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 = mockIO(data_provider=provider)
mpu = mpu6050(io, self_test=False)
output = mpu.provide_data()
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)
def test_whenSensorsAreToggled_fifoPacketSizeIsCorrect():
mpu = mpu6050(mockIO(), self_test=False)
# -gyro-temperature+acceleration
assert mpu.get_packet_size() == 6
assert mpu.fifo_sensor_mask == 0b00001000
mpu.enable_gyro()
# +gyro-temperature+acceleration
assert mpu.get_packet_size() == 12
assert mpu.fifo_sensor_mask == 0b01111000
mpu.enable_temperature()
# +gyro+temperature+acceleration
assert mpu.get_packet_size() == 14
assert mpu.fifo_sensor_mask == 0b11111000
mpu.disable_accelerometer()
# +gyro+temperature-acceleration
assert mpu.get_packet_size() == 8
assert mpu.fifo_sensor_mask == 0b11110000
mpu.disable_gyro()
# -gyro+temperature-acceleration
assert mpu.get_packet_size() == 2
assert mpu.fifo_sensor_mask == 0b10000000
mpu.disable_temperature()
# -gyro-temperature-acceleration
assert mpu.get_packet_size() == 0
assert mpu.fifo_sensor_mask == 0b00000000
mpu.enable_gyro()
# +gyro-temperature-acceleration
assert mpu.get_packet_size() == 6
assert mpu.fifo_sensor_mask == 0b01110000
mpu.disable_gyro()
mpu.enable_accelerometer()
mpu.enable_temperature()
# -gyro+temperature+acceleration
assert mpu.get_packet_size() == 8
assert mpu.fifo_sensor_mask == 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 = mockIO(data_provider=provider)
mpu = mpu6050(io, self_test=False)
output = mpu.provide_data()
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)
assert fifoCounter == 63
assert fifoReader == 63
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 = mockIO(data_provider=provider)
mpu = mpu6050(io, self_test=False)
mpu.enable_gyro()
mpu.enable_temperature()
output = mpu.provide_data()
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)
assert fifoCounter == 125
assert fifoReader == 125
def test_readSingleBatchInOneTripToFifo():
# provide a single 6*125 = 750 byte fifo
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 [0b0010, 0b11101110]
elif register is mpu6050.MPU6050_RA_FIFO_R_W:
nonlocal fifoReader
fifoReader += 1
assert length is not None
assert 30 == length
return [0b0000, 0b0001, 0b0010, 0b0011, 0b0100, 0b0101] * 5
io = mockIO(data_provider=provider)
mpu = mpu6050(io, self_test=False)
output = mpu.provide_data()
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)
assert fifoCounter == 1
assert fifoReader == 25
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 = mockIO(data_provider=provider)
mpu = mpu6050(io, self_test=False)
output = mpu.provide_data()
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)
assert fifoCounter == 125
assert fifoReader == 125
def test_sampleRateMaxesAt1000():
io = mockIO()
mpu = mpu6050(io, self_test=False)
io.values_written.clear()
mpu.set_sample_rate(2000)
assert 1000 == mpu.fs
# check the correct SMPLRT_DIV is written to the device
assert len(io.values_written) == 1
assert io.values_written[0][2] == 7
def test_canToggleAccelerometer():
mpu = mpu6050(mockIO(), self_test=False)
assert mpu.is_accelerometer_enabled()
mpu.disable_accelerometer()
assert not mpu.is_accelerometer_enabled()
mpu.enable_accelerometer()
assert mpu.is_accelerometer_enabled()
mpu.disable_accelerometer()
assert not mpu.is_accelerometer_enabled()
def test_canToggleTemperature():
mpu = mpu6050(mockIO(), self_test=False)
mpu.enable_temperature()
assert mpu.is_temperature_enabled()
mpu.disable_temperature()
assert not mpu.is_temperature_enabled()
mpu.enable_temperature()
assert mpu.is_temperature_enabled()
mpu.disable_temperature()
assert not mpu.is_temperature_enabled()
def test_canToggleGyro():
mpu = mpu6050(mockIO(), self_test=False)
mpu.enable_gyro()
assert mpu.is_gyro_enabled()
mpu.disable_gyro()
assert not mpu.is_gyro_enabled()
mpu.enable_gyro()
assert mpu.is_gyro_enabled()
mpu.disable_gyro()
assert not mpu.is_gyro_enabled()
def test_default_state():
def provider(register, length=None):
if register is mpu6050.MPU6050_RA_INT_STATUS:
return 0x01
mpu = mpu6050(mockIO(data_provider=provider), self_test=False)
assert mpu.is_accelerometer_enabled()
assert not mpu.is_temperature_enabled()
assert not mpu.is_gyro_enabled()
assert mpu.fs == 500
assert mpu.samples_per_batch == 125
def test_getFifoCount():
values = (
((0b00000000, 0b00000000), 0),
((0b00000001, 0b00000000), 256),
((0b00000000, 0b00000001), 1),
((0b00000001, 0b00000001), 257),
((0b10000000, 0b10000000), 32896),
((0b11111111, 0b10000000), 65408),
)
io = mockIO()
mpu = mpu6050(io, self_test=False)
for testcase in values:
io.vals_to_read.put(testcase[0])
assert mpu.get_fifo_count() == testcase[1]
def create_device(device_cfg):
"""
Creates a measurement device from the input configuration.
:param: device_cfg: the device cfg.
:return: the constructed device.
"""
io_cfg = device_cfg['io']
device_type = device_cfg['type']
if device_type == 'mpu6050':
fs = device_cfg.get('fs')
name = device_cfg.get('name', 'mpu6050')
if io_cfg['type'] == 'mock':
provider = io_cfg.get('provider')
if provider is not None:
if provider == 'white noise':
data_provider = WhiteNoiseProvider()
elif provider == 'dbl':
data_provider = WavProvider(io_cfg.get('file'))
else:
raise ValueError(
provider + " is not a supported mock io data provider")
else:
raise ValueError(
'No provider supplied for a mock io data provider')
logger.warning(
f"Loading {provider} mock data provider for mpu6050")
io = mockIO(data_provider=data_provider.provide)
elif io_cfg['type'] == 'smbus':
bus_id = io_cfg['busId']
logger.warning("Loading smbus %d", bus_id)
io = smbusIO(bus_id)
else:
raise ValueError(io_cfg['type'] +
" is not a supported io provider")
logger.warning(f"Loading mpu6050 {name}/{fs}")
samples_per_batch = int(device_cfg['samplesPerBatch']
) if 'samplesPerBatch' in device_cfg else None
mpu = mpu6050(io,
name=name,
fs=fs,
data_handler=AsyncHandler(),
self_test=True,
samples_per_batch=samples_per_batch)
worker = threading.Thread(target=mpu.run, daemon=True)
worker.start()
return mpu
else:
raise ValueError(device_type + " is not a supported device")