Self test boot program for testing icarus sensors
Dependencies: BLE_API mbed nRF51822
Fork of BLE_UARTConsole by
main.cpp
- Committer:
- smigielski
- Date:
- 2015-04-05
- Revision:
- 13:ef0ce8fa871f
- Parent:
- 12:9076e6453115
- Child:
- 14:cb369746225d
File content as of revision 13:ef0ce8fa871f:
/* mbed Microcontroller Library * Copyright (c) 2006-2013 ARM Limited * * Licensed under the Apache License, Version 2.0 (the "License"); * you may not use this file except in compliance with the License. * You may obtain a copy of the License at * * http://www.apache.org/licenses/LICENSE-2.0 * * Unless required by applicable law or agreed to in writing, software * distributed under the License is distributed on an "AS IS" BASIS, * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. * See the License for the specific language governing permissions and * limitations under the License. */ #include <string.h> #include <stdarg.h> #include "mbed.h" #include "BLEDevice.h" #include "UARTService.h" #define DEBUG 1 /* Set this if you need debug messages on the console; * it will have an impact on code-size and power consumption. */ //Icarus libraries #include "ADXL362Sensor.h" #include "MPU9250Sensor.h" BLEDevice ble; UARTService *uart; #if DEBUG #define LOG_BUFFER 100 #define LOG(...) do { if (debug) { debug( __VA_ARGS__); } } while (0) #else #define LOG_BUFFER 0 #define LOG(...) /* nothing */ #endif /* #if DEBUG */ char debugBuffer[LOG_BUFFER]; void debug ( const char* format, ...) { va_list argptr; va_start(argptr, format); vsnprintf(debugBuffer, LOG_BUFFER ,format, argptr); va_end(argptr); if (uart){ uart->write(debugBuffer, strlen(debugBuffer)); } } SPI spi1(P0_28, p24, P0_29); // mosi, miso, sclk DigitalOut adxl_cs(P0_23); DigitalOut mpu_cs(P0_18); DigitalOut led(P0_5); DigitalOut motor(P0_6); DigitalIn button(P0_16,PullDown); uint32_t sensorErrors[10]; ADXL362Sensor adxl362(spi1, adxl_cs, debug); MPU9250Sensor mpu9250(spi1, mpu_cs, debug); void disconnectionCallback(Gap::Handle_t handle, Gap::DisconnectionReason_t reason) { LOG("Disconnected!\n\r"); LOG("Restarting the advertising process\n\r"); ble.startAdvertising(); } int testSensors(BaseSensor& sensor) { uint32_t errorCount = sensor.verifyIntegrity(sensorErrors); if (errorCount>0){ for (int i=0;i<errorCount;i++){ LOG("ERROR: Sensor %s failed with error code: %d\n\r",sensor.getSimpleName(),sensorErrors[i]); } } else { LOG("Sensor %s validated!\n\r",sensor.getSimpleName()); } return errorCount; } void periodicCallback(void) { led=!led; LOG("ping\r\n"); testSensors(adxl362); testSensors(mpu9250); } int main(void) { led=1; Ticker ticker; ticker.attach(periodicCallback, 1); LOG("Initialising the nRF51822\n\r"); ble.init(); ble.onDisconnection(disconnectionCallback); uart = new UARTService(ble); /* setup advertising */ ble.accumulateAdvertisingPayload(GapAdvertisingData::BREDR_NOT_SUPPORTED); ble.setAdvertisingType(GapAdvertisingParams::ADV_CONNECTABLE_UNDIRECTED); ble.accumulateAdvertisingPayload(GapAdvertisingData::SHORTENED_LOCAL_NAME, (const uint8_t *)"BLE UART", sizeof("BLE UART") - 1); ble.accumulateAdvertisingPayload(GapAdvertisingData::COMPLETE_LIST_128BIT_SERVICE_IDS, (const uint8_t *)UARTServiceUUID_reversed, sizeof(UARTServiceUUID_reversed)); ble.setAdvertisingInterval(160); /* 100ms; in multiples of 0.625ms. */ ble.startAdvertising(); while (true) { ble.waitForEvent(); } }