Tyler Weaver / Mbed 2 deprecated 9Dof_unit_testing

Unit testing and development for 9DOF sparkfun sensor stick

Dependencies:   ADXL345 HMC5883L ITG3200 mbed

main.cpp@3:5e21a352e236, 2012-11-05 (annotated)

Committer:
tylerjw
Date:
Mon Nov 05 18:35:42 2012 +0000
Revision:
3:5e21a352e236
Parent:
2:d7e66940541d
Child:
4:8a77e21d08f1
Working adxl built in test and calibration test in adxl345unit;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
tylerjw 0:ac2f55940442 1 /**
tylerjw 2:d7e66940541d 2 9-dof unit testing
tylerjw 0:ac2f55940442 3
tylerjw 0:ac2f55940442 4 The purpose of this program is to demonstrate and calibrate the three
tylerjw 0:ac2f55940442 5 sensors on teh 9-doft board.
tylerjw 0:ac2f55940442 6
tylerjw 0:ac2f55940442 7 The first version of this software will test the ITG3200 gyro to find
tylerjw 0:ac2f55940442 8 the temperature drift line. Data will be logged to help determine the
tylerjw 0:ac2f55940442 9 thermal drift line.
tylerjw 0:ac2f55940442 10 See: http://mbed.org/users/gltest26/code/ITG3200/wiki/Thermal-Drift
tylerjw 1:dc730a26cdc2 11
tylerjw 1:dc730a26cdc2 12 The second versoin of this will test the HMC5883L 3 axis magnometer
tylerjw 2:d7e66940541d 13
tylerjw 2:d7e66940541d 14 The thrid version tests the ADXL345 library.
tylerjw 0:ac2f55940442 15 */
tylerjw 0:ac2f55940442 16
tylerjw 0:ac2f55940442 17 #include "mbed.h"
tylerjw 1:dc730a26cdc2 18 //#include "ITG3200.h"
tylerjw 2:d7e66940541d 19 //#include "HMC5883L.h"
tylerjw 3:5e21a352e236 20 #include "adxl345unit.h"
tylerjw 1:dc730a26cdc2 21
tylerjw 2:d7e66940541d 22 I2C i2c_bus(p28, p27);
tylerjw 3:5e21a352e236 23 ADXL345 accel(i2c_bus);
tylerjw 3:5e21a352e236 24 Timer t;
tylerjw 3:5e21a352e236 25 Serial pc(USBTX, USBRX);
tylerjw 3:5e21a352e236 26 //ADXL345UNIT accel_test(i2c_bus, t);
tylerjw 0:ac2f55940442 27
tylerjw 0:ac2f55940442 28 int main()
tylerjw 0:ac2f55940442 29 {
tylerjw 3:5e21a352e236 30 t.start();
tylerjw 3:5e21a352e236 31 pc.baud(9600);
tylerjw 3:5e21a352e236 32 accel.calibrate(&t, true);
tylerjw 3:5e21a352e236 33 //accel_test.builtInSelfTest(true);
tylerjw 3:5e21a352e236 34 //accel_test.offsetCalibration(true);
tylerjw 3:5e21a352e236 35 /*
tylerjw 3:5e21a352e236 36 int sample[3];
tylerjw 3:5e21a352e236 37 float elapsed_time;
tylerjw 3:5e21a352e236 38 float time_stamp[100];
tylerjw 3:5e21a352e236 39 int samples[100][3];
tylerjw 2:d7e66940541d 40
tylerjw 3:5e21a352e236 41 Timer t;
tylerjw 3:5e21a352e236 42 Serial pc(USBTX, USBRX);
tylerjw 3:5e21a352e236 43 pc.baud(9600);
tylerjw 3:5e21a352e236 44
tylerjw 3:5e21a352e236 45 accel.setDataRate(ADXL345_100HZ); // 100Hz data rate
tylerjw 3:5e21a352e236 46 accel.setDataFormatControl(ADXL345_16G | ADXL345_FULL_RES);
tylerjw 3:5e21a352e236 47 accel.setPowerControl(0x08); // start measurement
tylerjw 3:5e21a352e236 48
tylerjw 3:5e21a352e236 49 wait(0.001);
tylerjw 3:5e21a352e236 50
tylerjw 3:5e21a352e236 51 t.start();
tylerjw 3:5e21a352e236 52 accel.getOutput(sample);
tylerjw 3:5e21a352e236 53 elapsed_time = t.read();
tylerjw 3:5e21a352e236 54
tylerjw 3:5e21a352e236 55 pc.printf("Sample took %f seconds.\r\n", elapsed_time);
tylerjw 3:5e21a352e236 56 pc.printf("x: %d, y: %d, z: %d\r\n", sample[0],sample[1],sample[2]);
tylerjw 3:5e21a352e236 57
tylerjw 3:5e21a352e236 58 for(int i = 0; i < 100; i++) {
tylerjw 3:5e21a352e236 59 t.reset();
tylerjw 3:5e21a352e236 60 accel.getOutput(samples[i]);
tylerjw 3:5e21a352e236 61 time_stamp[i] = t.read();
tylerjw 3:5e21a352e236 62 }
tylerjw 3:5e21a352e236 63 for(int i = 0; i < 100; i++) {
tylerjw 3:5e21a352e236 64 pc.printf("Sample took %f seconds.\r\n", time_stamp[i]);
tylerjw 3:5e21a352e236 65 pc.printf("x: %d, y: %d, z: %d\r\n", samples[i][0],samples[i][1],samples[i][2]);
tylerjw 3:5e21a352e236 66 }
tylerjw 3:5e21a352e236 67 */
tylerjw 2:d7e66940541d 68 }
tylerjw 2:d7e66940541d 69
tylerjw 2:d7e66940541d 70 /*
tylerjw 2:d7e66940541d 71 void hmc5883l_test()
tylerjw 2:d7e66940541d 72 {
tylerjw 1:dc730a26cdc2 73 Serial pc(USBTX, USBRX);
tylerjw 2:d7e66940541d 74
tylerjw 1:dc730a26cdc2 75 pc.baud(9600);
tylerjw 3:5e21a352e236 76
tylerjw 2:d7e66940541d 77 HMC5883L compass(i2c_bus);
tylerjw 2:d7e66940541d 78
tylerjw 1:dc730a26cdc2 79 int data[3];
tylerjw 2:d7e66940541d 80
tylerjw 2:d7e66940541d 81 while(1) {
tylerjw 2:d7e66940541d 82 compass.getXYZ(data);
tylerjw 2:d7e66940541d 83 pc.printf("x: %4d, y: %4d, z: %4d\r\n", data[0], data[1], data[2]);
tylerjw 1:dc730a26cdc2 84 wait(0.067);
tylerjw 1:dc730a26cdc2 85 }
tylerjw 1:dc730a26cdc2 86 }
tylerjw 2:d7e66940541d 87 */
tylerjw 1:dc730a26cdc2 88 /*
tylerjw 1:dc730a26cdc2 89 void itg3200_test()
tylerjw 1:dc730a26cdc2 90 {
tylerjw 1:dc730a26cdc2 91 DigitalOut myled(LED1);
tylerjw 0:ac2f55940442 92 LocalFileSystem local("local"); // Create the local filesystem under the name "local"
tylerjw 0:ac2f55940442 93 ITG3200 gyro(p28, p27); // sda, scl - gyro
tylerjw 1:dc730a26cdc2 94 const float offset[3] = {99.5, -45.0, -29.7}; // taken from itg3200.xls curve fit test
tylerjw 1:dc730a26cdc2 95 const float slope[3] = {-1.05, 0.95, 0.47};
tylerjw 1:dc730a26cdc2 96
tylerjw 1:dc730a26cdc2 97 gyro.setCalibrationCurve(offset, slope);
tylerjw 1:dc730a26cdc2 98 gyro.setLpBandwidth(LPFBW_5HZ); // lowest rate low-pass filter
tylerjw 1:dc730a26cdc2 99
tylerjw 0:ac2f55940442 100 Serial pc(USBTX, USBRX);
tylerjw 0:ac2f55940442 101
tylerjw 0:ac2f55940442 102 pc.baud(9600);
tylerjw 0:ac2f55940442 103
tylerjw 0:ac2f55940442 104 myled = 0;
tylerjw 0:ac2f55940442 105 FILE *fp = fopen("/local/itg3200.csv", "w"); // Open "itg3200.csv" for writing
tylerjw 0:ac2f55940442 106 fputs("Temp, X, Y, Z\r\n", fp); // place the header at the top
tylerjw 0:ac2f55940442 107
tylerjw 0:ac2f55940442 108 float temperature = 0.0;
tylerjw 0:ac2f55940442 109 int gyro_readings[3];
tylerjw 0:ac2f55940442 110
tylerjw 0:ac2f55940442 111 for(int i = 0; i < 120; i++) { // 120 seconds - 600 samples
tylerjw 0:ac2f55940442 112 myled = 1;
tylerjw 1:dc730a26cdc2 113 //gyro.calibrate(1.0);
tylerjw 1:dc730a26cdc2 114 wait(0.5);
tylerjw 0:ac2f55940442 115 myled = 0;
tylerjw 1:dc730a26cdc2 116 gyro.getGyroXYZ(gyro_readings, ITG3200::Calibration);
tylerjw 1:dc730a26cdc2 117 //gyro.getOffset(gyro_readings);
tylerjw 0:ac2f55940442 118 temperature = gyro.getTemperature();
tylerjw 0:ac2f55940442 119 pc.printf("%3d,%f,%d,%d,%d\r\n",i,temperature,gyro_readings[0],gyro_readings[1],gyro_readings[2]);
tylerjw 0:ac2f55940442 120 fprintf(fp, "%f,%d,%d,%d\r\n",temperature,gyro_readings[0],gyro_readings[1],gyro_readings[2]);
tylerjw 0:ac2f55940442 121 }
tylerjw 0:ac2f55940442 122 fclose(fp);
tylerjw 0:ac2f55940442 123 myled = 0;
tylerjw 0:ac2f55940442 124 }
tylerjw 1:dc730a26cdc2 125 */