Hi
I had found out if I turn off Temperature and Light both, AccelX and
AccelY both will sample in error readings.
My changing history:
(1) Sensing order at file XMTS310M.nc is
ADCBATT, Temperature, Light, MicADC, AccelX, AccelY, MagX and MagY.
I only want MTS310 to sample AccelX and AccelY both,
for reach this, first I had put the code at area of AccelY.dataReady by
following lines
atomic {
if (!sending_packet) {
sending_packet = TRUE;
post send_radio_msg();
}
(2) The sensing order at file XMTS310M.nc is
ADCBATT, Temperature, Light, MicADC, AccelX and AccelY.
The second, I had put the code at area of ADCBATT.dataReady
under line "call Temperature.getData();" by this line "call
AccelX.getData(); ",
and annotated lines "call Temperature.getData();".
async event result_t ADCBATT.dataReady(uint16_t data) {
if (!sensinginsession) return FAIL;
readings.vref = data;
atomic sensinginsession = FALSE;
post battstop();
//call TempControl.start(); //call Temperature.getData();
call AccelX.getData();
return SUCCESS;
}
Now, though I had reached my target, but readings AccelX and AccelY both
is exporting in wrong value.
--
Best regards,
Jin-Yu, Ou
E-mail: [email protected]
Tel : +886-8-7703202 ext 7917
Multimedia Information Network Advanced Research Lab.
http://minar.npust.edu.tw/
Department of Management Information Systems
http://mis1.npust.edu.tw/
National Pingtung University of Science & Technology
http://www.npust.edu.tw/
/*
* Copyright (c) 2004-2007 Crossbow Technology, Inc.
* All rights reserved.
* See license.txt file included with the distribution.
*
* $Id: XMTS310M.nc,v 1.5.4.6 2007/04/26 20:18:11 njain Exp $
*/
/**
* XSensor multi-hop application for MTS310 sensorboard.
*
* @author Martin Turon, Alan Broad, Hu Siquan, Pi Peng
*/
/****************************************************************************
*
***************************************************************************/
#include "appFeatures.h"
//includes XCommand;
includes sensorboard;
module XMTS310M {
provides {
interface StdControl;
}
uses {
// RF Mesh Networking
interface MhopSend as Send;
interface RouteControl;
interface XCommand;
interface XEEControl;
// interface ReceiveMsg as Bcast;
// Battery
interface ADC as ADCBATT;
interface StdControl as BattControl;
//Temp
interface StdControl as TempControl;
interface ADC as Temperature;
//Light
interface StdControl as PhotoControl;
interface ADC as Light;
// Mic
interface StdControl as MicControl;
interface Mic;
interface ADC as MicADC;
// Sounder
interface StdControl as Sounder;
// Accel
interface StdControl as AccelControl;
interface ADC as AccelX;
interface ADC as AccelY;
// Mag
interface StdControl as MagControl;
interface ADC as MagX;
interface ADC as MagY;
//interface ADCControl;
interface Timer;
interface Leds;
#if FEATURE_UART_SEND
interface SendMsg as SendUART;
#endif
command result_t PowerMgrEnable();
command result_t PowerMgrDisable();
command void health_packet(bool enable, uint16_t intv);
command HealthMsg* HealthMsgGet();
}
}
implementation {
enum { START, BUSY, SOUND_DONE};
#define MSG_LEN 29
TOS_Msg gMsgBuffer;
TOS_Msg msg_buf_radio;
TOS_MsgPtr msg_radio;
HealthMsg *h_msg;
bool sleeping; // application command state
norace XDataMsg readings;
char main_state;
norace bool sound_state, sending_packet,sensinginsession;
norace uint8_t miccnt;
norace uint32_t val;
// Zero out the accelerometer, c...@20061206
norace uint16_t accel_ave_x, accel_ave_y;
norace uint8_t accel_ave_points;
/***************************************************************************
* Task to xmit radio message
*
* msg_radio->addr = TOS_BCAST_ADDR;
* msg_radio->type = 0x31;
* msg_radio->length = MSG_LEN;
* msg_radio->group = TOS_AM_GROUP;
***************************************************************************/
task void send_radio_msg() {
uint8_t i;
uint16_t len;
XDataMsg *data;
//readings.vref = 0;
readings.thermistor = 0;
readings.light = 0;
readings.mic = 0;
readings.magX = 0;
readings.magY = 0;
call Leds.yellowOn();
// Fill the given data buffer.
data = (XDataMsg*)call Send.getBuffer(msg_radio, &len);
for (i = 0; i <= sizeof(XDataMsg)-1; i++)
((uint8_t*)data)[i] = ((uint8_t*)&readings)[i];
data->board_id = SENSOR_BOARD_ID;
data->packet_id = 1;
//data->node_id = TOS_LOCAL_ADDRESS;
data->parent = call RouteControl.getParent();
data->packet_id = data->packet_id | 0x80;
#if FEATURE_UART_SEND
if (TOS_LOCAL_ADDRESS != 0) {
call PowerMgrDisable();
TOSH_uwait(1000);
if (call SendUART.send(TOS_UART_ADDR, sizeof(XDataMsg),
msg_radio) != SUCCESS)
{
atomic sending_packet = FALSE;
call Leds.yellowOff();
call PowerMgrEnable();
}
}
else
#endif
{
// Send the RF packet!
if (call Send.send(BASE_STATION_ADDRESS,MODE_UPSTREAM,msg_radio,
sizeof(XDataMsg)) != SUCCESS) {
atomic sending_packet = FALSE;
call Leds.yellowOff();
}
}
return;
}
static void initialize() {
atomic {
sleeping = FALSE;
main_state = START;
sound_state = TRUE;
sending_packet = FALSE;
#ifdef APP_RATE
timer_rate = XSENSOR_SAMPLE_RATE;
#else
#ifdef USE_LOW_POWER
timer_rate = XSENSOR_SAMPLE_RATE + ((TOS_LOCAL_ADDRESS%255) <<
7);
#else
timer_rate = XSENSOR_SAMPLE_RATE + ((TOS_LOCAL_ADDRESS%255) << 2);
#endif
#endif
miccnt=0;
val=0;
sensinginsession=FALSE;
}
}
static void start()
{
call BattControl.start();
call Mic.gainAdjust(64); // Set the gain of the microphone. (refer to
Mic)
call MicControl.start();
call TempControl.start();
call PhotoControl.start();
#ifdef MTS310
call AccelControl.start();
call MagControl.start();
#endif
}
task void battstop()
{
call BattControl.stop();
}
task void tempstop()
{
call TempControl.stop();
}
task void photostop()
{
call PhotoControl.stop();
}
task void Micstop()
{
call MicControl.stop();
}
task void Accelstop()
{
call AccelControl.stop();
}
/****************************************************************************
* Initialize the component. Initialize ADCControl, Leds
*
****************************************************************************/
command result_t StdControl.init() {
atomic msg_radio = &msg_buf_radio;
// MAKE_BAT_MONITOR_OUTPUT(); // enable voltage ref power pin as output
// MAKE_ADC_INPUT(); // enable ADC7 as input
call BattControl.init();
// usart1 is also connected to external serial flash
// set usart1 lines to correct state
// TOSH_MAKE_FLASH_SELECT_OUTPUT();
TOSH_MAKE_FLASH_OUT_OUTPUT(); //tx output
TOSH_MAKE_FLASH_CLK_OUTPUT(); //usart clk
// TOSH_SET_FLASH_SELECT_PIN();
call Leds.init();
call TempControl.init();
call PhotoControl.init();
call MicControl.init();
call Mic.muxSel(1); // Set the mux so that raw microhpone output is
selected
call Mic.gainAdjust(64); // Set the gain of the microphone. (refer to
Mic)
#if FEATURE_SOUNDER
call Sounder.init();
#endif
#ifdef MTS310
// Zero out the accelerometer, c...@20061206
accel_ave_x = 0;
accel_ave_y = 0;
accel_ave_points = ACCEL_AVERAGE_POINTS;
call AccelControl.init();
call MagControl.init();
#endif
if (TOS_LOCAL_ADDRESS==0)
call PowerMgrDisable();
initialize();
return SUCCESS;
}
/***************************************************************************
* Start the component. Start the clock.
*
***************************************************************************/
command result_t StdControl.start()
{
call StdControl.stop();
h_msg = call HealthMsgGet();
h_msg->rsvd_app_type = SENSOR_BOARD_ID;
call health_packet(TRUE,TOS_HEALTH_UPDATE);
timer_rate = 500; //Sampling Rate: 40Hz
call Timer.start(TIMER_REPEAT, timer_rate);
//#ifdef MTS310
// call Timer.start(TIMER_REPEAT, 1024);
//#else
// call Timer.start(TIMER_REPEAT, timer_rate);
//#endif
return SUCCESS;
}
/***************************************************************************
* Stop the component.
*
***************************************************************************/
command result_t StdControl.stop() {
call BattControl.stop();
call TempControl.stop();
call PhotoControl.stop();
call MicControl.stop();
#ifdef MTS310
call AccelControl.stop();
call MagControl.stop();
#endif
return SUCCESS;
}
/****************************************************************************
* Measure Temp, Light, Mic, toggle sounder
*
****************************************************************************/
event result_t Timer.fired() {
#ifdef MTS310
// Zero out the accelerometer, c...@20061206
if (accel_ave_points >0)
{
call Leds.greenOn();
if (accel_ave_points == 1)
{
call Timer.stop();
call Timer.start(TIMER_REPEAT, timer_rate);
}
}
#endif
if (sending_packet)
return SUCCESS; //don't overrun buffers
if(main_state==BUSY)
return SUCCESS;
start();
atomic main_state = BUSY;
if (!sensinginsession){
call ADCBATT.getData();
atomic sensinginsession = TRUE;
}
return SUCCESS;
}
/***************************************************************************
* Battery Ref or thermistor data ready
***************************************************************************/
async event result_t ADCBATT.dataReady(uint16_t data) {
if (!sensinginsession) return FAIL;
readings.vref = data;
atomic sensinginsession = FALSE;
post battstop();
//call TempControl.start();
//call Temperature.getData();
call AccelX.getData();
return SUCCESS;
}
/***************************************************************************
* Temperature ADC data ready
* Read and get next channel.
**************************************************************************/
async event result_t Temperature.dataReady(uint16_t data) {
readings.thermistor = data;
call TempControl.stop();
//call PhotoControl.start();
call Light.getData();
return SUCCESS;
}
/***************************************************************************
* Photocell ADC data ready
* Read and get next channel.
**************************************************************************/
async event result_t Light.dataReady(uint16_t data) {
readings.light = data;
call PhotoControl.stop();
call MicADC.getData();
return SUCCESS;
}
/***************************************************************************
* MicroPhone ADC data ready
* Read and toggle sounder.
* send uart packet
**************************************************************************/
async event result_t MicADC.dataReady(uint16_t data) {
if(miccnt<50)
{
atomic miccnt=miccnt+1;
TOSH_uwait(1000);
if(val<data)
{
atomic val=data;
}
call MicADC.getData();
return SUCCESS;
}
else
{
atomic miccnt=0;
}
readings.mic = val;//data;
post Micstop();
val=0;
#ifdef MTS310
call AccelX.getData();
#else
// This is the final sensor reading for the MTS300...
atomic {
if (!sending_packet) {
sending_packet = TRUE;
post send_radio_msg();
}
}
#if FEATURE_SOUNDER
if (sound_state) call Sounder.start();
else call Sounder.stop();
atomic {
sound_state = SOUND_STATE_CHANGE;
}
#endif
#endif
return SUCCESS;
}
/***************************************************************************
* ADC data ready
* Read and toggle sounder.
* send uart packet
***************************************************************************/
async event result_t AccelX.dataReady(uint16_t data) {
// Zero out the accelerometer, c...@20061207
if (accel_ave_points>0)
{
accel_ave_x = accel_ave_x + data;
call AccelY.getData();
return SUCCESS;
}
readings.accelX = data - accel_ave_x;
call AccelY.getData();
return SUCCESS;
}
/***************************************************************************
* ADC data ready
* Read and toggle sounder.
* send uart packet
***************************************************************************/
async event result_t AccelY.dataReady(uint16_t data) {
// Zero out the accelerometer, c...@20061207
if (accel_ave_points>0)
{
accel_ave_y = accel_ave_y + data;
accel_ave_points--;
call Leds.greenOff();
call StdControl.stop();
if(accel_ave_points == 0)
{
accel_ave_x = accel_ave_x / ACCEL_AVERAGE_POINTS - 450;
accel_ave_y = accel_ave_y / ACCEL_AVERAGE_POINTS - 450;
}
main_state = START;
return SUCCESS;
}
readings.accelY = data - accel_ave_y;
post Accelstop();
atomic {
if (!sending_packet) {
sending_packet = TRUE;
post send_radio_msg();
}
}
//call MagX.getData();
return SUCCESS;
}
/**
* In response to the <code>MagX.dataReady</code> event, it stores the
* sample and issues command to sample the magnetometer's Y axis.
* (Magnetometer B pin)
*
* @return returns <code>SUCCESS</code>
*/
async event result_t MagX.dataReady(uint16_t data){
readings.magX = data;
call MagY.getData(); //get data for MagnetometerB
return SUCCESS;
}
/**
* In response to the <code>MagY.dataReady</code> event, it stores the
* sample and issues a task to filter and process the stored magnetometer
* data.
*
* It also has a schedule which starts sampling the Temperture and
* Accelormeter depending on the stepdown counter.
*
* @return returns <code>SUCCESS</code>
*/
async event result_t MagY.dataReady(uint16_t data){
readings.magY = data;
atomic {
if (!sending_packet) {
sending_packet = TRUE;
post send_radio_msg();
}
}
#if FEATURE_SOUNDER
if (sound_state) call Sounder.start();
else call Sounder.stop();
atomic {
sound_state = SOUND_STATE_CHANGE;
}
#endif
return SUCCESS;
}
/**
* Handles all broadcast command messages sent over network.
*
* NOTE: Bcast messages will not be received if seq_no is not properly
* set in first two bytes of data payload. Also, payload is
* the remaining data after the required seq_no.
*
* @version 2004/10/5 mturon Initial version
*/
event result_t XCommand.received(XCommandOp *opcode) {
switch (opcode->cmd) {
case XCOMMAND_SET_RATE:
// Change the data collection rate.
timer_rate = opcode->param.newrate;
call Timer.stop();
call Timer.start(TIMER_REPEAT, timer_rate);
break;
case XCOMMAND_SLEEP:
// Stop collecting data, and go to sleep.
sleeping = TRUE;
call Timer.stop();
call StdControl.stop();
call Leds.set(0);
break;
case XCOMMAND_WAKEUP:
// Wake up from sleep state.
if (sleeping) {
initialize();
call Timer.start(TIMER_REPEAT, timer_rate);
call StdControl.start();
sleeping = FALSE;
}
break;
case XCOMMAND_RESET:
// Reset the mote now.
break;
case XCOMMAND_ACTUATE: {
uint16_t state = opcode->param.actuate.state;
if (opcode->param.actuate.device != XCMD_DEVICE_SOUNDER) break;
// Play the sounder for one period.
sound_state = state;
if (sound_state) call Sounder.start();
else call Sounder.stop();
atomic {
sound_state = SOUND_STATE_CHANGE;
}
break;
}
case XCOMMAND_CUSTOM_ACTION: {
//opcode->param.custom_data.type
//opcode->param.custom_data.value
}
default:
break;
}
return SUCCESS;
}
#if FEATURE_UART_SEND
/**
* Handle completion of sent UART packet.
*
* @author Martin Turon
* @version 2004/7/21 mturon Initial revision
*/
event result_t SendUART.sendDone(TOS_MsgPtr msg, result_t success)
{
// if (msg->addr == TOS_UART_ADDR) {
atomic msg_radio = msg;
msg_radio->addr = TOS_BCAST_ADDR;
if (call Send.send(BASE_STATION_ADDRESS,MODE_UPSTREAM,msg_radio,
sizeof(XDataMsg)) != SUCCESS) {
atomic sending_packet = FALSE;
call Leds.yellowOff();
}
if (TOS_LOCAL_ADDRESS != 0) // never turn on power mgr for base
call PowerMgrEnable();
//}
return SUCCESS;
}
#endif
/**
* Handle completion of sent RF packet.
*
* @author Martin Turon
* @version 2004/5/27 mturon Initial revision
*/
event result_t Send.sendDone(TOS_MsgPtr msg, result_t success)
{
atomic {
msg_radio = msg;
main_state = START;
sending_packet = FALSE;
call StdControl.stop();
}
call Leds.yellowOff();
#if FEATURE_UART_SEND
if (TOS_LOCAL_ADDRESS != 0) // never turn on power mgr for base
call PowerMgrEnable();
#endif
return SUCCESS;
}
event result_t XEEControl.restoreDone(result_t result)
{
if(result) {
call Timer.stop();
call Timer.start(TIMER_REPEAT, timer_rate);
}
return SUCCESS;
}
}
/*
* Copyright (c) 2004-2007 Crossbow Technology, Inc.
* All rights reserved.
* See license.txt file included with the distribution.
*
* $Id: XMTS310.nc,v 1.3.4.4 2007/04/26 20:18:03 njain Exp $
*/
/**
* XSensor multi-hop application for MTS310 sensorboard.
*
* @author Martin Turon, Alan Broad, Hu Siquan, Pi Peng
*/
#include "appFeatures.h"
includes sensorboardApp;
configuration XMTS310 {
// this module does not provide any interface
}
implementation
{
components Main,
TimerC,
GenericCommPromiscuous as Comm,
MULTIHOPROUTER,XMTS310M, QueuedSend,
Voltage, MicC, PhotoTemp, Accel, Mag, Sounder,
XCommandC,
HPLPowerManagementM,
LEDS_COMPONENT
Bcast;
Main.StdControl -> XMTS310M;
Main.StdControl -> QueuedSend.StdControl;
Main.StdControl -> MULTIHOPROUTER.StdControl;
Main.StdControl -> Comm;
Main.StdControl -> TimerC;
LEDS_WIRING(XMTS310M)
// Wiring for UART msg.
XMTS310M.PowerMgrDisable -> HPLPowerManagementM.Disable;
XMTS310M.PowerMgrEnable -> HPLPowerManagementM.Enable;
#if FEATURE_UART_SEND
XMTS310M.SendUART -> QueuedSend.SendMsg[AM_XDEBUG_MSG];
#endif
XMTS310M.Timer -> TimerC.Timer[unique("Timer")];
// Wiring for Battery Ref
XMTS310M.BattControl -> Voltage;
XMTS310M.ADCBATT -> Voltage;
XMTS310M.TempControl -> PhotoTemp.TempStdControl;
XMTS310M.Temperature -> PhotoTemp.ExternalTempADC;
XMTS310M.PhotoControl -> PhotoTemp.PhotoStdControl;
XMTS310M.Light -> PhotoTemp.ExternalPhotoADC;
XMTS310M.Sounder -> Sounder;
XMTS310M.MicControl -> MicC;
XMTS310M.MicADC -> MicC;
XMTS310M.Mic -> MicC;
XMTS310M.AccelControl -> Accel;
XMTS310M.AccelX -> Accel.AccelX;
XMTS310M.AccelY -> Accel.AccelY;
XMTS310M.MagControl-> Mag;
XMTS310M.MagX -> Mag.MagX;
XMTS310M.MagY -> Mag.MagY;
XMTS310M.XCommand -> XCommandC;
XMTS310M.XEEControl -> XCommandC;
// Wiring for RF mesh networking.
XMTS310M.RouteControl -> MULTIHOPROUTER;
XMTS310M.Send -> MULTIHOPROUTER.MhopSend[AM_XMULTIHOP_MSG];
MULTIHOPROUTER.ReceiveMsg[AM_XMULTIHOP_MSG]
->Comm.ReceiveMsg[AM_XMULTIHOP_MSG];
XMTS310M.HealthMsgGet -> MULTIHOPROUTER;
XMTS310M.health_packet -> MULTIHOPROUTER;
}
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