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