main.cpp

00001 /* mbed Microcontroller Library
00002  * Copyright (c) 2006-2013 ARM Limited
00003  *
00004  * Licensed under the Apache License, Version 2.0 (the "License");
00005  * you may not use this file except in compliance with the License.
00006  * You may obtain a copy of the License at
00007  *
00008  *     http://www.apache.org/licenses/LICENSE-2.0
00009  *
00010  * Unless required by applicable law or agreed to in writing, software
00011  * distributed under the License is distributed on an "AS IS" BASIS,
00012  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
00013  * See the License for the specific language governing permissions and
00014  * limitations under the License.
00015  */
00016 
00017 #include <string.h>
00018 #include <stdarg.h>
00019 #include "mbed.h"
00020 
00021 
00022 #define DEBUG 1 /* Set this if you need debug messages on the console;
00023                                * it will have an impact on code-size and power consumption. */
00024 
00025 //Icarus libraries
00026 #include "ADXL362Sensor.h"
00027 #include "MPU9250Sensor.h"
00028 
00029 
00030 
00031 #define BAUD_RATE 115200
00032 Serial s(P0_5, P0_6);
00033 
00034 #if DEBUG
00035 #define LOG_BUFFER 100
00036 #define LOG(...)  do { if (debug) { debug( __VA_ARGS__); } } while (0)
00037 #else
00038 #define LOG_BUFFER 0
00039 #define LOG(...) /* nothing */
00040 #endif /* #if DEBUG */
00041 char debugBuffer[LOG_BUFFER];
00042 void debug ( const char* format, ...) {
00043     va_list argptr;
00044     va_start(argptr, format);
00045 //    vsnprintf(debugBuffer, LOG_BUFFER ,format, argptr);
00046     vprintf(format, argptr);
00047     va_end(argptr);  
00048 //    if (uart){
00049 //        uart->write(debugBuffer, strlen(debugBuffer));
00050 //    }
00051 }
00052 
00053 
00054 
00055 SPI spi1(P0_28, P0_24, P0_29); // mosi, miso, sclk
00056 DigitalOut adxl_cs(P0_23);
00057 DigitalOut mpu_cs(P0_18);
00058 
00059 DigitalOut led(P0_5); 
00060 DigitalOut motor(P0_6); 
00061 
00062 DigitalIn button(P0_16,PullDown);
00063 
00064 
00065 
00066 uint32_t sensorErrors[10];
00067 
00068 
00069 ADXL362Sensor adxl362(spi1, adxl_cs, debug);
00070 MPU9250Sensor mpu9250(spi1, mpu_cs, debug);
00071 
00072 
00073 
00074 
00075 int testSensors(BaseSensor& sensor)
00076 {
00077     uint32_t errorCount = sensor.verifyIntegrity(sensorErrors);
00078     if (errorCount>0){
00079         for (int i=0;i<errorCount;i++){
00080             LOG("ERROR: Sensor %s failed with error code: %d\n\r",sensor.getSimpleName(),sensorErrors[i]);
00081         }
00082     } else {
00083         LOG("Sensor %s validated!\n\r",sensor.getSimpleName());     
00084     }
00085     return errorCount;   
00086 }
00087 
00088 
00089 
00090 int main(void)
00091 {
00092     s.baud(BAUD_RATE);
00093     
00094 
00095     LOG("Initialising the nRF51822\n\r");
00096 
00097     while (true) {
00098         testSensors(adxl362);
00099 //        testSensors(mpu9250);
00100         wait(10.0f);
00101     }
00102 }