![](/media/cache/profiles/a0ced38c8090e9d3706d20d370abbbe4.50x50_q85.jpg)
Unit testing and development for 9DOF sparkfun sensor stick
Dependencies: ADXL345 HMC5883L ITG3200 mbed
main.cpp
- Committer:
- tylerjw
- Date:
- 2012-11-06
- Revision:
- 4:8a77e21d08f1
- Parent:
- 3:5e21a352e236
- Child:
- 5:63b115f85aa7
File content as of revision 4:8a77e21d08f1:
/** 9-dof unit testing The purpose of this program is to demonstrate and calibrate the three sensors on teh 9-doft board. The first version of this software will test the ITG3200 gyro to find the temperature drift line. Data will be logged to help determine the thermal drift line. See: http://mbed.org/users/gltest26/code/ITG3200/wiki/Thermal-Drift The second versoin of this will test the HMC5883L 3 axis magnometer The thrid version tests the ADXL345 library. */ #include "mbed.h" #include "ITG3200.h" #include "HMC5883L.h" #include "ADXL345.h" //#include "adxl345unit.h" I2C i2c_bus(p28, p27); ADXL345 accel(i2c_bus); HMC5883L magno(i2c_bus); ITG3200 gyro(i2c_bus); Timer t; Serial pc(USBTX, USBRX); //ADXL345UNIT accel_test(i2c_bus, t); void sample_time_test(); int main() { sample_time_test(); } void sample_time_test() { int16_t accel_sample[3]; int16_t magno_sample[3]; int16_t gyro_sample[3]; double temperature; double heading_rad, heading_deg; wait(0.5); // enough time for everything to prepare a sample t.start(); double accel_time, magno_time, gyro_time, temp_time, head_rad_time, head_deg_time; pc.baud(9600); pc.printf("accel,magno,gyro,temp,head_rad,head_deg\r\n"); for(int i = 0; i < 100; i++) { t.reset(); accel.getXYZ(accel_sample); accel_time = t.read(); magno.getXYZ(magno_sample); magno_time = t.read(); gyro.getXYZ(gyro_sample, ITG3200::Calibration); gyro_time = t.read(); temperature = gyro.getTemperature(); temp_time = t.read(); heading_rad = magno.getHeadingXY(); head_rad_time = t.read(); heading_deg = magno.getHeadingXYDeg(); head_deg_time = t.read(); pc.printf("%f,%f,%f,%f,%f,%f\r\n",accel_time,magno_time,gyro_time,temp_time,head_rad_time,head_deg_time); wait(0.2 - t.read()); } } void ADXL345_test() { int16_t sample[3]; float elapsed_time; float time_stamp[100]; int16_t samples[100][3]; Timer t; Serial pc(USBTX, USBRX); pc.baud(9600); accel.setDataRate(ADXL345_100HZ); // 100Hz data rate accel.setDataFormatControl(ADXL345_16G | ADXL345_FULL_RES); accel.setPowerControl(0x08); // start measurement wait(0.001); t.start(); accel.getXYZ(sample); elapsed_time = t.read(); pc.printf("Sample took %f seconds.\r\n", elapsed_time); pc.printf("x: %d, y: %d, z: %d\r\n", sample[0],sample[1],sample[2]); for(int i = 0; i < 100; i++) { t.reset(); accel.getXYZ(samples[i]); time_stamp[i] = t.read(); } for(int i = 0; i < 100; i++) { pc.printf("Sample took %f seconds.\r\n", time_stamp[i]); pc.printf("x: %d, y: %d, z: %d\r\n", samples[i][0],samples[i][1],samples[i][2]); } } void hmc5883l_test() { Serial pc(USBTX, USBRX); pc.baud(9600); HMC5883L compass(i2c_bus); int16_t data[3]; while(1) { compass.getXYZ(data); pc.printf("x: %4d, y: %4d, z: %4d\r\n", data[0], data[1], data[2]); wait(0.067); } } void itg3200_curve_test() { DigitalOut myled(LED1); LocalFileSystem local("local"); // Create the local filesystem under the name "local" ITG3200 gyro(p28, p27); // sda, scl - gyro const float offset[3] = {99.5, -45.0, -29.7}; // taken from itg3200.xls curve fit test const float slope[3] = {-1.05, 0.95, 0.47}; gyro.setCalibrationCurve(offset, slope); gyro.setLpBandwidth(LPFBW_5HZ); // lowest rate low-pass filter Serial pc(USBTX, USBRX); pc.baud(9600); myled = 0; FILE *fp = fopen("/local/itg3200.csv", "w"); // Open "itg3200.csv" for writing fputs("Temp, X, Y, Z\r\n", fp); // place the header at the top float temperature = 0.0; int16_t gyro_readings[3]; for(int i = 0; i < 120; i++) { // 120 seconds - 600 samples myled = 1; //gyro.calibrate(1.0); wait(0.5); myled = 0; gyro.getXYZ(gyro_readings, ITG3200::Calibration); //gyro.getOffset(gyro_readings); temperature = gyro.getTemperature(); pc.printf("%3d,%f,%d,%d,%d\r\n",i,temperature,gyro_readings[0],gyro_readings[1],gyro_readings[2]); fprintf(fp, "%f,%d,%d,%d\r\n",temperature,gyro_readings[0],gyro_readings[1],gyro_readings[2]); } fclose(fp); myled = 0; }