/*---------------------------------------------------------------*/ PROCESS_THREAD(null_app_process, ev, data) { PROCESS_BEGIN(); printf("MPU6050 ACC Started\n"); #ifdef SF_FEATURE_SHELL_OPT serial_shell_init(); remote_shell_init(); shell_reboot_init(); shell_blink_init(); shell_sky_init(); #endif static uint8_t MPU_status2 = 0; uint8_t i; app_conn_open(&nullApp_callback); if (node_id != 0) { MPU_status2 = 0; for(i = 0; i < 100 &(~MPU_status2);i++) { MPU_status2 = mpu_enable(); } if(MPU_status2 == 0) { printf("MPU could not be enabled\n"); } MPU_status2 = 0; for(i = 0; i < 100 &(~MPU_status2);i++) { MPU_status2 = mpu_wakeup(); } if(MPU_status2 == 0) { printf("MPU could not be awakened\n"); } ctimer_set(&ct,SAMPLE_RATE,sample_fun,(void*)NULL); } PROCESS_END(); }
int main(void) { /* Replace with your application code */ volatile int16_t gyro_x; volatile int16_t gyro_y; volatile int16_t gyro_z; volatile int16_t accel_x; volatile int16_t accel_y; volatile int16_t accel_z; volatile int16_t temp; char buffer[6]; i2c_init(); uart_init(256000); mpu_wakeup(); while (1) { gyro_x = mpu_read_gyro_x(); gyro_y = mpu_read_gyro_y(); gyro_z = mpu_read_gyro_z(); accel_x = mpu_read_accel_x(); accel_y = mpu_read_accel_y(); accel_z = mpu_read_accel_z(); temp = mpu__read_temp(); itoa(temp, buffer, 10); uart_puts(buffer); uart_puts(" "); _delay_ms(10); } }
/*---------------------------------------------------------------*/ PROCESS_THREAD(null_app_process, ev, data) { PROCESS_BEGIN(); printf("Sensor No Comm Started\n"); // turn off radio NETSTACK_RDC.off(0); NETSTACK_RADIO.off(); // connect with MPU static uint8_t MPU_status = 0; static mpu_data_union samples; static struct etimer rxtimer; int i = 0; 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/SAMPLING_FREQ)); } // sampling if (node_id != 0) { while(1) { PROCESS_WAIT_EVENT_UNTIL(etimer_expired(&rxtimer)); etimer_reset(&rxtimer); MPU_status = mpu_sample_all(&samples); if (MPU_status != 0) { printf("%d,%d,%d,%d\n",samples.data.accel_x,samples.data.accel_y,samples.data.accel_z,samples.data.temperature); } else { printf("Cannot sample data\n"); } } } PROCESS_END(); }
/*---------------------------------------------------------------*/ PROCESS_THREAD(null_app_process, ev, data) { static struct etimer rxtimer; PROCESS_BEGIN(); app_conn_open(&nullApp_callback); uint8_t i; uint8_t temp; static uint8_t MPU_status = 0; static mpu_data_acc_gyro_union samples; 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/SAMPLING_FREQ)); } else { etimer_set(&rxtimer,CLOCK_SECOND/20); } if (node_id != 0) { while(1) { //MPU_PRINT_BYTE(54); PROCESS_WAIT_EVENT_UNTIL(etimer_expired(&rxtimer)); etimer_reset(&rxtimer); //MPU_PRINT_BYTE(55); MPU_status = mpu_sample_acc(&samples); if (MPU_status != 0) { //printf("%u,%u,%u\n",samples.data.x,samples.data.y,samples.data.z); //print_mpu_sample_acc_gyro(&samples); // MPU_PRINT_BYTE(samples.reg.x_h); // MPU_PRINT_BYTE(samples.reg.x_l); // MPU_PRINT_BYTE(samples.reg.y_h); // MPU_PRINT_BYTE(samples.reg.y_l); // MPU_PRINT_BYTE('\n'); // read_mpu_reg(MPU6050_RA_INT_STATUS,&temp); // printf("%u",temp); app_conn_send((uint8_t *)(&samples),MPU_DATA_ACC_GYRO_SIZE); } else printf("Cannot sample data\n"); } } PROCESS_END(); }
/*---------------------------------------------------------------*/ 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(); }
/*---------------------------------------------------------------*/ PROCESS_THREAD(null_app_process, ev, data) { PROCESS_BEGIN(); printf("MPU6050 Started\n"); #ifdef SF_FEATURE_SHELL_OPT serial_shell_init(); remote_shell_init(); shell_reboot_init(); shell_blink_init(); shell_sky_init(); #endif uint8_t i; app_conn_open(&nullApp_callback); 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"); } /* configurate MPU6050 sensor */ uint8_t MPU_config = 0; // disable sleep model read_mpu_reg(MPU_RA_PWR_MGMT1,&MPU_config); MPU_config = MPU_config & ~BV(6); // set bit 6 to 0 write_mpu_reg(MPU_RA_PWR_MGMT1,MPU_config); #if DEBUG read_mpu_reg(MPU_RA_PWR_MGMT1,&MPU_config); PRINTF("power management 1: %u\n",MPU_config); #endif // disable cycle read_mpu_reg(MPU_RA_PWR_MGMT1,&MPU_config); MPU_config = MPU_config & ~BV(5); // set bit 5 to 0 write_mpu_reg(MPU_RA_PWR_MGMT1,MPU_config); #if DEBUG read_mpu_reg(MPU_RA_PWR_MGMT1,&MPU_config); PRINTF("power management 1: %u\n",MPU_config); #endif // gyro range: -/+ 250 degree/sec read_mpu_reg(MPU_GYRO_CONFIG,&MPU_config); MPU_config = MPU_config & ~BV(3); // set bit 3 to zero write_mpu_reg(MPU_GYRO_CONFIG,MPU_config); #if DEBUG read_mpu_reg(MPU_GYRO_CONFIG,&MPU_config); PRINTF("Gyro config: %u\n",MPU_config); #endif // accelerometer range: -/+ 2g read_mpu_reg(MPU_ACCEL_CONFIG,&MPU_config); MPU_config = MPU_config & ~BV(3); // set bit 3 to zero -/+ 2g //MPU_config = MPU_config | BV(4); // set bit 4 to one -/+ 8g write_mpu_reg(MPU_ACCEL_CONFIG,MPU_config); read_mpu_reg(MPU_ACCEL_CONFIG,&MPU_config); printf("Acceleromter config: %u\n",MPU_config); // LPF: cut-off 21Hz for accel and 20Hz for gyro; DLPF_CFG = 4 read_mpu_reg(MPU_CONFIG,&MPU_config); MPU_config = MPU_config | BV(2); // set bit 2 to 1, DLPF_CFG = 4 write_mpu_reg(MPU_CONFIG,MPU_config); #if DEBUG read_mpu_reg(MPU_CONFIG,&MPU_config); PRINTF("MPU 6050 config: %u\n",MPU_config); #endif // sampling rate 1kHz write_mpu_reg(MPU_SMPLRT_DIV,0); #if DEBUG read_mpu_reg(MPU_SMPLRT_DIV,&MPU_config); PRINTF("sample divider: %u\n",MPU_config); #endif // start sampling ctimer_set(&ct,SAMPLE_RATE,sample_fun,(void*)NULL); ctimer_set(&reset_timer,SAMPLE_RATE*50,reset_sample_timer,(void*)NULL); } else { print_MPU = 1; } PROCESS_END(); }