Tyler Weaver / Mbed 2 deprecated 9Dof_unit_testing

Unit testing and development for 9DOF sparkfun sensor stick

Dependencies:   ADXL345 HMC5883L ITG3200 mbed

main.cpp@1:dc730a26cdc2, 2012-10-30 (annotated)

Committer:
tylerjw
Date:
Tue Oct 30 23:47:14 2012 +0000
Revision:
1:dc730a26cdc2
Parent:
0:ac2f55940442
Child:
2:d7e66940541d
HMC5883L prof of concept

Who changed what in which revision?

UserRevisionLine numberNew contents of line
tylerjw 0:ac2f55940442 1 /**
tylerjw 0:ac2f55940442 2 10 second 9-dof data log
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 0:ac2f55940442 13 */
tylerjw 0:ac2f55940442 14
tylerjw 0:ac2f55940442 15 #include "mbed.h"
tylerjw 1:dc730a26cdc2 16 //#include "ITG3200.h"
tylerjw 1:dc730a26cdc2 17
tylerjw 1:dc730a26cdc2 18 // configuration register a
tylerjw 1:dc730a26cdc2 19 #define AVG1_SAMPLES 0x00
tylerjw 1:dc730a26cdc2 20 #define AVG2_SAMPLES 0x20
tylerjw 1:dc730a26cdc2 21 #define AVG4_SAMPLES 0x80
tylerjw 1:dc730a26cdc2 22 #define AVG8_SAMPLES 0xC0
tylerjw 1:dc730a26cdc2 23
tylerjw 1:dc730a26cdc2 24 #define OUTPUT_RATE_0_75 0x00
tylerjw 1:dc730a26cdc2 25 #define OUTPUT_RATE_1_5 0x04
tylerjw 1:dc730a26cdc2 26 #define OUTPUT_RATE_3 0x08
tylerjw 1:dc730a26cdc2 27 #define OUTPUT_RATE_7_5 0x0C
tylerjw 1:dc730a26cdc2 28 #define OUTPUT_RATE_15 0x10
tylerjw 1:dc730a26cdc2 29 #define OUTPUT_RATE_30 0x14
tylerjw 1:dc730a26cdc2 30 #define OUTPUT_RATE_75 0x18
tylerjw 1:dc730a26cdc2 31
tylerjw 1:dc730a26cdc2 32 #define NORMAL_MEASUREMENT 0x00
tylerjw 1:dc730a26cdc2 33 #define POSITIVE_BIAS 0x01
tylerjw 1:dc730a26cdc2 34 #define NEGATIVE_BIAS 0x02
tylerjw 1:dc730a26cdc2 35
tylerjw 1:dc730a26cdc2 36 // mode register
tylerjw 1:dc730a26cdc2 37 #define CONTINUOUS_MODE 0x00
tylerjw 1:dc730a26cdc2 38 #define SINGLE_MODE 0x01
tylerjw 1:dc730a26cdc2 39 #define IDLE_MODE 0x02
tylerjw 1:dc730a26cdc2 40
tylerjw 1:dc730a26cdc2 41 // status register
tylerjw 1:dc730a26cdc2 42 #define LOCK 0x02
tylerjw 1:dc730a26cdc2 43 #define READY 0x01
tylerjw 1:dc730a26cdc2 44
tylerjw 1:dc730a26cdc2 45 char addr = 0x3D;
tylerjw 1:dc730a26cdc2 46
tylerjw 1:dc730a26cdc2 47 I2C i2c_(p28, p27); // sda, scl
tylerjw 1:dc730a26cdc2 48
tylerjw 1:dc730a26cdc2 49 void setConfigurationA(char,char,char);
tylerjw 1:dc730a26cdc2 50 char getConfigurationA();
tylerjw 1:dc730a26cdc2 51 void setConfigurationB(char);
tylerjw 1:dc730a26cdc2 52 char getConfigurationB();
tylerjw 1:dc730a26cdc2 53 void setMode(char);
tylerjw 1:dc730a26cdc2 54 char getMode();
tylerjw 1:dc730a26cdc2 55 void getXYZ(int*);
tylerjw 1:dc730a26cdc2 56 char getStatus();
tylerjw 1:dc730a26cdc2 57
tylerjw 1:dc730a26cdc2 58 void setConfigurationA(char averaged_samples = AVG1_SAMPLES, char output_rate = OUTPUT_RATE_15, char measurement_mode = NORMAL_MEASUREMENT)
tylerjw 1:dc730a26cdc2 59 {
tylerjw 1:dc730a26cdc2 60 char cmd[2];
tylerjw 1:dc730a26cdc2 61 cmd[0] = 0x00; // register a address
tylerjw 1:dc730a26cdc2 62 cmd[1] = averaged_samples | output_rate | measurement_mode;
tylerjw 1:dc730a26cdc2 63
tylerjw 1:dc730a26cdc2 64 i2c_.write(addr, cmd, 2);
tylerjw 1:dc730a26cdc2 65 }
tylerjw 1:dc730a26cdc2 66
tylerjw 1:dc730a26cdc2 67 char getConfigurationA()
tylerjw 1:dc730a26cdc2 68 {
tylerjw 1:dc730a26cdc2 69 char cmd[2];
tylerjw 1:dc730a26cdc2 70 cmd[0] = 0x00; // register a address
tylerjw 1:dc730a26cdc2 71 i2c_.write(addr, cmd, 1, true);
tylerjw 1:dc730a26cdc2 72 i2c_.read(addr, &cmd[1], 1, false);
tylerjw 1:dc730a26cdc2 73 return cmd[1];
tylerjw 1:dc730a26cdc2 74 }
tylerjw 1:dc730a26cdc2 75
tylerjw 1:dc730a26cdc2 76 void setConfigurationB(char gain = 0x20) // default value 0x20
tylerjw 1:dc730a26cdc2 77 {
tylerjw 1:dc730a26cdc2 78 char cmd[2];
tylerjw 1:dc730a26cdc2 79 cmd[0] = 0x01;
tylerjw 1:dc730a26cdc2 80 cmd[1] = gain;
tylerjw 1:dc730a26cdc2 81
tylerjw 1:dc730a26cdc2 82 i2c_.write(addr, cmd, 2);
tylerjw 1:dc730a26cdc2 83 }
tylerjw 1:dc730a26cdc2 84
tylerjw 1:dc730a26cdc2 85 char getConfigurationB()
tylerjw 1:dc730a26cdc2 86 {
tylerjw 1:dc730a26cdc2 87 char cmd[2];
tylerjw 1:dc730a26cdc2 88 cmd[0] = 0x01; // register b address
tylerjw 1:dc730a26cdc2 89 i2c_.write(addr, cmd, 1, true);
tylerjw 1:dc730a26cdc2 90 i2c_.read(addr, &cmd[1], 1, false);
tylerjw 1:dc730a26cdc2 91 return cmd[1];
tylerjw 1:dc730a26cdc2 92 }
tylerjw 1:dc730a26cdc2 93
tylerjw 1:dc730a26cdc2 94 void setMode(char mode = SINGLE_MODE)
tylerjw 1:dc730a26cdc2 95 {
tylerjw 1:dc730a26cdc2 96 char cmd[2];
tylerjw 1:dc730a26cdc2 97 cmd[0] = 0x02; // mode register address
tylerjw 1:dc730a26cdc2 98 cmd[1] = mode;
tylerjw 1:dc730a26cdc2 99 i2c_.write(addr,cmd,2);
tylerjw 1:dc730a26cdc2 100 }
tylerjw 1:dc730a26cdc2 101
tylerjw 1:dc730a26cdc2 102 char getMode()
tylerjw 1:dc730a26cdc2 103 {
tylerjw 1:dc730a26cdc2 104 char cmd[2];
tylerjw 1:dc730a26cdc2 105 cmd[0] = 0x02; // mode register address
tylerjw 1:dc730a26cdc2 106 i2c_.write(addr, cmd, 1, true);
tylerjw 1:dc730a26cdc2 107 i2c_.read(addr, &cmd[1], 1, false);
tylerjw 1:dc730a26cdc2 108 return cmd[1];
tylerjw 1:dc730a26cdc2 109 }
tylerjw 1:dc730a26cdc2 110
tylerjw 1:dc730a26cdc2 111 void getXYZ(int output[3])
tylerjw 1:dc730a26cdc2 112 {
tylerjw 1:dc730a26cdc2 113 char cmd[2];
tylerjw 1:dc730a26cdc2 114 char data[6];
tylerjw 1:dc730a26cdc2 115 cmd[0] = 0x03; // starting point for reading
tylerjw 1:dc730a26cdc2 116 i2c_.write(addr, cmd, 1, true); // set the pointer to the start of x
tylerjw 1:dc730a26cdc2 117 i2c_.read(addr, data, 6, false);
tylerjw 1:dc730a26cdc2 118
tylerjw 1:dc730a26cdc2 119 for(int i = 0; i < 3; i++) // fill the output variables
tylerjw 1:dc730a26cdc2 120 output[i] = (data[i*2] << 8) + data[i*2+1];
tylerjw 1:dc730a26cdc2 121 }
tylerjw 1:dc730a26cdc2 122
tylerjw 1:dc730a26cdc2 123 char getStatus()
tylerjw 1:dc730a26cdc2 124 {
tylerjw 1:dc730a26cdc2 125 char cmd[2];
tylerjw 1:dc730a26cdc2 126 cmd[0] = 0x09; // status register address
tylerjw 1:dc730a26cdc2 127 i2c_.write(addr, cmd, 1, true);
tylerjw 1:dc730a26cdc2 128 i2c_.read(addr, &cmd[1], 1, false);
tylerjw 1:dc730a26cdc2 129 return cmd[1];
tylerjw 1:dc730a26cdc2 130 }
tylerjw 0:ac2f55940442 131
tylerjw 0:ac2f55940442 132 int main()
tylerjw 0:ac2f55940442 133 {
tylerjw 1:dc730a26cdc2 134 Serial pc(USBTX, USBRX);
tylerjw 1:dc730a26cdc2 135
tylerjw 1:dc730a26cdc2 136 pc.baud(9600);
tylerjw 1:dc730a26cdc2 137
tylerjw 1:dc730a26cdc2 138 int data[3];
tylerjw 1:dc730a26cdc2 139
tylerjw 1:dc730a26cdc2 140 // configure
tylerjw 1:dc730a26cdc2 141 setConfigurationA(AVG8_SAMPLES); // 8 sample average, 15Hz, normal mode
tylerjw 1:dc730a26cdc2 142 setConfigurationB(); // default (0x20)
tylerjw 1:dc730a26cdc2 143 setMode(CONTINUOUS_MODE); // continuous sample mode
tylerjw 1:dc730a26cdc2 144 wait(0.006); // 6 milisecond pause to allow registers to fill up
tylerjw 1:dc730a26cdc2 145
tylerjw 1:dc730a26cdc2 146 while(1)
tylerjw 1:dc730a26cdc2 147 {
tylerjw 1:dc730a26cdc2 148 getXYZ(data);
tylerjw 1:dc730a26cdc2 149 pc.printf("x: 0x%4x, y: 0x%4x, z: 0x%4x\r\n", data[0], data[1], data[2]);
tylerjw 1:dc730a26cdc2 150 wait(0.067);
tylerjw 1:dc730a26cdc2 151 }
tylerjw 1:dc730a26cdc2 152 }
tylerjw 1:dc730a26cdc2 153
tylerjw 1:dc730a26cdc2 154 /*
tylerjw 1:dc730a26cdc2 155 void itg3200_test()
tylerjw 1:dc730a26cdc2 156 {
tylerjw 1:dc730a26cdc2 157 DigitalOut myled(LED1);
tylerjw 0:ac2f55940442 158 LocalFileSystem local("local"); // Create the local filesystem under the name "local"
tylerjw 0:ac2f55940442 159 ITG3200 gyro(p28, p27); // sda, scl - gyro
tylerjw 1:dc730a26cdc2 160 const float offset[3] = {99.5, -45.0, -29.7}; // taken from itg3200.xls curve fit test
tylerjw 1:dc730a26cdc2 161 const float slope[3] = {-1.05, 0.95, 0.47};
tylerjw 1:dc730a26cdc2 162
tylerjw 1:dc730a26cdc2 163 gyro.setCalibrationCurve(offset, slope);
tylerjw 1:dc730a26cdc2 164 gyro.setLpBandwidth(LPFBW_5HZ); // lowest rate low-pass filter
tylerjw 1:dc730a26cdc2 165
tylerjw 0:ac2f55940442 166 Serial pc(USBTX, USBRX);
tylerjw 0:ac2f55940442 167
tylerjw 0:ac2f55940442 168 pc.baud(9600);
tylerjw 0:ac2f55940442 169
tylerjw 0:ac2f55940442 170 myled = 0;
tylerjw 0:ac2f55940442 171 FILE *fp = fopen("/local/itg3200.csv", "w"); // Open "itg3200.csv" for writing
tylerjw 0:ac2f55940442 172 fputs("Temp, X, Y, Z\r\n", fp); // place the header at the top
tylerjw 0:ac2f55940442 173
tylerjw 0:ac2f55940442 174 float temperature = 0.0;
tylerjw 0:ac2f55940442 175 int gyro_readings[3];
tylerjw 0:ac2f55940442 176
tylerjw 0:ac2f55940442 177 for(int i = 0; i < 120; i++) { // 120 seconds - 600 samples
tylerjw 0:ac2f55940442 178 myled = 1;
tylerjw 1:dc730a26cdc2 179 //gyro.calibrate(1.0);
tylerjw 1:dc730a26cdc2 180 wait(0.5);
tylerjw 0:ac2f55940442 181 myled = 0;
tylerjw 1:dc730a26cdc2 182 gyro.getGyroXYZ(gyro_readings, ITG3200::Calibration);
tylerjw 1:dc730a26cdc2 183 //gyro.getOffset(gyro_readings);
tylerjw 0:ac2f55940442 184 temperature = gyro.getTemperature();
tylerjw 0:ac2f55940442 185 pc.printf("%3d,%f,%d,%d,%d\r\n",i,temperature,gyro_readings[0],gyro_readings[1],gyro_readings[2]);
tylerjw 0:ac2f55940442 186 fprintf(fp, "%f,%d,%d,%d\r\n",temperature,gyro_readings[0],gyro_readings[1],gyro_readings[2]);
tylerjw 0:ac2f55940442 187 }
tylerjw 0:ac2f55940442 188 fclose(fp);
tylerjw 0:ac2f55940442 189 myled = 0;
tylerjw 0:ac2f55940442 190 }
tylerjw 1:dc730a26cdc2 191 */