598 lines
20 KiB
C++
598 lines
20 KiB
C++
/**
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* @file SingleReportTests.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 [SingleReportEnableDisable] Tests", "[SingleReportEnableDisable]")
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{
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const constexpr char* TEST_TAG = "BNO08x Driver Creation for [SingleReportEnableDisable] 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("Enable Incorrect Report", "[SingleReportEnableDisable]")
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{
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const constexpr char* TEST_TAG = "Enable Incorrect Report";
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static const constexpr uint8_t RX_REPORT_TRIAL_CNT = 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 = false;
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bool wrong_report_data_available = true;
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bno08x_accel_t data;
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BNO08xTestHelper::print_test_start_banner(TEST_TAG);
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imu = BNO08xTestHelper::get_test_imu();
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TEST_ASSERT_EQUAL(true, imu->rpt.accelerometer.enable(REPORT_PERIOD));
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for (int i = 0; i < RX_REPORT_TRIAL_CNT; i++)
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{
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data_available = imu->data_available();
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TEST_ASSERT_EQUAL(true, data_available);
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wrong_report_data_available = imu->rpt.linear_accelerometer.has_new_data();
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TEST_ASSERT_EQUAL(false, wrong_report_data_available);
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data = imu->rpt.linear_accelerometer.get();
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sprintf(msg_buff,
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"No Rx Data Trial %d Success: LinAccelDefaults: [m/s^2] x: %.2f y: %.2f z: %.2f "
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"accuracy: %s ",
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(i + 1), data.x, data.y, data.z, BNO08x::accuracy_to_str(data.accuracy));
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BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
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}
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TEST_ASSERT_EQUAL(true, imu->rpt.accelerometer.disable());
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BNO08xTestHelper::print_test_end_banner(TEST_TAG);
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}
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TEST_CASE("Enable/Disable Accelerometer", "[SingleReportEnableDisable]")
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{
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const constexpr char* TEST_TAG = "Enable/Disable Accelerometer";
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static const constexpr uint8_t RX_REPORT_TRIAL_CNT = 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 = false;
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bool report_data_available = true;
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bno08x_accel_t data;
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BNO08xTestHelper::print_test_start_banner(TEST_TAG);
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imu = BNO08xTestHelper::get_test_imu();
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TEST_ASSERT_EQUAL(true, imu->rpt.accelerometer.enable(REPORT_PERIOD));
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for (int i = 0; i < RX_REPORT_TRIAL_CNT; i++)
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{
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data_available = imu->data_available();
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TEST_ASSERT_EQUAL(true, data_available);
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report_data_available = imu->rpt.accelerometer.has_new_data();
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TEST_ASSERT_EQUAL(true, report_data_available);
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data = imu->rpt.accelerometer.get();
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sprintf(msg_buff, "Rx Data Trial %d Success: Accel: [m/s^2] x: %.2f y: %.2f z: %.2f accuracy: %s ", (i + 1), data.x,
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data.y, data.z, BNO08x::accuracy_to_str(data.accuracy));
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BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
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}
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TEST_ASSERT_EQUAL(true, imu->rpt.accelerometer.disable());
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BNO08xTestHelper::print_test_end_banner(TEST_TAG);
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}
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TEST_CASE("Enable/Disable Linear Accelerometer", "[SingleReportEnableDisable]")
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{
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const constexpr char* TEST_TAG = "Enable/Disable Linear Accelerometer";
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static const constexpr uint8_t RX_REPORT_TRIAL_CNT = 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 = false;
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bool report_data_available = true;
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bno08x_accel_t data;
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BNO08xTestHelper::print_test_start_banner(TEST_TAG);
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imu = BNO08xTestHelper::get_test_imu();
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TEST_ASSERT_EQUAL(true, imu->rpt.linear_accelerometer.enable(REPORT_PERIOD));
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for (int i = 0; i < RX_REPORT_TRIAL_CNT; i++)
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{
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data_available = imu->data_available();
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TEST_ASSERT_EQUAL(true, data_available);
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report_data_available = imu->rpt.linear_accelerometer.has_new_data();
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TEST_ASSERT_EQUAL(true, report_data_available);
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data = imu->rpt.linear_accelerometer.get();
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sprintf(msg_buff,
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"Rx Data Trial %d Success: LinearAccel: [m/s^2] x: %.2f y: %.2f z: %.2f accuracy: "
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"%s ",
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(i + 1), data.x, data.y, data.z, BNO08x::accuracy_to_str(data.accuracy));
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BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
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}
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TEST_ASSERT_EQUAL(true, imu->rpt.linear_accelerometer.disable());
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BNO08xTestHelper::print_test_end_banner(TEST_TAG);
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}
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TEST_CASE("Enable/Disable Gravity", "[SingleReportEnableDisable]")
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{
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const constexpr char* TEST_TAG = "Enable/Disable Gravity";
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static const constexpr uint8_t RX_REPORT_TRIAL_CNT = 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 = false;
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bool report_data_available = true;
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bno08x_accel_t data;
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BNO08xTestHelper::print_test_start_banner(TEST_TAG);
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imu = BNO08xTestHelper::get_test_imu();
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TEST_ASSERT_EQUAL(true, imu->rpt.gravity.enable(REPORT_PERIOD));
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for (int i = 0; i < RX_REPORT_TRIAL_CNT; i++)
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{
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data_available = imu->data_available();
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TEST_ASSERT_EQUAL(true, data_available);
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report_data_available = imu->rpt.gravity.has_new_data();
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TEST_ASSERT_EQUAL(true, report_data_available);
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data = imu->rpt.gravity.get();
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sprintf(msg_buff, "Rx Data Trial %d Success: Gravity: [m/s^2] x: %.2f y: %.2f z: %.2f accuracy: %s ", (i + 1), data.x,
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data.y, data.z, BNO08x::accuracy_to_str(data.accuracy));
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BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
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}
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TEST_ASSERT_EQUAL(true, imu->rpt.gravity.disable());
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BNO08xTestHelper::print_test_end_banner(TEST_TAG);
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}
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TEST_CASE("Enable/Disable Cal Magnetometer", "[SingleReportEnableDisable]")
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{
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const constexpr char* TEST_TAG = "Enable/Disable Cal Magnetometer";
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static const constexpr uint8_t RX_REPORT_TRIAL_CNT = 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 = false;
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bool report_data_available = true;
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bno08x_magf_t data;
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BNO08xTestHelper::print_test_start_banner(TEST_TAG);
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imu = BNO08xTestHelper::get_test_imu();
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TEST_ASSERT_EQUAL(true, imu->rpt.cal_magnetometer.enable(REPORT_PERIOD));
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for (int i = 0; i < RX_REPORT_TRIAL_CNT; i++)
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{
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data_available = imu->data_available();
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TEST_ASSERT_EQUAL(true, data_available);
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report_data_available = imu->rpt.cal_magnetometer.has_new_data();
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TEST_ASSERT_EQUAL(true, report_data_available);
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data = 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: %.2f z: %.2f "
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"accuracy: %s ",
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(i + 1), data.x, data.y, data.z, BNO08x::accuracy_to_str(data.accuracy));
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BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
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}
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TEST_ASSERT_EQUAL(true, imu->rpt.cal_magnetometer.disable());
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BNO08xTestHelper::print_test_end_banner(TEST_TAG);
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}
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TEST_CASE("Enable/Disable Uncal Magnetometer", "[SingleReportEnableDisable]")
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{
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const constexpr char* TEST_TAG = "Enable/Disable Uncal Magnetometer";
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static const constexpr uint8_t RX_REPORT_TRIAL_CNT = 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 = false;
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bool report_data_available = true;
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bno08x_magf_t data_magf;
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bno08x_magf_bias_t data_bias;
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BNO08xTestHelper::print_test_start_banner(TEST_TAG);
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imu = BNO08xTestHelper::get_test_imu();
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TEST_ASSERT_EQUAL(true, imu->rpt.uncal_magnetometer.enable(REPORT_PERIOD));
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for (int i = 0; i < RX_REPORT_TRIAL_CNT; i++)
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{
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data_available = imu->data_available();
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TEST_ASSERT_EQUAL(true, data_available);
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report_data_available = imu->rpt.uncal_magnetometer.has_new_data();
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TEST_ASSERT_EQUAL(true, report_data_available);
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imu->rpt.uncal_magnetometer.get(data_magf, data_bias);
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sprintf(msg_buff,
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"Rx Data Trial %d Success: UncalMagnetometer: [uTesla] x: %.2f y: %.2f z: %.2f "
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"x_bias: %.2f y_bias: %.2f z_bias: %.2f accuracy: %s ",
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(i + 1), data_magf.x, data_magf.y, data_magf.z, data_bias.x, data_bias.y, data_bias.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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TEST_ASSERT_EQUAL(true, imu->rpt.uncal_magnetometer.disable());
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BNO08xTestHelper::print_test_end_banner(TEST_TAG);
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}
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TEST_CASE("Enable/Disable Cal Gyro", "[SingleReportEnableDisable]")
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{
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const constexpr char* TEST_TAG = "Enable/Disable Cal Gyro";
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static const constexpr uint8_t RX_REPORT_TRIAL_CNT = 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 = false;
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bool report_data_available = true;
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bno08x_gyro_t data;
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BNO08xTestHelper::print_test_start_banner(TEST_TAG);
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imu = BNO08xTestHelper::get_test_imu();
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TEST_ASSERT_EQUAL(true, imu->rpt.cal_gyro.enable(REPORT_PERIOD));
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for (int i = 0; i < RX_REPORT_TRIAL_CNT; i++)
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{
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data_available = imu->data_available();
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TEST_ASSERT_EQUAL(true, data_available);
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report_data_available = imu->rpt.cal_gyro.has_new_data();
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TEST_ASSERT_EQUAL(true, report_data_available);
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data = imu->rpt.cal_gyro.get();
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sprintf(msg_buff, "Rx Data Trial %d Success: CalGyro: [rad/s] x: %.2f y: %.2f z: %.2f accuracy: %s ", (i + 1), data.x,
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data.y, data.z, BNO08x::accuracy_to_str(data.accuracy));
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BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
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}
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TEST_ASSERT_EQUAL(true, imu->rpt.cal_gyro.disable());
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BNO08xTestHelper::print_test_end_banner(TEST_TAG);
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}
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TEST_CASE("Enable/Disable Uncal Gyro", "[SingleReportEnableDisable]")
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{
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const constexpr char* TEST_TAG = "Enable/Disable Uncal Gyro";
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static const constexpr uint8_t RX_REPORT_TRIAL_CNT = 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 = false;
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bool report_data_available = true;
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bno08x_gyro_t data_vel;
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bno08x_gyro_bias_t data_bias;
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BNO08xTestHelper::print_test_start_banner(TEST_TAG);
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imu = BNO08xTestHelper::get_test_imu();
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TEST_ASSERT_EQUAL(true, imu->rpt.uncal_gyro.enable(REPORT_PERIOD));
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for (int i = 0; i < RX_REPORT_TRIAL_CNT; i++)
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{
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data_available = imu->data_available();
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TEST_ASSERT_EQUAL(true, data_available);
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report_data_available = imu->rpt.uncal_gyro.has_new_data();
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TEST_ASSERT_EQUAL(true, report_data_available);
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imu->rpt.uncal_gyro.get(data_vel, data_bias);
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sprintf(msg_buff,
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"Rx Data Trial %d Success: UncalGyro: [rad/s] x: %.2f y: %.2f z: %.2f x_bias: %.2f "
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"y_bias: %.2f z_bias: %.2f accuracy: %s ",
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(i + 1), data_vel.x, data_vel.y, data_vel.z, data_bias.x, data_bias.y, data_bias.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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TEST_ASSERT_EQUAL(true, imu->rpt.uncal_gyro.disable());
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BNO08xTestHelper::print_test_end_banner(TEST_TAG);
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}
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TEST_CASE("Enable/Disable RV", "[SingleReportEnableDisable]")
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{
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const constexpr char* TEST_TAG = "Enable/Disable RV";
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static const constexpr uint8_t RX_REPORT_TRIAL_CNT = 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 = false;
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bool report_data_available = true;
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bno08x_quat_t data;
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BNO08xTestHelper::print_test_start_banner(TEST_TAG);
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imu = BNO08xTestHelper::get_test_imu();
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TEST_ASSERT_EQUAL(true, imu->rpt.rv.enable(REPORT_PERIOD));
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for (int i = 0; i < RX_REPORT_TRIAL_CNT; i++)
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{
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data_available = imu->data_available();
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TEST_ASSERT_EQUAL(true, data_available);
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report_data_available = imu->rpt.rv.has_new_data();
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TEST_ASSERT_EQUAL(true, report_data_available);
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data = 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: %.2f accuracy: "
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"%s ",
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(i + 1), data.real, data.i, data.j, data.k, BNO08x::accuracy_to_str(data.accuracy));
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BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
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}
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TEST_ASSERT_EQUAL(true, imu->rpt.rv.disable());
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BNO08xTestHelper::print_test_end_banner(TEST_TAG);
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}
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TEST_CASE("Enable/Disable Game RV", "[SingleReportEnableDisable]")
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{
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const constexpr char* TEST_TAG = "Enable/Disable Game RV";
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static const constexpr uint8_t RX_REPORT_TRIAL_CNT = 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 = false;
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bool report_data_available = true;
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bno08x_quat_t data;
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BNO08xTestHelper::print_test_start_banner(TEST_TAG);
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imu = BNO08xTestHelper::get_test_imu();
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TEST_ASSERT_EQUAL(true, imu->rpt.rv_game.enable(REPORT_PERIOD));
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for (int i = 0; i < RX_REPORT_TRIAL_CNT; i++)
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{
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data_available = imu->data_available();
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TEST_ASSERT_EQUAL(true, data_available);
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report_data_available = imu->rpt.rv_game.has_new_data();
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TEST_ASSERT_EQUAL(true, report_data_available);
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data = 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: %.2f k: %.2f "
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"accuracy: %s ",
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(i + 1), data.real, data.i, data.j, data.k, BNO08x::accuracy_to_str(data.accuracy));
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BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
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}
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TEST_ASSERT_EQUAL(true, imu->rpt.rv_game.disable());
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BNO08xTestHelper::print_test_end_banner(TEST_TAG);
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}
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TEST_CASE("Enable/Disable ARVR Stabilized RV", "[SingleReportEnableDisable]")
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{
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const constexpr char* TEST_TAG = "Enable/Disable ARVR Stabilized RV";
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static const constexpr uint8_t RX_REPORT_TRIAL_CNT = 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 = false;
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bool report_data_available = true;
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bno08x_quat_t data;
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BNO08xTestHelper::print_test_start_banner(TEST_TAG);
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imu = BNO08xTestHelper::get_test_imu();
|
|
|
|
TEST_ASSERT_EQUAL(true, imu->rpt.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->rpt.rv_ARVR_stabilized.has_new_data();
|
|
TEST_ASSERT_EQUAL(true, report_data_available);
|
|
|
|
data = imu->rpt.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->rpt.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->rpt.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->rpt.rv_ARVR_stabilized_game.has_new_data();
|
|
TEST_ASSERT_EQUAL(true, report_data_available);
|
|
|
|
data = imu->rpt.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->rpt.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->rpt.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->rpt.rv_gyro_integrated.has_new_data();
|
|
TEST_ASSERT_EQUAL(true, report_data_available);
|
|
|
|
data = imu->rpt.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->rpt.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->rpt.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->rpt.rv_geomagnetic.has_new_data();
|
|
TEST_ASSERT_EQUAL(true, report_data_available);
|
|
|
|
data = 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.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->rpt.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);
|
|
} |