/*---------------------------------------------------------------------------*/
PROCESS_THREAD(sky_shell_process, ev, data)
{
PROCESS_BEGIN();
serial_shell_init();
shell_blink_init();
shell_file_init();
shell_coffee_init();
shell_ps_init();
shell_reboot_init();
shell_rime_init();
/* shell_rime_debug_init();*/
shell_rime_netcmd_init();
/* shell_rime_ping_init(); */
shell_rime_neighbors_init();
shell_rime_sendcmd_init();
/* shell_rime_sniff_init();*/
shell_rime_unicast_init();
/*shell_sky_init();*/
shell_text_init();
shell_time_init();
SENSORS_ACTIVATE(acc_sensor);
shell_register_command(&acc_command);
shell_register_command(&poke_command);
shell_register_command(&peek_command);
shell_register_command(&leds_command);
PROCESS_END();
}
/*---------------------------------------------------------------------------*/
PROCESS_THREAD(sky_telnetd_process, ev, data)
{
PROCESS_BEGIN();
PROCESS_PAUSE();
shell_blink_init();
/* shell_file_init();
shell_netfile_init();*/
shell_ps_init();
shell_reboot_init();
/*shell_rime_init();*/
/*shell_rime_ping_init();*/
/*shell_rime_netcmd_init();*/
/*shell_rime_sniff_init();*/
shell_sky_init();
shell_text_init();
shell_time_init();
shell_register_command(&id_command);
while(1) {
PROCESS_WAIT_EVENT();
}
PROCESS_END();
}
/*---------------------------------------------------------------------------*/
PROCESS_THREAD(collect_view_shell_process, ev, data)
{
PROCESS_BEGIN();
serial_shell_init();
shell_blink_init();
#if WITH_COFFEE
shell_file_init();
shell_coffee_init();
#endif /* WITH_COFFEE */
/* shell_download_init(); */
/* shell_rime_sendcmd_init(); */
/* shell_ps_init(); */
shell_reboot_init();
shell_rime_init();
shell_rime_netcmd_init();
/* shell_rime_ping_init(); */
/* shell_rime_debug_init(); */
/* shell_rime_debug_runicast_init(); */
shell_powertrace_init();
/* shell_base64_init(); */
shell_text_init();
shell_time_init();
/* shell_sendtest_init(); */
#if CONTIKI_TARGET_SKY
shell_sky_init();
#endif /* CONTIKI_TARGET_SKY */
shell_collect_view_init();
PROCESS_END();
}
/*---------------------------------------------------------------------------*/
PROCESS_THREAD(sky_shell_process, ev, data)
{
PROCESS_BEGIN();
/* XXX the Sentilla JCreate has 8 LEDs, and we need to set the ports
correctly. */
LEDS_PxDIR = 0xff;
LEDS_PxOUT = 0xff;
serial_shell_init();
shell_blink_init();
shell_file_init();
shell_coffee_init();
shell_ps_init();
shell_reboot_init();
shell_rime_init();
/* shell_rime_debug_init();*/
shell_rime_netcmd_init();
shell_rime_ping_init();
shell_rime_neighbors_init();
shell_rime_sendcmd_init();
/* shell_rime_sniff_init();*/
shell_rime_unicast_init();
/*shell_sky_init();*/
shell_text_init();
shell_time_init();
acc_sensor.activate();
shell_register_command(&acc_command);
shell_register_command(&poke_command);
shell_register_command(&peek_command);
shell_register_command(&leds_command);
PROCESS_END();
}
/*---------------------------------------------------------------*/
PROCESS_THREAD(null_app_process, ev, data)
{
PROCESS_BEGIN();
printf("ADXL335 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_status3 = 0;
app_conn_open(&nullApp_callback);
if (node_id > 0)
{
ADC_status = 0;
adxl_enable();
// start sampling
ctimer_set(&ct,SAMPLE_RATE,sample_fun,(void*)NULL);
ctimer_set(&reset_timer,SAMPLE_RATE*50,reset_sample_timer,(void*)NULL);
}
PROCESS_END();
}
void
commands_init()
{
// contiki commands
shell_reboot_init();
// own commands
shell_register_command(&radio_power_command);
shell_register_command(&subscribe_command);
shell_register_command(&unsubscribe_command);
shell_register_command(&print_neigh_command);
}
/*---------------------------------------------------------------------------*/
PROCESS_THREAD(mb851_shell_process, ev, data)
{
PROCESS_BEGIN();
serial_shell_init();
shell_blink_init();
shell_ps_init();
shell_reboot_init();
shell_text_init();
shell_time_init();
shell_sensors_init();
PROCESS_END();
}
/*---------------------------------------------------------------*/
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();
}
/*---------------------------------------------------------------------------*/
PROCESS_THREAD(virtualsense_shell_process, ev, data)
{
PROCESS_BEGIN();
#if WITH_PERIODIC_DEBUG
ctimer_set(&debug_timer, 20 * CLOCK_SECOND, periodic_debug, NULL);
#endif /* WITH_PERIODIC_DEBUG */
serial_shell_init();
shell_reboot_init();
shell_gateway_init(NULL);
#if DEBUG_SNIFFERS
rime_sniffer_add(&s);
#endif /* DEBUG_SNIFFERS */
PROCESS_END();
}
PROCESS_THREAD(sleepy_trilateration_matlab_process, ev, data)
{
PROCESS_BEGIN();
serial_shell_init();
shell_blink_init();
shell_reboot_init();
shell_rime_init();
shell_rime_netcmd_init();
shell_text_init();
shell_time_init();
shell_sky_init();
shell_collect_view_init();
shell_global_sensor_init();
shell_sleepy_trilateration_matlab_init();
PROCESS_END();
}
/*---------------------------------------------------------------------------*/
PROCESS_THREAD(adaptive_cusum_process, ev, data)
{
PROCESS_BEGIN();
serial_shell_init();
shell_blink_init();
shell_reboot_init();
shell_rime_init();
shell_rime_netcmd_init();
shell_text_init();
shell_time_init();
shell_sky_init();
shell_collect_view_init();
shell_adaptive_cusum_init();
shell_global_sensor_init();
shell_sample_stats_init();
PROCESS_END();
}
PROCESS_THREAD(gaussian_cusum_process, ev, data) {
PROCESS_BEGIN();
serial_shell_init();
shell_blink_init();
shell_reboot_init();
shell_rime_init();
// shell_rime_netcmd_init();
shell_text_init();
shell_time_init();
shell_sky_init();
shell_collect_view_init();
// Here's where it differs from the normal collect-view program.
shell_sleepy_cusum_init();
shell_global_sensor_init();
shell_sample_stats_init();
PROCESS_END();
}
PROCESS_THREAD(rssi_measure_process, ev, data)
{
PROCESS_BEGIN();
serial_shell_init();
shell_blink_init();
shell_reboot_init();
shell_rime_init();
shell_rime_netcmd_init();
shell_powertrace_init();
shell_text_init();
shell_time_init();
shell_sky_init();
shell_collect_view_init();
// Here's where it differs from the normal collect-view program
shell_rssi_measure_init();
PROCESS_END();
}
/*---------------------------------------------------------------------------*/
PROCESS_THREAD(sky_shell_process, ev, data)
{
PROCESS_BEGIN();
#if WITH_PERIODIC_DEBUG
ctimer_set(&debug_timer, 20 * CLOCK_SECOND, periodic_debug, NULL);
#endif /* WITH_PERIODIC_DEBUG */
serial_shell_init();
shell_blink_init();
/* shell_file_init();
shell_coffee_init();*/
/* shell_download_init();*/
shell_rime_sendcmd_init();
/* shell_ps_init();*/
shell_reboot_init();
shell_rime_init();
shell_rime_netcmd_init();
/* shell_rime_ping_init();
shell_rime_debug_init();
shell_rime_debug_runicast_init();*/
/* shell_rime_sniff_init();*/
shell_sky_init();
shell_power_init();
shell_powertrace_init();
/* shell_base64_init();*/
shell_text_init();
shell_time_init();
/* shell_sendtest_init();*/
shell_collect_view_init();
#if DEBUG_SNIFFERS
rime_sniffer_add(&s);
#endif /* DEBUG_SNIFFERS */
PROCESS_END();
}
/*---------------------------------------------------------------------------*/
PROCESS_THREAD(sky_shell_process, ev, data)
{
PROCESS_BEGIN();
serial_shell_init();
shell_blink_init();
shell_file_init();
shell_coffee_init();
shell_ps_init();
shell_reboot_init();
shell_rime_init();
/*shell_rime_netcmd_init();*/
/*shell_rime_ping_init();*/
/*shell_rime_debug_init();*/
/*shell_rime_sniff_init();*/
shell_rime_sendcmd_init();
shell_download_init();
shell_sky_init();
shell_text_init();
shell_time_init();
shell_checkpoint_init();
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();
}
/*---------------------------------------------------------------*/
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("Sine Wave Started\n");
serial_shell_init();
remote_shell_init();
shell_reboot_init();
shell_blink_init();
shell_sky_init();
app_conn_open(&nullApp_callback);
/*
if (node_id != 0)
etimer_set(&et,16);
else
etimer_set(&et,200);
*/
if (node_id != 0)
{
ctimer_set(&ct,10,sample_fun,(void*)NULL);
/*
while(1)
{
PROCESS_WAIT_EVENT_UNTIL(etimer_expired(&et));
etimer_reset(&et);
uint8_t i;
for(i = 0; i < 6; i++)
{
data_buf[i] = sinI(counter);
counter++;
}
app_conn_send((uint8_t *)data_buf,6*sizeof(int8_t));
}
*/
}
/*
else
{
while(1)
{
PROCESS_WAIT_EVENT_UNTIL(etimer_expired(&et));
etimer_reset(&et);
}
}
*/
/*
int8_t data_buf[6] = {0};
static struct etimer et;
//static uint16_t counter = 0;
uint8_t i;
etimer_set(&et,(unsigned long)102);
if (node_id != 0)
{
while(1)
{
//etimer_set(&et,(unsigned long)102);
//printf("here 1\n");
printf("1timer start %lu interval %lu process %s\n",et.timer.start,et.timer.interval,et.p->name);
PROCESS_WAIT_EVENT_UNTIL(etimer_expired(&et));
printf("if expired %u\n",etimer_expired(&et));
etimer_reset(&et);
printf("2timer start %lu interval %lu process %s\n",et.timer.start,et.timer.interval,et.p->name);
printf("next timer start %lu interval %lu process %s\n",et.next->timer.start,et.next->timer.interval,et.next->p->name);
for(i = 0; i < 6; i++)
{
data_buf[i] = sinI(counter);
counter++;
}
printf("here 3\n");
app_conn_send((uint8_t *)data_buf,6*sizeof(int8_t));
printf("here 4\n");
}
}
*/
PROCESS_END();
}
