File content as of revision 0:d38b3edad9b3:

/*
        Copyright (c) 2015 Aurobo Pty Ltd

=== A test program for the auSpeed Integrated Combo board ===
                    Version 1.00

The auSpeed-1M combo controller is an integrated module that combines 
three UAV sub-systems:
- high efficient protected power supply for electronic units and servos 
  with voltage and current sensors (BEC);
- brushless motor speed controller (ESC), up to 40A;
- six channel servo controller with a PWM output and power line.

The board's i2c interface need to be connected to the PTE0 and PTE1 ports 
    of the Freescale FRDM-KL25Z device

For more information, please visit our web-site:
            *****************************
            *   http://aupilot.com.au   *
            *****************************

License:

Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:

1) The Software or its substantial portions are used for auPilot product(s);
2) The above copyright notice and this permission notice shall be included in
all copies or substantial portions of the Software.

THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
THE SOFTWARE.

*/

// ########## WARNING: 
//             This test will turn ON the motor. Please make sure that it is SAFE
// ###################
// Test 1:  readout the firmware version and status
// Test 2:  servo controller test
// Test 3:  the main motor(s) test 

#include "mbed.h"
#include "itoa.h"

#define AUSPEED_I2C_ADDRESS (0x12<<1)
#define BUFF_SIZE 16

//DigitalOut myled(LED_BLUE);
Serial pc(USBTX, USBRX);
I2C i2c(PTE0, PTE1);

//int i2c_reg8_write(int i2c_address, char reg, const char wd);
int i2c_reg_read(int i2c_address, char reg, char* rd, int len);
void diag(void);


int address = AUSPEED_I2C_ADDRESS;

typedef union _conv_float_bytes {
    float f;
    uint8_t b[4];
} convert_float2bytes;
convert_float2bytes q;

int motors = 0;

int main()
{
    PwmOut led(LED_GREEN);

    char   rd[BUFF_SIZE];
    int    slider = 127;
    int    sliderIncrement = 1;

    i2c.frequency(400000);
    led = 1;

    pc.printf("\n\r\n\rTest program for the auSpeed board");

    // === Test 1 ====
    pc.printf("\n\rStarting Test 1...");
    // read firmware version
    if (i2c_reg_read(address, 0x34, rd, 16)) {
        pc.printf("\n\ri2c error 01");
        memset(rd,0,BUFF_SIZE); // clear the buffer
    } else {
        char serial[13]= {0};
        memcpy(serial,rd,12);
        motors = (int)rd[14];
        pc.printf("\n\rSerial: %s, Version: %d.%.2d, Motors detected: %d", serial, rd[12], rd[13],motors );
    }
    wait(1);

    // === Test 2 ====
    pc.printf("\n\rStarting Test 2...");
    pc.printf("\n\rSwinging all servos");
    for (int i=0; i<2; i++) {
        for (int j=0; j<250; j++) {
            rd[0] = 0x21;
            rd[1] = (char) slider;
            rd[2] = (char) slider;
            rd[3] = (char) slider;
            rd[4] = (char) slider;
            rd[5] = (char) slider;
            rd[6] = (char) slider;
            if (i2c.write(address, rd, 7, false) == 0)
                ; // pc.printf("\n\rSuccess");
            else
                pc.printf("\n\ri2c error 02");
            led = (float)slider / 256;
            wait(0.01);
            slider += sliderIncrement;
            if (slider > 250)
                sliderIncrement = -2;
            if (slider < 2)
                sliderIncrement = +2;
        }
    }
    led = 1;

    // === Test 3 ====
    pc.printf("\n\rStarting Test 3...");
    pc.printf("\n\rWARNING Motor will be started!");
    wait(1);

    for (int i=0; i<3; i++) {
        // ========= start ========
        rd[0] = 0x01;
        rd[1] = 0x30;
        if (i2c.write(address, rd, 2) != 0)
            pc.printf("\n\ri2c error 03");
        wait(1);
        diag();

        // ====== accelerate ======
        rd[0] = 0x01;
        rd[1] = 0x40;
        if (i2c.write(address, rd, 2) != 0)
            pc.printf("\n\ri2c error 04");
        wait(1);
        diag();         // this might show soft fail due to sync lost when accelerate
 
        // ========= stop =========
        rd[0] = 0x05;
        rd[1] = 0x01;
        if (i2c.write(address, rd, 2) != 0)
            pc.printf("\n\ri2c error 05");
        wait(1);
        diag();
    }
    pc.printf("\n\rAll tests done!");
}


// reads 1 byte from a register of an i2c device
// return: rd data read from the register
// return: 0 if OK, -1 otherwise
int i2c_reg_read(int i2c_address, char reg, char* rd, int len)
{
    wait(0.001);    // we need to keep the command flow under 1000 per second, otherwise they might get skipped.
    if (i2c.write(i2c_address, &reg, 1, true) == 0)  
        if (i2c.read(i2c_address, rd, len) == 0) {
            i2c.stop();
            return 0;
        }
    i2c.stop();
    return -1;
}

// read and print RPMs and battery data
void diag(void)
{
    char  rd[BUFF_SIZE] = {0};
    float main_battery, spare_battery, current, temperature, work;
    int   rpms=0;
    char  status[9]={0};

    main_battery =spare_battery =current = temperature= work=0;

    // == read rpms of the 1st motor
    if (i2c_reg_read(address, 0x01, rd, 4)) {
        pc.printf("\n\ri2c error 10");
        memset(rd,0,BUFF_SIZE); // clear the buffer
    } else {
        rpms = (uint32_t)rd[0]+((uint32_t)rd[1])*256+((uint32_t)rd[2])*256*256+((uint32_t)rd[3])*256*256*256;
    }
    // == read status of the 1st motor
    if (i2c_reg_read(address, 0x31, rd, 1)) {
        pc.printf("\n\ri2c error 11");
        memset(rd,0,BUFF_SIZE); // clear the buffer
    } else {
        itoa(rd[0],status,2);
    }
    // == read main battery
    if (i2c_reg_read(address, 0x50, rd, 4)) {
        pc.printf("\n\ri2c error 12");
        memset(rd,0,BUFF_SIZE); // clear the buffer
    } else {
        memcpy(q.b, rd,4);
        main_battery = q.f;
    }
    // == read spare battery
    if (i2c_reg_read(address, 0x51, rd, 4)) {
        pc.printf("\n\ri2c error 13");
        memset(rd,0,BUFF_SIZE); // clear the buffer
    } else {
        memcpy(q.b, rd,4);
        spare_battery = q.f;
    }
    // == read current
    if (i2c_reg_read(address, 0x52, rd, 4)) {
        pc.printf("\n\ri2c error 14");
        memset(rd,0,BUFF_SIZE); // clear the buffer
    } else {
        memcpy(q.b, rd,4);
        current = q.f;
    }
    // == read electrical work
    if (i2c_reg_read(address, 0x54, rd, 4)) {
        pc.printf("\n\ri2c error 15");
        memset(rd,0,BUFF_SIZE); // clear the buffer
    } else {
        memcpy(q.b, rd,4);
        work = q.f;
    }
    // == read temperature
    if (i2c_reg_read(address, 0x53, rd,4)) {
        pc.printf("\n\ri2c error 16");
        memset(rd,0,BUFF_SIZE); // clear the buffer
    } else {
        memcpy(q.b, rd,4);
        temperature = q.f;
    }
    pc.printf("\n\rS %08s RPMs: %.6d Main: %.2fV Spare: %.2fV Current %.0fmA Work %.2f Temp %.1fC", 
                    status,rpms,main_battery,spare_battery,current,work,temperature);
}