Unit testing and development for 9DOF sparkfun sensor stick
Dependencies: ADXL345 HMC5883L ITG3200 mbed
main.cpp
- Committer:
- tylerjw
- Date:
- 2012-10-30
- Revision:
- 0:ac2f55940442
- Child:
- 1:dc730a26cdc2
File content as of revision 0:ac2f55940442:
/** 10 second 9-dof data log 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 */ #include "mbed.h" #include "ITG3200.h" int main() { DigitalOut myled(p24); LocalFileSystem local("local"); // Create the local filesystem under the name "local" ITG3200 gyro(p28, p27); // sda, scl - gyro //const float offset[3] = {99.53, -45.26, -29.53}; // taken from itg3200_05.xls curve fit //const float slope[3] = {-0.95, 0.95, 0.47}; //gyro.setCalibrationCurve(offset, slope); //gyro.calibrate(1.0); gyro.setLpBandwidth(LPFBW_5HZ); 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; int 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.getGyroXYZ(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; }