Tyler Weaver
Unit testing and development for 9DOF sparkfun sensor stick
Dependencies: ADXL345 HMC5883L ITG3200 mbed
Revision 2:d7e66940541d, committed 2012-11-01
- Comitter:
- tylerjw
- Date:
- Thu Nov 01 18:46:58 2012 +0000
- Parent:
- 1:dc730a26cdc2
- Child:
- 3:5e21a352e236
- Commit message:
- ADXL345 unit test initial commit, built in self test (not tested)
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/ADXL345.lib Thu Nov 01 18:46:58 2012 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/tylerjw/code/ADXL345/#839128c6e20a
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/HMC5883L.lib Thu Nov 01 18:46:58 2012 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/tylerjw/code/HMC5883L/#8eb755577f83
--- a/ITG3200.lib Tue Oct 30 23:47:14 2012 +0000 +++ b/ITG3200.lib Thu Nov 01 18:46:58 2012 +0000 @@ -1,1 +1,1 @@ -http://mbed.org/users/tylerjw/code/ITG3200/#33a9ed8e8988 +http://mbed.org/users/tylerjw/code/ITG3200/#9a354f34d8e3
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/adxl345unit.cpp Thu Nov 01 18:46:58 2012 +0000
@@ -0,0 +1,142 @@
+/*
+ * @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);
+}
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/adxl345unit.h Thu Nov 01 18:46:58 2012 +0000
@@ -0,0 +1,71 @@
+/*
+ * @file adxl345unit.h
+ * @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:
+ */
+
+#ifndef ADXL345UNIT_H
+#define ADXL345UNIT_H
+
+#include "mbed.h"
+#include "ADXL345.h"
+
+class ADXL345UNIT {
+ public:
+ /**
+ * Constructor
+ * runs init()
+ *
+ * @param i2c buss to use for adxl345
+ */
+ ADXL345UNIT(I2C &i2c);
+
+ /**
+ * Initalize the device
+ */
+ void init();
+
+ /**
+ * Perform built in self test and print results to ADXL_BIT.csv
+ *
+ * @returns true if passed, false if failed
+ */
+ bool builtInSelfTest();
+ private:
+ ADXL345 adxl345_;
+ Serial pc_;
+ LocalFileSystem local_;
+ DigitalOut open_file_;
+
+ /**
+ * Averages an array of n length
+ *
+ * @param the array
+ * @param length
+ */
+ int arr_avg(int*,int);
+};
+
+#endif
\ No newline at end of file
--- a/main.cpp Tue Oct 30 23:47:14 2012 +0000
+++ b/main.cpp Thu Nov 01 18:46:58 2012 +0000
@@ -1,5 +1,5 @@
/**
- 10 second 9-dof data log
+ 9-dof unit testing
The purpose of this program is to demonstrate and calibrate the three
sensors on teh 9-doft board.
@@ -10,147 +10,39 @@
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"
-
-// configuration register a
-#define AVG1_SAMPLES 0x00
-#define AVG2_SAMPLES 0x20
-#define AVG4_SAMPLES 0x80
-#define AVG8_SAMPLES 0xC0
-
-#define OUTPUT_RATE_0_75 0x00
-#define OUTPUT_RATE_1_5 0x04
-#define OUTPUT_RATE_3 0x08
-#define OUTPUT_RATE_7_5 0x0C
-#define OUTPUT_RATE_15 0x10
-#define OUTPUT_RATE_30 0x14
-#define OUTPUT_RATE_75 0x18
-
-#define NORMAL_MEASUREMENT 0x00
-#define POSITIVE_BIAS 0x01
-#define NEGATIVE_BIAS 0x02
-
-// mode register
-#define CONTINUOUS_MODE 0x00
-#define SINGLE_MODE 0x01
-#define IDLE_MODE 0x02
-
-// status register
-#define LOCK 0x02
-#define READY 0x01
-
-char addr = 0x3D;
-
-I2C i2c_(p28, p27); // sda, scl
-
-void setConfigurationA(char,char,char);
-char getConfigurationA();
-void setConfigurationB(char);
-char getConfigurationB();
-void setMode(char);
-char getMode();
-void getXYZ(int*);
-char getStatus();
-
-void setConfigurationA(char averaged_samples = AVG1_SAMPLES, char output_rate = OUTPUT_RATE_15, char measurement_mode = NORMAL_MEASUREMENT)
-{
- char cmd[2];
- cmd[0] = 0x00; // register a address
- cmd[1] = averaged_samples | output_rate | measurement_mode;
-
- i2c_.write(addr, cmd, 2);
-}
+//#include "HMC5883L.h"
-char getConfigurationA()
-{
- char cmd[2];
- cmd[0] = 0x00; // register a address
- i2c_.write(addr, cmd, 1, true);
- i2c_.read(addr, &cmd[1], 1, false);
- return cmd[1];
-}
-
-void setConfigurationB(char gain = 0x20) // default value 0x20
-{
- char cmd[2];
- cmd[0] = 0x01;
- cmd[1] = gain;
-
- i2c_.write(addr, cmd, 2);
-}
-
-char getConfigurationB()
-{
- char cmd[2];
- cmd[0] = 0x01; // register b address
- i2c_.write(addr, cmd, 1, true);
- i2c_.read(addr, &cmd[1], 1, false);
- return cmd[1];
-}
-
-void setMode(char mode = SINGLE_MODE)
-{
- char cmd[2];
- cmd[0] = 0x02; // mode register address
- cmd[1] = mode;
- i2c_.write(addr,cmd,2);
-}
-
-char getMode()
-{
- char cmd[2];
- cmd[0] = 0x02; // mode register address
- i2c_.write(addr, cmd, 1, true);
- i2c_.read(addr, &cmd[1], 1, false);
- return cmd[1];
-}
-
-void getXYZ(int output[3])
-{
- char cmd[2];
- char data[6];
- cmd[0] = 0x03; // starting point for reading
- i2c_.write(addr, cmd, 1, true); // set the pointer to the start of x
- i2c_.read(addr, data, 6, false);
-
- for(int i = 0; i < 3; i++) // fill the output variables
- output[i] = (data[i*2] << 8) + data[i*2+1];
-}
-
-char getStatus()
-{
- char cmd[2];
- cmd[0] = 0x09; // status register address
- i2c_.write(addr, cmd, 1, true);
- i2c_.read(addr, &cmd[1], 1, false);
- return cmd[1];
-}
+I2C i2c_bus(p28, p27);
int main()
{
+
+}
+
+/*
+void hmc5883l_test()
+{
Serial pc(USBTX, USBRX);
-
+
pc.baud(9600);
+ HMC5883L compass(i2c_bus);
+
int data[3];
-
- // configure
- setConfigurationA(AVG8_SAMPLES); // 8 sample average, 15Hz, normal mode
- setConfigurationB(); // default (0x20)
- setMode(CONTINUOUS_MODE); // continuous sample mode
- wait(0.006); // 6 milisecond pause to allow registers to fill up
-
- while(1)
- {
- getXYZ(data);
- pc.printf("x: 0x%4x, y: 0x%4x, z: 0x%4x\r\n", data[0], data[1], data[2]);
+
+ 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()
{