TEST_CASE("Enable Incorrect Report", "[SingleReportEnableDisable]")
|
||||
{
|
||||
const constexpr char* TEST_TAG = "Enable Incorrect Report";
|
||||
static const constexpr uint8_t RX_REPORT_TRIAL_CNT = 5;
|
||||
static const constexpr uint32_t REPORT_PERIOD = 100000UL; // 100ms
|
||||
|
||||
BNO08x* imu = nullptr;
|
||||
char msg_buff[200] = {};
|
||||
bool data_available = false;
|
||||
bool wrong_report_data_available = true;
|
||||
bno08x_accel_t data;
|
||||
|
||||
BNO08xTestHelper::print_test_start_banner(TEST_TAG);
|
||||
|
||||
imu = BNO08xTestHelper::get_test_imu();
|
||||
|
||||
TEST_ASSERT_EQUAL(true, imu->accelerometer.enable(REPORT_PERIOD));
|
||||
|
||||
for (int i = 0; i < RX_REPORT_TRIAL_CNT; i++)
|
||||
{
|
||||
data_available = imu->data_available();
|
||||
TEST_ASSERT_EQUAL(true, data_available);
|
||||
|
||||
wrong_report_data_available = imu->linear_accelerometer.has_new_data();
|
||||
TEST_ASSERT_EQUAL(false, wrong_report_data_available);
|
||||
|
||||
data = imu->linear_accelerometer.get();
|
||||
|
||||
sprintf(msg_buff, "No Rx Data Trial %d Success: LinAccelDefaults: [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));
|
||||
|
||||
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
|
||||
}
|
||||
|
||||
TEST_ASSERT_EQUAL(true, imu->accelerometer.disable());
|
||||
BNO08xTestHelper::print_test_end_banner(TEST_TAG);
|
||||
}
|
||||
|
||||
TEST_CASE("Enable/Disable Accelerometer", "[SingleReportEnableDisable]")
|
||||
{
|
||||
const constexpr char* TEST_TAG = "Enable/Disable Accelerometer";
|
||||
static const constexpr uint8_t RX_REPORT_TRIAL_CNT = 5;
|
||||
static const constexpr uint32_t REPORT_PERIOD = 100000UL; // 100ms
|
||||
|
||||
BNO08x* imu = nullptr;
|
||||
char msg_buff[200] = {};
|
||||
bool data_available = false;
|
||||
bool report_data_available = true;
|
||||
bno08x_accel_t data;
|
||||
|
||||
BNO08xTestHelper::print_test_start_banner(TEST_TAG);
|
||||
|
||||
imu = BNO08xTestHelper::get_test_imu();
|
||||
|
||||
TEST_ASSERT_EQUAL(true, imu->accelerometer.enable(REPORT_PERIOD));
|
||||
|
||||
for (int i = 0; i < RX_REPORT_TRIAL_CNT; i++)
|
||||
{
|
||||
data_available = imu->data_available();
|
||||
TEST_ASSERT_EQUAL(true, data_available);
|
||||
|
||||
report_data_available = imu->accelerometer.has_new_data();
|
||||
TEST_ASSERT_EQUAL(true, report_data_available);
|
||||
|
||||
data = imu->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, data.y, data.z,
|
||||
BNO08x::accuracy_to_str(data.accuracy));
|
||||
|
||||
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
|
||||
}
|
||||
|
||||
TEST_ASSERT_EQUAL(true, imu->accelerometer.disable());
|
||||
BNO08xTestHelper::print_test_end_banner(TEST_TAG);
|
||||
}
|
||||
|
||||
TEST_CASE("Enable/Disable Linear Accelerometer", "[SingleReportEnableDisable]")
|
||||
{
|
||||
const constexpr char* TEST_TAG = "Enable/Disable Linear Accelerometer";
|
||||
static const constexpr uint8_t RX_REPORT_TRIAL_CNT = 5;
|
||||
static const constexpr uint32_t REPORT_PERIOD = 100000UL; // 100ms
|
||||
|
||||
BNO08x* imu = nullptr;
|
||||
char msg_buff[200] = {};
|
||||
bool data_available = false;
|
||||
bool report_data_available = true;
|
||||
bno08x_accel_t data;
|
||||
|
||||
BNO08xTestHelper::print_test_start_banner(TEST_TAG);
|
||||
|
||||
imu = BNO08xTestHelper::get_test_imu();
|
||||
|
||||
TEST_ASSERT_EQUAL(true, imu->linear_accelerometer.enable(REPORT_PERIOD));
|
||||
|
||||
for (int i = 0; i < RX_REPORT_TRIAL_CNT; i++)
|
||||
{
|
||||
data_available = imu->data_available();
|
||||
TEST_ASSERT_EQUAL(true, data_available);
|
||||
|
||||
report_data_available = imu->linear_accelerometer.has_new_data();
|
||||
TEST_ASSERT_EQUAL(true, report_data_available);
|
||||
|
||||
data = imu->linear_accelerometer.get();
|
||||
|
||||
sprintf(msg_buff, "Rx Data Trial %d Success: LinearAccel: [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));
|
||||
|
||||
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
|
||||
}
|
||||
|
||||
TEST_ASSERT_EQUAL(true, imu->linear_accelerometer.disable());
|
||||
BNO08xTestHelper::print_test_end_banner(TEST_TAG);
|
||||
}
|
||||
|
||||
TEST_CASE("Enable/Disable Gravity", "[SingleReportEnableDisable]")
|
||||
{
|
||||
const constexpr char* TEST_TAG = "Enable/Disable Gravity";
|
||||
static const constexpr uint8_t RX_REPORT_TRIAL_CNT = 5;
|
||||
static const constexpr uint32_t REPORT_PERIOD = 100000UL; // 100ms
|
||||
|
||||
BNO08x* imu = nullptr;
|
||||
char msg_buff[200] = {};
|
||||
bool data_available = false;
|
||||
bool report_data_available = true;
|
||||
bno08x_accel_t data;
|
||||
|
||||
BNO08xTestHelper::print_test_start_banner(TEST_TAG);
|
||||
|
||||
imu = BNO08xTestHelper::get_test_imu();
|
||||
|
||||
TEST_ASSERT_EQUAL(true, imu->gravity.enable(REPORT_PERIOD));
|
||||
|
||||
for (int i = 0; i < RX_REPORT_TRIAL_CNT; i++)
|
||||
{
|
||||
data_available = imu->data_available();
|
||||
TEST_ASSERT_EQUAL(true, data_available);
|
||||
|
||||
report_data_available = imu->gravity.has_new_data();
|
||||
TEST_ASSERT_EQUAL(true, report_data_available);
|
||||
|
||||
data = imu->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, data.y, data.z,
|
||||
BNO08x::accuracy_to_str(data.accuracy));
|
||||
|
||||
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
|
||||
}
|
||||
|
||||
TEST_ASSERT_EQUAL(true, imu->gravity.disable());
|
||||
BNO08xTestHelper::print_test_end_banner(TEST_TAG);
|
||||
}
|
||||
|
||||
TEST_CASE("Enable/Disable Cal Magnetometer", "[SingleReportEnableDisable]")
|
||||
{
|
||||
const constexpr char* TEST_TAG = "Enable/Disable Cal Magnetometer";
|
||||
static const constexpr uint8_t RX_REPORT_TRIAL_CNT = 5;
|
||||
static const constexpr uint32_t REPORT_PERIOD = 100000UL; // 100ms
|
||||
|
||||
BNO08x* imu = nullptr;
|
||||
char msg_buff[200] = {};
|
||||
bool data_available = false;
|
||||
bool report_data_available = true;
|
||||
bno08x_magf_t data;
|
||||
|
||||
BNO08xTestHelper::print_test_start_banner(TEST_TAG);
|
||||
|
||||
imu = BNO08xTestHelper::get_test_imu();
|
||||
|
||||
TEST_ASSERT_EQUAL(true, imu->cal_magnetometer.enable(REPORT_PERIOD));
|
||||
|
||||
for (int i = 0; i < RX_REPORT_TRIAL_CNT; i++)
|
||||
{
|
||||
data_available = imu->data_available();
|
||||
TEST_ASSERT_EQUAL(true, data_available);
|
||||
|
||||
report_data_available = imu->cal_magnetometer.has_new_data();
|
||||
TEST_ASSERT_EQUAL(true, report_data_available);
|
||||
|
||||
data = imu->cal_magnetometer.get();
|
||||
|
||||
sprintf(msg_buff, "Rx Data Trial %d Success: CalMagnetometer: [uTesla] x: %.2f y: %.2f z: %.2f accuracy: %s ", (i + 1), data.x, data.y,
|
||||
data.z, BNO08x::accuracy_to_str(data.accuracy));
|
||||
|
||||
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
|
||||
}
|
||||
|
||||
TEST_ASSERT_EQUAL(true, imu->cal_magnetometer.disable());
|
||||
BNO08xTestHelper::print_test_end_banner(TEST_TAG);
|
||||
}
|
||||
|
||||
TEST_CASE("Enable/Disable Uncal Magnetometer", "[SingleReportEnableDisable]")
|
||||
{
|
||||
const constexpr char* TEST_TAG = "Enable/Disable Uncal Magnetometer";
|
||||
static const constexpr uint8_t RX_REPORT_TRIAL_CNT = 5;
|
||||
static const constexpr uint32_t REPORT_PERIOD = 100000UL; // 100ms
|
||||
|
||||
BNO08x* imu = nullptr;
|
||||
char msg_buff[200] = {};
|
||||
bool data_available = false;
|
||||
bool report_data_available = true;
|
||||
bno08x_magf_t data_magf;
|
||||
bno08x_magf_bias_t data_bias;
|
||||
|
||||
BNO08xTestHelper::print_test_start_banner(TEST_TAG);
|
||||
|
||||
imu = BNO08xTestHelper::get_test_imu();
|
||||
|
||||
TEST_ASSERT_EQUAL(true, imu->uncal_magnetometer.enable(REPORT_PERIOD));
|
||||
|
||||
for (int i = 0; i < RX_REPORT_TRIAL_CNT; i++)
|
||||
{
|
||||
data_available = imu->data_available();
|
||||
TEST_ASSERT_EQUAL(true, data_available);
|
||||
|
||||
report_data_available = imu->uncal_magnetometer.has_new_data();
|
||||
TEST_ASSERT_EQUAL(true, report_data_available);
|
||||
|
||||
imu->uncal_magnetometer.get(data_magf, data_bias);
|
||||
|
||||
sprintf(msg_buff,
|
||||
"Rx Data Trial %d Success: UncalMagnetometer: [uTesla] x: %.2f y: %.2f z: %.2f 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, BNO08x::accuracy_to_str(data_magf.accuracy));
|
||||
|
||||
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
|
||||
}
|
||||
|
||||
TEST_ASSERT_EQUAL(true, imu->uncal_magnetometer.disable());
|
||||
BNO08xTestHelper::print_test_end_banner(TEST_TAG);
|
||||
}
|
||||
|
||||
TEST_CASE("Enable/Disable Cal Gyro", "[SingleReportEnableDisable]")
|
||||
{
|
||||
const constexpr char* TEST_TAG = "Enable/Disable Cal Gyro";
|
||||
static const constexpr uint8_t RX_REPORT_TRIAL_CNT = 5;
|
||||
static const constexpr uint32_t REPORT_PERIOD = 100000UL; // 100ms
|
||||
|
||||
BNO08x* imu = nullptr;
|
||||
char msg_buff[200] = {};
|
||||
bool data_available = false;
|
||||
bool report_data_available = true;
|
||||
bno08x_gyro_t data;
|
||||
|
||||
BNO08xTestHelper::print_test_start_banner(TEST_TAG);
|
||||
|
||||
imu = BNO08xTestHelper::get_test_imu();
|
||||
|
||||
TEST_ASSERT_EQUAL(true, imu->cal_gyro.enable(REPORT_PERIOD));
|
||||
|
||||
for (int i = 0; i < RX_REPORT_TRIAL_CNT; i++)
|
||||
{
|
||||
data_available = imu->data_available();
|
||||
TEST_ASSERT_EQUAL(true, data_available);
|
||||
|
||||
report_data_available = imu->cal_gyro.has_new_data();
|
||||
TEST_ASSERT_EQUAL(true, report_data_available);
|
||||
|
||||
data = imu->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, data.y, data.z,
|
||||
BNO08x::accuracy_to_str(data.accuracy));
|
||||
|
||||
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
|
||||
}
|
||||
|
||||
TEST_ASSERT_EQUAL(true, imu->cal_gyro.disable());
|
||||
BNO08xTestHelper::print_test_end_banner(TEST_TAG);
|
||||
}
|
||||
|
||||
TEST_CASE("Enable/Disable Uncal Gyro", "[SingleReportEnableDisable]")
|
||||
{
|
||||
const constexpr char* TEST_TAG = "Enable/Disable Uncal Gyro";
|
||||
static const constexpr uint8_t RX_REPORT_TRIAL_CNT = 5;
|
||||
static const constexpr uint32_t REPORT_PERIOD = 100000UL; // 100ms
|
||||
|
||||
BNO08x* imu = nullptr;
|
||||
char msg_buff[200] = {};
|
||||
bool data_available = false;
|
||||
bool report_data_available = true;
|
||||
bno08x_gyro_t data_vel;
|
||||
bno08x_gyro_bias_t data_bias;
|
||||
|
||||
BNO08xTestHelper::print_test_start_banner(TEST_TAG);
|
||||
|
||||
imu = BNO08xTestHelper::get_test_imu();
|
||||
|
||||
TEST_ASSERT_EQUAL(true, imu->uncal_gyro.enable(REPORT_PERIOD));
|
||||
|
||||
for (int i = 0; i < RX_REPORT_TRIAL_CNT; i++)
|
||||
{
|
||||
data_available = imu->data_available();
|
||||
TEST_ASSERT_EQUAL(true, data_available);
|
||||
|
||||
report_data_available = imu->uncal_gyro.has_new_data();
|
||||
TEST_ASSERT_EQUAL(true, report_data_available);
|
||||
|
||||
imu->uncal_gyro.get(data_vel, data_bias);
|
||||
|
||||
sprintf(msg_buff, "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 ",
|
||||
(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));
|
||||
|
||||
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
|
||||
}
|
||||
|
||||
TEST_ASSERT_EQUAL(true, imu->uncal_gyro.disable());
|
||||
BNO08xTestHelper::print_test_end_banner(TEST_TAG);
|
||||
}
|
||||
|
||||
TEST_CASE("Enable/Disable RV", "[SingleReportEnableDisable]")
|
||||
{
|
||||
const constexpr char* TEST_TAG = "Enable/Disable RV";
|
||||
static const constexpr uint8_t RX_REPORT_TRIAL_CNT = 5;
|
||||
static const constexpr uint32_t REPORT_PERIOD = 100000UL; // 100ms
|
||||
|
||||
BNO08x* imu = nullptr;
|
||||
char msg_buff[200] = {};
|
||||
bool data_available = false;
|
||||
bool report_data_available = true;
|
||||
bno08x_quat_t data;
|
||||
|
||||
BNO08xTestHelper::print_test_start_banner(TEST_TAG);
|
||||
|
||||
imu = BNO08xTestHelper::get_test_imu();
|
||||
|
||||
TEST_ASSERT_EQUAL(true, imu->rv.enable(REPORT_PERIOD));
|
||||
|
||||
for (int i = 0; i < RX_REPORT_TRIAL_CNT; i++)
|
||||
{
|
||||
data_available = imu->data_available();
|
||||
TEST_ASSERT_EQUAL(true, data_available);
|
||||
|
||||
report_data_available = imu->rv.has_new_data();
|
||||
TEST_ASSERT_EQUAL(true, report_data_available);
|
||||
|
||||
data = imu->rv.get_quat();
|
||||
|
||||
sprintf(msg_buff, "Rx Data Trial %d Success: RV: [n/a] real: %.2f i: %.2f j: %.2f k: %.2f accuracy: %s ", (i + 1), data.real, data.i, data.j,
|
||||
data.k, BNO08x::accuracy_to_str(data.accuracy));
|
||||
|
||||
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
|
||||
}
|
||||
|
||||
TEST_ASSERT_EQUAL(true, imu->rv.disable());
|
||||
BNO08xTestHelper::print_test_end_banner(TEST_TAG);
|
||||
}
|
||||
|
||||
TEST_CASE("Enable/Disable Game RV", "[SingleReportEnableDisable]")
|
||||
{
|
||||
const constexpr char* TEST_TAG = "Enable/Disable Game RV";
|
||||
static const constexpr uint8_t RX_REPORT_TRIAL_CNT = 5;
|
||||
static const constexpr uint32_t REPORT_PERIOD = 100000UL; // 100ms
|
||||
|
||||
BNO08x* imu = nullptr;
|
||||
char msg_buff[200] = {};
|
||||
bool data_available = false;
|
||||
bool report_data_available = true;
|
||||
bno08x_quat_t data;
|
||||
|
||||
BNO08xTestHelper::print_test_start_banner(TEST_TAG);
|
||||
|
||||
imu = BNO08xTestHelper::get_test_imu();
|
||||
|
||||
TEST_ASSERT_EQUAL(true, imu->rv_game.enable(REPORT_PERIOD));
|
||||
|
||||
for (int i = 0; i < RX_REPORT_TRIAL_CNT; i++)
|
||||
{
|
||||
data_available = imu->data_available();
|
||||
TEST_ASSERT_EQUAL(true, data_available);
|
||||
|
||||
report_data_available = imu->rv_game.has_new_data();
|
||||
TEST_ASSERT_EQUAL(true, report_data_available);
|
||||
|
||||
data = imu->rv_game.get_quat();
|
||||
|
||||
sprintf(msg_buff, "Rx Data Trial %d Success: RV Game: [n/a] real: %.2f i: %.2f j: %.2f k: %.2f accuracy: %s ", (i + 1), data.real, data.i,
|
||||
data.j, data.k, BNO08x::accuracy_to_str(data.accuracy));
|
||||
|
||||
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
|
||||
}
|
||||
|
||||
TEST_ASSERT_EQUAL(true, imu->rv_game.disable());
|
||||
BNO08xTestHelper::print_test_end_banner(TEST_TAG);
|
||||
}
|
||||
|
||||
TEST_CASE("Enable/Disable ARVR Stabilized RV", "[SingleReportEnableDisable]")
|
||||
{
|
||||
const constexpr char* TEST_TAG = "Enable/Disable ARVR Stabilized RV";
|
||||
static const constexpr uint8_t RX_REPORT_TRIAL_CNT = 5;
|
||||
static const constexpr uint32_t REPORT_PERIOD = 100000UL; // 100ms
|
||||
|
||||
BNO08x* imu = nullptr;
|
||||
char msg_buff[200] = {};
|
||||
bool data_available = false;
|
||||
bool report_data_available = true;
|
||||
bno08x_quat_t data;
|
||||
|
||||
BNO08xTestHelper::print_test_start_banner(TEST_TAG);
|
||||
|
||||
imu = BNO08xTestHelper::get_test_imu();
|
||||
|
||||
TEST_ASSERT_EQUAL(true, imu->rv_ARVR_stabilized.enable(REPORT_PERIOD));
|
||||
|
||||
for (int i = 0; i < RX_REPORT_TRIAL_CNT; i++)
|
||||
{
|
||||
data_available = imu->data_available();
|
||||
TEST_ASSERT_EQUAL(true, data_available);
|
||||
|
||||
report_data_available = imu->rv_ARVR_stabilized.has_new_data();
|
||||
TEST_ASSERT_EQUAL(true, report_data_available);
|
||||
|
||||
data = imu->rv_ARVR_stabilized.get_quat();
|
||||
|
||||
sprintf(msg_buff, "Rx Data Trial %d Success: RV ARVR Stabilized: [n/a] real: %.2f i: %.2f j: %.2f k: %.2f accuracy: %s ", (i + 1), data.real,
|
||||
data.i, data.j, data.k, BNO08x::accuracy_to_str(data.accuracy));
|
||||
|
||||
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
|
||||
}
|
||||
|
||||
TEST_ASSERT_EQUAL(true, imu->rv_ARVR_stabilized.disable());
|
||||
BNO08xTestHelper::print_test_end_banner(TEST_TAG);
|
||||
}
|
||||
|
||||
TEST_CASE("Enable/Disable ARVR Stabilized Game RV", "[SingleReportEnableDisable]")
|
||||
{
|
||||
const constexpr char* TEST_TAG = "Enable/Disable ARVR Stabilized Game RV";
|
||||
static const constexpr uint8_t RX_REPORT_TRIAL_CNT = 5;
|
||||
static const constexpr uint32_t REPORT_PERIOD = 100000UL; // 100ms
|
||||
|
||||
BNO08x* imu = nullptr;
|
||||
char msg_buff[200] = {};
|
||||
bool data_available = false;
|
||||
bool report_data_available = true;
|
||||
bno08x_quat_t data;
|
||||
|
||||
BNO08xTestHelper::print_test_start_banner(TEST_TAG);
|
||||
|
||||
imu = BNO08xTestHelper::get_test_imu();
|
||||
|
||||
TEST_ASSERT_EQUAL(true, imu->rv_ARVR_stabilized_game.enable(REPORT_PERIOD));
|
||||
|
||||
for (int i = 0; i < RX_REPORT_TRIAL_CNT; i++)
|
||||
{
|
||||
data_available = imu->data_available();
|
||||
TEST_ASSERT_EQUAL(true, data_available);
|
||||
|
||||
report_data_available = imu->rv_ARVR_stabilized_game.has_new_data();
|
||||
TEST_ASSERT_EQUAL(true, report_data_available);
|
||||
|
||||
data = imu->rv_ARVR_stabilized_game.get_quat();
|
||||
|
||||
sprintf(msg_buff, "Rx Data Trial %d Success: RV ARVR Stabilized Game: [n/a] real: %.2f i: %.2f j: %.2f k: %.2f accuracy: %s ", (i + 1),
|
||||
data.real, data.i, data.j, data.k, BNO08x::accuracy_to_str(data.accuracy));
|
||||
|
||||
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
|
||||
}
|
||||
|
||||
TEST_ASSERT_EQUAL(true, imu->rv_ARVR_stabilized_game.disable());
|
||||
BNO08xTestHelper::print_test_end_banner(TEST_TAG);
|
||||
}
|
||||
|
||||
TEST_CASE("Enable/Disable Gyro Integrated RV", "[SingleReportEnableDisable]")
|
||||
{
|
||||
const constexpr char* TEST_TAG = "Enable/Disable Gyro Integrated RV";
|
||||
static const constexpr uint8_t RX_REPORT_TRIAL_CNT = 5;
|
||||
static const constexpr uint32_t REPORT_PERIOD = 100000UL; // 100ms
|
||||
|
||||
BNO08x* imu = nullptr;
|
||||
char msg_buff[200] = {};
|
||||
bool data_available = false;
|
||||
bool report_data_available = true;
|
||||
bno08x_quat_t data;
|
||||
|
||||
BNO08xTestHelper::print_test_start_banner(TEST_TAG);
|
||||
|
||||
imu = BNO08xTestHelper::get_test_imu();
|
||||
|
||||
TEST_ASSERT_EQUAL(true, imu->rv_gyro_integrated.enable(REPORT_PERIOD));
|
||||
|
||||
for (int i = 0; i < RX_REPORT_TRIAL_CNT; i++)
|
||||
{
|
||||
data_available = imu->data_available();
|
||||
TEST_ASSERT_EQUAL(true, data_available);
|
||||
|
||||
report_data_available = imu->rv_gyro_integrated.has_new_data();
|
||||
TEST_ASSERT_EQUAL(true, report_data_available);
|
||||
|
||||
data = imu->rv_gyro_integrated.get_quat();
|
||||
|
||||
sprintf(msg_buff, "Rx Data Trial %d Success: RV Gyro Integrated: [n/a] real: %.2f i: %.2f j: %.2f k: %.2f accuracy: %s ", (i + 1), data.real,
|
||||
data.i, data.j, data.k, BNO08x::accuracy_to_str(data.accuracy));
|
||||
|
||||
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
|
||||
}
|
||||
|
||||
TEST_ASSERT_EQUAL(true, imu->rv_gyro_integrated.disable());
|
||||
BNO08xTestHelper::print_test_end_banner(TEST_TAG);
|
||||
}
|
||||
|
||||
TEST_CASE("Enable/Disable Geomagnetic RV", "[SingleReportEnableDisable]")
|
||||
{
|
||||
const constexpr char* TEST_TAG = "Enable/Disable Geomagnetic RV";
|
||||
static const constexpr uint8_t RX_REPORT_TRIAL_CNT = 5;
|
||||
static const constexpr uint32_t REPORT_PERIOD = 100000UL; // 100ms
|
||||
|
||||
BNO08x* imu = nullptr;
|
||||
char msg_buff[200] = {};
|
||||
bool data_available = false;
|
||||
bool report_data_available = true;
|
||||
bno08x_quat_t data;
|
||||
|
||||
BNO08xTestHelper::print_test_start_banner(TEST_TAG);
|
||||
|
||||
imu = BNO08xTestHelper::get_test_imu();
|
||||
|
||||
TEST_ASSERT_EQUAL(true, imu->rv_geomagnetic.enable(REPORT_PERIOD));
|
||||
|
||||
for (int i = 0; i < RX_REPORT_TRIAL_CNT; i++)
|
||||
{
|
||||
data_available = imu->data_available();
|
||||
TEST_ASSERT_EQUAL(true, data_available);
|
||||
|
||||
report_data_available = imu->rv_geomagnetic.has_new_data();
|
||||
TEST_ASSERT_EQUAL(true, report_data_available);
|
||||
|
||||
data = imu->rv_geomagnetic.get_quat();
|
||||
|
||||
sprintf(msg_buff, "Rx Data Trial %d Success: RV Geomagnetic: [n/a] real: %.2f i: %.2f j: %.2f k: %.2f accuracy: %s ", (i + 1), data.real,
|
||||
data.i, data.j, data.k, BNO08x::accuracy_to_str(data.accuracy));
|
||||
|
||||
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
|
||||
}
|
||||
|
||||
TEST_ASSERT_EQUAL(true, imu->rv_geomagnetic.disable());
|
||||
|
||||
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_start_banner(TEST_TAG);
|
||||
BNO08xTestHelper::print_test_msg(TEST_TAG, "Destroying BNO08x Driver.");
|
||||
|
||||
BNO08xTestHelper::destroy_test_imu();
|
||||
BNO08xTestHelper::print_test_end_banner(TEST_TAG);
|
||||
}
|
||||
Loading…
Reference in New Issue