503 lines
23 KiB
C++
503 lines
23 KiB
C++
/**
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* @file CallbackTests.cpp
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* @author Myles Parfeniuk
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*
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*
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* @warning YOU MUST ADD THE FOLLOWING LINE TO YOUR MAIN PROJECTS CMakeLists.txt IN ORDER FOR THIS
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* TEST SUITE TO BE BUILT WITH PROJECT: set(TEST_COMPONENTS "esp32_BNO08x" CACHE STRING "Components
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* to test.")
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*/
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#include "unity.h"
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#include "../include/BNO08xTestHelper.hpp"
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TEST_CASE("BNO08x Driver Creation for [CallbackAllReportVoidInputParam] Tests",
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"[CallbackAllReportVoidInputParam]")
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{
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const constexpr char* TEST_TAG =
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"BNO08x Driver Creation for [CallbackAllReportVoidInputParam] Tests";
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BNO08x* imu = nullptr;
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BNO08xTestHelper::print_test_start_banner(TEST_TAG);
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BNO08xTestHelper::print_test_msg(TEST_TAG, "Creating & initializing BNO08x driver.");
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BNO08xTestHelper::create_test_imu();
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imu = BNO08xTestHelper::get_test_imu();
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// ensure IMU initialized successfully
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TEST_ASSERT_EQUAL(true, imu->initialize());
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BNO08xTestHelper::print_test_end_banner(TEST_TAG);
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}
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TEST_CASE("Void Input Param Flavor Cb", "[CallbackAllReportVoidInputParam]")
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{
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const constexpr char* TEST_TAG = "Void Input Param Flavor Cb";
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static const constexpr uint8_t ENABLED_REPORT_COUNT = 8;
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static const constexpr uint8_t RX_REPORT_TRIAL_CNT = ENABLED_REPORT_COUNT * 5;
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static const constexpr uint32_t REPORT_PERIOD = 100000UL; // 100ms
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BNO08x* imu = nullptr;
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char msg_buff[200] = {};
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bool data_available_accel = false;
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bool data_available_lin_accel = false;
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bool data_available_grav = false;
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bool data_available_cal_gyro = false;
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bool data_available_cal_magnetometer = false;
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bool data_available_rv = false;
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bool data_available_rv_game = false;
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bool data_available_rv_geomagnetic = false;
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bool test_running = true;
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bno08x_accel_t data_accel;
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bno08x_gyro_t data_vel;
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bno08x_magf_t data_magf;
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bno08x_quat_t data_quat;
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BNO08xTestHelper::print_test_start_banner(TEST_TAG);
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imu = BNO08xTestHelper::get_test_imu();
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imu->register_cb(
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[&imu, &data_available_accel, &data_available_lin_accel, &data_available_grav,
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&data_available_cal_gyro, &data_available_cal_magnetometer, &data_accel,
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&data_available_rv, &data_available_rv_game, &data_available_rv_geomagnetic,
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&data_quat, &data_vel, &data_magf, &msg_buff, &test_running]()
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{
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static int i = 0;
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if (i < RX_REPORT_TRIAL_CNT)
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{
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if (imu->rpt_accelerometer.has_new_data())
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{
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data_available_accel = true;
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data_accel = imu->rpt_accelerometer.get();
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sprintf(msg_buff,
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"Rx Data Trial %d Success: Accel: [m/s^2] x: %.2f y: %.2f z: %.2f "
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"accuracy: %s ",
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(i + 1), data_accel.x, data_accel.y, data_accel.z,
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BNO08x::accuracy_to_str(data_accel.accuracy));
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BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
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}
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else if (imu->rpt_linear_accelerometer.has_new_data())
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{
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data_available_lin_accel = true;
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data_accel = imu->rpt_linear_accelerometer.get();
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sprintf(msg_buff,
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"Rx Data Trial %d Success: LinAccel: [m/s^2] x: %.2f y: %.2f z: "
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"%.2f accuracy: %s ",
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(i + 1), data_accel.x, data_accel.y, data_accel.z,
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BNO08x::accuracy_to_str(data_accel.accuracy));
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BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
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}
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else if (imu->rpt_gravity.has_new_data())
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{
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data_available_grav = true;
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data_accel = imu->rpt_gravity.get();
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sprintf(msg_buff,
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"Rx Data Trial %d Success: Gravity: [m/s^2] x: %.2f y: %.2f z: "
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"%.2f accuracy: %s ",
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(i + 1), data_accel.x, data_accel.y, data_accel.z,
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BNO08x::accuracy_to_str(data_accel.accuracy));
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BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
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}
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else if (imu->rpt_cal_gyro.has_new_data())
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{
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data_available_cal_gyro = true;
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data_vel = imu->rpt_cal_gyro.get();
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sprintf(msg_buff,
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"Rx Data Trial %d Success: CalGyro: [rad/s] x: %.2f y: %.2f z: "
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"%.2f accuracy: %s ",
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(i + 1), data_vel.x, data_vel.y, data_vel.z,
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BNO08x::accuracy_to_str(data_vel.accuracy));
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BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
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}
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else if (imu->rpt_cal_magnetometer.has_new_data())
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{
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data_available_cal_magnetometer = true;
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data_magf = imu->rpt_cal_magnetometer.get();
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sprintf(msg_buff,
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"Rx Data Trial %d Success: CalMagnetometer: [uTesla] x: %.2f y: "
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"%.2f z: %.2f accuracy: %s ",
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(i + 1), data_magf.x, data_magf.y, data_magf.z,
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BNO08x::accuracy_to_str(data_magf.accuracy));
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BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
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}
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else if (imu->rpt_rv.has_new_data())
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{
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data_available_rv = true;
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data_quat = imu->rpt_rv.get_quat();
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sprintf(msg_buff,
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"Rx Data Trial %d Success: RV: [n/a] real: %.2f i: %.2f j: %.2f k: "
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"%.2f accuracy: %s ",
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(i + 1), data_quat.real, data_quat.i, data_quat.j, data_quat.k,
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BNO08x::accuracy_to_str(data_quat.accuracy));
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BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
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}
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else if (imu->rpt_rv_game.has_new_data())
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{
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data_available_rv_game = true;
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data_quat = imu->rpt_rv_game.get_quat();
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sprintf(msg_buff,
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"Rx Data Trial %d Success: RV Game: [n/a] real: %.2f i: %.2f j: "
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"%.2f k: %.2f accuracy: %s ",
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(i + 1), data_quat.real, data_quat.i, data_quat.j, data_quat.k,
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BNO08x::accuracy_to_str(data_quat.accuracy));
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BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
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}
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else if (imu->rpt_rv_geomagnetic.has_new_data())
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{
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data_available_rv_geomagnetic = true;
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data_quat = imu->rpt_rv_geomagnetic.get_quat();
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sprintf(msg_buff,
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"Rx Data Trial %d Success: RV Geomagnetic: [n/a] real: %.2f i: "
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"%.2f j: %.2f k: %.2f accuracy: %s ",
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(i + 1), data_quat.real, data_quat.i, data_quat.j, data_quat.k,
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BNO08x::accuracy_to_str(data_quat.accuracy));
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BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
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}
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i++;
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}
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else if (test_running)
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{
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TEST_ASSERT_EQUAL(true, imu->rpt_accelerometer.disable());
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TEST_ASSERT_EQUAL(true, imu->rpt_linear_accelerometer.disable());
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TEST_ASSERT_EQUAL(true, imu->rpt_gravity.disable());
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TEST_ASSERT_EQUAL(true, imu->rpt_cal_gyro.disable());
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TEST_ASSERT_EQUAL(true, imu->rpt_cal_magnetometer.disable());
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TEST_ASSERT_EQUAL(true, imu->rpt_rv.disable());
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TEST_ASSERT_EQUAL(true, imu->rpt_rv_game.disable());
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TEST_ASSERT_EQUAL(true, imu->rpt_rv_geomagnetic.disable());
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test_running = false;
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}
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});
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TEST_ASSERT_EQUAL(true, imu->rpt_accelerometer.enable(REPORT_PERIOD));
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TEST_ASSERT_EQUAL(true, imu->rpt_linear_accelerometer.enable(REPORT_PERIOD));
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TEST_ASSERT_EQUAL(true, imu->rpt_gravity.enable(REPORT_PERIOD));
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TEST_ASSERT_EQUAL(true, imu->rpt_cal_gyro.enable(REPORT_PERIOD));
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TEST_ASSERT_EQUAL(true, imu->rpt_cal_magnetometer.enable(REPORT_PERIOD));
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TEST_ASSERT_EQUAL(true, imu->rpt_rv.enable(REPORT_PERIOD));
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TEST_ASSERT_EQUAL(true, imu->rpt_rv_game.enable(REPORT_PERIOD));
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TEST_ASSERT_EQUAL(true, imu->rpt_rv_geomagnetic.enable(REPORT_PERIOD));
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while (test_running)
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{
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}
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TEST_ASSERT_EQUAL(true, data_available_accel);
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TEST_ASSERT_EQUAL(true, data_available_lin_accel);
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TEST_ASSERT_EQUAL(true, data_available_grav);
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TEST_ASSERT_EQUAL(true, data_available_cal_gyro);
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TEST_ASSERT_EQUAL(true, data_available_cal_magnetometer);
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TEST_ASSERT_EQUAL(true, data_available_rv);
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TEST_ASSERT_EQUAL(true, data_available_rv_game);
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TEST_ASSERT_EQUAL(true, data_available_rv_geomagnetic);
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BNO08xTestHelper::print_test_end_banner(TEST_TAG);
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}
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TEST_CASE("BNO08x Driver Cleanup for [CallbackAllReportVoidInputParam] Tests",
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"[CallbackAllReportVoidInputParam]")
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{
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const constexpr char* TEST_TAG =
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"BNO08x Driver Cleanup for [CallbackAllReportVoidInputParam] Tests";
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BNO08xTestHelper::print_test_start_banner(TEST_TAG);
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BNO08xTestHelper::print_test_msg(TEST_TAG, "Destroying BNO08x Driver.");
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BNO08xTestHelper::destroy_test_imu();
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BNO08xTestHelper::print_test_end_banner(TEST_TAG);
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}
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TEST_CASE("BNO08x Driver Creation for [CallbackAllReportIDInputParam] Tests",
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"[CallbackAllReportIDInputParam]")
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{
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const constexpr char* TEST_TAG =
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"BNO08x Driver Creation for [CallbackAllReportIDInputParam] Tests";
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BNO08x* imu = nullptr;
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BNO08xTestHelper::print_test_start_banner(TEST_TAG);
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BNO08xTestHelper::print_test_msg(TEST_TAG, "Creating & initializing BNO08x driver.");
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BNO08xTestHelper::create_test_imu();
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imu = BNO08xTestHelper::get_test_imu();
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// ensure IMU initialized successfully
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TEST_ASSERT_EQUAL(true, imu->initialize());
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BNO08xTestHelper::print_test_end_banner(TEST_TAG);
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}
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TEST_CASE("Report ID Input Param Flavor Cb", "[CallbackAllReportIDInputParam]")
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{
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const constexpr char* TEST_TAG = "Report ID Input Param Flavor Cb";
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static const constexpr uint8_t ENABLED_REPORT_COUNT = 8;
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static const constexpr uint8_t RX_REPORT_TRIAL_CNT = ENABLED_REPORT_COUNT * 5;
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static const constexpr uint32_t REPORT_PERIOD = 100000UL; // 100ms
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BNO08x* imu = nullptr;
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char msg_buff[200] = {};
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bool data_available_accel = false;
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bool data_available_lin_accel = false;
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bool data_available_grav = false;
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bool data_available_cal_gyro = false;
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bool data_available_cal_magnetometer = false;
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bool data_available_rv = false;
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bool data_available_rv_game = false;
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bool data_available_rv_geomagnetic = false;
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bool test_running = true;
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bno08x_accel_t data_accel;
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bno08x_gyro_t data_vel;
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bno08x_magf_t data_magf;
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bno08x_quat_t data_quat;
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BNO08xTestHelper::print_test_start_banner(TEST_TAG);
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imu = BNO08xTestHelper::get_test_imu();
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imu->register_cb(
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[&imu, &data_available_accel, &data_available_lin_accel, &data_available_grav,
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&data_available_cal_gyro, &data_available_cal_magnetometer, &data_accel,
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&data_available_rv, &data_available_rv_game, &data_available_rv_geomagnetic,
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&data_quat, &data_vel, &data_magf, &msg_buff, &test_running](uint8_t report_ID)
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{
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static int i = 0;
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if (i < RX_REPORT_TRIAL_CNT)
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{
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switch (report_ID)
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{
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case SH2_ACCELEROMETER:
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data_available_accel = true;
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data_accel = imu->rpt_accelerometer.get();
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sprintf(msg_buff,
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"Rx Data Trial %d Success: Accel: [m/s^2] x: %.2f y: %.2f z: "
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"%.2f accuracy: %s ",
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(i + 1), data_accel.x, data_accel.y, data_accel.z,
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BNO08x::accuracy_to_str(data_accel.accuracy));
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BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
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break;
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case SH2_LINEAR_ACCELERATION:
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data_available_lin_accel = true;
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data_accel = imu->rpt_linear_accelerometer.get();
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sprintf(msg_buff,
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"Rx Data Trial %d Success: LinAccel: [m/s^2] x: %.2f y: %.2f "
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"z: %.2f accuracy: %s ",
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(i + 1), data_accel.x, data_accel.y, data_accel.z,
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BNO08x::accuracy_to_str(data_accel.accuracy));
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BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
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break;
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case SH2_GRAVITY:
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data_available_grav = true;
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data_accel = imu->rpt_gravity.get();
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sprintf(msg_buff,
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"Rx Data Trial %d Success: Gravity: [m/s^2] x: %.2f y: %.2f z: "
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"%.2f accuracy: %s ",
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(i + 1), data_accel.x, data_accel.y, data_accel.z,
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BNO08x::accuracy_to_str(data_accel.accuracy));
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BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
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break;
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case SH2_GYROSCOPE_CALIBRATED:
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data_available_cal_gyro = true;
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data_vel = imu->rpt_cal_gyro.get();
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sprintf(msg_buff,
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"Rx Data Trial %d Success: CalGyro: [rad/s] x: %.2f y: %.2f z: "
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"%.2f accuracy: %s ",
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(i + 1), data_vel.x, data_vel.y, data_vel.z,
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BNO08x::accuracy_to_str(data_vel.accuracy));
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BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
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break;
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case SH2_MAGNETIC_FIELD_CALIBRATED:
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data_available_cal_magnetometer = true;
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data_magf = imu->rpt_cal_magnetometer.get();
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sprintf(msg_buff,
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"Rx Data Trial %d Success: CalMagnetometer: [uTesla] x: %.2f "
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"y: %.2f z: %.2f accuracy: %s ",
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(i + 1), data_magf.x, data_magf.y, data_magf.z,
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BNO08x::accuracy_to_str(data_magf.accuracy));
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BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
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break;
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case SH2_ROTATION_VECTOR:
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data_available_rv = true;
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data_quat = imu->rpt_rv.get_quat();
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sprintf(msg_buff,
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"Rx Data Trial %d Success: RV: [n/a] real: %.2f i: %.2f j: "
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"%.2f k: %.2f accuracy: %s ",
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(i + 1), data_quat.real, data_quat.i, data_quat.j, data_quat.k,
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BNO08x::accuracy_to_str(data_quat.accuracy));
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BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
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break;
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case SH2_GAME_ROTATION_VECTOR:
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data_available_rv_game = true;
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data_quat = imu->rpt_rv_game.get_quat();
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sprintf(msg_buff,
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"Rx Data Trial %d Success: RV Game: [n/a] real: %.2f i: %.2f "
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"j: %.2f k: %.2f accuracy: %s ",
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(i + 1), data_quat.real, data_quat.i, data_quat.j, data_quat.k,
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BNO08x::accuracy_to_str(data_quat.accuracy));
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BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
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break;
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case SH2_GEOMAGNETIC_ROTATION_VECTOR:
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data_available_rv_geomagnetic = true;
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data_quat = imu->rpt_rv_geomagnetic.get_quat();
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sprintf(msg_buff,
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"Rx Data Trial %d Success: RV Geomagnetic: [n/a] real: %.2f i: "
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"%.2f j: %.2f k: %.2f accuracy: %s ",
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(i + 1), data_quat.real, data_quat.i, data_quat.j, data_quat.k,
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BNO08x::accuracy_to_str(data_quat.accuracy));
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BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
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break;
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default:
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break;
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}
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i++;
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}
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else if (test_running)
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{
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TEST_ASSERT_EQUAL(true, imu->rpt_accelerometer.disable());
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TEST_ASSERT_EQUAL(true, imu->rpt_linear_accelerometer.disable());
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TEST_ASSERT_EQUAL(true, imu->rpt_gravity.disable());
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TEST_ASSERT_EQUAL(true, imu->rpt_cal_gyro.disable());
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TEST_ASSERT_EQUAL(true, imu->rpt_cal_magnetometer.disable());
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TEST_ASSERT_EQUAL(true, imu->rpt_rv.disable());
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TEST_ASSERT_EQUAL(true, imu->rpt_rv_game.disable());
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TEST_ASSERT_EQUAL(true, imu->rpt_rv_geomagnetic.disable());
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test_running = false;
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}
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});
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TEST_ASSERT_EQUAL(true, imu->rpt_accelerometer.enable(REPORT_PERIOD));
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TEST_ASSERT_EQUAL(true, imu->rpt_linear_accelerometer.enable(REPORT_PERIOD));
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TEST_ASSERT_EQUAL(true, imu->rpt_gravity.enable(REPORT_PERIOD));
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TEST_ASSERT_EQUAL(true, imu->rpt_cal_gyro.enable(REPORT_PERIOD));
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TEST_ASSERT_EQUAL(true, imu->rpt_cal_magnetometer.enable(REPORT_PERIOD));
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TEST_ASSERT_EQUAL(true, imu->rpt_rv.enable(REPORT_PERIOD));
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TEST_ASSERT_EQUAL(true, imu->rpt_rv_game.enable(REPORT_PERIOD));
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TEST_ASSERT_EQUAL(true, imu->rpt_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->rpt_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->rpt_accelerometer.get();
|
|
sprintf(msg_buff,
|
|
"Rx Data Trial %d Success: Accel: [m/s^2] x: %.2f y: %.2f z: %.2f "
|
|
"accuracy: %s ",
|
|
(i + 1), data_accel.x, 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->rpt_accelerometer.disable());
|
|
test_running = false;
|
|
}
|
|
});
|
|
|
|
TEST_ASSERT_EQUAL(true, imu->rpt_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);
|
|
}
|