fix self test functionality (it's a good idea to read the datasheet)

platformio.ini

@@ -16,7 +16,7 @@ test_framework = unity
 ;lib_deps = throwtheswitch/unity
 extra_scripts = extra_script.py
 monitor_speed = 115200
-test_port = COM14
+test_port = COM18
 
 ;required to make the units test behave
 test_build_src = true

src/LIS3MDL.cpp

@@ -118,59 +118,48 @@ namespace LIS3MDL {
         delay(20); // wait 20ms
         device->write_reg(REGISTER::CTRL_REG3, 0X00);
 
+        delay(20);
         // Power up, check the ZYXDA bit in the STATUS_REG register
         while(!get_mag_drdy_status());
-        get_raw_mag(); // read the OUT regs and discard the data
+        Vector<double , 3> discard = get_mag(); // read the OUT regs and discard the data
 
         // Average 5 samples
-        Vector<int32_t , 3> average_NOST = {0, 0, 0};
-        for (int i = 0; i < 5; i++) {
+        Vector<double , 3> average_NOST = {0, 0, 0};
+        for (int i = 0; i < 20; i++) {
             while(!get_mag_drdy_status());
-            Vector<int16_t, 3> raw = get_raw_mag();
-            average_NOST += (Vector<int32_t, 3>) raw; // sum the values
+            Vector<double, 3> raw = get_mag();
+            average_NOST += raw; // sum the values
+            delay(20);
         }
-        average_NOST /= 5; // divide by 5 to get the average
+        average_NOST /= 20; // divide by 5 to get the average
 
         // Enable self test
         device->write_reg(REGISTER::CTRL_REG1, 0X1D);
         delay(60); // wait 60ms
 
         // Power up, check the ZYXDA bit in the STATUS_REG register
         while(!get_mag_drdy_status());
-        get_raw_mag(); // read the OUT regs and discard the data
+        Vector<double , 3> discard2 = get_mag(); // read the OUT regs and discard the data
 
-        Vector<int16_t, 3> minST = {0, 0, 0};
-        Vector<int16_t, 3> maxST = {0, 0, 0};
-        Vector<int32_t, 3> average_ST = {0, 0, 0};
+
+        Vector<double, 3> average_ST = {0, 0, 0};
         // Take 5 samples
-        Vector<int16_t, 3> raw;
-        for (int i = 0; i < 5; i++) {
+        Vector<double, 3> raw;
+        for (int i = 0; i < 20; i++) {
             while(!get_mag_drdy_status());
-            raw = get_raw_mag();
-            average_ST += (Vector<int32_t, 3>) raw; // sum the values
-
-            // find the min and max values of each axis
-            for (int j = 0; j < 3; j++) {
-                if (raw[j] < minST[j]) {
-                    minST[j] = raw[j];
-                }
-                if (raw[j] > maxST[j]) {
-                    maxST[j] = raw[j];
-                }
-            }
+            raw = get_mag();
+            average_ST += raw; // sum the values
+
+            delay(20);
         }
-        average_ST /= 5; // divide by 5 to get the average
+        average_ST /= 20; // divide by 5 to get the average
 
         // Disable self test
         device->write_reg(REGISTER::CTRL_REG1, 0X1C);
 
         // Print out all the min, max, average and raw values
-        Serial.println("Min, Max, Average_NOST, Average_ST, Raw");
+        Serial.println("Average_NOST, Average_ST, Raw");
         for (int i = 0; i < 3; i++) {
-            Serial.print(minST[i]);
-            Serial.print(", ");
-            Serial.print(maxST[i]);
-            Serial.print(", ");
             Serial.print(average_NOST[i]);
             Serial.print(", ");
             Serial.print(average_ST[i]);
@@ -183,13 +172,13 @@ namespace LIS3MDL {
 //            pass &= (abs(minST[i]) <= (raw[i] - average_NOST[i])) &&
 //                    ((raw[i] - average_NOST[i]) <= abs(maxST[i]));
 //        }
-        if (    (abs(minST[0]) <= (average_ST[0] - average_NOST[0])) && ((average_ST[0] - average_NOST[0]) <= abs(maxST[0])) &&
-                (abs(minST[1]) <= (average_ST[1] - average_NOST[1])) && ((average_ST[1] - average_NOST[1]) <= abs(maxST[1]))
-//                (abs(minST[2]) <= (average_ST[2] - average_NOST[2])) && ((average_ST[2] - average_NOST[2]) <= abs(maxST[2]))
+        if (    (abs(1.0) <= abs(average_ST[0] - average_NOST[0])) && (abs(average_ST[0] - average_NOST[0]) <= abs(3.0)) && // limits fpr
+                (abs(1.0) <= abs(average_ST[1] - average_NOST[1])) && (abs(average_ST[1] - average_NOST[1]) <= abs(3.0)) &&
+                (abs(0.1) <= abs(average_ST[2] - average_NOST[2])) && (abs(average_ST[2] - average_NOST[2]) <= abs(1.0))
                 ) {
             return true;
         }
-        else{
+        else {
             return false;
         }
 

src/LIS3MDL.h

@@ -185,7 +185,7 @@ namespace LIS3MDL {
         static void interrupt_service_routine();
 
         /**
-         * @brief A defualt configuration for the magnetometer - use always call this in your setup.
+         * @brief A default configuration for the magnetometer - use always call this in your setup.
          */
         void default_configuration();
 

test/test_LIS3MDL.cpp

@@ -4,9 +4,9 @@
 #include <unity.h>
 #include "LIS3MDL.h"
 
-#define LIS_CS 37
+#define LIS_CS 10
 #define CS_LSM 40
-#define LIS_INT 39
+#define LIS_INT 32
 LIS3MDL::LIS3MDL LISTest(LIS_CS, SPI, 4000000);
 
 void setUp(void) {
@@ -31,18 +31,18 @@ void test_who_am_i(void) {
 
 void test_get_mag(void) {
     Vector<double, 3> mag = LISTest.get_mag();
-    TEST_ASSERT(mag.norm() != 0);
+    TEST_ASSERT(mag.norm() != 0); // The magnetic field is not very likely be zero
 }
 
 void test_get_temp_celsius(void) {
     double temp = LISTest.get_temp_celsius();
-    TEST_ASSERT(temp != 0);
+    TEST_ASSERT(temp != 0); // temperature is not very likely to be zero
 }
 
 void test_get_raw_mag(void) {
     // Set ODR to low so that the two reads are probably the same.
     LISTest.set_mag_ODR(LIS3MDL::OUTPUT_DATA_RATES::ODR_155_HZ);
-    // read twice in quick succession
+    // read twice in quick succession, they should be equal
     Vector<double, 3> mag_d = LISTest.get_mag();
     Vector<int16_t, 3> mag = LISTest.get_raw_mag();
     Vector<double, 3> mag_conv = LISTest.convert_raw_mag_to_gauss(mag);
@@ -52,6 +52,32 @@ void test_get_raw_mag(void) {
     LISTest.set_mag_ODR(LIS3MDL::OUTPUT_DATA_RATES::ODR_1000_HZ);
 
 }
+//  Commenting out because interrupts dont work that way.
+//#ifdef LIS_INT
+//void test_interrupt(void) {
+//    LISTest.get_mag();
+//    int initial = digitalRead(LIS_INT);
+//
+//    LISTest.set_interrupt_active_high(true);
+//    // set the interrupts on the axis
+//    LISTest.set_interrupt_on_axis(LIS3MDL::AXIS::X_AXIS, true);
+//    LISTest.set_interrupt_on_axis(LIS3MDL::AXIS::Y_AXIS, true);
+//    LISTest.set_interrupt_on_axis(LIS3MDL::AXIS::Z_AXIS, true);
+//
+//    LISTest.set_interrupt_threshold(0.1);
+//    delay(10);
+//    int final = digitalRead(LIS_INT);
+//
+//    LISTest.set_interrupt_on_axis(LIS3MDL::AXIS::X_AXIS, false);
+//    LISTest.set_interrupt_on_axis(LIS3MDL::AXIS::Y_AXIS, false);
+//    LISTest.set_interrupt_on_axis(LIS3MDL::AXIS::Z_AXIS, false);
+//    LISTest.get_mag();
+//    TEST_ASSERT_EQUAL(initial, 0);
+//    TEST_ASSERT_EQUAL(final, 1);
+//}
+//
+//#endif
+
 
 // Self test
 void test_self_test(void) {
@@ -64,6 +90,7 @@ int main(int argc, char **argv) {
     RUN_TEST(test_get_mag);
     RUN_TEST(test_get_temp_celsius);
     RUN_TEST(test_get_raw_mag);
+
     RUN_TEST(test_self_test);
     UNITY_END();