Add AeroVane infrastructure to support physical/reading of the sensor.

AeroVaneReadC implements a timer every 28800 ticks of the 32KHz clock (or 900
binary ms).  At each timer event it reads the wind vane via WindVaneReadC.
On every 4th read it reads the anemometer via AnemometerReadC, calculates the
average vane position over the last 4 reads (it's been summing all along),
and uses Notify.notify() to send out the aerovector structure.  This means
that the user should get an AeroVane vector (reading) every 3.516 seconds, where
both the direction and the speed have been averaged over 4 reads during that
period.

diff --git a/tos/platforms/tmirws/sensors/AeroVane.h b/tos/platforms/tmirws/sensors/AeroVane.h
new file mode 100644 (file)
index 0000000..d757165
--- /dev/null
+++ b/tos/platforms/tmirws/sensors/AeroVane.h
@@ -0,0 +1,56 @@
+/*
+ * 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 AEROVANE_H
+#define AEROVANE_H
+
+/* Angular units are in sectors; see AeroVaneC for the number in use.
+ * Speed units are in mph.
+ */
+
+typedef struct {
+  uint16_t dir;
+  uint16_t speed;
+} aerovector_t;
+
+typedef struct {
+  aerovector_t avg;    /* average wind vector, taking into acct dir & speed */
+  uint8_t ccw;         /* most counter-clockwise vane position seen */
+  uint8_t cw;          /* most clockwise vane position seen */
+  uint8_t min;         /* minimum speed seen */
+  uint8_t max;         /* max speed seen */
+} aerovane_t;
+
+#endif

diff --git a/tos/platforms/tmirws/sensors/AeroVaneReadC.nc b/tos/platforms/tmirws/sensors/AeroVaneReadC.nc
new file mode 100644 (file)
index 0000000..01fa7d5
--- /dev/null
+++ b/tos/platforms/tmirws/sensors/AeroVaneReadC.nc
@@ -0,0 +1,67 @@
+/*
+ * 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 physical sensors and notifies every read period an aerovane average
+ * vector.
+ * 
+ * @author R. Steve McKown <rsmckown@gmail.com>
+ */
+ 
+#include "AeroVane.h"
+
+configuration AeroVaneReadC {
+  provides interface Notify<aerovector_t>;
+}
+implementation {
+#if 0
+  components new AeroVaneReadP(28800U);
+#else
+  components new AeroVaneReadP(900);
+#endif
+  Notify = AeroVaneReadP;
+
+#if 0
+  components new Alarm32khz16C();
+  AeroVaneReadP.Alarm -> Alarm32khz16C;
+#else
+  components new TimerMilliC();
+  AeroVaneReadP.Timer -> TimerMilliC;
+#endif
+
+  components WindVaneReadC;
+  AeroVaneReadP.Read -> WindVaneReadC;
+
+  components AnemometerReadC;
+  AeroVaneReadP.AnemometerControl -> AnemometerReadC.StdControl;
+  AeroVaneReadP.Count -> AnemometerReadC;
+
+  components new StateC();
+  AeroVaneReadP.State -> StateC;
+}

diff --git a/tos/platforms/tmirws/sensors/AeroVaneReadP.nc b/tos/platforms/tmirws/sensors/AeroVaneReadP.nc
new file mode 100644 (file)
index 0000000..56001dd
--- /dev/null
+++ b/tos/platforms/tmirws/sensors/AeroVaneReadP.nc
@@ -0,0 +1,158 @@
+/*
+ * 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 physical sensors and notifies every read period an aerovane average
+ * vector.
+ * 
+ * @author R. Steve McKown <rsmckown@gmail.com>
+ */
+ 
+#include "AeroVane.h"
+
+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 State;
+  }
+}
+implementation {
+  enum {
+    S_IDLE,
+    S_RUN,
+
+    PHYS_PER_READ = 4,         /* # of physical reads per reading */
+  };
+
+  uint16_t m_count;
+  int m_vane;
+  int m_sum;
+
+  task void readVane();
+
+  void init()
+  {
+    m_count = 0;
+    m_vane = 0;
+    m_sum = 0;
+  }
+
+  command error_t Notify.enable()
+  {
+    if (call State.requestState(S_RUN) != SUCCESS)
+      return EBUSY;
+
+    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
+    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();
+  }
+
+  task void readVane()
+  {
+    //call Alarm.start(call Alarm.getAlarm() + period);
+    if (!(call State.isIdle()))
+      call Read.read();
+  }
+
+  int distance(int angle1, int angle2)
+  {
+    int d = angle2 - angle1;
+
+    if (d <= -180)
+      d += 360;
+    else if (d > 180)
+      d -= 360;
+    return d;
+  }
+
+  event void Read.readDone(error_t error, uint16_t result)
+  {
+    int newVane;
+
+    if (error != SUCCESS)
+      return;
+
+    newVane = m_vane + distance(m_vane, result);
+    m_sum += result;
+    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;
+      init();
+
+      /* Inform the consumer of the vector */
+      if (!(call State.isIdle()))
+       signal Notify.notify(vector);
+    }
+  }
+}

diff --git a/tos/platforms/tmirws/sensors/AnemometerReadC.nc b/tos/platforms/tmirws/sensors/AnemometerReadC.nc
new file mode 100644 (file)
index 0000000..e454adb
--- /dev/null
+++ b/tos/platforms/tmirws/sensors/AnemometerReadC.nc
@@ -0,0 +1,54 @@
+/*
+ * 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.
+ */
+ 
+/**
+ * Instantaneous anemometer read; depends upon prior call for correct timing.
+ * 
+ * @author R. Steve McKown <rsmckown@gmail.com>
+ */
+ 
+#include "Anemometer.h"
+
+configuration AnemometerReadC {
+  provides {
+    interface StdControl;
+    interface AsyncGet<uint16_t> as Count;
+  }
+}
+implementation {
+  components MainC;
+  MainC.SoftwareInit -> AnemometerReadP.Init;
+
+  components AnemometerReadP;
+  StdControl = AnemometerReadP;
+  Count = AnemometerReadP;
+
+  components Msp430CounterMicroC;
+  AnemometerReadP.SpinCounter -> Msp430CounterMicroC;
+}

diff --git a/tos/platforms/tmirws/sensors/AnemometerReadP.nc b/tos/platforms/tmirws/sensors/AnemometerReadP.nc
new file mode 100644 (file)
index 0000000..3b4a545
--- /dev/null
+++ b/tos/platforms/tmirws/sensors/AnemometerReadP.nc
@@ -0,0 +1,91 @@
+/*
+ * 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.
+ */
+ 
+/**
+ * Instantaneous anemometer read; depends upon prior call for correct timing.
+ * 
+ * @author R. Steve McKown <rsmckown@gmail.com>
+ */
+ 
+#include "Anemometer.h"
+
+module AnemometerReadP {
+  provides {
+    interface Init;
+    interface StdControl;
+    interface AsyncGet<uint16_t> as Count;
+  }
+  uses
+    interface Counter<TMicro,uint16_t> as SpinCounter;
+}
+implementation {
+  uint16_t m_count;
+
+  command error_t Init.init()
+  {
+    atomic {
+      /* Initialize Timer A, clock source is IO pin P1.0.  SpinCounter's clock
+       * is Timer A.
+       */
+      TACTL = 0;
+      TACTL = TACLR | ID_0 | TASSEL_0;
+      P1SEL |= 1;
+    }
+    return SUCCESS;
+  }
+
+  command error_t StdControl.start()
+  {
+    atomic {
+      TACTL |= MC_2;
+      m_count = call SpinCounter.get();
+    }
+    return SUCCESS;
+  }
+
+  command error_t StdControl.stop()
+  {
+    atomic TACTL &= ~(MC1|MC0);
+  }
+
+  async command uint16_t Count.get()
+  {
+    atomic {
+      uint16_t newCount;
+      uint16_t speed;
+
+      newCount = call SpinCounter.get();
+      speed = newCount - m_count;
+      m_count = newCount;
+      return speed;
+    }
+  }
+
+  async event void SpinCounter.overflow() {}
+}