/*---------------------------------------------------------------*/
PROCESS_THREAD(null_app_process, ev, data)
{
PROCESS_BEGIN();
printf("MPU6050 ACC Started\n");
#ifdef SF_FEATURE_SHELL_OPT
serial_shell_init();
remote_shell_init();
shell_reboot_init();
shell_blink_init();
shell_sky_init();
#endif
static uint8_t MPU_status2 = 0;
uint8_t i;
app_conn_open(&nullApp_callback);
if (node_id != 0)
{
MPU_status2 = 0;
for(i = 0; i < 100 &(~MPU_status2);i++)
{
MPU_status2 = mpu_enable();
}
if(MPU_status2 == 0)
{
printf("MPU could not be enabled\n");
}
MPU_status2 = 0;
for(i = 0; i < 100 &(~MPU_status2);i++)
{
MPU_status2 = mpu_wakeup();
}
if(MPU_status2 == 0)
{
printf("MPU could not be awakened\n");
}
ctimer_set(&ct,SAMPLE_RATE,sample_fun,(void*)NULL);
}
PROCESS_END();
}
int main(void)
{
/* Replace with your application code */
volatile int16_t gyro_x;
volatile int16_t gyro_y;
volatile int16_t gyro_z;
volatile int16_t accel_x;
volatile int16_t accel_y;
volatile int16_t accel_z;
volatile int16_t temp;
char buffer[6];
i2c_init();
uart_init(256000);
mpu_wakeup();
while (1)
{
gyro_x = mpu_read_gyro_x();
gyro_y = mpu_read_gyro_y();
gyro_z = mpu_read_gyro_z();
accel_x = mpu_read_accel_x();
accel_y = mpu_read_accel_y();
accel_z = mpu_read_accel_z();
temp = mpu__read_temp();
itoa(temp, buffer, 10);
uart_puts(buffer);
uart_puts(" ");
_delay_ms(10);
}
}
/*---------------------------------------------------------------*/
PROCESS_THREAD(null_app_process, ev, data)
{
PROCESS_BEGIN();
printf("Sensor No Comm Started\n");
// turn off radio
NETSTACK_RDC.off(0);
NETSTACK_RADIO.off();
// connect with MPU
static uint8_t MPU_status = 0;
static mpu_data_union samples;
static struct etimer rxtimer;
int i = 0;
if (node_id != 0)
{
MPU_status = 0;
for(i = 0; i < 100 & (~MPU_status);i++)
{
MPU_status = mpu_enable();
}
if (MPU_status == 0)
printf("MPU could not be enabled.\n");
MPU_status = 0;
for(i = 0; i < 100 & (~MPU_status);i++)
{
MPU_status = mpu_wakeup();
}
if (MPU_status == 0)
{
printf("MPU could not be awakened.\n");
}
etimer_set(&rxtimer, (unsigned long)(CLOCK_SECOND/SAMPLING_FREQ));
}
// sampling
if (node_id != 0)
{
while(1)
{
PROCESS_WAIT_EVENT_UNTIL(etimer_expired(&rxtimer));
etimer_reset(&rxtimer);
MPU_status = mpu_sample_all(&samples);
if (MPU_status != 0)
{
printf("%d,%d,%d,%d\n",samples.data.accel_x,samples.data.accel_y,samples.data.accel_z,samples.data.temperature);
}
else
{
printf("Cannot sample data\n");
}
}
}
PROCESS_END();
}
/*---------------------------------------------------------------*/
PROCESS_THREAD(null_app_process, ev, data)
{
static struct etimer rxtimer;
PROCESS_BEGIN();
app_conn_open(&nullApp_callback);
uint8_t i;
uint8_t temp;
static uint8_t MPU_status = 0;
static mpu_data_acc_gyro_union samples;
if (node_id != 0)
{
MPU_status = 0;
for(i = 0; i < 100 & (~MPU_status);i++)
{
MPU_status = mpu_enable();
}
if (MPU_status == 0)
printf("MPU could not be enabled.\n");
MPU_status = 0;
for(i = 0; i < 100 & (~MPU_status);i++)
{
MPU_status = mpu_wakeup();
}
if (MPU_status == 0)
{
printf("MPU could not be awakened.\n");
}
etimer_set(&rxtimer, (unsigned long)(CLOCK_SECOND/SAMPLING_FREQ));
}
else
{
etimer_set(&rxtimer,CLOCK_SECOND/20);
}
if (node_id != 0)
{
while(1)
{
//MPU_PRINT_BYTE(54);
PROCESS_WAIT_EVENT_UNTIL(etimer_expired(&rxtimer));
etimer_reset(&rxtimer);
//MPU_PRINT_BYTE(55);
MPU_status = mpu_sample_acc(&samples);
if (MPU_status != 0)
{
//printf("%u,%u,%u\n",samples.data.x,samples.data.y,samples.data.z);
//print_mpu_sample_acc_gyro(&samples);
// MPU_PRINT_BYTE(samples.reg.x_h);
// MPU_PRINT_BYTE(samples.reg.x_l);
// MPU_PRINT_BYTE(samples.reg.y_h);
// MPU_PRINT_BYTE(samples.reg.y_l);
// MPU_PRINT_BYTE('\n');
// read_mpu_reg(MPU6050_RA_INT_STATUS,&temp);
// printf("%u",temp);
app_conn_send((uint8_t *)(&samples),MPU_DATA_ACC_GYRO_SIZE);
}
else
printf("Cannot sample data\n");
}
}
PROCESS_END();
}
/*---------------------------------------------------------------*/
PROCESS_THREAD(null_app_process, ev, data)
{
static struct etimer rxtimer;
PROCESS_BEGIN();
printf("Hello world Started.\n");
#ifdef SF_FEATURE_SHELL_OPT
serial_shell_init();
remote_shell_init();
shell_reboot_init();
shell_blink_init();
shell_sky_init();
#endif
app_conn_open(&nullApp_callback);
#ifdef ADC_SENSOR
static uint16_t samples[ADC_SAMPLES_PER_FRAME]={0};
uint8_t i;
// static uint8_t samples_sorted_bytes[2*ADC_SAMPLES_PER_FRAME];
static uint8_t sample_num = 0; //increments from 0 to samples_per_frame-1
if (node_id != 0){
adc_on();
//adc_configure(0); //to sample reference voltage (Vref/2), ~2048.
etimer_set( &rxtimer, (unsigned long)(CLOCK_SECOND/(ADC_SAMPLING_FREQ)));
}
else
etimer_set(&rxtimer,CLOCK_SECOND/20);
if(node_id != 0)
{
while(1)
{
PROCESS_WAIT_EVENT_UNTIL(etimer_expired(&rxtimer));
etimer_reset(&rxtimer);
samples[sample_num]=adc_sample();
sample_num++;
if(sample_num == ADC_SAMPLES_PER_FRAME){
sample_num=0;
/*
* Byte order needs to be reversed because of low-endian system.
* Can be done at AP level too, if needed.
*/
// for(i=0;i<ADC_SAMPLES_PER_FRAME;i++){
// samples_sorted_bytes[2*i]=(samples[i]>>8);
// samples_sorted_bytes[2*i+1]= (samples[i]& 0xff);
// }
//app_conn_send(samples_sorted_bytes,sizeof(uint8_t)*ADC_SAMPLES_PER_FRAME*2);
tdma_rdc_buf_ptr = 0;
tdma_rdc_buf_send_ptr = 0;
tdma_rdc_buf_full_flg = 0;
app_conn_send(samples,sizeof(uint16_t)*ADC_SAMPLES_PER_FRAME/sizeof(uint8_t));
}
}
}
#endif
#ifdef I2C_SENSOR
//static rtimer_clock_t rt, del;
int i;
static uint8_t MPU_status = 0;
static uint8_t sample_count = 0;
/*
static uint8_t samples_sorted_bytes[14*MPU_SAMPLES_PER_FRAME],comp_samples_sorted_bytes[14*MPU_SAMPLES_PER_FRAME];
static uint8_t sample_num=0, uncomp_data_len=14*MPU_SAMPLES_PER_FRAME,comp_data_len;
static uint8_t *st;
*/
static mpu_data sampleArray[MPU_SAMPLES_PER_FRAME];
if (node_id != 0){
MPU_status = 0;
for(i = 0; i < 100 & (~MPU_status);i++)
{
MPU_status = mpu_enable();
}
if (MPU_status == 0)
printf("MPU could not be enabled.\n");
MPU_status = 0;
for(i = 0; i < 100 & (~MPU_status);i++)
{
MPU_status = mpu_wakeup();
}
if (MPU_status == 0)
printf("MPU could not be awakened.\n");
etimer_set(&rxtimer, (unsigned long)(CLOCK_SECOND/MPU_SAMPLING_FREQ));
}
else
etimer_set(&rxtimer,CLOCK_SECOND/20);
if(node_id != 0)
{
while(1){
PROCESS_WAIT_EVENT_UNTIL(etimer_expired(&rxtimer));
etimer_reset(&rxtimer);
mpu_data_union samples;
int m=mpu_sample_all(&samples);
app_conn_send((uint8_t *)(&samples),MPU_DATA_SIZE);
/*
sampleArray[sample_count] = samples.data;
sample_count = sample_count + 1;
if(sample_count == MPU_SAMPLES_PER_FRAME)
{
sample_count = 0;
tdma_rdc_buf_clear();
app_conn_send(sampleArray,MPU_DATA_SIZE*MPU_SAMPLES_PER_FRAME);
}
*/
/*
st = &samples;
for(i=0;i<7;i++){
samples_sorted_bytes[2*i+14*sample_num]=*(st+2*i+1);
samples_sorted_bytes[2*i+1+14*sample_num]= *(st+2*i);
}
sample_num++;
if(sample_num==MPU_SAMPLES_PER_FRAME){
sample_num=0;
app_conn_send(samples_sorted_bytes,sizeof(uint8_t)*14*MPU_SAMPLES_PER_FRAME);
}
PRINTF("%d,%d,%d,%d,%d,%d,%d\n",samples.data.accel_x,samples.data.accel_y,samples.data.accel_z,samples.data.gyro_x,samples.data.gyro_y,
samples.data.gyro_z,samples.data.temperature);
*/
// app_conn_send(&samples,sizeof(mpu_data)/sizeof(uint8_t));
}
}
#endif
PROCESS_END();
}
/*---------------------------------------------------------------*/
PROCESS_THREAD(null_app_process, ev, data)
{
PROCESS_BEGIN();
printf("MPU6050 Started\n");
#ifdef SF_FEATURE_SHELL_OPT
serial_shell_init();
remote_shell_init();
shell_reboot_init();
shell_blink_init();
shell_sky_init();
#endif
uint8_t i;
app_conn_open(&nullApp_callback);
if (node_id > 0)
{
MPU_status = 0;
for(i = 0; i < 100 &(~MPU_status);i++)
{
MPU_status = mpu_enable();
}
if(MPU_status == 0)
{
printf("MPU could not be enabled\n");
}
MPU_status = 0;
for(i = 0; i < 100 &(~MPU_status);i++)
{
MPU_status = mpu_wakeup();
}
if(MPU_status == 0)
{
printf("MPU could not be awakened\n");
}
/* configurate MPU6050 sensor */
uint8_t MPU_config = 0;
// disable sleep model
read_mpu_reg(MPU_RA_PWR_MGMT1,&MPU_config);
MPU_config = MPU_config & ~BV(6); // set bit 6 to 0
write_mpu_reg(MPU_RA_PWR_MGMT1,MPU_config);
#if DEBUG
read_mpu_reg(MPU_RA_PWR_MGMT1,&MPU_config);
PRINTF("power management 1: %u\n",MPU_config);
#endif
// disable cycle
read_mpu_reg(MPU_RA_PWR_MGMT1,&MPU_config);
MPU_config = MPU_config & ~BV(5); // set bit 5 to 0
write_mpu_reg(MPU_RA_PWR_MGMT1,MPU_config);
#if DEBUG
read_mpu_reg(MPU_RA_PWR_MGMT1,&MPU_config);
PRINTF("power management 1: %u\n",MPU_config);
#endif
// gyro range: -/+ 250 degree/sec
read_mpu_reg(MPU_GYRO_CONFIG,&MPU_config);
MPU_config = MPU_config & ~BV(3); // set bit 3 to zero
write_mpu_reg(MPU_GYRO_CONFIG,MPU_config);
#if DEBUG
read_mpu_reg(MPU_GYRO_CONFIG,&MPU_config);
PRINTF("Gyro config: %u\n",MPU_config);
#endif
// accelerometer range: -/+ 2g
read_mpu_reg(MPU_ACCEL_CONFIG,&MPU_config);
MPU_config = MPU_config & ~BV(3); // set bit 3 to zero -/+ 2g
//MPU_config = MPU_config | BV(4); // set bit 4 to one -/+ 8g
write_mpu_reg(MPU_ACCEL_CONFIG,MPU_config);
read_mpu_reg(MPU_ACCEL_CONFIG,&MPU_config);
printf("Acceleromter config: %u\n",MPU_config);
// LPF: cut-off 21Hz for accel and 20Hz for gyro; DLPF_CFG = 4
read_mpu_reg(MPU_CONFIG,&MPU_config);
MPU_config = MPU_config | BV(2); // set bit 2 to 1, DLPF_CFG = 4
write_mpu_reg(MPU_CONFIG,MPU_config);
#if DEBUG
read_mpu_reg(MPU_CONFIG,&MPU_config);
PRINTF("MPU 6050 config: %u\n",MPU_config);
#endif
// sampling rate 1kHz
write_mpu_reg(MPU_SMPLRT_DIV,0);
#if DEBUG
read_mpu_reg(MPU_SMPLRT_DIV,&MPU_config);
PRINTF("sample divider: %u\n",MPU_config);
#endif
// start sampling
ctimer_set(&ct,SAMPLE_RATE,sample_fun,(void*)NULL);
ctimer_set(&reset_timer,SAMPLE_RATE*50,reset_sample_timer,(void*)NULL);
}
else
{
print_MPU = 1;
}
PROCESS_END();
}
