Reincarnate the sensinode/cc2430 port
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George Oikonomou
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b7674c3636
114 changed files with 10044 additions and 3068 deletions
276
examples/sensinode/cc2431-location-engine/blind-node.c
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276
examples/sensinode/cc2431-location-engine/blind-node.c
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/*
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* Copyright (c) 2010, Loughborough University - Computer Science
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in the
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* documentation and/or other materials provided with the distribution.
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* 3. Neither the name of the Institute nor the names of its contributors
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* may be used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE INSTITUTE AND CONTRIBUTORS ``AS IS'' AND
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* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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* ARE DISCLAIMED. IN NO EVENT SHALL THE INSTITUTE OR CONTRIBUTORS BE LIABLE
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* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
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* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS
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* OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
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* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
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* OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
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* SUCH DAMAGE.
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*
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* This file is part of the Contiki operating system.
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*/
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/**
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* \file
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* Example demonstrating the cc2431 location engine.
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*
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* This file contains code for the blind node. The blind node must be
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* equipped with a cc2431 SoC (as opposed to reference nodes which
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* don't need to have a Loc. Eng.)
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*
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* The blind node receives co-ordinates of reference nodes over
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* broadcast rime. Once it has enough data (3+ reference nodes), it
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* will calculate its own position.
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*
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* We calculate with all potential values for parameter 'n' to
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* demonstrate how 'n' influences the result of the calculation.
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*
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* Optionally, send the result of the calculation to a collection node
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*
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* More information on the cc2431 Location Engine can be found in:
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* - cc2431 Datasheet
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* - Texas Instruments Application Note 42
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*
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* \author
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* George Oikonomou - <oikonomou@users.sourceforge.net>
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*/
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#include "contiki.h"
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#include "net/rime.h"
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#include "cc2431_loc_eng.h"
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#include "cc2430_sfr.h"
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#include <string.h>
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#include <stdio.h>
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#define MAX_REF_NODES 16 /* Do not change */
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#define SAMPLE_RSSI 100 /* Used for testing */
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#define SAMPLE_ALPHA 101
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static struct meas_params parameters;
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static struct refcoords ref_coords[MAX_REF_NODES];
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/* Store our current location here to be transmitted to a collector node */
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static uint8_t coords[2];
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/*---------------------------------------------------------------------------*/
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PROCESS(blindnode_bcast_rec, "Blind Node");
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AUTOSTART_PROCESSES(&blindnode_bcast_rec);
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/*---------------------------------------------------------------------------*/
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/*
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* This handles the calculation cycle. Returns non-zero on error, 0 on success.
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*
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* When we move this outside the example, we will perhaps want to pass
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* struct refcoords *, struct meas_params *
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* instead of exposing our own data structures. If this happens, we will need
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* to add checks to our code to detect non-sane values
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*/
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static uint8_t
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calculate()
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{
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static int j, x;
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uint8_t valid_rssi = 0;
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/* Turn on the Engine */
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LOCENG = LOCENG_EN;
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while(!(LOCENG & LOCENG_EN));
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/* Reference Coordinate Load Stage */
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LOCENG |= LOCENG_REFLD;
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while(!(LOCENG & LOCENG_REFLD));
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for(j = 0; j < MAX_REF_NODES; j++) {
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/* Write the Reference Node x,y into the engine */
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REFCOORD = ref_coords[j].x;
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REFCOORD = ref_coords[j].y;
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}
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/* Reference Coordinate Load Stage Done. Proceed with measured params */
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LOCENG &= ~LOCENG_REFLD;
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LOCENG |= LOCENG_PARLD;
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/* Load Parameters */
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MEASPARM = parameters.alpha;
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MEASPARM = parameters.n;
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MEASPARM = parameters.x_min;
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MEASPARM = parameters.x_delta;
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MEASPARM = parameters.y_min;
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MEASPARM = parameters.y_delta;
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/* Load Neighbor RSSIs */
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for(j = 0; j < MAX_REF_NODES; j++) {
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if(parameters.rssi[j] != 0) {
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/* Range-check for the RSSI here, can only be in [-95 dBm , -40 dBm]
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* so we only accept 80 <= rssi <= 190*/
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if(parameters.rssi[j] >= 80 && parameters.rssi[j] <= 190) {
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valid_rssi++;
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}
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}
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/* Write the value, even if it's zero */
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MEASPARM = parameters.rssi[j];
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}
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/* Done with measured parameters too */
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LOCENG &= ~LOCENG_PARLD;
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/* Only Calculate if we have 3+ reference nodes (non-zero RSSIs) */
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if(valid_rssi >= 3) {
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LOCENG |= LOCENG_RUN;
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} else {
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LOCENG = 0;
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printf("some error\n");
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return 1;
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}
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/* Block on the calculation, between 50us and 13ms */
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while(!(LOCENG & LOCENG_DONE));
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/*
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* LOCX contains an offset. Remove it to obtain our actual X value.
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* cc2431 datasheet, section 2.1.3
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*/
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x = (LOCX - parameters.x_min + 1) % (parameters.x_delta + 1)
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+ parameters.x_min;
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coords[0] = x;
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coords[1] = LOCY; /* No offset here */
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printf("n=%2u: X=%3u, Y=%3u\n", parameters.n, LOCX, LOCY);
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/* Turn it off */
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LOCENG = 0;
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return 0;
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}
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/*---------------------------------------------------------------------------*/
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/*
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* We receive X, Y from reference nodes.
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* We store this in location J of the ref_coords array, where J is the LSB
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* of the reference node's rime address. So we can only accept data from nodes
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* with rime address ending in [0 , 15]
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*/
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static void
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broadcast_recv(struct broadcast_conn *c, const rimeaddr_t *from)
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{
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packetbuf_attr_t rssi; /* Careful here, this is uint16_t */
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if(from->u8[1] < MAX_REF_NODES) {
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memset(&ref_coords[from->u8[1] - 1], 0, sizeof(struct refcoords));
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/* Obtain incoming message's RSSI from contiki */
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rssi = packetbuf_attr(PACKETBUF_ATTR_RSSI);
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/* Convert RSSI to the loc. eng. format */
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parameters.rssi[from->u8[1] - 1] = (-2 * rssi);
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/* Raw dump the packetbuf into the ref_coords struct */
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memcpy(&ref_coords[from->u8[1] - 1], packetbuf_dataptr(), 2 * sizeof(uint8_t));
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}
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return;
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}
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/*
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* Imaginary nodes to test functionality
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* All nodes at 1 meter distance, rssi = -40 (80)
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* Since the rssi at 1 meter = -40 (A), the blind node should think it's at
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* 5,5
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*/
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/*---------------------------------------------------------------------------*/
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static void
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set_imaginary_ref_nodes() {
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ref_coords[0].x = 1;
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ref_coords[0].y = 5;
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parameters.rssi[0] = SAMPLE_RSSI;
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ref_coords[1].x = 5;
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ref_coords[1].y = 1;
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parameters.rssi[1] = SAMPLE_RSSI;
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ref_coords[2].x = 5;
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ref_coords[2].y = 9;
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parameters.rssi[2] = SAMPLE_RSSI;
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ref_coords[3].x = 9;
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ref_coords[3].y = 5;
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parameters.rssi[3] = SAMPLE_RSSI;
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}
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/*---------------------------------------------------------------------------*/
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static const struct broadcast_callbacks broadcast_call = { broadcast_recv };
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static struct broadcast_conn broadcast;
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/*---------------------------------------------------------------------------*/
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PROCESS_THREAD(blindnode_bcast_rec, ev, data)
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{
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static struct etimer et;
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static uint8_t n;
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int i;
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PROCESS_EXITHANDLER(broadcast_close(&broadcast));
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PROCESS_BEGIN();
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printf("Reading Chip ID: 0x%02x\n", CHIPID);
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/* Read our chip ID. If we are not cc2431, bail out */
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if(CHIPID != CC2431_CHIP_ID) {
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printf("Hardware does not have a location engine. Exiting.\n");
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PROCESS_EXIT();
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}
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/* OK, we are cc2431. Do stuff */
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n = 0;
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/* Initalise our structs and parameters */
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memset(ref_coords, 0, sizeof(struct refcoords) * MAX_REF_NODES);
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memset(¶meters, 0, sizeof(struct meas_params));
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/*
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* Just hard-coding measurement parameters here.
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* Ideally, this should be part of a calibration mechanism
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*/
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parameters.alpha=SAMPLE_ALPHA;
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parameters.x_min=0;
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parameters.x_delta=255;
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parameters.y_min=0;
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parameters.y_delta=255;
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set_imaginary_ref_nodes();
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broadcast_open(&broadcast, 129, &broadcast_call);
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while(1) {
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etimer_set(&et, CLOCK_SECOND);
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PROCESS_WAIT_EVENT_UNTIL(etimer_expired(&et));
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/*
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* With the hard-coded parameters and locations, we will calculate
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* for all possible values of n [0 , 31]
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*/
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parameters.n=n;
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calculate();
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n++;
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if(n==32) { n=0; }
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/* Send our calculated location to some monitoring node */
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packetbuf_copyfrom(&coords, 2*sizeof(uint8_t));
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broadcast_send(&broadcast);
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}
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PROCESS_END();
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}
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