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);
}
void rt_timer() {
OpenQueueEntry_t* pkt;
error_t outcome;
uint8_t numOptions;
uint8_t rawdata[SENSITIVE_ACCEL_TEMPERATURE_DATALEN];
// create a CoAP RD packet
pkt = openqueue_getFreePacketBuffer(COMPONENT_RT);
if (pkt==NULL) {
openserial_printError(COMPONENT_RT,ERR_NO_FREE_PACKET_BUFFER,
(errorparameter_t)0,
(errorparameter_t)0);
openqueue_freePacketBuffer(pkt);
return;
}
// take ownership over that packet
pkt->creator = COMPONENT_RT;
pkt->owner = COMPONENT_RT;
// CoAP payload (2 bytes of temperature data)
packetfunctions_reserveHeaderSize(pkt,2);
sensitive_accel_temperature_get_measurement(&rawdata[0]);
pkt->payload[0] = rawdata[8];
pkt->payload[1] = rawdata[9];
numOptions = 0;
// location-path option
packetfunctions_reserveHeaderSize(pkt,sizeof(rt_path0)-1);
memcpy(&pkt->payload[0],&rt_path0,sizeof(rt_path0)-1);
packetfunctions_reserveHeaderSize(pkt,1);
pkt->payload[0] = (COAP_OPTION_LOCATIONPATH-COAP_OPTION_CONTENTTYPE) << 4 |
sizeof(rt_path0)-1;
numOptions++;
// content-type option
packetfunctions_reserveHeaderSize(pkt,2);
pkt->payload[0] = COAP_OPTION_CONTENTTYPE << 4 |
1;
pkt->payload[1] = COAP_MEDTYPE_APPOCTETSTREAM;
numOptions++;
// metadata
pkt->l4_destination_port = WKP_UDP_COAP;
pkt->l3_destinationAdd.type = ADDR_128B;
memcpy(&pkt->l3_destinationAdd.addr_128b[0],&ipAddr_motesEecs,16);
// send
outcome = opencoap_send(pkt,
COAP_TYPE_NON,
COAP_CODE_REQ_PUT,
numOptions,
&rt_vars.desc);
// avoid overflowing the queue if fails
if (outcome==E_FAIL) {
openqueue_freePacketBuffer(pkt);
}
return;
}
error_t rt_receive(OpenQueueEntry_t* msg,
coap_header_iht* coap_header,
coap_option_iht* coap_options) {
error_t outcome;
uint8_t rawdata[SENSITIVE_ACCEL_TEMPERATURE_DATALEN];
if (coap_header->Code==COAP_CODE_REQ_POST) {
// start/stop the data generation to data server
if (msg->payload[0]=='1') {
opentimers_restart(rt_vars.timerId);
} else {
opentimers_stop(rt_vars.timerId);
}
// reset packet payload
msg->payload = &(msg->packet[127]);
msg->length = 0;
// CoAP header
coap_header->OC = 0;
coap_header->Code = COAP_CODE_RESP_VALID;
outcome = E_SUCCESS;
} else if (coap_header->Code==COAP_CODE_REQ_GET) {
// return current sensor value
// reset packet payload
msg->payload = &(msg->packet[127]);
msg->length = 0;
// CoAP payload (2 bytes of temperature data)
packetfunctions_reserveHeaderSize(msg,2);
sensitive_accel_temperature_get_measurement(&rawdata[0]);
msg->payload[0] = rawdata[8];
msg->payload[1] = rawdata[9];
// set the CoAP header
coap_header->OC = 0;
coap_header->Code = COAP_CODE_RESP_CONTENT;
outcome = E_SUCCESS;
} else {
// return an error message
outcome = E_FAIL;
}
return outcome;
}
