void firmware_init(){
// Initialize firmware
dxl_initialize(0,1); //initialize dynamixel communication
serial_initialize(57600); //initialize serial communication
//initialize sensors
sensor_init(SENSOR_FRONT,SENSOR_DISTANCE);
sensor_init(SENSOR_FRONTLEFT,SENSOR_IR);
sensor_init(SENSOR_FRONTRIGHT,SENSOR_IR);
sensor_init(SENSOR_BACKLEFT,SENSOR_IR);
sensor_init(SENSOR_BACKRIGHT,SENSOR_IR);
//initialize I/O
io_init();
io_set_interrupt(BTN_START, &reset_state); //assign callback function when start button is pressed
// Activate general interrupts
sei();
// Set motors to wheel mode
motor_set_mode(254, MOTOR_WHEEL_MODE);
// Set serial communication through ZigBee
serial_set_zigbee();
}
int
main(void)
{
halInit();
chSysInit();
get_device_id();
/* start stdout port */
sdStart(SD_STDIO, NULL);
xflash_init();
cmdline_init();
rngStart(&RNGD);
app_cfg_init();
check_for_faults();
gfx_init();
touch_init();
sensor_init(SENSOR_1, SD_OW1);
sensor_init(SENSOR_2, SD_OW2);
temp_control_init(CONTROLLER_1);
temp_control_init(CONTROLLER_2);
ota_update_init();
net_init();
web_api_init();
sntp_init();
gui_init();
thread_watchdog_init();
create_home_screen();
recovery_screen_create();
screen_saver_create();
if (palReadPad(PORT_SELF_TEST_EN, PAD_SELF_TEST_EN) == 0) {
widget_t* self_test_screen = self_test_screen_create();
gui_push_screen(self_test_screen);
}
recovery_img_init();
while (TRUE) {
cmdline_restart();
toggle_LED1();
}
}
/**@brief Function for application main entry.
*/
int main(void)
{
uint32_t err_code;
bool erase_bonds;
// Initialize.
app_trace_init();
timers_init();
buttons_leds_init(&erase_bonds);
ble_stack_init();
device_manager_init(erase_bonds);
gap_params_init();
advertising_init();
services_init();
sensor_simulator_init();
conn_params_init();
#if defined(__RING_SUPPORT__)
btn_init();
spi_flash_init();
sensor_init();
lcd_init();
#endif
// Start execution.
application_timers_start();
err_code = ble_advertising_start(BLE_ADV_MODE_FAST);
APP_ERROR_CHECK(err_code);
// Enter main loop.
for (;;)
{
power_manage();
}
}
PROCESS_THREAD(node_timeout_process, ev, data)
{
PROCESS_BEGIN();
while (1)
{
static struct etimer timeout;
int16_t sensor_value = 0;
static char message[3];
etimer_set(&timeout, CLOCK_SECOND * SLEEP_TIMEOUT);
PROCESS_WAIT_EVENT_UNTIL(etimer_expired(&timeout));
etimer_set(&timeout, CLOCK_SECOND/16);
leds_on(LEDS_ALL);
sensor_init();
PROCESS_WAIT_EVENT_UNTIL(etimer_expired(&timeout));
sensor_value = sensor_read() - my_noise;
sensor_uinit();
itoa(sensor_value, message, 10);
strcat(message, "!\0");
transmit_runicast(message, SINK_NODE);
leds_off(LEDS_ALL);
}
PROCESS_END();
}
PROCESS_THREAD(node_read_process, ev, data)
{
PROCESS_BEGIN();
static struct etimer etimer;
static int16_t sensor_value = 0;
static char message[3];
etimer_set(&etimer, CLOCK_SECOND * sleep_time);
PROCESS_WAIT_EVENT_UNTIL(etimer_expired(&etimer));
etimer_set(&etimer, CLOCK_SECOND/16);
leds_on(LEDS_ALL);
sensor_init();
PROCESS_WAIT_EVENT_UNTIL(etimer_expired(&etimer));
sensor_value = sensor_read() - my_noise;
sensor_uinit();
itoa(sensor_value, message, 10);
strcat(message, "!\0");
transmit_runicast(message, SINK_NODE);
leds_off(LEDS_ALL);
// process_start(&node_timeout_process, NULL);
PROCESS_END();
}
//The setup function is called once at startup of the sketch
void setup()
{
// Add your initialization code here
// Note : This will initialize Serial port on Arduino at 115200 bauds
OC_LOG_INIT();
OC_LOG(DEBUG, TAG, ("Demoserver is starting..."));
// Connect to Ethernet or WiFi network
if (ConnectToNetwork() != 0) {
OC_LOG(ERROR, TAG, ("Unable to connect to network"));
return;
}
// Initialize the OC Stack in Server mode
if (OCInit(NULL, 0, OC_SERVER) != OC_STACK_OK) {
OC_LOG(ERROR, TAG, ("OCStack init error"));
return;
}
// Initialize Grove related Devices
sensor_init();
led_init();
lcd_init();
buzzer_init();
button_init();
// Declare and create the resource: grove
createDemoResource();
}
/*---------------------------------------------------------------------------*/
PROCESS_THREAD(shell_change_detect_process, ev, data)
{
static struct etimer etimer;
PROCESS_BEGIN();
leds_init();
while(1) {
sensor_init();
etimer_set(&etimer, CLOCK_SECOND / 4);
PROCESS_WAIT_UNTIL(etimer_expired(&etimer));
sample = sensor_read();
sensor_uinit();
printf("sample = %d\n",sample);
if(abs_sub(sample, sample_mean) > (sample_std_dev * NUM_DEVS)) {
// Change detected, turn on LED(s)?
leds_on(LEDS_RED);
} else {
// Turn off LED(s).
leds_off(LEDS_RED);
}
}
PROCESS_END();
}
/**
* Expects to be called back through os_dev_create().
*
* @param The device object associated with this accelerometer
* @param Argument passed to OS device init, unused
*
* @return 0 on success, non-zero error on failure.
*/
int
sim_accel_init(struct os_dev *dev, void *arg)
{
struct sim_accel *sa;
struct sensor *sensor;
int rc;
sa = (struct sim_accel *) dev;
sensor = &sa->sa_sensor;
rc = sensor_init(sensor, dev);
if (rc != 0) {
goto err;
}
rc = sensor_set_driver(sensor, SENSOR_TYPE_ACCELEROMETER,
(struct sensor_driver *) &g_sim_accel_sensor_driver);
if (rc != 0) {
goto err;
}
rc = sensor_mgr_register(sensor);
if (rc != 0) {
goto err;
}
return (0);
err:
return (rc);
}
static int gsensor_load_driver(struct sensors_poll_context_t *dev)
{
int ret = -1;
char buffer[20];
int bytes = 0;
int values = 0;
load_driver_value = 0;
if(detect_value[0] < ( SENSORS_NUMBER + 1)) {
ALOGD("start to isnmod %s.ko\n",sensors[detect_value[0]-1].name);
if (insmod(driver_path[detect_value[0]-1].name, "") < 0) {
ALOGD("insmod %s.ko failed!",sensors[detect_value[0]-1].name);
rmmod(sensors[detect_value[0]-1].name);//it may be load driver already,try remove it.
return 0;
}
if(!(ret = sensor_init(dev))){
ALOGD("sensor_init error !\n");
return 0;
}
}else{
ALOGD("detect_value isn't valid!\n");
return 0;
}
return 1;
}
/**
* Expects to be called back through os_dev_create().
*
* @param The device object associated with this color sensor
* @param Argument passed to OS device init, unused
*
* @return 0 on success, non-zero error on failure.
*/
int
tcs34725_init(struct os_dev *dev, void *arg)
{
struct tcs34725 *tcs34725;
struct sensor *sensor;
int rc;
if (!arg || !dev) {
rc = SYS_ENODEV;
goto err;
}
tcs34725 = (struct tcs34725 *) dev;
tcs34725->cfg.mask = SENSOR_TYPE_ALL;
sensor = &tcs34725->sensor;
/* Initialise the stats entry */
rc = stats_init(
STATS_HDR(g_tcs34725stats),
STATS_SIZE_INIT_PARMS(g_tcs34725stats, STATS_SIZE_32),
STATS_NAME_INIT_PARMS(tcs34725_stat_section));
SYSINIT_PANIC_ASSERT(rc == 0);
/* Register the entry with the stats registry */
rc = stats_register("tcs34725", STATS_HDR(g_tcs34725stats));
SYSINIT_PANIC_ASSERT(rc == 0);
rc = sensor_init(sensor, dev);
if (rc != 0) {
goto err;
}
/* Add the color sensor driver */
rc = sensor_set_driver(sensor, SENSOR_TYPE_COLOR,
(struct sensor_driver *) &g_tcs34725_sensor_driver);
if (rc != 0) {
goto err;
}
/* Set the interface */
rc = sensor_set_interface(sensor, arg);
if (rc) {
goto err;
}
rc = sensor_mgr_register(sensor);
if (rc != 0) {
goto err;
}
rc = sensor_set_type_mask(sensor, tcs34725->cfg.mask);
if (rc) {
goto err;
}
return (0);
err:
return (rc);
}
/**
* \brief Configuration function for the HDC1000 sensor.
*
* \param type Activate, enable or disable the sensor. See below
* \param enable
*
* When type == SENSORS_HW_INIT we turn on the hardware
* When type == SENSORS_ACTIVE and enable==1 we enable the sensor
* When type == SENSORS_ACTIVE and enable==0 we disable the sensor
*/
static int
configure(int type, int enable)
{
switch(type) {
case SENSORS_HW_INIT:
raw_temp = 0;
raw_hum = 0;
memset(&data, 0, sizeof(data));
sensor_init();
enabled = HDC_1000_SENSOR_STATUS_INITIALISED;
break;
case SENSORS_ACTIVE:
/* Must be initialised first */
if(enabled == HDC_1000_SENSOR_STATUS_DISABLED) {
return HDC_1000_SENSOR_STATUS_DISABLED;
}
if(enable) {
start();
ctimer_set(&startup_timer, SENSOR_STARTUP_DELAY, notify_ready, NULL);
enabled = HDC_1000_SENSOR_STATUS_TAKING_READINGS;
} else {
ctimer_stop(&startup_timer);
enabled = HDC_1000_SENSOR_STATUS_INITIALISED;
}
break;
default:
break;
}
return enabled;
}
void init()
{
m_clockdivide(0);
m_disableJTAG();
movement_init();
sensor_init();
}
int aos_kernel_init(kinit_t *kinit)
{
#ifdef AOS_VFS
vfs_init();
vfs_device_init();
#endif
#ifdef CONFIG_AOS_CLI
if (kinit->cli_enable)
aos_cli_init();
#endif
#ifdef AOS_KV
aos_kv_init();
#endif
#ifdef WITH_SAL
sal_device_init();
#endif
#ifdef AOS_LOOP
aos_loop_init();
#endif
#ifdef VCALL_RHINO
trace_start();
#endif
#ifdef AOS_FOTA
ota_service_init();
#endif
#ifdef AOS_SENSOR
sensor_init();
#endif
// auto_component generated by the compiler system, now gcc support
#if defined (__GNUC__)
aos_components_init();
#endif
#ifdef AOS_BINS
app_pre_init();
framework_pre_init();
if (framework_info->framework_entry) {
framework_info->framework_entry((void *)syscall_ktbl, kinit->argc, kinit->argv);
}
#else
#ifdef AOS_FRAMEWORK_COMMON
aos_framework_init();
#endif
application_start(kinit->argc, kinit->argv);
#endif
return 0;
}
/**
* Expects to be called back through os_dev_create().
*
* @param The device object associated with this accellerometer
* @param Argument passed to OS device init, unused
*
* @return 0 on success, non-zero error on failure.
*/
int
bno055_init(struct os_dev *dev, void *arg)
{
struct bno055 *bno055;
struct sensor *sensor;
int rc;
bno055 = (struct bno055 *) dev;
rc = bno055_default_cfg(&bno055->cfg);
if (rc) {
goto err;
}
#if MYNEWT_VAL(BNO055_LOG)
log_register("bno055", &_log, &log_console_handler, NULL, LOG_SYSLEVEL);
#endif
sensor = &bno055->sensor;
#if MYNEWT_VAL(BNO055_STATS)
/* Initialise the stats entry */
rc = stats_init(
STATS_HDR(g_bno055stats),
STATS_SIZE_INIT_PARMS(g_bno055stats, STATS_SIZE_32),
STATS_NAME_INIT_PARMS(bno055_stat_section));
SYSINIT_PANIC_ASSERT(rc == 0);
/* Register the entry with the stats registry */
rc = stats_register("bno055", STATS_HDR(g_bno055stats));
SYSINIT_PANIC_ASSERT(rc == 0);
#endif
rc = sensor_init(sensor, dev);
if (rc != 0) {
goto err;
}
/* Add the accelerometer/magnetometer driver */
rc = sensor_set_driver(sensor, SENSOR_TYPE_ACCELEROMETER |
SENSOR_TYPE_MAGNETIC_FIELD | SENSOR_TYPE_GYROSCOPE |
SENSOR_TYPE_TEMPERATURE | SENSOR_TYPE_ROTATION_VECTOR |
SENSOR_TYPE_GRAVITY | SENSOR_TYPE_LINEAR_ACCEL |
SENSOR_TYPE_EULER, (struct sensor_driver *) &g_bno055_sensor_driver);
if (rc != 0) {
goto err;
}
rc = sensor_mgr_register(sensor);
if (rc != 0) {
goto err;
}
return (0);
err:
return (rc);
}
/*
* init_lmSensors():
* Initialization routine. This is called when the agent starts up.
* At a minimum, registration of your variables should take place here.
*/
void
init_lmSensors(void)
{
sensor_init();
/*
* register ourselves with the agent to handle our mib tree
*/
REGISTER_MIB("lmSensors", lmSensors_variables, variable4,
lmSensors_variables_oid);
}
static int
sensor_command(struct i2c_client *client, unsigned int cmd, void *arg)
{
switch (cmd) {
case SENSOR_INIT:
sensor_init(client);
printk(KERN_INFO "External Camera initialized\n");
break;
case USER_ADD:
break;
case USER_EXIT:
break;
case SENSOR_QSVGA:
change_sensor_size(client, SENSOR_QSVGA);
break;
case SENSOR_VGA:
change_sensor_size(client, SENSOR_VGA);
break;
case SENSOR_SVGA:
change_sensor_size(client, SENSOR_SVGA);
break;
case SENSOR_SXGA:
change_sensor_size(client, SENSOR_SXGA);
break;
case SENSOR_UXGA:
change_sensor_size(client, SENSOR_UXGA);
break;
/* Todo
case SENSOR_BRIGHTNESS:
change_sensor_setting();
break;
*/
case SENSOR_WB:
printk("[ *** 4XA Sensor White Balance , No mode ***]\n");
change_sensor_wb(client, (int) arg);
break;
default:
panic("4xa_sensor.c : Unexpect Sensor Command \n");
break;
}
return 0;
}
void __init msm8974_init(void)
{
struct of_dev_auxdata *adata = msm8974_auxdata_lookup;
#ifdef CONFIG_SEC_DEBUG
sec_debug_init();
#endif
#ifdef CONFIG_PROC_AVC
sec_avc_log_init();
#endif
if (socinfo_init() < 0)
pr_err("%s: socinfo_init() failed\n", __func__);
samsung_sys_class_init();
msm_8974_init_gpiomux();
regulator_has_full_constraints();
board_dt_populate(adata);
msm8974_add_drivers();
platform_add_devices(common_devices, ARRAY_SIZE(common_devices));
#if defined (CONFIG_MOTOR_DRV_ISA1400)
vienna_motor_init();
#endif
#ifdef CONFIG_REGULATOR_MAX77826
i2c_register_board_info(MAX77826_I2C_BUS_ID, max77826_pmic_info,
ARRAY_SIZE(max77826_pmic_info));
#endif
#ifdef CONFIG_SEC_S_PROJECT
sensor_init();
#endif
#ifdef CONFIG_SENSORS_SSP
sensor_hub_init();
#endif
#ifdef CONFIG_SEC_PATEK_PROJECT
platform_device_register(&folder_keypad_device);
#endif
#ifdef CONFIG_SEC_PM_DEBUG
msm_show_resume_irq_mask = 1;
#endif
#if defined(CONFIG_BT_BCM4335) || defined(CONFIG_BT_BCM4339)
msm8974_bt_init();
#endif
}
Object initPlayer(Map room) {
Object playerObj = object_init(object_new(),
"@",
(mapVec){3, 1, 0},
(mapVec){1, 1, 0},
room
);
Sensor leftEye = sensor_init(sensor_new(), "left_eye",
frustum_init(frustum_new(),
mapvec_zero,
(mapVec){1, -1, 0},
1, 2,
0, 10
)
);
Sensor rightEye = sensor_init(sensor_new(), "right_eye",
frustum_init(frustum_new(),
mapvec_zero,
(mapVec){1, 1, 0},
1, 2,
0, 10
)
);
Sensor basicSense = sensor_init(sensor_new(), "basic_sense",
sphere_init(sphere_new(),
mapvec_zero,
2
)
);
object_add_sensor(playerObj, leftEye);
object_add_sensor(playerObj, rightEye);
object_add_sensor(playerObj, basicSense);
map_add_object(room, playerObj);
return playerObj;
}
/**
* Expects to be called back through os_dev_create().
*
* @param The device object associated with this accellerometer
* @param Argument passed to OS device init, unused
*
* @return 0 on success, non-zero error on failure.
*/
int
mpu6050_init(struct os_dev *dev, void *arg)
{
struct mpu6050 *mpu;
struct sensor *sensor;
int rc;
if (!arg || !dev) {
return SYS_ENODEV;
}
mpu = (struct mpu6050 *) dev;
mpu->cfg.mask = SENSOR_TYPE_ALL;
log_register(dev->od_name, &_log, &log_console_handler, NULL, LOG_SYSLEVEL);
sensor = &mpu->sensor;
/* Initialise the stats entry */
rc = stats_init(
STATS_HDR(g_mpu6050stats),
STATS_SIZE_INIT_PARMS(g_mpu6050stats, STATS_SIZE_32),
STATS_NAME_INIT_PARMS(mpu6050_stat_section));
SYSINIT_PANIC_ASSERT(rc == 0);
/* Register the entry with the stats registry */
rc = stats_register(dev->od_name, STATS_HDR(g_mpu6050stats));
SYSINIT_PANIC_ASSERT(rc == 0);
rc = sensor_init(sensor, dev);
if (rc) {
return rc;
}
/* Add the accelerometer/gyroscope driver */
rc = sensor_set_driver(sensor, SENSOR_TYPE_GYROSCOPE |
SENSOR_TYPE_ACCELEROMETER,
(struct sensor_driver *) &g_mpu6050_sensor_driver);
if (rc) {
return rc;
}
rc = sensor_set_interface(sensor, arg);
if (rc) {
return rc;
}
return sensor_mgr_register(sensor);
}
void init_all()
{
sensor_init();
stepper_init();
dc_mot_init();
servo_init();
pinMode(13,OUTPUT);
Serial.begin(115200);
pinMode(12,OUTPUT);
digitalWrite(12,HIGH);
pinMode(13,OUTPUT);
digitalWrite(13,LOW);
}
void sensor_list_append(Sensor_list_t *sensor_list, char* name, Sensor_t new_sensor) {
int i;
// make sure there's room to expand into
sensor_list_double_capacity_if_full(sensor_list);
// append the value and increment sensor_list->size
sensor_list->data[sensor_list->size].name = (char*)malloc(sizeof(char)*NAME_SIZE);
strncpy(sensor_list->data[sensor_list->size].name, name, NAME_SIZE);
sensor_init(&sensor_list->data[sensor_list->size]);
for (i = 0 ; i < new_sensor.number_of_values ; i++)
sensor_append(&sensor_list->data[sensor_list->size], new_sensor.data[i]);
sensor_list->size++;
}
/**
* \brief Initialize the leJOS driver and all required submodules
*
* Initialization contains: AINTC, systick, sensor ports, motor ports, SPI controller, ADC, hardware buttons, LEDs
*
* \return none
**/
void leJOS_init(void) {
if (!is_AINTC_initialized) {
// This should be done only once per application - if we use OSEK, leJOS_init will be called at least 2 times
interrupt_init();
systick_init();
is_AINTC_initialized = 1;
}
sensor_init();
spi_init();
adc_init();
motor_init();
led_init();
button_init();
// Confirm that the initialization was successful by setting the LEDs to green
led_set(LED_BOTH, LED_GREEN);
}
/**@brief Function for application main entry.
*/
int main(void)
{
system_HFCLK_init();
// uart init
simple_uart_config(RTS_PIN_NUMBER, TX_PIN_NUMBER, CTS_PIN_NUMBER, RX_PIN_NUMBER, 0);
xprintf("APP start up..\r\n");
mcu_bootloader_check();
// Initialize.
app_trace_init();
leds_init();
buttons_init();
ble_stack_init();
device_manager_init();
timers_init();
gap_params_init();
advertising_init();
services_init();
sensor_sim_init();
conn_params_init();
//I2C and sensor initial
system_I2C_init();
OLED_Init();
sensor_init();
enter_pedo_mode();
GPIO_HiToLo_INT_config(BUTTON_2);
// Test battery
if(!battery_self_detect())
{
system_low_battery();
}
// Start execution.
application_timers_start();
advertising_start();
// Enter main loop.
for (;;)
{
power_manage();
}
}
// MAIN TASK INITIALIZATIOON
result_t Task_SmartPHTApp_Init(void)
{
result_t result;
adc_init();
rtc_initialize();
rtc_set(&statusBarData.time);
RESULT_CHECK( ioexp_initialize(), result);
RESULT_CHECK( touch_initialize(), result);
battery_init();
battery_enable_usb_charger(bTrue);
battery_enable_ac_charger(bTrue);
install_event_handlers();
gui_set_current_view(&view_dashboard);
// Initialize USB
initCDC(); // setup the CDC state machine
usb_init(cdc_device_descriptor, cdc_config_descriptor, cdc_str_descs, USB_NUM_STRINGS); // initialize USB. TODO: Remove magic with macro
usb_start(); //start the USB peripheral
EnableUsbPerifInterrupts(USB_TRN + USB_SOF + USB_UERR + USB_URST);
EnableUsbGlobalInterrupt(); // Only enables global USB interrupt. Chip interrupts must be enabled by the user (PIC18)
sensor_init();
reset_minmax();
reset_alarms();
// Reset waveforms
wfrm_clear(&wfrmPressure);
wfrm_clear(&wfrmHumidity);
wfrm_clear(&wfrmTemperature);
// Set plot scale
lineplot_set_sample_per(&lineplot, &supportedSamplingPeriods[sliderSampPeriodData.value]);
// Default sensor
checkable_set_checked(&btnSelInterface0, bTrue);
return RV_OK;
}
/*---------------------------------------------------------------------------*/
PROCESS_THREAD(shell_sample_stats_process, ev, data) {
static uint16_t data_sam[NUM_SAM];
uint16_t sum = 0;
uint16_t sqsum = 0;
static struct etimer etimer;
PROCESS_BEGIN();
// Gather NUM_SAM samples over 1 second of time
sensor_init();
printf("Gathering data... ");
for(counter = 0;counter < NUM_SAM;counter++) {
// Get data for no change analysis.
etimer_set(&etimer, CLOCK_SECOND / NUM_SAM);
PROCESS_WAIT_UNTIL(etimer_expired(&etimer));
data_sam[counter] = sensor_read();
}
printf("done!\n");
sensor_uinit();
// Sum the no change data
sum = 0;
for(counter = 0;counter < NUM_SAM;counter++) {
sum = sum + data_sam[counter];
}
sample_mean = 0;
printf("sum = %d\n",sum);
sample_mean = sum/NUM_SAM;
printf("sample_mean = %d\n",sample_mean);
// Caclulate sample_std_dev
sqsum = 0;
for(counter = 0;counter < NUM_SAM;counter++) {
sqsum = sqsum + mypow2(abs_sub(data_sam[counter], sample_mean));
}
sample_std_dev = 0;
sample_std_dev = sqsum/NUM_SAM;
sample_std_dev = mysqrt(sample_std_dev);
printf("std_dev = %d\n",sample_std_dev);
PROCESS_END();
}
void InitSensor(int LeftLine, int TopLine, int Width, int Height, int FPReaderOpt)
{
ImageWidth=Width;
ImageHeight=Height;
cim_init(Width,Height);
if( sensor_init(LeftLine, TopLine, Width, Height, FPReaderOpt)!=0 )
{
GPIO_HY7131_Power(FALSE);
fd_sensor = 0;
printf("Initialize sensor failed !!!\n");
}
else
{
fd_sensor = 1;
abs(-1);
printf("%d\n",abs(-1));
printf("Finished sensor init.\n");
}
}
const mp_obj_module_t *py_sensor_init()
{
/* Init sensor */
if (sensor_init() != 0) {
return NULL;
}
/* Reset sensor and registers */
sensor_reset();
/* Use some default settings */
sensor_set_pixformat(PIXFORMAT_RGB565);
sensor_set_framesize(FRAMESIZE_QQVGA);
sensor_set_framerate(FRAMERATE_30FPS);
sensor_set_gainceiling(GAINCEILING_8X);
sensor_set_contrast(0);
sensor_set_brightness(0);
return &sensor_module;
}
/******************************************************************************
* funciton : Sensor init
* note : different sensor corresponding different lib. So, you can change
SENSOR_TYPE in Makefile.para, instead of modify program code.
******************************************************************************/
HI_S32 SAMPLE_COMM_ISP_SensorInit(void)
{
HI_S32 s32Ret;
#ifdef ISP_V1
/* 1. sensor init */
sensor_init();
/* 0: linear mode, 1: WDR mode */
sensor_mode_set(0);
#endif
/* 2. sensor register callback */
s32Ret = sensor_register_callback();
if (s32Ret != HI_SUCCESS)
{
printf("%s: sensor_register_callback failed with %#x!\n", \
__FUNCTION__, s32Ret);
return s32Ret;
}
return HI_SUCCESS;
}
PROCESS_THREAD(shell_sleepy_trilat_start_process, ev, data)
{
PROCESS_BEGIN();
open_runicast();
my_node = rimeaddr_node_addr.u8[0];
if (my_node != SINK_NODE)
{
static struct etimer etimer0;
static char message[4];
static int i = 0;
etimer_set(&etimer0, CLOCK_SECOND/16);
sensor_init();
// leds_on(LEDS_ALL);
PROCESS_WAIT_EVENT_UNTIL(etimer_expired(&etimer0));
for (i = 1; i <= 100; i++)
{
etimer_set(&etimer0, CLOCK_SECOND/50);
PROCESS_WAIT_EVENT_UNTIL(etimer_expired(&etimer0));
my_noise = sensor_read() + my_noise;
}
sensor_uinit();
my_noise = my_noise / 100;
etimer_set(&etimer0, CLOCK_SECOND * (my_node - FIRST_NODE + 1));
leds_on(LEDS_ALL);
PROCESS_WAIT_EVENT_UNTIL(etimer_expired(&etimer0));
leds_off(LEDS_ALL);
itoa(my_noise, message, 10);
strcat(message, "!\0");
transmit_runicast(message, SINK_NODE);
// process_start(&node_timeout_process, NULL);
}
PROCESS_END();
}
//Main.
int main (int argc, char *argv[]) {
//Initialize sensors and structures...
if (argc>2) {
fprintf(stderr, "Usage: %s {raw, cooked}\n", argv[0]);
exit(EXIT_FAILURE);
} else {
sensor_init((argc==2 && strcmp(argv[1], "raw")==0) ? raw : cooked);
}
//Create X connection.
display_init();
int x_fd=XConnectionNumber(_D); //To be perfectly formal, I have to check POSIX compatibility.
fprintf(log_stream, "X Connection descriptor opened on fd %3d.\n", x_fd);
/**/
while (service_select_request(x_fd)!=loop_end) ;
/**/
sleep(2);
//Terminate X connection.
display_destr();
//Close files and structures...
sensor_destr();
return 0;
}
