// AppleLM87::getReading
IOReturn AppleLM8x::getReading(UInt32 subAddress, SInt32 *value)
{
IOReturn status;
UInt8 data;
if (systemIsRestarting == TRUE)
return kIOReturnOffline;
status = openI2C(kLM8xBus);
if(status != kIOReturnSuccess)
{
DLOG("AppleLM8x::getReading(0x%x) failed to open I2C bus.\n", kLM8xAddr<<1);
return status;
}
status = readI2C((UInt8)subAddress, (UInt8 *) &data, 1);
if(status != kIOReturnSuccess)
{
DLOG("AppleLM8x::getReading(0x%x) readI2C failed.\n", kLM8xAddr<<1);
closeI2C();
return status;
}
closeI2C();
*value = (SInt32)data;
return kIOReturnSuccess;
}
IOReturn AppleLM8x::restoreRegisters()
{
IOReturn status;
DLOG("AppleLM8x::restoreRegisters(0x%x) entered.\n", kLM8xAddr<<1);
status = openI2C(kLM8xBus);
if(status != kIOReturnSuccess)
{
DLOG("AppleLM8x::restoreRegisters(0x%x) failed to open I2C bus.\n", kLM8xAddr<<1);
return status;
}
status = writeI2C((UInt8)kChannelModeRegister, (UInt8 *)&savedRegisters.ChannelMode, 1);
if(status != kIOReturnSuccess)
{
DLOG("AppleLM8x::restoreRegisters(0x%x) writeI2C failed.\n", kLM8xAddr<<1);
closeI2C();
return status;
}
status = writeI2C((UInt8)kConfReg2, (UInt8 *)&savedRegisters.Configuration2, 1);
if(status != kIOReturnSuccess)
{
DLOG("AppleLM8x::restoreRegisters(0x%x) writeI2C failed.\n", kLM8xAddr<<1);
closeI2C();
return status;
}
// restore Configuration Register 1 last, since it starts polling
status = writeI2C((UInt8)kConfReg1, (UInt8 *)&savedRegisters.Configuration1, 1);
if(status != kIOReturnSuccess)
{
DLOG("AppleLM8x::restoreRegisters(0x%x) writeI2C failed.\n", kLM8xAddr<<1);
closeI2C();
return status;
}
closeI2C();
return status;
}
IOReturn AppleLM8x::saveRegisters()
{
IOReturn status;
DLOG("AppleLM8x::saveRegisters(0x%x) entered.\n", kLM8xAddr<<1);
status = openI2C(kLM8xBus);
if(status != kIOReturnSuccess)
{
DLOG("AppleLM8x::saveRegisters(0x%x) failed to open I2C bus.\n", kLM8xAddr<<1);
return status;
}
status = readI2C((UInt8)kChannelModeRegister, (UInt8 *)&savedRegisters.ChannelMode, 1);
if(status != kIOReturnSuccess)
{
DLOG("AppleLM8x::saveRegisters(0x%x) readI2C failed.\n", kLM8xAddr<<1);
closeI2C();
return status;
}
status = readI2C((UInt8)kConfReg1, (UInt8 *)&savedRegisters.Configuration1, 1);
if(status != kIOReturnSuccess)
{
DLOG("AppleLM8x::saveRegisters(0x%x) readI2C failed.\n", kLM8xAddr<<1);
closeI2C();
return status;
}
status = readI2C((UInt8)kConfReg2, (UInt8 *)&savedRegisters.Configuration2, 1);
if(status != kIOReturnSuccess)
{
DLOG("AppleLM8x::saveRegisters(0x%x) readI2C failed.\n", kLM8xAddr<<1);
closeI2C();
return status;
}
closeI2C();
return status;
}
IOReturn AppleLM8x::initHW(IOService *provider)
{
IOReturn status;
UInt8 cfgReg = 0;
UInt8 attempts = 0;
DLOG("AppleLM8x::initHW(0x%x) entered.\n", kLM8xAddr<<1);
status = openI2C(kLM8xBus);
if(status != kIOReturnSuccess)
{
DLOG("AppleLM8x::initHW(0x%x) failed to open I2C bus.\n", kLM8xAddr<<1);
return status;
}
// Attempt to start LM87 by setting bit 0 in Configuration Register 1. If we detect the RESET
// bit, then make a second attempt.
for ( ; attempts < 2; attempts++ )
{
// Read Configuration Register 1
status = readI2C((UInt8)kConfReg1, (UInt8 *) &cfgReg, 1);
if(status != kIOReturnSuccess)
{
DLOG("AppleLM8x::initHW(0x%x) readI2C failed.\n", kLM8xAddr<<1);
break;
}
DLOG("AppleLM8x::readI2C(0x%x) retrieved data = 0x%x\n", kLM8xAddr<<1, cfgReg);
// If we detect RESET, wait at least 45ms for it to clear.
if ( cfgReg & kConfRegRESET )
{
IOSleep(50);
status = kIOReturnError;
}
if(status != kIOReturnSuccess)
{
IOLog("AppleLM8x::initHW(0x%x) readI2C detected RESET bit.\n", kLM8xAddr<<1);
}
// Start monitoring operations
cfgReg = 0x1;
// Failure of this write operation is fatal
status = writeI2C((UInt8)kConfReg1, (UInt8 *)&cfgReg, 1);
// Read Configuration Register 1
status = readI2C((UInt8)kConfReg1, (UInt8 *) &cfgReg, 1);
if(status != kIOReturnSuccess)
{
DLOG("AppleLM8x::initHW(0x%x) readI2C failed.\n", kLM8xAddr<<1);
break;
}
if ( cfgReg == kConfRegStart )
{
break;
}
else
{
IOLog("AppleLM8x::readI2C(0x%x) retrieved configuration register 1 = 0x%x\n", kLM8xAddr<<1, cfgReg);
}
}
closeI2C();
return status;
}
void SmartMote::work(){
while(1){
/* se l'ora corrente è di scansione */
if(!(RTCC.hours() % 6) && (RTCC.minutes() >= 0x00 && RTCC.minutes() <= 0x05)){
AString data;
AString message;
AString answer;
/* abilito il core timer (la prima volta è già abilitato) */
System::wakeCoreTimer();
/* accendo il led verde */
turnOnGreen();
/* accendo la seriale */
openUART();
/* accendo l'i2c */
openI2C();
/* prendo le misure */
data += mac();
data += luminosity();
data += ambientTempAndHum();
data += groundTemp();
data += groundHum();
data += battey();
/* compongo la stringa */
message += _PHP_CHUNK1;
/* inserisco l'hostname */
message += getHost();
/* inserisco la seconda parte di richiesta http */
message += _PHP_CHUNK2;
/* inserisco la lunghezza dei dati */
message += AString(static_cast<sint32>(data.size()));
/* inserisco la terza parte di richiesta http */
message += _PHP_CHUNK3;
/* inserisco i dati */
message += data;
/* se fallisce l'inizializzazione dell'esp */
if(!m_net.initialize()){
/* notifico l'errore */
error();
}
/* se fallisce l'avvio del dhcp */
if(!m_net.setDhcp(true)){
/* notifico l'errore */
error();
}
/* se fallisce la connessione alla rete */
if(!m_net.joinAP(getSSID(), getKey())){
/* notifico l'errore */
error();
}
/* se fallisce la connessione al server */
if(!m_net.connectToHost(getHost(), 80)){
/* notifico l'errore */
error();
}
/* invio i dati */
m_net.send(message);
/* aspetto l'ok */
m_net.waitForData(answer);
/* notifico l'ok o lerrore dell'invio */
wasSuccess(answer);
/* lascio l'ap */
m_net.leaveAP();
/* libero la memoria occupata dalle stringhe */
message.clear();
data.clear();
answer.clear();
}
/* calcolo del tempo di sleep per il wifi */
m_net.sleep(getSleepTime());
/* punto la prossima sveglia */
setNextAlarm();
/* spengo il led verde */
turnOffGreen();
/* spengo l'uart */
closeUART();
/* chiudo l'i2c */
closeI2C();
/* spengo il core timer */
System::stopCoreTimer();
/* vado a dormire */
System::sleep();
}
}
void main(void) {
/* put your own code here */
// BMP
float altSum;
float avgAlt;
float old;
float alt;
int i;
CLKSEL = 0;
SYNR = 2;
REFDV = 0;
while (!(CRGFLG & 0x08));
CLKSEL = 0x80; // Bus = 24Mhz
MCCTL = 0x4C; // PRE = 16 FLMC = 1
EnableInterrupts;
// INITIALIZE LCD
DDRK = 0xFF;
COMWRTFIRST(0x33); //reset sequence provided by data sheet
COMWRT(0x32); //reset sequence provided by data sheet
COMWRT(0x28); //Function set to four bit data length ,2 line, 5 x 7 dot format
COMWRT(0x06); //entry mode set, increment, no shift
COMWRT(0x0E); //Display set, disp on, cursor on, blink off
COMWRT(0x01); //Clear display
COMWRT(0x80); //set start posistion, home position
LCDDelayDATA(TCHAR); // wait for LCD setup
//********************************************************//
// I2C Stuff
//********************************************************//
openI2C(BR);
LCDDelayDATA(TCHAR);
b_setup();
LCDDelayDATA(TCHAR);
for(;;)
{
b_setControlMode(TEMP_MODE);
b_updateTempC();
altSum = 0;
for(i = 0; i < 5; i++)
{
b_setControlMode(PRESSURE_MODE_0);
b_updatePressure();
b_updateAltitude();
//alt = lpFilter(alt, old, 0.5);
altSum+= b_altitude;
}
avgAlt = altSum/5.0;
//old = avgAlt;
DATWRTFIRST('T');
outputDouble((double)b_tempC);
COMWRTFIRST(0xC0);
LCDDelayDATA(TCHAR);
DATWRTFIRST('A');
outputDouble((double)b_altitude);
LCDDelayDATA(TCHAR * 6);
COMWRTFIRST(0x01);
LCDDelayDATA(TCHAR);
}
while(1);
}
int main(){
// unsigned int us_start, t0, t1, t2, t3;
// float x, y, theta;
// float x2, y2, theta2;
// float x3, y3, theta3;
// float beta;
// point pt;
// int i=0;
// float check;
// For IMU
/* double tab_acc[3] = {0.0, 0.0, 0.0},
tab_gyro[3] = {0.0, 0.0, 0.0},
tab_magn[3] = {0.0, 0.0, 0.0};
int i;
*/
pthread_t pthread_prop,
pthread_gpio,
pthread_led,
pthread_com;
//gpio init
initGPIO(GREEN_LED);
initGPIO(ORANGE_LED);
initGPIO(WRNG_RED_LED);
initGPIO(RED_LED_BIC);
initGPIO(GREEN_LED_BIC);
initGPIO(BP_STOP);
idFicI2C = openI2C(FILE_I2C);
setI2C(ADDR_MD25, idFicI2C);
//Create a thread for prop
if(pthread_create(&pthread_prop, NULL, threadProp, NULL)!=0){
printf("ERROR; return code from pthread_create()\n");
getchar();
exit(-1);
}
//Create a thread control gpio
if(pthread_create(&pthread_gpio, NULL, threadGpio, NULL)!=0){
printf("ERROR; return code from pthread_create()\n");
getchar();
exit(-1);
}
//Create a thread control gpio
if(pthread_create(&pthread_led, NULL, threadLed, NULL)!=0){
printf("ERROR; return code from pthread_create()\n");
getchar();
exit(-1);
}
//Create a thread for com
if(pthread_create(&pthread_com, NULL, thread_Com, NULL)!=0){ //&sargThreadSttRover
printf("ERROR; return code from pthread_create()\n");
getchar();
exit(-1);
}
// mpu_init();
while(1){
/* mpu_read(tab_acc, tab_gyro, tab_magn);
printf("\n");
for(i=0; i<3; i++) printf("tab_acc[%d] = %.2lf\n", i, tab_acc[i]);
printf("\n");
for(i=0; i<3; i++) printf("tab_gyro[%d] = %.2lf\n", i, tab_gyro[i]);
printf("\n");
for(i=0; i<3; i++) printf("tab_magn[%d] = %.2lf\n", i, tab_magn[i]);
printf("\n\n");
printf("Distance = %d\n\n", sonar_get_distance_cm());
*/
// Update Info Rover
float x, y, theta;
int dist;
#ifdef I2C_OK
pos3(&x, &y, &theta);
volt = getBatVolt();
pthread_mutex_lock(&mtx_distSonar);
distSonar = sonar_get_distance_cm();
dist = distSonar;
pthread_mutex_unlock(&mtx_distSonar);
printf("distSonar = %d\n", dist);
#else
x = 0, y = 0, theta = 0;
bat = 15;
dist = 1000;
#endif
//printf("x = %.2f; y %.2f; theta = %.2f; bat = %.2f; dist = %d\n", x, y , theta, bat, dist);
updateInfoRover(&argThreadSttRover, &x, &y, &theta, &volt, &dist);
/* printf("argThreadSttRover.sinf.bat = %d\n"
"argThreadSttRover.sinf.son = %.2f\n"
"argThreadSttRover.sinf.pos.x = %.2f\n"
"argThreadSttRover.sinf.pos.y = %.2f\n"
"argThreadSttRover.sinf.ang = %.2f\n\n", (int32_t)argThreadSttRover.sinf.bat, argThreadSttRover.sinf.son, argThreadSttRover.sinf.pos.x, argThreadSttRover.sinf.pos.y, argThreadSttRover.sinf.ang);
*/
}
//old test
/* //trajectoire
while(1){
usleep(10000);
nd1 = dist(1);
nd2 = dist(2);
pos3(&x3, &y3, &theta3);
beta=trajCorr(x3, y3, theta3, 500, 500);
printf("%.2f, %.2f, %.2f°, beta=%f\n", x3, y3, theta3, beta*180./M_PI);
move(100, beta*180./M_PI);
if(((fabs(x3-500.)<10.) && (fabs(y3-500.)<10.)))
{
move(0,0);
printf("fin\n");
return 1;
}
}
*/
/*
while(1){
usleep(10000);
us_start = micros();
nd1 = dist(1);
t0 = micros() - us_start;
nd2 = dist(2);
us_start = micros();
pos(&x, &y, &theta);
t1 = micros() - us_start;
us_start = micros();
pos2(&x2, &y2, &theta2);
t2 = micros() - us_start;
us_start = micros();
pos3(&x3, &y3, &theta3);
t3 = micros() - us_start;
//printf("%u,%u,%u,%u\n", t0, t1, t2, t3);
printf("%.2f, %.2f, %.2f°, %.2f, %.2f, %.2f°, %.2f, %.2f, %.2f°\n", x, y, theta*180./M_PI, x2, y2, theta2*180./M_PI, x3, y3, theta3*180./M_PI);
}
// move(1000,0,idFicI2C);
sleep(1);
move(0,0,idFicI2C);
sleep(1);
printf("d=%f\n",dist(0));
*/
/* close(idFicI2C);
printf("Fermeture du bus i2c\n");
*/
return 0;
}