Tyler Weaver
Unit testing and development for 9DOF sparkfun sensor stick
Dependencies: ADXL345 HMC5883L ITG3200 mbed
Revision 4:8a77e21d08f1, committed 2012-11-06
- Comitter:
- tylerjw
- Date:
- Tue Nov 06 19:06:58 2012 +0000
- Parent:
- 3:5e21a352e236
- Child:
- 5:63b115f85aa7
- Commit message:
- sample time test
Changed in this revision
--- a/ADXL345.lib Mon Nov 05 18:35:42 2012 +0000 +++ b/ADXL345.lib Tue Nov 06 19:06:58 2012 +0000 @@ -1,1 +1,1 @@ -http://mbed.org/users/tylerjw/code/ADXL345/#4cdd4315189f +http://mbed.org/users/tylerjw/code/ADXL345/#d81793e01ec4
--- a/HMC5883L.lib Mon Nov 05 18:35:42 2012 +0000 +++ b/HMC5883L.lib Tue Nov 06 19:06:58 2012 +0000 @@ -1,1 +1,1 @@ -http://mbed.org/users/tylerjw/code/HMC5883L/#8eb755577f83 +http://mbed.org/users/tylerjw/code/HMC5883L/#bc4e1201e092
--- a/ITG3200.lib Mon Nov 05 18:35:42 2012 +0000 +++ b/ITG3200.lib Tue Nov 06 19:06:58 2012 +0000 @@ -1,1 +1,1 @@ -http://mbed.org/users/tylerjw/code/ITG3200/#9a354f34d8e3 +http://mbed.org/users/tylerjw/code/ITG3200/#e886466d7d67
--- a/adxl345unit.cpp Mon Nov 05 18:35:42 2012 +0000
+++ b/adxl345unit.cpp Tue Nov 06 19:06:58 2012 +0000
@@ -188,14 +188,14 @@
open_file_ = 0;
}
-bool ADXL345UNIT::methodTest()
-{
+//void ADXL345UNIT::sampleTimeTest()
+//{
// constructors and size of obj tests
// destructor test
// get device id [0xE5]
// set power mode > get bw rate
//
-}
+//}
int16_t ADXL345UNIT::arr_avg(int16_t* arr,int16_t length)
{
@@ -212,7 +212,7 @@
for(int sample = 0; sample < 100; sample++) {
start_time = t->read();
- adxl345_.getOutput(buffer[sample]);
+ adxl345_.getXYZ(buffer[sample]);
wait(period - (start_time - t->read()));
}
--- a/adxl345unit.h Mon Nov 05 18:35:42 2012 +0000
+++ b/adxl345unit.h Tue Nov 06 19:06:58 2012 +0000
@@ -51,7 +51,7 @@
* Perform built in self test and print results to BIST.csv
* Raw data is printed to BIST_RAW.csv
*
- * NOT YET TESTED
+ * Working
*
* @param store_raw true to store raw data
* @returns test result: true if passed, false if failed
@@ -61,23 +61,14 @@
/**
* Performs the offset callibration test and prints to OFF_CAL.csv
*
- * NOT YET TESTED
+ * Working
*
- * TODO: implement into ADXL345 class.
+ * Implemented in ADXL345 class
*
* @param store_raw true to store raw data
*/
void offsetCalibration(bool);
- /**
- * Tests the method of ADXL345 library
- *
- * Results stored in method.txt
- *
- * @returns test result, true if passed, false if not
- */
- bool methodTest();
-
private:
ADXL345 adxl345_;
Serial pc_;
--- a/main.cpp Mon Nov 05 18:35:42 2012 +0000
+++ b/main.cpp Tue Nov 06 19:06:58 2012 +0000
@@ -15,28 +15,67 @@
*/
#include "mbed.h"
-//#include "ITG3200.h"
-//#include "HMC5883L.h"
-#include "adxl345unit.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);
- accel.calibrate(&t, true);
- //accel_test.builtInSelfTest(true);
- //accel_test.offsetCalibration(true);
-/*
- int sample[3];
+
+ 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];
- int samples[100][3];
+ int16_t samples[100][3];
Timer t;
Serial pc(USBTX, USBRX);
@@ -49,7 +88,7 @@
wait(0.001);
t.start();
- accel.getOutput(sample);
+ accel.getXYZ(sample);
elapsed_time = t.read();
pc.printf("Sample took %f seconds.\r\n", elapsed_time);
@@ -57,17 +96,15 @@
for(int i = 0; i < 100; i++) {
t.reset();
- accel.getOutput(samples[i]);
+ 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);
@@ -76,7 +113,7 @@
HMC5883L compass(i2c_bus);
- int data[3];
+ int16_t data[3];
while(1) {
compass.getXYZ(data);
@@ -84,9 +121,8 @@
wait(0.067);
}
}
-*/
-/*
-void itg3200_test()
+
+void itg3200_curve_test()
{
DigitalOut myled(LED1);
LocalFileSystem local("local"); // Create the local filesystem under the name "local"
@@ -106,14 +142,14 @@
fputs("Temp, X, Y, Z\r\n", fp); // place the header at the top
float temperature = 0.0;
- int gyro_readings[3];
+ 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.getGyroXYZ(gyro_readings, ITG3200::Calibration);
+ 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]);
@@ -122,4 +158,3 @@
fclose(fp);
myled = 0;
}
-*/
\ No newline at end of file