void mwii_read_sensors(struct fc_data *data){
data->flags = 0xffff; // all
mpu6050_readRawAcc(&_brd.mpu,
&data->raw_acc.x,
&data->raw_acc.y,
&data->raw_acc.z);
mpu6050_convertAcc(&_brd.mpu,
data->raw_acc.x,
data->raw_acc.y,
data->raw_acc.z,
&data->acc_g.x,
&data->acc_g.y,
&data->acc_g.z
);
mpu6050_readRawGyr(&_brd.mpu,
&data->raw_gyr.x,
&data->raw_gyr.y,
&data->raw_gyr.z
);
mpu6050_convertGyr(&_brd.mpu,
data->raw_gyr.x,
data->raw_gyr.y,
data->raw_gyr.z,
&data->gyr_deg.x,
&data->gyr_deg.y,
&data->gyr_deg.z
);
/*
hmc5883l_readRawMag(&_brd.hmc,
&data->raw_mag.x,
&data->raw_mag.y,
&data->raw_mag.z
);
hmc5883l_convertMag(&_brd.hmc,
data->raw_mag.x,
data->raw_mag.y,
data->raw_mag.z,
&data->mag.x,
&data->mag.y,
&data->mag.z
);
*/
int16_t sonar = hcsr04_read_distance_in_cm(&brd->hcsr);
data->atmospheric_altitude = bmp085_read_altitude(&brd->bmp);
data->sonar_altitude = (sonar > 0)?((float)sonar / 100.0):-1;
data->temperature = bmp085_read_temperature(&brd->bmp);
data->pressure = bmp085_read_pressure(&brd->bmp);
//data->vbat = (adc0_read_cached(2) / 65535.0);
}
/// reads temperature in degrees C
float mwii_read_temperature_c(void){
return bmp085_read_temperature(&brd->bmp);
}
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();
}
