PROCESS_THREAD(accel_process, ev, data) {
PROCESS_BEGIN();
{
int16_t x, y, z;
serial_shell_init();
shell_ps_init();
shell_file_init(); // for printing out files
shell_text_init(); // for binprint
/* Register the event used for lighting up an LED when interrupt strikes. */
ledOff_event = process_alloc_event();
/* Start and setup the accelerometer with default values, eg no interrupts enabled. */
accm_init();
/* Register the callback functions for each interrupt */
ACCM_REGISTER_INT1_CB(accm_ff_cb);
ACCM_REGISTER_INT2_CB(accm_tap_cb);
/* Set what strikes the corresponding interrupts. Several interrupts per pin is
possible. For the eight possible interrupts, see adxl345.h and adxl345 datasheet. */
accm_set_irq(ADXL345_INT_FREEFALL, ADXL345_INT_TAP + ADXL345_INT_DOUBLETAP);
while (1) {
x = accm_read_axis(X_AXIS);
y = accm_read_axis(Y_AXIS);
z = accm_read_axis(Z_AXIS);
printf("x: %d y: %d z: %d\n", x, y, z);
etimer_set(&et, ACCM_READ_INTERVAL);
PROCESS_WAIT_EVENT_UNTIL(etimer_expired(&et));
}
}
PROCESS_END();
}
/*---------------------------------------------------------------------------*/
int
main(int argc, char **argv)
{
/*
* Initalize hardware.
*/
msp430_cpu_init();
clock_init();
leds_init();
leds_on(LEDS_RED);
clock_wait(100);
uart0_init(BAUD2UBR(115200)); /* Must come before first printf */
#if WITH_UIP
slip_arch_init(BAUD2UBR(115200));
#endif /* WITH_UIP */
/* XXX hack: Fix it so that the 802.15.4 MAC address is compatible
with an Ethernet MAC address - byte 0 (byte 2 in the DS ID)
cannot be odd. */
//Enric node_mac[2] &= 0xfe;
node_mac[0] = 0x00;
node_mac[1] = 0x12;
node_mac[2] = 0x76;
node_mac[3] = 0x01;
node_mac[4] = 0x02;
node_mac[5] = 0x03;
node_mac[2] = 0x04;
node_mac[7] = 0x05;
xmem_init();
rtimer_init();
/*
* Hardware initialization done!
*/
/* Restore node id if such has been stored in external mem */
node_id_restore();
/* for setting "hardcoded" IEEE 802.15.4 MAC addresses */
#ifdef IEEE_802154_MAC_ADDRESS
{
uint8_t ieee[] = IEEE_802154_MAC_ADDRESS;
memcpy(node_mac, ieee, sizeof(uip_lladdr.addr));
node_mac[7] = node_id & 0xff;
}
#endif
//Enric random_init(node_mac[0] + node_id);
/*
* Initialize Contiki and our processes.
*/
process_init();
process_start(&etimer_process, NULL);
process_start(&sensors_process, NULL);
ctimer_init();
set_rime_addr();
cc2420_init();
accm_init();
{
uint8_t longaddr[8];
uint16_t shortaddr;
shortaddr = (rimeaddr_node_addr.u8[0] << 8) +
rimeaddr_node_addr.u8[1];
memset(longaddr, 0, sizeof(longaddr));
rimeaddr_copy((rimeaddr_t *)&longaddr, &rimeaddr_node_addr);
printf("MAC %02x:%02x:%02x:%02x:%02x:%02x:%02x:%02x ",
longaddr[0], longaddr[1], longaddr[2], longaddr[3],
longaddr[4], longaddr[5], longaddr[6], longaddr[7]);
cc2420_set_pan_addr(IEEE802154_PANID, shortaddr, longaddr);
}
cc2420_set_channel(RF_CHANNEL);
leds_off(LEDS_ALL);
PRINTF(CONTIKI_VERSION_STRING " started. ");
if(node_id > 0) {
PRINTF("Node id is set to %u.\n", node_id);
} else {
PRINTF("Node id is not set.\n");
}
//Enric printf("MAC %02x:%02x:%02x:%02x:%02x:%02x:%02x:%02x",
//Enric node_mac[0], node_mac[1], node_mac[2], node_mac[3],
//Enric node_mac[4], node_mac[5], node_mac[6], node_mac[7]);
#if WITH_UIP6
PRINTF("in WITH_UIP6\n"); //Enric
memcpy(&uip_lladdr.addr, node_mac, sizeof(uip_lladdr.addr));
/* Setup nullmac-like MAC for 802.15.4 */
/* sicslowpan_init(sicslowmac_init(&cc2420_driver)); */
/* printf(" %s channel %u\n", sicslowmac_driver.name, RF_CHANNEL); */
/* Setup X-MAC for 802.15.4 */
queuebuf_init();
NETSTACK_RDC.init();
NETSTACK_MAC.init();
NETSTACK_NETWORK.init();
printf("%s %s, channel check rate %lu Hz, radio channel %u\n",
NETSTACK_MAC.name, NETSTACK_RDC.name,
CLOCK_SECOND / (NETSTACK_RDC.channel_check_interval() == 0 ? 1:
NETSTACK_RDC.channel_check_interval()),
RF_CHANNEL);
process_start(&tcpip_process, NULL);
printf("Tentative link-local IPv6 address ");
{
uip_ds6_addr_t *lladdr;
int i;
lladdr = uip_ds6_get_link_local(-1);
for(i = 0; i < 7; ++i) {
printf("%02x%02x:", lladdr->ipaddr.u8[i * 2],
lladdr->ipaddr.u8[i * 2 + 1]);
}
printf("%02x%02x\n", lladdr->ipaddr.u8[14], lladdr->ipaddr.u8[15]);
}
if(!UIP_CONF_IPV6_RPL) {
uip_ipaddr_t ipaddr;
int i;
uip_ip6addr(&ipaddr, 0xaaaa, 0, 0, 0, 0, 0, 0, 0);
uip_ds6_set_addr_iid(&ipaddr, &uip_lladdr);
uip_ds6_addr_add(&ipaddr, 0, ADDR_TENTATIVE);
printf("Tentative global IPv6 address ");
for(i = 0; i < 7; ++i) {
printf("%02x%02x:",
ipaddr.u8[i * 2], ipaddr.u8[i * 2 + 1]);
}
printf("%02x%02x\n",
ipaddr.u8[7 * 2], ipaddr.u8[7 * 2 + 1]);
}
#else /* WITH_UIP6 */
NETSTACK_RDC.init();
NETSTACK_MAC.init();
NETSTACK_NETWORK.init();
printf("%s %s, channel check rate %lu Hz, radio channel %u\n",
NETSTACK_MAC.name, NETSTACK_RDC.name,
CLOCK_SECOND / (NETSTACK_RDC.channel_check_interval() == 0? 1:
NETSTACK_RDC.channel_check_interval()),
RF_CHANNEL);
#endif /* WITH_UIP6 */
#if !WITH_UIP && !WITH_UIP6
uart0_set_input(serial_line_input_byte);
serial_line_init();
#endif
#if PROFILE_CONF_ON
profile_init();
#endif /* PROFILE_CONF_ON */
leds_off(LEDS_GREEN);
#if TIMESYNCH_CONF_ENABLED
timesynch_init();
timesynch_set_authority_level(rimeaddr_node_addr.u8[0]);
#endif /* TIMESYNCH_CONF_ENABLED */
#if WITH_UIP
process_start(&tcpip_process, NULL);
process_start(&uip_fw_process, NULL); /* Start IP output */
process_start(&slip_process, NULL);
slip_set_input_callback(set_gateway);
{
uip_ipaddr_t hostaddr, netmask;
uip_init();
uip_ipaddr(&hostaddr, 172,16,
rimeaddr_node_addr.u8[0],rimeaddr_node_addr.u8[1]);
uip_ipaddr(&netmask, 255,255,0,0);
uip_ipaddr_copy(&meshif.ipaddr, &hostaddr);
uip_sethostaddr(&hostaddr);
uip_setnetmask(&netmask);
uip_over_mesh_set_net(&hostaddr, &netmask);
/* uip_fw_register(&slipif);*/
uip_over_mesh_set_gateway_netif(&slipif);
uip_fw_default(&meshif);
uip_over_mesh_init(UIP_OVER_MESH_CHANNEL);
printf("uIP started with IP address %d.%d.%d.%d\n",
uip_ipaddr_to_quad(&hostaddr));
}
#endif /* WITH_UIP */
energest_init();
ENERGEST_ON(ENERGEST_TYPE_CPU);
print_processes(autostart_processes);
autostart_start(autostart_processes);
/*
* This is the scheduler loop.
*/
#if DCOSYNCH_CONF_ENABLED
timer_set(&mgt_timer, DCOSYNCH_PERIOD * CLOCK_SECOND);
#endif
watchdog_start();
/* watchdog_stop();*/
while(1) {
int r;
#if PROFILE_CONF_ON
profile_episode_start();
#endif /* PROFILE_CONF_ON */
do {
/* Reset watchdog. */
watchdog_periodic();
r = process_run();
} while(r > 0);
#if PROFILE_CONF_ON
profile_episode_end();
#endif /* PROFILE_CONF_ON */
/*
* Idle processing.
*/
int s = splhigh(); /* Disable interrupts. */
/* uart0_active is for avoiding LPM3 when still sending or receiving */
if(process_nevents() != 0 || uart0_active()) {
splx(s); /* Re-enable interrupts. */
} else {
static unsigned long irq_energest = 0;
#if DCOSYNCH_CONF_ENABLED
/* before going down to sleep possibly do some management */
if (timer_expired(&mgt_timer)) {
timer_reset(&mgt_timer);
msp430_sync_dco();
}
#endif
/* Re-enable interrupts and go to sleep atomically. */
ENERGEST_OFF(ENERGEST_TYPE_CPU);
ENERGEST_ON(ENERGEST_TYPE_LPM);
/* We only want to measure the processing done in IRQs when we
are asleep, so we discard the processing time done when we
were awake. */
energest_type_set(ENERGEST_TYPE_IRQ, irq_energest);
watchdog_stop();
_BIS_SR(GIE | SCG0 | SCG1 | CPUOFF); /* LPM3 sleep. This
statement will block
until the CPU is
woken up by an
interrupt that sets
the wake up flag. */
/* We get the current processing time for interrupts that was
done during the LPM and store it for next time around. */
dint();
irq_energest = energest_type_time(ENERGEST_TYPE_IRQ);
eint();
watchdog_start();
ENERGEST_OFF(ENERGEST_TYPE_LPM);
ENERGEST_ON(ENERGEST_TYPE_CPU);
}
}
return 0;
}
