Tyler Weaver / Mbed 2 deprecated 9Dof_unit_testing

Unit testing and development for 9DOF sparkfun sensor stick

Dependencies:   ADXL345 HMC5883L ITG3200 mbed

main.cpp@5:63b115f85aa7, 2012-11-09 (annotated)

Committer:
tylerjw
Date:
Fri Nov 09 18:33:29 2012 +0000
Revision:
5:63b115f85aa7
Parent:
4:8a77e21d08f1 
ITG3200 curve fit test

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 4:8a77e21d08f1 18 #include "ITG3200.h"
tylerjw 4:8a77e21d08f1 19 #include "HMC5883L.h"
tylerjw 4:8a77e21d08f1 20 #include "ADXL345.h"
tylerjw 4:8a77e21d08f1 21 //#include "adxl345unit.h"
tylerjw 1:dc730a26cdc2 22
tylerjw 2:d7e66940541d 23 I2C i2c_bus(p28, p27);
tylerjw 3:5e21a352e236 24 ADXL345 accel(i2c_bus);
tylerjw 4:8a77e21d08f1 25 HMC5883L magno(i2c_bus);
tylerjw 4:8a77e21d08f1 26 ITG3200 gyro(i2c_bus);
tylerjw 3:5e21a352e236 27 Timer t;
tylerjw 3:5e21a352e236 28 Serial pc(USBTX, USBRX);
tylerjw 3:5e21a352e236 29 //ADXL345UNIT accel_test(i2c_bus, t);
tylerjw 0:ac2f55940442 30
tylerjw 4:8a77e21d08f1 31 void sample_time_test();
tylerjw 5:63b115f85aa7 32 void itg3200_curve_test();
tylerjw 4:8a77e21d08f1 33
tylerjw 0:ac2f55940442 34 int main()
tylerjw 0:ac2f55940442 35 {
tylerjw 5:63b115f85aa7 36 itg3200_curve_test();
tylerjw 4:8a77e21d08f1 37 }
tylerjw 4:8a77e21d08f1 38
tylerjw 4:8a77e21d08f1 39 void sample_time_test()
tylerjw 4:8a77e21d08f1 40 {
tylerjw 4:8a77e21d08f1 41 int16_t accel_sample[3];
tylerjw 4:8a77e21d08f1 42 int16_t magno_sample[3];
tylerjw 4:8a77e21d08f1 43 int16_t gyro_sample[3];
tylerjw 4:8a77e21d08f1 44 double temperature;
tylerjw 4:8a77e21d08f1 45 double heading_rad, heading_deg;
tylerjw 4:8a77e21d08f1 46 wait(0.5); // enough time for everything to prepare a sample
tylerjw 3:5e21a352e236 47 t.start();
tylerjw 4:8a77e21d08f1 48 double accel_time, magno_time, gyro_time, temp_time, head_rad_time, head_deg_time;
tylerjw 3:5e21a352e236 49 pc.baud(9600);
tylerjw 4:8a77e21d08f1 50
tylerjw 4:8a77e21d08f1 51 pc.printf("accel,magno,gyro,temp,head_rad,head_deg\r\n");
tylerjw 4:8a77e21d08f1 52 for(int i = 0; i < 100; i++)
tylerjw 4:8a77e21d08f1 53 {
tylerjw 4:8a77e21d08f1 54 t.reset();
tylerjw 4:8a77e21d08f1 55 accel.getXYZ(accel_sample);
tylerjw 4:8a77e21d08f1 56 accel_time = t.read();
tylerjw 4:8a77e21d08f1 57 magno.getXYZ(magno_sample);
tylerjw 4:8a77e21d08f1 58 magno_time = t.read();
tylerjw 4:8a77e21d08f1 59 gyro.getXYZ(gyro_sample, ITG3200::Calibration);
tylerjw 4:8a77e21d08f1 60 gyro_time = t.read();
tylerjw 4:8a77e21d08f1 61 temperature = gyro.getTemperature();
tylerjw 4:8a77e21d08f1 62 temp_time = t.read();
tylerjw 4:8a77e21d08f1 63 heading_rad = magno.getHeadingXY();
tylerjw 4:8a77e21d08f1 64 head_rad_time = t.read();
tylerjw 4:8a77e21d08f1 65 heading_deg = magno.getHeadingXYDeg();
tylerjw 4:8a77e21d08f1 66 head_deg_time = t.read();
tylerjw 4:8a77e21d08f1 67
tylerjw 4:8a77e21d08f1 68 pc.printf("%f,%f,%f,%f,%f,%f\r\n",accel_time,magno_time,gyro_time,temp_time,head_rad_time,head_deg_time);
tylerjw 4:8a77e21d08f1 69
tylerjw 4:8a77e21d08f1 70 wait(0.2 - t.read());
tylerjw 4:8a77e21d08f1 71 }
tylerjw 4:8a77e21d08f1 72 }
tylerjw 4:8a77e21d08f1 73
tylerjw 4:8a77e21d08f1 74 void ADXL345_test()
tylerjw 4:8a77e21d08f1 75 {
tylerjw 4:8a77e21d08f1 76 int16_t sample[3];
tylerjw 3:5e21a352e236 77 float elapsed_time;
tylerjw 3:5e21a352e236 78 float time_stamp[100];
tylerjw 4:8a77e21d08f1 79 int16_t samples[100][3];
tylerjw 2:d7e66940541d 80
tylerjw 3:5e21a352e236 81 Timer t;
tylerjw 3:5e21a352e236 82 Serial pc(USBTX, USBRX);
tylerjw 3:5e21a352e236 83 pc.baud(9600);
tylerjw 3:5e21a352e236 84
tylerjw 3:5e21a352e236 85 accel.setDataRate(ADXL345_100HZ); // 100Hz data rate
tylerjw 3:5e21a352e236 86 accel.setDataFormatControl(ADXL345_16G | ADXL345_FULL_RES);
tylerjw 3:5e21a352e236 87 accel.setPowerControl(0x08); // start measurement
tylerjw 3:5e21a352e236 88
tylerjw 3:5e21a352e236 89 wait(0.001);
tylerjw 3:5e21a352e236 90
tylerjw 3:5e21a352e236 91 t.start();
tylerjw 4:8a77e21d08f1 92 accel.getXYZ(sample);
tylerjw 3:5e21a352e236 93 elapsed_time = t.read();
tylerjw 3:5e21a352e236 94
tylerjw 3:5e21a352e236 95 pc.printf("Sample took %f seconds.\r\n", elapsed_time);
tylerjw 3:5e21a352e236 96 pc.printf("x: %d, y: %d, z: %d\r\n", sample[0],sample[1],sample[2]);
tylerjw 3:5e21a352e236 97
tylerjw 3:5e21a352e236 98 for(int i = 0; i < 100; i++) {
tylerjw 3:5e21a352e236 99 t.reset();
tylerjw 4:8a77e21d08f1 100 accel.getXYZ(samples[i]);
tylerjw 3:5e21a352e236 101 time_stamp[i] = t.read();
tylerjw 3:5e21a352e236 102 }
tylerjw 3:5e21a352e236 103 for(int i = 0; i < 100; i++) {
tylerjw 3:5e21a352e236 104 pc.printf("Sample took %f seconds.\r\n", time_stamp[i]);
tylerjw 3:5e21a352e236 105 pc.printf("x: %d, y: %d, z: %d\r\n", samples[i][0],samples[i][1],samples[i][2]);
tylerjw 3:5e21a352e236 106 }
tylerjw 2:d7e66940541d 107 }
tylerjw 2:d7e66940541d 108
tylerjw 2:d7e66940541d 109 void hmc5883l_test()
tylerjw 2:d7e66940541d 110 {
tylerjw 1:dc730a26cdc2 111 Serial pc(USBTX, USBRX);
tylerjw 2:d7e66940541d 112
tylerjw 1:dc730a26cdc2 113 pc.baud(9600);
tylerjw 3:5e21a352e236 114
tylerjw 2:d7e66940541d 115 HMC5883L compass(i2c_bus);
tylerjw 2:d7e66940541d 116
tylerjw 4:8a77e21d08f1 117 int16_t data[3];
tylerjw 2:d7e66940541d 118
tylerjw 2:d7e66940541d 119 while(1) {
tylerjw 2:d7e66940541d 120 compass.getXYZ(data);
tylerjw 2:d7e66940541d 121 pc.printf("x: %4d, y: %4d, z: %4d\r\n", data[0], data[1], data[2]);
tylerjw 1:dc730a26cdc2 122 wait(0.067);
tylerjw 1:dc730a26cdc2 123 }
tylerjw 1:dc730a26cdc2 124 }
tylerjw 4:8a77e21d08f1 125
tylerjw 4:8a77e21d08f1 126 void itg3200_curve_test()
tylerjw 1:dc730a26cdc2 127 {
tylerjw 1:dc730a26cdc2 128 DigitalOut myled(LED1);
tylerjw 0:ac2f55940442 129 LocalFileSystem local("local"); // Create the local filesystem under the name "local"
tylerjw 0:ac2f55940442 130 ITG3200 gyro(p28, p27); // sda, scl - gyro
tylerjw 5:63b115f85aa7 131
tylerjw 5:63b115f85aa7 132 /*
tylerjw 1:dc730a26cdc2 133 const float offset[3] = {99.5, -45.0, -29.7}; // taken from itg3200.xls curve fit test
tylerjw 1:dc730a26cdc2 134 const float slope[3] = {-1.05, 0.95, 0.47};
tylerjw 1:dc730a26cdc2 135
tylerjw 1:dc730a26cdc2 136 gyro.setCalibrationCurve(offset, slope);
tylerjw 5:63b115f85aa7 137 gyro.setLpBandwidth(LPFBW_42HZ);
tylerjw 5:63b115f85aa7 138 */
tylerjw 1:dc730a26cdc2 139
tylerjw 0:ac2f55940442 140 Serial pc(USBTX, USBRX);
tylerjw 0:ac2f55940442 141
tylerjw 0:ac2f55940442 142 pc.baud(9600);
tylerjw 0:ac2f55940442 143
tylerjw 0:ac2f55940442 144 myled = 0;
tylerjw 0:ac2f55940442 145 FILE *fp = fopen("/local/itg3200.csv", "w"); // Open "itg3200.csv" for writing
tylerjw 0:ac2f55940442 146 fputs("Temp, X, Y, Z\r\n", fp); // place the header at the top
tylerjw 0:ac2f55940442 147
tylerjw 0:ac2f55940442 148 float temperature = 0.0;
tylerjw 4:8a77e21d08f1 149 int16_t gyro_readings[3];
tylerjw 0:ac2f55940442 150
tylerjw 0:ac2f55940442 151 for(int i = 0; i < 120; i++) { // 120 seconds - 600 samples
tylerjw 0:ac2f55940442 152 myled = 1;
tylerjw 5:63b115f85aa7 153 gyro.calibrate(1.0);
tylerjw 0:ac2f55940442 154 myled = 0;
tylerjw 5:63b115f85aa7 155 //gyro.getXYZ(gyro_readings, ITG3200::Calibration);
tylerjw 5:63b115f85aa7 156 gyro.getOffset(gyro_readings);
tylerjw 0:ac2f55940442 157 temperature = gyro.getTemperature();
tylerjw 0:ac2f55940442 158 pc.printf("%3d,%f,%d,%d,%d\r\n",i,temperature,gyro_readings[0],gyro_readings[1],gyro_readings[2]);
tylerjw 0:ac2f55940442 159 fprintf(fp, "%f,%d,%d,%d\r\n",temperature,gyro_readings[0],gyro_readings[1],gyro_readings[2]);
tylerjw 0:ac2f55940442 160 }
tylerjw 0:ac2f55940442 161 fclose(fp);
tylerjw 0:ac2f55940442 162 myled = 0;
tylerjw 0:ac2f55940442 163 }