Unit testing and development for 9DOF sparkfun sensor stick
Dependencies: ADXL345 HMC5883L ITG3200 mbed
adxl345unit.cpp@2:d7e66940541d, 2012-11-01 (annotated)
- Committer:
- tylerjw
- Date:
- Thu Nov 01 18:46:58 2012 +0000
- Revision:
- 2:d7e66940541d
- Child:
- 3:5e21a352e236
ADXL345 unit test initial commit, built in self test (not tested)
Who changed what in which revision?
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tylerjw | 2:d7e66940541d | 1 | /* |
tylerjw | 2:d7e66940541d | 2 | * @file adxl345unit.cpp |
tylerjw | 2:d7e66940541d | 3 | * @author Tyler Weaver |
tylerjw | 2:d7e66940541d | 4 | * |
tylerjw | 2:d7e66940541d | 5 | * @section LICENSE |
tylerjw | 2:d7e66940541d | 6 | * |
tylerjw | 2:d7e66940541d | 7 | * Permission is hereby granted, free of charge, to any person obtaining a copy of this software |
tylerjw | 2:d7e66940541d | 8 | * and associated documentation files (the "Software"), to deal in the Software without restriction, |
tylerjw | 2:d7e66940541d | 9 | * including without limitation the rights to use, copy, modify, merge, publish, distribute, |
tylerjw | 2:d7e66940541d | 10 | * sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is |
tylerjw | 2:d7e66940541d | 11 | * furnished to do so, subject to the following conditions: |
tylerjw | 2:d7e66940541d | 12 | * |
tylerjw | 2:d7e66940541d | 13 | * The above copyright notice and this permission notice shall be included in all copies or |
tylerjw | 2:d7e66940541d | 14 | * substantial portions of the Software. |
tylerjw | 2:d7e66940541d | 15 | * |
tylerjw | 2:d7e66940541d | 16 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING |
tylerjw | 2:d7e66940541d | 17 | * BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND |
tylerjw | 2:d7e66940541d | 18 | * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, |
tylerjw | 2:d7e66940541d | 19 | * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, |
tylerjw | 2:d7e66940541d | 20 | * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. |
tylerjw | 2:d7e66940541d | 21 | * |
tylerjw | 2:d7e66940541d | 22 | * @section DESCRIPTION |
tylerjw | 2:d7e66940541d | 23 | * |
tylerjw | 2:d7e66940541d | 24 | * Unit test for the ADXL345 library. |
tylerjw | 2:d7e66940541d | 25 | * |
tylerjw | 2:d7e66940541d | 26 | * Reference: |
tylerjw | 2:d7e66940541d | 27 | */ |
tylerjw | 2:d7e66940541d | 28 | |
tylerjw | 2:d7e66940541d | 29 | #include "adxl345unit.h" |
tylerjw | 2:d7e66940541d | 30 | |
tylerjw | 2:d7e66940541d | 31 | ADXL345UNIT::ADXL345UNIT(I2C &i2c) : adxl345_(i2c), pc_(USBTX, USBRX), local_("local"), open_file_(LED1) |
tylerjw | 2:d7e66940541d | 32 | { |
tylerjw | 2:d7e66940541d | 33 | pc_.baud(9600); |
tylerjw | 2:d7e66940541d | 34 | open_file_ = 0; |
tylerjw | 2:d7e66940541d | 35 | init(); |
tylerjw | 2:d7e66940541d | 36 | } |
tylerjw | 2:d7e66940541d | 37 | |
tylerjw | 2:d7e66940541d | 38 | void ADXL345UNIT::init() |
tylerjw | 2:d7e66940541d | 39 | { |
tylerjw | 2:d7e66940541d | 40 | // place initilazaition code here |
tylerjw | 2:d7e66940541d | 41 | } |
tylerjw | 2:d7e66940541d | 42 | |
tylerjw | 2:d7e66940541d | 43 | bool ADXL345UNIT::builtInSelfTest() |
tylerjw | 2:d7e66940541d | 44 | { |
tylerjw | 2:d7e66940541d | 45 | bool test_pass[4] = {true,true,true,true}; |
tylerjw | 2:d7e66940541d | 46 | bool full_test = true; |
tylerjw | 2:d7e66940541d | 47 | |
tylerjw | 2:d7e66940541d | 48 | int st_off[3][100]; // {x,y,z}, self test off |
tylerjw | 2:d7e66940541d | 49 | int st_off_avg[3]; // self test off average |
tylerjw | 2:d7e66940541d | 50 | int st_on[3][100]; // {x,y,z}, self test off |
tylerjw | 2:d7e66940541d | 51 | int st_on_avg[3]; // self test on average |
tylerjw | 2:d7e66940541d | 52 | int delta[3]; // st_on - st_off |
tylerjw | 2:d7e66940541d | 53 | |
tylerjw | 2:d7e66940541d | 54 | const char axisK[3] = {'X','Y','Z'}; |
tylerjw | 2:d7e66940541d | 55 | const int resolutionsK[4] = {16,8,4,2}; |
tylerjw | 2:d7e66940541d | 56 | const char data_formatK[4] = {ADXL345_16G, ADXL345_8G, ADXL345_4G, (ADXL345_2G | ADXL345_FULL_RES)}; |
tylerjw | 2:d7e66940541d | 57 | const int delta_minK[4][3] = {{6,-67,10},{12,-135,19},{25,-270,38},{50,-540,75}}; // {{16g},{8g},{4g},{2g}} from datasheet |
tylerjw | 2:d7e66940541d | 58 | const int delta_maxK[4][3] = {{67,-6,110},{135,-12,219},{270,-25,438},{540,-50,875}}; |
tylerjw | 2:d7e66940541d | 59 | |
tylerjw | 2:d7e66940541d | 60 | Timer t; // for timming sample readings |
tylerjw | 2:d7e66940541d | 61 | float start_time, elapsed_time; |
tylerjw | 2:d7e66940541d | 62 | float period = 0.001; // period of sample rate |
tylerjw | 2:d7e66940541d | 63 | |
tylerjw | 2:d7e66940541d | 64 | for(int res = 0; res < 4; res++) { |
tylerjw | 2:d7e66940541d | 65 | //print starting message |
tylerjw | 2:d7e66940541d | 66 | pc_.printf("ADXL345: Starting Built In Self Test (%dg resolution)... \n\r", resolutionsK[res]); |
tylerjw | 2:d7e66940541d | 67 | //wait 1.1ms |
tylerjw | 2:d7e66940541d | 68 | wait(0.0011); |
tylerjw | 2:d7e66940541d | 69 | //initial command sequence |
tylerjw | 2:d7e66940541d | 70 | adxl345_.setDataFormatControl(data_formatK[res]); // 16g, 13bit mode |
tylerjw | 2:d7e66940541d | 71 | adxl345_.setDataRate(ADXL345_100HZ); // 100Hz data rate |
tylerjw | 2:d7e66940541d | 72 | adxl345_.setPowerMode(0); // high power |
tylerjw | 2:d7e66940541d | 73 | adxl345_.setPowerControl(0x08); // start measurement |
tylerjw | 2:d7e66940541d | 74 | adxl345_.setInterruptEnableControl(0x80); // enable data_ready interupt (not needed?) |
tylerjw | 2:d7e66940541d | 75 | //wait 1.1ms |
tylerjw | 2:d7e66940541d | 76 | wait(0.0011); |
tylerjw | 2:d7e66940541d | 77 | //take 100 data points and average (100Hz) |
tylerjw | 2:d7e66940541d | 78 | for(int sample = 0; sample < 100; sample++) { |
tylerjw | 2:d7e66940541d | 79 | start_time = t.read(); |
tylerjw | 2:d7e66940541d | 80 | |
tylerjw | 2:d7e66940541d | 81 | adxl345_.getOutput(st_off[sample]); |
tylerjw | 2:d7e66940541d | 82 | |
tylerjw | 2:d7e66940541d | 83 | elapsed_time = t.read() - start_time; |
tylerjw | 2:d7e66940541d | 84 | if(elapsed_time > period) { |
tylerjw | 2:d7e66940541d | 85 | pc_.puts("Error: elapsed_time > period\n\r"); |
tylerjw | 2:d7e66940541d | 86 | return false; |
tylerjw | 2:d7e66940541d | 87 | } |
tylerjw | 2:d7e66940541d | 88 | wait(period - elapsed_time); |
tylerjw | 2:d7e66940541d | 89 | } |
tylerjw | 2:d7e66940541d | 90 | for(int axis = 0; axis < 3; axis++) |
tylerjw | 2:d7e66940541d | 91 | st_off_avg[axis] = arr_avg(st_off[axis], 100); // average |
tylerjw | 2:d7e66940541d | 92 | |
tylerjw | 2:d7e66940541d | 93 | //activate self test |
tylerjw | 2:d7e66940541d | 94 | adxl345_.setDataFormatControl(data_formatK[res] | ADXL345_SELF_TEST); // self test enabled |
tylerjw | 2:d7e66940541d | 95 | //wait 1.1ms |
tylerjw | 2:d7e66940541d | 96 | wait(0.0011); |
tylerjw | 2:d7e66940541d | 97 | //take 100 data points and average (100Hz) |
tylerjw | 2:d7e66940541d | 98 | for(int sample = 0; sample < 100; sample++) { |
tylerjw | 2:d7e66940541d | 99 | start_time = t.read(); |
tylerjw | 2:d7e66940541d | 100 | |
tylerjw | 2:d7e66940541d | 101 | adxl345_.getOutput(st_on[sample]); |
tylerjw | 2:d7e66940541d | 102 | |
tylerjw | 2:d7e66940541d | 103 | elapsed_time = t.read() - start_time; |
tylerjw | 2:d7e66940541d | 104 | if(elapsed_time > period) { |
tylerjw | 2:d7e66940541d | 105 | pc_.puts("Error: elapsed_time > period\n\r"); |
tylerjw | 2:d7e66940541d | 106 | return false; |
tylerjw | 2:d7e66940541d | 107 | } |
tylerjw | 2:d7e66940541d | 108 | wait(period - elapsed_time); |
tylerjw | 2:d7e66940541d | 109 | } |
tylerjw | 2:d7e66940541d | 110 | for(int axis = 0; axis < 3; axis++) |
tylerjw | 2:d7e66940541d | 111 | st_on_avg[axis] = arr_avg(st_on[axis], 100); // average |
tylerjw | 2:d7e66940541d | 112 | //inactivate self test |
tylerjw | 2:d7e66940541d | 113 | adxl345_.setDataFormatControl(data_formatK[res]); // self test off |
tylerjw | 2:d7e66940541d | 114 | //calculate self test delta(change) and compare to limits in data sheet |
tylerjw | 2:d7e66940541d | 115 | //open file |
tylerjw | 2:d7e66940541d | 116 | open_file_ = 1; |
tylerjw | 2:d7e66940541d | 117 | FILE *fp = fopen("/local/ADXL_BIT.csv", "a"); // open append, or create |
tylerjw | 2:d7e66940541d | 118 | fprintf(fp, "ADXL345 Built In Self-Test at %dg resolution.\r\nAxis,Min,Max,Actual,Pass\r\n", resolutionsK[res]); |
tylerjw | 2:d7e66940541d | 119 | for(int axis = 0; axis < 3; axis++) { |
tylerjw | 2:d7e66940541d | 120 | delta[axis] = st_on_avg[axis] - st_off_avg[axis]; |
tylerjw | 2:d7e66940541d | 121 | bool test = (delta[axis] > delta_minK[res][axis] && delta[axis] < delta_maxK[res][axis]); |
tylerjw | 2:d7e66940541d | 122 | if(test == false) |
tylerjw | 2:d7e66940541d | 123 | test_pass[res] = full_test = false; |
tylerjw | 2:d7e66940541d | 124 | fprintf(fp, "%c,%4d,%4d,%4d,%s\r\n", axisK[axis],delta_minK[res][axis],delta_maxK[res][axis],delta[axis],(test)?"pass":"fail"); |
tylerjw | 2:d7e66940541d | 125 | } |
tylerjw | 2:d7e66940541d | 126 | fprintf(fp, "Test Result: %s\r\n\r\n", (test_pass[res])?"pass":"fail"); |
tylerjw | 2:d7e66940541d | 127 | // close file |
tylerjw | 2:d7e66940541d | 128 | fclose(fp); |
tylerjw | 2:d7e66940541d | 129 | open_file_ = 0; |
tylerjw | 2:d7e66940541d | 130 | pc_.printf("%s\r\n", (test_pass[res])?"pass":"fail"); |
tylerjw | 2:d7e66940541d | 131 | } |
tylerjw | 2:d7e66940541d | 132 | //return result |
tylerjw | 2:d7e66940541d | 133 | return full_test; |
tylerjw | 2:d7e66940541d | 134 | } |
tylerjw | 2:d7e66940541d | 135 | |
tylerjw | 2:d7e66940541d | 136 | int ADXL345UNIT::arr_avg(int* arr,int length) |
tylerjw | 2:d7e66940541d | 137 | { |
tylerjw | 2:d7e66940541d | 138 | double average; |
tylerjw | 2:d7e66940541d | 139 | for(int i = 0; i < length; i++) |
tylerjw | 2:d7e66940541d | 140 | average += static_cast<double>(arr[i]) / static_cast<double>(length); |
tylerjw | 2:d7e66940541d | 141 | return static_cast<int>(average); |
tylerjw | 2:d7e66940541d | 142 | } |