void setup_unplug_detect_pin() {
gpio_register_callback(unplug_detect, PLUG_DETECT_PORT_NUM, PLUG_DETECT_PIN_NUM);
GPIO_DETECT_FALLING(PLUG_DETECT_PORT_BASE, PLUG_DETECT_PIN_MASK);
GPIO_POWER_UP_ON_FALLING(PLUG_DETECT_PORT_NUM, PLUG_DETECT_PIN_MASK);
GPIO_CLEAR_INTERRUPT(PLUG_DETECT_PORT_BASE, PLUG_DETECT_PIN_MASK);
GPIO_CLEAR_POWER_UP_INTERRUPT(PLUG_DETECT_PORT_NUM, PLUG_DETECT_PIN_MASK);
GPIO_ENABLE_INTERRUPT(PLUG_DETECT_PORT_BASE, PLUG_DETECT_PIN_MASK);
GPIO_ENABLE_POWER_UP_INTERRUPT(PLUG_DETECT_PORT_NUM, PLUG_DETECT_PIN_MASK);
}
void cb(uint8_t port, uint8_t pin){
GPIO_CLEAR_INTERRUPT(GPIO_PORT_TO_BASE(port), GPIO_PIN_MASK(pin));
if(port==2 && pin==0){
start_time = vtimer_arch_now();
}
else{
printf("time = %lu\n", vtimer_arch_now()-start_time);
}
}
void clear_and_disable_plug_int() {
GPIO_DISABLE_INTERRUPT(PLUG_DETECT_PORT_BASE, PLUG_DETECT_PIN_MASK);
GPIO_DISABLE_POWER_UP_INTERRUPT(PLUG_DETECT_PORT_NUM, PLUG_DETECT_PIN_MASK);
GPIO_CLEAR_POWER_UP_INTERRUPT(PLUG_DETECT_PORT_NUM, PLUG_DETECT_PIN_MASK);
GPIO_CLEAR_INTERRUPT(PLUG_DETECT_PORT_BASE, PLUG_DETECT_PIN_MASK);
}
static void spiCScallBack(uint8_t port, uint8_t pin){
GPIO_CLEAR_INTERRUPT(SPI0_CS_PORT_BASE, SPI0_CS_PIN_MASK);
spi_cs_int = 1;
process_poll(&spiProcess);
}
PROCESS_THREAD(MPU_DATA, ev, data)
{
static struct etimer sdtimer;
PROCESS_BEGIN();
if(isInitialized==0)
{
// Turn off 3.3-V domain (lcd/sdcard power, output low)
//GPIOPinTypeGPIOOutput(BSP_3V3_EN_BASE, BSP_3V3_EN);
//GPIOPinWrite(BSP_3V3_EN_BASE, BSP_3V3_EN, 0);
GPIO_SET_OUTPUT(BSP_3V3_EN_BASE, BSP_3V3_EN);
GPIO_CLR_PIN(BSP_3V3_EN_BASE, BSP_3V3_EN);
// If 3.3-V domain is initially off, make sure it's off >1 ms for a complete
// sd card power cycle
// Approx 10 ms delay
Delay_ms(10);
// Enable 3.3-V domain (it takes <= 600 us to stabilize)
//GPIOPinWrite(BSP_3V3_EN_BASE, BSP_3V3_EN, BSP_3V3_EN); // high
GPIO_SET_PIN(BSP_3V3_EN_BASE, BSP_3V3_EN);
Delay_ms(100);//100ms
//Disable LCD
//GPIOPinTypeGPIOOutput(GPIO_B_BASE, (5));
//GPIOPinWrite(GPIO_B_BASE, (5), (5));
GPIO_SET_OUTPUT(GPIO_B_BASE, GPIO_PIN_MASK(5));
GPIO_SET_PIN(GPIO_B_BASE, GPIO_PIN_MASK(5));
GPIO_SET_INPUT(GPIO_B_BASE, GPIO_PIN_MASK(3));
GPIO_CLEAR_INTERRUPT(GPIO_B_BASE, 0xFF);
GPIO_ENABLE_INTERRUPT(GPIO_B_BASE, 0X08);
GPIO_DETECT_RISING(GPIO_B_BASE, 0X08);
//Turn on Bluetooth
//GPIO_SET_OUTPUT(GPIO_D_BASE, GPIO_PIN_MASK(3));
//GPIO_SET_PIN(GPIO_D_BASE, GPIO_PIN_MASK(3));
uart_init(UART_CONF_BASE);
GPIO_SET_OUTPUT(GPIO_B_BASE, GPIO_PIN_MASK(6));
GPIO_CLR_PIN(GPIO_B_BASE, GPIO_PIN_MASK(6));
clock_delay(6000);
GPIO_SET_PIN(GPIO_B_BASE, GPIO_PIN_MASK(6));
clock_delay(6000);
init_i2c();
clock_delay(6000);
init_MPU9150 ();
isInitialized = 1;
}
while(1)
{
// PROCESS_WAIT_EVENT_UNTIL(etimer_expired(&sdtimer));
//GPIO_SET_PIN(GPIO_C_BASE, lGPIO_PIN_MASK(2));
etimer_set(&sdtimer, CLOCK_SECOND/400); //TODO: change from 80 ---> 200
PROCESS_YIELD();
//GPIO_SET_PIN(GPIO_C_BASE, GPIO_PIN_MASK(1));
#define GPIO_B_BASE 0x400DA000 // GPIO
#define GPIO_PIN_3 0x00000008 // GPIO pin 3
uint32_t gpio = REG(GPIO_B_BASE + (0x00000000 + (GPIO_PIN_3 << 2))) & GPIO_PIN_3;
if(gpio)
{
read_sensor_data(IMU.Payload);
PKT_NUM ++;
IMU_PACKET[0]=IMU.Payload[0];
IMU_PACKET[1]=IMU.Payload[1];
IMU_PACKET[2]=IMU.Payload[2];
IMU_PACKET[3]=IMU.Payload[3];
IMU_PACKET[4]=IMU.Payload[4];
IMU_PACKET[5]=IMU.Payload[5];
IMU_PACKET[6]=IMU.Payload[6];
IMU_PACKET[7]=IMU.Payload[7];
IMU_PACKET[8]=IMU.Payload[8];
IMU_PACKET[9]=IMU.Payload[9];
IMU_PACKET[10]=IMU.Payload[10];
IMU_PACKET[11]=IMU.Payload[11];
IMU_PACKET[12]=IMU.Payload[12];
IMU_PACKET[13]=IMU.Payload[13];
IMU_PACKET[14]=IMU.Payload[14];
IMU_PACKET[15]=IMU.Payload[15];
IMU_PACKET[16]=IMU.Payload[16];
IMU_PACKET[17]=IMU.Payload[17];
if (cycle==1)
{
IMU_PACKET[18]=IMU.RSS1;
IMU_PACKET[19]=IMU.RSS2;
IMU_PACKET[20]=IMU.RSS3;
IMU_PACKET[21]=IMU.RSS4;
if (vat==0)
{
GPIO_SET_OUTPUT(GPIO_C_BASE, GPIO_PIN_MASK(0));
GPIO_SET_PIN(GPIO_C_BASE, GPIO_PIN_MASK(0));
vat=1;
}
else if (vat==1)
{
GPIO_CLR_PIN(GPIO_C_BASE, GPIO_PIN_MASK(0));
vat=0;
}
cycle=0;
}
else if (cycle==0)
{
IMU_PACKET[18]=0;
IMU_PACKET[19]=0;
IMU_PACKET[20]=0;
IMU_PACKET[21]=0;
}
// Add packet number, so we can detect packet loss.
IMU_PACKET[22]=PKT_NUM & 0x00ff;
IMU_PACKET[23]=PKT_NUM >> 8 & 0x00ff ;
unsigned char outLen = 0;
byteStuff (&IMU_PACKET[0], PKT_LEN, outPkt, &outLen);
char i;
for(i=0; i<outLen; i++)
{
uart_write_byte(0,outPkt[i]);
}
}
//push_data_to_buffer_imu();
/*
if ((stage_imu==1) &&(SD_BUSY==0))
writedata_imu();
*/
}
PROCESS_END();
}
