Enhancements to AeroVaneReadC.

[tinyos-2.x.git] / tos / platforms / tmirws / sensors / AeroVaneReadP.nc

diff --git a/tos/platforms/tmirws/sensors/AeroVaneReadP.nc b/tos/platforms/tmirws/sensors/AeroVaneReadP.nc
index 56001dde33f9c5d7a7bda956c1d2091baba2933d..68be7c67c700e80ba84e06eb34554ef4cf5bfd94 100644 (file)
--- a/tos/platforms/tmirws/sensors/AeroVaneReadP.nc
+++ b/tos/platforms/tmirws/sensors/AeroVaneReadP.nc
@@ -39,14 +39,10 @@
 generic module AeroVaneReadP(uint16_t period) {
   provides interface Notify<aerovector_t>;
   uses {
-#if 0
-    interface Alarm<T32khz, uint16_t>;
-#else
     interface Timer<TMilli>;
-#endif
     interface Read<uint16_t>;
     interface StdControl as AnemometerControl;
-    interface AsyncGet<uint16_t> as Count;
+    interface Get<uint16_t> as Revolutions;
     interface State;
   }
 }
@@ -58,12 +54,11 @@ implementation {
     PHYS_PER_READ = 4,         /* # of physical reads per reading */
   };
 
-  uint16_t m_count;
+  uint8_t m_count;
+  uint16_t m_speed;
   int m_vane;
   int m_sum;
 
-  task void readVane();
-
   void init()
   {
     m_count = 0;
@@ -78,40 +73,26 @@ implementation {
 
     init();
     call AnemometerControl.start();
-    /* FIXME: First alarm should be synced to top of the next second.  How? */
-#if 0
-    call Alarm.start(call Alarm.getNow() + period);
-#else
+    /* FIXME: How to get first Timer.fired() synced with top of hour? */
     call Timer.startPeriodic(period);
-#endif
     return SUCCESS;
   }
 
   command error_t Notify.disable()
   {
     call State.toIdle();
-#if 0
-    call Alarm.stop();
-#else
     call Timer.stop();
-#endif
     call AnemometerControl.stop();
     return SUCCESS;
   }
 
-#if 0
-  async event void Alarm.fired()
-#else
   event void Timer.fired()
-#endif
   {
-    //call Alarm.start(call Alarm.getAlarm() + period);
-    post readVane();
-  }
+    if (++m_count == PHYS_PER_READ) {
+      /* Get anemometer revolutions for the period */
+      m_speed = call Revolutions.get();
+    }
 
-  task void readVane()
-  {
-    //call Alarm.start(call Alarm.getAlarm() + period);
     if (!(call State.isIdle()))
       call Read.read();
   }
@@ -120,10 +101,10 @@ implementation {
   {
     int d = angle2 - angle1;
 
-    if (d <= -180)
-      d += 360;
-    else if (d > 180)
-      d -= 360;
+    if (d <= -512)
+      d += 1024;
+    else if (d > 512)
+      d -= 1024;
     return d;
   }
 
@@ -135,19 +116,17 @@ implementation {
       return;
 
     newVane = m_vane + distance(m_vane, result);
-    m_sum += result;
+    m_sum += m_vane;
     m_vane = newVane;
-    if (++m_count == PHYS_PER_READ) {
-      norace aerovector_t vector;
-
-      /* Get speed average */
-      atomic vector.speed = call Count.get();
-
-      /* Complete direction average */
-      vector.dir = m_sum / PHYS_PER_READ;
-      while (vector.dir < 0)
-       vector.dir += 360;
-      vector.dir %= 360;
+    if (m_count == PHYS_PER_READ) {
+      aerovector_t vector;
+
+      vector.speed = m_speed;
+      if (m_sum > 0)
+       vector.dir = (m_sum + (PHYS_PER_READ / 2)) / PHYS_PER_READ;
+      else
+       vector.dir = (m_sum - (PHYS_PER_READ / 2)) / PHYS_PER_READ + 1024;
+      vector.dir &= 0x03ff; /* %= 1024 */
       init();
 
       /* Inform the consumer of the vector */