103 lines
2.3 KiB
C
103 lines
2.3 KiB
C
#define _GNU_SOURCE
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#include <unistd.h> /* usleep() */
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#include <stdio.h>
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#include <stdlib.h>
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#include "lis3dh.h"
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#include "i2c.h"
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/* table 4 of datasheet */
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#define ST_MIN 17
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#define ST_MAX 360
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/* AN3308 suggests 5 */
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#define ITERATIONS 5
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int main() {
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lis3dh_t lis;
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int32_t x_nost, y_nost, z_nost; /* store avg of measurements before self-test */
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int32_t x_st, y_st, z_st; /* store avg of self-test measurements */
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int32_t xd, yd, zd; /* differences */
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int i;
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lis.dev.init = i2c_init;
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lis.dev.read = i2c_read;
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lis.dev.write = i2c_write;
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lis.dev.sleep = usleep;
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lis.dev.deinit = i2c_deinit;
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x_nost = y_nost = z_nost = 0;
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x_st = y_st = z_st = 0;
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xd = yd = zd = 0;
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/* initialise LIS3DH struct */
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if (lis3dh_init(&lis)) {
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/* error handling */
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}
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/* reset device just in case */
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if (lis3dh_reset(&lis)) {
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/* error handling */
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}
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lis.cfg.mode = LIS3DH_MODE_NORMAL;
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lis.cfg.range = LIS3DH_FS_2G;
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lis.cfg.rate = LIS3DH_ODR_50_HZ;
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lis3dh_configure(&lis);
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/* discard first couple of samples as datasheet suggests they are wrong/noisy */
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for(i=0; i<15; i++) lis3dh_read(&lis);
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for(i=0; i<ITERATIONS; i++) {
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lis3dh_read(&lis);
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x_nost += lis.acc.x;
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y_nost += lis.acc.y;
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z_nost += lis.acc.z;
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}
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x_nost /= ITERATIONS;
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y_nost /= ITERATIONS;
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z_nost /= ITERATIONS;
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lis.cfg.self_test = LIS3DH_SELF_TEST_0;
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lis3dh_configure(&lis);
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/* discard first couple of samples as datasheet suggests they are wrong/noisy */
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for(i=0; i<15; i++) lis3dh_read(&lis);
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for(i=0; i<ITERATIONS; i++) {
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lis3dh_read(&lis);
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x_st += lis.acc.x;
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y_st += lis.acc.y;
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z_st += lis.acc.z;
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}
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x_st /= ITERATIONS;
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y_st /= ITERATIONS;
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z_st /= ITERATIONS;
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xd = abs(x_st - x_nost);
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yd = abs(y_st - y_nost);
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zd = abs(z_st - z_nost);
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printf("variance min=%d, max=%d\n", ST_MIN, ST_MAX);
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printf("xd=%d yd=%d zd=%d\n", xd, yd, zd);
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if ((ST_MIN <= xd && xd <= ST_MAX) && (ST_MIN <= yd && yd <= ST_MAX) && (ST_MIN <= zd && zd <= ST_MAX)) {
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puts("Pass");
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} else {
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puts("Fail");
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}
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lis3dh_reset(&lis);
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/* deinitalise struct */
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if (lis3dh_deinit(&lis)) {
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/* error handling */
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}
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return 0;
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} |