error_t tcs34725Init(void)
{
uint8_t id = 0;
/* Initialise I2C */
i2cInit(I2CMASTER);
/* Ping the I2C device first to see if it exists! */
ASSERT(i2cCheckAddress(TCS34725_ADDRESS), ERROR_I2C_DEVICENOTFOUND);
/* Make sure we have the right IC (0x44 = TCS34725 and TCS34721) */
ASSERT_STATUS(tcs34725Read8(TCS34725_ID, &id));
ASSERT(id == 0x44, ERROR_DEVICENOTINITIALISED);
/* Enable the device */
ASSERT_STATUS(tcs34725Enable());
/* Ready to go ... set the initialised flag */
_tcs34725Initialised = true;
/* This needs to take place after the initialisation flag! */
ASSERT_STATUS(tcs34725SetIntegrationTime(TCS34725_INTEGRATIONTIME_2_4MS));
ASSERT_STATUS(tcs34725SetGain(TCS34725_GAIN_60X));
return ERROR_NONE;
}
error_t pca9685SetPWM(uint16_t channel, uint16_t on, uint16_t off)
{
ASSERT(_pca9685Initialised, ERROR_DEVICENOTINITIALISED);
if (on > 0xFFF)
{
on = 0xFFF;
}
if (off < on)
{
off = on;
}
if (off > 0xFFF)
{
off = 0xFFF;
}
/* Set the on and off values */
ASSERT_STATUS(pca9685Write8(PCA9685_REG_LED0_ON_L+4*channel, on & 0xFF));
ASSERT_STATUS(pca9685Write8(PCA9685_REG_LED0_ON_H+4*channel, on >> 8));
ASSERT_STATUS(pca9685Write8(PCA9685_REG_LED0_OFF_L+4*channel, off & 0xFF));
ASSERT_STATUS(pca9685Write8(PCA9685_REG_LED0_OFF_H+4*channel, off >> 8));
return ERROR_NONE;
}
err_t tsl2561GetData (uint16_t *broadband, uint16_t *ir)
{
/* Enable the device by setting the control bit to 0x03 */
ASSERT_STATUS(tsl2561Enable());
/* Wait x ms for ADC to complete */
switch (_tsl2561IntegrationTime)
{
case TSL2561_INTEGRATIONTIME_13MS:
delay(14);
break;
case TSL2561_INTEGRATIONTIME_101MS:
delay(102);
break;
default:
delay(403);
break;
}
/* Reads a two byte value from channel 0 (visible + infrared) */
ASSERT_STATUS(tsl2561Read16(TSL2561_COMMAND_BIT | TSL2561_WORD_BIT | TSL2561_REGISTER_CHAN0_LOW, broadband));
/* Reads a two byte value from channel 1 (infrared) */
ASSERT_STATUS(tsl2561Read16(TSL2561_COMMAND_BIT | TSL2561_WORD_BIT | TSL2561_REGISTER_CHAN1_LOW, ir));
/* Turn the device off to save power */
ASSERT_STATUS(tsl2561Disable());
return ERROR_NONE;
}
error_t btle_init(void)
{
nrf_clock_lf_cfg_t clockConfiguration;
// Configure the LF clock according to values provided by btle_clock.h.
// It is input from the chain of the yotta configuration system.
clockConfiguration.source = LFCLK_CONF_SOURCE;
clockConfiguration.xtal_accuracy = LFCLK_CONF_ACCURACY;
clockConfiguration.rc_ctiv = LFCLK_CONF_RC_CTIV;
clockConfiguration.rc_temp_ctiv = LFCLK_CONF_RC_TEMP_CTIV;
SOFTDEVICE_HANDLER_INIT(&clockConfiguration, signalEvent);
// Enable BLE stack
/**
* Using this call, the application can select whether to include the
* Service Changed characteristic in the GATT Server. The default in all
* previous releases has been to include the Service Changed characteristic,
* but this affects how GATT clients behave. Specifically, it requires
* clients to subscribe to this attribute and not to cache attribute handles
* between connections unless the devices are bonded. If the application
* does not need to change the structure of the GATT server attributes at
* runtime this adds unnecessary complexity to the interaction with peer
* clients. If the SoftDevice is enabled with the Service Changed
* Characteristics turned off, then clients are allowed to cache attribute
* handles making applications simpler on both sides.
*/
static const bool IS_SRVC_CHANGED_CHARACT_PRESENT = true;
ble_enable_params_t ble_enable_params;
uint32_t err_code = softdevice_enable_get_default_config(CENTRAL_LINK_COUNT,
PERIPHERAL_LINK_COUNT,
&ble_enable_params);
ble_enable_params.gatts_enable_params.attr_tab_size = GATTS_ATTR_TAB_SIZE;
ble_enable_params.gatts_enable_params.service_changed = IS_SRVC_CHANGED_CHARACT_PRESENT;
ble_enable_params.common_enable_params.vs_uuid_count = UUID_TABLE_MAX_ENTRIES;
if(err_code != NRF_SUCCESS) {
return ERROR_INVALID_PARAM;
}
if (softdevice_enable(&ble_enable_params) != NRF_SUCCESS) {
return ERROR_INVALID_PARAM;
}
ble_gap_addr_t addr;
if (sd_ble_gap_address_get(&addr) != NRF_SUCCESS) {
return ERROR_INVALID_PARAM;
}
if (sd_ble_gap_address_set(BLE_GAP_ADDR_CYCLE_MODE_NONE, &addr) != NRF_SUCCESS) {
return ERROR_INVALID_PARAM;
}
ASSERT_STATUS( softdevice_ble_evt_handler_set(btle_handler));
ASSERT_STATUS( softdevice_sys_evt_handler_set(sys_evt_dispatch));
return btle_gap_init();
}
error_t tcs34725Enable(void)
{
ASSERT_STATUS(tcs34725Write8(TCS34725_ENABLE, TCS34725_ENABLE_PON));
delay(3);
ASSERT_STATUS(tcs34725Write8(TCS34725_ENABLE, TCS34725_ENABLE_PON | TCS34725_ENABLE_AEN));
return ERROR_NONE;
}
error_t tcs34725Disable(void)
{
/* Turn the device off to save power */
uint8_t reg = 0;
ASSERT_STATUS(tcs34725Read8(TCS34725_ENABLE, ®));
ASSERT_STATUS(tcs34725Write8(TCS34725_ENABLE, reg & ~(TCS34725_ENABLE_PON | TCS34725_ENABLE_AEN)));
return ERROR_NONE;
}
error_t lm75bConfigWrite (uint8_t configValue)
{
if (!_lm75bInitialised)
{
ASSERT_STATUS(lm75bInit());
}
ASSERT_STATUS(lm75bWrite8(LM75B_REGISTER_CONFIGURATION, configValue));
return ERROR_NONE;
}
static void test_cycles_in_replacement() {
upb_symtab *s = upb_symtab_new(&s);
upb_msgdef *m = upb_msgdef_newnamed("M", &s);
upb_status status = UPB_STATUS_INIT;
upb_msgdef_addfield(m, newfield("m", 1, UPB_TYPE_MESSAGE,
UPB_LABEL_OPTIONAL, ".M", &s),
&s, NULL);
ASSERT_STATUS(upb_symtab_add(s, (upb_def**)&m, 1, &s, &status), &status);
ASSERT_STATUS(upb_symtab_add(s, NULL, 0, &s, &status), &status);
}
error_t tcs34725SetIntegrationTime(tcs34725IntegrationTime_t it)
{
if (!_tcs34725Initialised)
{
ASSERT_STATUS(tcs34725Init());
}
ASSERT_STATUS(tcs34725Write8(TCS34725_ATIME, it));
_tcs34725IntegrationTime = it;
return ERROR_NONE;
}
error_t tcs34725SetGain(tcs34725Gain_t gain)
{
if (!_tcs34725Initialised)
{
ASSERT_STATUS(tcs34725Init());
}
ASSERT_STATUS(tcs34725Write8(TCS34725_CONTROL, gain));
_tcs34725Gain = gain;
return ERROR_NONE;
}
error_t btle_init(void)
{
const bool useScheduler = false;
#ifdef TARGET_HRM1017
SOFTDEVICE_HANDLER_INIT(NRF_CLOCK_LFCLKSRC_RC_250_PPM_4000MS_CALIBRATION, useScheduler);
#else
SOFTDEVICE_HANDLER_INIT(NRF_CLOCK_LFCLKSRC_XTAL_20_PPM, useScheduler);
#endif
// Enable BLE stack
/**
* Using this call, the application can select whether to include the
* Service Changed characteristic in the GATT Server. The default in all
* previous releases has been to include the Service Changed characteristic,
* but this affects how GATT clients behave. Specifically, it requires
* clients to subscribe to this attribute and not to cache attribute handles
* between connections unless the devices are bonded. If the application
* does not need to change the structure of the GATT server attributes at
* runtime this adds unnecessary complexity to the interaction with peer
* clients. If the SoftDevice is enabled with the Service Changed
* Characteristics turned off, then clients are allowed to cache attribute
* handles making applications simpler on both sides.
*/
static const bool IS_SRVC_CHANGED_CHARACT_PRESENT = true;
ble_enable_params_t enableParams = {
.gatts_enable_params = {
.service_changed = IS_SRVC_CHANGED_CHARACT_PRESENT
}
};
if (sd_ble_enable(&enableParams) != NRF_SUCCESS) {
return ERROR_INVALID_PARAM;
}
ble_gap_addr_t addr;
if (sd_ble_gap_address_get(&addr) != NRF_SUCCESS) {
return ERROR_INVALID_PARAM;
}
if (sd_ble_gap_address_set(BLE_GAP_ADDR_CYCLE_MODE_NONE, &addr) != NRF_SUCCESS) {
return ERROR_INVALID_PARAM;
}
ASSERT_STATUS( softdevice_ble_evt_handler_set(btle_handler));
ASSERT_STATUS( softdevice_sys_evt_handler_set(sys_evt_dispatch));
#if NEED_BOND_MANAGER /* disabled by default */
bond_manager_init();
#endif
btle_gap_init();
return ERROR_NONE;
}
error_t tcs34725GetRawData(uint16_t *r, uint16_t *g, uint16_t *b, uint16_t *c)
{
if (!_tcs34725Initialised)
{
ASSERT_STATUS(tcs34725Init());
}
/* ToDo: Insert a blocky delay until the data is ready! */
ASSERT_STATUS(tcs34725Read16(TCS34725_CDATAL, c));
ASSERT_STATUS(tcs34725Read16(TCS34725_RDATAL, r));
ASSERT_STATUS(tcs34725Read16(TCS34725_GDATAL, g));
ASSERT_STATUS(tcs34725Read16(TCS34725_BDATAL, b));
return ERROR_NONE;
}
error_t btle_init(void)
{
APP_TIMER_INIT(0, 8, 5, false);
SOFTDEVICE_HANDLER_INIT(NRF_CLOCK_LFCLKSRC_XTAL_20_PPM, false);
ASSERT_STATUS( softdevice_ble_evt_handler_set(btle_handler));
ASSERT_STATUS( softdevice_sys_evt_handler_set(sys_evt_dispatch));
#if NEED_BOND_MANAGER /* disabled by default */
bond_manager_init();
#endif
btle_gap_init();
return ERROR_NONE;
}
error_t btle_init(void)
{
nrf_clock_lfclksrc_t clockSource;
if (NRF_CLOCK->LFCLKSRC & (CLOCK_LFCLKSRC_SRC_Xtal << CLOCK_LFCLKSRC_SRC_Pos)) {
clockSource = NRF_CLOCK_LFCLKSRC_XTAL_20_PPM;
} else {
clockSource = NRF_CLOCK_LFCLKSRC_RC_250_PPM_4000MS_CALIBRATION;
}
SOFTDEVICE_HANDLER_INIT(clockSource, eventHandler);
// Enable BLE stack
/**
* Using this call, the application can select whether to include the
* Service Changed characteristic in the GATT Server. The default in all
* previous releases has been to include the Service Changed characteristic,
* but this affects how GATT clients behave. Specifically, it requires
* clients to subscribe to this attribute and not to cache attribute handles
* between connections unless the devices are bonded. If the application
* does not need to change the structure of the GATT server attributes at
* runtime this adds unnecessary complexity to the interaction with peer
* clients. If the SoftDevice is enabled with the Service Changed
* Characteristics turned off, then clients are allowed to cache attribute
* handles making applications simpler on both sides.
*/
static const bool IS_SRVC_CHANGED_CHARACT_PRESENT = true;
ble_enable_params_t enableParams = {
.gatts_enable_params = {
.service_changed = IS_SRVC_CHANGED_CHARACT_PRESENT,
.attr_tab_size = gatt_table_size
}
};
if (sd_ble_enable(&enableParams) != NRF_SUCCESS) {
return ERROR_INVALID_PARAM;
}
ble_gap_addr_t addr;
if (sd_ble_gap_address_get(&addr) != NRF_SUCCESS) {
return ERROR_INVALID_PARAM;
}
if (sd_ble_gap_address_set(BLE_GAP_ADDR_CYCLE_MODE_NONE, &addr) != NRF_SUCCESS) {
return ERROR_INVALID_PARAM;
}
ASSERT_STATUS( softdevice_ble_evt_handler_set(btle_handler));
ASSERT_STATUS( softdevice_sys_evt_handler_set(sys_evt_dispatch));
return btle_gap_init();
}
error_t custom_add_in_descriptor(uint16_t char_handle,
ble_uuid_t *p_uuid,
uint8_t *p_data,
uint16_t length,
uint16_t max_length,
uint16_t *p_desc_handle)
{
/* Descriptor metadata */
ble_gatts_attr_md_t desc_md = {0};
desc_md.vloc = BLE_GATTS_VLOC_STACK;
/* Always set variable size */
desc_md.vlen = 1;
/* Make it readable and writable */
BLE_GAP_CONN_SEC_MODE_SET_OPEN(&desc_md.read_perm);
BLE_GAP_CONN_SEC_MODE_SET_OPEN(&desc_md.write_perm);
ble_gatts_attr_t attr_desc = {0};
attr_desc.p_uuid = p_uuid;
attr_desc.p_attr_md = &desc_md;
attr_desc.init_len = length;
attr_desc.max_len = max_length;
attr_desc.p_value = p_data;
ASSERT_STATUS ( sd_ble_gatts_descriptor_add(char_handle,
&attr_desc,
p_desc_handle));
return ERROR_NONE;
}
error_t adxl345GetSensorEvent(sensors_event_t *event)
{
int16_t x, y, z;
/* Clear the event */
memset(event, 0, sizeof(sensors_event_t));
event->version = sizeof(sensors_event_t);
event->sensor_id = _adxl345SensorID;
event->type = SENSOR_TYPE_ACCELEROMETER;
event->timestamp = systickGetTicks();
/* Retrieve values from the sensor */
ASSERT_STATUS(adxl345GetXYZ(&x, &y, &z));
/* The ADXL345 returns a raw value where each lsb represents 4mg. To
* convert this to a normal g value, multiply by 0.004 and then convert
* it to the m/s^2 value that sensors_event_t is expecting. */
event->acceleration.x = x * ADXL345_MG2G_MULTIPLIER * SENSORS_GRAVITY_STANDARD;
event->acceleration.y = y * ADXL345_MG2G_MULTIPLIER * SENSORS_GRAVITY_STANDARD;
event->acceleration.z = z * ADXL345_MG2G_MULTIPLIER * SENSORS_GRAVITY_STANDARD;
printf(" %08d %08d %08d%s", x, y, z, CFG_PRINTF_NEWLINE);
return ERROR_NONE;
}
err_t adxl345GetXYZ(int16_t *x, int16_t *y, int16_t *z)
{
int32_t i2cState;
if (!_adxl345Initialised)
{
ASSERT_STATUS(adxl345Init());
}
I2CWriteLength = 2;
I2CReadLength = 6;
I2CMasterBuffer[0] = ADXL345_ADDRESS;
I2CMasterBuffer[1] = ADXL345_REG_DATAX0;
I2CMasterBuffer[2] = ADXL345_ADDRESS | ADXL345_READBIT;
i2cState = i2cEngine();
/* Check if we got an ACK or TIMEOUT error */
ASSERT_I2C_STATUS(i2cState);
/* Shift values to create properly formed integer */
*x = (I2CSlaveBuffer[1] << 8) | (I2CSlaveBuffer[0]);
*y = (I2CSlaveBuffer[3] << 8) | (I2CSlaveBuffer[2]);
*z = (I2CSlaveBuffer[5] << 8) | (I2CSlaveBuffer[4]);
return ERROR_NONE;
}
error_t adxl345SetRange(adxl345_range_t range)
{
uint8_t format;
/* Red the data format register to preserve bits */
ASSERT_STATUS(adxl345Read8(ADXL345_REG_DATA_FORMAT, &format));
/* Update the data rate */
format &= ~0x0F;
format |= range;
/* Write the register back to the IC */
ASSERT_STATUS(adxl345Write8(ADXL345_REG_DATA_FORMAT, format));
return ERROR_NONE;
}
error_t tcs34725GetSensorEvent(sensors_event_t *event)
{
float maxCount;
uint16_t r, g, b, c;
/* Clear the event */
memset(event, 0, sizeof(sensors_event_t));
event->version = sizeof(sensors_event_t);
event->sensor_id = _tcs34725SensorID;
event->type = SENSOR_TYPE_COLOR;
event->timestamp = delayGetTicks();
/* Get the raw RGB values */
ASSERT_STATUS(tcs34725GetRawData(&r, &g, &b, &c));
/* Convert RGB values to floats */
maxCount = (256 - _tcs34725IntegrationTime) * 1024;
event->color.r = r / maxCount;
event->color.g = g / maxCount;
event->color.b = b / maxCount;
/* Convert to a 24-bit ARGB value */
event->color.rgba = (uint8_t)(event->color.r * 0xFF) << 16|
(uint8_t)(event->color.g * 0xFF) << 8 |
(uint8_t)(event->color.b * 0xFF) |
0xFF000000;
return ERROR_NONE;
}
err_t adxl345GetDataRate(adxl345_dataRate_t *dataRate)
{
uint8_t results;
ASSERT_STATUS(adxl345Read8(ADXL345_REG_BW_RATE, &results));
*dataRate = (adxl345_dataRate_t)(results & 0x0F);
return ERROR_NONE;
}
err_t lsm303magSetGain(lsm303MagGain_t gain)
{
if (!_lsm303magInitialised)
{
ASSERT_STATUS(lsm303magInit());
}
// Enable the device by setting the control bit to 0x03
ASSERT_STATUS(lsm303magWrite8(LSM303_ADDRESS_MAG, LSM303_REGISTER_MAG_CRB_REG_M, (uint8_t)gain));
_lsm303magGain = gain;
switch(gain)
{
case LSM303_MAGGAIN_1_3:
_lsm303mag_Gauss_LSB_XY = 1100;
_lsm303mag_Gauss_LSB_Z = 980;
break;
case LSM303_MAGGAIN_1_9:
_lsm303mag_Gauss_LSB_XY = 855;
_lsm303mag_Gauss_LSB_Z = 760;
break;
case LSM303_MAGGAIN_2_5:
_lsm303mag_Gauss_LSB_XY = 670;
_lsm303mag_Gauss_LSB_Z = 600;
break;
case LSM303_MAGGAIN_4_0:
_lsm303mag_Gauss_LSB_XY = 450;
_lsm303mag_Gauss_LSB_Z = 400;
break;
case LSM303_MAGGAIN_4_7:
_lsm303mag_Gauss_LSB_XY = 400;
_lsm303mag_Gauss_LSB_Z = 255;
break;
case LSM303_MAGGAIN_5_6:
_lsm303mag_Gauss_LSB_XY = 330;
_lsm303mag_Gauss_LSB_Z = 295;
break;
case LSM303_MAGGAIN_8_1:
_lsm303mag_Gauss_LSB_XY = 230;
_lsm303mag_Gauss_LSB_Z = 205;
break;
}
return ERROR_NONE;
}
err_t adxl345GetRange(adxl345_range_t *range)
{
uint8_t results;
ASSERT_STATUS(adxl345Read8(ADXL345_REG_DATA_FORMAT, &results));
*range = (adxl345_range_t)(results & 0x03);
return ERROR_NONE;
}
err_t adxl345SetDataRate(adxl345_dataRate_t dataRate)
{
/* Note: The LOW_POWER bits are currently ignored and we always keep
the device in 'normal' mode */
ASSERT_STATUS(adxl345Write8(ADXL345_REG_BW_RATE, dataRate));
return ERROR_NONE;
}
err_t tsl2561Init(void)
{
/* Initialise I2C */
i2cInit(I2CMASTER);
/* Ping the I2C device first to see if it exists! */
ASSERT(i2cCheckAddress(TSL2561_ADDRESS), ERROR_I2C_DEVICENOTFOUND);
/* Note: by default, the device is in power down mode on bootup */
_tsl2561Initialised = true;
/* Set default integration time and gain */
ASSERT_STATUS(tsl2561SetIntegrationTime(_tsl2561IntegrationTime));
ASSERT_STATUS(tsl2561SetGain(_tsl2561Gain));
return ERROR_NONE;
}
error_t lm75bGetTemperature (int32_t *temp)
{
if (!_lm75bInitialised)
{
ASSERT_STATUS(lm75bInit());
}
/* Turn device on */
ASSERT_STATUS(lm75bConfigWrite (LM75B_CONFIG_SHUTDOWN_POWERON));
/* Read temperature */
ASSERT_STATUS(lm75bRead16 (LM75B_REGISTER_TEMPERATURE, temp));
/* Shut device back down */
ASSERT_STATUS(lm75bConfigWrite (LM75B_CONFIG_SHUTDOWN_SHUTDOWN));
return ERROR_NONE;
}
err_t lsm303magInit(void)
{
// Initialise I2C
i2cInit(I2CMASTER);
/* Ping the I2C device first to see if it exists! */
ASSERT(i2cCheckAddress(LSM303_ADDRESS_MAG), ERROR_I2C_DEVICENOTFOUND);
/* Enable the magnetometer (continuous conversion) */
ASSERT_STATUS(lsm303magWrite8(LSM303_ADDRESS_MAG, LSM303_REGISTER_MAG_MR_REG_M, 0x00));
_lsm303magInitialised = true;
/* Set default gain */
ASSERT_STATUS(lsm303magSetGain(_lsm303magGain));
return ERROR_NONE;
}
int main(void)
{
app_timer_id_t blinky_timer_id;
/* Initialize the target HW */
boardInit();
/* Initialise BLE and start advertising as an iBeacon */
btle_init();
/* Initialise a 1 second blinky timer to show that we're alive */
ASSERT_STATUS ( app_timer_create(&blinky_timer_id, APP_TIMER_MODE_REPEATED, blinky_handler) );
ASSERT_STATUS ( app_timer_start (blinky_timer_id, APP_TIMER_TICKS(1000, CFG_TIMER_PRESCALER), NULL) );
while(true)
{
}
}
error_t custom_add_in_characteristic(uint16_t service_handle, ble_uuid_t* p_uuid, uint8_t properties,
uint8_t *p_data, uint16_t min_length, uint16_t max_length,
ble_gatts_char_handles_t* p_char_handle)
{
/* Characteristic metadata */
ble_gatts_attr_md_t cccd_md;
ble_gatt_char_props_t char_props;
memcpy(&char_props, &properties, 1);
if ( char_props.notify || char_props.indicate )
{
/* Notification requires cccd */
memclr_( &cccd_md, sizeof(ble_gatts_attr_md_t) );
cccd_md.vloc = BLE_GATTS_VLOC_STACK;
BLE_GAP_CONN_SEC_MODE_SET_OPEN(&cccd_md.read_perm);
BLE_GAP_CONN_SEC_MODE_SET_OPEN(&cccd_md.write_perm);
}
ble_gatts_char_md_t char_md = { 0 };
char_md.char_props = char_props;
char_md.p_cccd_md = (char_props.notify || char_props.indicate ) ? &cccd_md : NULL;
/* Attribute declaration */
ble_gatts_attr_md_t attr_md = { 0 };
attr_md.vloc = BLE_GATTS_VLOC_STACK;
attr_md.vlen = (min_length == max_length) ? 0 : 1;
if ( char_props.read || char_props.notify || char_props.indicate )
{
BLE_GAP_CONN_SEC_MODE_SET_OPEN(&attr_md.read_perm);
}
if ( char_props.write )
{
BLE_GAP_CONN_SEC_MODE_SET_OPEN(&attr_md.write_perm);
}
ble_gatts_attr_t attr_char_value = { 0 };
attr_char_value.p_uuid = p_uuid;
attr_char_value.p_attr_md = &attr_md;
attr_char_value.init_len = min_length;
attr_char_value.max_len = max_length;
attr_char_value.p_value = p_data;
ASSERT_STATUS ( sd_ble_gatts_characteristic_add(service_handle,
&char_md,
&attr_char_value,
p_char_handle) );
return ERROR_NONE;
}
err_t adxl345SetRange(adxl345_range_t range)
{
uint8_t format;
/* Red the data format register to preserve bits */
ASSERT_STATUS(adxl345Read8(ADXL345_REG_DATA_FORMAT, &format));
/* Update the data rate */
format &= ~0x0F;
format |= range;
/* Make sure that the FULL-RES bit is enabled for range scaling */
format |= 0x08;
/* Write the register back to the IC */
ASSERT_STATUS(adxl345Write8(ADXL345_REG_DATA_FORMAT, format));
return ERROR_NONE;
}
static void test_replacement() {
upb_symtab *s = upb_symtab_new(&s);
upb_enumdef *e2;
upb_msgdef *m2;
upb_enumdef *e;
upb_status status = UPB_STATUS_INIT;
upb_def *newdefs[3];
upb_def *newdefs2[1];
const upb_msgdef *m3;
upb_msgdef *m = upb_msgdef_newnamed("MyMessage", &s);
upb_msgdef_addfield(m, newfield("field1", 1, UPB_TYPE_ENUM,
UPB_LABEL_OPTIONAL, ".MyEnum", &s),
&s, NULL);
m2 = upb_msgdef_newnamed("MyMessage2", &s);
e = upb_enumdef_newnamed("MyEnum", &s);
ASSERT_STATUS(upb_enumdef_addval(e, "VAL1", 1, &status), &status);
newdefs[0] = upb_msgdef_upcast_mutable(m);
newdefs[1] = upb_msgdef_upcast_mutable(m2);
newdefs[2] = upb_enumdef_upcast_mutable(e);
ASSERT_STATUS(upb_symtab_add(s, newdefs, 3, &s, &status), &status);
/* Try adding a new definition of MyEnum, MyMessage should get replaced with
* a new version. */
e2 = upb_enumdef_newnamed("MyEnum", &s);
ASSERT_STATUS(upb_enumdef_addval(e2, "VAL1", 1, &status), &status);
newdefs2[0] = upb_enumdef_upcast_mutable(e2);
ASSERT_STATUS(upb_symtab_add(s, newdefs2, 1, &s, &status), &status);
m3 = upb_symtab_lookupmsg(s, "MyMessage");
ASSERT(m3);
/* Must be different because it points to MyEnum which was replaced. */
ASSERT(m3 != m);
m3 = upb_symtab_lookupmsg(s, "MyMessage2");
/* Should be the same because it was not replaced, nor were any defs that
* are reachable from it. */
ASSERT(m3 == m2);
upb_symtab_unref(s, &s);
}
