#include "unity.h" #include "../include/BNO08xTestHelper.hpp" TEST_CASE("BNO08x Driver Creation for [MultiReportEnableDisable] Tests", "[MultiReportEnableDisable]") { const constexpr char* TEST_TAG = "BNO08x Driver Creation for [MultiReportEnableDisable] Tests"; BNO08x* imu = nullptr; BNO08xTestHelper::print_test_msg(TEST_TAG, "Creating & initializing BNO08x driver."); BNO08xTestHelper::create_test_imu(); imu = BNO08xTestHelper::get_test_imu(); // ensure IMU initialized successfully TEST_ASSERT_EQUAL(true, imu->initialize()); } TEST_CASE("Dual Report Enable/Disable", "[MultiReportEnableDisable]") { const constexpr char* TEST_TAG = "Dual Report Enable/Disable"; BNO08x* imu = nullptr; BNO08xTestHelper::imu_report_data_t report_data; BNO08xTestHelper::imu_report_data_t prev_report_data; char msg_buff[200] = {}; const constexpr uint8_t ENABLED_REPORT_CNT = 2; const constexpr uint8_t RX_REPORT_TRIAL_CNT = 2 * ENABLED_REPORT_CNT; const constexpr uint32_t REPORT_PERIOD = 100000UL; // 100ms bool new_data[ENABLED_REPORT_CNT] = {false, false}; imu = BNO08xTestHelper::get_test_imu(); // reset all data used in report test BNO08xTestHelper::reset_all_imu_data_to_test_defaults(); BNO08xTestHelper::update_report_data(&report_data); BNO08xTestHelper::print_test_msg(TEST_TAG, "Enabling Accelerometer and Linear Accelerometer reports, checking for new data on both."); imu->enable_accelerometer(REPORT_PERIOD); imu->enable_linear_accelerometer(REPORT_PERIOD); for (int i = 0; i < RX_REPORT_TRIAL_CNT; i++) { if (imu->data_available()) { prev_report_data = report_data; BNO08xTestHelper::update_report_data(&report_data); // check if any default values have been overwritten, implying new data from respective report if (BNO08xTestHelper::accelerometer_data_is_new(&report_data, &prev_report_data)) { new_data[0] = true; sprintf(msg_buff, "Rx Data Trial %d Success: AngularAccel: aX: %.2lf accel aY: %.2lf accel aZ: " "%.2lf Accuracy %s", (i + 1), report_data.accel_x, report_data.accel_y, report_data.accel_z, BNO08xTestHelper::BNO08xAccuracy_to_str(report_data.accel_accuracy)); BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff); } if (BNO08xTestHelper::linear_accelerometer_data_is_new(&report_data, &prev_report_data)) { new_data[1] = true; sprintf(msg_buff, "Rx Data Trial %d Success: LinearAccel: laX: %.2lf laY: %.2lf laZ: " "%.2lf Accuracy: %s", (i + 1), report_data.lin_accel_x, report_data.lin_accel_y, report_data.lin_accel_z, BNO08xTestHelper::BNO08xAccuracy_to_str(report_data.lin_accel_accuracy)); BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff); } } } // check that new data was received for each report TEST_ASSERT_EQUAL(true, new_data[0]); TEST_ASSERT_EQUAL(true, new_data[1]); // reset all data used in report test new_data[0] = false; new_data[1] = false; BNO08xTestHelper::reset_all_imu_data_to_test_defaults(); BNO08xTestHelper::update_report_data(&report_data); BNO08xTestHelper::print_test_msg(TEST_TAG, "Disabling only Linear Accelerometer report and checking for new data on both."); imu->disable_linear_accelerometer(); for (int i = 0; i < RX_REPORT_TRIAL_CNT; i++) { if (imu->data_available()) { prev_report_data = report_data; BNO08xTestHelper::update_report_data(&report_data); // check if any default values have been overwritten, implying new data from respective report if (BNO08xTestHelper::accelerometer_data_is_new(&report_data, &prev_report_data)) { new_data[0] = true; sprintf(msg_buff, "Rx Data Trial %d Success: AngularAccel: aX: %.2lf accel aY: %.2lf accel aZ: " "%.2lf Accuracy %s", (i + 1), report_data.accel_x, report_data.accel_y, report_data.accel_z, BNO08xTestHelper::BNO08xAccuracy_to_str(report_data.accel_accuracy)); BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff); } if (BNO08xTestHelper::linear_accelerometer_data_is_new(&report_data, &prev_report_data)) { // no new data should be detected here, report is disabled. new_data[1] = true; sprintf(msg_buff, "Rx Data Trial %d Failure (REPORT DISABLED): LinearAccel: laX: %.2lf laY: %.2lf laZ: " "%.2lf Accuracy: %s", (i + 1), report_data.lin_accel_x, report_data.lin_accel_y, report_data.lin_accel_z, BNO08xTestHelper::BNO08xAccuracy_to_str(report_data.lin_accel_accuracy)); BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff); } } } // check that new data was received only for accelerometer report TEST_ASSERT_EQUAL(true, new_data[0]); TEST_ASSERT_NOT_EQUAL(true, new_data[1]); BNO08xTestHelper::print_test_msg(TEST_TAG, "Test completed, disabling Accelerometer report"); imu->disable_accelerometer(); } TEST_CASE("Tri Report Enable/Disable", "[MultiReportEnableDisable]") { const constexpr char* TEST_TAG = "Tri Report Enable/Disable"; BNO08x* imu = nullptr; BNO08xTestHelper::imu_report_data_t report_data; BNO08xTestHelper::imu_report_data_t prev_report_data; char msg_buff[200] = {}; const constexpr uint8_t ENABLED_REPORT_CNT = 3; const constexpr uint8_t RX_REPORT_TRIAL_CNT = 2 * ENABLED_REPORT_CNT; const constexpr uint32_t REPORT_PERIOD = 100000UL; // 100ms bool new_data[ENABLED_REPORT_CNT] = {false, false, false}; imu = BNO08xTestHelper::get_test_imu(); // reset all data used in report test BNO08xTestHelper::reset_all_imu_data_to_test_defaults(); BNO08xTestHelper::update_report_data(&report_data); BNO08xTestHelper::print_test_msg( TEST_TAG, "Enabling Accelerometer, Linear Accelerometer, and Magnetometer reports, checking for new data on all."); imu->enable_accelerometer(REPORT_PERIOD); imu->enable_linear_accelerometer(REPORT_PERIOD); imu->enable_magnetometer(REPORT_PERIOD); for (int i = 0; i < RX_REPORT_TRIAL_CNT; i++) { if (imu->data_available()) { prev_report_data = report_data; BNO08xTestHelper::update_report_data(&report_data); // check if any default values have been overwritten, implying new data from respective report if (BNO08xTestHelper::accelerometer_data_is_new(&report_data, &prev_report_data)) { new_data[0] = true; sprintf(msg_buff, "Rx Data Trial %d Success: AngularAccel: aX: %.2lf accel aY: %.2lf accel aZ: " "%.2lf Accuracy %s", (i + 1), report_data.accel_x, report_data.accel_y, report_data.accel_z, BNO08xTestHelper::BNO08xAccuracy_to_str(report_data.accel_accuracy)); BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff); } if (BNO08xTestHelper::linear_accelerometer_data_is_new(&report_data, &prev_report_data)) { new_data[1] = true; sprintf(msg_buff, "Rx Data Trial %d Success: LinearAccel: laX: %.2lf laY: %.2lf laZ: " "%.2lf Accuracy: %s", (i + 1), report_data.lin_accel_x, report_data.lin_accel_y, report_data.lin_accel_z, BNO08xTestHelper::BNO08xAccuracy_to_str(report_data.lin_accel_accuracy)); BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff); } if (BNO08xTestHelper::magnetometer_data_is_new(&report_data, &prev_report_data)) { new_data[2] = true; sprintf(msg_buff, "Rx Data Trial %d Success: Magf: mX: %.2lf mY: %.2lf mZ: " "%.2lf Accuracy: %s", (i + 1), report_data.magf_x, report_data.magf_y, report_data.magf_z, BNO08xTestHelper::BNO08xAccuracy_to_str(report_data.magf_accuracy)); BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff); } } } // check that new data was received for each report TEST_ASSERT_EQUAL(true, new_data[0]); TEST_ASSERT_EQUAL(true, new_data[1]); TEST_ASSERT_EQUAL(true, new_data[2]); // reset all data used in report test new_data[0] = false; new_data[1] = false; new_data[2] = false; BNO08xTestHelper::reset_all_imu_data_to_test_defaults(); BNO08xTestHelper::update_report_data(&report_data); BNO08xTestHelper::print_test_msg(TEST_TAG, "Disabling Magnetometer report and checking for new data on remaining reports."); imu->disable_magnetometer(); for (int i = 0; i < RX_REPORT_TRIAL_CNT; i++) { if (imu->data_available()) { prev_report_data = report_data; BNO08xTestHelper::update_report_data(&report_data); // check if any default values have been overwritten, implying new data from respective report if (BNO08xTestHelper::accelerometer_data_is_new(&report_data, &prev_report_data)) { new_data[0] = true; sprintf(msg_buff, "Rx Data Trial %d Success: AngularAccel: aX: %.2lf accel aY: %.2lf accel aZ: " "%.2lf Accuracy %s", (i + 1), report_data.accel_x, report_data.accel_y, report_data.accel_z, BNO08xTestHelper::BNO08xAccuracy_to_str(report_data.accel_accuracy)); BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff); } if (BNO08xTestHelper::linear_accelerometer_data_is_new(&report_data, &prev_report_data)) { new_data[1] = true; sprintf(msg_buff, "Rx Data Trial %d Success: LinearAccel: laX: %.2lf laY: %.2lf laZ: " "%.2lf Accuracy: %s", (i + 1), report_data.lin_accel_x, report_data.lin_accel_y, report_data.lin_accel_z, BNO08xTestHelper::BNO08xAccuracy_to_str(report_data.lin_accel_accuracy)); BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff); } if (BNO08xTestHelper::magnetometer_data_is_new(&report_data, &prev_report_data)) { new_data[2] = true; sprintf(msg_buff, "Rx Data Trial %d Failure (REPORT DISABLED): Magf: mX: %.2lf mY: %.2lf mZ: " "%.2lf Accuracy: %s", (i + 1), report_data.magf_x, report_data.magf_y, report_data.magf_z, BNO08xTestHelper::BNO08xAccuracy_to_str(report_data.magf_accuracy)); BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff); } } } // check that new data was received for only enabled reports TEST_ASSERT_EQUAL(true, new_data[0]); TEST_ASSERT_EQUAL(true, new_data[1]); TEST_ASSERT_NOT_EQUAL(true, new_data[2]); // reset all data used in report test new_data[0] = false; new_data[1] = false; new_data[2] = false; BNO08xTestHelper::reset_all_imu_data_to_test_defaults(); BNO08xTestHelper::update_report_data(&report_data); BNO08xTestHelper::print_test_msg(TEST_TAG, "Disabling Linear Accelerometer report and checking for new data on remaining reports."); imu->disable_linear_accelerometer(); for (int i = 0; i < RX_REPORT_TRIAL_CNT; i++) { if (imu->data_available()) { prev_report_data = report_data; BNO08xTestHelper::update_report_data(&report_data); // check if any default values have been overwritten, implying new data from respective report if (BNO08xTestHelper::accelerometer_data_is_new(&report_data, &prev_report_data)) { new_data[0] = true; sprintf(msg_buff, "Rx Data Trial %d Success: AngularAccel: aX: %.2lf accel aY: %.2lf accel aZ: " "%.2lf Accuracy %s", (i + 1), report_data.accel_x, report_data.accel_y, report_data.accel_z, BNO08xTestHelper::BNO08xAccuracy_to_str(report_data.accel_accuracy)); BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff); } if (BNO08xTestHelper::linear_accelerometer_data_is_new(&report_data, &prev_report_data)) { // no new data should be detected here, report is disabled. new_data[1] = true; sprintf(msg_buff, "Rx Data Trial %d Failure (REPORT DISABLED): LinearAccel: laX: %.2lf laY: %.2lf laZ: " "%.2lf Accuracy: %s", (i + 1), report_data.lin_accel_x, report_data.lin_accel_y, report_data.lin_accel_z, BNO08xTestHelper::BNO08xAccuracy_to_str(report_data.lin_accel_accuracy)); BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff); } if (BNO08xTestHelper::magnetometer_data_is_new(&report_data, &prev_report_data)) { new_data[2] = true; sprintf(msg_buff, "Rx Data Trial %d Failure (REPORT DISABLED): Magf: mX: %.2lf mY: %.2lf mZ: " "%.2lf Accuracy: %s", (i + 1), report_data.magf_x, report_data.magf_y, report_data.magf_z, BNO08xTestHelper::BNO08xAccuracy_to_str(report_data.magf_accuracy)); BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff); } } } // check that new data was received for only enabled reports TEST_ASSERT_EQUAL(true, new_data[0]); TEST_ASSERT_NOT_EQUAL(true, new_data[1]); TEST_ASSERT_NOT_EQUAL(true, new_data[2]); BNO08xTestHelper::print_test_msg(TEST_TAG, "Test completed, disabling Accelerometer report"); imu->disable_accelerometer(); } TEST_CASE("Quad Report Enable/Disable", "[MultiReportEnableDisable]") { const constexpr char* TEST_TAG = "Quad Report Enable/Disable"; BNO08x* imu = nullptr; BNO08xTestHelper::imu_report_data_t report_data; BNO08xTestHelper::imu_report_data_t prev_report_data; char msg_buff[200] = {}; const constexpr uint8_t ENABLED_REPORT_CNT = 4; const constexpr uint8_t RX_REPORT_TRIAL_CNT = 2 * ENABLED_REPORT_CNT; const constexpr uint32_t REPORT_PERIOD = 100000UL; // 100ms bool new_data[ENABLED_REPORT_CNT] = {false, false, false, false}; imu = BNO08xTestHelper::get_test_imu(); // reset all data used in report test BNO08xTestHelper::reset_all_imu_data_to_test_defaults(); BNO08xTestHelper::update_report_data(&report_data); BNO08xTestHelper::print_test_msg( TEST_TAG, "Enabling Accelerometer, Linear Accelerometer, Magnetometer, and Rotation Vector reports, checking for new data on all."); imu->enable_accelerometer(REPORT_PERIOD); imu->enable_linear_accelerometer(REPORT_PERIOD); imu->enable_magnetometer(REPORT_PERIOD); imu->enable_rotation_vector(REPORT_PERIOD); for (int i = 0; i < RX_REPORT_TRIAL_CNT; i++) { if (imu->data_available()) { prev_report_data = report_data; BNO08xTestHelper::update_report_data(&report_data); // check if any default values have been overwritten, implying new data from respective report if (BNO08xTestHelper::accelerometer_data_is_new(&report_data, &prev_report_data)) { new_data[0] = true; sprintf(msg_buff, "Rx Data Trial %d Success: AngularAccel: aX: %.2lf accel aY: %.2lf accel aZ: " "%.2lf Accuracy %s", (i + 1), report_data.accel_x, report_data.accel_y, report_data.accel_z, BNO08xTestHelper::BNO08xAccuracy_to_str(report_data.accel_accuracy)); BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff); } if (BNO08xTestHelper::linear_accelerometer_data_is_new(&report_data, &prev_report_data)) { new_data[1] = true; sprintf(msg_buff, "Rx Data Trial %d Success: LinearAccel: laX: %.2lf laY: %.2lf laZ: " "%.2lf Accuracy: %s", (i + 1), report_data.lin_accel_x, report_data.lin_accel_y, report_data.lin_accel_z, BNO08xTestHelper::BNO08xAccuracy_to_str(report_data.lin_accel_accuracy)); BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff); } if (BNO08xTestHelper::magnetometer_data_is_new(&report_data, &prev_report_data)) { new_data[2] = true; sprintf(msg_buff, "Rx Data Trial %d Success: Magf: mX: %.2lf mY: %.2lf mZ: " "%.2lf Accuracy: %s", (i + 1), report_data.magf_x, report_data.magf_y, report_data.magf_z, BNO08xTestHelper::BNO08xAccuracy_to_str(report_data.magf_accuracy)); BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff); } if (BNO08xTestHelper::rotation_vector_data_is_new(&report_data, &prev_report_data)) { new_data[3] = true; sprintf(msg_buff, "Rx Data Trial %d Success: Quat: I: %.2lf J: %.2lf K: %.2lf real: %.2lf Accuracy: %s", (i + 1), report_data.quat_I, report_data.quat_J, report_data.quat_K, report_data.quat_real, BNO08xTestHelper::BNO08xAccuracy_to_str(report_data.quat_accuracy)); BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff); } } } // check that new data was received for each report TEST_ASSERT_EQUAL(true, new_data[0]); TEST_ASSERT_EQUAL(true, new_data[1]); TEST_ASSERT_EQUAL(true, new_data[2]); TEST_ASSERT_EQUAL(true, new_data[3]); // reset all data used in report test new_data[0] = false; new_data[1] = false; new_data[2] = false; new_data[3] = false; BNO08xTestHelper::reset_all_imu_data_to_test_defaults(); BNO08xTestHelper::update_report_data(&report_data); BNO08xTestHelper::print_test_msg(TEST_TAG, "Disabling Rotation Vector report and checking for new data on remaining reports."); imu->disable_rotation_vector(); for (int i = 0; i < RX_REPORT_TRIAL_CNT; i++) { if (imu->data_available()) { prev_report_data = report_data; BNO08xTestHelper::update_report_data(&report_data); // check if any default values have been overwritten, implying new data from respective report if (BNO08xTestHelper::accelerometer_data_is_new(&report_data, &prev_report_data)) { new_data[0] = true; sprintf(msg_buff, "Rx Data Trial %d Success: AngularAccel: aX: %.2lf accel aY: %.2lf accel aZ: " "%.2lf Accuracy %s", (i + 1), report_data.accel_x, report_data.accel_y, report_data.accel_z, BNO08xTestHelper::BNO08xAccuracy_to_str(report_data.accel_accuracy)); BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff); } if (BNO08xTestHelper::linear_accelerometer_data_is_new(&report_data, &prev_report_data)) { new_data[1] = true; sprintf(msg_buff, "Rx Data Trial %d Success: LinearAccel: laX: %.2lf laY: %.2lf laZ: " "%.2lf Accuracy: %s", (i + 1), report_data.lin_accel_x, report_data.lin_accel_y, report_data.lin_accel_z, BNO08xTestHelper::BNO08xAccuracy_to_str(report_data.lin_accel_accuracy)); BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff); } if (BNO08xTestHelper::magnetometer_data_is_new(&report_data, &prev_report_data)) { new_data[2] = true; sprintf(msg_buff, "Rx Data Trial %d Success: Magf: mX: %.2lf mY: %.2lf mZ: " "%.2lf Accuracy: %s", (i + 1), report_data.magf_x, report_data.magf_y, report_data.magf_z, BNO08xTestHelper::BNO08xAccuracy_to_str(report_data.magf_accuracy)); BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff); } if (BNO08xTestHelper::rotation_vector_data_is_new(&report_data, &prev_report_data)) { new_data[3] = true; sprintf(msg_buff, "Rx Data Trial %d Failure (REPORT DISABLED): Quat: I: %.2lf J: %.2lf K: %.2lf real: %.2lf Accuracy: %s", (i + 1), report_data.quat_I, report_data.quat_J, report_data.quat_K, report_data.quat_real, BNO08xTestHelper::BNO08xAccuracy_to_str(report_data.quat_accuracy)); BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff); } } } // check that new data was received for only enabled reports TEST_ASSERT_EQUAL(true, new_data[0]); TEST_ASSERT_EQUAL(true, new_data[1]); TEST_ASSERT_EQUAL(true, new_data[2]); TEST_ASSERT_NOT_EQUAL(true, new_data[3]); // reset all data used in report test new_data[0] = false; new_data[1] = false; new_data[2] = false; new_data[3] = false; BNO08xTestHelper::reset_all_imu_data_to_test_defaults(); BNO08xTestHelper::update_report_data(&report_data); BNO08xTestHelper::print_test_msg(TEST_TAG, "Disabling Magnetometer report and checking for new data on remaining reports."); imu->disable_magnetometer(); for (int i = 0; i < RX_REPORT_TRIAL_CNT; i++) { if (imu->data_available()) { prev_report_data = report_data; BNO08xTestHelper::update_report_data(&report_data); // check if any default values have been overwritten, implying new data from respective report if (BNO08xTestHelper::accelerometer_data_is_new(&report_data, &prev_report_data)) { new_data[0] = true; sprintf(msg_buff, "Rx Data Trial %d Success: AngularAccel: aX: %.2lf accel aY: %.2lf accel aZ: " "%.2lf Accuracy %s", (i + 1), report_data.accel_x, report_data.accel_y, report_data.accel_z, BNO08xTestHelper::BNO08xAccuracy_to_str(report_data.accel_accuracy)); BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff); } if (BNO08xTestHelper::linear_accelerometer_data_is_new(&report_data, &prev_report_data)) { new_data[1] = true; sprintf(msg_buff, "Rx Data Trial %d Success: LinearAccel: laX: %.2lf laY: %.2lf laZ: " "%.2lf Accuracy: %s", (i + 1), report_data.lin_accel_x, report_data.lin_accel_y, report_data.lin_accel_z, BNO08xTestHelper::BNO08xAccuracy_to_str(report_data.lin_accel_accuracy)); BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff); } if (BNO08xTestHelper::magnetometer_data_is_new(&report_data, &prev_report_data)) { new_data[2] = true; sprintf(msg_buff, "Rx Data Trial %d Failure (REPORT DISABLED): Magf: mX: %.2lf mY: %.2lf mZ: " "%.2lf Accuracy: %s", (i + 1), report_data.magf_x, report_data.magf_y, report_data.magf_z, BNO08xTestHelper::BNO08xAccuracy_to_str(report_data.magf_accuracy)); BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff); } if (BNO08xTestHelper::rotation_vector_data_is_new(&report_data, &prev_report_data)) { new_data[3] = true; sprintf(msg_buff, "Rx Data Trial %d Failure (REPORT DISABLED): Quat: I: %.2lf J: %.2lf K: %.2lf real: %.2lf Accuracy: %s", (i + 1), report_data.quat_I, report_data.quat_J, report_data.quat_K, report_data.quat_real, BNO08xTestHelper::BNO08xAccuracy_to_str(report_data.quat_accuracy)); BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff); } } } BNO08xTestHelper::print_test_msg(TEST_TAG, "Disabling Linear Accelerometer report and checking for new data on remaining reports."); imu->disable_linear_accelerometer(); // check that new data was received for only enabled reports TEST_ASSERT_EQUAL(true, new_data[0]); TEST_ASSERT_EQUAL(true, new_data[1]); TEST_ASSERT_NOT_EQUAL(true, new_data[2]); TEST_ASSERT_NOT_EQUAL(true, new_data[3]); // reset all data used in report test new_data[0] = false; new_data[1] = false; new_data[2] = false; new_data[3] = false; BNO08xTestHelper::reset_all_imu_data_to_test_defaults(); BNO08xTestHelper::update_report_data(&report_data); for (int i = 0; i < RX_REPORT_TRIAL_CNT; i++) { if (imu->data_available()) { prev_report_data = report_data; BNO08xTestHelper::update_report_data(&report_data); // check if any default values have been overwritten, implying new data from respective report if (BNO08xTestHelper::accelerometer_data_is_new(&report_data, &prev_report_data)) { new_data[0] = true; sprintf(msg_buff, "Rx Data Trial %d Success: AngularAccel: aX: %.2lf accel aY: %.2lf accel aZ: " "%.2lf Accuracy %s", (i + 1), report_data.accel_x, report_data.accel_y, report_data.accel_z, BNO08xTestHelper::BNO08xAccuracy_to_str(report_data.accel_accuracy)); BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff); } if (BNO08xTestHelper::linear_accelerometer_data_is_new(&report_data, &prev_report_data)) { new_data[1] = true; sprintf(msg_buff, "Rx Data Trial %d Failure (REPORT DISABLED): LinearAccel: laX: %.2lf laY: %.2lf laZ: " "%.2lf Accuracy: %s", (i + 1), report_data.lin_accel_x, report_data.lin_accel_y, report_data.lin_accel_z, BNO08xTestHelper::BNO08xAccuracy_to_str(report_data.lin_accel_accuracy)); BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff); } if (BNO08xTestHelper::magnetometer_data_is_new(&report_data, &prev_report_data)) { new_data[2] = true; sprintf(msg_buff, "Rx Data Trial %d Failure (REPORT DISABLED): Magf: mX: %.2lf mY: %.2lf mZ: " "%.2lf Accuracy: %s", (i + 1), report_data.magf_x, report_data.magf_y, report_data.magf_z, BNO08xTestHelper::BNO08xAccuracy_to_str(report_data.magf_accuracy)); BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff); } if (BNO08xTestHelper::rotation_vector_data_is_new(&report_data, &prev_report_data)) { new_data[3] = true; sprintf(msg_buff, "Rx Data Trial %d Failure (REPORT DISABLED): Quat: I: %.2lf J: %.2lf K: %.2lf real: %.2lf Accuracy: %s", (i + 1), report_data.quat_I, report_data.quat_J, report_data.quat_K, report_data.quat_real, BNO08xTestHelper::BNO08xAccuracy_to_str(report_data.quat_accuracy)); BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff); } } } // check that new data was received for only enabled reports TEST_ASSERT_EQUAL(true, new_data[0]); TEST_ASSERT_NOT_EQUAL(true, new_data[1]); TEST_ASSERT_NOT_EQUAL(true, new_data[2]); TEST_ASSERT_NOT_EQUAL(true, new_data[3]); BNO08xTestHelper::print_test_msg(TEST_TAG, "Test completed, disabling Accelerometer report"); imu->disable_accelerometer(); } TEST_CASE("Hex Report Enable", "[MultiReportEnableDisable]") { const constexpr char* TEST_TAG = "Hex Report Enable"; BNO08x* imu = nullptr; BNO08xTestHelper::imu_report_data_t report_data; BNO08xTestHelper::imu_report_data_t prev_report_data; char msg_buff[200] = {}; const constexpr uint8_t ENABLED_REPORT_CNT = 8; const constexpr uint8_t RX_REPORT_TRIAL_CNT = 2 * ENABLED_REPORT_CNT; const constexpr uint32_t REPORT_PERIOD = 100000UL; // 100ms bool new_data[ENABLED_REPORT_CNT] = {false, false, false, false, false, false, false, false}; imu = BNO08xTestHelper::get_test_imu(); // reset all data used in report test BNO08xTestHelper::reset_all_imu_data_to_test_defaults(); BNO08xTestHelper::update_report_data(&report_data); BNO08xTestHelper::print_test_msg(TEST_TAG, "Enabling Accelerometer, Linear Accelerometer, Magnetometer, Rotation Vector, Uncalibrated Gyro, " "Calibrated Gyro, Gravity, and Step Counter " "reports, checking for new data on all."); imu->enable_accelerometer(REPORT_PERIOD); imu->enable_linear_accelerometer(REPORT_PERIOD); imu->enable_magnetometer(REPORT_PERIOD); imu->enable_rotation_vector(REPORT_PERIOD); imu->enable_uncalibrated_gyro(REPORT_PERIOD); imu->enable_calibrated_gyro(REPORT_PERIOD); imu->enable_gravity(REPORT_PERIOD); imu->enable_step_counter(REPORT_PERIOD); for (int i = 0; i < RX_REPORT_TRIAL_CNT; i++) { if (imu->data_available()) { prev_report_data = report_data; BNO08xTestHelper::update_report_data(&report_data); // check if any default values have been overwritten, implying new data from respective report if (BNO08xTestHelper::accelerometer_data_is_new(&report_data, &prev_report_data)) { new_data[0] = true; sprintf(msg_buff, "Rx Data Trial %d Success: AngularAccel: aX: %.2lf accel aY: %.2lf accel aZ: " "%.2lf Accuracy %s", (i + 1), report_data.accel_x, report_data.accel_y, report_data.accel_z, BNO08xTestHelper::BNO08xAccuracy_to_str(report_data.accel_accuracy)); BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff); } if (BNO08xTestHelper::linear_accelerometer_data_is_new(&report_data, &prev_report_data)) { new_data[1] = true; sprintf(msg_buff, "Rx Data Trial %d Success: LinearAccel: laX: %.2lf laY: %.2lf laZ: " "%.2lf Accuracy: %s", (i + 1), report_data.lin_accel_x, report_data.lin_accel_y, report_data.lin_accel_z, BNO08xTestHelper::BNO08xAccuracy_to_str(report_data.lin_accel_accuracy)); BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff); } if (BNO08xTestHelper::magnetometer_data_is_new(&report_data, &prev_report_data)) { new_data[2] = true; sprintf(msg_buff, "Rx Data Trial %d Success: Magf: mX: %.2lf mY: %.2lf mZ: " "%.2lf Accuracy: %s", (i + 1), report_data.magf_x, report_data.magf_y, report_data.magf_z, BNO08xTestHelper::BNO08xAccuracy_to_str(report_data.magf_accuracy)); BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff); } if (BNO08xTestHelper::rotation_vector_data_is_new(&report_data, &prev_report_data)) { new_data[3] = true; sprintf(msg_buff, "Rx Data Trial %d Success: Quat: I: %.2lf J: %.2lf K: %.2lf real: %.2lf Accuracy: %s", (i + 1), report_data.quat_I, report_data.quat_J, report_data.quat_K, report_data.quat_real, BNO08xTestHelper::BNO08xAccuracy_to_str(report_data.quat_accuracy)); BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff); } if (BNO08xTestHelper::uncalibrated_gyro_data_is_new(&report_data, &prev_report_data)) { new_data[4] = true; sprintf(msg_buff, "Rx Data Trial %d Success: UncalibratedGyro: vX: %.2lf vY: %.2lf vZ: %.2lf driftX: %.2lf driftY: %.2lf driftZ: " "%.2lf", (i + 1), report_data.uncalib_gyro_vel_x, report_data.uncalib_gyro_vel_y, report_data.uncalib_gyro_vel_z, report_data.uncalib_gyro_drift_x, report_data.uncalib_gyro_drift_y, report_data.uncalib_gyro_drift_z); BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff); } if (BNO08xTestHelper::calibrated_gyro_data_is_new(&report_data, &prev_report_data)) { new_data[5] = true; sprintf(msg_buff, "Rx Data Trial %d Success: CalibratedGyro: vX: %.2lf vY: %.2lf vZ: " "%.2lf", (i + 1), report_data.calib_gyro_vel_x, report_data.calib_gyro_vel_y, report_data.calib_gyro_vel_z); BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff); } if (BNO08xTestHelper::gravity_data_is_new(&report_data, &prev_report_data)) { new_data[6] = true; sprintf(msg_buff, "Rx Data Trial %d Success: Gravity: gX: %.2lf gY: %.2lf gZ: " "%.2lf Accuracy: %s", (i + 1), report_data.grav_x, report_data.grav_y, report_data.grav_z, BNO08xTestHelper::BNO08xAccuracy_to_str(report_data.grav_accuracy)); BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff); } if (BNO08xTestHelper::step_counter_data_is_new(&report_data, &prev_report_data)) { new_data[7] = true; sprintf(msg_buff, "Rx Data Trial %d Success: StepCounter: %d steps", (i + 1), report_data.step_count); BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff); } } } // check that new data was received for each report TEST_ASSERT_EQUAL(true, new_data[0]); TEST_ASSERT_EQUAL(true, new_data[1]); TEST_ASSERT_EQUAL(true, new_data[2]); TEST_ASSERT_EQUAL(true, new_data[3]); TEST_ASSERT_EQUAL(true, new_data[4]); TEST_ASSERT_EQUAL(true, new_data[5]); TEST_ASSERT_EQUAL(true, new_data[6]); TEST_ASSERT_EQUAL(true, new_data[7]); BNO08xTestHelper::print_test_msg(TEST_TAG, "Test completed, disabling all reports."); imu->disable_accelerometer(); imu->disable_linear_accelerometer(); imu->disable_magnetometer(); imu->disable_rotation_vector(); imu->disable_uncalibrated_gyro(); imu->disable_calibrated_gyro(); imu->disable_gravity(); imu->disable_step_counter(); } TEST_CASE("BNO08x Driver Cleanup for [MultiReportEnableDisable] Tests", "[MultiReportEnableDisable]") { const constexpr char* TEST_TAG = "BNO08x Driver Cleanup for [MultiReportEnableDisable] Tests"; BNO08xTestHelper::print_test_msg(TEST_TAG, "Destroying BNO08x Driver."); BNO08xTestHelper::destroy_test_imu(); }