Tambralinga · August 29, 2015 14:16 · Aug 2, 2010
diff --git a/xbeesensor.c b/xbeesensor.c
@@ -0,0 +1,363 @@
+/*
+ XBee sensor
+ ZCL Temperature Measurement Cluster
+*/
+
+#define ledPin 13
+
+#define lcdPin 6
+#define temt6000Pin 3
+
+
+#include <stdlib.h>
+#include <math.h>
+
+#include <Stdio.h>
+#include <SoftwareSerial.h>
+#include <avr/power.h>
+#include <avr/sleep.h>
+#include "XBeeLibrary.h"
+#include "ds1620.h"
+#include <Wire.h>
+#include "hmc6352.h"
+#include <math.h>
+#include <float.h>
+#include <limits.h>
+
+
+
+int xaxis = 0;
+int yaxis = 1;   
+int zaxis = 2;   
+
+float xa=0;
+float ya=0;
+float za=0;
+
+
+
+
+int minx = INT_MAX;
+int maxx = 0;
+int miny = INT_MAX;
+int maxy = 0;
+int minz = INT_MAX;
+int maxz = 0;
+
+float g0x = 0;
+float g0y = 0;
+float g0z = 0;
+
+//long time1 = 0;
+//long time2 = 0;
+
+
+// set up a new serial port
+SoftwareSerial lcdSerial = SoftwareSerial(lcdPin,lcdPin);
+byte pinState[16];
+byte backlightValue = 0x9D;
+
+// set up ds1620
+Ds1620 ds1620 = Ds1620(7/*rst*/,8/*clk*/,9/*dq*/);
+
+//set up hmc6352
+Hmc6352 hmc6352;
+
+
+void setup()  {  
+  pinMode(ledPin, OUTPUT);
+  pinMode(lcdPin, OUTPUT);
+  pinMode(temt6000Pin,INPUT);
+  pinMode(xaxis,INPUT);
+  pinMode(yaxis,INPUT);
+  pinMode(zaxis,INPUT);  
+
+  // set the data rate for the SoftwareSerial port
+  lcdSerial.begin(4800);
+
+  Serial.begin(9600);
+  delay(100);
+
+  // configure ds1620
+  ds1620.config();
+
+  //initial calibration of the MMA7260q 
+  minx = 173.0;
+  miny = 192.0;  
+  minz = 258.0;
+
+  maxx = 766.0;  
+  maxy = 720.0;  
+  maxz = 914.0;
+
+  g0x = 469.0;
+  g0y = 456.0;
+  g0z = 586.0;
+
+  lcdPrint("RST\r\n");delay(100);  
+}
+
+long start =0;
+
+void loop() 
+{ 
+  struct zigbee zb;
+  unsigned long time;
+  unsigned long time2;
+
+  xbee_init(&zb);  
+  zb.fgetTemperature = &readDs1620;
+  zb.fprogress = &toggleLedPin;
+  zb.ferror = &lcdPrint;
+  zb.fprint = &lcdPrint;
+  zb.fprintHex = &lcdPrintBuffer;
+  zb.fgetHeading = &readHmc6352;
+  zb.fgetIlluminance = &readTEMT6000;
+  zb.fgetTilt = readMMA7260Q;
+
+
+  XBee xbee(&zb);  
+
+  time = 0;
+  time2 = 0;
+
+  //lcdPrintInt(millis());
+  while(1) 
+  {
+    xbee.serve();
+    if ((millis()-time) > 500) {
+      time = millis();
+      toggle(ledPin);
+      //lcdSerial.print("ab\r\n");
+    }
+
+
+
+    int pfx /*valx*/ = analogRead(xaxis);    // read the value from the sensor
+    int pfy /*valy*/ = analogRead(yaxis);    // read the value from the sensor
+    int pfz /*valz*/ = analogRead(zaxis);    // read the value from the sensor
+
+
+    autoZeroCalibration(pfx,pfy,pfz);
+
+
+
+    if ((millis()-time2) > 25000) {
+      goToSleep();
+      time2 = millis();
+    }
+
+  }  
+}
+
+void goToSleep()
+{
+    /* Now is the time to set the sleep mode. In the Atmega8 datasheet
+     * http://www.atmel.com/dyn/resources/prod_documents/doc2486.pdf on page 35
+     * there is a list of sleep modes which explains which clocks and 
+     * wake up sources are available in which sleep modus.
+     *
+     * In the avr/sleep.h file, the call names of these sleep modus are to be found:
+     *
+     * The 5 different modes are:
+     *     SLEEP_MODE_IDLE         -the least power savings 
+     *     SLEEP_MODE_ADC
+     *     SLEEP_MODE_PWR_SAVE
+     *     SLEEP_MODE_STANDBY
+     *     SLEEP_MODE_PWR_DOWN     -the most power savings
+     * 
+     */  
+
+  set_sleep_mode(SLEEP_MODE_IDLE);   // sleep mode is set here
+
+  sleep_enable();          // enables the sleep bit in the mcucr register
+                             // so sleep is possible. just a safety pin 
+
+  power_adc_disable();
+  power_spi_disable();
+  power_timer0_disable();
+  power_timer1_disable();
+  power_timer2_disable();
+  power_twi_disable();
+
+  digitalWrite(ledPin, 0);
+  lcdPrint("slp\r\n");
+
+  sleep_mode();            // here the device is actually put to sleep!!
+
+  digitalWrite(ledPin, 1);
+ lcdPrint("wk\r\n");
+
+                              // THE PROGRAM CONTINUES FROM HERE AFTER WAKING UP
+  sleep_disable();         // first thing after waking from sleep:
+                            // disable sleep...
+
+  power_all_enable();
+
+}
+
+void toggleLedPin() {
+  toggle(ledPin);
+}
+
+float readDs1620()
+{
+  ds1620.start_conv();
+  int raw_data = ds1620.read_data();
+  ds1620.stop_conv();
+  float temp = raw_data / 2.0; 
+  return temp;
+}
+
+float readHmc6352()
+{
+  hmc6352.wake();
+  float a = hmc6352.getHeading();
+  hmc6352.sleep();
+
+  return a;
+
+}
+
+
+
+
+void toggle(int pinNum) {
+  // set the LED pin using the pinState variable:
+  digitalWrite(pinNum, pinState[pinNum]); 
+  // if pinState = 0, set it to 1, and vice versa:
+  pinState[pinNum] = !pinState[pinNum];
+}
+
+
+int readTEMT6000()
+{
+  int val = analogRead(temt6000Pin);   
+  return val;
+}
+
+
+float readMMA7260Q(int a)
+{
+    int pfx /*valx*/ = analogRead(xaxis);    // read the value from the sensor
+    int pfy /*valy*/ = analogRead(yaxis);    // read the value from the sensor
+    int pfz /*valz*/ = analogRead(zaxis);    // read the value from the sensor
+
+    autoZeroCalibration(pfx,pfy,pfz);
+
+    int fx = (pfx - g0x);
+    int fy = (pfy - g0y);
+    int fz = (pfz - g0z);
+
+    float ax = (fx*2.0)/((maxx-minx));    
+    float ay = (fy*2.0)/((maxy-miny));
+    float az = (fz*2.0)/((maxz-minz));
+
+
+    float rho =   atan(ax/sqrt(pow(ay,2)+pow(az,2)))*(57.2957795129); //57.2957795129 degrees per rad  
+    float phi =   atan(ay/sqrt(pow(ax,2)+pow(az,2)))*(57.2957795129);  
+    float theta = atan(sqrt(pow(ay,2)+pow(ax,2))/az)*(57.2957795129);  
+
+    switch (a)
+    {
+      case 1:
+        return rho;
+        break;
+      case 2:
+        return phi;
+        break;
+      case 3:
+        return theta;
+        break;
+      default:        
+        break;
+    }
+    return 0;
+
+}
+
+
+
+void autoZeroCalibration(int pfx, int pfy, int pfz)
+{
+    //if ((pfx < minx)||(pfy < miny)||(pfz < minz)||(pfx > maxx)||(pfy > maxy)||(pfz > maxz)) {
+     // autozero calibration
+     if (pfx < minx) minx = pfx;
+     if (pfy < miny) miny = pfy;
+     if (pfz < minz) minz = pfz;
+
+     if (pfx > maxx) maxx = pfx;
+     if (pfy > maxy) maxy = pfy;
+     if (pfz > maxz) maxz = pfz;
+
+     g0x = ((maxx - minx)/2)+minx;
+     g0y = ((maxy - miny)/2)+miny;
+     g0z = ((maxz - minz)/2)+minz;
+
+     //printValues();
+  //}
+}
+
+////////////////////////////////////
+//// Print functions
+//////////////////////////////////
+
+
+//void lcdPrintError(char *msg)
+//{
+//  lcdSerial.print("err:");
+//  lcdSerial.print(msg);
+//}
+
+void lcdPrint(char *msg)
+{
+  //lcdSerial.print(millis());
+  //lcdSerial.print(":");
+ // lcdSerial.print(msg);
+
+}
+
+//void lcdPrintInt(long i)
+//{
+//  lcdSerial.print(i, DEC);
+//}
+
+
+//void lcdPrintHex(byte *hex, int size) 
+//{
+//  for(int i=0;i<size;i++)
+//  {
+    //lcdPrintHex(hex[i]);
+//  }
+//}
+
+void lcdPrintBuffer(byte *hex, int size)
+{
+  //lcdPrintHex(hex,size);
+  //lcdPrintBuffer(hex,size,"buf");
+}
+
+//void lcdPrintBuffer(byte *hex, int size, char *msg)
+//{
+
+  //int i = 0;
+  //while (i<size) {    
+    //lcdSerial.print(msg);
+    //lcdSerial.print(" ");
+    //lcdSerial.print(i);
+    //lcdSerial.print("-");
+    //lcdSerial.print(i+7);
+    //lcdSerial.print("\r\n");
+    //int len = min(size-i,8);
+    //lcdPrintHex(hex+i,len);
+    //lcdSerial.print("\r\n");
+    //i=i+8;
+  //}
+ // lcdSerial.print("\r\n");
+//}
+
+//void lcdPrintHex(byte hex) 
+//{
+//  lcdSerial.print((hex&0xF0)>>4,HEX);
+//  lcdSerial.print((hex&0x0F),HEX);
+//}