Unit testing and development for 9DOF sparkfun sensor stick
Dependencies: ADXL345 HMC5883L ITG3200 mbed
main.cpp
- Committer:
- tylerjw
- Date:
- 2012-11-01
- Revision:
- 2:d7e66940541d
- Parent:
- 1:dc730a26cdc2
- Child:
- 3:5e21a352e236
File content as of revision 2:d7e66940541d:
/** 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" I2C i2c_bus(p28, p27); int main() { } /* void hmc5883l_test() { Serial pc(USBTX, USBRX); pc.baud(9600); HMC5883L compass(i2c_bus); int 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_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; 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; } */