Hi all,
I'm currently working on Vanderbilt's acoustic localization module. From my
understanding, this is how it works:
1) Actuator sends a radio message to sensor to inform sensor to "get ready" to
receive the 16 chirps including the silence period (chirps are constant
duration, silence period following each chirp is varied).
2) There is a start-up delay for the mic to receive the chirps.
3) The sound is emitted at the same time as the radio message (but due to the
much slower speed of sound, the sensor receives the radio message first before
receiving the sound).
4) In AcousticMultiSamplerM.nc, upon each Timer.fired() event (i.e. for each
specific chirp + silence period), it will call MicADC.getContinuousData().
5) Each time the data is ready, it will then signal dataReady() in
OutsideRangingSensorM, which will then be stored to the 850 samples in the
buffer. Once 850 samples have been filled in the buffer, the sampler will
ignore any more data and wait for the next chirp + silence period to arrive.
(Thus for each chirp + silence period, the data would then be added to the
specific "sequence" in the buffer - i.e. we would expect the peak to appear
somewhere below 200 (sequence number) in the array for short distances).
6) A moving average function is then carried out. (I left out the peak
detection process as I wanted to see the "raw" data of the 850 samples that was
filled).
However, in my case, I realised that in step (5), my ADC does not sample at
the required rate - hence, I'm not getting 16 samples at the sensor side (if I
wasn't mistaken, 3 sequences of chirp + silence period were required to fill up
the 850 size of the buffer). My actuator is able to emit the 16 chirps as
required. Thus, I really do not know what is wrong as I'm using the specific
micaz folder done by VU which contains a different timer from the default
timer. I have renamed the default micaz folder to micaz2, so that the micaz
will now "point" to the micaz folder for acoustic localization. Also, based on
the diagram generated by typing "make docs micaz", it seems that my timer is
wired appropriately to the "special" timer for acoustic localization.
When I included PFLAGS += -v in my Makefile, this was what I got (no
compilation errors):
************** /opt/tinyos-1.x/apps/local$ make
micaz/opt/tinyos-1.x/tools/make/Makerules:9: 'XNP defined, adding on XNP
library'mkdir -p build/micaz compiling AcousticLocalizationC to a micaz
binaryncc -o build/micaz/main.exe -Os -I%T/lib/ARanging -v -I%T/lib/XNP
-finline-limit=100000 -Wall -Wshadow -DDEF_TOS_AM_GROUP=0x7d -Wnesc-all
-target=micaz -fnesc-cfile=build/micaz/app.c -board=micasb
-DTOSH_DATA_LENGTH=100 -DIDENT_PROGRAM_NAME="AcousticL"
-DIDENT_PROGRAM_NAME_BYTES="65,99,111,117,115,116,105,99,76,0"
-DIDENT_USER_HASH=0x1d1a923dL -DIDENT_UNIX_TIME=0x475f35efL
-I/opt/tinyos-1.x/tos/lib/CC2420Radio AcousticLocalizationC.nc -lmnescc
-DPLATFORM_MICAZ -DBOARD_MICASB -fnesc-include=tos -topdir=/opt/tinyos-1.x -o
build/micaz/main.exe -Os -v -finline-limit=100000 -Wall -Wshadow
-DDEF_TOS_AM_GROUP=0x7d -Wnesc-all -fnesc-cfile=build/micaz/app.c
-DTOSH_DATA_LENGTH=100 -DIDENT_PROGRAM_NAME=AcousticL
-DIDENT_PROGRAM_NAME_BYTES=65,99,111,117,115,116,105,99,76,0 -DIDENT_USER_HA!
SH=0x1d1a923dL -DIDENT_UNIX_TIME=0x475f35efL AcousticLocalizationC.nc -lm
-gcc=avr-gcc -mmcu=atmega128 -fnesc-target=avr -fnesc-no-debug -mingw-gcc
-I/opt/tinyos-1.x/tos/lib/ARanging -I/opt/tinyos-1.x/tos/lib/XNP
-I/opt/tinyos-1.x/tos/lib/CC2420Radio -I/opt/tinyos-1.x/tos/sensorboards/micasb
-I/opt/tinyos-1.x/tos/platform/micaz -I/opt/tinyos-1.x/tos/platform/mica2
-I/opt/tinyos-1.x/tos/platform/mica128 -I/opt/tinyos-1.x/tos/platform/mica
-I/opt/tinyos-1.x/tos/platform/avrmote -I/opt/tinyos-1.x/tos/interfaces
-I/opt/tinyos-1.x/tos/types -I/opt/tinyos-1.x/tos/systemavr-gcc
-specs=C:\tinyos\cygwin\usr\local\lib\ncc\tdspecs -DPLATFORM_MICAZ
-DBOARD_MICASB -_fnesc-include=tos -obuild\micaz\main.exe -Os -v
-finline-limit=100000 -Wall -Wshadow -DDEF_TOS_AM_GROUP=0x7d -_Wnesc-all
-_fnesc-cfile=build/micaz/app.c -DTOSH_DATA_LENGTH=100
-DIDENT_PROGRAM_NAME=AcousticL
-DIDENT_PROGRAM_NAME_BYTES=65,99,111,117,115,116,105,99,76,0
-DIDENT_USER_HASH=0x1d1a923dL -DIDENT_UNIX_TIME=0x475f35ef!
L AcousticLocalizationC.nc -lm -mmcu=atmega128 -_fnesc-target=avr -_fn
esc-no-debug -IC:\tinyos\cygwin\opt\tinyos-1.x\tos\lib\ARanging
-IC:\tinyos\cygwin\opt\tinyos-1.x\tos\lib\XNP
-IC:\tinyos\cygwin\opt\tinyos-1.x\tos\lib\CC2420Radio
-IC:\tinyos\cygwin\opt\tinyos-1.x\tos\sensorboards\micasb
-IC:\tinyos\cygwin\opt\tinyos-1.x\tos\platform\micaz
-IC:\tinyos\cygwin\opt\tinyos-1.x\tos\platform\mica2
-IC:\tinyos\cygwin\opt\tinyos-1.x\tos\platform\mica128
-IC:\tinyos\cygwin\opt\tinyos-1.x\tos\platform\mica
-IC:\tinyos\cygwin\opt\tinyos-1.x\tos\platform\avrmote
-IC:\tinyos\cygwin\opt\tinyos-1.x\tos\interfaces
-IC:\tinyos\cygwin\opt\tinyos-1.x\tos\types
-IC:\tinyos\cygwin\opt\tinyos-1.x\tos\system -DNESC=110Reading specs from
/usr/local/lib/gcc-lib/avr/3.3-tinyos/specsReading specs from
C:\tinyos\cygwin\usr\local\lib\ncc\tdspecsConfigured with: ./configure
--target=avr --disable-nlsThread model: singlegcc version 3.3-tinyos perl -S
nesc-compile -_fnesc-include=tos -_Wnesc-all -_fnesc-cfile=build/micaz/app.c
-_fnesc-target=avr -_fnesc-no-debug -mmcu=atm!
ega128 -DPLATFORM_MICAZ -DBOARD_MICASB -DDEF_TOS_AM_GROUP=0x7d
-DTOSH_DATA_LENGTH=100 -DIDENT_PROGRAM_NAME=AcousticL
-DIDENT_PROGRAM_NAME_BYTES=65,99,111,117,115,116,105,99,76,0
-DIDENT_USER_HASH=0x1d1a923dL -DIDENT_UNIX_TIME=0x475f35efL -DNESC=110
-IC:\tinyos\cygwin\opt\tinyos-1.x\tos\lib\ARanging
-IC:\tinyos\cygwin\opt\tinyos-1.x\tos\lib\XNP
-IC:\tinyos\cygwin\opt\tinyos-1.x\tos\lib\CC2420Radio
-IC:\tinyos\cygwin\opt\tinyos-1.x\tos\sensorboards\micasb
-IC:\tinyos\cygwin\opt\tinyos-1.x\tos\platform\micaz
-IC:\tinyos\cygwin\opt\tinyos-1.x\tos\platform\mica2
-IC:\tinyos\cygwin\opt\tinyos-1.x\tos\platform\mica128
-IC:\tinyos\cygwin\opt\tinyos-1.x\tos\platform\mica
-IC:\tinyos\cygwin\opt\tinyos-1.x\tos\platform\avrmote
-IC:\tinyos\cygwin\opt\tinyos-1.x\tos\interfaces
-IC:\tinyos\cygwin\opt\tinyos-1.x\tos\types
-IC:\tinyos\cygwin\opt\tinyos-1.x\tos\system -Os -Wall -Wshadow -v
-finline-limit=100000 -o /cygdrive/c/DOCUME~1/SCE07-~1/LOCALS~1/Temp/ccYJ3Yx4.o
AcousticLocalizationC.!
ncnesc1 -_fnesc-include=tos -_Wnesc-all -_fnesc-target=avr -_fnesc-no-
debug -mmcu=atmega128 -DPLATFORM_MICAZ -DBOARD_MICASB -DDEF_TOS_AM_GROUP=0x7d
-DTOSH_DATA_LENGTH=100 -DIDENT_PROGRAM_NAME=AcousticL
-DIDENT_PROGRAM_NAME_BYTES=65,99,111,117,115,116,105,99,76,0
-DIDENT_USER_HASH=0x1d1a923dL -DIDENT_UNIX_TIME=0x475f35efL -DNESC=110
-IC:\tinyos\cygwin\opt\tinyos-1.x\tos\lib\ARanging
-IC:\tinyos\cygwin\opt\tinyos-1.x\tos\lib\XNP
-IC:\tinyos\cygwin\opt\tinyos-1.x\tos\lib\CC2420Radio
-IC:\tinyos\cygwin\opt\tinyos-1.x\tos\sensorboards\micasb
-IC:\tinyos\cygwin\opt\tinyos-1.x\tos\platform\micaz
-IC:\tinyos\cygwin\opt\tinyos-1.x\tos\platform\mica2
-IC:\tinyos\cygwin\opt\tinyos-1.x\tos\platform\mica128
-IC:\tinyos\cygwin\opt\tinyos-1.x\tos\platform\mica
-IC:\tinyos\cygwin\opt\tinyos-1.x\tos\platform\avrmote
-IC:\tinyos\cygwin\opt\tinyos-1.x\tos\interfaces
-IC:\tinyos\cygwin\opt\tinyos-1.x\tos\types
-IC:\tinyos\cygwin\opt\tinyos-1.x\tos\system -Wall -Wshadow -v
-finline-limit=100000 AcousticLocalizationC.nc -o
build/micaz/app.cpreprocessing C:\tinyos\c!
ygwin\opt\tinyos-1.x\tos\system/tos.hpreprocessing
AcousticLocalizationC.ncpreprocessing RangeMsg.hpreprocessing
C:\tinyos\cygwin\opt\tinyos-1.x\tos\system/Main.ncpreprocessing
C:\tinyos\cygwin\opt\tinyos-1.x\tos\interfaces/StdControl.ncpreprocessing
C:\tinyos\cygwin\opt\tinyos-1.x\tos\system/RealMain.ncpreprocessing
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C:\tinyos\cygwin\opt\tinyos-1.x\tos\interfaces/HPLPot.ncpreprocessing
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C:\tinyos\cygwin\opt\tinyos-1.x\tos\platform\avrmote/HPLInit.ncpreprocessing
AcousticLocalizationM.ncpreprocessing
C:\tinyos\cygwin\opt\tinyos-1.x\tos\interfaces/Leds.ncpreprocessing
C:\tinyos\cygwin\opt\tinyos-1.x\tos\interfaces/Random.ncpreprocessing
C:\tinyos\cygwin\opt\tinyos-1.x\tos\lib\ARanging/AcousticRangingSensor.ncpre!
processing C:\tinyos\cygwin\opt\tinyos-1.x\tos\lib\ARanging/AcousticRa
ngingActuator.ncpreprocessing
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C:\tinyos\cygwin\opt\tinyos-1.x\tos\platform\micaz/HPLCC2420FIFOM.ncpreprocessing!
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PLUART0M.ncpreprocessing C:\tinyos\cygwin\opt\tinyos-1.x\tos\system/No
Leds.ncpreprocessing
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.x\tos\sensorboards\micasb/MicC.ncpreprocessing
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C:\tinyos\cygwin\opt\tinyos-1.x\tos\lib\ARanging/OutsideRangingActuatorM.ncpreprocessing
C:\tinyos\cygwin\opt\tinyos-1.x\tos\lib\ARanging/AcousticBeacon.nc
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C:\tinyos\cygwin\opt\tinyos-1.x\tos\lib\ARanging/AcousticBeaconC.ncpreprocessing
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C:\tinyos\cygwin\opt\tinyos-1.x\tos\sensorboards\micasb/Sounder.nc
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C:\tinyos\cygwin\opt\tinyos-1.x\tos\sensorboards\micasb/SounderM.ncC:/tinyos/cygwin/opt/tinyos-1.x/tos/platform/micaz/HPLCC2420InterruptM.nc:161:
warning: `CCATimer.start' called asynchronously from
`CCA.startWait'C:/tinyos/cygwin/opt/tinyos-1.x/tos/lib/CC2420Radio/CC2420RadioM.nc:115:
warning: `Send.sendDone' called asynchronously from `sendFailed'avr-gcc
-BC:\tinyos\cygwin\usr\local\lib\ncc -mmcu=atmega128 -Os -Wall -Wshadow-v
-finline-limit=100000 -o /cygdrive/c/DOCUME~1/SCE07-~1/LOCALS~1/Temp/ccYJ3Yx4.o
-c build/micaz/app.cReading specs from
/usr/local/lib/gcc-lib/avr/3.3-tinyos/specsConfigured with: ./configure
--target=avr --disable-nlsThread model: singlegcc version 3.3-tinyos
/usr/local/lib/gcc-lib/avr/3.3-tinyos/cc1.exe -quiet -v -isystem
C:/tinyos/cygwin/usr/local/lib/ncc/include -D__GNUC__=3 -D__GNUC_MINOR__=3
-D__GNUC_PATCHLEVEL__=0 build/micaz/app.c -quiet -dumpbase app.c
-mmcu=atmega128 -auxbase-strip /cygdrive/c/DOCUME~1/SCE07-~1/LOCALS~1/Temp/cc!
YJ3Yx4.o -Os -Wall -Wshadow -version-finline-limit=100000 -o
/cygdrive/c/DOCUME~1/SCE07-~1/LOCALS~1/Temp/ccAzUXbl.signoring nonexistent
directory "C:/tinyos/cygwin/usr/local/lib/ncc/include"GNU C version 3.3-tinyos
(avr) compiled by GNU C version 3.2 20020927 (prerelease).GGC
heuristics: --param ggc-min-expand=64 --param ggc-min-heapsize=65406ignoring
nonexistent directory "NONE/include"ignoring nonexistent directory
"/usr/local/avr/sys-include"#include "..." search starts here:#include <...>
search starts here: /usr/local/lib/gcc-lib/avr/3.3-tinyos/include
/usr/local/avr/includeEnd of search
list.C:/tinyos/cygwin/opt/tinyos-1.x/tos/lib/ARanging/OutsideRangingSensorM.nc:
In function
`OutsideRangingSensorM$process':C:/tinyos/cygwin/opt/tinyos-1.x/tos/lib/ARanging/OutsideRangingSensorM.nc:239:
warning: unused variable
`range'C:/tinyos/cygwin/opt/tinyos-1.x/tos/lib/ARanging/OutsideRangingSensorM.nc:240:
warning: unused variable `tmp'C:/tinyos/cygwin/opt/tinyos-1.x/tos/l!
ib/ARanging/OutsideRangingSensorM.nc:241: warning: unused variable `z'
C:/tinyos/cygwin/opt/tinyos-1.x/tos/lib/ARanging/OutsideRangingSensorM.nc:242:
warning: unused variable
`i'C:/tinyos/cygwin/opt/tinyos-1.x/tos/lib/ARanging/OutsideRangingSensorM.nc:242:
warning: unused variable
`j'C:/tinyos/cygwin/opt/tinyos-1.x/tos/lib/ARanging/OutsideRangingSensorM.nc:243:
warning: unused variable
`pos'C:/tinyos/cygwin/opt/tinyos-1.x/tos/lib/ARanging/OutsideRangingSensorM.nc:244:
warning: unused variable
`neg'C:/tinyos/cygwin/opt/tinyos-1.x/tos/lib/ARanging/OutsideRangingSensorM.nc:245:
warning: unused variable
`a'C:/tinyos/cygwin/opt/tinyos-1.x/tos/lib/ARanging/OutsideRangingSensorM.nc:245:
warning: unused variable
`b'C:/tinyos/cygwin/opt/tinyos-1.x/tos/lib/ARanging/OutsideRangingSensorM.nc:245:
warning: unused variable
`x'C:/tinyos/cygwin/opt/tinyos-1.x/tos/lib/ARanging/OutsideRangingSensorM.nc:245:
warning: unused variable
`y'C:/tinyos/cygwin/opt/tinyos-1.x/tos/lib/ARanging/OutsideRangingSensorM.nc:245:
warning: unused variable `sum'C:/tinyos/cygwin/opt!
/tinyos-1.x/tos/lib/ARanging/OutsideRangingSensorM.nc:245: warning: unused
variable `average1'AcousticLocalizationM.nc: In function
`AcousticLocalizationM$AcousticRangingSensor$receiveDone':AcousticLocalizationM.nc:127:
warning: unused variable `randTime'
C:/tinyos/cygwin/usr/local/lib/ncc/avr/3.3-tinyos/as.exe -mmcu=atmega128 -o
/cygdrive/c/DOCUME~1/SCE07-~1/LOCALS~1/Temp/ccYJ3Yx4.o
/cygdrive/c/DOCUME~1/SCE07-~1/LOCALS~1/Temp/ccAzUXbl.s
/usr/local/lib/gcc-lib/avr/3.3-tinyos/../../../../avr/bin/ld.exe -m avr5 -Tdata
0x800100 -obuild\micaz\main.exe
/usr/local/lib/gcc-lib/avr/3.3-tinyos/../../../../avr/lib/avr5/crtm128.o
-L/usr/local/lib/gcc-lib/avr/3.3-tinyos/avr5
-L/usr/local/lib/gcc-lib/avr/3.3-tinyos
-L/usr/local/lib/gcc-lib/avr/3.3-tinyos/../../../../avr/lib/avr5
-L/usr/local/lib/gcc-lib/avr/3.3-tinyos/../../../../avr/lib
/cygdrive/c/DOCUME~1/SCE07-~1/LOCALS~1/Temp/ccYJ3Yx4.o -lm -lgcc -lc -lgcc
compiled AcousticLocalizationC to build/micaz/main.exe 14144 by!
tes in ROM 2811 bytes in RAMavr-objcopy --output-target=sre
c build/micaz/main.exe build/micaz/main.srecavr-objcopy --output-target=ihex
build/micaz/main.exe build/micaz/main.ihex
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