Example/test programs for my BNO080 driver.
BNO080 Driver Examples
These examples show how to use some of the functionality on my BNO080 driver. To get started with MBed CLI:
Build Instructions
$ hg clone https://MultipleMonomials@os.mbed.com/users/MultipleMonomials/code/BNO080-Examples/ $ cd BNO080-Examples $ mbed deploy $ mbed compile
BNOTestSuite.cpp@5:ee64252765de, 2020-11-24 (annotated)
- Committer:
- Jamie Smith
- Date:
- Tue Nov 24 15:27:32 2020 -0800
- Revision:
- 5:ee64252765de
- Parent:
- 4:85b98cc04a0a
Update for BNO080Async
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Jamie Smith |
0:82ee5f7adbb0 | 1 | /* |
Jamie Smith |
0:82ee5f7adbb0 | 2 | USC RPL HAMSTER v2.3 |
Jamie Smith |
0:82ee5f7adbb0 | 3 | Contributors: Lauren Potterat |
Jamie Smith |
0:82ee5f7adbb0 | 4 | */ |
Jamie Smith |
0:82ee5f7adbb0 | 5 | |
Jamie Smith |
0:82ee5f7adbb0 | 6 | |
Jamie Smith |
0:82ee5f7adbb0 | 7 | #include "BNOTestSuite.h" |
Jamie Smith |
0:82ee5f7adbb0 | 8 | |
MultipleMonomials | 3:f72d98d0095e | 9 | #include <cinttypes> |
MultipleMonomials | 3:f72d98d0095e | 10 | |
Jamie Smith |
0:82ee5f7adbb0 | 11 | #define RAD_TO_DEG (180.0/M_PI) |
Jamie Smith |
0:82ee5f7adbb0 | 12 | |
Jamie Smith |
0:82ee5f7adbb0 | 13 | void BNOTestSuite::test_printInfo() |
Jamie Smith |
0:82ee5f7adbb0 | 14 | { |
MultipleMonomials | 3:f72d98d0095e | 15 | pc.printf("BNO080 reports as SW version %" PRIu8 ".%" PRIu8 ".%" PRIu16", build %" PRIu32 ", part no. %" PRIu32"\n", |
Jamie Smith |
0:82ee5f7adbb0 | 16 | imu.majorSoftwareVersion, imu.minorSoftwareVersion, imu.patchSoftwareVersion, |
Jamie Smith |
0:82ee5f7adbb0 | 17 | imu.buildNumber, imu.partNumber); |
Jamie Smith |
0:82ee5f7adbb0 | 18 | } |
Jamie Smith |
0:82ee5f7adbb0 | 19 | |
Jamie Smith |
0:82ee5f7adbb0 | 20 | |
Jamie Smith |
0:82ee5f7adbb0 | 21 | void BNOTestSuite::test_readRotationVector() |
Jamie Smith |
0:82ee5f7adbb0 | 22 | { |
Jamie Smith |
0:82ee5f7adbb0 | 23 | const size_t update_rate_ms = 200; |
Jamie Smith |
0:82ee5f7adbb0 | 24 | |
Jamie Smith |
5:ee64252765de | 25 | imu.lockMutex(); |
Jamie Smith |
5:ee64252765de | 26 | imu.enableReport(BNO080Base::ROTATION, update_rate_ms); |
Jamie Smith |
5:ee64252765de | 27 | imu.unlockMutex(); |
Jamie Smith |
0:82ee5f7adbb0 | 28 | |
Jamie Smith |
0:82ee5f7adbb0 | 29 | while (true) |
Jamie Smith |
0:82ee5f7adbb0 | 30 | { |
Jamie Smith |
5:ee64252765de | 31 | // note: this sleep here is important! |
Jamie Smith |
5:ee64252765de | 32 | // It prevents the mutex from being locked 100% of the time, which |
Jamie Smith |
5:ee64252765de | 33 | // would keep the IMU's thread from running. |
Jamie Smith |
5:ee64252765de | 34 | ThisThread::sleep_for((1ms * update_rate_ms) / 2); |
Jamie Smith |
0:82ee5f7adbb0 | 35 | |
Jamie Smith |
5:ee64252765de | 36 | imu.lockMutex(); |
Jamie Smith |
5:ee64252765de | 37 | imu.updateData(); |
Jamie Smith |
5:ee64252765de | 38 | if(imu.hasNewData(BNO080::ROTATION)) |
Jamie Smith |
0:82ee5f7adbb0 | 39 | { |
Jamie Smith |
0:82ee5f7adbb0 | 40 | TVector3 eulerRadians = imu.rotationVector.euler(); |
Jamie Smith |
0:82ee5f7adbb0 | 41 | TVector3 eulerDegrees = eulerRadians * RAD_TO_DEG; |
Jamie Smith |
0:82ee5f7adbb0 | 42 | |
Jamie Smith |
0:82ee5f7adbb0 | 43 | pc.printf("IMU Rotation Euler: Roll: %f deg, Pitch: %f deg, Yaw: %f deg \r\n", |
Jamie Smith |
0:82ee5f7adbb0 | 44 | eulerDegrees[0], eulerDegrees[1], eulerDegrees[2]); |
Jamie Smith |
0:82ee5f7adbb0 | 45 | |
Jamie Smith |
0:82ee5f7adbb0 | 46 | pc.printf(", Accuracy: %.02f", (imu.rotationAccuracy * RAD_TO_DEG)); |
Jamie Smith |
0:82ee5f7adbb0 | 47 | |
Jamie Smith |
5:ee64252765de | 48 | pc.printf(", Status: %s\n", imu.getReportStatusString(BNO080Base::ROTATION)); |
Jamie Smith |
0:82ee5f7adbb0 | 49 | } |
Jamie Smith |
5:ee64252765de | 50 | imu.unlockMutex(); |
Jamie Smith |
5:ee64252765de | 51 | } |
Jamie Smith |
0:82ee5f7adbb0 | 52 | } |
Jamie Smith |
0:82ee5f7adbb0 | 53 | |
Jamie Smith |
0:82ee5f7adbb0 | 54 | void BNOTestSuite::test_readRotationAcceleration() |
Jamie Smith |
0:82ee5f7adbb0 | 55 | { |
Jamie Smith |
5:ee64252765de | 56 | imu.lockMutex(); |
Jamie Smith |
5:ee64252765de | 57 | imu.enableReport(BNO080Base::ROTATION, 1000); |
Jamie Smith |
5:ee64252765de | 58 | imu.enableReport(BNO080Base::TOTAL_ACCELERATION, 500); |
Jamie Smith |
5:ee64252765de | 59 | imu.unlockMutex(); |
Jamie Smith |
0:82ee5f7adbb0 | 60 | |
Jamie Smith |
0:82ee5f7adbb0 | 61 | while (true) |
Jamie Smith |
0:82ee5f7adbb0 | 62 | { |
Jamie Smith |
4:85b98cc04a0a | 63 | ThisThread::sleep_for(1ms); |
Jamie Smith |
0:82ee5f7adbb0 | 64 | |
Jamie Smith |
5:ee64252765de | 65 | imu.lockMutex(); |
Jamie Smith |
0:82ee5f7adbb0 | 66 | if(imu.updateData()) |
Jamie Smith |
0:82ee5f7adbb0 | 67 | { |
Jamie Smith |
5:ee64252765de | 68 | if (imu.hasNewData(BNO080Base::ROTATION)) |
Jamie Smith |
0:82ee5f7adbb0 | 69 | { |
Jamie Smith |
0:82ee5f7adbb0 | 70 | pc.printf("IMU Rotation Euler: "); |
Jamie Smith |
0:82ee5f7adbb0 | 71 | TVector3 eulerRadians = imu.rotationVector.euler(); |
Jamie Smith |
0:82ee5f7adbb0 | 72 | TVector3 eulerDegrees = eulerRadians * (180.0 / M_PI); |
Jamie Smith |
0:82ee5f7adbb0 | 73 | eulerDegrees.print(pc, true); |
Jamie Smith |
0:82ee5f7adbb0 | 74 | pc.printf("\n"); |
Jamie Smith |
0:82ee5f7adbb0 | 75 | } |
Jamie Smith |
5:ee64252765de | 76 | if (imu.hasNewData(BNO080Base::TOTAL_ACCELERATION)) |
Jamie Smith |
0:82ee5f7adbb0 | 77 | { |
Jamie Smith |
0:82ee5f7adbb0 | 78 | pc.printf("IMU Total Acceleration: "); |
Jamie Smith |
0:82ee5f7adbb0 | 79 | imu.totalAcceleration.print(pc, true); |
Jamie Smith |
0:82ee5f7adbb0 | 80 | pc.printf("\n"); |
Jamie Smith |
0:82ee5f7adbb0 | 81 | } |
Jamie Smith |
0:82ee5f7adbb0 | 82 | } |
Jamie Smith |
5:ee64252765de | 83 | imu.unlockMutex(); |
Jamie Smith |
0:82ee5f7adbb0 | 84 | } |
Jamie Smith |
0:82ee5f7adbb0 | 85 | } |
Jamie Smith |
0:82ee5f7adbb0 | 86 | |
Jamie Smith |
0:82ee5f7adbb0 | 87 | void BNOTestSuite::test_tapDetector() |
Jamie Smith |
0:82ee5f7adbb0 | 88 | { |
Jamie Smith |
5:ee64252765de | 89 | imu.lockMutex(); |
Jamie Smith |
5:ee64252765de | 90 | imu.enableReport(BNO080Base::TAP_DETECTOR, 10); |
Jamie Smith |
5:ee64252765de | 91 | imu.unlockMutex(); |
Jamie Smith |
5:ee64252765de | 92 | |
Jamie Smith |
0:82ee5f7adbb0 | 93 | pc.printf("Listening for taps...\n"); |
Jamie Smith |
0:82ee5f7adbb0 | 94 | |
Jamie Smith |
0:82ee5f7adbb0 | 95 | while(true) |
Jamie Smith |
0:82ee5f7adbb0 | 96 | { |
Jamie Smith |
5:ee64252765de | 97 | ThisThread::sleep_for(1ms); |
Jamie Smith |
5:ee64252765de | 98 | imu.lockMutex(); |
Jamie Smith |
0:82ee5f7adbb0 | 99 | if(imu.updateData()) |
Jamie Smith |
0:82ee5f7adbb0 | 100 | { |
Jamie Smith |
0:82ee5f7adbb0 | 101 | if(imu.tapDetected) |
Jamie Smith |
0:82ee5f7adbb0 | 102 | { |
Jamie Smith |
0:82ee5f7adbb0 | 103 | pc.printf("Tap detected!\n"); |
Jamie Smith |
0:82ee5f7adbb0 | 104 | imu.tapDetected = false; |
Jamie Smith |
0:82ee5f7adbb0 | 105 | } |
Jamie Smith |
0:82ee5f7adbb0 | 106 | } |
Jamie Smith |
5:ee64252765de | 107 | imu.unlockMutex(); |
Jamie Smith |
0:82ee5f7adbb0 | 108 | } |
Jamie Smith |
0:82ee5f7adbb0 | 109 | } |
Jamie Smith |
0:82ee5f7adbb0 | 110 | |
Jamie Smith |
0:82ee5f7adbb0 | 111 | void BNOTestSuite::test_gameRotationVector() |
Jamie Smith |
0:82ee5f7adbb0 | 112 | { |
Jamie Smith |
0:82ee5f7adbb0 | 113 | const size_t update_rate_ms = 200; |
Jamie Smith |
0:82ee5f7adbb0 | 114 | |
Jamie Smith |
5:ee64252765de | 115 | imu.lockMutex(); |
Jamie Smith |
5:ee64252765de | 116 | imu.enableReport(BNO080Base::GAME_ROTATION, update_rate_ms); |
Jamie Smith |
5:ee64252765de | 117 | imu.unlockMutex(); |
Jamie Smith |
0:82ee5f7adbb0 | 118 | |
Jamie Smith |
0:82ee5f7adbb0 | 119 | while (true) |
Jamie Smith |
0:82ee5f7adbb0 | 120 | { |
Jamie Smith |
5:ee64252765de | 121 | ThisThread::sleep_for(1ms); |
Jamie Smith |
0:82ee5f7adbb0 | 122 | |
Jamie Smith |
5:ee64252765de | 123 | imu.lockMutex(); |
Jamie Smith |
0:82ee5f7adbb0 | 124 | if(imu.updateData()) |
Jamie Smith |
0:82ee5f7adbb0 | 125 | { |
Jamie Smith |
0:82ee5f7adbb0 | 126 | pc.printf("IMU Game Rotation Euler: ["); |
Jamie Smith |
0:82ee5f7adbb0 | 127 | TVector3 eulerRadians = imu.gameRotationVector.euler(); |
Jamie Smith |
0:82ee5f7adbb0 | 128 | TVector3 eulerDegrees = eulerRadians * RAD_TO_DEG; |
Jamie Smith |
0:82ee5f7adbb0 | 129 | eulerDegrees.print(pc, true); |
Jamie Smith |
0:82ee5f7adbb0 | 130 | |
Jamie Smith |
5:ee64252765de | 131 | pc.printf("], Status: %s\n", imu.getReportStatusString(BNO080Base::GAME_ROTATION)); |
Jamie Smith |
0:82ee5f7adbb0 | 132 | } |
Jamie Smith |
5:ee64252765de | 133 | imu.unlockMutex(); |
Jamie Smith |
0:82ee5f7adbb0 | 134 | } |
Jamie Smith |
0:82ee5f7adbb0 | 135 | } |
Jamie Smith |
0:82ee5f7adbb0 | 136 | |
Jamie Smith |
0:82ee5f7adbb0 | 137 | void BNOTestSuite::test_tare() |
Jamie Smith |
0:82ee5f7adbb0 | 138 | { |
Jamie Smith |
0:82ee5f7adbb0 | 139 | const size_t update_rate_ms = 100; |
Jamie Smith |
5:ee64252765de | 140 | imu.lockMutex(); |
Jamie Smith |
5:ee64252765de | 141 | imu.enableReport(BNO080Base::ROTATION, update_rate_ms); |
Jamie Smith |
5:ee64252765de | 142 | imu.unlockMutex(); |
Jamie Smith |
0:82ee5f7adbb0 | 143 | |
Jamie Smith |
0:82ee5f7adbb0 | 144 | Timer runningTime; |
Jamie Smith |
0:82ee5f7adbb0 | 145 | runningTime.start(); |
Jamie Smith |
0:82ee5f7adbb0 | 146 | |
Jamie Smith |
0:82ee5f7adbb0 | 147 | bool sentTareCmd = false; |
Jamie Smith |
0:82ee5f7adbb0 | 148 | |
Jamie Smith |
0:82ee5f7adbb0 | 149 | while (true) |
Jamie Smith |
0:82ee5f7adbb0 | 150 | { |
Jamie Smith |
5:ee64252765de | 151 | ThisThread::sleep_for(1ms); |
Jamie Smith |
0:82ee5f7adbb0 | 152 | |
Jamie Smith |
5:ee64252765de | 153 | imu.lockMutex(); |
Jamie Smith |
0:82ee5f7adbb0 | 154 | if(imu.updateData()) |
Jamie Smith |
0:82ee5f7adbb0 | 155 | { |
Jamie Smith |
0:82ee5f7adbb0 | 156 | pc.printf("IMU Rotation Euler: ["); |
Jamie Smith |
0:82ee5f7adbb0 | 157 | TVector3 eulerRadians = imu.rotationVector.euler(); |
Jamie Smith |
0:82ee5f7adbb0 | 158 | TVector3 eulerDegrees = eulerRadians * RAD_TO_DEG; |
Jamie Smith |
0:82ee5f7adbb0 | 159 | eulerDegrees.print(pc, true); |
Jamie Smith |
0:82ee5f7adbb0 | 160 | |
Jamie Smith |
5:ee64252765de | 161 | pc.printf("], Status: %s\n", imu.getReportStatusString(BNO080Base::ROTATION)); |
Jamie Smith |
0:82ee5f7adbb0 | 162 | } |
Jamie Smith |
0:82ee5f7adbb0 | 163 | |
Jamie Smith |
5:ee64252765de | 164 | if(runningTime.elapsed_time() > 2s && !sentTareCmd) |
Jamie Smith |
0:82ee5f7adbb0 | 165 | { |
Jamie Smith |
0:82ee5f7adbb0 | 166 | pc.printf("2 seconds have passed, sending tare command...\n"); |
Jamie Smith |
0:82ee5f7adbb0 | 167 | imu.tare(); |
Jamie Smith |
0:82ee5f7adbb0 | 168 | sentTareCmd = true; |
Jamie Smith |
0:82ee5f7adbb0 | 169 | } |
Jamie Smith |
5:ee64252765de | 170 | imu.unlockMutex(); |
Jamie Smith |
0:82ee5f7adbb0 | 171 | } |
Jamie Smith |
0:82ee5f7adbb0 | 172 | } |
Jamie Smith |
0:82ee5f7adbb0 | 173 | |
Jamie Smith |
0:82ee5f7adbb0 | 174 | void BNOTestSuite::test_magCalibration() |
Jamie Smith |
0:82ee5f7adbb0 | 175 | { |
Jamie Smith |
0:82ee5f7adbb0 | 176 | // enable calibration for the magnetometer |
Jamie Smith |
5:ee64252765de | 177 | imu.lockMutex(); |
Jamie Smith |
0:82ee5f7adbb0 | 178 | bool success = imu.enableCalibration(false, false, true); |
Jamie Smith |
0:82ee5f7adbb0 | 179 | |
Jamie Smith |
0:82ee5f7adbb0 | 180 | const size_t update_rate_ms = 200; |
Jamie Smith |
5:ee64252765de | 181 | imu.enableReport(BNO080Base::GAME_ROTATION, update_rate_ms); |
Jamie Smith |
5:ee64252765de | 182 | imu.enableReport(BNO080Base::MAG_FIELD, update_rate_ms); |
Jamie Smith |
5:ee64252765de | 183 | imu.enableReport(BNO080Base::MAG_FIELD_UNCALIBRATED, update_rate_ms); |
Jamie Smith |
5:ee64252765de | 184 | |
Jamie Smith |
5:ee64252765de | 185 | imu.unlockMutex(); |
Jamie Smith |
0:82ee5f7adbb0 | 186 | |
Jamie Smith |
0:82ee5f7adbb0 | 187 | if(success) |
Jamie Smith |
0:82ee5f7adbb0 | 188 | { |
Jamie Smith |
0:82ee5f7adbb0 | 189 | pc.printf("Calibration mode was successfully enabled!\n"); |
Jamie Smith |
0:82ee5f7adbb0 | 190 | } |
Jamie Smith |
0:82ee5f7adbb0 | 191 | else |
Jamie Smith |
0:82ee5f7adbb0 | 192 | { |
Jamie Smith |
0:82ee5f7adbb0 | 193 | pc.printf("Calibration mode failed to enable!\n"); |
Jamie Smith |
0:82ee5f7adbb0 | 194 | while(true){} |
Jamie Smith |
0:82ee5f7adbb0 | 195 | } |
Jamie Smith |
0:82ee5f7adbb0 | 196 | |
Jamie Smith |
0:82ee5f7adbb0 | 197 | while (true) |
Jamie Smith |
0:82ee5f7adbb0 | 198 | { |
Jamie Smith |
5:ee64252765de | 199 | ThisThread::sleep_for(1ms); |
Jamie Smith |
0:82ee5f7adbb0 | 200 | |
Jamie Smith |
5:ee64252765de | 201 | imu.lockMutex(); |
Jamie Smith |
0:82ee5f7adbb0 | 202 | if(imu.updateData()) |
Jamie Smith |
0:82ee5f7adbb0 | 203 | { |
Jamie Smith |
0:82ee5f7adbb0 | 204 | pc.printf("IMU Magnetic Field: ["); |
Jamie Smith |
0:82ee5f7adbb0 | 205 | imu.magFieldUncalibrated.print(pc, true); |
Jamie Smith |
0:82ee5f7adbb0 | 206 | |
Jamie Smith |
5:ee64252765de | 207 | pc.printf("] uTesla, Status: %hhu (should be 2-3 when calibration is complete), ", imu.getReportStatus(BNO080Base::MAG_FIELD)); |
Jamie Smith |
0:82ee5f7adbb0 | 208 | |
Jamie Smith |
0:82ee5f7adbb0 | 209 | pc.printf("Hard iron offsets: ["); |
Jamie Smith |
0:82ee5f7adbb0 | 210 | imu.hardIronOffset.print(pc, true); |
Jamie Smith |
0:82ee5f7adbb0 | 211 | |
Jamie Smith |
0:82ee5f7adbb0 | 212 | pc.printf("]\n"); |
Jamie Smith |
0:82ee5f7adbb0 | 213 | |
Jamie Smith |
0:82ee5f7adbb0 | 214 | } |
Jamie Smith |
5:ee64252765de | 215 | imu.unlockMutex(); |
Jamie Smith |
5:ee64252765de | 216 | |
Jamie Smith |
0:82ee5f7adbb0 | 217 | } |
Jamie Smith |
0:82ee5f7adbb0 | 218 | |
Jamie Smith |
0:82ee5f7adbb0 | 219 | } |
Jamie Smith |
0:82ee5f7adbb0 | 220 | |
Jamie Smith |
0:82ee5f7adbb0 | 221 | void BNOTestSuite::test_stabilityClassifier() |
Jamie Smith |
0:82ee5f7adbb0 | 222 | { |
Jamie Smith |
5:ee64252765de | 223 | imu.lockMutex(); |
Jamie Smith |
5:ee64252765de | 224 | imu.enableReport(BNO080Base::STABILITY_CLASSIFIER, 200); |
Jamie Smith |
5:ee64252765de | 225 | imu.unlockMutex(); |
Jamie Smith |
0:82ee5f7adbb0 | 226 | |
Jamie Smith |
0:82ee5f7adbb0 | 227 | while (true) |
Jamie Smith |
0:82ee5f7adbb0 | 228 | { |
Jamie Smith |
4:85b98cc04a0a | 229 | ThisThread::sleep_for(1ms); |
Jamie Smith |
0:82ee5f7adbb0 | 230 | |
Jamie Smith |
5:ee64252765de | 231 | imu.lockMutex(); |
Jamie Smith |
0:82ee5f7adbb0 | 232 | if(imu.updateData()) |
Jamie Smith |
0:82ee5f7adbb0 | 233 | { |
Jamie Smith |
5:ee64252765de | 234 | if (imu.hasNewData(BNO080Base::STABILITY_CLASSIFIER)) |
Jamie Smith |
0:82ee5f7adbb0 | 235 | { |
Jamie Smith |
0:82ee5f7adbb0 | 236 | pc.printf("Stability: "); |
Jamie Smith |
0:82ee5f7adbb0 | 237 | |
Jamie Smith |
0:82ee5f7adbb0 | 238 | switch(imu.stability) |
Jamie Smith |
0:82ee5f7adbb0 | 239 | { |
Jamie Smith |
5:ee64252765de | 240 | case BNO080Base::UNKNOWN: |
Jamie Smith |
0:82ee5f7adbb0 | 241 | pc.printf("Unknown\n"); |
Jamie Smith |
0:82ee5f7adbb0 | 242 | break; |
Jamie Smith |
5:ee64252765de | 243 | case BNO080Base::ON_TABLE: |
Jamie Smith |
0:82ee5f7adbb0 | 244 | pc.printf("On Table\n"); |
Jamie Smith |
0:82ee5f7adbb0 | 245 | break; |
Jamie Smith |
5:ee64252765de | 246 | case BNO080Base::STATIONARY: |
Jamie Smith |
0:82ee5f7adbb0 | 247 | pc.printf("Stationary\n"); |
Jamie Smith |
0:82ee5f7adbb0 | 248 | break; |
Jamie Smith |
5:ee64252765de | 249 | case BNO080Base::STABLE: |
Jamie Smith |
0:82ee5f7adbb0 | 250 | pc.printf("Stable\n"); |
Jamie Smith |
0:82ee5f7adbb0 | 251 | break; |
Jamie Smith |
5:ee64252765de | 252 | case BNO080Base::MOTION: |
Jamie Smith |
0:82ee5f7adbb0 | 253 | pc.printf("Motion\n"); |
Jamie Smith |
0:82ee5f7adbb0 | 254 | break; |
Jamie Smith |
0:82ee5f7adbb0 | 255 | } |
Jamie Smith |
0:82ee5f7adbb0 | 256 | } |
Jamie Smith |
0:82ee5f7adbb0 | 257 | } |
Jamie Smith |
5:ee64252765de | 258 | imu.unlockMutex(); |
Jamie Smith |
5:ee64252765de | 259 | |
Jamie Smith |
0:82ee5f7adbb0 | 260 | } |
Jamie Smith |
0:82ee5f7adbb0 | 261 | |
Jamie Smith |
0:82ee5f7adbb0 | 262 | } |
Jamie Smith |
0:82ee5f7adbb0 | 263 | |
Jamie Smith |
0:82ee5f7adbb0 | 264 | void BNOTestSuite::test_metadata() |
Jamie Smith |
0:82ee5f7adbb0 | 265 | { |
Jamie Smith |
5:ee64252765de | 266 | imu.lockMutex(); |
Jamie Smith |
0:82ee5f7adbb0 | 267 | pc.printf("Printing metadata for Linear Acceleration:\r\n"); |
Jamie Smith |
5:ee64252765de | 268 | imu.printMetadataSummary(BNO080Base::LINEAR_ACCELERATION); |
Jamie Smith |
0:82ee5f7adbb0 | 269 | |
Jamie Smith |
0:82ee5f7adbb0 | 270 | pc.printf("Printing metadata for Rotation Vector:\r\n"); |
Jamie Smith |
5:ee64252765de | 271 | imu.printMetadataSummary(BNO080Base::ROTATION); |
Jamie Smith |
0:82ee5f7adbb0 | 272 | |
Jamie Smith |
0:82ee5f7adbb0 | 273 | pc.printf("Printing metadata for Magnetic Field:\r\n"); |
Jamie Smith |
5:ee64252765de | 274 | imu.printMetadataSummary(BNO080Base::MAG_FIELD); |
Jamie Smith |
0:82ee5f7adbb0 | 275 | |
Jamie Smith |
0:82ee5f7adbb0 | 276 | pc.printf("Printing metadata for Tap Detector:\r\n"); |
Jamie Smith |
5:ee64252765de | 277 | imu.printMetadataSummary(BNO080Base::TAP_DETECTOR); |
Jamie Smith |
5:ee64252765de | 278 | imu.unlockMutex(); |
Jamie Smith |
0:82ee5f7adbb0 | 279 | |
Jamie Smith |
0:82ee5f7adbb0 | 280 | } |
Jamie Smith |
0:82ee5f7adbb0 | 281 | |
Jamie Smith |
0:82ee5f7adbb0 | 282 | void BNOTestSuite::test_orientation() |
Jamie Smith |
0:82ee5f7adbb0 | 283 | { |
Jamie Smith |
0:82ee5f7adbb0 | 284 | const size_t update_rate_ms = 200; |
Jamie Smith |
5:ee64252765de | 285 | imu.lockMutex(); |
Jamie Smith |
5:ee64252765de | 286 | imu.enableReport(BNO080Base::TOTAL_ACCELERATION, update_rate_ms); |
Jamie Smith |
5:ee64252765de | 287 | imu.enableReport(BNO080Base::ROTATION, update_rate_ms); |
Jamie Smith |
5:ee64252765de | 288 | imu.unlockMutex(); |
Jamie Smith |
0:82ee5f7adbb0 | 289 | |
Jamie Smith |
0:82ee5f7adbb0 | 290 | Timer runningTime; |
Jamie Smith |
0:82ee5f7adbb0 | 291 | runningTime.start(); |
Jamie Smith |
0:82ee5f7adbb0 | 292 | |
Jamie Smith |
0:82ee5f7adbb0 | 293 | bool setOrientation = false; |
Jamie Smith |
0:82ee5f7adbb0 | 294 | |
Jamie Smith |
0:82ee5f7adbb0 | 295 | while (true) |
Jamie Smith |
0:82ee5f7adbb0 | 296 | { |
Jamie Smith |
5:ee64252765de | 297 | ThisThread::sleep_for(1ms); |
Jamie Smith |
0:82ee5f7adbb0 | 298 | |
Jamie Smith |
5:ee64252765de | 299 | imu.lockMutex(); |
Jamie Smith |
0:82ee5f7adbb0 | 300 | if(imu.updateData()) |
Jamie Smith |
0:82ee5f7adbb0 | 301 | { |
Jamie Smith |
5:ee64252765de | 302 | if (imu.hasNewData(BNO080Base::ROTATION)) |
Jamie Smith |
0:82ee5f7adbb0 | 303 | { |
Jamie Smith |
0:82ee5f7adbb0 | 304 | pc.printf("IMU Rotation Euler: "); |
Jamie Smith |
0:82ee5f7adbb0 | 305 | TVector3 eulerRadians = imu.rotationVector.euler(); |
Jamie Smith |
0:82ee5f7adbb0 | 306 | TVector3 eulerDegrees = eulerRadians * (180.0 / M_PI); |
Jamie Smith |
0:82ee5f7adbb0 | 307 | eulerDegrees.print(pc, true); |
Jamie Smith |
0:82ee5f7adbb0 | 308 | pc.printf("\n"); |
Jamie Smith |
0:82ee5f7adbb0 | 309 | } |
Jamie Smith |
5:ee64252765de | 310 | if (imu.hasNewData(BNO080Base::TOTAL_ACCELERATION)) |
Jamie Smith |
0:82ee5f7adbb0 | 311 | { |
Jamie Smith |
0:82ee5f7adbb0 | 312 | pc.printf("IMU Total Acceleration: "); |
Jamie Smith |
0:82ee5f7adbb0 | 313 | imu.totalAcceleration.print(pc, true); |
Jamie Smith |
0:82ee5f7adbb0 | 314 | pc.printf("\n"); |
Jamie Smith |
0:82ee5f7adbb0 | 315 | } |
Jamie Smith |
0:82ee5f7adbb0 | 316 | } |
Jamie Smith |
0:82ee5f7adbb0 | 317 | |
Jamie Smith |
5:ee64252765de | 318 | if(runningTime.elapsed_time() > 2s && !setOrientation) |
Jamie Smith |
0:82ee5f7adbb0 | 319 | { |
Jamie Smith |
0:82ee5f7adbb0 | 320 | pc.printf("2 seconds have passed, sending set orientation command...\n"); |
Jamie Smith |
0:82ee5f7adbb0 | 321 | setOrientation = true; |
Jamie Smith |
0:82ee5f7adbb0 | 322 | |
Jamie Smith |
0:82ee5f7adbb0 | 323 | // rotate sensor about the Y axis, so Z points down and X points west. |
Jamie Smith |
0:82ee5f7adbb0 | 324 | // (values from BNO datasheet page 41) |
Jamie Smith |
0:82ee5f7adbb0 | 325 | imu.setSensorOrientation(Quaternion(0, -1, 0, 0)); |
Jamie Smith |
0:82ee5f7adbb0 | 326 | } |
Jamie Smith |
5:ee64252765de | 327 | imu.unlockMutex(); |
Jamie Smith |
0:82ee5f7adbb0 | 328 | } |
Jamie Smith |
0:82ee5f7adbb0 | 329 | } |
Jamie Smith |
0:82ee5f7adbb0 | 330 | |
Jamie Smith |
1:14c135ea7134 | 331 | void BNOTestSuite::test_permanentOrientation() |
Jamie Smith |
1:14c135ea7134 | 332 | { |
Jamie Smith |
1:14c135ea7134 | 333 | pc.printf("Setting permanent sensor orientation...\n"); |
Jamie Smith |
1:14c135ea7134 | 334 | Timer orientationTimer; |
Jamie Smith |
1:14c135ea7134 | 335 | orientationTimer.start(); |
Jamie Smith |
1:14c135ea7134 | 336 | |
Jamie Smith |
1:14c135ea7134 | 337 | // rotate sensor 90 degrees CCW about the Y axis, so X points up, Y points back, and Z points out |
Jamie Smith |
1:14c135ea7134 | 338 | // (values from BNO datasheet page 41) |
Jamie Smith |
1:14c135ea7134 | 339 | // imu.setPermanentOrientation(Quaternion(1.0f/SQRT_2, -1.0f/SQRT_2, 0, 0)); |
Jamie Smith |
1:14c135ea7134 | 340 | |
Jamie Smith |
1:14c135ea7134 | 341 | // rotate sensor 180 degrees about Y axis |
Jamie Smith |
1:14c135ea7134 | 342 | //with these quaternion values x axis is oriented to point toward BRB, Z points up and Y points out towards you when you face the unit |
Jamie Smith |
1:14c135ea7134 | 343 | // see page 5 and 11 of hillcrestlabs FSM30X datasheet |
Jamie Smith |
5:ee64252765de | 344 | imu.lockMutex(); |
Jamie Smith |
5:ee64252765de | 345 | imu.setPermanentOrientation(Quaternion(0,-1, 0, 0)); |
Jamie Smith |
5:ee64252765de | 346 | imu.unlockMutex(); |
Jamie Smith |
5:ee64252765de | 347 | |
Jamie Smith |
1:14c135ea7134 | 348 | // reset to default orientation |
Jamie Smith |
1:14c135ea7134 | 349 | //imu.setPermanentOrientation(Quaternion(0, 0, 0, 0)); |
Jamie Smith |
1:14c135ea7134 | 350 | |
Jamie Smith |
1:14c135ea7134 | 351 | orientationTimer.stop(); |
Jamie Smith |
5:ee64252765de | 352 | pc.printf("Done setting orientation (took %.03f seconds)\r\n", std::chrono::duration<float>{orientationTimer.elapsed_time()}.count()); |
Jamie Smith |
1:14c135ea7134 | 353 | |
Jamie Smith |
1:14c135ea7134 | 354 | } |
Jamie Smith |
1:14c135ea7134 | 355 | |
Jamie Smith |
0:82ee5f7adbb0 | 356 | void BNOTestSuite::test_disable() |
Jamie Smith |
0:82ee5f7adbb0 | 357 | { |
Jamie Smith |
0:82ee5f7adbb0 | 358 | const size_t update_rate_ms = 200; |
Jamie Smith |
5:ee64252765de | 359 | imu.lockMutex(); |
Jamie Smith |
5:ee64252765de | 360 | imu.enableReport(BNO080Base::TOTAL_ACCELERATION, update_rate_ms); |
Jamie Smith |
5:ee64252765de | 361 | imu.enableReport(BNO080Base::ROTATION, update_rate_ms); |
Jamie Smith |
5:ee64252765de | 362 | imu.unlockMutex(); |
Jamie Smith |
0:82ee5f7adbb0 | 363 | |
Jamie Smith |
0:82ee5f7adbb0 | 364 | Timer runningTime; |
Jamie Smith |
0:82ee5f7adbb0 | 365 | runningTime.start(); |
Jamie Smith |
0:82ee5f7adbb0 | 366 | |
Jamie Smith |
0:82ee5f7adbb0 | 367 | bool disabledRotation = false; |
Jamie Smith |
0:82ee5f7adbb0 | 368 | |
Jamie Smith |
0:82ee5f7adbb0 | 369 | while (true) |
Jamie Smith |
0:82ee5f7adbb0 | 370 | { |
Jamie Smith |
4:85b98cc04a0a | 371 | ThisThread::sleep_for(1ms * update_rate_ms); |
Jamie Smith |
0:82ee5f7adbb0 | 372 | |
Jamie Smith |
5:ee64252765de | 373 | imu.lockMutex(); |
Jamie Smith |
0:82ee5f7adbb0 | 374 | if(imu.updateData()) |
Jamie Smith |
0:82ee5f7adbb0 | 375 | { |
Jamie Smith |
5:ee64252765de | 376 | if (imu.hasNewData(BNO080Base::ROTATION)) |
Jamie Smith |
0:82ee5f7adbb0 | 377 | { |
Jamie Smith |
0:82ee5f7adbb0 | 378 | pc.printf("IMU Rotation Euler: "); |
Jamie Smith |
0:82ee5f7adbb0 | 379 | TVector3 eulerRadians = imu.rotationVector.euler(); |
Jamie Smith |
0:82ee5f7adbb0 | 380 | TVector3 eulerDegrees = eulerRadians * (180.0 / M_PI); |
Jamie Smith |
0:82ee5f7adbb0 | 381 | eulerDegrees.print(pc, true); |
Jamie Smith |
0:82ee5f7adbb0 | 382 | pc.printf("\n"); |
Jamie Smith |
0:82ee5f7adbb0 | 383 | } |
Jamie Smith |
5:ee64252765de | 384 | if (imu.hasNewData(BNO080Base::TOTAL_ACCELERATION)) |
Jamie Smith |
0:82ee5f7adbb0 | 385 | { |
Jamie Smith |
0:82ee5f7adbb0 | 386 | pc.printf("IMU Total Acceleration: "); |
Jamie Smith |
0:82ee5f7adbb0 | 387 | imu.totalAcceleration.print(pc, true); |
Jamie Smith |
0:82ee5f7adbb0 | 388 | pc.printf("\n"); |
Jamie Smith |
0:82ee5f7adbb0 | 389 | } |
Jamie Smith |
0:82ee5f7adbb0 | 390 | } |
Jamie Smith |
0:82ee5f7adbb0 | 391 | |
Jamie Smith |
5:ee64252765de | 392 | if(runningTime.elapsed_time() > 2s && !disabledRotation) |
Jamie Smith |
0:82ee5f7adbb0 | 393 | { |
Jamie Smith |
0:82ee5f7adbb0 | 394 | pc.printf("2 seconds have passed, disabling rotation report...\n"); |
Jamie Smith |
0:82ee5f7adbb0 | 395 | disabledRotation = true; |
Jamie Smith |
0:82ee5f7adbb0 | 396 | |
Jamie Smith |
5:ee64252765de | 397 | imu.disableReport(BNO080Base::ROTATION); |
Jamie Smith |
0:82ee5f7adbb0 | 398 | } |
Jamie Smith |
5:ee64252765de | 399 | imu.unlockMutex(); |
Jamie Smith |
0:82ee5f7adbb0 | 400 | } |
Jamie Smith |
0:82ee5f7adbb0 | 401 | } |
Jamie Smith |
0:82ee5f7adbb0 | 402 | |
Jamie Smith |
4:85b98cc04a0a | 403 | void BNOTestSuite::test_accelCalibration() |
Jamie Smith |
4:85b98cc04a0a | 404 | { |
Jamie Smith |
4:85b98cc04a0a | 405 | // enable calibration for the magnetometer |
Jamie Smith |
5:ee64252765de | 406 | imu.lockMutex(); |
Jamie Smith |
4:85b98cc04a0a | 407 | bool success = imu.enableCalibration(true, false, false); |
Jamie Smith |
4:85b98cc04a0a | 408 | |
Jamie Smith |
4:85b98cc04a0a | 409 | const size_t update_rate_ms = 200; |
Jamie Smith |
5:ee64252765de | 410 | imu.enableReport(BNO080Base::Report::TOTAL_ACCELERATION, update_rate_ms); |
Jamie Smith |
5:ee64252765de | 411 | imu.unlockMutex(); |
Jamie Smith |
4:85b98cc04a0a | 412 | |
Jamie Smith |
4:85b98cc04a0a | 413 | if(success) |
Jamie Smith |
4:85b98cc04a0a | 414 | { |
Jamie Smith |
4:85b98cc04a0a | 415 | pc.printf("Calibration mode was successfully enabled!\r\n"); |
Jamie Smith |
4:85b98cc04a0a | 416 | } |
Jamie Smith |
4:85b98cc04a0a | 417 | else |
Jamie Smith |
4:85b98cc04a0a | 418 | { |
Jamie Smith |
4:85b98cc04a0a | 419 | pc.printf("Calibration mode failed to enable!\r\n"); |
Jamie Smith |
4:85b98cc04a0a | 420 | while(true){} |
Jamie Smith |
4:85b98cc04a0a | 421 | } |
Jamie Smith |
4:85b98cc04a0a | 422 | |
Jamie Smith |
4:85b98cc04a0a | 423 | while (true) |
Jamie Smith |
4:85b98cc04a0a | 424 | { |
Jamie Smith |
5:ee64252765de | 425 | ThisThread::sleep_for(1ms); |
Jamie Smith |
4:85b98cc04a0a | 426 | |
Jamie Smith |
5:ee64252765de | 427 | imu.lockMutex(); |
Jamie Smith |
4:85b98cc04a0a | 428 | if(imu.updateData()) |
Jamie Smith |
4:85b98cc04a0a | 429 | { |
Jamie Smith |
4:85b98cc04a0a | 430 | pc.printf("IMU Total Acceleration: ["); |
Jamie Smith |
4:85b98cc04a0a | 431 | imu.totalAcceleration.print(pc, true); |
Jamie Smith |
5:ee64252765de | 432 | pc.printf("] m/s^2, Status: %hhu (should be 2-3 when calibration is complete), ", imu.getReportStatus(BNO080Base::Report::TOTAL_ACCELERATION)); |
Jamie Smith |
4:85b98cc04a0a | 433 | pc.printf("]\r\n"); |
Jamie Smith |
4:85b98cc04a0a | 434 | |
Jamie Smith |
4:85b98cc04a0a | 435 | } |
Jamie Smith |
4:85b98cc04a0a | 436 | |
Jamie Smith |
4:85b98cc04a0a | 437 | if(serial.readable()) |
Jamie Smith |
4:85b98cc04a0a | 438 | { |
Jamie Smith |
4:85b98cc04a0a | 439 | // char typed over serial |
Jamie Smith |
4:85b98cc04a0a | 440 | pc.printf("Saving current calibration...\r\n"); |
Jamie Smith |
4:85b98cc04a0a | 441 | imu.saveCalibration(); |
Jamie Smith |
4:85b98cc04a0a | 442 | |
Jamie Smith |
4:85b98cc04a0a | 443 | // throw out rest of chars in serial buffer |
Jamie Smith |
4:85b98cc04a0a | 444 | while(serial.readable()) |
Jamie Smith |
4:85b98cc04a0a | 445 | { |
Jamie Smith |
4:85b98cc04a0a | 446 | pc.getc(); |
Jamie Smith |
4:85b98cc04a0a | 447 | } |
Jamie Smith |
4:85b98cc04a0a | 448 | } |
Jamie Smith |
5:ee64252765de | 449 | imu.unlockMutex(); |
Jamie Smith |
4:85b98cc04a0a | 450 | } |
Jamie Smith |
4:85b98cc04a0a | 451 | |
Jamie Smith |
4:85b98cc04a0a | 452 | } |
Jamie Smith |
4:85b98cc04a0a | 453 | |
Jamie Smith |
0:82ee5f7adbb0 | 454 | int main() |
Jamie Smith |
0:82ee5f7adbb0 | 455 | { |
Jamie Smith |
0:82ee5f7adbb0 | 456 | int test = -1; |
Jamie Smith |
5:ee64252765de | 457 | pc.printf("\r\n\nBNO080 Test Suite:\r\n"); |
Jamie Smith |
0:82ee5f7adbb0 | 458 | |
Jamie Smith |
0:82ee5f7adbb0 | 459 | //MENU. ADD OPTION PER EACH TEST |
Jamie Smith |
0:82ee5f7adbb0 | 460 | pc.printf("Select a test: \n\r"); |
Jamie Smith |
0:82ee5f7adbb0 | 461 | pc.printf("1. Print chip info\r\n"); |
Jamie Smith |
0:82ee5f7adbb0 | 462 | pc.printf("2. Display rotation vector\r\n"); |
Jamie Smith |
0:82ee5f7adbb0 | 463 | pc.printf("3. Display rotation and acceleration\r\n"); |
Jamie Smith |
0:82ee5f7adbb0 | 464 | pc.printf("4. Run tap detector\r\n"); |
Jamie Smith |
0:82ee5f7adbb0 | 465 | pc.printf("5. Display game rotation vector\r\n"); |
Jamie Smith |
0:82ee5f7adbb0 | 466 | pc.printf("6. Test tare function\r\n"); |
Jamie Smith |
0:82ee5f7adbb0 | 467 | pc.printf("7. Run magnetometer calibration\r\n"); |
Jamie Smith |
0:82ee5f7adbb0 | 468 | pc.printf("8. Test stability classifier\r\n"); |
Jamie Smith |
0:82ee5f7adbb0 | 469 | pc.printf("9. Test metadata reading (requires BNO_DEBUG = 1)\r\n"); |
Jamie Smith |
0:82ee5f7adbb0 | 470 | pc.printf("10. Test set orientation\r\n"); |
Jamie Smith |
1:14c135ea7134 | 471 | pc.printf("11. Test set permanent orientation\r\n"); |
Jamie Smith |
1:14c135ea7134 | 472 | pc.printf("12. Test disabling reports\r\n"); |
Jamie Smith |
4:85b98cc04a0a | 473 | pc.printf("13. Test accelerometer calibration\r\n"); |
Jamie Smith |
0:82ee5f7adbb0 | 474 | |
Jamie Smith |
0:82ee5f7adbb0 | 475 | pc.scanf("%d", &test); |
Jamie Smith |
0:82ee5f7adbb0 | 476 | pc.printf("Running test %d:\r\n\n", test); |
Jamie Smith |
0:82ee5f7adbb0 | 477 | |
Jamie Smith |
5:ee64252765de | 478 | pc.printf("============================================================\n"); |
Jamie Smith |
5:ee64252765de | 479 | |
Jamie Smith |
5:ee64252765de | 480 | // reset and connect to IMU |
Jamie Smith |
5:ee64252765de | 481 | while(!imu.begin()) |
Jamie Smith |
5:ee64252765de | 482 | { |
Jamie Smith |
5:ee64252765de | 483 | pc.printf("Failed to connect to IMU!\r\n"); |
Jamie Smith |
5:ee64252765de | 484 | ThisThread::sleep_for(500ms); |
Jamie Smith |
5:ee64252765de | 485 | } |
Jamie Smith |
5:ee64252765de | 486 | |
Jamie Smith |
5:ee64252765de | 487 | //Declare test harness |
Jamie Smith |
5:ee64252765de | 488 | BNOTestSuite harness; |
Jamie Smith |
0:82ee5f7adbb0 | 489 | |
Jamie Smith |
0:82ee5f7adbb0 | 490 | //SWITCH. ADD CASE PER EACH TEST |
Jamie Smith |
0:82ee5f7adbb0 | 491 | switch(test){ |
Jamie Smith |
0:82ee5f7adbb0 | 492 | case 1: |
Jamie Smith |
0:82ee5f7adbb0 | 493 | harness.test_printInfo(); |
Jamie Smith |
0:82ee5f7adbb0 | 494 | break; |
Jamie Smith |
0:82ee5f7adbb0 | 495 | case 2: |
Jamie Smith |
0:82ee5f7adbb0 | 496 | harness.test_readRotationVector(); |
Jamie Smith |
0:82ee5f7adbb0 | 497 | break; |
Jamie Smith |
0:82ee5f7adbb0 | 498 | case 3: |
Jamie Smith |
0:82ee5f7adbb0 | 499 | harness.test_readRotationAcceleration(); |
Jamie Smith |
0:82ee5f7adbb0 | 500 | break; |
Jamie Smith |
0:82ee5f7adbb0 | 501 | case 4: |
Jamie Smith |
0:82ee5f7adbb0 | 502 | harness.test_tapDetector(); |
Jamie Smith |
0:82ee5f7adbb0 | 503 | break; |
Jamie Smith |
0:82ee5f7adbb0 | 504 | case 5: |
Jamie Smith |
0:82ee5f7adbb0 | 505 | harness.test_gameRotationVector(); |
Jamie Smith |
0:82ee5f7adbb0 | 506 | break; |
Jamie Smith |
0:82ee5f7adbb0 | 507 | case 6: |
Jamie Smith |
0:82ee5f7adbb0 | 508 | harness.test_tare(); |
Jamie Smith |
0:82ee5f7adbb0 | 509 | break; |
Jamie Smith |
0:82ee5f7adbb0 | 510 | case 7: |
Jamie Smith |
0:82ee5f7adbb0 | 511 | harness.test_magCalibration(); |
Jamie Smith |
0:82ee5f7adbb0 | 512 | break; |
Jamie Smith |
0:82ee5f7adbb0 | 513 | case 8: |
Jamie Smith |
0:82ee5f7adbb0 | 514 | harness.test_stabilityClassifier(); |
Jamie Smith |
0:82ee5f7adbb0 | 515 | break; |
Jamie Smith |
0:82ee5f7adbb0 | 516 | case 9: |
Jamie Smith |
0:82ee5f7adbb0 | 517 | harness.test_metadata(); |
Jamie Smith |
0:82ee5f7adbb0 | 518 | break; |
Jamie Smith |
0:82ee5f7adbb0 | 519 | case 10: |
Jamie Smith |
0:82ee5f7adbb0 | 520 | harness.test_orientation(); |
Jamie Smith |
0:82ee5f7adbb0 | 521 | break; |
Jamie Smith |
0:82ee5f7adbb0 | 522 | case 11: |
Jamie Smith |
1:14c135ea7134 | 523 | harness.test_permanentOrientation(); |
Jamie Smith |
1:14c135ea7134 | 524 | break; |
Jamie Smith |
1:14c135ea7134 | 525 | case 12: |
Jamie Smith |
0:82ee5f7adbb0 | 526 | harness.test_disable(); |
Jamie Smith |
0:82ee5f7adbb0 | 527 | break; |
Jamie Smith |
5:ee64252765de | 528 | case 13: |
Jamie Smith |
5:ee64252765de | 529 | harness.test_accelCalibration(); |
Jamie Smith |
5:ee64252765de | 530 | break; |
Jamie Smith |
0:82ee5f7adbb0 | 531 | default: |
Jamie Smith |
0:82ee5f7adbb0 | 532 | printf("Invalid test number. Please run again.\r\n"); |
Jamie Smith |
0:82ee5f7adbb0 | 533 | return 1; |
Jamie Smith |
0:82ee5f7adbb0 | 534 | } |
Jamie Smith |
0:82ee5f7adbb0 | 535 | |
Jamie Smith |
0:82ee5f7adbb0 | 536 | pc.printf("Done!\r\n"); |
Jamie Smith |
0:82ee5f7adbb0 | 537 | return 0; |
Jamie Smith |
0:82ee5f7adbb0 | 538 | |
Jamie Smith |
0:82ee5f7adbb0 | 539 | } |
Jamie Smith |
0:82ee5f7adbb0 | 540 | |
Jamie Smith |
0:82ee5f7adbb0 | 541 | |
Jamie Smith |
0:82ee5f7adbb0 | 542 | |
Jamie Smith |
0:82ee5f7adbb0 | 543 | |
Jamie Smith |
0:82ee5f7adbb0 | 544 | |
Jamie Smith |
0:82ee5f7adbb0 | 545 | |
Jamie Smith |
0:82ee5f7adbb0 | 546 | |
Jamie Smith |
0:82ee5f7adbb0 | 547 | |
Jamie Smith |
0:82ee5f7adbb0 | 548 |