contiki/examples/zolertia/zoul/test-grove-gyro.c

168 lines
6.9 KiB
C

/*
* Copyright (c) 2016, Zolertia - http://www.zolertia.com
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. 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.
* 3. Neither the name of the Institute 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 INSTITUTE 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 INSTITUTE 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.
*
*/
/*---------------------------------------------------------------------------*/
/**
* \addtogroup zoul-examples
* @{
*
* \defgroup zoul-grove-gyro-test Grove's 3-axis gyroscope test application
*
* Demonstrates the use of the Grove's 3-axis gyroscope based on the ITG-3200
* @{
*
* \file
* Test file for the external Grove gyroscope
*
* \author
* Antonio Lignan <alinan@zolertia.com>
*/
/*---------------------------------------------------------------------------*/
#include <stdio.h>
#include "contiki.h"
#include "dev/i2c.h"
#include "dev/leds.h"
#include "dev/grove-gyro.h"
/*---------------------------------------------------------------------------*/
#define SENSOR_READ_INTERVAL (CLOCK_SECOND)
#define GROVE_GYRO_EXPECTED_ADDR GROVE_GYRO_ADDR
/*---------------------------------------------------------------------------*/
PROCESS(remote_grove_gyro_process, "Grove gyro test process");
AUTOSTART_PROCESSES(&remote_grove_gyro_process);
/*---------------------------------------------------------------------------*/
static struct etimer et;
/*---------------------------------------------------------------------------*/
static void
gyro_interrupt_callback(uint8_t status)
{
/* The interrupt indicates that new data is available, the status value
* returns the outcome of the read operation, check to validate if the
* data is valid to read
*/
leds_toggle(LEDS_PURPLE);
printf("Gyro: X_axis %u, Y_axis %u, Z_axis %u\n", gyro_values.x,
gyro_values.y,
gyro_values.z);
}
/*---------------------------------------------------------------------------*/
PROCESS_THREAD(remote_grove_gyro_process, ev, data)
{
PROCESS_BEGIN();
uint8_t aux;
/* Use Contiki's sensor macro to enable the sensor */
SENSORS_ACTIVATE(grove_gyro);
/* The sensor itself is in low-power mode, to power on just the sensor and not
* the 3 gyroscope axis use GROVE_GYRO_SENSOR. Alternatively the value
* GROVE_GYRO_ALL could also be used to power everything at once
*/
grove_gyro.configure(GROVE_GYRO_POWER_ON, GROVE_GYRO_SENSOR);
/* Read back the configured sensor I2C address to check if the sensor is
* working OK, this is the only case in which the value() returns a value
*/
aux = grove_gyro.value(GROVE_GYRO_ADDR);
if(aux == GROVE_GYRO_EXPECTED_ADDR) {
printf("Gyro sensor started with addr 0x%02X\n", GROVE_GYRO_EXPECTED_ADDR);
} else {
printf("Gyro sensor with unrecognized address 0x%02X\n", aux);
PROCESS_EXIT();
}
/* Register the interrupt handler */
GROVE_GYRO_REGISTER_INT(gyro_interrupt_callback);
/* The gyroscope sensor should be on now but the three gyroscope axis should
* be off, to enable a single axis or any combination of the 3 you can use as
* argument either GROVE_GYRO_X, GROVE_GYRO_Y, GROVE_GYRO_Z. To enable or
* disable the three axis alternatively use GROVE_GYRO_XYZ
*/
grove_gyro.configure(GROVE_GYRO_POWER_ON, GROVE_GYRO_XYZ);
/* Calibrate the sensor taking 200 samples every 5ms for the zero-point offset
* value, this has to be done manually and is up to the user
*/
grove_gyro.configure(GROVE_GYRO_CALIBRATE_ZERO, 1);
/* Enabling the data interrupt will feed data directly to the extern data
* structure and notify us about it, depending on the sampling rate and
* divisor this could generate many interrupts/second. A zero argument would
* disable the interrupts
*/
grove_gyro.configure(GROVE_GYRO_DATA_INTERRUPT, 1);
/* And periodically poll the sensor, values are in º/s */
while(1) {
etimer_set(&et, SENSOR_READ_INTERVAL);
PROCESS_WAIT_EVENT_UNTIL(etimer_expired(&et));
/* This sensor has a different operation from others using Contiki's sensor
* API, to make data acquisition we write the readings directly to the
* extern data structure, allowing to write more than 1 value at the same
* operation, and also allowing upon a data interrupt event to immediatly
* access the data. The return value of the value() call is then the status
* result of the read operation
*/
if(grove_gyro.value(GROVE_GYRO_XYZ) == GROVE_GYRO_SUCCESS) {
/* Converted values with a 2-digit precision */
printf("Gyro: X: %u.%u, Y: %u.%u, Z: %u.%u\n", gyro_values.x / 100,
gyro_values.x % 100,
gyro_values.y / 100,
gyro_values.y % 100,
gyro_values.z / 100,
gyro_values.z % 100);
} else {
printf("Error, enable the DEBUG flag in the grove-gyro driver for info,");
printf(" or check if the sensor is properly connected\n");
PROCESS_EXIT();
}
if(grove_gyro.value(GROVE_GYRO_TEMP) == GROVE_GYRO_SUCCESS) {
printf("Gyro: temperature %d.%02u C\n", gyro_values.temp / 100,
gyro_values.temp % 100);
} else {
printf("Error, enable the DEBUG flag in the grove-gyro driver for info,");
printf(" or check if the sensor is properly connected\n");
PROCESS_EXIT();
}
}
PROCESS_END();
}
/*---------------------------------------------------------------------------*/
/**
* @}
* @}
*/