void
acc_status (void)
{
int x, y, z;
acc_xyz_read (&x, &y, &z);
debug_printf (" * 3D_ACC: X=%04i Y=%04i Z=%04i\n", x, y, z);
}
int
main (void)
{
/* accelerometer readings fifo */
TFifoEntry acc_lowpass;
TFifoEntry fifo_buf[FIFO_DEPTH];
int fifo_pos;
TFifoEntry *fifo;
uint32_t SSPdiv;
uint16_t oid_last_seen;
uint8_t cmd_buffer[64], cmd_pos, c;
uint8_t volatile *uart;
int x, y, z, moving;
volatile int t;
int i;
/* wait on boot - debounce */
for (t = 0; t < 2000000; t++);
/* Initialize GPIO (sets up clock) */
GPIOInit ();
/* initialize pins */
pin_init ();
/* fire up LED 1 */
GPIOSetValue (1, 1, 1);
/* initialize SPI */
spi_init ();
/* read device UUID */
bzero (&device_uuid, sizeof (device_uuid));
iap_read_uid (&device_uuid);
tag_id = crc16 ((uint8_t *) & device_uuid, sizeof (device_uuid));
random_seed =
device_uuid[0] ^ device_uuid[1] ^ device_uuid[2] ^ device_uuid[3];
/************ IF Plugged to computer upon reset ? ******************/
if (GPIOGetValue (0, 3))
{
/* wait some time till Bluetooth is off */
for (t = 0; t < 2000000; t++);
/* Init 3D acceleration sensor */
acc_init (1);
/* Init Flash Storage with USB */
storage_init (TRUE, tag_id);
g_storage_items = storage_items ();
/* Init Bluetooth */
bt_init (TRUE, tag_id);
/* switch to LED 2 */
GPIOSetValue (1, 1, 0);
GPIOSetValue (1, 2, 1);
/* set command buffer to empty */
cmd_pos = 0;
/* spin in loop */
while (1)
{
/* reset after USB unplug */
if (!GPIOGetValue (0, 3))
NVIC_SystemReset ();
/* if UART rx send to menue */
if (UARTCount)
{
/* blink LED1 upon Bluetooth command */
GPIOSetValue (1, 1, 1);
/* execute menue command with last character received */
/* scan through whole UART buffer */
uart = UARTBuffer;
for (i = UARTCount; i > 0; i--)
{
UARTCount--;
c = *uart++;
if ((c < ' ') && cmd_pos)
{
/* if one-character command - execute */
if (cmd_pos == 1)
main_menue (cmd_buffer[0]);
else
{
cmd_buffer[cmd_pos] = 0;
debug_printf
("Unknown command '%s' - please press H+[Enter] for help\n# ",
cmd_buffer);
}
/* set command buffer to empty */
cmd_pos = 0;
}
else if (cmd_pos < (sizeof (cmd_buffer) - 2))
cmd_buffer[cmd_pos++] = c;
}
/* reset UART buffer */
UARTCount = 0;
/* un-blink LED1 */
GPIOSetValue (1, 1, 0);
}
}
} /* End of if plugged to computer*/
/***************** IF UNPLUGGED TO PC ........********/
/* Init Bluetooth */
bt_init (FALSE, tag_id);
/* shut down up LED 1 */
GPIOSetValue (1, 1, 0);
/* Init Flash Storage without USB */
storage_init (FALSE, tag_id);
/* get current FLASH storage write postition */
g_storage_items = storage_items ();
/* initialize power management */
pmu_init ();
/* blink once to show initialized flash */
blink (1);
/* Init 3D acceleration sensor */
acc_init (0);
blink (2);
/* Initialize OpenBeacon nRF24L01 interface */
if (!nRFAPI_Init(CONFIG_TRACKER_CHANNEL, broadcast_mac, sizeof (broadcast_mac), 0))
for (;;)
{
GPIOSetValue (1, 2, 1);
pmu_sleep_ms (500);
GPIOSetValue (1, 2, 0);
pmu_sleep_ms (500);
}
/* set tx power power to high */
nRFCMD_Power (1);
/* blink three times to show flash initialized RF interface */
blink (3);
/* blink LED for 1s to show readyness */
GPIOSetValue (1, 1, 0);
GPIOSetValue (1, 2, 1);
pmu_sleep_ms (1000);
GPIOSetValue (1, 2, 0);
/* disable unused jobs */
SSPdiv = LPC_SYSCON->SSPCLKDIV;
i = 0;
oid_last_seen = 0;
/* reset proximity buffer */
prox_head = prox_tail = 0;
bzero (&prox, sizeof (prox));
/*initialize FIFO */
fifo_pos = 0;
bzero (&acc_lowpass, sizeof (acc_lowpass));
bzero (&fifo_buf, sizeof (fifo_buf));
moving = 0;
g_sequence = 0;
while (1)
{
pmu_sleep_ms (500);
LPC_SYSCON->SSPCLKDIV = SSPdiv;
acc_power (1);
pmu_sleep_ms (20);
acc_xyz_read (&x, &y, &z);
acc_power (0);
fifo = &fifo_buf[fifo_pos];
if (fifo_pos >= (FIFO_DEPTH - 1))
fifo_pos = 0;
else
fifo_pos++;
acc_lowpass.x += x - fifo->x;
fifo->x = x;
acc_lowpass.y += y - fifo->y;
fifo->y = y;
acc_lowpass.z += z - fifo->z;
fifo->z = z;
nRFAPI_SetRxMode (0);
bzero (&g_Beacon, sizeof (g_Beacon));
g_Beacon.pkt.proto = RFBPROTO_BEACONTRACKER_EXT;
g_Beacon.pkt.flags = moving ? RFBFLAGS_MOVING : 0;
g_Beacon.pkt.oid = htons (tag_id);
g_Beacon.pkt.p.tracker.strength = (i & 1) + TX_STRENGTH_OFFSET;
g_Beacon.pkt.p.tracker.seq = htonl (LPC_TMR32B0->TC);
g_Beacon.pkt.p.tracker.oid_last_seen = oid_last_seen;
g_Beacon.pkt.p.tracker.time = htons ((uint16_t)g_sequence++);
g_Beacon.pkt.p.tracker.battery = 0;
g_Beacon.pkt.crc = htons (
crc16(g_Beacon.byte, sizeof (g_Beacon) - sizeof (g_Beacon.pkt.crc))
);
nRFCMD_Power (0);
nRF_tx (g_Beacon.pkt.p.tracker.strength);
nRFCMD_Power (1);
nRFAPI_PowerDown ();
LPC_SYSCON->SSPCLKDIV = 0x00;
blink (10);
}
return 0;
}