468 lines
22 KiB
C++
468 lines
22 KiB
C++
/**
|
|
* @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->rpt.accelerometer.has_new_data())
|
|
{
|
|
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, BNO08xAccuracy_to_str(data_accel.accuracy));
|
|
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
|
|
}
|
|
else if (imu->rpt.linear_accelerometer.has_new_data())
|
|
{
|
|
data_available_lin_accel = true;
|
|
data_accel = imu->rpt.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, BNO08xAccuracy_to_str(data_accel.accuracy));
|
|
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
|
|
}
|
|
else if (imu->rpt.gravity.has_new_data())
|
|
{
|
|
data_available_grav = true;
|
|
data_accel = imu->rpt.gravity.get();
|
|
sprintf(msg_buff,
|
|
"Rx Data Trial %d Success: Gravity: [m/s^2] x: %.2f y: %.2f z: "
|
|
"%.2f accuracy: %s ",
|
|
(i + 1), data_accel.x, data_accel.y, data_accel.z, BNO08xAccuracy_to_str(data_accel.accuracy));
|
|
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
|
|
}
|
|
else if (imu->rpt.cal_gyro.has_new_data())
|
|
{
|
|
data_available_cal_gyro = true;
|
|
data_vel = imu->rpt.cal_gyro.get();
|
|
sprintf(msg_buff,
|
|
"Rx Data Trial %d Success: CalGyro: [rad/s] x: %.2f y: %.2f z: "
|
|
"%.2f accuracy: %s ",
|
|
(i + 1), data_vel.x, data_vel.y, data_vel.z, BNO08xAccuracy_to_str(data_vel.accuracy));
|
|
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
|
|
}
|
|
else if (imu->rpt.cal_magnetometer.has_new_data())
|
|
{
|
|
data_available_cal_magnetometer = true;
|
|
data_magf = imu->rpt.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, BNO08xAccuracy_to_str(data_magf.accuracy));
|
|
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
|
|
}
|
|
else if (imu->rpt.rv.has_new_data())
|
|
{
|
|
data_available_rv = true;
|
|
data_quat = imu->rpt.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,
|
|
BNO08xAccuracy_to_str(data_quat.accuracy));
|
|
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
|
|
}
|
|
else if (imu->rpt.rv_game.has_new_data())
|
|
{
|
|
data_available_rv_game = true;
|
|
data_quat = imu->rpt.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,
|
|
BNO08xAccuracy_to_str(data_quat.accuracy));
|
|
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
|
|
}
|
|
else if (imu->rpt.rv_geomagnetic.has_new_data())
|
|
{
|
|
data_available_rv_geomagnetic = true;
|
|
data_quat = imu->rpt.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,
|
|
BNO08xAccuracy_to_str(data_quat.accuracy));
|
|
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
|
|
}
|
|
|
|
i++;
|
|
}
|
|
else if (test_running)
|
|
{
|
|
TEST_ASSERT_EQUAL(true, imu->disable_all_reports());
|
|
test_running = false;
|
|
}
|
|
});
|
|
|
|
TEST_ASSERT_EQUAL(true, imu->rpt.accelerometer.enable(REPORT_PERIOD));
|
|
TEST_ASSERT_EQUAL(true, imu->rpt.linear_accelerometer.enable(REPORT_PERIOD));
|
|
TEST_ASSERT_EQUAL(true, imu->rpt.gravity.enable(REPORT_PERIOD));
|
|
TEST_ASSERT_EQUAL(true, imu->rpt.cal_gyro.enable(REPORT_PERIOD));
|
|
TEST_ASSERT_EQUAL(true, imu->rpt.cal_magnetometer.enable(REPORT_PERIOD));
|
|
TEST_ASSERT_EQUAL(true, imu->rpt.rv.enable(REPORT_PERIOD));
|
|
TEST_ASSERT_EQUAL(true, imu->rpt.rv_game.enable(REPORT_PERIOD));
|
|
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 [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->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,
|
|
BNO08xAccuracy_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->rpt.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,
|
|
BNO08xAccuracy_to_str(data_accel.accuracy));
|
|
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
|
|
break;
|
|
|
|
case SH2_GRAVITY:
|
|
data_available_grav = true;
|
|
data_accel = imu->rpt.gravity.get();
|
|
sprintf(msg_buff,
|
|
"Rx Data Trial %d Success: Gravity: [m/s^2] x: %.2f y: %.2f z: "
|
|
"%.2f accuracy: %s ",
|
|
(i + 1), data_accel.x, data_accel.y, data_accel.z,
|
|
BNO08xAccuracy_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->rpt.cal_gyro.get();
|
|
sprintf(msg_buff,
|
|
"Rx Data Trial %d Success: CalGyro: [rad/s] x: %.2f y: %.2f z: "
|
|
"%.2f accuracy: %s ",
|
|
(i + 1), data_vel.x, data_vel.y, data_vel.z, BNO08xAccuracy_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->rpt.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, BNO08xAccuracy_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->rpt.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,
|
|
BNO08xAccuracy_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->rpt.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,
|
|
BNO08xAccuracy_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->rpt.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,
|
|
BNO08xAccuracy_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->disable_all_reports());
|
|
test_running = false;
|
|
}
|
|
});
|
|
|
|
TEST_ASSERT_EQUAL(true, imu->rpt.accelerometer.enable(REPORT_PERIOD));
|
|
TEST_ASSERT_EQUAL(true, imu->rpt.linear_accelerometer.enable(REPORT_PERIOD));
|
|
TEST_ASSERT_EQUAL(true, imu->rpt.gravity.enable(REPORT_PERIOD));
|
|
TEST_ASSERT_EQUAL(true, imu->rpt.cal_gyro.enable(REPORT_PERIOD));
|
|
TEST_ASSERT_EQUAL(true, imu->rpt.cal_magnetometer.enable(REPORT_PERIOD));
|
|
TEST_ASSERT_EQUAL(true, imu->rpt.rv.enable(REPORT_PERIOD));
|
|
TEST_ASSERT_EQUAL(true, imu->rpt.rv_game.enable(REPORT_PERIOD));
|
|
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, BNO08xAccuracy_to_str(data_accel.accuracy));
|
|
BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
|
|
|
|
i++;
|
|
}
|
|
else if (test_running)
|
|
{
|
|
TEST_ASSERT_EQUAL(true, imu->disable_all_reports());
|
|
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);
|
|
}
|