root/nano-RK/projects/basic_sensors/main.c

/******************************************************************************
*  Nano-RK, a real-time operating system for sensor networks.
*  Copyright (C) 2007, Real-Time and Multimedia Lab, Carnegie Mellon University
*  All rights reserved.
*
*  This is the Open Source Version of Nano-RK included as part of a Dual
*  Licensing Model. If you are unsure which license to use please refer to:
*  http://www.nanork.org/nano-RK/wiki/Licensing
*
*  This program is free software: you can redistribute it and/or modify
*  it under the terms of the GNU General Public License as published by
*  the Free Software Foundation, version 2.0 of the License.
*
*  This program is distributed in the hope that it will be useful,
*  but WITHOUT ANY WARRANTY; without even the implied warranty of
*  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
*  GNU General Public License for more details.
*
*  You should have received a copy of the GNU General Public License
*  along with this program.  If not, see <http://www.gnu.org/licenses/>.
*
*  Contributing Authors (specific to this file):
*  Zane Starr
*******************************************************************************/


#include <nrk.h>
#include <include.h>
#include <ulib.h>
#include <stdio.h>
#include <avr/sleep.h>
#include <hal.h>
#include <nrk_error.h>
#include <nrk_timer.h>
#include <nrk_driver_list.h>
#include <nrk_driver.h>
#include <ff_basic_sensor.h>


NRK_STK Stack1[NRK_APP_STACKSIZE];
nrk_task_type TaskOne;
void Task1(void);


void nrk_create_taskset();
void nrk_register_drivers();
uint8_t kill_stack(uint8_t val);

int
main ()
{
  uint8_t t;
  nrk_setup_ports();
  nrk_setup_uart(UART_BAUDRATE_115K2);

  printf( "Starting up...\r\n" );

  nrk_init();
  nrk_time_set(0,0);

  nrk_register_drivers();
  nrk_create_taskset ();
  nrk_start();
  
  return 0;
}


void Task1()
{
uint16_t cnt;
int8_t i,fd,val;
uint16_t buf;

  printf( "My node's address is %d\r\n",NODE_ADDR );

  printf( "Task1 PID=%d\r\n",nrk_get_pid());

  
  cnt=0;
  while(1) {
        // Open ADC device as read 
        fd=nrk_open(FIREFLY_SENSOR_BASIC,READ);
        if(fd==NRK_ERROR) nrk_kprintf(PSTR("Failed to open sensor driver\r\n"));
        nrk_led_toggle(BLUE_LED);

        // Example of setting a sensor 
        val=nrk_set_status(fd,SENSOR_SELECT,BAT);
        // Read battery first while other sensors warm up
        val=nrk_read(fd,&buf,2);
        printf( "Task bat=%d",buf);
                val=nrk_set_status(fd,SENSOR_SELECT,LIGHT);
        val=nrk_read(fd,&buf,2);
        printf( " light=%d",buf);
        val=nrk_set_status(fd,SENSOR_SELECT,TEMP);
        val=nrk_read(fd,&buf,2);
        printf( " temp=%d",buf);
        val=nrk_set_status(fd,SENSOR_SELECT,ACC_X);
        val=nrk_read(fd,&buf,2);
        printf( " acc_x=%d",buf);
        val=nrk_set_status(fd,SENSOR_SELECT,ACC_Y);
        val=nrk_read(fd,&buf,2);
        printf( " acc_y=%d",buf);
        val=nrk_set_status(fd,SENSOR_SELECT,ACC_Z);
        val=nrk_read(fd,&buf,2);
        printf( " acc_z=%d",buf);
        val=nrk_set_status(fd,SENSOR_SELECT,AUDIO_P2P);
        nrk_spin_wait_us(60000);
        val=nrk_read(fd,&buf,2);
        printf( " audio=%d\r\n",buf);
        nrk_close(fd);
        nrk_wait_until_next_period();
        cnt++;
        }
}


void
nrk_create_taskset()
{
  TaskOne.task = Task1;
  nrk_task_set_stk( &TaskOne, Stack1, NRK_APP_STACKSIZE);
  TaskOne.prio = 1;
  TaskOne.FirstActivation = TRUE;
  TaskOne.Type = BASIC_TASK;
  TaskOne.SchType = PREEMPTIVE;
  TaskOne.period.secs = 1;
  TaskOne.period.nano_secs = 100*NANOS_PER_MS; //*NANOS_PER_MS;
  TaskOne.cpu_reserve.secs = 1;
  TaskOne.cpu_reserve.nano_secs =  50*NANOS_PER_MS;
  TaskOne.offset.secs = 0;
  TaskOne.offset.nano_secs= 0;
  nrk_activate_task (&TaskOne);

}

void nrk_register_drivers()
{
int8_t val;

// Register the Basic FireFly Sensor device driver
// Make sure to add: 
//     #define NRK_MAX_DRIVER_CNT  
//     in nrk_cfg.h
// Make sure to add: 
//     SRC += $(ROOT_DIR)/src/drivers/platform/$(PLATFORM_TYPE)/source/ff_basic_sensor.c
//     in makefile
val=nrk_register_driver( &dev_manager_ff_sensors,FIREFLY_SENSOR_BASIC);
if(val==NRK_ERROR) nrk_kprintf( PSTR("Failed to load my ADC driver\r\n") );

}