Icarus Sensors / Mbed 2 deprecated SelfTestBoot

Self test boot program for testing icarus sensors

Dependencies:   BLE_API mbed nRF51822

Fork of BLE_UARTConsole by Bluetooth Low Energy

main.cpp@13:ef0ce8fa871f, 2015-04-05 (annotated)

Committer:
smigielski
Date:
Sun Apr 05 09:54:04 2015 +0000
Revision:
13:ef0ce8fa871f
Parent:
12:9076e6453115
Child:
14:cb369746225d
Debug log working across modules. ; ADXL sensor test cleanuo; MPU device id test

Who changed what in which revision?

UserRevisionLine numberNew contents of line
rgrover1 0:2130d7f559dc 1 /* mbed Microcontroller Library
rgrover1 0:2130d7f559dc 2 * Copyright (c) 2006-2013 ARM Limited
rgrover1 0:2130d7f559dc 3 *
rgrover1 0:2130d7f559dc 4 * Licensed under the Apache License, Version 2.0 (the "License");
rgrover1 0:2130d7f559dc 5 * you may not use this file except in compliance with the License.
rgrover1 0:2130d7f559dc 6 * You may obtain a copy of the License at
rgrover1 0:2130d7f559dc 7 *
rgrover1 0:2130d7f559dc 8 * http://www.apache.org/licenses/LICENSE-2.0
rgrover1 0:2130d7f559dc 9 *
rgrover1 0:2130d7f559dc 10 * Unless required by applicable law or agreed to in writing, software
rgrover1 0:2130d7f559dc 11 * distributed under the License is distributed on an "AS IS" BASIS,
rgrover1 0:2130d7f559dc 12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
rgrover1 0:2130d7f559dc 13 * See the License for the specific language governing permissions and
rgrover1 0:2130d7f559dc 14 * limitations under the License.
rgrover1 0:2130d7f559dc 15 */
rgrover1 0:2130d7f559dc 16
rgrover1 5:2607923acfa1 17 #include <string.h>
smigielski 13:ef0ce8fa871f 18 #include <stdarg.h>
rgrover1 0:2130d7f559dc 19 #include "mbed.h"
rgrover1 0:2130d7f559dc 20 #include "BLEDevice.h"
rgrover1 0:2130d7f559dc 21 #include "UARTService.h"
rgrover1 0:2130d7f559dc 22
smigielski 7:438b55fe8576 23
smigielski 8:e9ae7a01d866 24 #define DEBUG 1 /* Set this if you need debug messages on the console;
rgrover1 0:2130d7f559dc 25 * it will have an impact on code-size and power consumption. */
smigielski 8:e9ae7a01d866 26
smigielski 13:ef0ce8fa871f 27 //Icarus libraries
smigielski 13:ef0ce8fa871f 28 #include "ADXL362Sensor.h"
smigielski 13:ef0ce8fa871f 29 #include "MPU9250Sensor.h"
smigielski 13:ef0ce8fa871f 30
smigielski 13:ef0ce8fa871f 31 BLEDevice ble;
smigielski 13:ef0ce8fa871f 32 UARTService *uart;
smigielski 13:ef0ce8fa871f 33
smigielski 8:e9ae7a01d866 34 #if DEBUG
smigielski 8:e9ae7a01d866 35 #define LOG_BUFFER 100
smigielski 13:ef0ce8fa871f 36 #define LOG(...) do { if (debug) { debug( __VA_ARGS__); } } while (0)
rgrover1 0:2130d7f559dc 37 #else
smigielski 8:e9ae7a01d866 38 #define LOG_BUFFER 0
smigielski 8:e9ae7a01d866 39 #define LOG(...) /* nothing */
smigielski 8:e9ae7a01d866 40 #endif /* #if DEBUG */
smigielski 13:ef0ce8fa871f 41 char debugBuffer[LOG_BUFFER];
smigielski 13:ef0ce8fa871f 42 void debug ( const char* format, ...) {
smigielski 13:ef0ce8fa871f 43 va_list argptr;
smigielski 13:ef0ce8fa871f 44 va_start(argptr, format);
smigielski 13:ef0ce8fa871f 45 vsnprintf(debugBuffer, LOG_BUFFER ,format, argptr);
smigielski 13:ef0ce8fa871f 46 va_end(argptr);
smigielski 13:ef0ce8fa871f 47 if (uart){
smigielski 13:ef0ce8fa871f 48 uart->write(debugBuffer, strlen(debugBuffer));
smigielski 13:ef0ce8fa871f 49 }
smigielski 13:ef0ce8fa871f 50 }
smigielski 7:438b55fe8576 51
smigielski 7:438b55fe8576 52
smigielski 11:70359785c2a7 53
smigielski 11:70359785c2a7 54 SPI spi1(P0_28, p24, P0_29); // mosi, miso, sclk
smigielski 11:70359785c2a7 55 DigitalOut adxl_cs(P0_23);
smigielski 13:ef0ce8fa871f 56 DigitalOut mpu_cs(P0_18);
smigielski 7:438b55fe8576 57
smigielski 11:70359785c2a7 58 DigitalOut led(P0_5);
smigielski 11:70359785c2a7 59 DigitalOut motor(P0_6);
smigielski 8:e9ae7a01d866 60
smigielski 11:70359785c2a7 61 DigitalIn button(P0_16,PullDown);
smigielski 8:e9ae7a01d866 62
smigielski 13:ef0ce8fa871f 63
smigielski 9:ed3636e1873f 64 uint32_t sensorErrors[10];
smigielski 7:438b55fe8576 65
rgrover1 0:2130d7f559dc 66
smigielski 13:ef0ce8fa871f 67 ADXL362Sensor adxl362(spi1, adxl_cs, debug);
smigielski 13:ef0ce8fa871f 68 MPU9250Sensor mpu9250(spi1, mpu_cs, debug);
smigielski 13:ef0ce8fa871f 69
rgrover1 0:2130d7f559dc 70 void disconnectionCallback(Gap::Handle_t handle, Gap::DisconnectionReason_t reason)
rgrover1 0:2130d7f559dc 71 {
smigielski 8:e9ae7a01d866 72 LOG("Disconnected!\n\r");
smigielski 8:e9ae7a01d866 73 LOG("Restarting the advertising process\n\r");
rgrover1 0:2130d7f559dc 74 ble.startAdvertising();
rgrover1 0:2130d7f559dc 75 }
rgrover1 0:2130d7f559dc 76
smigielski 8:e9ae7a01d866 77
smigielski 13:ef0ce8fa871f 78 int testSensors(BaseSensor& sensor)
smigielski 7:438b55fe8576 79 {
smigielski 9:ed3636e1873f 80 uint32_t errorCount = sensor.verifyIntegrity(sensorErrors);
smigielski 7:438b55fe8576 81 if (errorCount>0){
smigielski 7:438b55fe8576 82 for (int i=0;i<errorCount;i++){
smigielski 13:ef0ce8fa871f 83 LOG("ERROR: Sensor %s failed with error code: %d\n\r",sensor.getSimpleName(),sensorErrors[i]);
smigielski 7:438b55fe8576 84 }
smigielski 7:438b55fe8576 85 } else {
smigielski 8:e9ae7a01d866 86 LOG("Sensor %s validated!\n\r",sensor.getSimpleName());
smigielski 7:438b55fe8576 87 }
smigielski 7:438b55fe8576 88 return errorCount;
smigielski 7:438b55fe8576 89 }
rgrover1 0:2130d7f559dc 90
smigielski 8:e9ae7a01d866 91 void periodicCallback(void)
smigielski 8:e9ae7a01d866 92 {
smigielski 8:e9ae7a01d866 93 led=!led;
smigielski 8:e9ae7a01d866 94 LOG("ping\r\n");
smigielski 13:ef0ce8fa871f 95 testSensors(adxl362);
smigielski 13:ef0ce8fa871f 96 testSensors(mpu9250);
smigielski 8:e9ae7a01d866 97 }
smigielski 8:e9ae7a01d866 98
rgrover1 0:2130d7f559dc 99 int main(void)
rgrover1 0:2130d7f559dc 100 {
smigielski 11:70359785c2a7 101
smigielski 8:e9ae7a01d866 102 led=1;
rgrover1 0:2130d7f559dc 103 Ticker ticker;
rgrover1 0:2130d7f559dc 104 ticker.attach(periodicCallback, 1);
rgrover1 0:2130d7f559dc 105
smigielski 8:e9ae7a01d866 106 LOG("Initialising the nRF51822\n\r");
rgrover1 0:2130d7f559dc 107 ble.init();
rgrover1 0:2130d7f559dc 108 ble.onDisconnection(disconnectionCallback);
rgrover1 5:2607923acfa1 109
rgrover1 5:2607923acfa1 110 uart = new UARTService(ble);
rgrover1 0:2130d7f559dc 111
rgrover1 0:2130d7f559dc 112 /* setup advertising */
rgrover1 0:2130d7f559dc 113 ble.accumulateAdvertisingPayload(GapAdvertisingData::BREDR_NOT_SUPPORTED);
rgrover1 0:2130d7f559dc 114 ble.setAdvertisingType(GapAdvertisingParams::ADV_CONNECTABLE_UNDIRECTED);
rgrover1 0:2130d7f559dc 115 ble.accumulateAdvertisingPayload(GapAdvertisingData::SHORTENED_LOCAL_NAME,
rgrover1 0:2130d7f559dc 116 (const uint8_t *)"BLE UART", sizeof("BLE UART") - 1);
rgrover1 0:2130d7f559dc 117 ble.accumulateAdvertisingPayload(GapAdvertisingData::COMPLETE_LIST_128BIT_SERVICE_IDS,
rgrover1 0:2130d7f559dc 118 (const uint8_t *)UARTServiceUUID_reversed, sizeof(UARTServiceUUID_reversed));
rgrover1 0:2130d7f559dc 119
rgrover1 0:2130d7f559dc 120 ble.setAdvertisingInterval(160); /* 100ms; in multiples of 0.625ms. */
rgrover1 0:2130d7f559dc 121 ble.startAdvertising();
rgrover1 0:2130d7f559dc 122
rgrover1 0:2130d7f559dc 123 while (true) {
rgrover1 0:2130d7f559dc 124 ble.waitForEvent();
rgrover1 0:2130d7f559dc 125 }
smigielski 8:e9ae7a01d866 126 }