void task_application_imu_radio(uint16_t input) {
counter++;
P1OUT ^= 0x02; // toggle P1.1 for debug
P4OUT ^= 0x20; // toggle P4.5 for debug
P1OUT |= 0x04;P1OUT &= ~0x04; // pulse P1.2 for debug
if (counter==0) {
leds_circular_shift(); // circular shift LEDs for debug
}
//get RAM space for packet
testImuRadiopacketToSend = openqueue_getFreePacketBuffer();
//l1
testImuRadiopacketToSend->l1_channel = DEFAULTCHANNEL;
//payload
packetfunctions_reserveHeaderSize(testImuRadiopacketToSend,8);
gyro_get_measurement(&(testImuRadiopacketToSend->payload[0]));
P1OUT |= 0x04;P1OUT &= ~0x04; // pulse P1.2 for debug
packetfunctions_reserveHeaderSize(testImuRadiopacketToSend,6);
large_range_accel_get_measurement(&(testImuRadiopacketToSend->payload[0]));
P1OUT |= 0x04;P1OUT &= ~0x04; // pulse P1.2 for debug
packetfunctions_reserveHeaderSize(testImuRadiopacketToSend,6);
magnetometer_get_measurement(&(testImuRadiopacketToSend->payload[0]));
P1OUT |= 0x04;P1OUT &= ~0x04; // pulse P1.2 for debug
packetfunctions_reserveHeaderSize(testImuRadiopacketToSend,10);
sensitive_accel_temperature_get_measurement(&(testImuRadiopacketToSend->payload[0]));
P1OUT |= 0x04;P1OUT &= ~0x04; // pulse P1.2 for debug
packetfunctions_reserveFooterSize(testImuRadiopacketToSend,2);//space for radio to fill in CRC
//send packet
radio_send(testImuRadiopacketToSend);
}
/**
\brief Transfer packet to MAC.
This function adds a IEEE802.15.4 header to the packet and leaves it the
OpenQueue buffer. The very last thing it does is assigning this packet to the
virtual component COMPONENT_RES_TO_IEEE802154E. Whenever it gets a change,
IEEE802154E will handle the packet.
\param [in] msg The packet to the transmitted
\returns E_SUCCESS iff successful.
*/
error_t res_send_internal(OpenQueueEntry_t* msg) {
// assign a number of retries
if (packetfunctions_isBroadcastMulticast(&(msg->l2_nextORpreviousHop))==TRUE) {
msg->l2_retriesLeft = 1;
} else {
msg->l2_retriesLeft = TXRETRIES;
}
// record this packet's dsn (for matching the ACK)
msg->l2_dsn = res_vars.dsn++;
// this is a new packet which I never attempted to send
msg->l2_numTxAttempts = 0;
// transmit with the default TX power
msg->l1_txPower = TX_POWER;
// record the location, in the packet, where the l2 payload starts
msg->l2_payload = msg->payload;
// add a IEEE802.15.4 header
ieee802154_prependHeader(msg,
msg->l2_frameType,
IEEE154_SEC_NO_SECURITY,
msg->l2_dsn,
&(msg->l2_nextORpreviousHop)
);
// reserve space for 2-byte CRC
packetfunctions_reserveFooterSize(msg,2);
// change owner to IEEE802154E fetches it from queue
msg->owner = COMPONENT_RES_TO_IEEE802154E;
return E_SUCCESS;
}
void isr_button() {
//prepare packet
testRadioPacketToSend = openqueue_getFreePacketBuffer();
//l1
testRadioPacketToSend->l1_channel = DEFAULTCHANNEL;
//payload
packetfunctions_reserveHeaderSize(testRadioPacketToSend,5);
testRadioPacketToSend->payload[0] = 0x01;
testRadioPacketToSend->payload[1] = 0x02;
testRadioPacketToSend->payload[2] = 0x03;
testRadioPacketToSend->payload[3] = 0x04;
testRadioPacketToSend->payload[4] = 0x05;
packetfunctions_reserveFooterSize(testRadioPacketToSend,2); //space for radio to fill in CRC
//send packet
radio_send(testRadioPacketToSend);
//debug
P1OUT ^= 0x02; // toggle P1.1 (for debug)
leds_circular_shift(); // circular-shift LEDs (for debug)
}
void task_application_intersection(uint16_t input) {
counter++;
P1OUT ^= 0x02; // toggle P1.1 for debug
P4OUT ^= 0x20; // toggle P4.5 for debug
P1OUT |= 0x04;P1OUT &= ~0x04; // pulse P1.2 for debug
if (counter==0) {
leds_circular_shift(); // circular shift LEDs for debug
}
//get RAM space for packet
testIntersection = openqueue_getFreePacketBuffer();
//l1
testIntersection->l1_channel = DEFAULTCHANNEL;
P1OUT ^= 0x02; // toggle P1.1 for debug
magnetometer_get_measurement(mag_reading);
mag_X = 0;
mag_Y = 0;
mag_Z = 0;
mag_X |= mag_reading[0]<<8;
mag_X |= mag_reading[1];
mag_Y |= mag_reading[2]<<8;
mag_Y |= mag_reading[3];
mag_Z |= mag_reading[4]<<8;
mag_Z |= mag_reading[5];
//note: in the following I use functions for simple multiplications
//and divisions for easy replacements in case the number of
//instruction cycles is too large to be acceptable in this application
mag_X = div_int(mag_X, 970);
mag_Y = div_int(mag_Y, 970);
mag_Z = div_int(mag_Z, 970);//970: look in HMC5843 datasheet
XX = mul_int(mag_X,mag_X);
YY = mul_int(mag_Y,mag_Y);
ZZ = mul_int(mag_Z,mag_Z);
mag_norm = XX + YY + ZZ; //no sqrt for faster execution
filt_norm = LPF(mag_norm);
//here we enter the state machine
switch (state) {
case NOCAR:
if (filt_norm>=threshold){
FSMcounter = 1;
state = PERHAPS;
}
break; //else you break
case PERHAPS:
if (filt_norm >= threshold && FSMcounter < maxCount){
FSMcounter++;
}
else if (filt_norm < threshold && FSMcounter >minCount)
FSMcounter--;
else if (filt_norm < threshold && FSMcounter <=minCount){
state = NOCAR;
FSMcounter=0;
if(seenCar){
seenCar=0;
packetfunctions_reserveHeaderSize(testIntersection,1);
testIntersection->payload[0] = seenCar;
packetfunctions_reserveFooterSize(testIntersection,2);//space for radio to fill in CRC
//send packet(noCar)
radio_send(testIntersection);
}
}
else if (filt_norm>=threshold && FSMcounter >=maxCount){
state=CAR;
if(!seenCar){
seenCar=1;
packetfunctions_reserveHeaderSize(testIntersection,1);
testIntersection->payload[0] = seenCar;
packetfunctions_reserveFooterSize(testIntersection,2);//space for radio to fill in CRC
//send packet(Car)
radio_send(testIntersection);
}
}
break;
case CAR:
if (filt_norm < threshold){
FSMcounter--;
state = PERHAPS;
}
break;
default:
break;
}
}
