Unit testing and development for 9DOF sparkfun sensor stick
Dependencies: ADXL345 HMC5883L ITG3200 mbed
adxl345unit.cpp
- Committer:
- tylerjw
- Date:
- 2012-11-01
- Revision:
- 2:d7e66940541d
- Child:
- 3:5e21a352e236
File content as of revision 2:d7e66940541d:
/* * @file adxl345unit.cpp * @author Tyler Weaver * * @section LICENSE * * Permission is hereby granted, free of charge, to any person obtaining a copy of this software * and associated documentation files (the "Software"), to deal in the Software without restriction, * including without limitation the rights to use, copy, modify, merge, publish, distribute, * sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is * furnished to do so, subject to the following conditions: * * The above copyright notice and this permission notice shall be included in all copies or * substantial portions of the Software. * * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING * BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. * * @section DESCRIPTION * * Unit test for the ADXL345 library. * * Reference: */ #include "adxl345unit.h" ADXL345UNIT::ADXL345UNIT(I2C &i2c) : adxl345_(i2c), pc_(USBTX, USBRX), local_("local"), open_file_(LED1) { pc_.baud(9600); open_file_ = 0; init(); } void ADXL345UNIT::init() { // place initilazaition code here } bool ADXL345UNIT::builtInSelfTest() { bool test_pass[4] = {true,true,true,true}; bool full_test = true; int st_off[3][100]; // {x,y,z}, self test off int st_off_avg[3]; // self test off average int st_on[3][100]; // {x,y,z}, self test off int st_on_avg[3]; // self test on average int delta[3]; // st_on - st_off const char axisK[3] = {'X','Y','Z'}; const int resolutionsK[4] = {16,8,4,2}; const char data_formatK[4] = {ADXL345_16G, ADXL345_8G, ADXL345_4G, (ADXL345_2G | ADXL345_FULL_RES)}; const int delta_minK[4][3] = {{6,-67,10},{12,-135,19},{25,-270,38},{50,-540,75}}; // {{16g},{8g},{4g},{2g}} from datasheet const int delta_maxK[4][3] = {{67,-6,110},{135,-12,219},{270,-25,438},{540,-50,875}}; Timer t; // for timming sample readings float start_time, elapsed_time; float period = 0.001; // period of sample rate for(int res = 0; res < 4; res++) { //print starting message pc_.printf("ADXL345: Starting Built In Self Test (%dg resolution)... \n\r", resolutionsK[res]); //wait 1.1ms wait(0.0011); //initial command sequence adxl345_.setDataFormatControl(data_formatK[res]); // 16g, 13bit mode adxl345_.setDataRate(ADXL345_100HZ); // 100Hz data rate adxl345_.setPowerMode(0); // high power adxl345_.setPowerControl(0x08); // start measurement adxl345_.setInterruptEnableControl(0x80); // enable data_ready interupt (not needed?) //wait 1.1ms wait(0.0011); //take 100 data points and average (100Hz) for(int sample = 0; sample < 100; sample++) { start_time = t.read(); adxl345_.getOutput(st_off[sample]); elapsed_time = t.read() - start_time; if(elapsed_time > period) { pc_.puts("Error: elapsed_time > period\n\r"); return false; } wait(period - elapsed_time); } for(int axis = 0; axis < 3; axis++) st_off_avg[axis] = arr_avg(st_off[axis], 100); // average //activate self test adxl345_.setDataFormatControl(data_formatK[res] | ADXL345_SELF_TEST); // self test enabled //wait 1.1ms wait(0.0011); //take 100 data points and average (100Hz) for(int sample = 0; sample < 100; sample++) { start_time = t.read(); adxl345_.getOutput(st_on[sample]); elapsed_time = t.read() - start_time; if(elapsed_time > period) { pc_.puts("Error: elapsed_time > period\n\r"); return false; } wait(period - elapsed_time); } for(int axis = 0; axis < 3; axis++) st_on_avg[axis] = arr_avg(st_on[axis], 100); // average //inactivate self test adxl345_.setDataFormatControl(data_formatK[res]); // self test off //calculate self test delta(change) and compare to limits in data sheet //open file open_file_ = 1; FILE *fp = fopen("/local/ADXL_BIT.csv", "a"); // open append, or create fprintf(fp, "ADXL345 Built In Self-Test at %dg resolution.\r\nAxis,Min,Max,Actual,Pass\r\n", resolutionsK[res]); for(int axis = 0; axis < 3; axis++) { delta[axis] = st_on_avg[axis] - st_off_avg[axis]; bool test = (delta[axis] > delta_minK[res][axis] && delta[axis] < delta_maxK[res][axis]); if(test == false) test_pass[res] = full_test = false; fprintf(fp, "%c,%4d,%4d,%4d,%s\r\n", axisK[axis],delta_minK[res][axis],delta_maxK[res][axis],delta[axis],(test)?"pass":"fail"); } fprintf(fp, "Test Result: %s\r\n\r\n", (test_pass[res])?"pass":"fail"); // close file fclose(fp); open_file_ = 0; pc_.printf("%s\r\n", (test_pass[res])?"pass":"fail"); } //return result return full_test; } int ADXL345UNIT::arr_avg(int* arr,int length) { double average; for(int i = 0; i < length; i++) average += static_cast<double>(arr[i]) / static_cast<double>(length); return static_cast<int>(average); }