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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 1993 | - | 1 | #include <ADXL345.h> |
| 2 | #include <HMC5843.h> |
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| 3 | #include <ITG3200.h> |
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| 4 | |||
| 5 | //#define DEBUG |
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| 6 | #include "DebugUtils.h" |
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| 7 | |||
| 8 | #include "FreeIMU.h" |
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| 9 | #include <Wire.h> |
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| 10 | |||
| 11 | int raw_values[9]; |
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| 12 | char str[512]; |
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| 13 | float val[9], q[4]; |
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| 14 | |||
| 15 | unsigned long start, stop; |
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| 16 | |||
| 17 | // Set the default object |
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| 18 | FreeIMU my3IMU = FreeIMU(); |
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| 19 | |||
| 20 | void setup() { |
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| 21 | Serial.begin(115200); |
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| 22 | Wire.begin(); |
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| 23 | |||
| 24 | delay(500); |
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| 25 | my3IMU.init(true); // the parameter enable or disable fast mode |
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| 26 | delay(500); |
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| 27 | } |
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| 28 | |||
| 29 | void loop() { |
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| 30 | Serial.println("Testing raw reading speed (average on 1024 samples):"); |
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| 31 | start = micros(); |
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| 32 | for(int i=0; i<1024; i++) { |
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| 33 | my3IMU.getRawValues(raw_values); |
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| 34 | } |
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| 35 | stop = micros(); |
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| 36 | Serial.print("--> result: "); |
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| 37 | Serial.print((stop - start) / 1024); |
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| 38 | Serial.print(" microseconds .... "); |
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| 39 | Serial.print(((stop - start) / 1024) / 1000); |
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| 40 | Serial.println(" milliseconds"); |
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| 41 | |||
| 42 | |||
| 43 | Serial.println("Testing calibrated reading speed (average on 1024 samples):"); |
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| 44 | start = micros(); |
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| 45 | for(int i=0; i<1024; i++) { |
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| 46 | my3IMU.getValues(val); |
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| 47 | } |
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| 48 | stop = micros(); |
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| 49 | Serial.print("--> result: "); |
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| 50 | Serial.print((stop - start) / 1024); |
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| 51 | Serial.print(" microseconds .... "); |
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| 52 | Serial.print(((stop - start) / 1024) / 1000); |
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| 53 | Serial.println(" milliseconds"); |
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| 54 | |||
| 55 | |||
| 56 | Serial.println("Testing sensor fusion speed (average on 1024 samples):"); |
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| 57 | start = micros(); |
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| 58 | for(int i=0; i<1024; i++) { |
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| 59 | my3IMU.getQ(q); |
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| 60 | } |
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| 61 | stop = micros(); |
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| 62 | Serial.print("--> result: "); |
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| 63 | Serial.print((stop - start) / 1024); |
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| 64 | Serial.print(" microseconds .... "); |
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| 65 | Serial.print(((stop - start) / 1024) / 1000); |
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| 66 | Serial.println(" milliseconds"); |
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| 67 | |||
| 68 | |||
| 69 | Serial.println("Looping again.."); |
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| 70 | Serial.println("----"); |
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| 71 | } |