void task_application_imu_radio(uint16_t input) {
counter++;
P1OUT ^= 0x02; // toggle P1.1 for debug
P4OUT ^= 0x20; // toggle P4.5 for debug
P1OUT |= 0x04;P1OUT &= ~0x04; // pulse P1.2 for debug
if (counter==0) {
leds_circular_shift(); // circular shift LEDs for debug
}
//get RAM space for packet
testImuRadiopacketToSend = openqueue_getFreePacketBuffer();
//l1
testImuRadiopacketToSend->l1_channel = DEFAULTCHANNEL;
//payload
packetfunctions_reserveHeaderSize(testImuRadiopacketToSend,8);
gyro_get_measurement(&(testImuRadiopacketToSend->payload[0]));
P1OUT |= 0x04;P1OUT &= ~0x04; // pulse P1.2 for debug
packetfunctions_reserveHeaderSize(testImuRadiopacketToSend,6);
large_range_accel_get_measurement(&(testImuRadiopacketToSend->payload[0]));
P1OUT |= 0x04;P1OUT &= ~0x04; // pulse P1.2 for debug
packetfunctions_reserveHeaderSize(testImuRadiopacketToSend,6);
magnetometer_get_measurement(&(testImuRadiopacketToSend->payload[0]));
P1OUT |= 0x04;P1OUT &= ~0x04; // pulse P1.2 for debug
packetfunctions_reserveHeaderSize(testImuRadiopacketToSend,10);
sensitive_accel_temperature_get_measurement(&(testImuRadiopacketToSend->payload[0]));
P1OUT |= 0x04;P1OUT &= ~0x04; // pulse P1.2 for debug
packetfunctions_reserveFooterSize(testImuRadiopacketToSend,2);//space for radio to fill in CRC
//send packet
radio_send(testImuRadiopacketToSend);
}
void main(void)
{
WDTCTL = WDTPW + WDTHOLD; // disable watchdog timer
BCSCTL1 = CALBC1_16MHZ; // MCLK at 16MHz
DCOCTL = CALDCO_16MHZ;
P1DIR |= 0x1E; // P1.1-4 as outputs (for debug)
__enable_interrupt(); // global enable interrupts
leds_init();
//configuring the large scale accelerometer
//configuring the gyro
if (*(&eui64+3)==0x09) { // this is a GINA board (not a basestation)
i2c_init();
large_range_accel_init();
}
//check configuration is right (break and use Watch window)
large_range_accel_get_config();
//make continuous measurements
while(1) {
P1OUT ^= 0x02; // toggle P1.1 for debug
large_range_accel_get_measurement(&(large_range_accel_data[0]));
large_range_accel_x = (256*large_range_accel_data[0]+large_range_accel_data[1])>>3;
large_range_accel_y = (256*large_range_accel_data[2]+large_range_accel_data[3])>>3;
large_range_accel_z = (256*large_range_accel_data[4]+large_range_accel_data[5])>>3;
leds_circular_shift();
__no_operation(); //useless, just for breakpoint
}
}
