[Firebug-cvs] fireboard/beta/tools/src/xlisten/boards mda300.c,NONE,1.1 mts101.c,NONE,1.1 mts400.c,NONE,1.1

[David M. D. <do...@us...>]

Update of /cvsroot/firebug/fireboard/beta/tools/src/xlisten/boards
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv3755/boards

Added Files:
	mda300.c mts101.c mts400.c 
Log Message:
Starting code for xlisten modifications.

--- NEW FILE: mts400.c ---
/**
 * Handles conversion to engineering units of mts400/420 packets.
 *
 * @file      mts400.c
 * @author    Martin Turon, Hu Siquan
 *
 * @version   2004/3/10    mturon      Initial version
 * @n         2004/3/28    husiquan    Added temp,pressure,accel,light,gps
 *
 * Copyright (c) 2004 Crossbow Technology, Inc.   All rights reserved.
 * 
 * $Id: mts400.c,v 1.1 2005/05/19 19:58:18 doolin Exp $
 */
#include <math.h>
#include "../xsensors.h"

/** MTS400/420 XSensor packet 1 -- contains all MTS400/420 weather sensors readings */
typedef struct {
    uint16_t battery;
    uint16_t humidity;
    uint16_t temp;

    uint16_t cal_word1;           //!< Pressure calibration word 1
    uint16_t cal_word2;           //!< Pressure calibration word 2
    uint16_t cal_word3;           //!< Pressure calibration word 3
    uint16_t cal_word4;           //!< Pressure calibration word 4
    uint16_t intersematemp;
    uint16_t intersemapressure;
    
    uint16_t taosch0;
    uint16_t taosch1;
    
    uint16_t accel_x;
} XSensorMTS400Data1;


/**
 * Packet data size limitations force us to stretch 
 * accel_y information into reserved section of packet.
 * header reserved = high byte, footer reserved2 = low byte.
 * This accel_y access code is not the most elegant, but serves 
 * as a reminder to heed size limitations in the AM packet.
 *
 * @version   2004/4/29    mturon      Initial version
 */
#define reserved   parent
#define reserved2  terminator
#define GET_ACCEL_Y (packet->reserved << 8) | (packet->reserved2)


/** MTS420 XSensor packet 2 -- contains gps readings */
typedef struct {
	uint8_t hours; //Hours
	uint8_t minutes;//Minutes
	uint8_t Lat_deg;//Latitude degrees
	uint8_t Long_deg;//Longitude degrees
	uint32_t dec_sec;//Decimal seconds	
	uint32_t Lat_dec_min;//Latitude decimal minutes	
	uint32_t Long_dec_min;//Longitude decimal minutes
	uint8_t NSEWind;//NSEWind
	uint8_t Fixed; // as to whether the packet is valid(i.e. has the gps Fixed on to the sattelites).
	
	}XSensorMTS420GPSData;


/** 
 * Converts mica2 battery reading from raw ADC data to engineering units.
 *
 * @author    Martin Turon
 *
 * To compute the battery voltage after measuring the voltage ref:
 *   BV = RV*ADC_FS/data
 *   where:
 *   BV = Battery Voltage
 *   ADC_FS = 1023
 *   RV = Voltage Reference for mica2 (1.223 volts)
 *   data = data from the adc measurement of channel 1
 *   BV (volts) = 1252.352/data
 *   BV (mv) = 1252352/data 
 *
 * Note:
 *   The thermistor resistance to temperature conversion is highly non-linear.
 *
 * @version   2004/3/29       mturon      Initial revision
 *
 */
uint16_t mts400_convert_battery(XbowSensorboardPacket *packet) 
{
    XSensorMTS400Data1 *data = (XSensorMTS400Data1 *)packet->data;
    float    x     = (float)data->battery;
    uint16_t vdata = (uint16_t) (1252352 / x);  
    return vdata;
}

/** 
 * Computes the pressure ADC count of Intersema MS5534A barometric 
 * pressure/temperature sensor - reading into Engineering Units (mbar)
 *
 * @author   Hu Siquan
 * 
 * Intersema MS5534A barometric pressure/temperature sensor
 *  - 6 cal coefficients (C1..C6) are extracted from 4,16 bit,words from sensor
 *  - Temperature measurement:
 *     UT1=8*C5+20224
 *     dT=data-UT1
 *     Temp=(degC x10)=200+dT(C6+50)/1024
 *  - Pressure measurement:
 *     OFF=C2*4 + ((C4-512)*dT)/1024
 *     SENS=C1+(C3*dT)/1024 + 24576
 *     X=(SENS*(PressureData-7168))/16384 - OFF
 *     Press(mbar)= X/32+250
 *
 * @version   2004/3/29       husiquan      Initial revision
 */
 int mts400_convert_intersemapressure(XbowSensorboardPacket *packet)
 {
      
    float UT1,dT;
    float OFF,SENS,X,Press;
    uint16_t PressureData, TempData;
    uint16_t calibration[4];         //intersema calibration words
    uint16_t C1,C2,C3,C4,C5;//,C6;   //intersema calibration coefficients

      
    XSensorMTS400Data1 *data = (XSensorMTS400Data1 *)packet->data;
       
	calibration[0] = data->cal_word1;
	calibration[1] = data->cal_word2;
	calibration[2] = data->cal_word3;
	calibration[3] = data->cal_word4;
	PressureData = data->intersemapressure;
    TempData = data->intersematemp;    
	
	C1 = calibration[0] >> 1;
    C2 = ((calibration[2] &  0x3f) << 6) |  (calibration[3] &  0x3f);
	C3 = calibration[3]  >> 6;
	C4 = calibration[2]  >> 6;
	C5 = ((calibration[0] &  1) << 10) |  (calibration[1] >>  6); 
    // C6 = calibration[1] &  0x3f; 
      
    UT1=8*(float)C5+20224;
    dT = (float)TempData-UT1;
    OFF = (float)C2*4 + (((float)C4-512.0)*dT)/1024;
    SENS = (float)C1 + ((float)C3*dT)/1024 + 24576;
    X = (SENS*((float)PressureData-7168.0))/16384 - OFF;
    Press = X/32.0 + 250.0;

    return (int)Press;
  }
  
/** 
 *  Computes the temperature ADC count of Intersema MS5534A barometric 
 *  pressure/temperature sensor - reading into Engineering Unit (degC)
 *
 * @author   Hu Siquan
 *
 * @version   2004/3/29       husiquan      Initial revision
 */
   int mts400_convert_intersematemp(XbowSensorboardPacket *packet)
   {
   	float UT1,dT,Temp;
   	uint16_t TempData;
   	uint16_t calibration[2];         //intersema calibration words
        uint16_t C5,C6;      //intersema calibration coefficients
   	XSensorMTS400Data1 *data = (XSensorMTS400Data1 *)packet->data;
    TempData = data->intersematemp;
    calibration[0] = data->cal_word1;
	calibration[1] = data->cal_word2;
	
	C5 = ((calibration[0] &  1) << 10) |  (calibration[1] >>  6); 
    C6 = calibration[1] &  0x3f; 
    
	UT1=8*(float)C5+20224;
	dT = (float)TempData-UT1;
	//temperature (degCx10)
    Temp = 200.0 + dT*((float)C6+50.0)/1024.0;
    //temperature (degC)
    Temp /=10.0;

	return (int)Temp;
   }
 
/** 
 * Computes the humidity ADC count of Sensirion SHT11 humidity/temperature 
 * sensor - reading into Engineering Units (%)
 *
 * @author   Hu Siquan
 *
 * Sensirion SHT11 humidity/temperature sensor
 * - Humidity data is 12 bit:
 *     Linear calc (no temp correction)
 *        fRH = -4.0 + 0.0405 * data -0.0000028 * data^2     'RH linear
 *     With temperature correction:
 *        fRH = (fTemp - 25) * (0.01 + 0.00008 * data) + fRH        'RH true
 * - Temperature data is 14 bit
 *     Temp(degC) = -38.4 + 0.0098 * data
 *
 * @version   2004/3/29       husiquan      Initial revision
 */	
 int mts400_convert_humidity(XbowSensorboardPacket *packet){
 	
    float fTemp,fHumidity;
    uint16_t HumData, TempData;
    XSensorMTS400Data1 *data = (XSensorMTS400Data1 *)packet->data;
    
    HumData = data->humidity;
    TempData = data->temp;

    fTemp = -38.4 + 0.0098*(float)TempData;
    fHumidity =  -4.0 + 0.0405 * HumData -0.0000028 * HumData * HumData;  
    fHumidity= (fTemp-25.0)* (0.01 + 0.00008 * HumData) + fHumidity;

    return (int)fHumidity;
  }

/** 
 * Computes the temperature ADC count of Sensirion SHT11 humidity/temperature 
 * sensor - reading into Engineering Units (degC)
 *
 * @author   Hu Siquan
 *
 * @version   2004/3/29       husiquan      Initial revision
 */	
 int mts400_convert_temp(XbowSensorboardPacket *packet)
 {
 	float fTemp;
 	uint16_t TempData;
 	XSensorMTS400Data1 *data = (XSensorMTS400Data1 *)packet->data;    
        TempData = data->temp;
 	
 	fTemp = -38.4 + 0.0098*(float)TempData;
 	return (int)fTemp;
 	}
 
/** 
 * Computes the ADC count of Taos- tsl2250 light sensor - reading into 
 *  Engineering Unit (lux)
 *
 * @author   Hu Siquan
 *
 * Taos- tsl2250 light sensor
 * Two ADC channels:
 *    ADC Count Value (ACNTx) = INT(16.5*[CV-1]) +S*CV
 *    where CV = 2^^C
 *          C  = (data & 0x7) >> 4
 *          S  = data & 0xF
 * Light level (lux) = ACNT0*0.46*(e^^-3.13*R)
 *          R = ACNT1/ACNT0
 *
 * @version   2004/3/29       husiquan      Initial revision
 */

float mts400_convert_light(XbowSensorboardPacket *packet)
{
	uint16_t taosch0, taosch1;
	uint16_t ChData,CV1,CH1,ST1;
	int ACNT0,ACNT1;
    float CNT1,R,Lux;
    XSensorMTS400Data1 *data = (XSensorMTS400Data1 *)packet->data;    
    taosch0 = data->taosch0;
    taosch1 = data->taosch1;

	ChData = taosch0 & 0x00ff;
	if (ChData == 0xff) return -1.0; // Taos Ch0 data: OVERFLOW 
	ST1 = ChData & 0xf;
	CH1 = (ChData & 0x70) >> 4; 
	CV1 = 1 << CH1;
    CNT1 = (int)(16.5*(CV1-1)) + ST1*CV1;
	ACNT0 = (int)CNT1;

	ChData = taosch1 & 0xff;
	if (ChData == 0xff) return -1.0; // Taos Ch1 data: OVERFLOW
	ST1 = ChData & 0xf;
	CH1 = (ChData & 0x70) >> 4;
	CV1 = 1 << CH1;
	    CNT1 = (int)(16.5*(CV1-1)) + ST1*CV1;
    ACNT1 = (int)CNT1;
		
        R = ((float)ACNT1)/((float)ACNT0);
    Lux = (float)ACNT0*0.46/exp(3.13*R);
	return Lux;
}


/** 
 * Computes the ADC count of a Accelerometer - for X axis reading into 
 *  Engineering Unit (mg)
 *
 * @author   Hu Siquan
 *
 * ADXL202E Accelerometer
 * At 3.0 supply this sensor's sensitivty is ~167mv/g
 *        0 g is at ~1.5V or ~VCC/2 - this varies alot.
 *        For an accurate calibration measure each axis at +/- 1 g and
 *        compute the center point (0 g level) as 1/2 of difference.
 * Note: this app doesn't measure the battery voltage, it assumes 3.2 volts
 * To getter better accuracy measure the battery voltage as this effects the
 * full scale of the Atmega128 ADC.
 * bits/mv = 1024/(1000*VBATT)
 * bits/g  = 1024/(1000*VBATT)(bits/mv) * 167(mv/g)
 *         = 171/VBATT (bits/g)
 * C       = 0.171/VBATT (bits/mg)
 * Accel(mg) ~ (ADC DATA - 512) /C
 *
 * @version   2004/3/29       husiquan      Initial revision
 */
float mts400_convert_accel_x(XbowSensorboardPacket *packet)
{
	uint16_t AccelData;
	XSensorMTS400Data1 *data = (XSensorMTS400Data1 *)packet->data;    
	AccelData = data->accel_x;
	/*
	float Accel, C;
	XSensorMTS400Data1 *data = (XSensorMTS400Data1 *)packet->data;    
        AccelData = data->accel_x;
        //float VBATT = 3.2;
        float VBATT = mts400_convert_battery(packet);
	  C = 171.0/VBATT;
    
        Accel =  ((float)AccelData - 512.0)/C;
        return Accel;*/
    uint16_t minus_one_calibration;
    uint16_t plus_one_calibration;

    float scale_factor;
    float reading;

    minus_one_calibration = 417;
    plus_one_calibration = 537;
      
    scale_factor =  ( plus_one_calibration - minus_one_calibration ) / 2;
    reading =   1.0 - (plus_one_calibration - AccelData) / scale_factor;
    reading = reading*1000.0;
    return reading;
     
}

/** 
 *  Computes the ADC count of a Accelerometer - for Y axis reading into 
 *  Engineering Unit (mg)
 *
 * @author   Hu Siquan
 *
 * @version   2004/3/29       husiquan      Initial revision
 *
 */
float mts400_convert_accel_y(XbowSensorboardPacket *packet)
{
	uint16_t AccelData;
	//XSensorMTS400Data1 *data = (XSensorMTS400Data1 *)packet->data;    

	AccelData  = GET_ACCEL_Y;

     /*   
	// float VBATT = 3.2;
	float VBATT = mts400_convert_battery(packet);  // mV
	C = 171.0/VBATT;  
    		
    Accel = ((float)AccelData - 512.0)/C;
	// SODbg(DBG_BOOT, "AccelY data %i AcceY(mg) %i \n",data, (int)Accel);
    return Accel;*/
     
    uint16_t minus_one_calibration;
    uint16_t plus_one_calibration;

    float scale_factor;
    float reading;

    minus_one_calibration = 272;
    plus_one_calibration = 666;

    scale_factor =  ( plus_one_calibration - minus_one_calibration ) / 2;
    reading =   1.0 - (plus_one_calibration - AccelData) / scale_factor;
    reading = reading*1000.0;
    return reading;
    

}

/** 
 *  Computes the gps GGA decimal seconds
 *  
 * @author   Hu Siquan
 *
 * @version   2004/4/2       husiquan      Initial revision
 *
 */
double mts420_convert_dec_sec(XbowSensorboardPacket *packet){
	
	XSensorMTS420GPSData *data;
	
	data = (XSensorMTS420GPSData *) packet->data;
	return (data->dec_sec)/1000.0;
	
	
}

/** 
 *  Computes the gps GGA Latitude seconds
 *  
 * @author   Hu Siquan
 *
 * @version   2004/4/2       husiquan      Initial revision
 *
 */
double mts420_convert_Lat_dec_min(XbowSensorboardPacket *packet){
	
	XSensorMTS420GPSData *data;
	data = (XSensorMTS420GPSData *) packet->data;
	return (data->Lat_dec_min)/10000.0;
}

/** 
 *  Computes the gps GGA Longitude seconds
 *  
 * @author   Hu Siquan
 *
 * @version   2004/4/2       husiquan      Initial revision
 *
 */
float mts420_convert_Long_dec_min(XbowSensorboardPacket *packet){
	
	XSensorMTS420GPSData *data;
	data = (XSensorMTS420GPSData *) packet->data;
	return (data->Long_dec_min)/10000.0;
}

/** 
 *  Computes the gps GGA North/South indicator
 *  
 * @author   Hu Siquan
 *
 * @version   2004/4/2       husiquan      Initial revision
 *
 */
char mts420_convert_NS_ind(XbowSensorboardPacket *packet){
	
	XSensorMTS420GPSData *data;
	data = (XSensorMTS420GPSData *) packet->data;
	return ((data->NSEWind>>4)==0)?'S':'N';
}

/** 
 *  Computes the gps GGA East/West indicator
 *  
 * @author   Hu Siquan
 *
 * @version   2004/4/2       husiquan      Initial revision
 *
 */
char mts420_convert_EW_ind(XbowSensorboardPacket *packet){
	
	XSensorMTS420GPSData *data;
	data = (XSensorMTS420GPSData *) packet->data;
	return ((data->NSEWind&0xf)==0)?'E':'W';
}

/** MTS400 Specific outputs of raw readings within an XBowSensorboardPacket */
void mts400_print_raw(XbowSensorboardPacket *packet) 
{
    XSensorMTS400Data1 *data = (XSensorMTS400Data1 *)packet->data;
    printf("mts400 id=%02x "
           "battery=%04x humidity=%04x temp=%04x \n"
           "intersema calibration words(1..4) = %04x,%04x,%04x,%04x \n" 
		   "intersematemp=%04x intersemapressure=%04x \n"
           "taosch0=%04x taosch1=%04x accel_x=%04x accel_y=%04x\n",
           packet->node_id, 
           data->battery, data->humidity, data->temp, 
           data->cal_word1,data->cal_word2,data->cal_word3,data->cal_word4,
           data->intersematemp, data->intersemapressure,
           data->taosch0,data->taosch1, data->accel_x, GET_ACCEL_Y);
}

void mts400_print_cooked(XbowSensorboardPacket *packet) 
{
	XSensorMTS400Data1 *pd;

	pd = (XSensorMTS400Data1 *) packet->data;
	float light = mts400_convert_light(packet);
	
	
	// cooked output
	printf("MTS400 [sensor data converted to engineering units]:\n"
		   "   health:       node id = %i\n"
		   "   battery:              = %i mv \n"
		   "   humidity:             = %i %%  \n"
		   "   Temperature:          = %i degC \n"
		   "   IntersemaTemperature: = %i degC \n"
		   "   IntersemaPressure:    = %i mbar \n",
           packet->node_id,
           mts400_convert_battery(packet),
           mts400_convert_humidity(packet),
           mts400_convert_temp(packet),
           mts400_convert_intersematemp(packet),
           mts400_convert_intersemapressure(packet)
	       );
	if(light<-0.5) printf("   One of the CHs overflow,Light reading invalid.\n");
	else printf("   Light:                = %f lux \n",light);
	printf("   X-axis Accel:         = %f mg \n" 
		   "   Y-axis Accel:         = %f mg \n", 
           mts400_convert_accel_x(packet),
	       mts400_convert_accel_y(packet));
	printf("\n");
}

/** MTS420 Specific outputs of raw readings within an XBowSensorboardPacket */
void mts420_print_raw(XbowSensorboardPacket *packet) 
{
	switch(packet->packet_id){
		case 1:{
    		XSensorMTS400Data1 *data = (XSensorMTS400Data1 *)packet->data;
    		printf("mts420 id=%02x "
           		"vref=%04x humidity=%04x temp=%04x \n"
           		"intersema calibration words(1..4) = %04x,%04x,%04x,%04x \n" 
		   		"intersematemp=%04x intersemapressure=%04x \n"
           		"taosch0=%04x taosch1=%04x accel_x=%04x accel_y=%04x\n",
           		packet->node_id, 
           		data->battery, data->humidity, data->temp, 
           		data->cal_word1, data->cal_word2,
		        data->cal_word3, data->cal_word4,
           		data->intersematemp, data->intersemapressure,
           		data->taosch0, data->taosch1, data->accel_x, 
		        GET_ACCEL_Y);
           	break;
           	}
       case 2:{
       		XSensorMTS420GPSData *data = (XSensorMTS420GPSData *)packet->data;
       		printf("mts420 id=%02x "
           		"Hours=%02x Minutes=%02x Decimal seconds = %08x\n"
           		"Latitude degrees = %02x Latitude decimal minutes = %08x \n" 
		   		"Longitude degrees = %02x Longitude decimal minutes=%08x \n"
		   		"NSEWind =%02x GPS Fixed=%02x \n",
           		packet->node_id, 
           		data->hours, data->minutes, data->dec_sec,
           		data->Lat_deg, data->Lat_dec_min,
           		data->Long_deg, data->Long_dec_min, data->NSEWind,data->Fixed);
           		

           break;
           }
           default:
            printf("MTS420 error: unknown packet_id (%i)\n", packet->packet_id);
            }
}

void mts420_print_cooked_1(XbowSensorboardPacket *packet) 
{
	XSensorMTS400Data1 *pd;

	pd = (XSensorMTS400Data1 *) packet->data;
	float light = mts400_convert_light(packet);

	// cooked output
	printf("MTS420 [sensor data converted to engineering units]:\n"
		   "   health:       node id = %i\n"
		   "   battery:              = %i mv \n"
		   "   humidity:             = %i %%  \n"
		   "   Temperature:          = %i degC \n"
		   "   IntersemaTemperature: = %i degC \n"
		   "   IntersemaPressure:    = %i mbar \n",
           packet->node_id,
           mts400_convert_battery(packet),
           mts400_convert_humidity(packet),
           mts400_convert_temp(packet),
           mts400_convert_intersematemp(packet),
           mts400_convert_intersemapressure(packet)
	       );
	if(light<-0.5) printf("   One of the CHs overflow,Light reading invalid.\n");
	else printf("   Light:                = %f lux \n",light);
	printf("   X-axis Accel:         = %f mg \n" 
		   "   Y-axis Accel:         = %f mg \n", 
           mts400_convert_accel_x(packet),
	       mts400_convert_accel_y(packet));
	printf("\n");
}

void mts420_print_cooked_gps(XbowSensorboardPacket *packet) 
{
	XSensorMTS420GPSData *data;

	data = (XSensorMTS420GPSData *) packet->data;
	printf("MTS420 [gps data converted to engineering units]:\n"
		   "   health:     node id=%i \n"
           "   GGA - Global Positioning System Fix Data\n"
           "   Fix taken at %i:%i:%f UTC\n"
           "   Latitude %i deg %f' %c \n" 
		   "   Longitude %i deg %f' %c \n"
		   "   Fix Quality: %s \n",
		   packet->node_id,           		
           data->hours, data->minutes, mts420_convert_dec_sec(packet),
           data->Lat_deg, mts420_convert_Lat_dec_min(packet),mts420_convert_NS_ind(packet),
           data->Long_deg, mts420_convert_Long_dec_min(packet),mts420_convert_EW_ind(packet),
           (data->Fixed == 0)?"invalid":"valid");
	printf("\n");
	
}

  

void mts420_print_cooked(XbowSensorboardPacket *packet) 
{
	switch(packet->packet_id){
		case 1:
			mts420_print_cooked_1(packet);
			break;
		
		case 2:
			mts420_print_cooked_gps(packet);
			break;
		
		default:
			printf("MTS420 Error: unknown packet id (%i)\n\n", packet->packet_id);
		}
}

XPacketHandler mts400_packet_handler = 
{
    XTYPE_MTS400,
    "$Id: mts400.c,v 1.1 2005/05/19 19:58:18 doolin Exp $",
    mts400_print_raw,
    mts400_print_cooked,
    mts400_print_raw,
    mts400_print_cooked
};

void mts400_initialize() {
    xpacket_add_type(&mts400_packet_handler);
}

XPacketHandler mts420_packet_handler = 
{
    XTYPE_MTS420,
    "$Id: mts400.c,v 1.1 2005/05/19 19:58:18 doolin Exp $",
    mts420_print_raw,
    mts420_print_cooked,
    mts420_print_raw,
    mts420_print_cooked
};

void mts420_initialize() {
    xpacket_add_type(&mts420_packet_handler);
}

--- NEW FILE: mda300.c ---
/**
 * Handles conversion to engineering units of mda300 packets.
 *
 * @file      mda300.c
 * @author    Martin Turon
 * @version   2004/3/23    mturon      Initial version
 *
 * Copyright (c) 2004 Crossbow Technology, Inc.   All rights reserved.
 * 
 * $Id: mda300.c,v 1.1 2005/05/19 19:58:18 doolin Exp $
 */

#include <math.h>

#ifdef __arm__
#include <sys/types.h>
#endif

#include "../xsensors.h"

/** MDA300 XSensor packet 1 -- contains single analog adc channels */
typedef struct {
    uint16_t adc0;
    uint16_t adc1;
    uint16_t adc2;
    uint16_t adc3;
    uint16_t adc4;
    uint16_t adc5;
    uint16_t adc6;
} XSensorMDA300Data1;

/** MDA300 XSensor packet 2 -- contains precision analog adc channels. */
typedef struct {
    uint16_t adc7;
    uint16_t adc8;
    uint16_t adc9;
    uint16_t adc10;
    uint16_t adc11;
    uint16_t adc12;
    uint16_t adc13;
} XSensorMDA300Data2;

/** MDA300 XSensor packet 3 -- contains digital channels. */
typedef struct {
    uint16_t digi0;
    uint16_t digi1;
    uint16_t digi2;
    uint16_t digi3;
    uint16_t digi4;
    uint16_t digi5;
} XSensorMDA300Data3;

/** MDA300 XSensor packet 4 -- contains misc other sensor data. */
typedef struct {
    uint16_t battery;
    XSensorSensirion sensirion;
    uint16_t counter;
} XSensorMDA300Data4;

/** MDA300 XSensor packet 5 -- contains MultiHop packets. */
typedef struct {
    uint16_t seq_no;
    uint16_t adc0;
    uint16_t adc1;
    uint16_t adc2;
    uint16_t battery;
    XSensorSensirion sensirion;
} __attribute__ ((packed)) XSensorMDA300Data5;


/** 
 * MDA300 Specific outputs of raw readings within a XSensor packet.
 *
 * @author    Martin Turon
 *
 * @version   2004/3/23       mturon      Initial version
 */
void mda300_print_raw(XbowSensorboardPacket *packet) 
{
    switch (packet->packet_id) {
        case 1: {
            XSensorMDA300Data1 *data = (XSensorMDA300Data1 *)packet->data;
            printf("mda300 id=%02x a0=%04x a1=%04x a2=%04x a3=%04x "
                   "a4=%04x a5=%04x a6=%04x\n",
                   packet->node_id, data->adc0, data->adc1, 
                   data->adc2, data->adc3, data->adc4, 
                   data->adc5, data->adc6);
            break;
        }

        case 2: {
            XSensorMDA300Data2 *data = (XSensorMDA300Data2 *)packet->data;
            printf("mda300 id=%02x a7=%04x a8=%04x a9=%04x a10=%04x "
                   "a11=%04x a12=%04x a13=%04x\n",
                   packet->node_id, data->adc7, data->adc8, 
                   data->adc9, data->adc10, data->adc11, 
                   data->adc12, data->adc13);
            break;
        }

        case 3: {
            XSensorMDA300Data3 *data = (XSensorMDA300Data3 *)packet->data;
            printf("mda300 id=%02x d1=%04x d2=%04x d3=%04x d4=%04x d5=%04x\n",
                   packet->node_id, data->digi0, data->digi1, 
                   data->digi2, data->digi3, data->digi4, data->digi5);
            break;
        }

        case 4: {
            XSensorMDA300Data4 *data = (XSensorMDA300Data4 *)packet->data;
            printf("mda300 id=%02x bat=%04x hum=%04x temp=%04x cntr=%04x\n",
                   packet->node_id, data->battery, data->sensirion.humidity, 
                   data->sensirion.thermistor, data->counter);
            break;
        }

        case 5: {
            XSensorMDA300Data5 *data = (XSensorMDA300Data5 *)packet->data;
            printf("mda300 id=%02x bat=%04x hum=%04x temp=%04x "
                   " echo10=%04x echo20=%04x soiltemp=%04x\n",
                   packet->node_id, data->battery, 
		   data->sensirion.humidity, data->sensirion.thermistor, 
		   data->adc0, data->adc1, data->adc2);
            break;
        }

        default:
            printf("mda300 error: unknown packet_id (%i)\n",packet->packet_id);
    }
}

/** MDA300 specific display of converted readings for packet 1 */
void mda300_print_cooked_1(XbowSensorboardPacket *packet)
{
    printf("MDA300 [sensor data converted to engineering units]:\n"
           "   health:     node id=%i packet=%i\n"
           "   adc chan 0: voltage=%i mV\n"
           "   adc chan 1: voltage=%i mV\n"
           "   adc chan 2: voltage=%i mV\n"
           "   adc chan 3: voltage=%i mV\n" 
           "   adc chan 4: voltage=%i mV\n" 
           "   adc chan 5: voltage=%i mV\n" 
           "   adc chan 6: voltage=%i mV\n\n",
           packet->node_id, packet->packet_id,
           xconvert_adc_single(packet->data[0]),
           xconvert_adc_single(packet->data[1]),
           xconvert_adc_single(packet->data[2]),
           xconvert_adc_single(packet->data[3]),
           xconvert_adc_single(packet->data[4]),
           xconvert_adc_single(packet->data[5]),
           xconvert_adc_single(packet->data[6]));
}

/** MDA300 specific display of converted readings  for packet 2 */
void mda300_print_cooked_2(XbowSensorboardPacket *packet)
{
    printf("MDA300 [sensor data converted to engineering units]:\n"
           "   health:      node id=%i packet=%i\n"
           "   adc chan 7:  voltage=%i uV\n"
           "   adc chan 8:  voltage=%i uV\n"
           "   adc chan 9:  voltage=%i uV\n"
           "   adc chan 10: voltage=%i uV\n" 
           "   adc chan 11: voltage=%i mV\n" 
           "   adc chan 12: voltage=%i mV\n" 
           "   adc chan 13: voltage=%i mV\n\n",
           packet->node_id, packet->packet_id,
           xconvert_adc_precision(packet->data[0]),
           xconvert_adc_precision(packet->data[1]),
           xconvert_adc_precision(packet->data[2]),
           xconvert_adc_precision(packet->data[3]),
           xconvert_adc_single(packet->data[4]),
           xconvert_adc_single(packet->data[5]),
           xconvert_adc_single(packet->data[6]));
}

/** MDA300 specific display of converted readings for packet 3 */
void mda300_print_cooked_3(XbowSensorboardPacket *packet)
{
    printf("MDA300 [sensor data converted to engineering units]:\n"
           "   health:     node id=%i packet=%i\n\n",
           packet->node_id, packet->packet_id);
}

/** MDA300 specific display of converted readings for packet 4 */
void mda300_print_cooked_4(XbowSensorboardPacket *packet)
{
    XSensorMDA300Data4 *data = (XSensorMDA300Data4 *)packet->data;
    printf("MDA300 [sensor data converted to engineering units]:\n"
           "   health:     node id=%i packet=%i\n"
           "   battery voltage:   =%i mV  \n"
           "   temperature:       =%0.2f C \n"
           "   humidity:          =%0.1f %% \n\n",
           packet->node_id, packet->packet_id, 
	   xconvert_battery_mica2(data->battery),
	   xconvert_sensirion_temp(&(data->sensirion)),
	   xconvert_sensirion_humidity(&(data->sensirion))
	);
}

/** MDA300 specific display of converted readings for packet 5 */
void mda300_print_cooked_5(XbowSensorboardPacket *packet)
{
    XSensorMDA300Data5 *data = (XSensorMDA300Data5 *)packet->data;
    printf("MDA300 [sensor data converted to engineering units]:\n"
           "   health:     node id=%i parent=%i battery=%i mV seq_no=%i\n"
           "   echo10: Soil Moisture=%0.2f %%\n"
           "   echo20: Soil Moisture=%0.2f %%\n"
           "   soil temperature   =%0.2f F\n"
           "   temperature:       =%0.2f C \n"
           "   humidity:          =%0.1f %% \n\n",
           packet->node_id, packet->parent, 
	   xconvert_battery_mica2(data->battery), data->seq_no,
	   xconvert_echo10(data->adc0),
	   xconvert_echo20(data->adc1),
	   xconvert_spectrum_soiltemp(data->adc2),
	   xconvert_sensirion_temp(&(data->sensirion)),
	   xconvert_sensirion_humidity(&(data->sensirion))
	);
}

/** MDA300 specific display of converted readings from an XSensor packet. */
void mda300_print_cooked(XbowSensorboardPacket *packet) 
{
    switch (packet->packet_id) {
        case 1:
            mda300_print_cooked_1(packet);
            break;

        case 2:
            mda300_print_cooked_2(packet);
            break;

        case 3:
            mda300_print_cooked_3(packet);
            break;

        case 4:
            mda300_print_cooked_4(packet);
            break;
        
        case 5:
            mda300_print_cooked_5(packet);
            break;
        
        default:
            printf("MDA300 Error: unknown packet id (%i)\n\n", packet->packet_id);
    }
}


/** 
 * Logs raw readings to a Postgres database.
 * 
 * @author    Martin Turon
 *
 * @version   2004/7/28       mturon      Initial revision
 *
 */
void mda300_log_raw(XbowSensorboardPacket *packet) 
{
    XSensorMDA300Data5 *data = (XSensorMDA300Data5 *)packet->data;
    if (packet->packet_id != 5) return;

    char command[512];
    char *table = "mda300_results";

    sprintf(command, 
	    "INSERT into %s "
	    "(result_time,nodeid,parent,epoch,voltage,"
	    "humid,humtemp,echo10,echo20,soiltemp)"
	    " values (now(),%u,%u,%u,%u,%u,%u,%u,%u,%u)", 
	    table,
	    //timestring,
	    packet->node_id, packet->parent, 
	    data->seq_no,  data->battery, 
	    data->sensirion.humidity, data->sensirion.thermistor, 
	    data->adc0, data->adc1, data->adc2
	);

    xdb_execute(command);
}

XPacketHandler mda300_packet_handler = 
{
    XTYPE_MDA300,
    "$Id: mda300.c,v 1.1 2005/05/19 19:58:18 doolin Exp $",
    mda300_print_raw,
    mda300_print_cooked,
    mda300_print_raw,
    mda300_print_cooked,
    mda300_log_raw
};

void mda300_initialize() {
    xpacket_add_type(&mda300_packet_handler);
}

--- NEW FILE: mts101.c ---
/**
 * Handles conversion to engineering units of mts101 packets.
 *
 * @file      mts101.c
 * @author    Hu Siquan
 * @version   2004/4/12    husq      Initial version
 *
 * Refer to:
 *   -  Xbow MTS/MDA Sensor and DataAcquistion Manual  
 *
 * Copyright (c) 2004 Crossbow Technology, Inc.   All rights reserved.
 * 
 * $Id: mts101.c,v 1.1 2005/05/19 19:58:18 doolin Exp $
 */

#include <math.h>
#include "../xsensors.h"

/** MTS101 XSensor packet 1 -- contains battery, thermistor, and adc2-7. */
typedef struct {
	uint16_t battery;
    uint16_t thermistor;
    uint16_t light;
} XSensorMTS101Data;

/** 
 * Converts mica2 battery reading from raw ADC data to engineering units.
 *
 * @author    Martin Turon
 *
 * To compute the battery voltage after measuring the voltage ref:
 *   BV = RV*ADC_FS/data
 *   where:
 *   BV = Battery Voltage
 *   ADC_FS = 1023
 *   RV = Voltage Reference for mica2 (1.223 volts)
 *   data = data from the adc measurement of channel 1
 *   BV (volts) = 1252.352/data
 *   BV (mv) = 1252352/data 
 *
 * Note:
 *   The thermistor resistance to temperature conversion is highly non-linear.
 *
 * @version   2004/3/29       mturon      Initial revision
 *
 */
uint16_t mts101_convert_battery(XbowSensorboardPacket *packet) 
{
    XSensorMTS101Data *data = (XSensorMTS101Data *)packet->data;
    float    x     = (float)data->battery;
    uint16_t vdata = (uint16_t) (1252352 / x);  
    return vdata;
}



/** 
 * Converts thermistor reading from raw ADC data to engineering units.
 *
 * @author    Martin Turon, Alan Broad
 *
 * To compute the thermistor resistance after measuring the thermistor voltage:
 * - Thermistor is a temperature variable resistor
 * - There is a 10K resistor in series with the thermistor resistor.
 * - Compute expected adc output from voltage on thermistor as: 
 *       ADC= 1023*Rthr/(R1+Rthr)
 *       where  R1 = 10K
 *              Rthr = unknown thermistor resistance
 *       Rthr = R1*(ADC_FS-ADC)/ADC
 *       where  ADC_FS = 1023
 *
 * Note:
 *   The thermistor resistance to temperature conversion is highly non-linear.
 *
 * @return    Thermistor resistance as a uint16 in unit (Ohms)
 *
 * @version   2004/3/11       mturon      Initial revision
 *
 */
uint16_t mts101_convert_thermistor_resistance(XbowSensorboardPacket *packet) 
{
    XSensorMTS101Data *data = (XSensorMTS101Data *)packet->data;
    float    x     = (float)data->thermistor;
    uint16_t vdata = 10000*(1023-x) /x ;
    return vdata;
}

/** 
 * Converts thermistor reading from raw ADC data to engineering units.
 *
 * @author    Martin Turon
 *
 * @return    Temperature reading from thermistor as a float in degrees Celcius
 *
 * @version   2004/3/22       mturon      Initial revision
 *
 */
float mts101_convert_thermistor_temperature(XbowSensorboardPacket *packet) 
{
    //XSensorMTS101Data *data = (XSensorMTS101Data *)packet->data;

    float temperature, a, b, c, Rt;
    a  = 0.001307050;
    b  = 0.000214381;
    c  = 0.000000093;
    Rt = mts101_convert_thermistor_resistance(packet);

    temperature = 1 / (a + b * log(Rt) + c * pow(log(Rt),3));
    temperature -= 273.15;   // Convert from Kelvin to Celcius

    return temperature;
}

/** 
 * Computes the Clairex CL94L light sensor reading 
 *
 * @author    Hu Siquan
 *
 * @return    Voltage of ADC channel as an unsigned integer in mV
 *
 * @version   2004/4/12       husq      Initial revision
 * @n         2004/4/19       husq      Convert ADC reading to mv
 *
 */
uint16_t mts101_convert_light(XbowSensorboardPacket *packet) 
{
    XSensorMTS101Data *data = (XSensorMTS101Data *)packet->data;
    float    Vbat = mts101_convert_battery(packet);
    uint16_t Vadc = (uint16_t) ((data->light) * Vbat / 1023);
    return Vadc;
}


/** MTS101 Specific outputs of raw readings within an XBowSensorboardPacket */
void mts101_print_raw(XbowSensorboardPacket *packet) 
{
    XSensorMTS101Data *data = (XSensorMTS101Data *)packet->data;
    printf("mts101 id=%02x battery=%04x thrm=%04x light=%04x\n",
           packet->node_id, data->battery, data->thermistor, data->light);
}

/** MTS101 specific display of converted readings from XBowSensorboardPacket */
void mts101_print_cooked(XbowSensorboardPacket *packet) 
{
    printf("MTS101 [sensor data converted to engineering units]:\n"
           "   health:     node id=%i\n"
           "   battery:  = %i mv \n"
           "   tempurature: =%0.2f degC\n" 
           "   light: = %i mv \n", 
           packet->node_id,
           mts101_convert_battery(packet),
           mts101_convert_thermistor_temperature(packet),
           mts101_convert_light(packet));
    printf("\n");
}

XPacketHandler mts101_packet_handler = 
{
    XTYPE_MTS101,
    "$Id: mts101.c,v 1.1 2005/05/19 19:58:18 doolin Exp $",
    mts101_print_raw,
    mts101_print_cooked,
    mts101_print_raw,
    mts101_print_cooked
};

void mts101_initialize() {
    xpacket_add_type(&mts101_packet_handler);
}