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#include "mbed.h"
#include "MMA8451Q.h"
#include "test_env.h"
#ifdef TARGET_KL05Z
#define SDA PTB4
#define SCL PTB3
#elif TARGET_K20D50M
#define SDA PTB1
#define SCL PTB0
#else
#define SDA PTE25
#define SCL PTE24
#endif
namespace {
const int MMA8451_I2C_ADDRESS = 0x1D << 1; // I2C bus address
const float MMA8451_DIGITAL_SENSITIVITY = 4096.0; // Counts/g
}
float calc_3d_vector_len(float x, float y, float z) {
return sqrt(x*x + y*y + z*z);
}
#define TEST_ITERATIONS 25
#define TEST_ITERATIONS_SKIP 5
#define MEASURE_DEVIATION_TOLERANCE 0.025 // 2.5%
int main(void) {
MBED_HOSTTEST_TIMEOUT(15);
MBED_HOSTTEST_SELECT(default_auto);
MBED_HOSTTEST_DESCRIPTION(MMA8451Q accelerometer);
MBED_HOSTTEST_START("KL25Z_5");
DigitalOut led(LED_GREEN);
MMA8451Q acc(SDA, SCL, MMA8451_I2C_ADDRESS);
bool result = true;
printf("WHO AM I: 0x%2X\r\n\n", acc.getWhoAmI());
for (int i = 0; i < TEST_ITERATIONS; i++) {
if (i < TEST_ITERATIONS_SKIP) {
// Skip first 5 measurements
continue;
}
const float g_vect_len = calc_3d_vector_len(acc.getAccX(), acc.getAccY(), acc.getAccZ()) / MMA8451_DIGITAL_SENSITIVITY;
const float deviation = fabs(g_vect_len - 1.0);
const char *succes_str = deviation <= MEASURE_DEVIATION_TOLERANCE ? "[OK]" : "[FAIL]";
result = result && (deviation <= MEASURE_DEVIATION_TOLERANCE);
printf("X:% 6d Y:% 6d Z:% 5d GF:%0.3fg, dev:%0.3f ... %s\r\n", acc.getAccX(), acc.getAccY(), acc.getAccZ(), g_vect_len, deviation, succes_str);
wait(0.5);
led = !led;
}
MBED_HOSTTEST_RESULT(result);
}
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