// Prepare message for battery
void prepare_battery_status(void)
{
adc_on(true);
_delay_ms(10);
uint16_t percentage = bat_percentage(read_battery(), 1100); // 1.1V * 2 cells = 2.2V = min. voltage for RFM12B
adc_on(false);
UART_PUTF("Sending battery: %u%%\r\n", percentage);
// Set packet content
pkg_header_init_generic_batterystatus_status();
msg_generic_batterystatus_set_percentage(percentage);
}
uint16_t adc_poll(uint8_t ch)
{
uint16_t ret_val;
if(mode == DEV_MODE_OFF)
adc_on();
if(ch != adc_channel)
adc_set_channel(ch);
ADCSRA &= ~(1 << ADIE); //disable the AD Interrupt
ADCSRA |= (1 << ADIF); //clear any old conversions...
ADCSRA |= (1 << ADEN) | (1 << ADSC); //turn on on and start conversion
//poll ADSC (clears once conversion is complete)
while (ADCSRA & (1 << ADSC))
;
ret_val = ADCL;
ret_val |= (ADCH << 8);
if(ch != adc_channel)
adc_set_channel(adc_channel);
if(mode == DEV_MODE_OFF)
adc_off();
return ret_val;
}
static void adc_set_channel(uint8_t ch)
{
adc_off();
ADMUX = ch /*| (1 << REFS0) | (1 << REFS1)*/; //set the channel
adc_channel = ch;
adc_on();
}
uint16_t adc_read_channel16(uint8_t ch)
{
uint16_t retval;
//turn on if necessary
if(mode == DEV_MODE_OFF)
adc_on();
//set to appropriate channel
if(ch != adc_channel)
adc_set_channel(ch);
//start the conversion, enable interrupt
ADCSRA |= (1 << ADIF);
ADCSRA |= (1 << ADSC) | (1 << ADIE) | (1 << ADEN);
// Wait for the conversion interrupt handler to post the semaphore.
mos_sem_wait(&adc_sem);
retval = adc_val;
if(ch != adc_channel)
adc_set_channel(adc_channel);
if(mode == DEV_MODE_OFF)
adc_off();
return retval;
}
void adc_setup(void)
{
int i;
rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_ADC1EN);
/* Make sure the ADC doesn't run during config. */
adc_off(ADC1);
/* We configure everything for one single conversion. */
adc_disable_scan_mode(ADC1);
adc_set_single_conversion_mode(ADC1);
adc_enable_discontinous_mode_regular(ADC1);
adc_disable_external_trigger_regular(ADC1);
adc_set_right_aligned(ADC1);
/* We want to read the temperature sensor, so we have to enable it. */
adc_enable_temperature_sensor(ADC1);
adc_set_conversion_time_on_all_channels(ADC1, ADC_SMPR_SMP_28DOT5CYC);
adc_on(ADC1);
/* Wait for ADC starting up. */
for (i = 0; i < 800000; i++) /* Wait a bit. */
__asm__("nop");
adc_reset_calibration(ADC1);
adc_calibration(ADC1);
}
int main(void) {
system_init();
uart_on(0, 115200, NULL);
adc_on();
while (1) {
chenillard(500);
/* ADC Test */
adc_display(LPC_ADC_NUM(0), 0);
TMP36_display(LPC_ADC_NUM(1), 0);
}
return 0;
}
int main(void)
{
u8 channel_array[16];
u16 temperature;
rcc_clock_setup_in_hse_16mhz_out_72mhz();
gpio_setup();
usart_setup();
adc_setup();
gpio_clear(GPIOB, GPIO7); /* LED1 on */
gpio_set(GPIOB, GPIO6); /* LED2 off */
/* Send a message on USART1. */
usart_send(USART1, 's');
usart_send(USART1, 't');
usart_send(USART1, 'm');
usart_send(USART1, '\r');
usart_send(USART1, '\n');
/* Select the channel we want to convert. 16=temperature_sensor. */
channel_array[0] = 16;
adc_set_regular_sequence(ADC1, 1, channel_array);
/*
* If the ADC_CR2_ON bit is already set -> setting it another time
* starts the conversion.
*/
adc_on(ADC1);
/* Wait for end of conversion. */
while (!(ADC_SR(ADC1) & ADC_SR_EOC));
temperature = ADC_DR(ADC1);
/*
* That's actually not the real temperature - you have to compute it
* as described in the datasheet.
*/
my_usart_print_int(USART1, temperature);
gpio_clear(GPIOB, GPIO6); /* LED2 on */
while(1); /* Halt. */
return 0;
}
int main(void) {
system_init();
uart_on(0, 115200, NULL);
adc_on();
uprintf(0, "System started\n");
msleep(5);
watchdog_config(&wdconf);
uprintf(0, "Watchdog started\n");
while (1) {
watchdog_feed();
chenillard(50);
/* ADC Test */
adc_display(LPC_ADC_NUM(0), 0);
}
return 0;
}
//TODO: come up with a better way to handle ADC modes
uint8_t dev_mode_DEV_ADC(uint8_t new_mode)
{
if(mode == new_mode)
return new_mode;
mode = new_mode;
switch(new_mode) {
case DEV_MODE_OFF:
adc_off();
break;
case DEV_MODE_IDLE:
break;
case DEV_MODE_ON:
adc_on();
break;
}
return new_mode;
}
int adxl_enable(void)
{
// enable adc
adc_on();
ADC12CTL0 |= MSC;
clock_delay(20000);
ADC12CTL0 |= REFON; // 1.5V reference
ADC12CTL1 |= CONSEQ_1; // sequence of channels
clock_delay(20000);
// configure adc channels
ADC12MCTL0 = 0 + SREF_0; //channel 0, x axis, A1
ADC12MCTL1 = 1 + SREF_0; //channel 1, y axis, A2
ADC12MCTL2 = 2 + SREF_0; //channel 2, z axis, A3
ADC12MCTL3 = INCH_11 + EOS + SREF_0; // channel 3, (AVcc-AVss)/2
printf("%d,%d,%d,%d\n",ADC12MCTL0,ADC12MCTL1,ADC12MCTL2,ADC12MCTL3);
return 1;
}
/*******************************************************************************
* MAIN FUNCTION *
*******************************************************************************/
int main(void)
{
unsigned char distance = 0; // declare a variable to store distance
// ensure all the hardware port in zero initially
PORTA = 0;
PORTB = 0;
PORTC = 0;
PORTD = 0;
PORTE = 0;
// Initialize the I/O port direction, this must be configured according to circuit
// please refer to PTK40A schematic for details
// TRISX control pin direction, output pin must be configure as '0'
// while input must be configure as '1'
TRISA = 0b00010001;
TRISB = 0b00001111;
TRISC = 0b10010011;
TRISD = 0;
TRISE = 0;
// Initialize ADC.
adc_initialize(); //Ensure pin share with analog is being configured to digital correctly
// Initialize LCD
lcd_initialize(); //Initialize LCD before use
beep(2); //buzzer sound for twice
// PTK40A come with an ADC input (RA0), 3 different source can be connected to ADC in
// There are LM35 temperature sensor, Potentiometer and external sensor
// This example will use external ADC to read information from SHARP ANALOG DISTANCE SENSOR
// Connect GND of the sensor to GND of PTK40A (ADC external port)
// Connect Vcc of sensor to 5V of PTK40A (ADC external port)
// Connect Vo of senosr to IN of PTK40A (ADC external port)
// Please refer to PTK40A schematic for the connection
// Please move JP14 to EXT (under ADC)
// This example is based on GP2Y0A21 (10 to 80 cm)
adc_on(); //activate ADC module in PIC
LCD_BACKLIGHT = 1; //activate LCD Backlight
lcd_putstr("Cytron PTK40A"); //display message on LCD
lcd_2ndline(); //move cursor to 2nd line
lcd_putstr("DISTANCE:");
lcd_goto(0X4E);
lcd_putstr("cm"); // display symbol of cm
while(1) // create an infinite loop
{
//refer datasheet graph for the convertion calculation
distance = ui_adc_read()>>2; // read from Sharp distance sensor and convert to cm
distance = 256 - distance;
distance = ((distance*10)+100)/36; //calculation is calculater according to the data sheet graph
lcd_goto(0x4B); //move cursor to after DISTANCE: on LCD
lcd_bcd(3,distance); // display distance in cm
delay_ms(50);
}
while(1) continue; // infinite loop to prevent PIC from reset if there is no more program
}
void appSend () {
static uint8_t smpl_cnt = 10; //number of samples we take to average on each channel
uint8_t count = 0; //temp counter for samples taken
uint8_t i;
uint8_t nchannels=1;
uint8_t channels[1] = {INTERNAL_VOLTAGE}; //use only internal voltage for now
uint16_t adc_raw[8];
uint8_t ledcount = 0;
uint8_t ix;
char sendData[12];
char testStr[] = "test";
char iStr[3];
uint16_t pause_time = 1000;
// Avoid signal interference with default channel (26) and wi-fi
cc2420_set_channel(24);
// Set transmit power to low-power mode
com_ioctl(IFACE_RADIO, CC2420_LOW_POWER_MODE);
printf("Opening connection on port %d... \n", TRANSPORT_LISTENING_PORT);
connect(TRANSPORT_LISTENING_PORT, 0);
printf("Opened connection on port %d \n", TRANSPORT_LISTENING_PORT);
//mos_thread_sleep(2000);
while (true) {
//--- MEASURING BATTERY VOLTAGE ---//
//mos_led_display( (ledcount++)%8 ); //see explanation in test_adc.c
adc_on(); //turn on the ADC/Vref
mos_thread_sleep(20); //time to wait for the internal reference to settle in theory
// Measure each channel, possibly with multiple samples
for(ix=0; ix<nchannels; ix++) {
//take 10 samples and average the result
//split this value out as the final channel reading
count = 0; //clear the samples counter
adc_raw[ix]=0; // clear adc reading accum
//For this channel, do as many samples as are 'requested'
while(count < smpl_cnt) {
adc_raw[ix] += adc_get_conversion16( channels[ix] );
count++; //increment the no. of readings counter
} //end of samples loop for this channel
} //end channels loop
// Average the data for the samples taken on each channel
for( ix=0; ix<nchannels; ix++ ) {
adc_raw[ix] /= smpl_cnt;
}
// Report the results
//printf("Raw voltage reading = %x\n", adc_raw[0]);
adc_off();
//mos_thread_sleep(4000);
//--- SENDING DATA ---//
memset(sendData, 0, sizeof(sendData));
strcpy(sendData, testStr);
itoa(i, iStr, 10);
strcat(sendData, iStr);
printf("Calling sendPacket() for: %s \n", sendData);
sendPacket(TRANSPORT_LISTENING_PORT, sendData, sizeof(sendData), 0);
i++;
// Reset counter
if (i >= 60) {
i = 0;
}
// Get raw voltage reading
printf("***** Raw voltage reading = %x *****\n", adc_raw[0]);
// Adjust pause time (send rate) for each specific voltage
if (adc_raw[0] > 0x950) {
pause_time = 1000;
} else if (adc_raw[0] > 0x925) {
pause_time = 1500;
} else if (adc_raw[0] > 0x900) {
pause_time = 2000;
}
// and so on...
// need to find the optimal values ...
mos_thread_sleep(pause_time); //adaptive send rate
// Close connection to destination (last) node; port 0
closeConn(0, 3);
printf("Closed connection on port %d \n", TRANSPORT_LISTENING_PORT);
}
}
/*******************************************************************************
* MAIN FUNCTION *
*******************************************************************************/
int main(void)
{
unsigned char step = 0; // declare a variable to store stepper step sequence
unsigned int delay = 0; // declare a variable for stepper delay, need to be 16-bit for > 255
// ensure all the hardware port in zero initially
PORTA = 0;
PORTB = 0;
PORTC = 0;
PORTD = 0;
PORTE = 0;
// Initialize the I/O port direction, this must be configured according to circuit
// please refer to PTK40A schematic for details
// TRISX control pin direction, output pin must be configure as '0'
// while input must be configure as '1'
TRISA = 0b00010001;
TRISB = 0b00001111;
TRISC = 0b10010011;
TRISD = 0;
TRISE = 0;
// Initialize ADC.
adc_initialize(); //Ensure pin share with analog is being configured to digital correctly
// PTK40A come with an ADC input (RA0), 3 different source can be connected to ADC in
// There are LM35 temperature sensor, Potentiometer and external sensor
// There is also a stepper motor
// Please refer to PTK40A schematic for the connection
// Turning the potentiometer clock wise will change the speed of stepper rotation
// Please move JP10 to PWM, JP14 to POT, JP20&21 to STEPPER, JP23&24 to UNIPOLAR
adc_on(); //activate ADC module in PIC
step = 1; //initial step is 1
RC2 = 1; //RC2 pin is the PWM pin, in stepper case, the PWM is always 1
while(1) // create an infinite loop
{
if(step >= 5) step = 1; // reset the step sequance to 1
delay = ui_adc_read();
if (delay > 10) // if delay is larger than 10, enter stepping
{
switch (step)
{
case 1:
X = 1; // step 1
Y = 0;
XN = 0;
YN = 0;
break;
case 2:
X = 0; // step 2
Y = 1;
XN = 0;
YN = 0;
break;
case 3:
X = 0; // step 3
Y = 0;
XN = 1;
YN = 0;
break;
case 4:
X = 0; // step 4
Y = 0;
XN = 0;
YN = 1;
break;
}//switch (step)
delay_ms(delay);
step ++; // increase step
}//if(delay > 10)
} // while (1)
while(1) continue; // infinite loop to prevent PIC from reset if there is no more program
}
/*---------------------------------------------------------------*/
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();
}
static void setup_stm32f1_peripherals(void)
{
rcc_peripheral_enable_clock(&RCC_APB1ENR,
RCC_APB1ENR_I2C1EN);
rcc_peripheral_enable_clock(&RCC_APB2ENR,
RCC_APB2ENR_ADC1EN);
/* GPIO pin for I2C1 SCL, SDA */
/* VESNA v1.0
gpio_set_mode(GPIOB, GPIO_MODE_OUTPUT_50_MHZ,
GPIO_CNF_OUTPUT_ALTFN_OPENDRAIN, GPIO6);
gpio_set_mode(GPIOB, GPIO_MODE_OUTPUT_50_MHZ,
GPIO_CNF_OUTPUT_ALTFN_OPENDRAIN, GPIO7);
*/
/* VESNA v1.1 */
AFIO_MAPR |= AFIO_MAPR_I2C1_REMAP;
gpio_set_mode(GPIOB, GPIO_MODE_OUTPUT_50_MHZ,
GPIO_CNF_OUTPUT_ALTFN_OPENDRAIN, TDA_PIN_SCL);
gpio_set_mode(GPIOB, GPIO_MODE_OUTPUT_50_MHZ,
GPIO_CNF_OUTPUT_ALTFN_OPENDRAIN, TDA_PIN_SDA);
/* GPIO pin for TDA18219 IRQ */
gpio_set_mode(GPIOA, GPIO_MODE_INPUT,
GPIO_CNF_INPUT_FLOAT, TDA_PIN_IRQ);
/* GPIO pin for TDA18219 IF AGC */
gpio_set_mode(GPIOA, GPIO_MODE_OUTPUT_2_MHZ,
GPIO_CNF_OUTPUT_PUSHPULL, TDA_PIN_IF_AGC);
/* Set to lowest gain for now */
gpio_clear(GPIOA, TDA_PIN_IF_AGC);
/* GPIO pin for AD8307 ENB */
gpio_set_mode(GPIOA, GPIO_MODE_OUTPUT_2_MHZ,
GPIO_CNF_OUTPUT_PUSHPULL, TDA_PIN_ENB);
/* ADC pin for AD8307 output */
gpio_set_mode(GPIOA, GPIO_MODE_INPUT,
GPIO_CNF_INPUT_ANALOG, TDA_PIN_OUT);
/* Setup I2C */
i2c_peripheral_disable(I2C1);
/* 400 kHz - I2C Fast Mode */
i2c_set_clock_frequency(I2C1, I2C_CR2_FREQ_24MHZ);
i2c_set_fast_mode(I2C1);
/* 400 kHz */
i2c_set_ccr(I2C1, 0x14);
/* 300 ns rise time */
i2c_set_trise(I2C1, 0x08);
i2c_peripheral_enable(I2C1);
/* Make sure the ADC doesn't run during config. */
adc_off(ADC1);
/* We configure everything for one single conversion. */
adc_disable_scan_mode(ADC1);
adc_set_single_conversion_mode(ADC1);
adc_enable_discontinous_mode_regular(ADC1);
adc_disable_external_trigger_regular(ADC1);
adc_set_right_aligned(ADC1);
adc_set_conversion_time_on_all_channels(ADC1, ADC_SMPR_SMP_28DOT5CYC);
adc_on(ADC1);
/* Wait for ADC starting up. */
int i;
for (i = 0; i < 800000; i++) /* Wait a bit. */
__asm__("nop");
adc_reset_calibration(ADC1);
adc_calibration(ADC1);
uint8_t channel_array[16];
/* Select the channel we want to convert. */
if(TDA_PIN_OUT == GPIO0) {
channel_array[0] = 0;
} else if(TDA_PIN_OUT == GPIO2) {
channel_array[0] = 2;
}
adc_set_regular_sequence(ADC1, 1, channel_array);
}
