IDD Summer 2017 / Mbed 2 deprecated test

Driving

Dependencies:   FSR LIS3DH USBDevice mbed

Fork of MMA8452_Demo by Ivan Rush

main.cpp@5:756f9b157319, 2014-03-06 (annotated)

Committer:
ashleymills
Date:
Thu Mar 06 18:07:58 2014 +0000
Revision:
5:756f9b157319
Parent:
3:2a8e59a590db
Child:
6:e3100f66ed6a
Adding independent query tests

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ashleymills 0:0c17274c3b7c 1 #include "mbed.h"
ashleymills 0:0c17274c3b7c 2 #include "MMA8452.h"
ashleymills 0:0c17274c3b7c 3
ashleymills 0:0c17274c3b7c 4 DigitalOut myled(LED1);
ashleymills 0:0c17274c3b7c 5
ashleymills 0:0c17274c3b7c 6 Serial pc(USBTX,USBRX);
ashleymills 0:0c17274c3b7c 7
ashleymills 0:0c17274c3b7c 8 #define LOG(...) pc.printf(__VA_ARGS__); pc.printf("\r\n");
ashleymills 0:0c17274c3b7c 9 #define LOGX(...) pc.printf(__VA_ARGS__);
ashleymills 0:0c17274c3b7c 10
ashleymills 0:0c17274c3b7c 11 void printByte(char b) {
ashleymills 0:0c17274c3b7c 12 LOG("%d%d%d%d%d%d%d%d",
ashleymills 0:0c17274c3b7c 13 (b&0x80)>>7,
ashleymills 0:0c17274c3b7c 14 (b&0x40)>>6,
ashleymills 0:0c17274c3b7c 15 (b&0x20)>>5,
ashleymills 0:0c17274c3b7c 16 (b&0x10)>>4,
ashleymills 0:0c17274c3b7c 17 (b&0x08)>>3,
ashleymills 0:0c17274c3b7c 18 (b&0x04)>>2,
ashleymills 0:0c17274c3b7c 19 (b&0x02)>>1,
ashleymills 0:0c17274c3b7c 20 (b&0x01)
ashleymills 0:0c17274c3b7c 21 );
ashleymills 0:0c17274c3b7c 22 }
ashleymills 0:0c17274c3b7c 23
ashleymills 5:756f9b157319 24 enum SampleType {
ashleymills 5:756f9b157319 25 SAMPLE_RAW=0,
ashleymills 5:756f9b157319 26 SAMPLE_COUNT,
ashleymills 5:756f9b157319 27 SAMPLE_GRAVITY
ashleymills 5:756f9b157319 28 };
ashleymills 5:756f9b157319 29
ashleymills 5:756f9b157319 30 void sampleTypeToString(SampleType t, char *dst) {
ashleymills 5:756f9b157319 31 switch(t) {
ashleymills 5:756f9b157319 32 case SAMPLE_RAW:
ashleymills 5:756f9b157319 33 sprintf(dst,"SAMPLE_RAW");
ashleymills 5:756f9b157319 34 break;
ashleymills 5:756f9b157319 35 case SAMPLE_COUNT:
ashleymills 5:756f9b157319 36 sprintf(dst,"SAMPLE_COUNT");
ashleymills 5:756f9b157319 37 break;
ashleymills 5:756f9b157319 38 case SAMPLE_GRAVITY:
ashleymills 5:756f9b157319 39 sprintf(dst,"SAMPLE_GRAVITY");
ashleymills 5:756f9b157319 40 break;
ashleymills 5:756f9b157319 41 };
ashleymills 5:756f9b157319 42 }
ashleymills 5:756f9b157319 43
ashleymills 5:756f9b157319 44 int testSampleTaking(MMA8452 *acc, int nsamples, SampleType sampleType) {
ashleymills 5:756f9b157319 45 int samples = 0;
ashleymills 5:756f9b157319 46 int bufLen = 6;
ashleymills 5:756f9b157319 47
ashleymills 5:756f9b157319 48 // buffers for multi and single raw sampling
ashleymills 5:756f9b157319 49 char bufferMulti[6];
ashleymills 5:756f9b157319 50 char bufferSingle[6];
ashleymills 5:756f9b157319 51 memset(&bufferMulti,0x00,bufLen);
ashleymills 5:756f9b157319 52 memset(&bufferSingle,0x00,bufLen);
ashleymills 5:756f9b157319 53
ashleymills 5:756f9b157319 54 // variables for multi and single count sampling
ashleymills 5:756f9b157319 55 int xCountM = 0, yCountM = 0, zCountM = 0;
ashleymills 5:756f9b157319 56 int xCountS = 0, yCountS = 0, zCountS = 0;
ashleymills 5:756f9b157319 57
ashleymills 5:756f9b157319 58 // variables for multi and single gravity sampling
ashleymills 5:756f9b157319 59 double xGravityM = 0, yGravityM = 0, zGravityM = 0;
ashleymills 5:756f9b157319 60 double xGravityS = 0, yGravityS = 0, zGravityS = 0;
ashleymills 5:756f9b157319 61
ashleymills 5:756f9b157319 62 // keep track of errors
ashleymills 5:756f9b157319 63 int error = 0;
ashleymills 5:756f9b157319 64 // mismatches between multi and single read calls are inevitable
ashleymills 5:756f9b157319 65 // since the MMA8452 has an internal sampling mechanism which is
ashleymills 5:756f9b157319 66 // not synchronous to this test routine. At low internal sampling
ashleymills 5:756f9b157319 67 // rates, these mismatches should be rare, so keep track to
ashleymills 5:756f9b157319 68 // check that this is sane
ashleymills 5:756f9b157319 69 int mismatchCount = 0;
ashleymills 5:756f9b157319 70
ashleymills 5:756f9b157319 71 // take samples
ashleymills 5:756f9b157319 72 while(samples<nsamples) {
ashleymills 5:756f9b157319 73 // wait for device to be ready
ashleymills 5:756f9b157319 74 if(!acc->isXYZReady()) {
ashleymills 5:756f9b157319 75 wait(0.01);
ashleymills 5:756f9b157319 76 continue;
ashleymills 5:756f9b157319 77 }
ashleymills 5:756f9b157319 78
ashleymills 5:756f9b157319 79 switch(sampleType) {
ashleymills 5:756f9b157319 80 case SAMPLE_RAW:
ashleymills 5:756f9b157319 81 // read raw data via multi and single calls
ashleymills 5:756f9b157319 82 memset(&bufferMulti,0x00,bufLen);
ashleymills 5:756f9b157319 83 memset(&bufferSingle,0x00,bufLen);
ashleymills 5:756f9b157319 84 error = 0;
ashleymills 5:756f9b157319 85 error += acc->readXYZRaw((char*)&bufferMulti);
ashleymills 5:756f9b157319 86 error += acc->readXRaw((char*)&bufferSingle[0]);
ashleymills 5:756f9b157319 87 error += acc->readYRaw((char*)&bufferSingle[2]);
ashleymills 5:756f9b157319 88 error += acc->readZRaw((char*)&bufferSingle[4]);
ashleymills 5:756f9b157319 89 if(error) {
ashleymills 5:756f9b157319 90 LOG("Error reading raw accelerometer data. Fail.");
ashleymills 5:756f9b157319 91 return false;
ashleymills 5:756f9b157319 92 }
ashleymills 5:756f9b157319 93 // compare multi and single samples for equivalence
ashleymills 5:756f9b157319 94 // note that this is bound to fail for high data rates
ashleymills 5:756f9b157319 95 if(acc->getBitDepth()==MMA8452::BIT_DEPTH_12) {
ashleymills 5:756f9b157319 96 if(memcmp(bufferMulti,bufferSingle,bufLen)) {
ashleymills 5:756f9b157319 97 LOG("Multi and single sampling mismatch");
ashleymills 5:756f9b157319 98 LOG("Multi: %x %x %x %x %x %x",
ashleymills 5:756f9b157319 99 bufferMulti[0],bufferMulti[1],
ashleymills 5:756f9b157319 100 bufferMulti[2],bufferMulti[3],
ashleymills 5:756f9b157319 101 bufferMulti[4],bufferMulti[5]
ashleymills 5:756f9b157319 102 );
ashleymills 5:756f9b157319 103 LOG("Single: %x %x %x %x %x %x",
ashleymills 5:756f9b157319 104 bufferSingle[0],bufferSingle[1],
ashleymills 5:756f9b157319 105 bufferSingle[2],bufferSingle[3],
ashleymills 5:756f9b157319 106 bufferSingle[4],bufferSingle[5]
ashleymills 5:756f9b157319 107 );
ashleymills 5:756f9b157319 108 mismatchCount++;
ashleymills 5:756f9b157319 109 }
ashleymills 5:756f9b157319 110 LOG("Sample %d of %d: %x %x %x %x %x %x",
ashleymills 5:756f9b157319 111 samples,nsamples,
ashleymills 5:756f9b157319 112 bufferMulti[0],bufferMulti[1],
ashleymills 5:756f9b157319 113 bufferMulti[2],bufferMulti[3],
ashleymills 5:756f9b157319 114 bufferMulti[4],bufferMulti[5]
ashleymills 5:756f9b157319 115 );
ashleymills 5:756f9b157319 116 } else {
ashleymills 5:756f9b157319 117 if(bufferMulti[0]!=bufferSingle[0]||
ashleymills 5:756f9b157319 118 bufferMulti[1]!=bufferSingle[2]||
ashleymills 5:756f9b157319 119 bufferMulti[2]!=bufferSingle[4]) {
ashleymills 5:756f9b157319 120 LOG("Multi and single sampling mismatch");
ashleymills 5:756f9b157319 121 mismatchCount++;
ashleymills 5:756f9b157319 122 }
ashleymills 5:756f9b157319 123 LOG("Sample %d of %d: %x %x %x",
ashleymills 5:756f9b157319 124 samples,nsamples,
ashleymills 5:756f9b157319 125 bufferMulti[0],bufferMulti[1],bufferMulti[2]
ashleymills 5:756f9b157319 126 );
ashleymills 5:756f9b157319 127 }
ashleymills 5:756f9b157319 128 break;
ashleymills 5:756f9b157319 129 case SAMPLE_COUNT:
ashleymills 5:756f9b157319 130 error = 0;
ashleymills 5:756f9b157319 131 error += acc->readXYZCounts(&xCountM,&yCountM,&zCountM);
ashleymills 5:756f9b157319 132 if(error) {
ashleymills 5:756f9b157319 133 LOG("Error reading signed counts. Fail.");
ashleymills 5:756f9b157319 134 break;
ashleymills 5:756f9b157319 135 }
ashleymills 5:756f9b157319 136 break;
ashleymills 5:756f9b157319 137 case SAMPLE_GRAVITY:
ashleymills 5:756f9b157319 138 error = 0;
ashleymills 5:756f9b157319 139 error += acc->readXYZGravity(&xGravityM,&yGravityM,&zGravityM);
ashleymills 5:756f9b157319 140 if(error) {
ashleymills 5:756f9b157319 141 LOG("Error reading gravities. Fail.");
ashleymills 5:756f9b157319 142 break;
ashleymills 5:756f9b157319 143 }
ashleymills 5:756f9b157319 144 break;
ashleymills 5:756f9b157319 145 }
ashleymills 5:756f9b157319 146 samples++;
ashleymills 5:756f9b157319 147 }
ashleymills 5:756f9b157319 148 LOG("mismatches %d/%d",mismatchCount,nsamples);
ashleymills 5:756f9b157319 149 return true;
ashleymills 5:756f9b157319 150 }
ashleymills 5:756f9b157319 151
ashleymills 5:756f9b157319 152 int sampleMMA8452Raw(MMA8452 *acc, int nsamples) {
ashleymills 0:0c17274c3b7c 153 int samples = 0;
ashleymills 0:0c17274c3b7c 154 int bufLen = 6;
ashleymills 0:0c17274c3b7c 155 char buffer[6];
ashleymills 0:0c17274c3b7c 156 memset(&buffer,0x00,bufLen);
ashleymills 0:0c17274c3b7c 157 while(samples<nsamples) {
ashleymills 0:0c17274c3b7c 158 if(!acc->isXYZReady()) {
ashleymills 0:0c17274c3b7c 159 wait(0.01);
ashleymills 0:0c17274c3b7c 160 continue;
ashleymills 0:0c17274c3b7c 161 }
ashleymills 0:0c17274c3b7c 162 memset(&buffer,0x00,bufLen);
ashleymills 1:e9981919b524 163 acc->readXYZRaw(buffer);
ashleymills 0:0c17274c3b7c 164 LOGX("Sample %d of %d: ",samples,nsamples);
ashleymills 0:0c17274c3b7c 165 for(int i=0; i<bufLen; i++) {
ashleymills 0:0c17274c3b7c 166 LOGX("%.2x ",buffer[i]);
ashleymills 0:0c17274c3b7c 167 }
ashleymills 0:0c17274c3b7c 168 LOG(" ");
ashleymills 0:0c17274c3b7c 169 samples++;
ashleymills 0:0c17274c3b7c 170 }
ashleymills 5:756f9b157319 171 return true;
ashleymills 0:0c17274c3b7c 172 }
ashleymills 0:0c17274c3b7c 173
ashleymills 5:756f9b157319 174 int sampleMMA8452Counts(MMA8452 *acc, int nsamples) {
ashleymills 1:e9981919b524 175 int samples = 0;
ashleymills 1:e9981919b524 176 int bufLen = 6;
ashleymills 1:e9981919b524 177 char buffer[6];
ashleymills 1:e9981919b524 178 int x = 0, y = 0, z = 0;
ashleymills 1:e9981919b524 179 memset(&buffer,0x00,bufLen);
ashleymills 1:e9981919b524 180 while(samples<nsamples) {
ashleymills 1:e9981919b524 181 if(!acc->isXYZReady()) {
ashleymills 1:e9981919b524 182 wait(0.01);
ashleymills 1:e9981919b524 183 continue;
ashleymills 1:e9981919b524 184 }
ashleymills 1:e9981919b524 185 memset(&buffer,0x00,bufLen);
ashleymills 1:e9981919b524 186 if(acc->readXYZCounts(&x,&y,&z)) {
ashleymills 1:e9981919b524 187 LOG("Error reading sample");
ashleymills 1:e9981919b524 188 break;
ashleymills 1:e9981919b524 189 }
ashleymills 1:e9981919b524 190 LOG("Sample %d of %d: %d, %d, %d",samples,nsamples,x,y,z);
ashleymills 1:e9981919b524 191 samples++;
ashleymills 1:e9981919b524 192 }
ashleymills 5:756f9b157319 193 return true;
ashleymills 1:e9981919b524 194 }
ashleymills 1:e9981919b524 195
ashleymills 5:756f9b157319 196 int sampleMMA8452Gravities(MMA8452 *acc, int nsamples) {
ashleymills 1:e9981919b524 197 int samples = 0;
ashleymills 1:e9981919b524 198 int bufLen = 6;
ashleymills 1:e9981919b524 199 char buffer[6];
ashleymills 1:e9981919b524 200 double x = 0, y = 0, z = 0;
ashleymills 1:e9981919b524 201 memset(&buffer,0x00,bufLen);
ashleymills 1:e9981919b524 202 while(samples<nsamples) {
ashleymills 1:e9981919b524 203 if(!acc->isXYZReady()) {
ashleymills 1:e9981919b524 204 wait(0.01);
ashleymills 1:e9981919b524 205 continue;
ashleymills 1:e9981919b524 206 }
ashleymills 1:e9981919b524 207 memset(&buffer,0x00,bufLen);
ashleymills 1:e9981919b524 208 if(acc->readXYZGravity(&x,&y,&z)) {
ashleymills 1:e9981919b524 209 LOG("Error reading sample");
ashleymills 1:e9981919b524 210 break;
ashleymills 1:e9981919b524 211 }
ashleymills 1:e9981919b524 212 LOG("Sample %d of %d: %lf, %lf, %lf",samples,nsamples,x,y,z);
ashleymills 1:e9981919b524 213 samples++;
ashleymills 1:e9981919b524 214 }
ashleymills 5:756f9b157319 215 return true;
ashleymills 5:756f9b157319 216 }
ashleymills 5:756f9b157319 217
ashleymills 5:756f9b157319 218 void bitDepthToString(MMA8452::BitDepth d, char *dst) {
ashleymills 5:756f9b157319 219 switch(d) {
ashleymills 5:756f9b157319 220 case MMA8452::BIT_DEPTH_12:
ashleymills 5:756f9b157319 221 sprintf(dst,"BIT_DEPTH_12");
ashleymills 5:756f9b157319 222 break;
ashleymills 5:756f9b157319 223 case MMA8452::BIT_DEPTH_8:
ashleymills 5:756f9b157319 224 sprintf(dst,"BIT_DEPTH_8");
ashleymills 5:756f9b157319 225 break;
ashleymills 5:756f9b157319 226 }
ashleymills 5:756f9b157319 227 }
ashleymills 5:756f9b157319 228
ashleymills 5:756f9b157319 229 void dynamicRangeToString(MMA8452::DynamicRange r, char *dst) {
ashleymills 5:756f9b157319 230 switch(r) {
ashleymills 5:756f9b157319 231 case MMA8452::DYNAMIC_RANGE_2G:
ashleymills 5:756f9b157319 232 sprintf(dst,"DYNAMIC_RANGE_2G");
ashleymills 5:756f9b157319 233 break;
ashleymills 5:756f9b157319 234 case MMA8452::DYNAMIC_RANGE_4G:
ashleymills 5:756f9b157319 235 sprintf(dst,"DYNAMIC_RANGE_4G");
ashleymills 5:756f9b157319 236 break;
ashleymills 5:756f9b157319 237 case MMA8452::DYNAMIC_RANGE_8G:
ashleymills 5:756f9b157319 238 sprintf(dst,"DYNAMIC_RANGE_8G");
ashleymills 5:756f9b157319 239 break;
ashleymills 5:756f9b157319 240 }
ashleymills 5:756f9b157319 241 }
ashleymills 5:756f9b157319 242
ashleymills 5:756f9b157319 243 void dataRateToString(MMA8452::DataRateHz r, char *dst) {
ashleymills 5:756f9b157319 244 switch(r) {
ashleymills 5:756f9b157319 245 case MMA8452::RATE_800:
ashleymills 5:756f9b157319 246 sprintf(dst,"RATE_800");
ashleymills 5:756f9b157319 247 break;
ashleymills 5:756f9b157319 248 case MMA8452::RATE_400:
ashleymills 5:756f9b157319 249 sprintf(dst,"RATE_400");
ashleymills 5:756f9b157319 250 break;
ashleymills 5:756f9b157319 251 case MMA8452::RATE_200:
ashleymills 5:756f9b157319 252 sprintf(dst,"RATE_200");
ashleymills 5:756f9b157319 253 break;
ashleymills 5:756f9b157319 254 case MMA8452::RATE_100:
ashleymills 5:756f9b157319 255 sprintf(dst,"RATE_100");
ashleymills 5:756f9b157319 256 break;
ashleymills 5:756f9b157319 257 case MMA8452::RATE_50:
ashleymills 5:756f9b157319 258 sprintf(dst,"RATE_50");
ashleymills 5:756f9b157319 259 break;
ashleymills 5:756f9b157319 260 case MMA8452::RATE_12_5:
ashleymills 5:756f9b157319 261 sprintf(dst,"RATE_12_5");
ashleymills 5:756f9b157319 262 break;
ashleymills 5:756f9b157319 263 case MMA8452::RATE_6_25:
ashleymills 5:756f9b157319 264 sprintf(dst,"RATE_6_25");
ashleymills 5:756f9b157319 265 break;
ashleymills 5:756f9b157319 266 case MMA8452::RATE_1_563:
ashleymills 5:756f9b157319 267 sprintf(dst,"RATE_1_563");
ashleymills 5:756f9b157319 268 break;
ashleymills 5:756f9b157319 269 }
ashleymills 1:e9981919b524 270 }
ashleymills 1:e9981919b524 271
ashleymills 0:0c17274c3b7c 272 int test() {
ashleymills 0:0c17274c3b7c 273 MMA8452 acc(p28, p27, 40000);
ashleymills 0:0c17274c3b7c 274
ashleymills 0:0c17274c3b7c 275 acc.debugRegister(MMA8452_CTRL_REG_1);
ashleymills 0:0c17274c3b7c 276
ashleymills 0:0c17274c3b7c 277 LOG("Entering standby");
ashleymills 0:0c17274c3b7c 278 if(acc.standby()) {
ashleymills 0:0c17274c3b7c 279 LOG("Error putting MMA8452 in standby");
ashleymills 0:0c17274c3b7c 280 return false;
ashleymills 0:0c17274c3b7c 281 }
ashleymills 0:0c17274c3b7c 282
ashleymills 0:0c17274c3b7c 283 acc.debugRegister(MMA8452_CTRL_REG_1);
ashleymills 0:0c17274c3b7c 284
ashleymills 0:0c17274c3b7c 285 LOG("Activating MMA8452");
ashleymills 0:0c17274c3b7c 286 if(acc.activate()) {
ashleymills 0:0c17274c3b7c 287 LOG("Error activating MMA8452");
ashleymills 0:0c17274c3b7c 288 return false;
ashleymills 0:0c17274c3b7c 289 }
ashleymills 0:0c17274c3b7c 290
ashleymills 1:e9981919b524 291 char devID = 0;
ashleymills 1:e9981919b524 292 if(acc.getDeviceID(&devID)) {
ashleymills 1:e9981919b524 293 LOG("Error getting device ID");
ashleymills 1:e9981919b524 294 return false;
ashleymills 1:e9981919b524 295 }
ashleymills 1:e9981919b524 296 LOG("DeviceID: 0x%x",devID);
ashleymills 1:e9981919b524 297 if(devID!=0x2a) {
ashleymills 1:e9981919b524 298 LOG("Error, fetched device ID: 0x%x does not match expected 0x2a",devID);
ashleymills 1:e9981919b524 299 return false;
ashleymills 1:e9981919b524 300 } else {
ashleymills 1:e9981919b524 301 LOG("Device ID OK");
ashleymills 1:e9981919b524 302 }
ashleymills 1:e9981919b524 303
ashleymills 0:0c17274c3b7c 304 // test setting dynamic range
ashleymills 0:0c17274c3b7c 305 MMA8452::DynamicRange setRange = MMA8452::DYNAMIC_RANGE_UNKNOWN;
ashleymills 0:0c17274c3b7c 306 MMA8452::DynamicRange readRange = MMA8452::DYNAMIC_RANGE_UNKNOWN;
ashleymills 0:0c17274c3b7c 307 for(int i=0; i<=(int)MMA8452::DYNAMIC_RANGE_8G; i++) {
ashleymills 0:0c17274c3b7c 308 setRange = (MMA8452::DynamicRange)i;
ashleymills 0:0c17274c3b7c 309 if(acc.setDynamicRange(setRange)) {
ashleymills 0:0c17274c3b7c 310 LOG("Error setting dynamic range. Failing.");
ashleymills 0:0c17274c3b7c 311 return false;
ashleymills 0:0c17274c3b7c 312 }
ashleymills 0:0c17274c3b7c 313 readRange = acc.getDynamicRange();
ashleymills 0:0c17274c3b7c 314 if(readRange!=setRange) {
ashleymills 0:0c17274c3b7c 315 LOG("Read dynamic range: 0x%x does not match set: 0x%x",readRange,setRange);
ashleymills 0:0c17274c3b7c 316 return false;
ashleymills 0:0c17274c3b7c 317 }
ashleymills 0:0c17274c3b7c 318 LOG("Success on dynamic range %d",i);
ashleymills 0:0c17274c3b7c 319 }
ashleymills 0:0c17274c3b7c 320
ashleymills 0:0c17274c3b7c 321 // test setting data rate
ashleymills 0:0c17274c3b7c 322 for(int i=0; i<=(int)MMA8452::RATE_1_563; i++) {
ashleymills 0:0c17274c3b7c 323 if(acc.setDataRate((MMA8452::DataRateHz)i)) {
ashleymills 0:0c17274c3b7c 324 LOG("Error setting data rate. Failing.");
ashleymills 0:0c17274c3b7c 325 return false;
ashleymills 0:0c17274c3b7c 326 }
ashleymills 0:0c17274c3b7c 327 if(acc.getDataRate()!=(MMA8452::DataRateHz)i) {
ashleymills 0:0c17274c3b7c 328 LOG("Read data rate: 0x%x does not match set: 0x%x",acc.getDataRate(),(MMA8452::DataRateHz)i);
ashleymills 0:0c17274c3b7c 329 return false;
ashleymills 0:0c17274c3b7c 330 }
ashleymills 0:0c17274c3b7c 331 LOG("Success on data rate %d",i);
ashleymills 0:0c17274c3b7c 332 }
ashleymills 0:0c17274c3b7c 333
ashleymills 5:756f9b157319 334 char depthString[32], rangeString[32], rateString[32], sampleTypeString[32];
ashleymills 5:756f9b157319 335 // draw some samples at each bit depth, rate, and dynamic range
ashleymills 5:756f9b157319 336 for(int depth=0; depth<=(int)MMA8452::BIT_DEPTH_8; depth++) {
ashleymills 5:756f9b157319 337 bitDepthToString((MMA8452::BitDepth)depth,(char*)&depthString);
ashleymills 5:756f9b157319 338 LOG("Setting bit depth to %s",depthString);
ashleymills 5:756f9b157319 339 if(acc.setBitDepth((MMA8452::BitDepth)depth)) {
ashleymills 5:756f9b157319 340 LOG("Error setting bit depth to %s. Fail.",depthString);
ashleymills 5:756f9b157319 341 return false;
ashleymills 5:756f9b157319 342 }
ashleymills 5:756f9b157319 343 for(int range=0; range<=(int)MMA8452::DYNAMIC_RANGE_8G; range++) {
ashleymills 5:756f9b157319 344 dynamicRangeToString((MMA8452::DynamicRange)range,(char*)&rangeString);
ashleymills 5:756f9b157319 345 LOG("Setting dynamic range to %s",rangeString);
ashleymills 5:756f9b157319 346 if(acc.setDynamicRange((MMA8452::DynamicRange)range)) {
ashleymills 5:756f9b157319 347 LOG("Error setting dynamic range to %s. Fail.",rangeString);
ashleymills 5:756f9b157319 348 return false;
ashleymills 5:756f9b157319 349 }
ashleymills 5:756f9b157319 350 for(int rate=0; rate<=(int)MMA8452::RATE_1_563; rate++) {
ashleymills 5:756f9b157319 351 dataRateToString((MMA8452::DataRateHz)rate,(char*)&rateString);
ashleymills 5:756f9b157319 352 LOG("Setting data rate to %s",rateString);
ashleymills 5:756f9b157319 353 if(acc.setDataRate((MMA8452::DataRateHz)rate)) {
ashleymills 5:756f9b157319 354 LOG("Error setting data rate to %s",rateString);
ashleymills 5:756f9b157319 355 return false;
ashleymills 5:756f9b157319 356 }
ashleymills 5:756f9b157319 357 // take samples
ashleymills 5:756f9b157319 358 for(int sampleType=0; sampleType<=(int)SAMPLE_GRAVITY; sampleType++) {
ashleymills 5:756f9b157319 359 sampleTypeToString((SampleType)sampleType,sampleTypeString);
ashleymills 5:756f9b157319 360 LOG("Setting sample type to %s",sampleTypeString);
ashleymills 5:756f9b157319 361 if(testSampleTaking(&acc, 10, (SampleType)sampleType)!=true) {
ashleymills 5:756f9b157319 362 LOG("Sample taking failed for %s, %s, %s, %s",sampleTypeString,depthString,rangeString,rateString);
ashleymills 5:756f9b157319 363 return false;
ashleymills 5:756f9b157319 364 }
ashleymills 5:756f9b157319 365 }
ashleymills 5:756f9b157319 366 }
ashleymills 5:756f9b157319 367 }
ashleymills 5:756f9b157319 368 }
ashleymills 5:756f9b157319 369 return true;
ashleymills 5:756f9b157319 370
ashleymills 0:0c17274c3b7c 371 // set bit depth to 8 and read some values
ashleymills 0:0c17274c3b7c 372 LOG("Sampling at BIT_DEPTH_8");
ashleymills 5:756f9b157319 373 if(acc.setBitDepth(MMA8452::BIT_DEPTH_8)) {
ashleymills 5:756f9b157319 374 LOG("Error setting bit depth. Fail.");
ashleymills 5:756f9b157319 375 return false;
ashleymills 5:756f9b157319 376 }
ashleymills 1:e9981919b524 377 sampleMMA8452Raw(&acc,10);
ashleymills 0:0c17274c3b7c 378
ashleymills 0:0c17274c3b7c 379 // set bit depth to 12 and read some values
ashleymills 0:0c17274c3b7c 380 LOG("Sampling at BIT_DEPTH_12");
ashleymills 0:0c17274c3b7c 381 acc.setDataRate(MMA8452::RATE_100);
ashleymills 0:0c17274c3b7c 382 acc.setBitDepth(MMA8452::BIT_DEPTH_12);
ashleymills 1:e9981919b524 383 sampleMMA8452Raw(&acc,10);
ashleymills 1:e9981919b524 384
ashleymills 1:e9981919b524 385 LOG("Sampling counts");
ashleymills 1:e9981919b524 386 acc.setDynamicRange(MMA8452::DYNAMIC_RANGE_2G);
ashleymills 1:e9981919b524 387 sampleMMA8452Counts(&acc,100);
ashleymills 1:e9981919b524 388
ashleymills 1:e9981919b524 389 LOG("Samping gravities");
ashleymills 2:0630128bdb32 390 acc.setBitDepth(MMA8452::BIT_DEPTH_8);
ashleymills 2:0630128bdb32 391 acc.setDynamicRange(MMA8452::DYNAMIC_RANGE_4G);
ashleymills 2:0630128bdb32 392 sampleMMA8452Gravities(&acc,2000);
ashleymills 0:0c17274c3b7c 393
ashleymills 0:0c17274c3b7c 394 return true;
ashleymills 0:0c17274c3b7c 395 }
ashleymills 0:0c17274c3b7c 396
ashleymills 0:0c17274c3b7c 397 void loop() {
ashleymills 0:0c17274c3b7c 398 while(1) {
ashleymills 0:0c17274c3b7c 399 wait(1);
ashleymills 0:0c17274c3b7c 400 }
ashleymills 0:0c17274c3b7c 401 }
ashleymills 0:0c17274c3b7c 402
ashleymills 1:e9981919b524 403 void u16d(uint16_t n) {
ashleymills 1:e9981919b524 404 int shift = 16;
ashleymills 1:e9981919b524 405 uint16_t mask = 0x8000;
ashleymills 1:e9981919b524 406 while(--shift>=0) {
ashleymills 1:e9981919b524 407 LOGX("%d",(n&mask)>>shift);
ashleymills 1:e9981919b524 408 mask >>= 1;
ashleymills 1:e9981919b524 409 }
ashleymills 1:e9981919b524 410 LOG(" ");
ashleymills 1:e9981919b524 411 }
ashleymills 1:e9981919b524 412
ashleymills 1:e9981919b524 413 int eightBitToSigned(char *buf) {
ashleymills 1:e9981919b524 414 return (int8_t)*buf;
ashleymills 1:e9981919b524 415 }
ashleymills 1:e9981919b524 416
ashleymills 1:e9981919b524 417 int twelveBitToSigned(char *buf) {
ashleymills 1:e9981919b524 418 //LOG("Doing twos complement conversion for 0x%x 0x%x",buf[0],buf[1]);
ashleymills 1:e9981919b524 419
ashleymills 1:e9981919b524 420 // cheat by using the int16_t internal type
ashleymills 1:e9981919b524 421 // all we need to do is convert to little-endian format and shift right
ashleymills 1:e9981919b524 422 int16_t x = 0;
ashleymills 1:e9981919b524 423 ((char*)&x)[1] = buf[0];
ashleymills 1:e9981919b524 424 ((char*)&x)[0] = buf[1];
ashleymills 1:e9981919b524 425 // note this only works because the below is an arithmetic right shift
ashleymills 1:e9981919b524 426 return x>>4;
ashleymills 1:e9981919b524 427
ashleymills 1:e9981919b524 428 // for reference, here is the full conversion, in case you port this somewhere where the above won't work
ashleymills 1:e9981919b524 429 /*
ashleymills 1:e9981919b524 430 uint16_t number = 0x0000;
ashleymills 1:e9981919b524 431 //u16d(number);
ashleymills 1:e9981919b524 432 int negative = false;
ashleymills 1:e9981919b524 433
ashleymills 1:e9981919b524 434 // bit depth 12, is spread over two bytes
ashleymills 1:e9981919b524 435 // put it into a uint16_t for easy manipulation
ashleymills 1:e9981919b524 436 number |= (buf[0]<<8);
ashleymills 1:e9981919b524 437 number |= buf[1];
ashleymills 1:e9981919b524 438
ashleymills 1:e9981919b524 439 // if this is a negative number take the twos complement
ashleymills 1:e9981919b524 440 if(number&0x8000) {
ashleymills 1:e9981919b524 441 negative = true;
ashleymills 1:e9981919b524 442 // flip all bits (doesn't matter about lower 4 bits)
ashleymills 1:e9981919b524 443 number ^= 0xFFFF;
ashleymills 1:e9981919b524 444
ashleymills 1:e9981919b524 445 // add 1 (but do so in a way that deals with overflow and respects our current leftwise shift)
ashleymills 1:e9981919b524 446 number += 0x0010;
ashleymills 1:e9981919b524 447 }
ashleymills 1:e9981919b524 448
ashleymills 1:e9981919b524 449 // shifting down the result by 4 bits gives us the absolute number
ashleymills 1:e9981919b524 450 number >>= 4;
ashleymills 1:e9981919b524 451
ashleymills 1:e9981919b524 452 int result = number;
ashleymills 1:e9981919b524 453 if(negative) {
ashleymills 1:e9981919b524 454 result *= -1;
ashleymills 1:e9981919b524 455 }
ashleymills 1:e9981919b524 456 return result;
ashleymills 1:e9981919b524 457 */
ashleymills 1:e9981919b524 458 }
ashleymills 1:e9981919b524 459
ashleymills 1:e9981919b524 460 int twosCompTest() {
ashleymills 1:e9981919b524 461 // 12 bits of number gives 2048 steps
ashleymills 1:e9981919b524 462 int16_t i = -2047;
ashleymills 1:e9981919b524 463 while(1) {
ashleymills 1:e9981919b524 464 //LOG("number: %d",i);
ashleymills 1:e9981919b524 465 //u16d(number);
ashleymills 1:e9981919b524 466 uint16_t shiftedNumber = i<<4;
ashleymills 1:e9981919b524 467 //LOG("shifted:");
ashleymills 1:e9981919b524 468 //u16d(shiftedNumber);
ashleymills 1:e9981919b524 469 // ARM is little endian whereas 12 bit 2's comp rep is big endian
ashleymills 1:e9981919b524 470 uint16_t flippedNumber = 0x0000;
ashleymills 1:e9981919b524 471 //LOG("switching bytes");
ashleymills 1:e9981919b524 472 //u16d(flippedNumber);
ashleymills 1:e9981919b524 473 ((char*)&flippedNumber)[0] = ((char*)&shiftedNumber)[1];
ashleymills 1:e9981919b524 474
ashleymills 1:e9981919b524 475 //u16d(flippedNumber);
ashleymills 1:e9981919b524 476 ((char*)&flippedNumber)[1] = ((char*)&shiftedNumber)[0];
ashleymills 1:e9981919b524 477
ashleymills 1:e9981919b524 478 //u16d(flippedNumber);
ashleymills 1:e9981919b524 479 int value = twelveBitToSigned((char*)&flippedNumber);
ashleymills 1:e9981919b524 480 //LOG("%d converts to %d",i,value);
ashleymills 1:e9981919b524 481 if(i!=value) {
ashleymills 1:e9981919b524 482 return false;
ashleymills 1:e9981919b524 483 }
ashleymills 1:e9981919b524 484 if(i==2047) {
ashleymills 1:e9981919b524 485 break;
ashleymills 1:e9981919b524 486 }
ashleymills 1:e9981919b524 487 i++;
ashleymills 1:e9981919b524 488 }
ashleymills 1:e9981919b524 489
ashleymills 1:e9981919b524 490 int8_t n = -127;
ashleymills 1:e9981919b524 491 while(1) {
ashleymills 1:e9981919b524 492 int value = eightBitToSigned((char*)&n);
ashleymills 1:e9981919b524 493 //LOG("%d converts to %d",n,value);
ashleymills 1:e9981919b524 494 if(n!=value) {
ashleymills 1:e9981919b524 495 return false;
ashleymills 1:e9981919b524 496 }
ashleymills 1:e9981919b524 497 if(n==127) {
ashleymills 1:e9981919b524 498 break;
ashleymills 1:e9981919b524 499 }
ashleymills 1:e9981919b524 500 n++;
ashleymills 1:e9981919b524 501 }
ashleymills 1:e9981919b524 502
ashleymills 1:e9981919b524 503 return true;
ashleymills 1:e9981919b524 504 }
ashleymills 1:e9981919b524 505
ashleymills 0:0c17274c3b7c 506 int main() {
ashleymills 0:0c17274c3b7c 507 pc.baud(115200);
ashleymills 0:0c17274c3b7c 508 LOG("Begin");
ashleymills 1:e9981919b524 509 if(!twosCompTest()) {
ashleymills 1:e9981919b524 510 LOG("twos comp test failed");
ashleymills 1:e9981919b524 511 loop();
ashleymills 1:e9981919b524 512 }
ashleymills 1:e9981919b524 513 LOG("twos comp test passed");
ashleymills 1:e9981919b524 514 //loop();
ashleymills 0:0c17274c3b7c 515 for(int i=0; i<20; i++) {
ashleymills 0:0c17274c3b7c 516 LOG(" ");
ashleymills 0:0c17274c3b7c 517 }
ashleymills 0:0c17274c3b7c 518 if(!test()) {
ashleymills 0:0c17274c3b7c 519 LOG("FAIL.");
ashleymills 0:0c17274c3b7c 520 loop();
ashleymills 0:0c17274c3b7c 521 }
ashleymills 0:0c17274c3b7c 522 LOG("Tests passed");
ashleymills 0:0c17274c3b7c 523 loop();
ashleymills 0:0c17274c3b7c 524 }