int mpu9150_init(mpu9150_t *dev, i2c_t i2c, mpu9150_hw_addr_t hw_addr,
mpu9150_comp_addr_t comp_addr)
{
char temp;
dev->i2c_dev = i2c;
dev->hw_addr = hw_addr;
dev->comp_addr = comp_addr;
dev->conf = DEFAULT_STATUS;
/* Initialize I2C interface */
if (i2c_init_master(dev->i2c_dev, I2C_SPEED_FAST)) {
DEBUG("[Error] I2C device not enabled\n");
return -1;
}
/* Acquire exclusive access */
i2c_acquire(dev->i2c_dev);
/* Reset MPU9150 registers and afterwards wake up the chip */
i2c_write_reg(dev->i2c_dev, dev->hw_addr, MPU9150_PWR_MGMT_1_REG, MPU9150_PWR_RESET);
hwtimer_wait(HWTIMER_TICKS(MPU9150_RESET_SLEEP_US));
i2c_write_reg(dev->i2c_dev, dev->hw_addr, MPU9150_PWR_MGMT_1_REG, MPU9150_PWR_WAKEUP);
/* Release the bus, it is acquired again inside each function */
i2c_release(dev->i2c_dev);
/* Set default full scale ranges and sample rate */
mpu9150_set_gyro_fsr(dev, MPU9150_GYRO_FSR_2000DPS);
mpu9150_set_accel_fsr(dev, MPU9150_ACCEL_FSR_2G);
mpu9150_set_sample_rate(dev, MPU9150_DEFAULT_SAMPLE_RATE);
/* Disable interrupt generation */
i2c_acquire(dev->i2c_dev);
i2c_write_reg(dev->i2c_dev, dev->hw_addr, MPU9150_INT_ENABLE_REG, REG_RESET);
/* Initialize magnetometer */
if (compass_init(dev)) {
i2c_release(dev->i2c_dev);
return -2;
}
/* Release the bus, it is acquired again inside each function */
i2c_release(dev->i2c_dev);
mpu9150_set_compass_sample_rate(dev, 10);
/* Enable all sensors */
i2c_acquire(dev->i2c_dev);
i2c_write_reg(dev->i2c_dev, dev->hw_addr, MPU9150_PWR_MGMT_1_REG, MPU9150_PWR_PLL);
i2c_read_reg(dev->i2c_dev, dev->hw_addr, MPU9150_PWR_MGMT_2_REG, &temp);
temp &= ~(MPU9150_PWR_ACCEL | MPU9150_PWR_GYRO);
i2c_write_reg(dev->i2c_dev, dev->hw_addr, MPU9150_PWR_MGMT_2_REG, temp);
i2c_release(dev->i2c_dev);
hwtimer_wait(HWTIMER_TICKS(MPU9150_PWR_CHANGE_SLEEP_US));
return 0;
}
void radiotimer_start(PORT_RADIOTIMER_WIDTH period) {
DEBUG("%s\n", __PRETTY_FUNCTION__);
timer_set(OWSN_TIMER, 1, ((unsigned int)HWTIMER_TICKS(period)));
current_period = period;
radiotimer_vars.currentSlotPeriod = period;
radiotimer_vars.overflowORcompare = RADIOTIMER_OVERFLOW;
}
int vtimer_sleep(timex_t time)
{
/**
* Use spin lock for short periods.
* Assumes that hardware timer ticks are shorter than a second.
*/
if (time.seconds == 0) {
unsigned long ticks = HWTIMER_TICKS(time.microseconds);
if (ticks <= HWTIMER_SPIN_BARRIER) {
hwtimer_spin(ticks);
return 0;
}
}
int ret;
vtimer_t t;
mutex_t mutex = MUTEX_INIT;
mutex_lock(&mutex);
t.action = vtimer_callback_unlock;
t.arg = &mutex;
t.absolute = time;
ret = vtimer_set(&t);
mutex_lock(&mutex);
return ret;
}
//=========================== interrupt handlers ==============================
void radiotimer_isr(int arg) {
(void)arg;
uint8_t taiv_temp = radiotimer_vars.overflowORcompare;
switch (taiv_temp) {
case RADIOTIMER_COMPARE:
DEBUG("%s cmp\n", __PRETTY_FUNCTION__);
if (radiotimer_vars.compare_cb!=NULL) {
radiotimer_vars.compare_cb();
// kick the OS
// return KICK_SCHEDULER;
}
break;
case RADIOTIMER_OVERFLOW: // timer overflows
DEBUG("%s of\n", __PRETTY_FUNCTION__);
if (radiotimer_vars.overflow_cb!=NULL) {
//Wait until last write operation on RTC registers has finished
timer_set(OWSN_TIMER, 1, HWTIMER_TICKS(current_period));
// call the callback
radiotimer_vars.overflow_cb();
DEBUG("returned...\n");
// kick the OS
// return KICK_SCHEDULER;
}
break;
case RADIOTIMER_NONE: // this should not happen
DEBUG("%s none\n", __PRETTY_FUNCTION__);
default:
DEBUG("%s default\n", __PRETTY_FUNCTION__);
// while(1); // this should not happen
}
// return DO_NOT_KICK_SCHEDULER;
}
void sender(void)
{
unsigned int i = 0;
msg_t mesg;
transceiver_command_t tcmd;
radio_packet_t p;
mesg.type = SND_PKT;
mesg.content.ptr = (char *) &tcmd;
tcmd.transceivers = TRANSCEIVER_NATIVE;
tcmd.data = &p;
p.length = PACKET_SIZE;
p.dst = 0;
puts("Start sending packets");
while (1) {
/* filling uint8_t buffer with uint16_t sequence number */
snd_buffer[0] = (i & 0xFF00) >> 8;
snd_buffer[1] = i & 0x00FF;
p.data = snd_buffer;
i++;
msg_send(&mesg, transceiver_pid);
hwtimer_wait(HWTIMER_TICKS(SENDING_DELAY));
}
}
int main(void)
{
int16_t a;
msg_t mesg;
transceiver_command_t tcmd;
printf("\n\tmain(): initializing transceiver\n");
transceiver_init(TRANSCEIVER_NATIVE);
printf("\n\tmain(): starting transceiver\n");
transceiver_start();
#ifndef SENDER
printf("\n\tmain(): starting radio thread\n");
kernel_pid_t radio_pid = thread_create(
radio_stack_buffer, sizeof(radio_stack_buffer),
PRIORITY_MAIN - 2, CREATE_STACKTEST,
radio, NULL, "radio");
transceiver_register(TRANSCEIVER_NATIVE, radio_pid);
#endif
#ifdef SENDER
a = SENDER_ADDR;
#elif defined ADDR
a = ADDR;
#else
a = DEFAULT_RCV_ADDR;
#endif
tcmd.transceivers = TRANSCEIVER_NATIVE;
tcmd.data = &a;
mesg.content.ptr = (char *) &tcmd;
mesg.type = SET_ADDRESS;
printf("[nativenet] trying to set address %" PRIi16 "\n", a);
msg_send_receive(&mesg, &mesg, transceiver_pid);
#ifdef SENDER
hwtimer_wait(HWTIMER_TICKS(SECOND));
sender();
#else
hwtimer_wait(HWTIMER_TICKS(WAIT_TIME * SECOND));
receiving = 0;
printf("Missed %u of %u packets after %u seconds\n", missed_cnt, (last_seq - first), WAIT_TIME);
#endif
return 0;
}
void radiotimer_schedule(PORT_RADIOTIMER_WIDTH offset) {
DEBUG("%s\n", __PRETTY_FUNCTION__);
timer_irq_disable(OWSN_TIMER);
timer_set(OWSN_TIMER, 1, ((unsigned int)HWTIMER_TICKS(offset)));
timer_irq_enable(OWSN_TIMER);
//set radiotimer irpstatus
radiotimer_vars.overflowORcompare = RADIOTIMER_COMPARE;
}
int reboot_arch(int mode)
{
printf("Going into reboot, mode %i\n", mode);
/* wait 1 ms to make sure the printf is finished */
hwtimer_wait(HWTIMER_TICKS(1000));
NVIC_SystemReset();
return -1;
}
/**
* Configure bypass mode
* Caution: This internal function does not acquire exclusive access to the I2C bus.
* Acquisation and release is supposed to be handled by the calling function.
*/
static void conf_bypass(mpu9150_t *dev, uint8_t bypass_enable)
{
char data;
i2c_read_reg(dev->i2c_dev, dev->hw_addr, MPU9150_USER_CTRL_REG, &data);
if (bypass_enable) {
data &= ~(BIT_I2C_MST_EN);
i2c_write_reg(dev->i2c_dev, dev->hw_addr, MPU9150_USER_CTRL_REG, data);
hwtimer_wait(HWTIMER_TICKS(MPU9150_BYPASS_SLEEP_US));
i2c_write_reg(dev->i2c_dev, dev->hw_addr, MPU9150_INT_PIN_CFG_REG, BIT_I2C_BYPASS_EN);
}
else {
data |= BIT_I2C_MST_EN;
i2c_write_reg(dev->i2c_dev, dev->hw_addr, MPU9150_USER_CTRL_REG, data);
hwtimer_wait(HWTIMER_TICKS(MPU9150_BYPASS_SLEEP_US));
i2c_write_reg(dev->i2c_dev, dev->hw_addr, MPU9150_INT_PIN_CFG_REG, REG_RESET);
}
}
void radiotimer_cancel(void) {
DEBUG("%s\n", __PRETTY_FUNCTION__);
timer_irq_disable(OWSN_TIMER);
timer_clear(OWSN_TIMER, 1);
timer_set(OWSN_TIMER, 1, ((unsigned int)HWTIMER_TICKS(current_period)));
timer_irq_enable(OWSN_TIMER);
//set radiotimer irpstatus
radiotimer_vars.overflowORcompare = RADIOTIMER_OVERFLOW;
}
int main(void)
{
puts("hwtimer test application...");
puts("");
puts(" Timers should print \"callback x\" once when they run out.");
printf(" The order for x is 1, n-1, n-2, ..., 2 where n is the number of available hardware timers (%u on this platform).\n", HWTIMER_MAXTIMERS);
puts(" One timer should fire every second until all timers have run out.");
puts(" Additionally the message \"hwtimer set.\" should be printed once 1 second from now.");
puts("");
puts("Setting timers:");
puts("");
unsigned long delay = BASE_DELAY + ((HWTIMER_MAXTIMERS - 1) * DELTA_DELAY);
/* make the first timer first to fire so timers do not run out linearly */
char *msgn = msg;
snprintf(msgn, MSGLEN, "callback %2x", 1);
hwtimer_set(HWTIMER_TICKS(BASE_DELAY), callback, (void *) msgn);
printf("set %s\n", msgn);
/* set up to HWTIMER_MAXTIMERS-1 because hwtimer_wait below also
* needs a timer */
for (int i = 1; i < (HWTIMER_MAXTIMERS - 1); i++) {
msgn = msg + (i * MSGLEN);
delay -= DELTA_DELAY;
snprintf(msgn, MSGLEN, "callback %2x", i + 1);
hwtimer_set(HWTIMER_TICKS(delay), callback, (void *) msgn);
printf("set %s\n", msgn);
}
puts("");
puts("All timers set.");
puts("");
hwtimer_wait(HWTIMER_TICKS(1000UL * 1000UL));
puts("hwtimer set.");
thread_sleep();
return 0;
}
uint32_t srf02_get_distance(uint8_t ranging_mode)
{
bool status = false;
uint8_t reg_size = 1;
uint8_t range_high_byte = 0;
uint8_t range_low_byte = 0;
uint8_t rx_buff[reg_size];
uint8_t tx_buff[reg_size];
uint32_t distance = 0;
tx_buff[0] = ranging_mode;
status = i2c_write(SRF02_I2C_INTERFACE, SRF02_DEFAULT_ADDR,
SRF02_COMMAND_REG, tx_buff, reg_size);
if (!status) {
puts("Write the ranging command to the i2c-interface is failed");
distance = UINT32_MAX;
return distance;
}
hwtimer_wait(HWTIMER_TICKS(65000));
status = i2c_read(SRF02_I2C_INTERFACE, SRF02_DEFAULT_ADDR,
SRF02_RANGE_HIGH_BYTE, rx_buff, reg_size);
if (!status) {
puts("Read the high echo byte from the i2c-interface is failed");
distance = UINT32_MAX;
return distance;
}
range_high_byte = rx_buff[0];
status = i2c_read(SRF02_I2C_INTERFACE, SRF02_DEFAULT_ADDR,
SRF02_RANGE_LOW_BYTE, rx_buff, reg_size);
if (!status) {
puts("Read the low echo byte from the i2c-interface is failed");
distance = UINT32_MAX;
return distance;
}
range_low_byte = rx_buff[0];
distance = (range_high_byte << 8) | range_low_byte;
//printf("%u | %u\n", range_high_byte, range_low_byte);
return distance;
}
int mpu9150_set_gyro_power(mpu9150_t *dev, mpu9150_pwr_t pwr_conf)
{
char pwr_2_setting;
if (dev->conf.gyro_pwr == pwr_conf) {
return 0;
}
/* Acquire exclusive access */
if (i2c_acquire(dev->i2c_dev)) {
return -1;
}
/* Read current power management 2 configuration */
i2c_read_reg(dev->i2c_dev, dev->hw_addr, MPU9150_PWR_MGMT_2_REG, &pwr_2_setting);
/* Prepare power register settings */
if (pwr_conf == MPU9150_SENSOR_PWR_ON) {
/* Set clock to pll */
i2c_write_reg(dev->i2c_dev, dev->hw_addr, MPU9150_PWR_MGMT_1_REG, MPU9150_PWR_PLL);
pwr_2_setting &= ~(MPU9150_PWR_GYRO);
}
else {
/* Configure power management 1 register */
if ((dev->conf.accel_pwr == MPU9150_SENSOR_PWR_OFF)
&& (dev->conf.compass_pwr == MPU9150_SENSOR_PWR_OFF)) {
/* All sensors turned off, put the MPU-9150 to sleep */
i2c_write_reg(dev->i2c_dev, dev->hw_addr,
MPU9150_PWR_MGMT_1_REG, BIT_PWR_MGMT1_SLEEP);
}
else {
/* Reset clock to internal oscillator */
i2c_write_reg(dev->i2c_dev, dev->hw_addr,
MPU9150_PWR_MGMT_1_REG, MPU9150_PWR_WAKEUP);
}
pwr_2_setting |= MPU9150_PWR_GYRO;
}
/* Enable/disable gyroscope standby in power management 2 register */
i2c_write_reg(dev->i2c_dev, dev->hw_addr, MPU9150_PWR_MGMT_2_REG, pwr_2_setting);
/* Release the bus */
i2c_release(dev->i2c_dev);
dev->conf.gyro_pwr = pwr_conf;
hwtimer_wait(HWTIMER_TICKS(MPU9150_PWR_CHANGE_SLEEP_US));
return 0;
}
static int update_shortterm(void)
{
if (shortterm_priority_queue_root.first == NULL) {
/* there is no vtimer to schedule, queue is empty */
DEBUG("update_shortterm: shortterm_priority_queue_root.next == NULL - dont know what to do here\n");
return 0;
}
if (hwtimer_id != -1) {
/* there is a running hwtimer for us */
if (hwtimer_next_absolute != shortterm_priority_queue_root.first->priority) {
/* the next timer in the vtimer queue is not the next hwtimer */
/* we have to remove the running hwtimer (and schedule a new one) */
hwtimer_remove(hwtimer_id);
}
else {
/* the next vtimer is the next hwtimer, nothing to do */
return 0;
}
}
/* short term part of the next vtimer */
hwtimer_next_absolute = shortterm_priority_queue_root.first->priority;
uint32_t next = hwtimer_next_absolute;
/* current short term time */
uint32_t now = HWTIMER_TICKS_TO_US(hwtimer_now());
/* make sure the longterm_tick_timer does not get truncated */
if (node_get_timer(shortterm_priority_queue_root.first)->action != vtimer_callback_tick) {
/* the next vtimer to schedule is the long term tick */
/* it has a shortterm offset of longterm_tick_start */
next += longterm_tick_start;
}
if((next - HWTIMER_TICKS_TO_US(VTIMER_THRESHOLD) - now) > MICROSECONDS_PER_TICK ) {
DEBUG("truncating next (next - HWTIMER_TICKS_TO_US(VTIMER_THRESHOLD) - now): %lu\n", (next - HWTIMER_TICKS_TO_US(VTIMER_THRESHOLD) - now));
next = now + HWTIMER_TICKS_TO_US(VTIMER_BACKOFF);
}
DEBUG("update_shortterm: Set hwtimer to %" PRIu32 " (now=%lu)\n", next, HWTIMER_TICKS_TO_US(hwtimer_now()));
hwtimer_id = hwtimer_set_absolute(HWTIMER_TICKS(next), vtimer_callback, NULL);
return 0;
}
void ping(radio_address_t addr, uint8_t channr)
{
cc1100_set_packet_handler(protocol_id, pong_handler);
cc1100_set_channel(channr);
cc1100_set_address(r_address);
while (1) {
vtimer_now(&start);
int trans_ok = cc1100_send_csmaca(addr,
protocol_id, 2, pipa->payload, sizeof(pipa->payload));
if (trans_ok < 0) {
print_failed();
}
hwtimer_wait(HWTIMER_TICKS(500 * 1000));
}
}
int mpu9150_set_compass_power(mpu9150_t *dev, mpu9150_pwr_t pwr_conf)
{
char pwr_1_setting, usr_ctrl_setting, s1_do_setting;
if (dev->conf.compass_pwr == pwr_conf) {
return 0;
}
/* Acquire exclusive access */
if (i2c_acquire(dev->i2c_dev)) {
return -1;
}
/* Read current user control configuration */
i2c_read_reg(dev->i2c_dev, dev->hw_addr, MPU9150_USER_CTRL_REG, &usr_ctrl_setting);
/* Prepare power register settings */
if (pwr_conf == MPU9150_SENSOR_PWR_ON) {
pwr_1_setting = MPU9150_PWR_WAKEUP;
s1_do_setting = MPU9150_COMP_SINGLE_MEASURE;
usr_ctrl_setting |= BIT_I2C_MST_EN;
}
else {
pwr_1_setting = BIT_PWR_MGMT1_SLEEP;
s1_do_setting = MPU9150_COMP_POWER_DOWN;
usr_ctrl_setting &= ~(BIT_I2C_MST_EN);
}
/* Configure power management 1 register if needed */
if ((dev->conf.gyro_pwr == MPU9150_SENSOR_PWR_OFF)
&& (dev->conf.accel_pwr == MPU9150_SENSOR_PWR_OFF)) {
i2c_write_reg(dev->i2c_dev, dev->hw_addr, MPU9150_PWR_MGMT_1_REG, pwr_1_setting);
}
/* Configure mode writing by slave line 1 */
i2c_write_reg(dev->i2c_dev, dev->hw_addr, MPU9150_SLAVE1_DATA_OUT_REG, s1_do_setting);
/* Enable/disable I2C master mode */
i2c_write_reg(dev->i2c_dev, dev->hw_addr, MPU9150_USER_CTRL_REG, usr_ctrl_setting);
/* Release the bus */
i2c_release(dev->i2c_dev);
dev->conf.compass_pwr = pwr_conf;
hwtimer_wait(HWTIMER_TICKS(MPU9150_PWR_CHANGE_SLEEP_US));
return 0;
}
void srf02_start_ranging(uint16_t ranging_mode)
{
uint32_t distance = 0;
while (1) {
distance = srf02_get_distance(ranging_mode);
if (distance != UINT32_MAX) {
switch (ranging_mode) {
case SRF02_REAL_RANGING_MODE_CM :
printf("distance = %lu cm\n", distance);
break;
case SRF02_REAL_RANGING_MODE_INCH :
printf("distance = %lu inch\n", distance);
break;
case SRF02_REAL_RANGING_MODE_MICRO_SEC:
// dist_m = 0.000172 distance_micro_sec (air)
printf("distance = %lu micro_sec\n", distance);
break;
case SRF02_FAKE_RANGING_MODE_CM:
case SRF02_FAKE_RANGING_MODE_INCH:
case SRF02_FAKE_RANGING_MODE_MICRO_SEC:
printf("distance fake ranging = %lu \n", distance);
break;
default:
printf("distance = %lu cm\n", distance);
}
hwtimer_wait(HWTIMER_TICKS(50000));
}
else {
break;
}
}
puts("The SRF02 range sampling is ended!!");
}
int mpu9150_set_accel_power(mpu9150_t *dev, mpu9150_pwr_t pwr_conf)
{
char pwr_1_setting, pwr_2_setting;
if (dev->conf.accel_pwr == pwr_conf) {
return 0;
}
/* Acquire exclusive access */
if (i2c_acquire(dev->i2c_dev)) {
return -1;
}
/* Read current power management 2 configuration */
i2c_read_reg(dev->i2c_dev, dev->hw_addr, MPU9150_PWR_MGMT_2_REG, &pwr_2_setting);
/* Prepare power register settings */
if (pwr_conf == MPU9150_SENSOR_PWR_ON) {
pwr_1_setting = MPU9150_PWR_WAKEUP;
pwr_2_setting &= ~(MPU9150_PWR_ACCEL);
}
else {
pwr_1_setting = BIT_PWR_MGMT1_SLEEP;
pwr_2_setting |= MPU9150_PWR_ACCEL;
}
/* Configure power management 1 register if needed */
if ((dev->conf.gyro_pwr == MPU9150_SENSOR_PWR_OFF)
&& (dev->conf.compass_pwr == MPU9150_SENSOR_PWR_OFF)) {
i2c_write_reg(dev->i2c_dev, dev->hw_addr, MPU9150_PWR_MGMT_1_REG, pwr_1_setting);
}
/* Enable/disable accelerometer standby in power management 2 register */
i2c_write_reg(dev->i2c_dev, dev->hw_addr, MPU9150_PWR_MGMT_2_REG, pwr_2_setting);
/* Release the bus */
i2c_release(dev->i2c_dev);
dev->conf.accel_pwr = pwr_conf;
hwtimer_wait(HWTIMER_TICKS(MPU9150_PWR_CHANGE_SLEEP_US));
return 0;
}
int main(void)
{
GPIO_0_CLKEN();
gpio_init_out(GPIO_0, GPIO_NOPULL);
GPIO_1_CLKEN();
gpio_init_out(GPIO_1, GPIO_NOPULL);
GPIO_2_CLKEN();
gpio_init_out(GPIO_2, GPIO_NOPULL);
GPIO_3_CLKEN();
gpio_init_out(GPIO_3, GPIO_NOPULL);
GPIO_9_CLKEN();
gpio_init_in(GPIO_9, GPIO_PULLDOWN);
GPIO_10_CLKEN();
gpio_init_in(GPIO_10, GPIO_PULLDOWN);
GPIO_11_CLKEN();
gpio_init_in(GPIO_11, GPIO_PULLDOWN);
gpio_set(GPIO_3);
gpio_clear(GPIO_1);
hwtimer_wait(HWTIMER_TICKS(500 * 1000));
gpio_set(GPIO_0);
gpio_set(GPIO_1);
gpio_set(GPIO_2);
while(1) {
#if LEEEEDS
gpio_clear(GPIO_1);
hwtimer_wait(HWTIMER_TICKS(500 * 1000));
gpio_clear(GPIO_0);
hwtimer_wait(HWTIMER_TICKS(500 * 1000));
gpio_clear(GPIO_2);
hwtimer_wait(HWTIMER_TICKS(500 * 1000));
gpio_set(GPIO_0);
gpio_set(GPIO_1);
gpio_set(GPIO_2);
#endif
if (gpio_read(GPIO_9))
{
gpio_clear(GPIO_0);
}
else
{
gpio_set(GPIO_0);
}
if (gpio_read(GPIO_10))
{
gpio_clear(GPIO_1);
}
else
{
gpio_set(GPIO_1);
}
if (gpio_read(GPIO_11))
{
gpio_clear(GPIO_2);
}
else
{
gpio_set(GPIO_2);
}
}
return 0;
}
void ng_at86rf2xx_reset(ng_at86rf2xx_t *dev)
{
#if CPUID_ID_LEN
uint8_t cpuid[CPUID_ID_LEN];
eui64_t addr_long;
#endif
/* trigger hardware reset */
gpio_clear(dev->reset_pin);
hwtimer_wait(HWTIMER_TICKS(RESET_DELAY));
gpio_set(dev->reset_pin);
/* reset options and sequence number */
dev->seq_nr = 0;
dev->options = 0;
/* set short and long address */
#if CPUID_ID_LEN
cpuid_get(cpuid);
#if CPUID_ID_LEN < 8
/* in case CPUID_ID_LEN < 8, fill missing bytes with zeros */
for (int i = CPUID_ID_LEN; i < 8; i++) {
cpuid[i] = 0;
}
#else
for (int i = 8; i < CPUID_ID_LEN; i++) {
cpuid[i & 0x07] ^= cpuid[i];
}
#endif
/* make sure we mark the address as non-multicast and not globally unique */
cpuid[0] &= ~(0x01);
cpuid[0] |= 0x02;
/* copy and set long address */
memcpy(&addr_long, cpuid, 8);
ng_at86rf2xx_set_addr_long(dev, NTOHLL(addr_long.uint64.u64));
ng_at86rf2xx_set_addr_short(dev, NTOHS(addr_long.uint16[0].u16));
#else
ng_at86rf2xx_set_addr_long(dev, NG_AT86RF2XX_DEFAULT_ADDR_LONG);
ng_at86rf2xx_set_addr_short(dev, NG_AT86RF2XX_DEFAULT_ADDR_SHORT);
#endif
/* set default PAN id */
ng_at86rf2xx_set_pan(dev, NG_AT86RF2XX_DEFAULT_PANID);
/* set default channel */
ng_at86rf2xx_set_chan(dev, NG_AT86RF2XX_DEFAULT_CHANNEL);
/* set default TX power */
ng_at86rf2xx_set_txpower(dev, NG_AT86RF2XX_DEFAULT_TXPOWER);
/* set default options */
ng_at86rf2xx_set_option(dev, NG_AT86RF2XX_OPT_AUTOACK, true);
ng_at86rf2xx_set_option(dev, NG_AT86RF2XX_OPT_CSMA, true);
ng_at86rf2xx_set_option(dev, NG_AT86RF2XX_OPT_TELL_RX_START, false);
ng_at86rf2xx_set_option(dev, NG_AT86RF2XX_OPT_TELL_RX_END, true);
/* set default protocol */
#ifdef MODULE_NG_SIXLOWPAN
dev->proto = NG_NETTYPE_SIXLOWPAN;
#else
dev->proto = NG_NETTYPE_UNDEF;
#endif
/* enable safe mode (protect RX FIFO until reading data starts) */
ng_at86rf2xx_reg_write(dev, NG_AT86RF2XX_REG__TRX_CTRL_2,
NG_AT86RF2XX_TRX_CTRL_2_MASK__RX_SAFE_MODE);
#ifdef MODULE_NG_AT86RF212B
ng_at86rf2xx_set_freq(dev,NG_AT86RF2XX_FREQ_915MHZ);
#endif
/* don't populate masked interrupt flags to IRQ_STATUS register */
uint8_t tmp = ng_at86rf2xx_reg_read(dev, NG_AT86RF2XX_REG__TRX_CTRL_1);
tmp &= ~(NG_AT86RF2XX_TRX_CTRL_1_MASK__IRQ_MASK_MODE);
ng_at86rf2xx_reg_write(dev, NG_AT86RF2XX_REG__TRX_CTRL_1, tmp);
/* enable interrupts */
ng_at86rf2xx_reg_write(dev, NG_AT86RF2XX_REG__IRQ_MASK,
NG_AT86RF2XX_IRQ_STATUS_MASK__TRX_END);
/* clear interrupt flags */
ng_at86rf2xx_reg_read(dev, NG_AT86RF2XX_REG__IRQ_STATUS);
/* go into RX state */
ng_at86rf2xx_set_state(dev, NG_AT86RF2XX_STATE_RX_AACK_ON);
DEBUG("ng_at86rf2xx_reset(): reset complete.\n");
}
int main(void)
{
//noetig? Nein, LE nicht notwendig fuer SPI-Konfiguration.
//GPIOA->MODER &= ~(2 << (2 * 4)); /* set pin to output mode */
//GPIOA->MODER |= (1 << (2 * 4));
//GPIOA->OTYPER &= ~(1 << 4); /* set to push-pull configuration */
//GPIOA->OSPEEDR |= (3 << (2 * 4)); /* set to high speed */
//GPIOA->PUPDR &= ~(3 << (2 * 4)); /* configure push-pull resistors */
//GPIOA->PUPDR |= (0b00 << (2 * 4));
//GPIOA->ODR &= ~(1 << 4); /* set pin to low signal */
LD4_ON;
if(spi_init_master(SPI_0, SPI_CONF_FIRST_RISING, SPI_SPEED_1MHZ) != 0){
while(1) LD3_ON; //nix mehr machen
}
//GPIOs work but the clock has to be enabled first:
//RCC->AHBENR |= RCC_AHBENR_GPIOEEN;
//GPIO_6 : PE1
//gpio_init_out(GPIO_6, GPIO_NOPULL); //just for debug
char blubb = 0;
char *mirwors = &blubb; //null und NULL wollte er nicht, daher halt umstaendlich
while(1) {
for(uint8_t i = 0; i<30; i++){
//gpio_set(GPIO_6);
//blau
if(spi_transfer_byte(SPI_0, 0xFF, mirwors) != 1){
while(1) LD3_ON; //nix mehr machen
}
if(spi_transfer_byte(SPI_0, 0x80, mirwors) != 1){
while(1) LD3_ON; //nix mehr machen
}
if(spi_transfer_byte(SPI_0, 0x80, mirwors) != 1){
while(1) LD3_ON; //nix mehr machen
}
hwtimer_wait(HWTIMER_TICKS(TEST_WAIT * 1000));
//gruen
if(spi_transfer_byte(SPI_0, 0x80, mirwors) != 1){
while(1) LD3_ON; //nix mehr machen
}
if(spi_transfer_byte(SPI_0, 0x80, mirwors) != 1){
while(1) LD3_ON; //nix mehr machen
}
if(spi_transfer_byte(SPI_0, 0xFF, mirwors) != 1){
while(1) LD3_ON; //nix mehr machen
}
hwtimer_wait(HWTIMER_TICKS(TEST_WAIT * 1000));
}
for(uint16_t i=((60+31)/32); i>0; i--) {
if(spi_transfer_byte(SPI_0, 0x00, mirwors) != 1){
while(1) LD3_ON; //nix mehr machen
}
}
//gpio_clear(GPIO_6); //just for debug
for(uint8_t i = 0; i<30; i++){
//dunkel
if(spi_transfer_byte(SPI_0, 0x80, mirwors) != 1){
while(1) LD3_ON; //nix mehr machen
}
if(spi_transfer_byte(SPI_0, 0x80, mirwors) != 1){
while(1) LD3_ON; //nix mehr machen
}
if(spi_transfer_byte(SPI_0, 0x80, mirwors) != 1){
while(1) LD3_ON; //nix mehr machen
}
hwtimer_wait(HWTIMER_TICKS(TEST_WAIT * 1000));
//rot
if(spi_transfer_byte(SPI_0, 0x80, mirwors) != 1){
while(1) LD3_ON; //nix mehr machen
}
if(spi_transfer_byte(SPI_0, 0xFF, mirwors) != 1){
while(1) LD3_ON; //nix mehr machen
}
if(spi_transfer_byte(SPI_0, 0x80, mirwors) != 1){
while(1) LD3_ON; //nix mehr machen
}
hwtimer_wait(HWTIMER_TICKS(TEST_WAIT * 1000));
}
for(uint16_t i=((60+31)/32); i>0; i--) {
if(spi_transfer_byte(SPI_0, 0x00, mirwors) != 1){
while(1) LD3_ON; //nix mehr machen
}
}
//LD3_ON;
//hwtimer_wait(HWTIMER_TICKS(TEST_WAIT * 1000));
//LD3_OFF;
//LD4_ON;
//hwtimer_wait(HWTIMER_TICKS(500 * 1000));
//LD4_OFF;
}
return 0;
}
/**
* Initialize compass
* Caution: This internal function does not acquire exclusive access to the I2C bus.
* Acquisation and release is supposed to be handled by the calling function.
*/
static int compass_init(mpu9150_t *dev)
{
char data[3];
/* Enable Bypass Mode to speak to compass directly */
conf_bypass(dev, 1);
/* Check whether compass answers correctly */
i2c_read_reg(dev->i2c_dev, dev->comp_addr, COMPASS_WHOAMI_REG, data);
if (data[0] != MPU9150_COMP_WHOAMI_ANSWER) {
DEBUG("[Error] Wrong answer from compass\n");
return -1;
}
/* Configure Power Down mode */
i2c_write_reg(dev->i2c_dev, dev->comp_addr, COMPASS_CNTL_REG, MPU9150_COMP_POWER_DOWN);
hwtimer_wait(HWTIMER_TICKS(MPU9150_COMP_MODE_SLEEP_US));
/* Configure Fuse ROM access */
i2c_write_reg(dev->i2c_dev, dev->comp_addr, COMPASS_CNTL_REG, MPU9150_COMP_FUSE_ROM);
hwtimer_wait(HWTIMER_TICKS(MPU9150_COMP_MODE_SLEEP_US));
/* Read sensitivity adjustment values from Fuse ROM */
i2c_read_regs(dev->i2c_dev, dev->comp_addr, COMPASS_ASAX_REG, data, 3);
dev->conf.compass_x_adj = data[0];
dev->conf.compass_y_adj = data[1];
dev->conf.compass_z_adj = data[2];
/* Configure Power Down mode again */
i2c_write_reg(dev->i2c_dev, dev->comp_addr, COMPASS_CNTL_REG, MPU9150_COMP_POWER_DOWN);
hwtimer_wait(HWTIMER_TICKS(MPU9150_COMP_MODE_SLEEP_US));
/* Disable Bypass Mode to configure MPU as master to the compass */
conf_bypass(dev, 0);
/* Configure MPU9150 for single master mode */
i2c_write_reg(dev->i2c_dev, dev->hw_addr, MPU9150_I2C_MST_REG, BIT_WAIT_FOR_ES);
/* Set up slave line 0 */
/* Slave line 0 reads the compass data */
i2c_write_reg(dev->i2c_dev, dev->hw_addr,
MPU9150_SLAVE0_ADDR_REG, (BIT_SLAVE_RW | dev->comp_addr));
/* Slave line 0 read starts at compass data register */
i2c_write_reg(dev->i2c_dev, dev->hw_addr, MPU9150_SLAVE0_REG_REG, COMPASS_DATA_START_REG);
/* Enable slave line 0 and configure read length to 6 consecutive registers */
i2c_write_reg(dev->i2c_dev, dev->hw_addr, MPU9150_SLAVE0_CTRL_REG, (BIT_SLAVE_EN | 0x06));
/* Set up slave line 1 */
/* Slave line 1 writes to the compass */
i2c_write_reg(dev->i2c_dev, dev->hw_addr, MPU9150_SLAVE1_ADDR_REG, dev->comp_addr);
/* Slave line 1 write starts at compass control register */
i2c_write_reg(dev->i2c_dev, dev->hw_addr, MPU9150_SLAVE1_REG_REG, COMPASS_CNTL_REG);
/* Enable slave line 1 and configure write length to 1 register */
i2c_write_reg(dev->i2c_dev, dev->hw_addr, MPU9150_SLAVE1_CTRL_REG, (BIT_SLAVE_EN | 0x01));
/* Configure data which is written by slave line 1 to compass control */
i2c_write_reg(dev->i2c_dev, dev->hw_addr,
MPU9150_SLAVE1_DATA_OUT_REG, MPU9150_COMP_SINGLE_MEASURE);
/* Slave line 0 and 1 operate at each sample */
i2c_write_reg(dev->i2c_dev, dev->hw_addr,
MPU9150_I2C_DELAY_CTRL_REG, (BIT_SLV0_DELAY_EN | BIT_SLV1_DELAY_EN));
/* Set I2C bus to VDD */
i2c_write_reg(dev->i2c_dev, dev->hw_addr, MPU9150_YG_OFFS_TC_REG, BIT_I2C_MST_VDDIO);
return 0;
}
* Copyright (C) 2013 Christian Mehlis <*****@*****.**>
*
* This file subject to the terms and conditions of the GNU Lesser General
* Public License. See the file LICENSE in the top level directory for more
* details.
*/
#include <stdio.h>
#include <string.h>
#include <inttypes.h>
#include "hwtimer.h"
#include "ltc4150.h"
#include "thread.h"
uint32_t tick_ticks = HWTIMER_TICKS(500 * 1000);
int hwtimer_tick_id;
void test_ltc_tick(void *ptr)
{
int pid = (int) ptr;
hwtimer_tick_id = hwtimer_set(tick_ticks, test_ltc_tick, ptr);
thread_wakeup(pid);
}
int main(void)
{
ltc4150_start();
hwtimer_tick_id = hwtimer_set(tick_ticks,
