void print(){
printX();
printY();
printZ();
}
//_______________________________________________________________________________________________________
int main(int argc, char** argv) {
parseArgs(argc, argv);
printf("\n");
printY("[TEST] Test conditions:\n");
if (m_start_dsp)
printG("\tDisplay\n");
else
printR("\tDisplay\n");
if (m_start_imu)
printG("\tIMU\n");
else
printR("\tIMU\n");
if (m_start_imu && m_start_env)
printG("\tEnvSens\n");
else if (m_start_imu && !m_start_env)
printR("\tEnvSens\n");
else if (!m_start_imu && m_start_env)
printR("\tskipping EnvSens (IMU needs to be enabled!)\n");
else
printR("\tEnvSens\n");
if (m_start_ldc)
printG("\tLDC\n");
else
printR("\tLDC\n");
if (m_start_bat)
printG("\tBatGauge\n");
else
printR("\tBatGauge\n");
printf("\n");
printY("[TEST] Init devices...\n");
printf("\n");
fflush(stdout);
// Set up display
if (m_start_dsp)
m_dsp = new display_edison(m_dsp_resolution, m_dsp_hands);
// Set up IMU
if (m_start_imu) {
m_imu = new imu_edison(m_i2c_bus, m_mpu_address, m_start_env);
m_imu->setupIMU();
}
// Set up LDC
if (m_start_ldc)
m_ldc = new ldc_edison(m_i2c_bus);
// Start battery gauge
if (m_start_bat) {
m_bat = new batgauge_edison(m_i2c_bus);
m_bat->setAlertThreshold(m_alert_threshold);
}
printf("\n");
usleep(1000000);
// start testing
bool success = true;
// test display
if (m_start_dsp) {
printY("[TEST] Drawing clock on display...\n");
printf("\n");
m_dsp->clear();
m_dsp->analogClock(true);
m_dsp->flush();
}
// test IMU
if (m_start_imu) {
printY("[TEST] Testing IMU...\n");
printf("IMU ");
if (!IDtest(m_imu->getID(), m_imu_ID))
success = false;
printf("MAG ");
if (!IDtest(m_imu->getMagID(), m_mag_ID))
success = false;
if (!m_idonly) {
std::vector<float> data = m_imu->toReadable(m_imu->readRawIMU());
float mx, my, mz;
m_imu->getCompassData(mx, my, mz);
printf("Temperature [DegC]:\n\t%f\n", data[6]);
printf("Accelerometer [m/s^2]:\n");
printf("\tX: %f\n", data[0]);
printf("\tY: %f\n", data[1]);
printf("\tZ: %f\n", data[2]);
printf("Gyroscope [deg/s]:\n");
printf("\tX: %f\n", data[3]);
printf("\tY: %f\n", data[4]);
printf("\tZ: %f\n", data[5]);
printf("Compass [mGs]:\n");
printf("\tX: %f\n", mx);
printf("\tY: %f\n", my);
printf("\tZ: %f\n", mz);
}
printf("\n");
fflush(stdout);
}
// test EnvSens
if (m_start_imu && m_start_env) {
printY("[TEST] Testing environmental sensor...\n");
if (!IDtest(m_imu->getEnvID(), m_env_ID))
success = false;
if (!m_idonly) {
float T, P, H;
m_imu->getEnvData(T, P, H);
printf("Temperature [DegC]: %f\n", T);
printf("Pressure [hPa]: %f\n", P);
printf("Humidity [%%RH]: %f\n", H);
}
printf("\n");
fflush(stdout);
}
// test LDC
if (m_start_ldc) {
printY("[TEST] Testing LDC...\n");
if (!IDtest(m_ldc->getVersion(), m_ldc_ID))
success = false;
if (!m_idonly) {
std::vector<uint16_t> LDC(2, 0);
LDC = m_ldc->getADC();
printf("ADC0 (vis/IR) [raw]: %i\n", LDC[0]);
printf("ADC1 (IR) [raw]: %i\n", LDC[1]);
}
printf("\n");
fflush(stdout);
}
// test BatGauge
if (m_start_bat) {
printY("[TEST] Testing battery gauge...\n");
if (!IDtest(m_bat->getVersion(), m_bat_ID))
success = false;
if (!m_idonly) {
printf("Voltage: %fV\n", m_bat->getVCell());
printf("State of Charge: %i%%\n", m_bat->getSoC());
printf("Alert Threshold: %i%%\n", m_bat->getAlertThreshold());
}
printf("\n");
fflush(stdout);
}
if (success)
printG("[TEST] All ID tests successful.\n");
else
printR("[TEST] Some ID tests failed!\n");
if (m_start_bat)
delete m_bat;
if (m_start_ldc)
delete m_ldc;
if (m_start_imu)
delete m_imu;
if (m_start_dsp)
delete m_dsp;
if (success)
return 0;
else
return 1;
}
