def test_readSingleBatchWithVaryingFifoSizes():
fifoCounter = 0
fifoReader = 0
def provider(register, length=None):
if register is mpu6050.MPU6050_RA_INT_STATUS:
return 0x01
elif register is mpu6050.MPU6050_RA_FIFO_COUNTH:
nonlocal fifoCounter
fifoCounter += 1
to_bytes = (randint(1, 50) * 6).to_bytes(2, 'big')
return to_bytes
elif register is mpu6050.MPU6050_RA_FIFO_R_W:
nonlocal fifoReader
fifoReader += 1
assert length is not None
assert length in [6, 12, 18, 24, 30]
return [0b0000, 0b0001, 0b0010, 0b0011, 0b0100, 0b0101
] * (length // 6)
io = mock_io(dataProvider=provider)
mpu = mpu6050(io)
output = mpu.provideData()
assert output is not None
assert len(output) == 125
assert all(len(i) == len(output[0]) for i in output)
# check all actual values are identical (as a short cut for these are the same values as returned by the fifo)
assert all(x[1:] == output[0][1:] for x in output)
lastTimestamp = -1
for timestamp in [x[0] for x in output]:
if lastTimestamp > -1:
assert timestamp - lastTimestamp == pytest.approx(1 / mpu.fs)
lastTimestamp = timestamp
def test_whenSensorsAreToggled_fifoPacketSizeIsCorrect():
mpu = mpu6050(mock_io())
# -gyro-temperature+acceleration
assert mpu.getPacketSize() == 6
assert mpu.fifoSensorMask == 0b00001000
mpu.enableGyro()
# +gyro-temperature+acceleration
assert mpu.getPacketSize() == 12
assert mpu.fifoSensorMask == 0b01111000
mpu.enableTemperature()
# +gyro+temperature+acceleration
assert mpu.getPacketSize() == 14
assert mpu.fifoSensorMask == 0b11111000
mpu.disableAccelerometer()
# +gyro+temperature-acceleration
assert mpu.getPacketSize() == 8
assert mpu.fifoSensorMask == 0b11110000
mpu.disableGyro()
# -gyro+temperature-acceleration
assert mpu.getPacketSize() == 2
assert mpu.fifoSensorMask == 0b10000000
mpu.disableTemperature()
# -gyro-temperature-acceleration
assert mpu.getPacketSize() == 0
assert mpu.fifoSensorMask == 0b00000000
mpu.enableGyro()
# +gyro-temperature-acceleration
assert mpu.getPacketSize() == 6
assert mpu.fifoSensorMask == 0b01110000
mpu.disableGyro()
mpu.enableAccelerometer()
mpu.enableTemperature()
# -gyro+temperature+acceleration
assert mpu.getPacketSize() == 8
assert mpu.fifoSensorMask == 0b10001000
def test_readSingleBatchWhenLastSizeHasSamplesRemaining():
fifoCounter = 0
fifoReader = 0
def provider(register, length=None):
if register is mpu6050.MPU6050_RA_INT_STATUS:
return 0x01
elif register is mpu6050.MPU6050_RA_FIFO_COUNTH:
nonlocal fifoCounter
fifoCounter += 1
return [0b00, 0b00001100]
elif register is mpu6050.MPU6050_RA_FIFO_R_W:
nonlocal fifoReader
fifoReader += 1
assert length is not None
assert length == 6 or length == 12
return [0b0000, 0b0001, 0b0010, 0b0011, 0b0100, 0b0101
] * (length // 6)
io = mock_io(dataProvider=provider)
mpu = mpu6050(io)
output = mpu.provideData()
assert output is not None
assert len(output) == 125
assert all(len(i) == len(output[0]) for i in output)
# check all actual values are identical (as a short cut for these are the same values as returned by the fifo)
assert all(x[1:] == output[0][1:] for x in output)
lastTimestamp = -1
for timestamp in [x[0] for x in output]:
if lastTimestamp > -1:
assert timestamp - lastTimestamp == pytest.approx(1 / mpu.fs)
lastTimestamp = timestamp
assert fifoCounter == 63
assert fifoReader == 63
def test_readSingleBatchWithSixBytesAvailableOnEachRead():
# provide a constant stream of 6 byte samples
fifoCounter = 0
fifoReader = 0
fifoValues = [0b0000, 0b0001, 0b0010, 0b0011, 0b0100, 0b0101]
def provider(register, length=None):
if register is mpu6050.MPU6050_RA_INT_STATUS:
return 0x01
elif register is mpu6050.MPU6050_RA_FIFO_COUNTH:
nonlocal fifoCounter
fifoCounter += 1
return [0b0000, 0b0110]
elif register is mpu6050.MPU6050_RA_FIFO_R_W:
nonlocal fifoReader
fifoReader += 1
assert length is not None
assert 6 == length
return fifoValues
io = mock_io(dataProvider=provider)
mpu = mpu6050(io)
output = mpu.provideData()
assert output is not None
assert len(output) == 125
assert all(len(i) == len(output[0]) for i in output)
# check all actual values are identical (as a short cut for these are the same values as returned by the fifo)
assert all(x[1:] == output[0][1:] for x in output)
lastTimestamp = -1
for timestamp in [x[0] for x in output]:
if lastTimestamp > -1:
assert timestamp - lastTimestamp == pytest.approx(1 / mpu.fs)
lastTimestamp = timestamp
assert fifoCounter == 125
assert fifoReader == 125
def test_sampleRateMaxesAt1000():
io = mock_io()
mpu = mpu6050(io)
io.valuesWritten.clear()
mpu.setSampleRate(2000)
assert 1000 == mpu.fs
# check the correct SMPLRT_DIV is written to the device
assert len(io.valuesWritten) == 1
assert io.valuesWritten[0][2] == 7
def test_canToggleAccelerometer():
mpu = mpu6050(mock_io())
assert mpu.isAccelerometerEnabled()
mpu.disableAccelerometer()
assert not mpu.isAccelerometerEnabled()
mpu.enableAccelerometer()
assert mpu.isAccelerometerEnabled()
mpu.disableAccelerometer()
assert not mpu.isAccelerometerEnabled()
def test_canToggleTemperature():
mpu = mpu6050(mock_io())
mpu.enableTemperature()
assert mpu.isTemperatureEnabled()
mpu.disableTemperature()
assert not mpu.isTemperatureEnabled()
mpu.enableTemperature()
assert mpu.isTemperatureEnabled()
mpu.disableTemperature()
assert not mpu.isTemperatureEnabled()
def test_canToggleGyro():
mpu = mpu6050(mock_io())
mpu.enableGyro()
assert mpu.isGyroEnabled()
mpu.disableGyro()
assert not mpu.isGyroEnabled()
mpu.enableGyro()
assert mpu.isGyroEnabled()
mpu.disableGyro()
assert not mpu.isGyroEnabled()
def test_defaultState():
def provider(register, length=None):
if register is mpu6050.MPU6050_RA_INT_STATUS:
return 0x01
mpu = mpu6050(mock_io(dataProvider=provider))
assert mpu.isAccelerometerEnabled()
assert not mpu.isTemperatureEnabled()
assert not mpu.isGyroEnabled()
assert mpu.fs == 500
assert mpu.samplesPerBatch == 125
def test_getFifoCount():
values = (
((0b00000000, 0b00000000), 0),
((0b00000001, 0b00000000), 256),
((0b00000000, 0b00000001), 1),
((0b00000001, 0b00000001), 257),
((0b10000000, 0b10000000), 32896),
((0b11111111, 0b10000000), 65408),
)
io = mock_io()
mpu = mpu6050(io)
for testcase in values:
io.valsToRead.put(testcase[0])
assert mpu.getFifoCount() == testcase[1]
def test_readSingleBatchWithFourteenBytesAvailableOnEachReadWhenAllSensorsAreAvailable(
):
fifoCounter = 0
fifoReader = 0
def provider(register, length=None):
if register is mpu6050.MPU6050_RA_INT_STATUS:
return 0x01
elif register is mpu6050.MPU6050_RA_FIFO_COUNTH:
nonlocal fifoCounter
fifoCounter += 1
return [0b00, 0b00001110]
elif register is mpu6050.MPU6050_RA_FIFO_R_W:
nonlocal fifoReader
fifoReader += 1
assert length is not None
assert length == 14
return [
0b0000, 0b0001, 0b0010, 0b0011, 0b0100, 0b0101, 0b0111, 0b1000,
0b1001, 0b1010, 0b1011, 0b1100, 0b1101, 0b1110
]
io = mock_io(dataProvider=provider)
mpu = mpu6050(io)
mpu.enableGyro()
mpu.enableTemperature()
output = mpu.provideData()
assert output is not None
assert len(output) == 125
assert all(len(i) == len(output[0]) for i in output)
# check all actual values are identical (as a short cut for these are the same values as returned by the fifo)
assert all(x[1:] == output[0][1:] for x in output)
lastTimestamp = -1
for timestamp in [x[0] for x in output]:
if lastTimestamp > -1:
assert timestamp - lastTimestamp == pytest.approx(1 / mpu.fs)
lastTimestamp = timestamp
assert fifoCounter == 125
assert fifoReader == 125