Initial public release of WII5 Buoy firmware

Firmware for an autonomous wave-measurement buoy (ATmega2560-based WII5 v2 board). Reads wave motion from a Sparton AHRS-M1/M2 IMU, samples GPS and battery state, and reports back over Iridium SBD satellite telemetry. Originally developed 2012-2024. This is the first public release. Code, documentation, and field-tested operating modes (Capture, Sleep, Position, ManualTest, SelfTest, LowBattery) are licensed under Apache 2.0 — see LICENSE and NOTICE. See README.md for an overview and build instructions, CONTRIBUTING.md for how to contribute, and DEPLOYMENTS.md for the field-deployment log.
2026-05-07 16:00:21 +10:00
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+// SPDX-License-Identifier: Apache-2.0
+// Copyright (c) 2012-2024 Scott Penrose <scottp@dd.com.au> and WII5 Buoy contributors
+//
+// This file is part of WII5 Buoy firmware.
+// See LICENSE for full terms.
+
+/**
+ * @file WII5ModeSelfTest.h
+ * @brief Self test mode: automated boot-time hardware checks.
+ */
+
+#ifndef WII5ModeSelfTest_h
+#define WII5ModeSelfTest_h
+
+#include <Arduino.h>
+#include <WII5.h>
+#include <TimeLib.h>
+
+enum WII5SELFTEST_STEPS {
+  WII5ST_START,
+  WII5ST_SHUTDOWN,    // Shutdown the existing bits
+  WII5ST_INFORMATION, // What do we know, our ID, our run count etc
+  WII5ST_LED,
+  WII5ST_BUZZER,
+  WII5ST_BUTTON,
+  WII5ST_CONFIG,      // Check we can read and write config
+  WII5ST_GPS_RECEIVE, // Turn on GPS and receive some NMEA
+  WII5ST_GPS_OFF,     // Turn off, and check GPS is ok
+  WII5ST_SD0,         // Make sure SD are both turned off
+  WII5ST_SD1,         // Open SD1, write a file with unique id/datetime
+  WII5ST_SD2,         // Open SD2 and write a new file
+  WII5ST_SD1_B,       // Check the SD1 data is there
+  WII5ST_SD2_B,       // Check the SD2 data is there
+  WII5ST_SD_OFF,      // Shut it down
+  WII5ST_IRIDIUM,     // Turn on Iridium and wait for some responses
+  WII5ST_BATTERY_1,   // Check battery 1 has volts and doesn't jitter too much
+  WII5ST_BATTERY_2,   // If it exists
+  WII5ST_WEATHER,     // Do we get some temperatures
+  WII5ST_MATHS_START, // Turn it on ! and make sure we get response
+  WII5ST_MATHS_OFF,   // Turn it off, and make sure it is off
+  WII5ST_5VOLT_START, // Turn it on ! and make sure we get response
+  WII5ST_5VOLT_OFF,   // Turn it off, and make sure it is off
+  WII5ST_RTC,         // Do we have one, what version, what details
+  WII5ST_SPARTON,     // Turn it on, get some values, tun it off
+  WII5ST_REPORT,      // Report what happened
+};
+
+enum WII5SELFTEST_MODE {
+  WII5SM_DEFAULT,     // Run from AVR CPU (while running), Maths not running, but tested
+  WII5SM_FROMMATHS,   // Test being run by the Maths CPU, therefore can't play maths
+  WII5SM_NOMATHS,     // Simple test, no maths installed, user entered variables
+};
+
+#define WII5ST_MAX 25
+
+/**
+ * @brief Self test mode: automated hardware checkout.
+ *
+ * Walks every subsystem once (LED, buzzer, button, config, GPS, SD x2,
+ * Iridium, batteries, weather, Maths CPU, 5V rail, RTC, Sparton) and
+ * records pass/fail in `results[]`. Three submodes:
+ *   - WII5SM_DEFAULT: AVR-driven, expects an attached operator
+ *   - WII5SM_FROMMATHS: invoked by the Maths CPU; skips Maths checks
+ *   - WII5SM_NOMATHS: simple check, no Maths CPU present
+ */
+class WII5ModeSelfTest : public WII5Mode {
+  public:
+		WII5ModeSelfTest() {}
+    /** @brief Reset to WII5ST_START. */
+    void reset();
+    /** @brief One-time bring-up. */
+    void begin();
+    /** @brief Run the next test step (called repeatedly while active). */
+    void loop();
+		/** @brief Print the results table; `toOther` optionally mirrors elsewhere. */
+		void dump(bool toConsole = true, Print* toOther = NULL, bool hideNone = false);
+    /** @brief Current self-test submode. */
+    WII5SELFTEST_MODE getMode();
+    /** @brief Select self-test submode. */
+    void setMode(WII5SELFTEST_MODE m);
+
+  protected:
+    WII5SELFTEST_MODE mode;
+    elapsedMillis wait;
+    WII5SELFTEST_STEPS step;
+    WII5SELFTEST_STEPS stepLast;
+    elapsedMillis stepWait;
+    uint32_t stepCount; // Use for what ever you like
+    bool first;
+
+    uint16_t count;
+    uint16_t count_passed;
+    uint16_t count_failed;
+    uint16_t count_nonenc;
+
+    WII5SELFTEST_STATUS results[WII5STD_DEVICES];
+};
+
+extern WII5ModeSelfTest wii5ModeSelfTest;
+
+#endif