void imu_impl_init(void)
{
/////////////////////////////////////////////////////////////////////
// ITG3200
itg3200_init();
/////////////////////////////////////////////////////////////////////
// ADXL345
adxl345_init();
}
void imu_impl_init(void)
{
/////////////////////////////////////////////////////////////////////
// ITG3200
itg3200_init();
/////////////////////////////////////////////////////////////////////
// ADXL345
adxl345_init();
/////////////////////////////////////////////////////////////////////
// HMC58XX
hmc58xx_init();
}
/** Configures the board hardware and chip peripherals for the demo's functionality. */
void SetupHardware(void)
{
#if (ARCH == ARCH_AVR8)
/* Disable watchdog if enabled by bootloader/fuses */
MCUSR &= ~(1 << WDRF);
wdt_disable();
/* Disable clock division */
clock_prescale_set(clock_div_1);
#elif (ARCH == ARCH_XMEGA)
/* Start the PLL to multiply the 2MHz RC oscillator to 32MHz and switch the CPU core to run from it */
XMEGACLK_StartPLL(CLOCK_SRC_INT_RC2MHZ, 2000000, F_CPU);
XMEGACLK_SetCPUClockSource(CLOCK_SRC_PLL);
/* Start the 32MHz internal RC oscillator and start the DFLL to increase it to 48MHz using the USB SOF as a reference */
XMEGACLK_StartInternalOscillator(CLOCK_SRC_INT_RC32MHZ);
XMEGACLK_StartDFLL(CLOCK_SRC_INT_RC32MHZ, DFLL_REF_INT_USBSOF, F_USB);
PMIC.CTRL = PMIC_LOLVLEN_bm | PMIC_MEDLVLEN_bm | PMIC_HILVLEN_bm;
#endif
/* Hardware Initialization */
//i2c
TWI_Init(TWI_BIT_PRESCALE_1, TWI_BITLENGTH_FROM_FREQ(1, 400000));
//button ports init
buttons_init();
//timer init
TCCR1B |=(1<<CS10)|(1<<CS12);//prescaler 1024
TCNT1 = 0;//init counter
//screen setup - software spi, sh1106 driver (sh1306 analog)
/* Atmega32U4 mapping:
SCK (D0) - PORTB, PIN1 == PN(1, 1)
MOSI (D1) - PORTB, PIN2
RES (RST) - PORTB, PIN0
A0 (DC) - PORTB, PIN5 (OC1A/#A9)
*/
display_init();
display_draw_logo();
//sensors initialization
adxl345_init(MEASURE_ON, RANGE_2G, ODR_800);
l3g4200d_init(FIFO_HI_LO_PASS, NORM_ODR_800);
hmc5883l_init(MODE_CONT, GAIN_4_7, NORM_75HZ_8AV);
USB_Init();
}
//init and start adxl345
void ADXL345_Init_Start(int i2c_bus_handle, unsigned char sensor_addr, unsigned char *statusPeripheralOutput)
{
if(i2c_bus_handle>=0)
{
//init adxl
if(!adxl345_init(i2c_bus_handle, sensor_addr))
{
printf("init adxl fail\n");
//return errno;
*statusPeripheralOutput &= ~(1<<BIT_ADXL345_READY);
}
else
{
*statusPeripheralOutput |= (1<<BIT_ADXL345_READY);
}
#if VERBOSE==1
printf("adxl345 init success\r\n");
#endif
//start adxl
if(!adxl345_start(i2c_bus_handle, sensor_addr))
{
printf("cannot start adxl\n");
//return errno;
*statusPeripheralOutput &= ~(1<<BIT_ADXL345_READY);
}
else
{
*statusPeripheralOutput |= (1<<BIT_ADXL345_READY);
}
#if VERBOSE==1
printf("adxl345 started\r\n");
#endif
}
else
{
#if VERBOSE==1
printf("i2c bus not ready\r\n");
#endif
}
}
int main (int argc, char **argv) {
int16_t *raw;
float *acc;
// Note: Sensor only works at 3.3V on the Intel Edison with Arduino breakout
adxl345_init();
while(1) {
adxl345_update(); // Update the data
//raw = adxl345_getrawvalues(); // Read raw sensor data
acc = adxl345_getacceleration(); // Read acceleration (g)
// +-1%
fprintf(stdout, "Current scale: 0x%2xg\n", adxl345_getscale());
//fprintf(stdout, "Raw: %6d %6d %6d\n", raw[0], raw[1], raw[2]);
fprintf(stdout, "AccX: %5.2f g\n", acc[0]);
fprintf(stdout, "AccY: %5.2f g\n", acc[1]);
fprintf(stdout, "AccZ: %5.2f g\n", acc[2]);
// sleep(1);
}
return 0;
}
int main(void){
int fd;
struct acc_dat acc_xyz;
fd = wiringPiI2CSetup(DevAddr);
if(-1 == fd){
perror("I2C device setup error");
}
adxl345_init(fd);
printf("-----> ACCELEROMETER INITIALIZED\n");
while (1) {
acc_xyz = adxl345_read_xyz(fd);
printf("x: %05d, y: %05d, z: %05d\n", acc_xyz.x, acc_xyz.y, acc_xyz.z);
delay(500);
}
return 0;
}
/*#####################################################*/
bool board_init()
{
core_init();
timer_init();
RtcInit();
/*-----------------------------------------------------*/
/* Set up the Uart 0 like debug interface with RxBuff = 256, TxBuff = 256, 115200b/s*/
Uart[0] = new_(new_uart);
Uart[0]->TxPin = Uart0_Tx_PinMux_E16;
Uart[0]->RxPin = Uart0_Rx_PinMux_E15;
Uart[0]->BaudRate = 115200;
Uart[0]->RxBuffSize = 256;
Uart[0]->TxBuffSize = 256;
Uart[0]->rxFifoTrigLevel = 1;
Uart[0]->txFifoTrigLevel = 1;
Uart[0]->UartNr = 0;
uart_open(Uart[0]);
DebugCom = Uart[0];
/*-----------------------------------------------------*/
LED[0] = gpio_assign(1, 21, GPIO_DIR_OUTPUT, false);
LED[1] = gpio_assign(1, 22, GPIO_DIR_OUTPUT, false);
LED[2] = gpio_assign(1, 23, GPIO_DIR_OUTPUT, false);
LED[3] = gpio_assign(1, 24, GPIO_DIR_OUTPUT, false);
/*-----------------------------------------------------*/
/* Display board message*/
#if defined(BOARD_MESSAGE)
UARTprintf(DebugCom, "Use %s Board.\n\r", BOARD_MESSAGE);
#endif
/*-----------------------------------------------------*/
/* Set up the Twi 0 to communicate with PMIC and the Onboard serial EEprom memory */
UARTPuts(DebugCom, "Setup TWI 0 with RxBuff = 258, TxBuff = 258....." , -1);
TWI[0] = new_(new_twi);
TWI[0]->SdaPin = Twi0_Sda_PinMux_C17;
TWI[0]->SclPin = Twi0_Scl_PinMux_C16;
TWI[0]->BaudRate = 100000;
TWI[0]->TwiNr = 0;
TWI[0]->Priority = 0;
TWI[0]->UseInterrupt = TRUE;
TWI[0]->RxBuffSize = 258;
TWI[0]->TxBuffSize = 258;
twi_open(TWI[0]);
UARTPuts(DebugCom, "OK.\n\r" , -1);
/*-----------------------------------------------------*/
if(!is_beaglebone()) return false;
/*-----------------------------------------------------*/
/* Set up the Twi 1 to communicate with PMIC and the Onboard serial EEprom memory */
UARTPuts(DebugCom, "Setup TWI 1 with RxBuff = 258, TxBuff = 258....." , -1);
TWI[1] = new_(new_twi);
TWI[1]->SdaPin = Twi1_Sda_PinMux_B16;
TWI[1]->SclPin = Twi1_Scl_PinMux_A16;
TWI[1]->BaudRate = 100000;
TWI[1]->TwiNr = 1;
TWI[1]->Priority = 0;
TWI[1]->UseInterrupt = TRUE;
TWI[1]->RxBuffSize = 258;
TWI[1]->TxBuffSize = 258;
twi_open(TWI[1]);
UARTPuts(DebugCom, "OK.\n\r" , -1);
/*-----------------------------------------------------*/
/* Set up the Twi 2 to communicate with PMIC and the Onboard serial EEprom memory */
UARTPuts(DebugCom, "Setup TWI 2 with RxBuff = 258, TxBuff = 258....." , -1);
TWI[2] = new_(new_twi);
TWI[2]->SdaPin = Twi2_Sda_PinMux_D18;
TWI[2]->SclPin = Twi2_Scl_PinMux_D17;
TWI[2]->BaudRate = 100000;
TWI[2]->TwiNr = 2;
TWI[2]->Priority = 0;
TWI[2]->UseInterrupt = TRUE;
TWI[2]->RxBuffSize = 258;
TWI[2]->TxBuffSize = 258;
twi_open(TWI[2]);
UARTPuts(DebugCom, "OK.\n\r" , -1);
/*-----------------------------------------------------*/
beaglebone_detect_extension_boards();
/*-----------------------------------------------------*/
#if USE_ADXL345
ADXL345_1 = new_(new_adxl345);
ADXL345_1->MasterSlaveAddr = ADXL345_SLAVE_ADDR_ALT_0;
ADXL345_1->TwiStruct = TWI[2];
ADXL345_1->Calibration_X = -14;
ADXL345_1->Calibration_Y = 11;
ADXL345_1->Calibration_Z = 24;
ADXL345_1->FilterBuffSize = 4;
if(adxl345_init(ADXL345_1))
{
UARTPuts(DebugCom, "ADXL345 detected on TWI2.\n\r" , -1);
}
else
{
if(ADXL345_1) free(ADXL345_1);
UARTPuts(DebugCom, "ADXL345 not detected.\n\r" , -1);
}
#endif
/*-----------------------------------------------------*/
UARTPuts(DebugCom, "Init MMCSD0 .......", -1);
sdCtrl[0].SdNr = 0;
mmcsd_init(&sdCtrl[0], 0, 6, LED[0]);
UARTPuts(DebugCom, "OK.\n\r", -1);
mmcsd_idle(&sdCtrl[0]);
/*-----------------------------------------------------*/
eMMC_Res = gpio_assign(1, 20, GPIO_DIR_OUTPUT, false);
gpio_out(eMMC_Res, 0);
Sysdelay(10);
gpio_out(eMMC_Res, 1);
UARTPuts(DebugCom, "Init MMCSD1 .......", -1);
sdCtrl[1].SdNr = 1;
mmcsd_init(&sdCtrl[1], -1, -1, LED[0]);
UARTPuts(DebugCom, "OK.\n\r", -1);
mmcsd_idle(&sdCtrl[1]);
/*-----------------------------------------------------*/
#ifdef usb_1_msc
UARTPuts(DebugCom, "Init USBMSC1 Host.......", -1);
usb_msc_host_init(1, LED[2]);
UARTPuts(DebugCom, "OK.\n\r", -1);
usb_msc_host_idle(1);
#elif defined( usb_1_mouse ) && !defined( touch )
/*-----------------------------------------------------*/
UARTPuts(DebugCom, "Init USBMOUSE1 Host.......", -1);
usb_mouse_host_init(1);
UARTPuts(DebugCom, "OK.\n\r", -1);
#endif
/*-----------------------------------------------------*/
#if defined( usb_0_dev_msc ) && defined ( BridgeUsbDev0ToMmcSd0)
UARTPuts(DebugCom, "Bridge USBMSC0 Dev for MMCSD0 Interface.......", -1);
drv_rw_func.DriveStruct = &sdCtrl[0];
drv_rw_func.drv_ioctl_func = mmcsd_ioctl;
drv_rw_func.drv_r_func = mmcsd_read;
drv_rw_func.drv_w_func = mmcsd_write;
usb_msc_dev_init(0);
UARTPuts(DebugCom, "OK.\n\r", -1);
/*-----------------------------------------------------*/
#elif defined( usb_0_dev_msc ) && defined ( BridgeUsbDev0ToMmcSd1)
UARTPuts(DebugCom, "Bridge USBMSC0 Dev for MMCSD1 Interface.......", -1);
drv_rw_func.DriveStruct = &sdCtrl[1];
drv_rw_func.drv_ioctl_func = mmcsd_ioctl;
drv_rw_func.drv_r_func = mmcsd_read;
drv_rw_func.drv_w_func = mmcsd_write;
usb_msc_dev_init(0);
UARTPuts(DebugCom, "OK.\n\r", -1);
/*-----------------------------------------------------*/
#elif defined( usb_0_dev_msc ) && defined ( BridgeUsbDev0ToUsbHost1) && defined(usb_1_msc) && !defined(usb_1_mouse)
extern unsigned int g_ulMSCInstance0Usb1;//UsbMsc driver
UARTPuts(DebugCom, "Bridge USBMSC0 Dev for USBMSC1Host Interface.......", -1);
drv_rw_func.DriveStruct = (void *)g_ulMSCInstance0Usb1;
drv_rw_func.drv_ioctl_func = usb_msc_host_ioctl;
drv_rw_func.drv_r_func = usb_msc_host_read;
drv_rw_func.drv_w_func = usb_msc_host_write;
usb_msc_dev_init(0);
UARTPuts(DebugCom, "OK.\n\r", -1);
#endif
/*-----------------------------------------------------*/
#ifdef lcd
TouchScreen = new_(new_touchscreen);
TouchScreen->TwiStruct = TWI[1];
#endif
bool LCD3_Cape_Detected = false;
if(Board1ConfigData) if(!memcmp(Board1ConfigData + 4, "A0BeagleBone LCD3 CAPE", 22)) LCD3_Cape_Detected = true;
if(Board2ConfigData) if(!memcmp(Board2ConfigData + 4, "A0BeagleBone LCD3 CAPE", 22)) LCD3_Cape_Detected = true;
if(Board3ConfigData) if(!memcmp(Board3ConfigData + 4, "A0BeagleBone LCD3 CAPE", 22)) LCD3_Cape_Detected = true;
if(Board4ConfigData) if(!memcmp(Board4ConfigData + 4, "A0BeagleBone LCD3 CAPE", 22)) LCD3_Cape_Detected = true;
if(LCD3_Cape_Detected)
{
/*-----------------------------------------------------*/
HARDBTN[0] = gpio_assign(1, 16, GPIO_DIR_INPUT, false);
HARDBTN[1] = gpio_assign(1, 17, GPIO_DIR_INPUT, false);
HARDBTN[2] = gpio_assign(3, 19, GPIO_DIR_INPUT, false);
HARDBTN[3] = gpio_assign(1, 28, GPIO_DIR_INPUT, false);
HARDBTN[4] = gpio_assign(0, 7, GPIO_DIR_INPUT, false);
/*-----------------------------------------------------*/
LED[4] = gpio_assign(1, 28, GPIO_DIR_OUTPUT, false);
LED[5] = gpio_assign(1, 18, GPIO_DIR_OUTPUT, false);
/*-----------------------------------------------------*/
#ifdef lcd
ScreenBuff = new_(new_screen);
ScreenBuff->raster_timings = &lcd_S035Q01_beaglebone_exp;
ScreenBuff->BackLightLevel = 60;
ScreenBuff->PmicTwiModuleStruct = TWI[0];
screen_init(ScreenBuff);
UARTprintf(DebugCom, "LCD display initialize successful for %dx%d resolution, %d Bit bus.\n\r" , ScreenBuff->raster_timings->X, ScreenBuff->raster_timings->Y, ScreenBuff->raster_timings->bus_size);
TouchScreen->screen_max_x = (double)ScreenBuff->raster_timings->X;
TouchScreen->screen_max_y = (double)ScreenBuff->raster_timings->Y;
TouchScreen->pDisplay = ScreenBuff;
InitTouchScreen(TouchScreen);
UARTPuts(DebugCom, "Init calibration of LCD resistive touch screen....." , -1);
TouchCalibrate(TouchScreen, ScreenBuff);
UARTPuts(DebugCom, "OK.\n\r" , -1);
put_rectangle(ScreenBuff, 0, 0, ScreenBuff->raster_timings->X, ScreenBuff->raster_timings->Y, true, controls_color.Scren);
box_cache_clean(ScreenBuff, 0, 0, ScreenBuff->raster_timings->X, ScreenBuff->raster_timings->Y);
#endif
}
else
{
#ifdef lcd
if(ft5x06_init(TouchScreen, 0, 30))
{
UARTPuts(DebugCom, "Capacitive touch screen detected and set up successful.\n\r" , -1);
#endif
UARTPuts(DebugCom, "I suppose that is BeagleBone Multimedia cape from Chipsee.\n\r" , -1);
/*-----------------------------------------------------*/
HARDBTN[0] = gpio_assign(1, 19, GPIO_DIR_INPUT, false);
HARDBTN[1] = gpio_assign(1, 16, GPIO_DIR_INPUT, false);
HARDBTN[2] = gpio_assign(1, 17, GPIO_DIR_INPUT, false);
HARDBTN[3] = gpio_assign(0, 7, GPIO_DIR_INPUT, false);
//HARDBTN[4] = gpio_assign(1, 3, GPIO_DIR_INPUT, false); If you use BBB this pin is used by the DAT3 of eMMC onboard memory(if you want to use this pin you will use the eMMC in 1 bit data bus mode).
/*-----------------------------------------------------*/
#ifdef lcd
ScreenBuff = new_(new_screen);
ScreenBuff->raster_timings = &lcd_AT070TN92_beaglebone_exp;
ScreenBuff->BackLightPort = 1;
ScreenBuff->BackLightPin = 18;
screen_init(ScreenBuff);
TouchScreen->screen_max_x = ScreenBuff->raster_timings->X;
TouchScreen->screen_max_y = ScreenBuff->raster_timings->Y;
TouchScreen->pDisplay = ScreenBuff;
UARTprintf(DebugCom, "LCD display initialize successful for %dx%d resolution, %d Bit bus.\n\r" , ScreenBuff->raster_timings->X, ScreenBuff->raster_timings->Y, ScreenBuff->raster_timings->bus_size);
put_rectangle(ScreenBuff, 0, 0, ScreenBuff->raster_timings->X, ScreenBuff->raster_timings->Y, true, controls_color.Scren);
box_cache_clean(ScreenBuff, 0, 0, ScreenBuff->raster_timings->X, ScreenBuff->raster_timings->Y);
backlight_on(ScreenBuff);
}
else
{
//UARTPuts(DebugCom, "No display detected.\n\r" , -1);
//free_touchscreen(TouchScreen);
UARTPuts(DebugCom, "I suppose that is BeagleBone Multimedia cape from Chipsee.\n\r" , -1);
/*-----------------------------------------------------*/
HARDBTN[0] = gpio_assign(1, 19, GPIO_DIR_INPUT, false);
HARDBTN[1] = gpio_assign(1, 16, GPIO_DIR_INPUT, false);
HARDBTN[2] = gpio_assign(1, 17, GPIO_DIR_INPUT, false);
HARDBTN[3] = gpio_assign(0, 7, GPIO_DIR_INPUT, false);
//HARDBTN[4] = gpio_assign(1, 3, GPIO_DIR_INPUT, false);
/*-----------------------------------------------------*/
ScreenBuff = new_(new_screen);
ScreenBuff->raster_timings = &HDMI_DISPLAY_MODE_STRUCT;
ScreenBuff->BackLightPort = 1;
ScreenBuff->BackLightPin = 18;
screen_init(ScreenBuff);
#ifdef touch
TouchScreen->screen_max_x = ScreenBuff->raster_timings->X;
TouchScreen->screen_max_y = ScreenBuff->raster_timings->Y;
TouchScreen->pDisplay = ScreenBuff;
InitTouchScreen(TouchScreen);
UARTPuts(DebugCom, "Init calibration of LCD resistive touch screen....." , -1);
TouchCalibrate(TouchScreen, ScreenBuff);
UARTPuts(DebugCom, "OK.\n\r" , -1);
#endif
UARTprintf(DebugCom, "LCD display initialize successful for %dx%d resolution, %d Bit bus.\n\r" , ScreenBuff->raster_timings->X, ScreenBuff->raster_timings->Y, ScreenBuff->raster_timings->bus_size);
put_rectangle(ScreenBuff, 0, 0, ScreenBuff->raster_timings->X, ScreenBuff->raster_timings->Y, true, controls_color.Scren);
box_cache_clean(ScreenBuff, 0, 0, ScreenBuff->raster_timings->X, ScreenBuff->raster_timings->Y);
backlight_on(ScreenBuff);
}
#endif
}
return true;
}
int main() {
usartInit(57600);
usartEnableReceiver();
usartEnableTransmitter();
usartStdio();
setBit(DDRB, M1_DIR);
setBit(DDRD, M1_PWM);
setBit(DDRD, M2_DIR);
setBit(DDRD, M2_PWM);
clrBit(PORTB, M1_DIR);
clrBit(PORTD, M1_PWM);
clrBit(PORTD, M2_PWM);
clrBit(PORTD, M2_DIR);
timer0FastPWMMaxMode();
timer0ClockPrescaller64();
timer0OC0ANonInvertedMode();
timer0OC0BNonInvertedMode();
timer0SetCompareAValue(0);
timer0SetCompareBValue(0);
timer0DeactivateCompareAInterrupt();
timer0DeactivateCompareBInterrupt();
timer2ClockPrescaller256();
timer2NormalMode();
timer2OC2AOff();
timer2OC2BOff();
timer2ActivateOverflowInterrupt();
i2c_init();
adxl345_init();
l3g4200d_init();
l3g4200d_setoffset(0.11, -1.71, -0.46);
//l3g4200d_settemperatureref();
PID_init(&PID, 15,0.2,1, 0);
PID_SetMode(&PID, 1);
PID_SetOutputLimits(&PID, -255, 255);
PID.mySetpoint = 0;
motor1(0);
motor2(0);
// printf("\e[1;1H\e[2J");
// printf("STARTED!\r\n");
// _delay_ms(200);
// motor1(120);
// printf("Motor1 = 120\r\n");
// _delay_ms(500);
// motor1(-120);
// printf("Motor1 = -120\r\n");
// _delay_ms(500);
// motor1(120);
// printf("Motor1 = 120\r\n");
// _delay_ms(500);
// motor1(0);
// printf("Motor1 = 0\r\n");
sei();
while(1);
return 0;
}
/*---------------------------------------------------------------------------*/
static int
configure(int type, int c)
{
uint8_t value;
switch (type) {
case SENSORS_HW_INIT:
if (adxl345_available()) {
ready = 1;
} else {
ready = 0;
}
break;
case SENSORS_ACTIVE:
if (c) {
return acc_active = (adxl345_init() == 0) ? 1 : 0;
} else {
adxl345_deinit();
return 1;
}
break;
case ACC_CONF_SENSITIVITY:
// map to register settings
switch (c) {
case ACC_2G:
value = ADXL345_MODE_2G;
break;
case ACC_4G:
value = ADXL345_MODE_4G;
break;
case ACC_8G:
value = ADXL345_MODE_8G;
break;
case ACC_16G:
value = ADXL345_MODE_16G;
break;
default:
return 0;
break;
}
adxl345_set_g_range(value);
return TRUE;
break;
case ACC_CONF_FIFOMODE:
// map to register settings
switch (c) {
case ACC_MODE_BYPASS:
value = ADXL345_MODE_BYPASS;
break;
case ACC_MODE_FIFO:
value = ADXL345_MODE_FIFO;
break;
case ACC_MODE_STREAM:
value = ADXL345_MODE_STREAM;
break;
default:
return 0;
break;
}
adxl345_set_fifomode(value);
return TRUE;
break;
case ACC_CONF_POWERMODE:
// TODO: implementation needed
return 0;
break;
case ACC_CONF_DATA_RATE:
if (c <= ACC_0HZ10) {
value = ADXL345_ODR_0HZ10;
} else if (c <= ACC_0HZ20) {
value = ADXL345_ODR_0HZ20;
} else if (c <= ACC_0HZ39) {
value = ADXL345_ODR_0HZ39;
} else if (c <= ACC_0HZ78) {
value = ADXL345_ODR_0HZ78;
} else if (c <= ACC_1HZ56) {
value = ADXL345_ODR_1HZ56;
} else if (c <= ACC_3HZ13) {
value = ADXL345_ODR_3HZ13;
} else if (c <= ACC_6HZ25) {
value = ADXL345_ODR_6HZ25;
} else if (c <= ACC_12HZ5) {
value = ADXL345_ODR_12HZ5;
} else if (c <= ACC_25HZ) {
value = ADXL345_ODR_25HZ;
} else if (c <= ACC_50HZ) {
value = ADXL345_ODR_50HZ;
} else if (c <= ACC_100HZ) {
value = ADXL345_ODR_100HZ;
} else if (c <= ACC_200HZ) {
value = ADXL345_ODR_200HZ;
} else if (c <= ACC_400HZ) {
value = ADXL345_ODR_400HZ;
} else if (c <= ACC_800HZ) {
value = ADXL345_ODR_800HZ;
} else if (c <= ACC_1600HZ) {
value = ADXL345_ODR_1600HZ;
} else if (c <= ACC_3200HZ) {
value = ADXL345_ODR_3200HZ;
} else {
return 0;
}
adxl345_set_data_rate(value);
return 1;
break;
}
return 0;
}
PROCESS_THREAD(default_app_process, ev, data)
{
PROCESS_BEGIN();
printf("Hello, world\n");
_delay_ms(100);
#if DEBUG
printf("Begin initialization:\n");
if (microSD_init() == 0) {
printf(":microSD OK\n");
microSD_switchoff();
} else {
printf(":microSD FAILURE\n");
}
if (adxl345_init() == 0) {
printf(":ADXL345 OK\n");
} else {
printf(":ADXL345 FAILURE\n");
}
if (at45db_init() == 0) {
printf(":AT45DBxx OK\n");
} else {
printf(":AT45DBxx FAILURE\n");
}
// if (bmp085_init() == 0) {
// printf(":BMP085 OK\n");
// } else {
// printf(":BMP085 FAILURE\n");
// }
// if (l3g4200d_init() == 0) {
// printf(":L3G4200D OK\n");
// } else {
// printf(":L3G4200D FAILURE\n");
// }
#else
adxl345_init();
microSD_switchoff();
at45db_init();
microSD_init();
bmp085_init();
l3g4200d_init();
#endif
adc_init(ADC_SINGLE_CONVERSION, ADC_REF_2560MV_INT);
etimer_set(&timer, CLOCK_SECOND * 0.05);
while (1) {
PROCESS_YIELD();
etimer_set(&timer, CLOCK_SECOND);
int16_t tmp;
/*############################################################*/
//ADXL345 serial Test
printf("X:%+6d | Y:%+6d | Z:%+6d\n",
adxl345_get_x_acceleration(),
adxl345_get_y_acceleration(),
adxl345_get_z_acceleration());
/*############################################################*/
//L3G4200d serial Test
printf("X:%+6d | Y:%+6d | Z:%+6d\n",
l3g4200d_get_x_angle(),
l3g4200d_get_y_angle(),
l3g4200d_get_z_angle());
printf("T1:%+3d\n", l3g4200d_get_temp());
/*############################################################*/
//BMP085 serial Test
printf("P:%+6ld\n", (uint32_t) bmp085_read_pressure(BMP085_HIGH_RESOLUTION));
printf("T2:%+3d\n", bmp085_read_temperature());
/*############################################################*/
//Power Monitoring
printf("V:%d\n", adc_get_value_from(PWR_MONITOR_ICC_ADC));
// tmp = adc_get_value_from(PWR_MONITOR_ICC_ADC);
//
// tmp = adc_get_value_from(PWR_MONITOR_VCC_ADC);
//
/*############################################################*/
//microSD Test
// uint8_t buffer[512];
// uint16_t j;
// microSD_init();
// for (j = 0; j < 512; j++) {
// buffer[j] = 'u';
// buffer[j + 1] = 'e';
// buffer[j + 2] = 'r';
// buffer[j + 3] = '\n';
//
// j = j + 3;
// }
//
// microSD_write_block(2, buffer);
//
// microSD_read_block(2, buffer);
//
// for (j = 0; j < 512; j++) {
// printf(buffer[j]);
// }
// microSD_deinit();
//
/*############################################################*/
//Flash Test
// uint8_t buffer[512];
// uint16_t j, i;
//
// for (i = 0; i < 10; i++) {
// //at45db_erase_page(i);
// for (j = 0; j < 512; j++) {
// buffer[j] = i;
// }
// at45db_write_buffer(0, buffer, 512);
//
// at45db_buffer_to_page(i);
//
// at45db_read_page_bypassed(i, 0, buffer, 512);
//
// for (j = 0; j < 512; j++) {
// printf("%02x", buffer[j]);
// if (((j + 1) % 2) == 0)
// printf(" ");
// if (((j + 1) % 32) == 0)
// printf("\n");
// }
// }
}
PROCESS_END();
}
