Bruno Allaire-Lemay / Mbed 2 deprecated APP1test

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Dependencies:   mbed

Fork of APP1 by Team APP

TestAccelerometer.cpp@23:2531e72d92b9, 2017-02-09 (annotated)

Committer:
GaiSensei
Date:
Thu Feb 09 15:55:18 2017 +0000
Revision:
23:2531e72d92b9
Parent:
21:a111be2582be 
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Who changed what in which revision?

UserRevisionLine numberNew contents of line
dupm2216 21:a111be2582be 1 /////////////////////////////////////////////////////////////
dupm2216 21:a111be2582be 2 // APP 1: Systèmes à microprocesseurs //
dupm2216 21:a111be2582be 3 // //
dupm2216 21:a111be2582be 4 // Université de Sherbrooke //
dupm2216 21:a111be2582be 5 // Génie informatique //
dupm2216 21:a111be2582be 6 // Session 5, Hiver 2017 //
dupm2216 21:a111be2582be 7 // //
dupm2216 21:a111be2582be 8 // Date: 17 janvier 2017 //
dupm2216 21:a111be2582be 9 // //
dupm2216 21:a111be2582be 10 // Auteurs: Maxime Dupuis, dupm2216 //
dupm2216 21:a111be2582be 11 // Bruno Allaire-Lemay, allb2701 //
dupm2216 21:a111be2582be 12 /////////////////////////////////////////////////////////////
dupm2216 21:a111be2582be 13
dupm2216 3:1a9d0f0a50bf 14 #include "TestAccelerometer.hpp"
dupm2216 3:1a9d0f0a50bf 15 #include "Accelerometer.hpp"
dupm2216 6:3facf0329142 16 #include "Utility.hpp"
dupm2216 3:1a9d0f0a50bf 17 #include "mbed.h"
dupm2216 3:1a9d0f0a50bf 18
dupm2216 3:1a9d0f0a50bf 19 #include <cassert>
dupm2216 5:f59b51ac4b40 20 #include <cmath>
dupm2216 3:1a9d0f0a50bf 21
dupm2216 3:1a9d0f0a50bf 22 namespace accelerometer
dupm2216 3:1a9d0f0a50bf 23 {
dupm2216 3:1a9d0f0a50bf 24 void run_all_tests()
dupm2216 3:1a9d0f0a50bf 25 {
dupm2216 3:1a9d0f0a50bf 26 test_raw_axis_data_to_int();
dupm2216 3:1a9d0f0a50bf 27 test_set_standby_and_active();
dupm2216 6:3facf0329142 28 test_g_force_from_int_axis_data();
dupm2216 6:3facf0329142 29 test_angle_from_int_axis_data();
dupm2216 3:1a9d0f0a50bf 30 }
dupm2216 3:1a9d0f0a50bf 31
dupm2216 3:1a9d0f0a50bf 32 void test_raw_axis_data_to_int()
dupm2216 3:1a9d0f0a50bf 33 {
dupm2216 3:1a9d0f0a50bf 34 assert(128 == (unsigned char)(0x80));
dupm2216 3:1a9d0f0a50bf 35 assert(-128 == (signed char)(0x80));
dupm2216 3:1a9d0f0a50bf 36
dupm2216 3:1a9d0f0a50bf 37 assert(0 == raw_axis_data_to_int(0x00));
dupm2216 3:1a9d0f0a50bf 38 assert(1 == raw_axis_data_to_int(0x01));
dupm2216 3:1a9d0f0a50bf 39 assert(127 == raw_axis_data_to_int(0x7F));
dupm2216 3:1a9d0f0a50bf 40 assert(-1 == raw_axis_data_to_int(0xFF));
dupm2216 3:1a9d0f0a50bf 41 assert(-128 == raw_axis_data_to_int(0x80));
dupm2216 3:1a9d0f0a50bf 42 }
dupm2216 3:1a9d0f0a50bf 43
dupm2216 3:1a9d0f0a50bf 44 void test_set_standby_and_active()
dupm2216 3:1a9d0f0a50bf 45 {
dupm2216 3:1a9d0f0a50bf 46 Accelerometer accelerometer(p9, p10, I2C_ACCELEROMETER_ADDRESS);
dupm2216 3:1a9d0f0a50bf 47
dupm2216 3:1a9d0f0a50bf 48 accelerometer.set_standby();
dupm2216 3:1a9d0f0a50bf 49 char value = accelerometer.read_register(CTRL_REG1_REGISTER_ADDRESS);
dupm2216 3:1a9d0f0a50bf 50 if(value % 2 != 0)
dupm2216 3:1a9d0f0a50bf 51 {
dupm2216 3:1a9d0f0a50bf 52 printf("Fail\r\n");
dupm2216 3:1a9d0f0a50bf 53 }
dupm2216 3:1a9d0f0a50bf 54
dupm2216 3:1a9d0f0a50bf 55 accelerometer.set_active();
dupm2216 3:1a9d0f0a50bf 56 value = accelerometer.read_register(CTRL_REG1_REGISTER_ADDRESS);
dupm2216 3:1a9d0f0a50bf 57 if(value % 2 != 1)
dupm2216 3:1a9d0f0a50bf 58 {
dupm2216 3:1a9d0f0a50bf 59 printf("Fail\r\n");
dupm2216 3:1a9d0f0a50bf 60 }
dupm2216 3:1a9d0f0a50bf 61 }
dupm2216 5:f59b51ac4b40 62
dupm2216 8:862e28c7f6f6 63 //axis_data = 64 means 1 g
dupm2216 5:f59b51ac4b40 64 void test_angle_from_int_axis_data()
dupm2216 5:f59b51ac4b40 65 {
dupm2216 5:f59b51ac4b40 66 const double tolerance = 0.05;
dupm2216 6:3facf0329142 67 assert(utility::is_almost_equal(0, angle_from_int_axis_data(64), tolerance));
dupm2216 6:3facf0329142 68 assert(utility::is_almost_equal(0, angle_from_int_axis_data(-64), tolerance));
dupm2216 6:3facf0329142 69 assert(utility::is_almost_equal(60, angle_from_int_axis_data(32), tolerance));
dupm2216 6:3facf0329142 70 assert(utility::is_almost_equal(60, angle_from_int_axis_data(-32), tolerance));
dupm2216 5:f59b51ac4b40 71 }
dupm2216 5:f59b51ac4b40 72
dupm2216 8:862e28c7f6f6 73 void test_angle_from_int_axis_data_when_above_1g_is_corrected_to_zero()
dupm2216 8:862e28c7f6f6 74 {
dupm2216 8:862e28c7f6f6 75 const double tolerance = 0.05;
dupm2216 8:862e28c7f6f6 76 const double axis_data_above_1g = 65;
dupm2216 8:862e28c7f6f6 77 assert(utility::is_almost_equal(0, angle_from_int_axis_data(axis_data_above_1g), tolerance));
dupm2216 8:862e28c7f6f6 78 }
dupm2216 8:862e28c7f6f6 79
dupm2216 5:f59b51ac4b40 80 void test_g_force_from_int_axis_data()
dupm2216 5:f59b51ac4b40 81 {
dupm2216 5:f59b51ac4b40 82 const double tolerance = 0.05;
dupm2216 6:3facf0329142 83 assert(utility::is_almost_equal(1, g_force_from_int_axis_data(64), tolerance));
dupm2216 6:3facf0329142 84 assert(utility::is_almost_equal(-1, g_force_from_int_axis_data(-64), tolerance));
dupm2216 6:3facf0329142 85 assert(utility::is_almost_equal(2, g_force_from_int_axis_data(128), tolerance));
dupm2216 6:3facf0329142 86 assert(utility::is_almost_equal(-2, g_force_from_int_axis_data(-128), tolerance));
dupm2216 6:3facf0329142 87 assert(utility::is_almost_equal(0.5, g_force_from_int_axis_data(32), tolerance));
dupm2216 6:3facf0329142 88 assert(utility::is_almost_equal(-0.5, g_force_from_int_axis_data(-32), tolerance));
dupm2216 5:f59b51ac4b40 89 }
dupm2216 3:1a9d0f0a50bf 90 }