/*---------------------------------------------------------------------------*/
void
putchar(char c)
{
#if SLIP_ARCH_CONF_ENABLE
#define SLIP_END 0300
static char debug_frame = 0;
if(!debug_frame) { /* Start of debug output */
uart1_writeb(SLIP_END);
uart1_writeb('\r'); /* Type debug line == '\r' */
debug_frame = 1;
}
#endif
uart1_writeb((char)c);
#if SLIP_ARCH_CONF_ENABLE
/*
* Line buffered output, a newline marks the end of debug output and
* implicitly flushes debug output.
*/
if(c == '\n') {
uart1_writeb(SLIP_END);
debug_frame = 0;
}
#endif
}
/*---------------------------------------------------------------------------*/
#if ! WITH_UIP /* If WITH_UIP is defined, putchar() is defined by the SLIP driver */
int
putchar(int c)
{
uart1_writeb((char)c);
if(((char)c)=='\n')
uart1_writeb('\r');
return c;
}
/*---------------------------------------------------------------*/
PROCESS_THREAD(null_app_process,ev,data)
{
PROCESS_BEGIN();
printf("Hello world\n");
printf("This node has id %u\n",node_id);
uint8_t i;
for(i = 0; i < 256; i++)
{
//printf("%u,",i);
uart1_writeb(i);
uart1_writeb('\n');
}
PROCESS_END();
}
int putchar(int c)
{
#if LWB_HSLP
if(!ui8_dbg_frm_start) {
// Start of debug printf
ui8_dbg_frm_start = 1;
lwb_hslp_write_start();
LWB_HSLP_SET_PKT_MAIN_TYPE(LHSLP_PKT_TYPE_DBG_DATA, ui8_pkt_type);
LWB_HSLP_SET_PKT_SUB_TYPE(LHSLP_PKT_SUB_TYPE_DBG_DATA, ui8_pkt_type);
lwb_hslp_write_byte(ui8_pkt_type);
}
lwb_hslp_write_byte(c);
if (c == '\n') {
lwb_hslp_write_end();
ui8_dbg_frm_start = 0;
}
#else
uart1_writeb((char)c);
#endif
return c;
}
/* TX function for UART1 */
static void
string2uart1(uint8_t *c)
{
while (*c!= '\0') {
uart1_writeb(*c);
c++;
}
}
int
putchar(int c)
{
uart1_writeb((char)c);
lcd_write_char((char)c);
return c;
}
//APP Callback function
static void app_recv(void)
{
PROCESS_CONTEXT_BEGIN(&null_app_process);
uint8_t *data = packetbuf_dataptr();
rimeaddr_t *sent_sn_addr = packetbuf_addr(PACKETBUF_ADDR_SENDER);
uint8_t rx_sn_id = sent_sn_addr->u8[0];
uint8_t pkt_seq = packetbuf_attr(PACKETBUF_ATTR_PACKET_ID);
uint8_t payload_len = packetbuf_datalen();
/*
uart1_writeb(rx_sn_id);
uart1_writeb(pkt_seq);
uart1_writeb(payload_len);
*/
if(node_id != 0)
{
printf("%u,%u,%u\n",rx_sn_id,pkt_seq,payload_len);
}
else
{
//printf("%u,%u,%u,",rx_sn_id,pkt_seq,payload_len);
putchar(rx_sn_id);
putchar(pkt_seq);
putchar(payload_len);
//printf("%u",rx_sn_id);
uint8_t i = 0;
for(i = 0; i < (payload_len); i++)
{
//printf("%d,",((data[2*i+1]<<8)|data[2*i]));
putchar(data[i]);
}
}
/*
for(i = 0; i < payload_len; i++)
{
uart1_writeb(data[i]);
}
*/
uart1_writeb('\n');
PROCESS_CONTEXT_END(&null_app_process);
}
void print_mpu_sample_acc_gyro(mpu_data_acc_gyro_union *samples)
{
uart1_writeb((unsigned char)samples->reg.x_h);
uart1_writeb((unsigned char)samples->reg.x_l);
uart1_writeb((unsigned char)samples->reg.y_h);
uart1_writeb((unsigned char)samples->reg.y_l);
uart1_writeb((unsigned char)samples->reg.z_h);
uart1_writeb((unsigned char)samples->reg.z_l);
}
/*---------------------------------------------------------------------------*/
static int
prepare(const void *payload, unsigned short payload_len)
{
unsigned char txBuf[108]; // 108 is the maximum buffer size needed
int ptr;
unsigned char chksum;
/* drop the packet if payload is bigger than max XBee packet size */
if(payload_len > XBEE_PACKET_SIZE)
{
/* loop forever for debug purpose */
while(1);
}
/* Prepare XBee API frame here */
ptr = 0;
txBuf[ptr++] = XBEE_DELIMITER;
txBuf[ptr++] = 0;
txBuf[ptr++] = payload_len + 5;
txBuf[ptr++] = XBEE_API_TX;
txBuf[ptr++] = 0; // Frame ID 0, ACK disabled
txBuf[ptr++] = 0xFF; // broadcast address
txBuf[ptr++] = 0xFF; // broadcast address
txBuf[ptr++] = 0;
memcpy(txBuf+ptr,payload,payload_len);
ptr += payload_len;
/* calculate checksum */
chksum = 0;
for(int i=3; i<ptr;i++)
{
chksum += txBuf[i];
}
chksum = 0xFF - chksum;
txBuf[ptr++] = chksum;
for(int i=0; i<ptr; i++)
{
uart1_writeb(txBuf[i]);
}
return 1;
}
void
slip_arch_writeb(unsigned char c)
{
uart1_writeb(c);
}
__attribute__ ((weak)) putchar(int c)
{
uart1_writeb(c);
return c;
}
/*
* Print the MPU samples
*/
void print_mpu_sample(mpu_data_union *samples)
{
uart1_writeb((unsigned char)samples->reg.x_accel_h);
uart1_writeb((unsigned char)samples->reg.x_accel_l);
uart1_writeb((unsigned char)samples->reg.y_accel_h);
uart1_writeb((unsigned char)samples->reg.y_accel_l);
uart1_writeb((unsigned char)samples->reg.z_accel_h);
uart1_writeb((unsigned char)samples->reg.z_accel_l);
uart1_writeb((unsigned char)samples->reg.x_gyro_h);
uart1_writeb((unsigned char)samples->reg.x_gyro_l);
uart1_writeb((unsigned char)samples->reg.y_gyro_h);
uart1_writeb((unsigned char)samples->reg.y_gyro_l);
uart1_writeb((unsigned char)samples->reg.z_gyro_h);
uart1_writeb((unsigned char)samples->reg.z_gyro_l);
uart1_writeb((unsigned char)samples->reg.t_h);
uart1_writeb((unsigned char)samples->reg.t_l);
}
//APP Callback function
static void app_recv(void)
{
PROCESS_CONTEXT_BEGIN(&null_app_process);
uint8_t *data = packetbuf_dataptr();
rimeaddr_t *sent_sn_addr = packetbuf_addr(PACKETBUF_ADDR_SENDER);
uint8_t rx_sn_id = sent_sn_addr->u8[0];
uint8_t pkt_seq = packetbuf_attr(PACKETBUF_ATTR_PACKET_ID);
uint8_t payload_len = packetbuf_datalen();
/*
If this node is base station, then print out received messages.
The current print function prints the output in ASCII code because
the execution time can be reduced significantly. If the execution
time is not a constraint, then printf should work as well.
Please see readUSB_MPU6050_BS.py
*/
if(node_id == 0)
{
//start byte
putchar(126);
putchar(126);
// packet information
packet_counter = packet_counter + 1;
packet_counter = ((packet_counter == 10) ? 11 : packet_counter);
putchar(rx_sn_id);
putchar(packet_counter);
putchar(pkt_seq);
putchar(payload_len);
//putchar(0);
// //printf("%u",rx_sn_id);
uint8_t i = 0;
for(i = 0; i < (payload_len); i++)
{
//printf("%d,",((data[2*i+1]<<8)|data[2*i]));
putchar(data[i]);
}
}
uart1_writeb('\n');
uart1_writeb('\n');
PROCESS_CONTEXT_END(&null_app_process);
}
/*---------------------------------------------------------------------------*/
void
putchar(char c)
{
/* UART1 used for debugging on Sensinode products. */
uart1_writeb(c);
}
//APP Callback function
static void app_recv(void)
{
PROCESS_CONTEXT_BEGIN(&null_app_process);
#ifdef SF_MOTE_TYPE_AP
if(disable_sending == 0)
return;
//uint8_t *data = packetbuf_dataptr();
rimeaddr_t *sent_sn_addr = packetbuf_addr(PACKETBUF_ADDR_SENDER);
uint8_t rx_sn_id = sent_sn_addr->u8[0];
uint8_t pkt_seq = packetbuf_attr(PACKETBUF_ATTR_PACKET_ID);
uint8_t payload_len = packetbuf_datalen();
uint8_t num_sample = (uint8_t)(payload_len/MPU_DATA_ACC_GYRO_SIZE);
//only print my information
if (rx_sn_id != MY_SN_ID)
return;
/*
If this node is base station, then print out received messages.
The current print function prints the output in ASCII code because
the execution time can be reduced significantly. If the execution
time is not a constraint, then printf should work as well.
Please see readUSB_MPU6050_BS.py
*/
mpu_data_acc_gyro_union SensorData[40];
memcpy((uint8_t*)SensorData,packetbuf_dataptr(),num_sample*MPU_DATA_ACC_GYRO_SIZE);
uint8_t i = 0;
for(i = 0; i < num_sample; i++)
{
printf("%u,%d,%d,%d",pkt_seq,SensorData[i].data.x,SensorData[i].data.y,SensorData[i].data.z);
uart1_writeb('\n');
}
// uart1_writeb('\n');
// uart1_writeb('\n');
#endif
#ifdef SF_MOTE_TYPE_SENSOR
rimeaddr_t *sent_sn_addr = packetbuf_addr(PACKETBUF_ADDR_SENDER);
uint8_t rx_sn_id = sent_sn_addr->u8[0];
uint8_t pkt_seq = packetbuf_attr(PACKETBUF_ATTR_PACKET_ID);
uint8_t payload_len = packetbuf_datalen();
if(rx_sn_id == 0)
{
printf("RX packet %u and %u bytes from BS\n",pkt_seq,payload_len);
}
#endif
PROCESS_CONTEXT_END(&null_app_process);
}