kernel/sos_info.c

   1 /**
   2  * @brief    node id
   3  * @author   Simon Han (simonhan@ee.ucla.edu)
   4  * @version  1.0
   5  * This is the interface for modules, kernel can
   6  * just use node_address
   7  * 9/13/2005 mods made by Nicholas Kottenstette (nkottens@nd.edu)
   8  *   changed ker_loc to return copy of node_loc, changed node_loc.{x,y,z}
   9  *   to be int16_t, added gps_loc data, ker_gps interface, and
  10  *   ker_loc_r2 interface.
  11  */
  12 #include <sos_info.h>
  13 #include <sos.h>
  14
  15 node_loc_t node_loc = {
  16 #ifdef NODE_LOC_UNIT
  17     .unit = NODE_LOC_UNIT,
  18 #else
  19     .unit = UNIT_FEET,
  20 #endif
  21
  22 #ifdef NODE_X
  23     .x = NODE_X,
  24 #else
  25     .x = 0,
  26 #endif
  27
  28 #ifdef NODE_Y
  29     .y = NODE_Y,
  30 #else
  31     .y = 0,
  32 #endif
  33
  34 #ifdef NODE_Z
  35     .z = NODE_Z,
  36 #else
  37     .z = 0,
  38 #endif
  39 };
  40
  41 #ifndef NODE_GPS_X_DIR
  42 #define NODE_GPS_X_DIR WEST
  43 #endif
  44 #ifndef NODE_GPS_X_DEG
  45 #define NODE_GPS_X_DEG 0
  46 #endif
  47 #ifndef NODE_GPS_X_MIN
  48 #define NODE_GPS_X_MIN 0
  49 #endif
  50 #ifndef NODE_GPS_X_SEC
  51 #define NODE_GPS_X_SEC 0
  52 #endif
  53 #ifndef NODE_GPS_Y_DIR
  54 #define NODE_GPS_Y_DIR NORTH
  55 #endif
  56 #ifndef NODE_GPS_Y_DEG
  57 #define NODE_GPS_Y_DEG 0
  58 #endif
  59 #ifndef NODE_GPS_Y_MIN
  60 #define NODE_GPS_Y_MIN 0
  61 #endif
  62 #ifndef NODE_GPS_Y_SEC
  63 #define NODE_GPS_Y_SEC 0
  64 #endif
  65 #ifndef NODE_GPS_Z_UNIT
  66 #define NODE_GPS_Z_UNIT UNIT_FEET
  67 #endif
  68 #ifndef NODE_GPS_Z
  69 #define NODE_GPS_Z 0
  70 #endif
  71 gps_t gps_loc = {
  72     .x    = { NODE_GPS_X_DIR, NODE_GPS_X_DEG, NODE_GPS_X_MIN, NODE_GPS_X_SEC },
  73     .y     = { NODE_GPS_Y_DIR, NODE_GPS_Y_DEG, NODE_GPS_Y_MIN, NODE_GPS_Y_SEC },
  74     .unit  = NODE_GPS_Z_UNIT,
  75     .z     = NODE_GPS_Z,
  76 };
  77
  78 #ifdef NODE_ADDR
  79 uint16_t node_address = NODE_ADDR;
  80 #else
  81 uint16_t node_address = 1;
  82 #endif
  83
  84
  85
  86 #ifdef NODE_GROUP_ID
  87 uint8_t node_group_id = NODE_GROUP_ID;
  88 #else
  89 uint8_t node_group_id = 1;
  90 #endif
  91
  92
  93 #ifdef HW_TYPE
  94 uint8_t hw_type = HW_TYPE;
  95 #else
  96 uint8_t hw_type = UNKNOWEN;
  97 #endif
  98
  99 int8_t id_init()
 100 {
 101    return SOS_OK;
 102 }
 103
 104
 105 //! The following function is used by the 802.15.4 MAC to set the node address after boot-up
 106 void ker_set_id(uint16_t alloc_address)
 107 {
 108     node_address = alloc_address;
 109 }
 110
 111 uint16_t ker_id()
 112 {
 113     return node_address;
 114 }
 115
 116 node_loc_t ker_loc()
 117 {
 118     return node_loc;
 119 }
 120
 121 gps_t ker_gps()
 122 {
 123     return gps_loc;
 124 }
 125
 126 uint32_t ker_loc_r2(node_loc_t *loc1, node_loc_t *loc2)
 127 {
 128     int32_t dx=0, dy=0, dz=0;
 129     uint32_t dx2=0, dy2=0, dz2=0;
 130 #define SQUARED(x) ((x)*(x))
 131 #define DXYZ_MAX ((int16_t)1<<14)
 132 #define DXYZ_MIN -DXYZ_MAX
 133
 134 #ifndef MAX
 135 #define MAX(a,b) ( ((a) > (b)) ? (a) : (b) )
 136 #endif
 137
 138 #ifndef MIN
 139 #define MIN(a,b) ( ((a) < (b)) ? (a) : (b) )
 140 #endif
 141
 142     if (loc1->unit != loc2->unit)
 143         return 0xffffffff;
 144     /* Limit the largest dimension to +/- 16384 to prevent overflow */
 145     dx = loc1->x - loc2->x;
 146     dy = loc1->y - loc2->y;
 147     dz = loc1->z - loc2->z;
 148     dx = MAX(dx,DXYZ_MIN);
 149     dy = MAX(dy,DXYZ_MIN);
 150     dz = MAX(dz,DXYZ_MIN);
 151     dx = MIN(dx,DXYZ_MAX);
 152     dy = MIN(dy,DXYZ_MAX);
 153     dz = MIN(dz,DXYZ_MAX);
 154     dx2 = SQUARED(dx);
 155     dy2 = SQUARED(dy);
 156     dz2 = SQUARED(dz);
 157     return dx2 + dy2 + dz2;
 158 }
 159
 160 uint16_t ker_uart_id()
 161 {
 162     return (uint16_t)UART_ADDRESS;
 163 }
 164
 165 uint8_t ker_i2c_id()
 166 {
 167     return (uint8_t)I2C_ADDRESS;
 168 }
 169
 170 uint8_t ker_hw_type()
 171 {
 172     return hw_type;
 173 }
 174
 175 uint8_t ker_get_group(void)                             { return node_group_id; }
 176
 177 void ker_set_group(uint8_t new_group_id)        { node_group_id = new_group_id; }
 178