int main()
{
if (_is_docked()){
for(int j=0;(j<10);j++)
for(int i=0;(i<200);i++)
_delay_ms(5);
}
scounter=0;
//Initialized data buffer
dataIndex=0;
dataSubindex=0;
// Blink green for 5 seconds
_wocket_initialize();
AC_NUMS=_SAMPLING_RATE *60;
power_adc_disable();
power_spi_disable();
power_timer0_disable();
power_timer1_disable();
power_twi_disable();
while(1){
//Sample only in the main loop because of p
if(sampleFlag){
power_adc_enable();
_atmega_adc_turn_on();
sampleFlag=0;
#ifdef _VERSION ==3
x=_atmega_a2dConvert10bit(ADC0);
y=_atmega_a2dConvert10bit(ADC1);
z=_atmega_a2dConvert10bit(ADC2);
//x=y=z=cc++;
//if (cc>=1024)
// cc=0;
vmag+=Filter(x,0)+Filter(y,1)+Filter(z,2);
if (_wPC>40){ //Skip the first samples
if (summary_count==0)
{
vmag=vmag/24;
if (vmag>65535)
acount[ci]=65535;
else
acount[ci]=(unsigned short) vmag;
vmag=0;
++ci;
if (ci==AC_BUFFER_SIZE)
ci=0;
cseq++;
if (ci==si)
{
si++;
if (si==AC_BUFFER_SIZE)
si=0;
sseq++;
}
acount[ci]=0;
summary_count=AC_NUMS;
}else
summary_count--;
}
else if (_wPC==40)
vmag=0;
#else
//x=_atmega_a2dConvert10bit(ADC3);
//y=_atmega_a2dConvert10bit(ADC2);
//z=_atmega_a2dConvert10bit(ADC1);
#endif
m_SET_X(data[dataIndex],x,dataSubindex);
m_SET_Y(data[dataIndex],y,dataSubindex);
m_SET_Z(data[dataIndex],z,dataSubindex);
dataSubindex++;
if (dataSubindex>=4)
dataSubindex=0;
//Most of the time the data buffer with 750 will not overflow
//and will be enough to transmit the data, data will go from 0 up to a specific
//value
if (_wTM==_TM_Continuous)
{
switch(dataSubindex){
case 1:
m_GET_X(x,data[dataIndex].byte1,data[dataIndex].byte2,0);
m_GET_Y(y,data[dataIndex].byte2,data[dataIndex].byte3,0);
m_GET_Z(z,data[dataIndex].byte3,data[dataIndex].byte4,0);
break;
case 2:
m_GET_X(x,data[dataIndex].byte4,data[dataIndex].byte5,1);
m_GET_Y(y,data[dataIndex].byte6,data[dataIndex].byte7,1);
m_GET_Z(z,data[dataIndex].byte7,data[dataIndex].byte8,1);
break;
case 3:
m_GET_X(x,data[dataIndex].byte8,data[dataIndex].byte9,2);
m_GET_Y(y,data[dataIndex].byte9,data[dataIndex].byte10,2);
m_GET_Z(z,data[dataIndex].byte11,data[dataIndex].byte12,2);
break;
case 0:
m_GET_X(x,data[dataIndex].byte12,data[dataIndex].byte13,3);
m_GET_Y(y,data[dataIndex].byte13,data[dataIndex].byte14,3);
m_GET_Z(z,data[dataIndex].byte14,data[dataIndex].byte15,3);
break;
}
if (justconnected==1)
{
_send_tm();
justconnected=2;
}
//_send_pdu(x,y,z);
_send_uncompressed_pdu(x, y, z);
//Send summary activity count
/* for (int i=0;(i<summaryindex);i++){
_send_summary_count(acount[i]);
acount[i]=0;
}
if (summaryindex<AC_BUFFER_SIZE){
acount[0]=acount[summaryindex];
summaryindex=0;
}*/
}
else
{
if ((dataSubindex==0) && (batch_counter<750))
batch_counter++;
if (connected){
_greenled_turn_on();
gotack=1;
tester=0;
if (_wTM==_TM_Continuous)
continue;
for (int ixz=0;(ixz<100);ixz++) {
_bluetooth_transmit_uart0_byte(0xff);
if (sampleFlag)
{
sampleFlag=0;
x=_atmega_a2dConvert10bit(ADC0);
y=_atmega_a2dConvert10bit(ADC1);
z=_atmega_a2dConvert10bit(ADC2);
vmag+=Filter(x,0)+Filter(y,1)+Filter(z,2);
if (_wPC>40){ //Skip the first samples
if (summary_count==0)
{
vmag=vmag/24;
if (vmag>65535)
acount[ci]=65535;
else
acount[ci]=(unsigned short) vmag;
vmag=0;
++ci;
if (ci==AC_BUFFER_SIZE)
ci=0;
cseq++;
if (ci==si)
{
si++;
if (si==AC_BUFFER_SIZE)
si=0;
sseq++;
}
acount[ci]=0;
summary_count=AC_NUMS;
}else
summary_count--;
}
else if (_wPC==40)
vmag=0;
m_SET_X(data[dataIndex],x,dataSubindex);
m_SET_Y(data[dataIndex],y,dataSubindex);
m_SET_Z(data[dataIndex],z,dataSubindex);
dataSubindex++;
if (dataSubindex>=4)
dataSubindex=0;
}
}
_send_fv();
_send_sr();
_send_tm();
_send_batch_count((batch_counter-1)*4);
_send_acs();
//Send summary activity count
/*for (int i=0;(i<summaryindex);i++){
_send_summary_count(acount[i]);
acount[i]=0;
}
if (summaryindex<AC_BUFFER_SIZE){
acount[0]=acount[summaryindex];
summaryindex=0;
}*/
if ((batch_counter>0) && (batch_counter<750)) // Go from 0 up to batch_counter
{
for (int i=0;(i<(batch_counter-1));i++)
{
m_GET_X(x,data[i].byte1,data[i].byte2,0);
m_GET_Y(y,data[i].byte2,data[i].byte3,0);
m_GET_Z(z,data[i].byte3,data[i].byte4,0);
//_send_uncompressed_pdu(x, y, z);
_send_pdu(x,y,z);
m_GET_X(x,data[i].byte4,data[i].byte5,1);
m_GET_Y(y,data[i].byte6,data[i].byte7,1);
m_GET_Z(z,data[i].byte7,data[i].byte8,1);
//_send_uncompressed_pdu(x,y, z);
_send_pdu(x,y,z);
m_GET_X(x,data[i].byte8,data[i].byte9,2);
m_GET_Y(y,data[i].byte9,data[i].byte10,2);
m_GET_Z(z,data[i].byte11,data[i].byte12,2);
//_send_uncompressed_pdu(x, y, z);
_send_pdu(x,y,z);
m_GET_X(x,data[i].byte12,data[i].byte13,3);
m_GET_Y(y,data[i].byte13,data[i].byte14,3);
m_GET_Z(z,data[i].byte14,data[i].byte15,3);
//_send_uncompressed_pdu(x, y, z);
_send_pdu(x,y,z);
_receive_data();
if (sampleFlag)
{
sampleFlag=0;
x=_atmega_a2dConvert10bit(ADC0);
y=_atmega_a2dConvert10bit(ADC1);
z=_atmega_a2dConvert10bit(ADC2);
vmag+=Filter(x,0)+Filter(y,1)+Filter(z,2);
if (_wPC>40){ //Skip the first samples
if (summary_count==0)
{
vmag=vmag/24;
if (vmag>65535)
acount[ci]=65535;
else
acount[ci]=(unsigned short) vmag;
vmag=0;
++ci;
if (ci==AC_BUFFER_SIZE)
ci=0;
cseq++;
if (ci==si)
{
si++;
if (si==AC_BUFFER_SIZE)
si=0;
sseq++;
}
acount[ci]=0;
summary_count=AC_NUMS;
}else
summary_count--;
}
else if (_wPC==40)
vmag=0;
m_SET_X(data[dataIndex],x,dataSubindex);
m_SET_Y(data[dataIndex],y,dataSubindex);
m_SET_Z(data[dataIndex],z,dataSubindex);
dataSubindex++;
if (dataSubindex>=4)
dataSubindex=0;
}
}
if (batch_counter>0){
//copy end item into start
data[0].byte1=data[batch_counter].byte1;
data[0].byte2=data[batch_counter].byte2;
data[0].byte3=data[batch_counter].byte3;
data[0].byte4=data[batch_counter].byte4;
data[0].byte5=data[batch_counter].byte5;
data[0].byte6=data[batch_counter].byte6;
data[0].byte7=data[batch_counter].byte7;
data[0].byte8=data[batch_counter].byte8;
data[0].byte9=data[batch_counter].byte9;
data[0].byte10=data[batch_counter].byte10;
data[0].byte11=data[batch_counter].byte11;
data[0].byte12=data[batch_counter].byte12;
data[0].byte13=data[batch_counter].byte13;
data[0].byte14=data[batch_counter].byte14;
data[0].byte15=data[batch_counter].byte15;
}
}else{
int current=dataIndex+1;
int end =dataIndex;
if (current>=750)
current=0;
while(current!=end)
{
m_GET_X(x,data[current].byte1,data[current].byte2,0);
m_GET_Y(y,data[current].byte2,data[current].byte3,0);
m_GET_Z(z,data[current].byte3,data[current].byte4,0);
//_send_uncompressed_pdu(x, y, z);
_send_pdu(x,y,z);
m_GET_X(x,data[current].byte4,data[current].byte5,1);
m_GET_Y(y,data[current].byte6,data[current].byte7,1);
m_GET_Z(z,data[current].byte7,data[current].byte8,1);
//_send_uncompressed_pdu(x, y, z);
_send_pdu(x,y,z);
m_GET_X(x,data[current].byte8,data[current].byte9,2);
m_GET_Y(y,data[current].byte9,data[current].byte10,2);
m_GET_Z(z,data[current].byte11,data[current].byte12,2);
//_send_uncompressed_pdu(x, y, z);
_send_pdu(x,y,z);
m_GET_X(x,data[current].byte12,data[current].byte13,3);
m_GET_Y(y,data[current].byte13,data[current].byte14,3);
m_GET_Z(z,data[current].byte14,data[current].byte15,3);
//_send_uncompressed_pdu(x,y, z);
_send_pdu(x,y,z);
current++;
if (current==750)
current=0;
_receive_data();
if (sampleFlag)
{
sampleFlag=0;
x=_atmega_a2dConvert10bit(ADC0);
y=_atmega_a2dConvert10bit(ADC1);
z=_atmega_a2dConvert10bit(ADC2);
vmag+=Filter(x,0)+Filter(y,1)+Filter(z,2);
if (_wPC>40){ //Skip the first samples
if (summary_count==0)
{
vmag=vmag/24;
if (vmag>65535)
acount[ci]=65535;
else
acount[ci]=(unsigned short) vmag;
vmag=0;
++ci;
if (ci==AC_BUFFER_SIZE)
ci=0;
cseq++;
if (ci==si)
{
si++;
if (si==AC_BUFFER_SIZE)
si=0;
sseq++;
}
acount[ci]=0;
summary_count=AC_NUMS;
}else
summary_count--;
}
else if (_wPC==40)
vmag=0;
m_SET_X(data[dataIndex],x,dataSubindex);
m_SET_Y(data[dataIndex],y,dataSubindex);
m_SET_Z(data[dataIndex],z,dataSubindex);
dataSubindex++;
if (dataSubindex>=4)
dataSubindex=0;
}
}
//copy end item into start
data[0].byte1=data[end].byte1;
data[0].byte2=data[end].byte2;
data[0].byte3=data[end].byte3;
data[0].byte4=data[end].byte4;
data[0].byte5=data[end].byte5;
data[0].byte6=data[end].byte6;
data[0].byte7=data[end].byte7;
data[0].byte8=data[end].byte8;
data[0].byte9=data[end].byte9;
data[0].byte10=data[end].byte10;
data[0].byte11=data[end].byte11;
data[0].byte12=data[end].byte12;
data[0].byte13=data[end].byte13;
data[0].byte14=data[end].byte14;
data[0].byte15=data[end].byte15;
}
batch_counter=0;
dataIndex=0;
seconds_passed=0;
while (seconds_passed<400)
{
_delay_ms(5);
seconds_passed++;
_receive_data();
if (sampleFlag)
{
sampleFlag=0;
x=_atmega_a2dConvert10bit(ADC0);
y=_atmega_a2dConvert10bit(ADC1);
z=_atmega_a2dConvert10bit(ADC2);
vmag+=Filter(x,0)+Filter(y,1)+Filter(z,2);
if (_wPC>40){ //Skip the first samples
if (summary_count==0)
{
vmag=vmag/24;
if (vmag>65535)
acount[ci]=65535;
else
acount[ci]=(unsigned short) vmag;
vmag=0;
++ci;
if (ci==AC_BUFFER_SIZE)
ci=0;
cseq++;
if (ci==si)
{
si++;
if (si==AC_BUFFER_SIZE)
si=0;
sseq++;
}
acount[ci]=0;
summary_count=AC_NUMS;
}else
summary_count--;
}
else if (_wPC==40)
vmag=0;
m_SET_X(data[dataIndex],x,dataSubindex);
m_SET_Y(data[dataIndex],y,dataSubindex);
m_SET_Z(data[dataIndex],z,dataSubindex);
dataSubindex++;
if (dataSubindex>=4)
dataSubindex=0;
}
}
//connected=0;
//Don't turn off the radio if a request to switch mode has been received
if (_wTM==_TM_Continuous)
_bluetooth_turn_on();
else
_bluetooth_turn_off();
command_counter=0;
seconds_disconnected=0;
_greenled_turn_off();
}
}
_atmega_adc_turn_off();
power_adc_disable();
if ((dataSubindex==0) && (!connected))
dataIndex++;
if (dataIndex==750)
dataIndex=0;
connected=0;
}
cli();
set_sleep_mode(SLEEP_MODE_IDLE);
//set_sleep_mode(SLEEP_MODE_PWR_SAVE);
sleep_enable();
sleep_bod_disable();
sei();
sleep_cpu();
sleep_disable();
}
return 0;
}
void _wocket_initialize(void) //This function initializes the wocket
{
// Disable the watchdog timer. It has to be done at the beginning of the program.
_atmega_disable_watchdog();
_atmega_initialize(CPU_CLK_PRESCALAR_1024);
num_skipped_timer_interrupts = 10;//(F_CPU/1024)/PERFECT_SAMPLING_FREQUENCY;
unsigned short battery = _atmega_a2dConvert10bit(IN_VSENSE_BAT);
if (battery < 700)
{// Blink yellow 3times for 5 seconds if the battery is not fully charged
for (int i = 0; (i < 3); i++){
_yellowled_turn_on();
for (int j = 0; (j < 200); j++)
_delay_ms(5);
_yellowled_turn_off();
for (int j = 0; (j < 200); j++)
_delay_ms(5);
}
}
if (battery > 100)
{//Load the status byte from the EEPROM
_INITIALIZED = eeprom_read_byte(&_NV_INITIALIZED);
}
else
{ //turn on the yellow led for 5 seconds then shutdown
_yellowled_turn_on();
for(int i = 0; (i < 1000); i++)
_delay_ms(5);
_yellowled_turn_off();
_delay_ms(500);
_atmega_finalize();
return;
}
// If the wocket has been initialized before, read the parameters from EEPROM and blinks green once
if (_INITIALIZED == _WOCKET_INITIALIZED)
{
if (battery > 300)
{
_SAMPLING_RATE = eeprom_read_byte(&_NV_SAMPLING_RATE);
_wTM = eeprom_read_byte(&_NV_WTM);
_wTCNT2 = eeprom_read_byte(&_NV_TCT);
_wTCNT2_reps = eeprom_read_byte(&_NV_TCTREPS);
_wTCNT2_last = eeprom_read_byte(&_NV_TCTLAST);
_wBTCAL100 = eeprom_read_word(&_NV_BTCAL100);
_wBTCAL80 = eeprom_read_word(&_NV_BTCAL80);
_wBTCAL60 = eeprom_read_word(&_NV_BTCAL60);
_wBTCAL40 = eeprom_read_word(&_NV_BTCAL40);
_wBTCAL20 = eeprom_read_word(&_NV_BTCAL20);
_wBTCAL10 = eeprom_read_word(&_NV_BTCAL10);
_wX1G_CAL = eeprom_read_word(&_NV_X1G_CAL);
_wXN1G_CAL = eeprom_read_word(&_NV_XN1G_CAL);
_wY1G_CAL = eeprom_read_word(&_NV_Y1G_CAL);
_wYN1G_CAL = eeprom_read_word(&_NV_YN1G_CAL);
_wZ1G_CAL = eeprom_read_word(&_NV_Z1G_CAL);
_wZN1G_CAL = eeprom_read_word(&_NV_ZN1G_CAL);
_wPDT = eeprom_read_byte(&_NV_PDT);
_greenled_turn_on();
for(int i = 0; (i < 200); i++)
_delay_ms(10);
_greenled_turn_off();
}
}
// If the wocket has never been initialized, write the default settings and blink green 3 times
else
{
_SAMPLING_RATE = 40;
_wTM = _WTM_Continuous;
//_wTM = _WTM_Burst_60;
// Calculate the timer variables used to sample at the right frequency
_wocket_initialize_timer2_interrupt();
// Set the overflow interrupt timer
switch(_wTM)
{
case _WTM_Continuous:
_MAX_SAMPLING_RATE = 126; //This limitation is due to the definition of SEND_SR and GET_SR commands
break; // The MCU provided in wocket able to sample at higher rates
case _WTM_Burst_30: //a transfer mode that send the burst every 30 secs
_MAX_SAMPLING_RATE = 80;
break;
case _WTM_Burst_60: //a transfer mode that send the burst every 60 secs
_MAX_SAMPLING_RATE = 40;
break;
case _WTM_Burst_90: //a transfer mode that send the burst every 90 secs
_MAX_SAMPLING_RATE = 30;
break;
case _WTM_Burst_120: //a transfer mode that send the burst every 120 secs
_MAX_SAMPLING_RATE = 20;
break;
default:
break;
}
if (_SAMPLING_RATE > _MAX_SAMPLING_RATE)
{
_SAMPLING_RATE = _MAX_SAMPLING_RATE;
}
if (_SAMPLING_RATE < _MIN_SAMPLING_RATE)
{
_SAMPLING_RATE = _MIN_SAMPLING_RATE;
}
if (battery > 300)
{
// Write the parameters to the EEPROM
eeprom_write_byte(&_NV_SAMPLING_RATE,_SAMPLING_RATE);
eeprom_write_byte(&_NV_TCT,_wTCNT2);
eeprom_write_byte(&_NV_TCTREPS,_wTCNT2_reps);
eeprom_write_byte(&_NV_TCTLAST,_wTCNT2_last);
eeprom_write_byte(&_NV_WTM,_wTM);
eeprom_write_byte(&_NV_STATUS_BYTE,0x00);
eeprom_write_byte(&_NV_SENS,_wSENS);
//Set default battery calibration values
eeprom_write_word(&_NV_BTCAL100,_DEFAULTBTCAL100);
eeprom_write_word(&_NV_BTCAL80, _DEFAULTBTCAL80);
eeprom_write_word(&_NV_BTCAL60, _DEFAULTBTCAL60);
eeprom_write_word(&_NV_BTCAL40, _DEFAULTBTCAL40);
eeprom_write_word(&_NV_BTCAL20, _DEFAULTBTCAL20);
eeprom_write_word(&_NV_BTCAL10, _DEFAULTBTCAL10);
_wBTCAL100 = _DEFAULTBTCAL100;
_wBTCAL80 = _DEFAULTBTCAL80;
_wBTCAL60 = _DEFAULTBTCAL60;
_wBTCAL40 = _DEFAULTBTCAL40;
_wBTCAL20 = _DEFAULTBTCAL20;
_wBTCAL10 = _DEFAULTBTCAL10;
//Set default Accelerometer calibration values
eeprom_write_word(&_NV_X1G_CAL, _DEFAULT_X1G_CAL);
eeprom_write_word(&_NV_XN1G_CAL,_DEFAULT_XN1G_CAL);
eeprom_write_word(&_NV_Y1G_CAL, _DEFAULT_Y1G_CAL);
eeprom_write_word(&_NV_YN1G_CAL,_DEFAULT_YN1G_CAL);
eeprom_write_word(&_NV_Z1G_CAL, _DEFAULT_Z1G_CAL);
eeprom_write_word(&_NV_ZN1G_CAL,_DEFAULT_ZN1G_CAL);
_wX1G_CAL = _DEFAULT_X1G_CAL;
_wXN1G_CAL = _DEFAULT_XN1G_CAL;
_wY1G_CAL = _DEFAULT_Y1G_CAL;
_wYN1G_CAL = _DEFAULT_YN1G_CAL;
_wZ1G_CAL = _DEFAULT_Z1G_CAL;
_wZN1G_CAL = _DEFAULT_ZN1G_CAL;
_wPDT = _DEFAULT_PDT;
eeprom_write_byte(&_NV_PDT, _wPDT);
}
// Set the initialized flag in the status byte
_INITIALIZED = _WOCKET_INITIALIZED;
// Write the status byte to the EEPROM
eeprom_write_byte(&_NV_INITIALIZED,_INITIALIZED);
// Blink green for 5 seconds
for (int i = 0; (i < 3); i++){
_greenled_turn_on();
for(int j = 0;(j < 200); j++)
_delay_ms(5);
_greenled_turn_off();
for(int j = 0; (j < 200); j++)
_delay_ms(5);
}
}
_DEFAULT_SHUTDOWN = (unsigned long)_wPDT * (unsigned long)_SAMPLING_RATE * (unsigned long)60;
_wShutdownTimer = _DEFAULT_SHUTDOWN;
// Enable Timer 2
_atmega_enable_timer2(CPU_CLK_PRESCALAR_1024);
}
