+++ /dev/null
-/*
- * Copyright (c) 2008, Titanium Mirror, Inc.
- * All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- * - Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- * - Redistributions in binary form must reproduce the above copyright
- * notice, this list of conditions and the following disclaimer in the
- * documentation and/or other materials provided with the distribution.
- * - Neither the name of Titanium Mirror, Inc. nor the names of its
- * contributors may be used to endorse or promote products derived from
- * this software without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
- * A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
- * OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
- * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED
- * TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA,
- * OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
- * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
- * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE
- * USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- */
-
-/**
- * OWW speed definitions
- *
- * @author R. Steve McKown <smckown@gmail.com>
- */
-
-#ifndef OWW_SPEED_H
-#define OWW_SPEED_H
-
-typedef struct {
- uint8_t min;
- uint8_t avg;
- uint8_t max;
-} oww_speed_t;
-
-#endif
+++ /dev/null
-/*
- * Copyright (c) 2008, Titanium Mirror, Inc.
- * All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- * - Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- * - Redistributions in binary form must reproduce the above copyright
- * notice, this list of conditions and the following disclaimer in the
- * documentation and/or other materials provided with the distribution.
- * - Neither the name of Titanium Mirror, Inc. nor the names of its
- * contributors may be used to endorse or promote products derived from
- * this software without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
- * A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
- * OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
- * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED
- * TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA,
- * OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
- * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
- * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE
- * USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- */
-
-/**
- * OwwSpeed sensor
- *
- * @author R. Steve McKown <smckown@gmail.com>
- */
-
-#include "OwwSpeed.h"
-
-configuration OwwSpeedC {
- provides interface ReadRef<oww_speed_t>;
-}
-implementation {
- components OwwSpeedP;
- ReadRef = OwwSpeedP;
-
- components SoftwareRtcC as RtcC;
- OwwSpeedP.Second -> RtcC;
-
- components HalOwwSpeedC;
- OwwSpeedP.CPSA -> HalOwwSpeedC.CPSA;
- OwwSpeedP.CPSB -> HalOwwSpeedC.CPSB;
-}
+++ /dev/null
-/*
- * Copyright (c) 2008, Titanium Mirror, Inc.
- * All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- * - Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- * - Redistributions in binary form must reproduce the above copyright
- * notice, this list of conditions and the following disclaimer in the
- * documentation and/or other materials provided with the distribution.
- * - Neither the name of Titanium Mirror, Inc. nor the names of its
- * contributors may be used to endorse or promote products derived from
- * this software without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
- * A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
- * OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
- * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED
- * TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA,
- * OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
- * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
- * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE
- * USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- */
-
-/**
- * OwwSpeed sensor
- *
- * @author R. Steve McKown <smckown@gmail.com>
- */
-
-#include "OwwSpeed.h"
-
-module OwwSpeedP {
- provides interface ReadRef<oww_speed_t>;
- uses {
- interface Tick as Second;
- interface AsyncGet<uint8_t> as CPSA;
- interface AsyncGet<uint8_t> as CPSB;
- }
-}
-implementation {
- oww_speed_t* m_data;
- uint8_t minSpeed = 255;
- uint8_t maxSpeed;
-
-
- /*** Support functions ***/
-
-
- /* Convert counts per second to mph */
- uint8_t toMph(uint8_t cps)
- {
- return (uint8_t)(2.453 * (cps >> 1) + 0.5);
- }
-
-
- /*** Method implementations ***/
-
-
- async event void Second.fired()
- {
- uint8_t speed = call CPSA.get();
-
- if (speed < minSpeed)
- minSpeed = speed;
- if (speed > maxSpeed)
- maxSpeed = speed;
- }
-
- task void readSpeed();
-
- command error_t ReadRef.read(oww_speed_t* data)
- {
- if (!data)
- return EINVAL;
- else if (m_data)
- return EBUSY;
- else {
- m_data = data;
- post readSpeed();
- return SUCCESS;
- }
- }
-
- void signalDone(error_t);
-
- task void readSpeed()
- {
- atomic {
- m_data->min = minSpeed;
- m_data->avg = call CPSB.get();
- m_data->max = maxSpeed;
- minSpeed = 255;
- maxSpeed = 0;
- }
- signalDone(SUCCESS);
- }
-
- void signalDone(error_t error)
- {
- oww_speed_t* tmp = m_data;
-
- m_data = 0;
- signal ReadRef.readDone(error, tmp);
- }
-}
+++ /dev/null
-/*
- * Copyright (c) 2008, Titanium Mirror, Inc.
- * All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- * - Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- * - Redistributions in binary form must reproduce the above copyright
- * notice, this list of conditions and the following disclaimer in the
- * documentation and/or other materials provided with the distribution.
- * - Neither the name of Titanium Mirror, Inc. nor the names of its
- * contributors may be used to endorse or promote products derived from
- * this software without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
- * A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
- * OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
- * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED
- * TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA,
- * OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
- * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
- * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE
- * USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- */
-
-/**
- * OWW vane (wind direction) definitions
- *
- * @author R. Steve McKown <smckown@gmail.com>
- */
-
-#ifndef OWW_VANE_H
-#define OWW_VANE_H
-
-/* Units are degrees/2, so 90 degrees is 45 units. This allows a full
- * circle of degrees to be represented in a single byte for small storage.
- * Resolution reduction is fine, since the OWW's native resolution is
- * 22.5 degrees.
- */
-typedef struct {
-#if 0
- uint8_t left;
- uint8_t avg;
- uint8_t right;
-#else
- uint16_t left;
- uint16_t avg;
- uint16_t right;
-#endif
-} oww_vane_t;
-
-#endif
+++ /dev/null
-/*
- * Copyright (c) 2008, Titanium Mirror, Inc.
- * All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- * - Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- * - Redistributions in binary form must reproduce the above copyright
- * notice, this list of conditions and the following disclaimer in the
- * documentation and/or other materials provided with the distribution.
- * - Neither the name of Titanium Mirror, Inc. nor the names of its
- * contributors may be used to endorse or promote products derived from
- * this software without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
- * A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
- * OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
- * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED
- * TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA,
- * OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
- * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
- * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE
- * USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- */
-
-/**
- * OwwVane sensor
- *
- * @author R. Steve McKown <smckown@gmail.com>
- */
-
-#include "OwwVane.h"
-
-configuration OwwVaneC {
- provides interface ReadRef<oww_vane_t>;
-}
-implementation {
- components OwwVaneP;
- ReadRef = OwwVaneP;
-
- components SoftwareRtcC as RtcC;
- OwwVaneP.Second -> RtcC;
-
- components HalOwwVaneC;
- OwwVaneP.Vane -> HalOwwVaneC.AsyncGet;
-}
+++ /dev/null
-/*
- * Copyright (c) 2008, Titanium Mirror, Inc.
- * All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- * - Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- * - Redistributions in binary form must reproduce the above copyright
- * notice, this list of conditions and the following disclaimer in the
- * documentation and/or other materials provided with the distribution.
- * - Neither the name of Titanium Mirror, Inc. nor the names of its
- * contributors may be used to endorse or promote products derived from
- * this software without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
- * A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
- * OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
- * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED
- * TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA,
- * OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
- * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
- * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE
- * USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- */
-
-/**
- * OwwVane sensor
- *
- * @author R. Steve McKown <smckown@gmail.com>
- */
-
-#include "OwwVane.h"
-
-module OwwVaneP {
- provides interface ReadRef<oww_vane_t>;
- uses {
- interface Tick as Second;
- interface AsyncGet<uint8_t> as Vane;
- }
-}
-implementation {
-#define COMPASS_COUNT 16
-
- oww_vane_t* m_data;
- /* compass[0] = North, 0 degrees,
- * compass(COMPASS_COUNT/2) = South, 180 degrees.
- */
- uint16_t compass[COMPASS_COUNT];
-
-
- /*** Support functions ***/
-
-
- /* return the number of positions clockwise along the compass from start
- * to end.
- */
- uint8_t distance(uint8_t start, uint8_t end)
- {
- return (end > start) ? end - start : (end + COMPASS_COUNT) - start;
- }
-
- /* circularly examine compass, starting with pos+1, for the next compass
- * position having a value of zero.
- */
- uint8_t nextNonZero(uint16_t* tc, uint8_t pos)
- {
- do {
- pos = (pos + 1) % COMPASS_COUNT;
- } while (tc[pos] == 0);
- return pos;
- }
-
- bool isCompassEmpty(uint16_t* tc)
- {
- int i;
-
- for (i = 0; i < COMPASS_COUNT; i++) {
- if (tc[i])
- break;
- }
- return (i == COMPASS_COUNT) ? TRUE : FALSE;
- }
-
- /* Reduce all compass headings equally until a compass heading has a value
- * of zero.
- */
- void minimizeCompass(uint16_t* tc)
- {
- uint8_t min = 255;
-
- do {
- int i;
-
- for (i = 0; i < COMPASS_COUNT; i++) {
- if (tc[i] < min)
- min = tc[i];
- }
- if (min > 0) {
- for (i = 0; i < COMPASS_COUNT; i++)
- tc[i] -= min;
- }
- } while (min);
- }
-
- /* Locate the arc in which the compass[] has been constrained, defining
- * that arc in m_data's left and right fields. The compass arc is always
- * defined clockwise, from left to right.
- */
- void findArc(uint16_t* tc)
- {
- uint8_t begin;
- uint8_t save = 255;
- uint8_t dist = 0;
-
- begin = m_data->left = nextNonZero(tc, COMPASS_COUNT - 1);
- do {
- uint8_t d;
-
- m_data->right = nextNonZero(tc, m_data->left);
- d = distance(m_data->left, m_data->right);
- if (d > dist) {
- dist = d;
- save = m_data->left;
- }
- m_data->left = m_data->right;
- } while (m_data->left != begin);
- m_data->right = save;
- m_data->left = (save + dist) % COMPASS_COUNT;
- }
-
- void calcAvg(uint16_t* tc)
- {
- /* Find the average compass heading */
- uint32_t sum = 0;
- uint32_t count = 0;
- uint32_t tmp = (m_data->right >= m_data->left) ? m_data->right :
- m_data->right + COMPASS_COUNT;
- int i;
-
- for (i = m_data->left; i <= tmp; i++) {
- uint8_t p = i % COMPASS_COUNT;
-
- sum += tc[p] * i;
- count += tc[p];
- }
- /* Reduce the sum by whole compass arcs, since only the remaining
- * partial arc is of relevance.
- */
- tmp = COMPASS_COUNT * count;
- while (sum >= tmp)
- sum -= tmp;
- m_data->avg = (sum == 0) ? 0 : (3600 / COMPASS_COUNT) * sum / count / 10;
- }
-
-
- /*** Method implementations ***/
-
-
- async event void Second.fired()
- {
- const static uint8_t lookup[] = {
- 0x01, 0x03, 0x02, 0x06, 0x04, 0x0c, 0x08, 0x18,
- 0x10, 0x30, 0x20, 0x60, 0x40, 0xc0, 0x80, 0x81
- };
- uint8_t wind;
- uint8_t i = 0;
-
- wind = call Vane.get();
- for (i = 0; i < sizeof(lookup); i++) {
- if (lookup[i] == wind) {
- compass[i]++;
- return;
- }
- }
- }
-
- task void readCompass();
-
- command error_t ReadRef.read(oww_vane_t* data)
- {
- if (!data)
- return EINVAL;
- else if (m_data)
- return EBUSY;
- else {
- m_data = data;
- post readCompass();
- return SUCCESS;
- }
- }
-
- void signalDone(error_t);
-
- task void readCompass()
- {
- uint16_t tc[COMPASS_COUNT];
-
- atomic {
- memcpy(tc, compass, sizeof(compass));
- memset(compass, 0, sizeof(compass));
- }
-
- if (isCompassEmpty(tc)) {
- signalDone(FAIL);
- return;
- }
- minimizeCompass(tc);
- findArc(tc);
- calcAvg(tc);
-
- /* m_data's left, avg and right fields are currently represented in
- * compass positions. We must now convert those fields into units of
- * angular degrees.
- */
- m_data->left = 3600U / COMPASS_COUNT * m_data->left / 10;
- m_data->right = 3600U / COMPASS_COUNT * m_data->right / 10;
- signalDone(SUCCESS);
- }
-
- void signalDone(error_t error)
- {
- oww_vane_t* tmp = m_data;
-
- m_data = 0;
- signal ReadRef.readDone(error, tmp);
- }
-}
+++ /dev/null
-/*
- * Copyright (c) 2008, Titanium Mirror, Inc.
- * All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- * - Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- * - Redistributions in binary form must reproduce the above copyright
- * notice, this list of conditions and the following disclaimer in the
- * documentation and/or other materials provided with the distribution.
- * - Neither the name of Titanium Mirror, Inc. nor the names of its
- * contributors may be used to endorse or promote products derived from
- * this software without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
- * A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
- * OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
- * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED
- * TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA,
- * OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
- * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
- * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE
- * USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- */
-
-/**
- * OWW speed definitions
- *
- * @author R. Steve McKown <rsmckown@gmail.com>
- */
-
-#ifndef OWW_SPEED_H
-#define OWW_SPEED_H
-
-typedef struct {
- uint8_t min;
- uint8_t avg;
- uint8_t max;
-} oww_speed_t;
-
-#endif
+++ /dev/null
-/*
- * Copyright (c) 2008, Titanium Mirror, Inc.
- * All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- * - Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- * - Redistributions in binary form must reproduce the above copyright
- * notice, this list of conditions and the following disclaimer in the
- * documentation and/or other materials provided with the distribution.
- * - Neither the name of Titanium Mirror, Inc. nor the names of its
- * contributors may be used to endorse or promote products derived from
- * this software without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
- * A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
- * OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
- * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED
- * TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA,
- * OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
- * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
- * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE
- * USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- */
-
-/**
- * OwwSpeed sensor
- *
- * @author R. Steve McKown <rsmckown@gmail.com>
- */
-
-#include "OwwSpeed.h"
-
-configuration OwwSpeedC {
- provides interface ReadRef<oww_speed_t>;
-}
-implementation {
- components OwwSpeedP;
- ReadRef = OwwSpeedP;
-
- components SoftwareRtcC as RtcC;
- OwwSpeedP.Second -> RtcC;
-
- components HalOwwSpeedC;
- OwwSpeedP.CPSA -> HalOwwSpeedC.CPSA;
- OwwSpeedP.CPSB -> HalOwwSpeedC.CPSB;
-}
+++ /dev/null
-/*
- * Copyright (c) 2008, Titanium Mirror, Inc.
- * All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- * - Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- * - Redistributions in binary form must reproduce the above copyright
- * notice, this list of conditions and the following disclaimer in the
- * documentation and/or other materials provided with the distribution.
- * - Neither the name of Titanium Mirror, Inc. nor the names of its
- * contributors may be used to endorse or promote products derived from
- * this software without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
- * A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
- * OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
- * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED
- * TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA,
- * OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
- * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
- * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE
- * USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- */
-
-/**
- * OwwSpeed sensor
- *
- * @author R. Steve McKown <rsmckown@gmail.com>
- */
-
-#include "OwwSpeed.h"
-
-module OwwSpeedP {
- provides interface ReadRef<oww_speed_t>;
- uses {
- interface Tick as Second;
- interface AsyncGet<uint8_t> as CPSA;
- interface AsyncGet<uint8_t> as CPSB;
- }
-}
-implementation {
- oww_speed_t* m_data;
- uint8_t minSpeed = 255;
- uint8_t maxSpeed;
-
-
- /*** Support functions ***/
-
-
- /* Convert counts per second to mph */
- uint8_t toMph(uint8_t cps)
- {
- return (uint8_t)(2.453 * (cps >> 1) + 0.5);
- }
-
-
- /*** Method implementations ***/
-
-
- async event void Second.fired()
- {
- uint8_t speed = call CPSA.get();
-
- if (speed < minSpeed)
- minSpeed = speed;
- if (speed > maxSpeed)
- maxSpeed = speed;
- }
-
- task void readSpeed();
-
- command error_t ReadRef.read(oww_speed_t* data)
- {
- if (!data)
- return EINVAL;
- else if (m_data)
- return EBUSY;
- else {
- m_data = data;
- post readSpeed();
- return SUCCESS;
- }
- }
-
- void signalDone(error_t);
-
- task void readSpeed()
- {
- atomic {
- m_data->min = minSpeed;
- m_data->avg = call CPSB.get();
- m_data->max = maxSpeed;
- minSpeed = 255;
- maxSpeed = 0;
- }
- signalDone(SUCCESS);
- }
-
- void signalDone(error_t error)
- {
- oww_speed_t* tmp = m_data;
-
- m_data = 0;
- signal ReadRef.readDone(error, tmp);
- }
-}
+++ /dev/null
-/*
- * Copyright (c) 2008, Titanium Mirror, Inc.
- * All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- * - Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- * - Redistributions in binary form must reproduce the above copyright
- * notice, this list of conditions and the following disclaimer in the
- * documentation and/or other materials provided with the distribution.
- * - Neither the name of Titanium Mirror, Inc. nor the names of its
- * contributors may be used to endorse or promote products derived from
- * this software without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
- * A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
- * OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
- * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED
- * TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA,
- * OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
- * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
- * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE
- * USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- */
-
-/**
- * OWW vane (wind direction) definitions
- *
- * @author R. Steve McKown <rsmckown@gmail.com>
- */
-
-#ifndef OWW_VANE_H
-#define OWW_VANE_H
-
-/* Units are degrees/2, so 90 degrees is 45 units. This allows a full
- * circle of degrees to be represented in a single byte for small storage.
- * Resolution reduction is fine, since the OWW's native resolution is
- * 22.5 degrees.
- */
-typedef struct {
-#if 0
- uint8_t left;
- uint8_t avg;
- uint8_t right;
-#else
- uint16_t left;
- uint16_t avg;
- uint16_t right;
-#endif
-} oww_vane_t;
-
-#endif
+++ /dev/null
-/*
- * Copyright (c) 2008, Titanium Mirror, Inc.
- * All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- * - Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- * - Redistributions in binary form must reproduce the above copyright
- * notice, this list of conditions and the following disclaimer in the
- * documentation and/or other materials provided with the distribution.
- * - Neither the name of Titanium Mirror, Inc. nor the names of its
- * contributors may be used to endorse or promote products derived from
- * this software without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
- * A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
- * OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
- * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED
- * TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA,
- * OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
- * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
- * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE
- * USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- */
-
-/**
- * OwwVane sensor
- *
- * @author R. Steve McKown <rsmckown@gmail.com>
- */
-
-#include "OwwVane.h"
-
-configuration OwwVaneC {
- provides interface ReadRef<oww_vane_t>;
-}
-implementation {
- components OwwVaneP;
- ReadRef = OwwVaneP;
-
- components SoftwareRtcC as RtcC;
- OwwVaneP.Second -> RtcC;
-
- components HalOwwVaneC;
- OwwVaneP.Vane -> HalOwwVaneC.AsyncGet;
-}
+++ /dev/null
-/*
- * Copyright (c) 2008, Titanium Mirror, Inc.
- * All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- * - Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- * - Redistributions in binary form must reproduce the above copyright
- * notice, this list of conditions and the following disclaimer in the
- * documentation and/or other materials provided with the distribution.
- * - Neither the name of Titanium Mirror, Inc. nor the names of its
- * contributors may be used to endorse or promote products derived from
- * this software without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
- * A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
- * OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
- * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED
- * TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA,
- * OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
- * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
- * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE
- * USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- */
-
-/**
- * OwwVane sensor
- *
- * @author R. Steve McKown <rsmckown@gmail.com>
- */
-
-#include "OwwVane.h"
-
-module OwwVaneP {
- provides interface ReadRef<oww_vane_t>;
- uses {
- interface Tick as Second;
- interface AsyncGet<uint8_t> as Vane;
- }
-}
-implementation {
-#define COMPASS_COUNT 16
-
- oww_vane_t* m_data;
- /* compass[0] = North, 0 degrees,
- * compass(COMPASS_COUNT/2) = South, 180 degrees.
- */
- uint16_t compass[COMPASS_COUNT];
-
-
- /*** Support functions ***/
-
-
- /* return the number of positions clockwise along the compass from start
- * to end.
- */
- uint8_t distance(uint8_t start, uint8_t end)
- {
- return (end > start) ? end - start : (end + COMPASS_COUNT) - start;
- }
-
- /* circularly examine compass, starting with pos+1, for the next compass
- * position having a value of zero.
- */
- uint8_t nextNonZero(uint16_t* tc, uint8_t pos)
- {
- do {
- pos = (pos + 1) % COMPASS_COUNT;
- } while (tc[pos] == 0);
- return pos;
- }
-
- bool isCompassEmpty(uint16_t* tc)
- {
- int i;
-
- for (i = 0; i < COMPASS_COUNT; i++) {
- if (tc[i])
- break;
- }
- return (i == COMPASS_COUNT) ? TRUE : FALSE;
- }
-
- /* Reduce all compass headings equally until a compass heading has a value
- * of zero.
- */
- void minimizeCompass(uint16_t* tc)
- {
- uint8_t min = 255;
-
- do {
- int i;
-
- for (i = 0; i < COMPASS_COUNT; i++) {
- if (tc[i] < min)
- min = tc[i];
- }
- if (min > 0) {
- for (i = 0; i < COMPASS_COUNT; i++)
- tc[i] -= min;
- }
- } while (min);
- }
-
- /* Locate the arc in which the compass[] has been constrained, defining
- * that arc in m_data's left and right fields. The compass arc is always
- * defined clockwise, from left to right.
- */
- void findArc(uint16_t* tc)
- {
- uint8_t begin;
- uint8_t save = 255;
- uint8_t dist = 0;
-
- begin = m_data->left = nextNonZero(tc, COMPASS_COUNT - 1);
- do {
- uint8_t d;
-
- m_data->right = nextNonZero(tc, m_data->left);
- d = distance(m_data->left, m_data->right);
- if (d > dist) {
- dist = d;
- save = m_data->left;
- }
- m_data->left = m_data->right;
- } while (m_data->left != begin);
- m_data->right = save;
- m_data->left = (save + dist) % COMPASS_COUNT;
- }
-
- void calcAvg(uint16_t* tc)
- {
- /* Find the average compass heading */
- uint32_t sum = 0;
- uint32_t count = 0;
- uint32_t tmp = (m_data->right >= m_data->left) ? m_data->right :
- m_data->right + COMPASS_COUNT;
- int i;
-
- for (i = m_data->left; i <= tmp; i++) {
- uint8_t p = i % COMPASS_COUNT;
-
- sum += tc[p] * i;
- count += tc[p];
- }
- /* Reduce the sum by whole compass arcs, since only the remaining
- * partial arc is of relevance.
- */
- tmp = COMPASS_COUNT * count;
- while (sum >= tmp)
- sum -= tmp;
- m_data->avg = (sum == 0) ? 0 : (3600 / COMPASS_COUNT) * sum / count / 10;
- }
-
-
- /*** Method implementations ***/
-
-
- async event void Second.fired()
- {
- const static uint8_t lookup[] = {
- 0x01, 0x03, 0x02, 0x06, 0x04, 0x0c, 0x08, 0x18,
- 0x10, 0x30, 0x20, 0x60, 0x40, 0xc0, 0x80, 0x81
- };
- uint8_t wind;
- uint8_t i = 0;
-
- wind = call Vane.get();
- for (i = 0; i < sizeof(lookup); i++) {
- if (lookup[i] == wind) {
- compass[i]++;
- return;
- }
- }
- }
-
- task void readCompass();
-
- command error_t ReadRef.read(oww_vane_t* data)
- {
- if (!data)
- return EINVAL;
- else if (m_data)
- return EBUSY;
- else {
- m_data = data;
- post readCompass();
- return SUCCESS;
- }
- }
-
- void signalDone(error_t);
-
- task void readCompass()
- {
- uint16_t tc[COMPASS_COUNT];
-
- atomic {
- memcpy(tc, compass, sizeof(compass));
- memset(compass, 0, sizeof(compass));
- }
-
- if (isCompassEmpty(tc)) {
- signalDone(FAIL);
- return;
- }
- minimizeCompass(tc);
- findArc(tc);
- calcAvg(tc);
-
- /* m_data's left, avg and right fields are currently represented in
- * compass positions. We must now convert those fields into units of
- * angular degrees.
- */
- m_data->left = 3600U / COMPASS_COUNT * m_data->left / 10;
- m_data->right = 3600U / COMPASS_COUNT * m_data->right / 10;
- signalDone(SUCCESS);
- }
-
- void signalDone(error_t error)
- {
- oww_vane_t* tmp = m_data;
-
- m_data = 0;
- signal ReadRef.readDone(error, tmp);
- }
-}
+++ /dev/null
-/*
- * Copyright (c) 2008, Titanium Mirror, Inc.
- * All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- * - Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- * - Redistributions in binary form must reproduce the above copyright
- * notice, this list of conditions and the following disclaimer in the
- * documentation and/or other materials provided with the distribution.
- * - Neither the name of Titanium Mirror, Inc. nor the names of its
- * contributors may be used to endorse or promote products derived from
- * this software without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
- * A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
- * OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
- * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED
- * TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA,
- * OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
- * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
- * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE
- * USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- */
-
-/**
- * HAL/HPL layers for the OwwSpeed sensor. CPSA and CPSB are independent
- * services that each provide a counts per second value that represents the
- * average CPS since the last call to CPSx.get(). The first call to
- * CPSx.get() is derived from a start time of initialization of the
- * HalOwwSpeedP component.
- *
- * @author R. Steve McKown <rsmckown@gmail.com>
- */
-
-#include "OwwSpeed.h"
-
-configuration HalOwwSpeedC {
- provides interface AsyncGet<uint8_t> as CPSA;
- provides interface AsyncGet<uint8_t> as CPSB;
-}
-implementation {
- components HalOwwSpeedP;
- CPSA = HalOwwSpeedP.CPSA;
- CPSB = HalOwwSpeedP.CPSB;
-
- components MainC;
- MainC.SoftwareInit -> HalOwwSpeedP.Init;
-
- components Counter32khz32C;
- HalOwwSpeedP.TimeCounter -> Counter32khz32C;
-
- components Msp430CounterMicroC;
- HalOwwSpeedP.SpinCounter -> Msp430CounterMicroC;
-}
+++ /dev/null
-/*
- * Copyright (c) 2008, Titanium Mirror, Inc.
- * All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- * - Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- * - Redistributions in binary form must reproduce the above copyright
- * notice, this list of conditions and the following disclaimer in the
- * documentation and/or other materials provided with the distribution.
- * - Neither the name of Titanium Mirror, Inc. nor the names of its
- * contributors may be used to endorse or promote products derived from
- * this software without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
- * A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
- * OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
- * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED
- * TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA,
- * OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
- * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
- * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE
- * USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- */
-
-/**
- * HAL/HPL layers for the OwwSpeed sensor.
- *
- * @author R. Steve McKown <rsmckown@gmail.com>
- */
-
-#include "OwwSpeed.h"
-
-module HalOwwSpeedP {
- provides {
- interface Init;
- interface AsyncGet<uint8_t> as CPSA;
- interface AsyncGet<uint8_t> as CPSB;
- }
- uses {
- interface Counter<T32khz,uint32_t> as TimeCounter;
- interface Counter<TMicro,uint16_t> as SpinCounter;
- }
-}
-implementation {
- uint32_t prevATime;
- uint16_t prevASpin;
- uint32_t prevBTime;
- uint16_t prevBSpin;
-
- command error_t Init.init()
- {
- atomic {
- /* Initialize Timer A, clock source is io pin P1.0 */
- TACTL = 0;
- TACTL = TACLR | MC_2 | ID_0 | TASSEL_0;
- P1SEL |= 1;
- }
- prevATime = call TimeCounter.get();
- prevASpin = call SpinCounter.get();
- prevBTime = prevATime;
- prevBSpin = prevASpin;
- return SUCCESS;
- }
-
- async command uint8_t CPSA.get()
- {
- uint32_t currTime;
- uint16_t currSpin;
- uint32_t deltaT;
- uint8_t cps;
-
- atomic {
- currTime = call TimeCounter.get();
- currSpin = call SpinCounter.get();
- }
- deltaT = (currTime - prevATime);
- cps = ((uint32_t)(currSpin - prevASpin) * 32768U + (deltaT >> 1)) / deltaT;
- prevATime = currTime;
- prevASpin = currSpin;
- return cps;
- }
-
- async command uint8_t CPSB.get()
- {
- uint32_t currTime;
- uint16_t currSpin;
- uint32_t deltaT;
- uint8_t cps;
-
- atomic {
- currTime = call TimeCounter.get();
- currSpin = call SpinCounter.get();
- }
- deltaT = (currTime - prevBTime);
- cps = ((uint32_t)(currSpin - prevBSpin) * 32768U + (deltaT >> 1)) / deltaT;
- prevBTime = currTime;
- prevBSpin = currSpin;
- return cps;
- }
-
- async event void TimeCounter.overflow() {}
- async event void SpinCounter.overflow() {}
-}
+++ /dev/null
-/*
- * Copyright (c) 2008, Titanium Mirror, Inc.
- * All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- * - Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- * - Redistributions in binary form must reproduce the above copyright
- * notice, this list of conditions and the following disclaimer in the
- * documentation and/or other materials provided with the distribution.
- * - Neither the name of Titanium Mirror, Inc. nor the names of its
- * contributors may be used to endorse or promote products derived from
- * this software without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
- * A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
- * OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
- * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED
- * TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA,
- * OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
- * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
- * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE
- * USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- */
-
-/**
- * HAL/HPL layers for the OwwVane sensor.
- *
- * @author R. Steve McKown <rsmckown@gmail.com>
- */
-
-#include "OwwVane.h"
-
-configuration HalOwwVaneC {
- provides interface AsyncGet<uint8_t>;
-}
-implementation {
- components HalOwwVaneP;
- AsyncGet = HalOwwVaneP;
-
- components MainC;
- MainC.SoftwareInit -> HalOwwVaneP.Init;
-}
+++ /dev/null
-/*
- * Copyright (c) 2008, Titanium Mirror, Inc.
- * All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- * - Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- * - Redistributions in binary form must reproduce the above copyright
- * notice, this list of conditions and the following disclaimer in the
- * documentation and/or other materials provided with the distribution.
- * - Neither the name of Titanium Mirror, Inc. nor the names of its
- * contributors may be used to endorse or promote products derived from
- * this software without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
- * A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
- * OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
- * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED
- * TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA,
- * OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
- * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
- * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE
- * USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- */
-
-/**
- * HAL/HPL layers for the OwwVane sensor.
- *
- * @author R. Steve McKown <rsmckown@gmail.com>
- */
-
-#include "OwwVane.h"
-
-module HalOwwVaneP {
- provides {
- interface Init;
- interface AsyncGet<uint8_t> as Vane;
- }
-}
-implementation {
-#define WIND_IN (*TCAST(volatile uint8_t* ONE, P5IN_))
-#define WIND_DIR (*TCAST(volatile uint8_t* ONE, P5DIR_))
-#define WIND_SEL (*TCAST(volatile uint8_t* ONE, P5SEL_))
-#define WIND_REN (*TCAST(volatile uint8_t* ONE, P5REN_))
-
- command error_t Init.init()
- {
- /* Initialize the port providing wind direction information */
- WIND_DIR = 0;
- WIND_SEL = 0;
- WIND_REN = 0;
- return SUCCESS;
- }
-
- async command uint8_t Vane.get()
- {
- atomic return ~WIND_IN;
- }
-}
--- /dev/null
+/*
+ * Copyright (c) 2008, Titanium Mirror, Inc.
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ * - Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ * - Redistributions in binary form must reproduce the above copyright
+ * notice, this list of conditions and the following disclaimer in the
+ * documentation and/or other materials provided with the distribution.
+ * - Neither the name of Titanium Mirror, Inc. nor the names of its
+ * contributors may be used to endorse or promote products derived from
+ * this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+ * A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+ * OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED
+ * TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA,
+ * OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
+ * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE
+ * USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+/**
+ * Anemometer definitions
+ *
+ * @author R. Steve McKown <rsmckown@gmail.com>
+ */
+
+#ifndef ANEMOMETER_H
+#define ANEMOMETER_H
+
+typedef struct {
+ uint8_t min;
+ uint8_t avg;
+ uint8_t max;
+} anemometer_t;
+
+#endif
--- /dev/null
+/*
+ * Copyright (c) 2008, Titanium Mirror, Inc.
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ * - Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ * - Redistributions in binary form must reproduce the above copyright
+ * notice, this list of conditions and the following disclaimer in the
+ * documentation and/or other materials provided with the distribution.
+ * - Neither the name of Titanium Mirror, Inc. nor the names of its
+ * contributors may be used to endorse or promote products derived from
+ * this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+ * A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+ * OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED
+ * TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA,
+ * OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
+ * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE
+ * USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+/**
+ * Anemometer sensor, measuring wind speed
+ *
+ * @author R. Steve McKown <rsmckown@gmail.com>
+ */
+
+#include "Anemometer.h"
+
+configuration AnemometerC {
+ provides interface ReadRef<anemometer_t>;
+}
+implementation {
+ components AnemometerP;
+ ReadRef = AnemometerP;
+
+ components SoftwareRtcC as RtcC;
+ AnemometerP.Second -> RtcC;
+
+ components HalAnemometerC;
+ AnemometerP.CPSA -> HalAnemometerC.CPSA;
+ AnemometerP.CPSB -> HalAnemometerC.CPSB;
+}
--- /dev/null
+/*
+ * Copyright (c) 2008, Titanium Mirror, Inc.
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ * - Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ * - Redistributions in binary form must reproduce the above copyright
+ * notice, this list of conditions and the following disclaimer in the
+ * documentation and/or other materials provided with the distribution.
+ * - Neither the name of Titanium Mirror, Inc. nor the names of its
+ * contributors may be used to endorse or promote products derived from
+ * this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+ * A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+ * OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED
+ * TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA,
+ * OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
+ * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE
+ * USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+/**
+ * Anemometer sensor, measuring wind speed
+ *
+ * @author R. Steve McKown <rsmckown@gmail.com>
+ */
+
+#include "Anemometer.h"
+
+module AnemometerP {
+ provides interface ReadRef<anemometer_t>;
+ uses {
+ interface Tick as Second;
+ interface AsyncGet<uint8_t> as CPSA;
+ interface AsyncGet<uint8_t> as CPSB;
+ }
+}
+implementation {
+ anemometer_t* m_data;
+ uint8_t minSpeed = 255;
+ uint8_t maxSpeed;
+
+
+ /*** Support functions ***/
+
+
+ /* Convert counts per second to mph */
+ uint8_t toMph(uint8_t cps)
+ {
+ return (uint8_t)(2.453 * (cps >> 1) + 0.5);
+ }
+
+
+ /*** Method implementations ***/
+
+
+ async event void Second.fired()
+ {
+ uint8_t speed = call CPSA.get();
+
+ if (speed < minSpeed)
+ minSpeed = speed;
+ if (speed > maxSpeed)
+ maxSpeed = speed;
+ }
+
+ task void readSpeed();
+
+ command error_t ReadRef.read(anemometer_t* data)
+ {
+ if (!data)
+ return EINVAL;
+ else if (m_data)
+ return EBUSY;
+ else {
+ m_data = data;
+ post readSpeed();
+ return SUCCESS;
+ }
+ }
+
+ void signalDone(error_t);
+
+ task void readSpeed()
+ {
+ atomic {
+ m_data->min = toMph(minSpeed);
+ m_data->avg = toMph(call CPSB.get());
+ m_data->max = toMph(maxSpeed);
+ minSpeed = 255;
+ maxSpeed = 0;
+ }
+ signalDone(SUCCESS);
+ }
+
+ void signalDone(error_t error)
+ {
+ anemometer_t* tmp = m_data;
+
+ m_data = 0;
+ signal ReadRef.readDone(error, tmp);
+ }
+}
--- /dev/null
+/*
+ * Copyright (c) 2008, Titanium Mirror, Inc.
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ * - Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ * - Redistributions in binary form must reproduce the above copyright
+ * notice, this list of conditions and the following disclaimer in the
+ * documentation and/or other materials provided with the distribution.
+ * - Neither the name of Titanium Mirror, Inc. nor the names of its
+ * contributors may be used to endorse or promote products derived from
+ * this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+ * A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+ * OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED
+ * TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA,
+ * OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
+ * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE
+ * USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+/**
+ * HAL layer for the Anemometer sensor. CPSA and CPSB are independent services
+ * that each provide a counts per second value via its get() command that
+ * represents the average CPS since the last call to its get() command. The
+ * first call to CPSx.get() uses the initialization of the HalAnemometerP
+ * component during MainC.SoftwareInit as the start time for calculating the
+ * counts per second value.
+ *
+ * @author R. Steve McKown <rsmckown@gmail.com>
+ */
+
+#include "Anemometer.h"
+
+configuration HalAnemometerC {
+ provides interface AsyncGet<uint8_t> as CPSA;
+ provides interface AsyncGet<uint8_t> as CPSB;
+}
+implementation {
+ components HalAnemometerP;
+ CPSA = HalAnemometerP.CPSA;
+ CPSB = HalAnemometerP.CPSB;
+
+ components MainC;
+ MainC.SoftwareInit -> HalAnemometerP.Init;
+
+ components Counter32khz32C;
+ HalAnemometerP.TimeCounter -> Counter32khz32C;
+
+ components Msp430CounterMicroC;
+ HalAnemometerP.SpinCounter -> Msp430CounterMicroC;
+}
--- /dev/null
+/*
+ * Copyright (c) 2008, Titanium Mirror, Inc.
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ * - Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ * - Redistributions in binary form must reproduce the above copyright
+ * notice, this list of conditions and the following disclaimer in the
+ * documentation and/or other materials provided with the distribution.
+ * - Neither the name of Titanium Mirror, Inc. nor the names of its
+ * contributors may be used to endorse or promote products derived from
+ * this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+ * A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+ * OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED
+ * TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA,
+ * OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
+ * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE
+ * USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+/**
+ * HAL layer for the Anemometer sensor.
+ *
+ * @author R. Steve McKown <rsmckown@gmail.com>
+ */
+
+#include "Anemometer.h"
+
+module HalAnemometerP {
+ provides {
+ interface Init;
+ interface AsyncGet<uint8_t> as CPSA;
+ interface AsyncGet<uint8_t> as CPSB;
+ }
+ uses {
+ interface Counter<T32khz,uint32_t> as TimeCounter;
+ interface Counter<TMicro,uint16_t> as SpinCounter;
+ }
+}
+implementation {
+ uint32_t prevATime;
+ uint16_t prevASpin;
+ uint32_t prevBTime;
+ uint16_t prevBSpin;
+
+ command error_t Init.init()
+ {
+ atomic {
+ /* Initialize Timer A, clock source is io pin P1.0. Timer A provides the
+ * clock for the SpinCounter component.
+ */
+ TACTL = 0;
+ TACTL = TACLR | MC_2 | ID_0 | TASSEL_0;
+ P1SEL |= 1;
+ }
+ prevATime = call TimeCounter.get();
+ prevASpin = call SpinCounter.get();
+ prevBTime = prevATime;
+ prevBSpin = prevASpin;
+ return SUCCESS;
+ }
+
+ async command uint8_t CPSA.get()
+ {
+ uint32_t currTime;
+ uint16_t currSpin;
+ uint32_t deltaT;
+ uint8_t cps;
+
+ atomic {
+ currTime = call TimeCounter.get();
+ currSpin = call SpinCounter.get();
+ }
+ deltaT = (currTime - prevATime);
+ cps = ((uint32_t)(currSpin - prevASpin) * 32768U + (deltaT >> 1)) / deltaT;
+ prevATime = currTime;
+ prevASpin = currSpin;
+ return cps;
+ }
+
+ async command uint8_t CPSB.get()
+ {
+ uint32_t currTime;
+ uint16_t currSpin;
+ uint32_t deltaT;
+ uint8_t cps;
+
+ atomic {
+ currTime = call TimeCounter.get();
+ currSpin = call SpinCounter.get();
+ }
+ deltaT = (currTime - prevBTime);
+ cps = ((uint32_t)(currSpin - prevBSpin) * 32768U + (deltaT >> 1)) / deltaT;
+ prevBTime = currTime;
+ prevBSpin = currSpin;
+ return cps;
+ }
+
+ async event void TimeCounter.overflow() {}
+ async event void SpinCounter.overflow() {}
+}
--- /dev/null
+/*
+ * Copyright (c) 2008, Titanium Mirror, Inc.
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ * - Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ * - Redistributions in binary form must reproduce the above copyright
+ * notice, this list of conditions and the following disclaimer in the
+ * documentation and/or other materials provided with the distribution.
+ * - Neither the name of Titanium Mirror, Inc. nor the names of its
+ * contributors may be used to endorse or promote products derived from
+ * this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+ * A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+ * OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED
+ * TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA,
+ * OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
+ * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE
+ * USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+/**
+ * HAL/HPL layers for the OwwVane sensor.
+ *
+ * @author R. Steve McKown <rsmckown@gmail.com>
+ */
+
+#include "OwwVane.h"
+
+configuration HalOwwVaneC {
+ provides interface AsyncGet<uint8_t>;
+}
+implementation {
+ components HalOwwVaneP;
+ AsyncGet = HalOwwVaneP;
+
+ components MainC;
+ MainC.SoftwareInit -> HalOwwVaneP.Init;
+}
--- /dev/null
+/*
+ * Copyright (c) 2008, Titanium Mirror, Inc.
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ * - Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ * - Redistributions in binary form must reproduce the above copyright
+ * notice, this list of conditions and the following disclaimer in the
+ * documentation and/or other materials provided with the distribution.
+ * - Neither the name of Titanium Mirror, Inc. nor the names of its
+ * contributors may be used to endorse or promote products derived from
+ * this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+ * A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+ * OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED
+ * TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA,
+ * OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
+ * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE
+ * USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+/**
+ * HAL/HPL layers for the OwwVane sensor.
+ *
+ * @author R. Steve McKown <rsmckown@gmail.com>
+ */
+
+#include "OwwVane.h"
+
+module HalOwwVaneP {
+ provides {
+ interface Init;
+ interface AsyncGet<uint8_t> as Vane;
+ }
+}
+implementation {
+#define WIND_IN (*TCAST(volatile uint8_t* ONE, P5IN_))
+#define WIND_DIR (*TCAST(volatile uint8_t* ONE, P5DIR_))
+#define WIND_SEL (*TCAST(volatile uint8_t* ONE, P5SEL_))
+#define WIND_REN (*TCAST(volatile uint8_t* ONE, P5REN_))
+
+ command error_t Init.init()
+ {
+ /* Initialize the port providing wind direction information */
+ WIND_DIR = 0;
+ WIND_SEL = 0;
+ WIND_REN = 0;
+ return SUCCESS;
+ }
+
+ async command uint8_t Vane.get()
+ {
+ atomic return ~WIND_IN;
+ }
+}
--- /dev/null
+/*
+ * Copyright (c) 2008, Titanium Mirror, Inc.
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ * - Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ * - Redistributions in binary form must reproduce the above copyright
+ * notice, this list of conditions and the following disclaimer in the
+ * documentation and/or other materials provided with the distribution.
+ * - Neither the name of Titanium Mirror, Inc. nor the names of its
+ * contributors may be used to endorse or promote products derived from
+ * this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+ * A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+ * OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED
+ * TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA,
+ * OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
+ * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE
+ * USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+/**
+ * HAL layer for the wind vane sensor.
+ *
+ * @author R. Steve McKown <rsmckown@gmail.com>
+ */
+
+#include "WindVane.h"
+
+configuration HalWindVaneC {
+ provides interface AsyncGet<uint8_t>;
+}
+implementation {
+ components HalWindVaneP;
+ AsyncGet = HalWindVaneP;
+
+ components MainC;
+ MainC.SoftwareInit -> HalWindVaneP.Init;
+}
--- /dev/null
+/*
+ * Copyright (c) 2008, Titanium Mirror, Inc.
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ * - Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ * - Redistributions in binary form must reproduce the above copyright
+ * notice, this list of conditions and the following disclaimer in the
+ * documentation and/or other materials provided with the distribution.
+ * - Neither the name of Titanium Mirror, Inc. nor the names of its
+ * contributors may be used to endorse or promote products derived from
+ * this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+ * A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+ * OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED
+ * TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA,
+ * OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
+ * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE
+ * USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+/**
+ * HAL/HPL layers for the WindVane sensor.
+ *
+ * @author R. Steve McKown <rsmckown@gmail.com>
+ */
+
+#include "WindVane.h"
+
+module HalWindVaneP {
+ provides {
+ interface Init;
+ interface AsyncGet<uint8_t> as Vane;
+ }
+}
+implementation {
+#define WIND_IN (*TCAST(volatile uint8_t* ONE, P5IN_))
+#define WIND_DIR (*TCAST(volatile uint8_t* ONE, P5DIR_))
+#define WIND_SEL (*TCAST(volatile uint8_t* ONE, P5SEL_))
+#define WIND_REN (*TCAST(volatile uint8_t* ONE, P5REN_))
+
+ command error_t Init.init()
+ {
+ /* Initialize the port providing wind direction information */
+ WIND_DIR = 0;
+ WIND_SEL = 0;
+ WIND_REN = 0;
+ return SUCCESS;
+ }
+
+ async command uint8_t Vane.get()
+ {
+ atomic return ~WIND_IN;
+ }
+}
--- /dev/null
+/*
+ * Copyright (c) 2008, Titanium Mirror, Inc.
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ * - Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ * - Redistributions in binary form must reproduce the above copyright
+ * notice, this list of conditions and the following disclaimer in the
+ * documentation and/or other materials provided with the distribution.
+ * - Neither the name of Titanium Mirror, Inc. nor the names of its
+ * contributors may be used to endorse or promote products derived from
+ * this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+ * A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+ * OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED
+ * TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA,
+ * OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
+ * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE
+ * USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+/**
+ * Wind Vane (direction) definitions
+ *
+ * @author R. Steve McKown <rsmckown@gmail.com>
+ */
+
+#ifndef WIND_VANE_H
+#define WIND_VANE_H
+
+#define WINDVANE_NO_HEADING 255
+
+/* Units are degrees/2, so 90 degrees is 45 units. This allows a full
+ * circle of degrees to be represented in a single byte. Resolution reduction
+ * is not a problem, as the OWW's native resolution is 22.5 degrees.
+ */
+typedef struct {
+ uint8_t left;
+ uint8_t avg;
+ uint8_t right;
+} wind_vane_t;
+
+#endif
--- /dev/null
+/*
+ * Copyright (c) 2008, Titanium Mirror, Inc.
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ * - Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ * - Redistributions in binary form must reproduce the above copyright
+ * notice, this list of conditions and the following disclaimer in the
+ * documentation and/or other materials provided with the distribution.
+ * - Neither the name of Titanium Mirror, Inc. nor the names of its
+ * contributors may be used to endorse or promote products derived from
+ * this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+ * A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+ * OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED
+ * TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA,
+ * OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
+ * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE
+ * USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+/**
+ * Reads the ADC pin connected to the LiPoly battery. The connection is made
+ * via a resistor divider where the battery voltage is 3x that read by the ADC.
+ * Therefore, BattV = ADC / 4096 * 1.5 * 3.
+ *
+ * @author R. Steve McKown <rsmckown@gmail.com>
+ */
+
+generic configuration BatteryAdcC() {
+ provides interface Read<uint16_t>;
+ provides interface ReadStream<uint16_t>;
+
+ provides interface Resource;
+ provides interface ReadNow<uint16_t>;
+}
+implementation {
+ components new AdcReadClientC();
+ Read = AdcReadClientC;
+
+ components new AdcReadStreamClientC();
+ ReadStream = AdcReadStreamClientC;
+
+ components BatteryAdcP;
+ AdcReadClientC.AdcConfigure -> BatteryAdcP;
+ AdcReadStreamClientC.AdcConfigure -> BatteryAdcP;
+
+ components new AdcReadNowClientC();
+ Resource = AdcReadNowClientC;
+ ReadNow = AdcReadNowClientC;
+
+ AdcReadNowClientC.AdcConfigure -> BatteryAdcP;
+}
--- /dev/null
+/*
+ * Copyright (c) 2008, Titanium Mirror, Inc.
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ * - Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ * - Redistributions in binary form must reproduce the above copyright
+ * notice, this list of conditions and the following disclaimer in the
+ * documentation and/or other materials provided with the distribution.
+ * - Neither the name of Titanium Mirror, Inc. nor the names of its
+ * contributors may be used to endorse or promote products derived from
+ * this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+ * A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+ * OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED
+ * TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA,
+ * OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
+ * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE
+ * USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+/**
+ * Battery ADC reading.
+ *
+ * @author R. Steve McKown <rsmckown@gmail.com>
+ */
+
+#include "Msp430Adc12.h"
+
+module BatteryAdcP {
+ provides interface AdcConfigure<const msp430adc12_channel_config_t*>;
+}
+implementation {
+ /* TODO: The internal references are unsable, varying by more than 0.1V and
+ * jumping around. The external reference of 2.50V seems stable.
+ */
+ const msp430adc12_channel_config_t config = {
+ inch: INPUT_CHANNEL_A0,
+#if 0 /* internal references unstable */
+ sref: REFERENCE_VREFplus_AVss,
+ ref2_5v: REFVOLT_LEVEL_1_5, /* REFVOLT_LEVEL_2_5, */
+#else /* external reference is stable */
+ sref: REFERENCE_VeREFplus_AVss,
+ ref2_5v: REFVOLT_LEVEL_1_5,
+#endif
+#if 0 /* clock source doesn't seem to affect stability */
+ adc12ssel: SHT_SOURCE_ADC12OSC,
+ adc12div: SHT_CLOCK_DIV_8,
+#else
+ adc12ssel: SHT_SOURCE_ACLK,
+ adc12div: SHT_CLOCK_DIV_1,
+#endif
+ sht: SAMPLE_HOLD_8_CYCLES,
+ sampcon_ssel: SAMPCON_SOURCE_ACLK,
+ sampcon_id: SAMPCON_CLOCK_DIV_1
+ };
+
+ async command const msp430adc12_channel_config_t* AdcConfigure.getConfiguration()
+ {
+ return &config;
+ }
+}
--- /dev/null
+/*
+ * Copyright (c) 2008, Titanium Mirror, Inc.
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ * - Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ * - Redistributions in binary form must reproduce the above copyright
+ * notice, this list of conditions and the following disclaimer in the
+ * documentation and/or other materials provided with the distribution.
+ * - Neither the name of Titanium Mirror, Inc. nor the names of its
+ * contributors may be used to endorse or promote products derived from
+ * this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+ * A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+ * OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED
+ * TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA,
+ * OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
+ * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE
+ * USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+/**
+ * WindVane sensor
+ *
+ * @author R. Steve McKown <rsmckown@gmail.com>
+ */
+
+#include "WindVane.h"
+
+configuration WindVaneC {
+ provides interface ReadRef<wind_vane_t>;
+}
+implementation {
+ components WindVaneP;
+ ReadRef = WindVaneP;
+
+ components SoftwareRtcC as RtcC;
+ WindVaneP.Second -> RtcC;
+
+ components HalWindVaneC;
+ WindVaneP.Vane -> HalWindVaneC.AsyncGet;
+}
--- /dev/null
+/*
+ * Copyright (c) 2008, Titanium Mirror, Inc.
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ * - Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ * - Redistributions in binary form must reproduce the above copyright
+ * notice, this list of conditions and the following disclaimer in the
+ * documentation and/or other materials provided with the distribution.
+ * - Neither the name of Titanium Mirror, Inc. nor the names of its
+ * contributors may be used to endorse or promote products derived from
+ * this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+ * A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+ * OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED
+ * TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA,
+ * OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
+ * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE
+ * USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+/**
+ * WindVane sensor
+ *
+ * @author R. Steve McKown <rsmckown@gmail.com>
+ */
+
+#include "WindVane.h"
+
+module WindVaneP {
+ provides interface ReadRef<wind_vane_t>;
+ uses {
+ interface Tick as Second;
+ interface AsyncGet<uint8_t> as Vane;
+ }
+}
+implementation {
+#define COMPASS_COUNT 32
+
+ wind_vane_t* m_data;
+ /* compass[0] = North, 0 degrees,
+ * compass(COMPASS_COUNT/2) = South, 180 degrees.
+ */
+ uint16_t compass[COMPASS_COUNT];
+
+
+ /*** Support functions ***/
+
+
+ /* return the number of positions clockwise along the compass from start
+ * to end.
+ */
+ uint8_t distance(uint8_t start, uint8_t end)
+ {
+ return (end > start) ? end - start : (end + COMPASS_COUNT) - start;
+ }
+
+ /* circularly examine compass, starting with pos+1, for the next compass
+ * position having a value of zero.
+ */
+ uint8_t nextNonZero(uint16_t* tc, uint8_t pos)
+ {
+ do {
+ pos = (pos + 1) % COMPASS_COUNT;
+ } while (tc[pos] == 0);
+ return pos;
+ }
+
+ bool isCompassEmpty(uint16_t* tc)
+ {
+ int i;
+
+ for (i = 0; i < COMPASS_COUNT; i++) {
+ if (tc[i])
+ break;
+ }
+ return (i == COMPASS_COUNT) ? TRUE : FALSE;
+ }
+
+ /* Reduce all compass headings equally until a compass heading has a value
+ * of zero.
+ */
+ void minimizeCompass(uint16_t* tc)
+ {
+ uint8_t min = 255;
+ int i;
+
+ for (i = 0; i < COMPASS_COUNT; i++) {
+ if (tc[i] < min)
+ min = tc[i];
+ }
+ if (min > 0) {
+ for (i = 0; i < COMPASS_COUNT; i++)
+ tc[i] -= min;
+ }
+ }
+
+ /* Locate the arc in which the compass[] has been constrained, defining
+ * that arc in m_data's left and right fields. The compass arc is always
+ * defined clockwise, from left to right.
+ */
+ void findArc(uint16_t* tc)
+ {
+ uint8_t begin;
+ uint8_t save = 255;
+ uint8_t dist = 0;
+
+ begin = m_data->left = nextNonZero(tc, COMPASS_COUNT - 1);
+ do {
+ uint8_t d;
+
+ m_data->right = nextNonZero(tc, m_data->left);
+ d = distance(m_data->left, m_data->right);
+ if (d > dist) {
+ dist = d;
+ save = m_data->left;
+ }
+ m_data->left = m_data->right;
+ } while (m_data->left != begin);
+ m_data->right = save;
+ m_data->left = (save + dist) % COMPASS_COUNT;
+ }
+
+ void calcAvg(uint16_t* tc)
+ {
+ /* Find the average compass heading */
+ uint32_t sum = 0;
+ uint32_t count = 0;
+ uint32_t tmp = (m_data->right >= m_data->left) ? m_data->right :
+ m_data->right + COMPASS_COUNT;
+ int i;
+
+ for (i = m_data->left; i <= tmp; i++) {
+ uint8_t p = i % COMPASS_COUNT;
+
+ sum += tc[p] * i;
+ count += tc[p];
+ }
+ /* Reduce the sum by whole compass arcs, since only the remaining
+ * partial arc is of relevance.
+ */
+ tmp = COMPASS_COUNT * count;
+ while (sum >= tmp)
+ sum -= tmp;
+ m_data->avg = (sum == 0) ? 0 : (1800 / COMPASS_COUNT) * sum / count / 10;
+ }
+
+
+ /*** Method implementations ***/
+
+
+ async event void Second.fired()
+ {
+ const static uint8_t lookup[] = {
+ 0x01, 0x03, 0x02, 0x06, 0x04, 0x0c, 0x08, 0x18,
+ 0x10, 0x30, 0x20, 0x60, 0x40, 0xc0, 0x80, 0x81
+ };
+ uint8_t wind;
+ uint8_t i = 0;
+
+ wind = call Vane.get();
+ for (i = 0; i < sizeof(lookup); i++) {
+ if (lookup[i] == wind) {
+ compass[i]++;
+ return;
+ }
+ }
+ }
+
+ task void readCompass();
+
+ command error_t ReadRef.read(wind_vane_t* data)
+ {
+ if (!data)
+ return EINVAL;
+ else if (m_data)
+ return EBUSY;
+ else {
+ m_data = data;
+ post readCompass();
+ return SUCCESS;
+ }
+ }
+
+ task void readCompass()
+ {
+ uint16_t tc[COMPASS_COUNT];
+ wind_vane_t* data = m_data;
+
+ atomic {
+ memcpy(tc, compass, sizeof(compass));
+ memset(compass, 0, sizeof(compass));
+ }
+
+ minimizeCompass(tc);
+ if (isCompassEmpty(tc)) {
+ /* If there were no readings in the compass, or each compass heading has
+ * a number of readings equal to all other compass headings, we have an
+ * indeterminate wind direction.
+ */
+ m_data->left = m_data->avg = m_data->right = WINDVANE_NO_HEADING;
+ } else {
+ findArc(tc);
+ calcAvg(tc);
+
+ /* m_data's left, avg and right fields are currently represented in
+ * compass positions. We must now convert those fields into units of
+ * angular degrees.
+ */
+ m_data->left = 1800U / COMPASS_COUNT * m_data->left / 10;
+ m_data->right = 1800U / COMPASS_COUNT * m_data->right / 10;
+ }
+
+ m_data = 0;
+ signal ReadRef.readDone(SUCCESS, data);
+ }
+}
projects / tinyos-2.x.git / commitdiff