void onAlarm(void *x) {
redLedToggle();
// schedule the next alarm *exactly* 1000 milliseconds after this one
nextPeriod += PERIOD;
alarmSchedule(&alarm, nextPeriod - getJiffies());
}
void appMain(void)
{
uint16_t i;
// ------------------------- serial number
DPRINTF("Mote %#04x starting...\n", localAddress);
// ------------------------- external flash
#if WRITE_TO_FLASH
prepareExtFlash();
#endif
// ------------------------- light sensors
if (localAddress != 0x0796) {
PRINT("init isl\n");
islInit();
islOn();
} else {
PRINT("init ads\n");
adsInit();
adsSelectInput(0);
}
// ------------------------- main loop
mdelay(3000);
DPRINTF("starting main loop...\n");
for (i = 0; i < 6; ++i) {
redLedToggle();
mdelay(100);
}
ledOff();
uint32_t nextDataReadTime = 0;
uint32_t nextBlinkTime = 0;
for (;;) {
uint32_t now = getRealTime();
if (timeAfter32(now, nextDataReadTime)) {
if (getJiffies() < 300 * 1000ul ) {
nextDataReadTime = now + DATA_INTERVAL_SMALL;
} else {
nextDataReadTime = now + DATA_INTERVAL;
}
DataPacket_t packet;
readSensors(&packet);
#if PRINT_PACKET
printPacket(&packet);
#endif
}
if (timeAfter32(now, nextBlinkTime)) {
nextBlinkTime = now + BLINK_INTERVAL;
ledOn();
msleep(100);
ledOff();
}
msleep(1000);
}
}
//-------------------------------------------
// Entry point for the application
//-------------------------------------------
void appMain(void)
{
PRINTF("\n\nAccelerometer data gathering app\n");
extFlashWake();
// start with clean and new...
cleanFlash();
accelOn();
userButtonEnable(onUserButton);
mdelay(START_DELAY);
uint16_t lastSecond;
uint16_t samplesPerSecond;
for (;;) {
while (!isActiveMode);
redLedOn();
lastSecond = getTimeSec();
samplesPerSecond = 0;
uint16_t i;
for (i = 0; isActiveMode; i++) {
if (i % 10 == 0) redLedToggle();
uint32_t now = getTimeMs();
uint32_t endTime = now + MAIN_LOOP_LENGTH;
Packet_t p;
p.timestamp = now;
p.acc_x = accelReadX();
p.acc_y = accelReadY();
p.acc_z = accelReadZ();
printPacket(&p);
samplesPerSecond++;
uint16_t currentSecond = getTimeSec();
if (currentSecond != lastSecond) {
PRINTF("samples per second = %u\n", samplesPerSecond);
lastSecond = currentSecond;
samplesPerSecond = 0;
}
while (timeAfter32(endTime, getTimeMs()));
}
redLedOff();
}
}
int main(void) {
led_initialise();
// Real programs never die!
for(;;) {
greenLedToggle();
greenLed2Toggle();
redLedToggle();
yellowLedToggle();
delay();
}
}
void radioRecvCb() {
static uint8_t buffer[128];
int16_t len;
redLedToggle();
len = radioRecv(buffer, sizeof(buffer) - 1);
if (len <= 0) {
PRINTF("radio recv failed, len=%d\n", len);
return;
}
if (len > 0) {
buffer[len] = 0;
PRINTF("recv: %s\n", (char *) buffer);
}
}
/*---------------------------------------------------------------------*/
PROCESS_THREAD(blink_red_process, ev, data)
{
PROCESS_BEGIN();
static struct etimer timer;
while (1) {
etimer_set(&timer, TIMER_INTERRUPT_HZ / 2);
PROCESS_WAIT_UNTIL(etimer_expired(&timer));
redLedToggle();
yellowLedToggle(); // for Atmega
}
PROCESS_END();
}
void appMain(void)
{
alarmInit(&alarm, alarmCallback, (void *) 0);
alarmSchedule(&alarm, 10);
for (;;) {
// PRINT("in app main...\n");
redLedToggle();
#if 1 // will get different error messages depending on whether in mdelay or in msleep
msleep(1000);
#else
mdelay(1000);
#endif
}
}
void appMain(void)
{
redLedToggle();
// initialize and schedule the alarm
alarmInit(&alarm, onAlarm, NULL);
nextPeriod = PERIOD;
// jiffie counter starts from 0 (zero) after reset
alarmSchedule(&alarm, PERIOD - getJiffies());
// enter infinite low-power loop
for (;;) {
sleep(10);
}
}
// Timer #1 callback function
void onTimer1(void *x)
{
static uint8_t counter;
PRINTF("onTimer1\n");
redLedToggle();
// start (schedule) timer #1
alarmSchedule(&timer1, 700);
if (++counter == 3) {
// In case the counter is 3, start (schedule) timer #2 too
PRINTF("reschedule alarm\n");
alarmSchedule(&timer2, 200);
}
}
/*---------------------------------------------------------------------*/
PROCESS_THREAD(send_process, ev, data)
{
PROCESS_BEGIN();
static struct etimer timer;
static uint16_t counter = 0;
while (1) {
PRINTF("Sending %i\n", counter);
radioSend(&counter, sizeof(counter));
++counter;
redLedToggle();
waitTimer(timer, TIMER_INTERRUPT_HZ);
}
PROCESS_END();
}
void appMain(void)
{
Socket_t socket;
socketOpen(&socket, recvData);
socketBind(&socket, COUNTER_PORT);
socketSetDstAddress(&socket, MOS_ADDR_ROOT);
#if BASE_STATION
(void) sendData;
for (;;) {
// PRINT("in app main\n");
redLedToggle();
mdelay(SLEEP_TIME_MS);
}
#else
sendData(&socket);
#endif
}
static void rxByte1(void)
{
uint8_t rxByte, bitnum;
bool rxOk;
uint16_t i;
#if USE_SW_SERIAL_INTERRUPTS
udelay(75);
#endif
restart:
rxByte = 0;
TBCCR2 = TBR;
for (bitnum = 0; bitnum < 8; ++bitnum) {
// wait for next data bit
TBCCTL2 = OUT;
TBCCR2 += UART_BITTIME;
while (0 == (TBCCTL2 & CCIFG));
rxByte |= pinRead(UART1_RX_PORT, UART1_RX_PIN) << bitnum;
}
// wait for the stop bit
TBCCTL2 = OUT;
TBCCR2 += UART_BITTIME;
while (0 == (TBCCTL2 & CCIFG));
// ok if stop bit is 1
rxOk = pinRead(UART1_RX_PORT, UART1_RX_PIN);
if (rxOk) serialRecvCb[1](rxByte);
else redLedToggle();
// receive next byte immediately, do not wait for the next int
for (i = 0; i < 1000; ++i) {
if (!pinRead(UART0_RX_PORT, UART0_RX_PIN)) {
udelay(50);
goto restart;
}
}
}
static void macRecv(MacInfo_t *mi, uint8_t *data, uint16_t len)
{
PRINTF("got %d bytes from 0x%04x (0x%02x) \n",
len, mi->originalSrc.shortAddr, *data);
redLedToggle();
}
static void recvData(Socket_t *socket, uint8_t *data, uint16_t len)
{
PRINTF("got %d bytes from 0x%04x (0x%02x) \n",
len, socket->recvMacInfo->originalSrc.shortAddr, *data);
redLedToggle();
}
//-------------------------------------------
// Entry point for the application
//-------------------------------------------
void appMain(void)
{
while (1)
{
static uint_t i;
// test 1: counter 0-7
for (i = 0; i < 8; ++i) {
ledsSet(i);
msleep(PAUSE);
}
// test 2: all off, then red on/off, then green on/off, finally blue on/off
ledsSet(0);
msleep(PAUSE);
redLedOn();
msleep(PAUSE);
redLedOff();
msleep(PAUSE);
greenLedOn();
msleep(PAUSE);
greenLedOff();
msleep(PAUSE);
blueLedOn();
msleep(PAUSE);
blueLedOff();
msleep(PAUSE);
// test 3: all on, then blue off, green off, red off
ledsSet(7);
msleep(PAUSE);
blueLedOff();
msleep(PAUSE);
greenLedOff();
msleep(PAUSE);
redLedOff();
msleep(PAUSE);
// test 4: repeat last two tests with toggle
redLedToggle();
msleep(PAUSE);
redLedToggle();
msleep(PAUSE);
greenLedToggle();
msleep(PAUSE);
greenLedToggle();
msleep(PAUSE);
blueLedToggle();
msleep(PAUSE);
blueLedToggle();
msleep(PAUSE);
ledsSet(7);
msleep(PAUSE);
blueLedToggle();
msleep(PAUSE);
greenLedToggle();
msleep(PAUSE);
redLedToggle();
msleep(PAUSE);
// test 5: check that isOn functions work
ledsSet(0);
ASSERT(!redLedGet());
ASSERT(!greenLedGet());
ASSERT(!blueLedGet());
ledsSet(7);
ASSERT(redLedGet());
ASSERT(greenLedGet());
ASSERT(blueLedGet());
} // EOF while (1)
}
//-------------------------------------------
// Entry point for the application
//-------------------------------------------
void appMain(void)
{
char *ss;
uint16_t len, i;
AccelVector3D_t accel;
int16_t ax0, ay0, az0;
int16_t ax, ay, az;
int16_t dx0, dy0, dz0;
int16_t vx0, vy0, vz0;
int16_t vx, vy, vz;
int16_t sx, sy, sz;
int16_t t=1;
int32_t ssx, ssy, ssz;
//code
curX = curY = curZ = 0;
ax0 = ay0 = az0 = 0;
ax = ay = az = 0;
vx0 = vy0 = vz0 = 0;
vx = vy = vz = 0;
dx0 = dy0 = dz0 = accel_prec;
vx=0;
vy=0;
vz=0;
ssx = ssy = ssz = 0;
//Turn the Accelerometer on (P4.0=1)!
PIN_AS_DATA(4,0);
PIN_AS_OUTPUT(4,0);
PIN_SET(4,0);
adcSetChannel(1);
ADC12MCTL2 = SREF_AVCC_AVSS;
for( i=0; i<cnt_warmup; i++){
accel.x = adcRead(ACC_X_PORT);
accel.y = adcRead(ACC_Y_PORT);
accel.z = adcRead(ACC_Z_PORT);
ssx += accel.x;
ssy += accel.y;
ssz += accel.z;
msleep(10);
}
ax0 = ssx / cnt_warmup;
ay0 = ssy / cnt_warmup;
az0 = ssz / cnt_warmup;
ax0 >>= dx0;
ay0 >>= dy0;
az0 >>= dz0;
while(1) {
accel.x = adcRead(ACC_X_PORT);
accel.y = adcRead(ACC_Y_PORT);
accel.z = adcRead(ACC_Z_PORT);
ax = accel.x >> dx0;
ax = (ax - ax0);
ay = accel.y >> dy0;
ay = (ay - ay0);
az = accel.z >> dz0;
az = (az - az0);
vx0 = vx;
vx = vx0 + ax * t;
sx = ((vx + vx0) / 2) * t;
curX += (sx / mm);
vy0 = vy;
vy = vy0 + ay * t;
sy = ((vy + vy0) / 2) * t;
curY += (sy / mm);
vz0 = vz;
vz = vz0 + az * t;
sz = ((vz + vz0) / 2) * t;
curZ += (sz / mm);
PRINTF("%4u %4u %4u", accel.x, accel.y, accel.z);
PRINTF(" %5d %5d %5d", ax0, ay0, az0);
PRINTF(" %5d %5d %5d", ax, ay, az);
PRINTF(" %7d %7d %7d", vx, vy, vz);
PRINTF(" %7d %7d %7d", sx, sy, sz);
PRINTF(" %7d %7d %7d", curX, curY, curZ);
PRINTF("\n");
redLedToggle();
msleep(10);
}
}
