This is the expected behavior. The samples are not simply saved into the buffer, but they are added to the samples already in the buffer. For every chirp, this additive recording starts from the beginning of the buffer and stops after 850 samples (or whatever your buffer size is). After all the 16 chirps are received, what you should see in the buffer is the samplewise sum of these chirps, which should look like some silence in the beginning, then a big peak, followed by some smaller peaks which should be discarded. The position of the first big peak should carry the information on the distance.
There is a technical report that explains how it works: http://www.isis.vanderbilt.edu/publications/archive/Sallai_J_2_25_2004_Aco ustic_R.pdf Janos -----Original Message----- From: [EMAIL PROTECTED] [mailto:[EMAIL PROTECTED] On Behalf Of Muhammad Azhar Sent: Tuesday, December 11, 2007 8:16 PM To: tinyos-help@millennium.berkeley.edu Subject: [Tinyos-help] Acoustic Ranging: Not getting 16 samples within oneset of 16 chirps Hi all, I'm currently working on Vanderbilt's acoustic localization module. >From my understanding, this is how it works: 1) Actuator sends a radio message to sensor to inform sensor to "get ready" to receive the 16 chirps including the silence period (chirps are constant duration, silence period following each chirp is varied). 2) There is a start-up delay for the mic to receive the chirps. 3) The sound is emitted at the same time as the radio message (but due to the much slower speed of sound, the sensor receives the radio message first before receiving the sound). 4) In AcousticMultiSamplerM.nc, upon each Timer.fired() event (i.e. for each specific chirp + silence period), it will call MicADC.getContinuousData(). 5) Each time the data is ready, it will then signal dataReady() in OutsideRangingSensorM, which will then be stored to the 850 samples in the buffer. Once 850 samples have been filled in the buffer, the sampler will ignore any more data and wait for the next chirp + silence period to arrive. (Thus for each chirp + silence period, the data would then be added to the specific "sequence" in the buffer - i.e. we would expect the peak to appear somewhere below 200 (sequence number) in the array for short distances). 6) A moving average function is then carried out. (I left out the peak detection process as I wanted to see the "raw" data of the 850 samples that was filled). However, in my case, I realised that in step (5), my ADC does not sample at the required rate - hence, I'm not getting 16 samples at the sensor side (if I wasn't mistaken, 3 sequences of chirp + silence period were required to fill up the 850 size of the buffer). My actuator is able to emit the 16 chirps as required. Thus, I really do not know what is wrong as I'm using the specific micaz folder done by VU which contains a different timer from the default timer. I have renamed the default micaz folder to micaz2, so that the micaz will now "point" to the micaz folder for acoustic localization. Also, based on the diagram generated by typing "make docs micaz", it seems that my timer is wired appropriately to the "special" timer for acoustic localization. When I included PFLAGS += -v in my Makefile, this was what I got (no compilation errors): ************** <mailto:[EMAIL PROTECTED]> /opt/tinyos-1.x/apps/local $ make micaz /opt/tinyos-1.x/tools/make/Makerules:9: 'XNP defined, adding on XNP library' mkdir -p build/micaz compiling AcousticLocalizationC to a micaz binary ncc -o build/micaz/main.exe -Os -I%T/lib/ARanging -v -I%T/lib/XNP -finline-limit =100000 -Wall -Wshadow -DDEF_TOS_AM_GROUP=0x7d -Wnesc-all -target=micaz -fnesc-c file=build/micaz/app.c -board=micasb -DTOSH_DATA_LENGTH=100 -DIDENT_PROGRAM_NAME ="AcousticL" -DIDENT_PROGRAM_NAME_BYTES="65,99,111,117,115,116,105,99,76,0" -DID ENT_USER_HASH=0x1d1a923dL -DIDENT_UNIX_TIME=0x475f35efL -I/opt/tinyos-1.x/tos/li b/CC2420Radio AcousticLocalizationC.nc -lm nescc -DPLATFORM_MICAZ -DBOARD_MICASB -fnesc-include=tos -topdir=/opt/tinyos-1.x -o build/micaz/main.exe -Os -v -finline-limit=100000 -Wall -Wshadow -DDEF_TOS_A M_GROUP=0x7d -Wnesc-all -fnesc-cfile=build/micaz/app.c -DTOSH_DAT! A_LENGTH=100 -D IDENT_PROGRAM_NAME=AcousticL -DIDENT_PROGRAM_NAME_BYTES=65,99,111,117,115,116,10 5,99,76,0 -DIDENT_USER_HASH=0x1d1a923dL -DIDENT_UNIX_TIME=0x475f35efL AcousticLo calizationC.nc -lm -gcc=avr-gcc -mmcu=atmega128 -fnesc-target=avr -fnesc-no-debu g -mingw-gcc -I/opt/tinyos-1.x/tos/lib/ARanging -I/opt/tinyos-1.x/tos/lib/XNP -I /opt/tinyos-1.x/tos/lib/CC2420Radio -I/opt/tinyos-1.x/tos/sensorboards/micasb -I /opt/tinyos-1.x/tos/platform/micaz -I/opt/tinyos-1.x/tos/platform/mica2 -I/opt/t inyos-1.x/tos/platform/mica128 -I/opt/tinyos-1.x/tos/platform/mica -I/opt/tinyos -1.x/tos/platform/avrmote -I/opt/tinyos-1.x/tos/interfaces -I/opt/tinyos-1.x/tos /types -I/opt/tinyos-1.x/tos/system avr-gcc -specs=C:\tinyos\cygwin\usr\local\lib\ncc\tdspecs -DPLATFORM_MICAZ -DBOA RD_MICASB -_fnesc-include=tos -obuild\micaz\main.exe -Os -v -finline-limit=10000 0 -Wall -Wshadow -DDEF_TOS_AM_GROUP=0x7d -_Wnesc-all -_fnesc-cfile=build/micaz/a pp.c -! DTOSH_DATA_LENGTH=100 -DIDENT_PROGRAM_NAME=AcousticL -DIDENT_PROGRAM_N AME_ BYTES=65,99,111,117,115,116,105,99,76,0 -DIDENT_USER_HASH=0x1d1a923dL -DIDENT_UN IX_TIME=0x475f35efL AcousticLocalizationC.nc -lm -mmcu=atmega128 -_fnesc-target= avr -_fnesc-no-debug -IC:\tinyos\cygwin\opt\tinyos-1.x\tos\lib\ARanging -IC:\tin yos\cygwin\opt\tinyos-1.x\tos\lib\XNP -IC:\tinyos\cygwin\opt\tinyos-1.x\tos\lib\ CC2420Radio -IC:\tinyos\cygwin\opt\tinyos-1.x\tos\sensorboards\micasb -IC:\tinyo s\cygwin\opt\tinyos-1.x\tos\platform\micaz -IC:\tinyos\cygwin\opt\tinyos-1.x\tos \platform\mica2 -IC:\tinyos\cygwin\opt\tinyos-1.x\tos\platform\mica128 -IC:\tiny os\cygwin\opt\tinyos-1.x\tos\platform\mica -IC:\tinyos\cygwin\opt\tinyos-1.x\tos \platform\avrmote -IC:\tinyos\cygwin\opt\tinyos-1.x\tos\interfaces -IC:\tinyos\c ygwin\opt\tinyos-1.x\tos\types -IC:\tinyos\cygwin\opt\tinyos-1.x\tos\system -DNE SC=110 Reading specs from /usr/local/lib/gcc-lib/avr/3.3-tinyos/specs Reading specs from C:\tinyos\cygwin\usr\local\lib\ncc\tdspecs ! Configured with: ./configure --target=avr --disable-nls Thread model: single gcc version 3.3-tinyos perl -S nesc-compile -_fnesc-include=tos -_Wnesc-all -_fnesc-cfile=build/micaz/ app.c -_fnesc-target=avr -_fnesc-no-debug -mmcu=atmega128 -DPLATFORM_MICAZ -DBOA RD_MICASB -DDEF_TOS_AM_GROUP=0x7d -DTOSH_DATA_LENGTH=100 -DIDENT_PROGRAM_NAME=Ac ousticL -DIDENT_PROGRAM_NAME_BYTES=65,99,111,117,115,116,105,99,76,0 -DIDENT_USE R_HASH=0x1d1a923dL -DIDENT_UNIX_TIME=0x475f35efL -DNESC=110 -IC:\tinyos\cygwin\o pt\tinyos-1.x\tos\lib\ARanging -IC:\tinyos\cygwin\opt\tinyos-1.x\tos\lib\XNP -IC :\tinyos\cygwin\opt\tinyos-1.x\tos\lib\CC2420Radio -IC:\tinyos\cygwin\opt\tinyos -1.x\tos\sensorboards\micasb -IC:\tinyos\cygwin\opt\tinyos-1.x\tos\platform\mica z -IC:\tinyos\cygwin\opt\tinyos-1.x\tos\platform\mica2 -IC:\tinyos\cygwin\opt\ti nyos-1.x\tos\platform\mica128 -IC:\tinyos\cygwin\opt\tinyos-1.x\tos\platform\mic a -IC:\tinyos\cygwin\opt\tinyos-1.! x\tos\platform\avrmote -IC:\tinyos\cygwin\opt\ tinyos-1.x\tos\inter faces -IC:\tinyos\cygwin\opt\tinyos-1.x\tos\types -IC:\tinyo s\cygwin\opt\tinyos-1.x\tos\system -Os -Wall -Wshadow -v -finline-limit=100000 - o /cygdrive/c/DOCUME~1/SCE07-~1/LOCALS~1/Temp/ccYJ3Yx4.o AcousticLocalizationC.n c nesc1 -_fnesc-include=tos -_Wnesc-all -_fnesc-target=avr -_fnesc-no-debug -mmcu= atmega128 -DPLATFORM_MICAZ -DBOARD_MICASB -DDEF_TOS_AM_GROUP=0x7d -DTOSH_DATA_LE NGTH=100 -DIDENT_PROGRAM_NAME=AcousticL -DIDENT_PROGRAM_NAME_BYTES=65,99,111,117 ,115,116,105,99,76,0 -DIDENT_USER_HASH=0x1d1a923dL -DIDENT_UNIX_TIME=0x475f35efL -DNESC=110 -IC:\tinyos\cygwin\opt\tinyos-1.x\tos\lib\ARanging -IC:\tinyos\cygwi n\opt\tinyos-1.x\tos\lib\XNP -IC:\tinyos\cygwin\opt\tinyos-1.x\tos\lib\CC2420Rad io -IC:\tinyos\cygwin\opt\tinyos-1.x\tos\sensorboards\micasb -IC:\tinyos\cygwin\ opt\tinyos-1.x\tos\platform\micaz -IC:\tinyos\cygwin\opt\tinyos-1.x\tos\platform \mica2 -IC:\tinyos\cygwin\opt\tinyos-1.x\tos\platform\mica128 -IC:\tinyos\c! ygwin \opt\tinyos-1.x\tos\platform\mica -IC:\tinyos\cygwin\opt\tinyos-1.x\tos\platform \avrmote -IC:\tinyos\cygwin\opt\tinyos-1.x\tos\interfaces -IC:\tinyos\cygwin\opt \tinyos-1.x\tos\types -IC:\tinyos\cygwin\opt\tinyos-1.x\tos\system -Wall -Wshado w -v -finline-limit=100000 AcousticLocalizationC.nc -o build/micaz/app.c preprocessing C:\tinyos\cygwin\opt\tinyos-1.x\tos\system/tos.h preprocessing AcousticLocalizationC.nc preprocessing RangeMsg.h preprocessing C:\tinyos\cygwin\opt\tinyos-1.x\tos\system/Main.nc preprocessing C:\tinyos\cygwin\opt\tinyos-1.x\tos\interfaces/StdControl.nc preprocessing C:\tinyos\cygwin\opt\tinyos-1.x\tos\system/RealMain.nc preprocessing C:\tinyos\cygwin\opt\tinyos-1.x\tos\interfaces/Pot.nc preprocessing C:\tinyos\cygwin\opt\tinyos-1.x\tos\system/PotC.nc preprocessing C:\tinyos\cygwin\opt\tinyos-1.x\tos\system/PotM.nc preprocessing C:\tinyos\cygwin\opt\tinyos-1.x\tos\interfaces/HPLPot.nc preprocessing C:! \tinyos\cygwin\opt\tinyos-1.x\tos\platform\mica2/HPLPotC.nc preproc essing C:\tinyos\cygwin\opt\tinyos-1.x\tos\platform\avrmote/HPLInit.nc preprocessing AcousticLocalizationM.nc preprocessing C:\tinyos\cygwin\opt\tinyos-1.x\tos\interfaces/Leds.nc preprocessing C:\tinyos\cygwin\opt\tinyos-1.x\tos\interfaces/Random.nc preprocessing C:\tinyos\cygwin\opt\tinyos-1.x\tos\lib\ARanging/AcousticRangingSe nsor.nc preprocessing C:\tinyos\cygwin\opt\tinyos-1.x\tos\lib\ARanging/AcousticRangingAc tuator.nc preprocessing C:\tinyos\cygwin\opt\tinyos-1.x\tos\interfaces/SendMsg.nc preprocessing C:\tinyos\cygwin\opt\tinyos-1.x\tos\platform\micaz/AM.h preprocessing C:\tinyos\cygwin\opt\tinyos-1.x\tos\lib\ARanging/Timer.nc preprocessing C:\tinyos\cygwin\opt\tinyos-1.x\tos\lib\ARanging/Timer.h preprocessing C:\tinyos\cygwin\opt\tinyos-1.x\tos\lib\XNP/Xnp.nc preprocessing C:\tinyos\cygwin\opt\tinyos-1.x\tos\system/GenericComm.nc preprocessing C:\tinyos\cygwin\opt\tinyos-1.x\tos\interfaces/ReceiveMsg.nc preprocessing C:\! 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C.nc preprocessing C:\tinyos\cygwin\opt\tinyos-1.x\tos\interfaces/ADC.h preprocessing C:\tinyos\cygwin\opt\tinyos-1.x\tos\interfaces/Mic.nc preprocessing C:\tinyos\cygwin\opt\tinyos-1.x\tos\sensorboards\micasb/MicC.nc preprocessing C:\tinyos\cygwin\opt\tinyos-1.x\tos\sensorboards\micasb/sensorboar d.h preprocessing C:\tinyos\cygwin\opt\tinyos-1.x\tos\interfaces/MicInterrupt.nc preprocessing C:\tinyos\cygwin\opt\tinyos-1.x\tos\sensorboards\micasb/MicM.nc preprocessing C:\tinyos\cygwin\opt\tinyos-1.x\tos\platform\mica2/ADCControl.nc preprocessing C:\tinyos\cygwin\opt\tinyos-1.x\tos\interfaces/I2CPot.nc preprocessing C:\tinyos\cygwin\opt\tinyos-1.x\tos\platform\mica2/ADCC.nc preprocessing C:\tinyos\cygwin\opt\tinyos-1.x\tos\platform\mica2/ADCREFM.nc preprocessing C:\tinyos\cygwin\opt\tinyos-1.x\tos\interfaces/HPLADC.nc preprocessing C:\tinyos\cygwin\opt\tinyos-1.x\tos\platform\micaz/HPLADCM.nc preprocessing C:\tinyos\cygwin\opt\tinyos-! 1.x\tos\sensorboards\micasb/I2CPotC.nc preprocessing C:\tinyos\cygwin\opt\tinyos-1.x\tos\platform\mica128/I2CC.nc preprocessing C:\tinyos\cygwin\opt\tinyos-1.x\tos\interfaces/I2C.nc preprocessing C:\tinyos\cygwin\opt\tinyos-1.x\tos\platform\mica/I2CM.nc preprocessing C:\tinyos\cygwin\opt\tinyos-1.x\tos\sensorboards\micasb/I2CPotM.nc preprocessing C:\tinyos\cygwin\opt\tinyos-1.x\tos\platform\micaz/HPLMicC.nc preprocessing C:\tinyos\cygwin\opt\tinyos-1.x\tos\lib\ARanging/OutsideRangingAct uatorC.nc preprocessing C:\tinyos\cygwin\opt\tinyos-1.x\tos\lib\ARanging/UnknownMsg.h preprocessing C:\tinyos\cygwin\opt\tinyos-1.x\tos\lib\ARanging/OutsideRangingAct uatorM.nc preprocessing C:\tinyos\cygwin\opt\tinyos-1.x\tos\lib\ARanging/AcousticBeacon.nc preprocessing C:\tinyos\cygwin\opt\tinyos-1.x\tos\lib\ARanging/AcousticBeaconC.n c preprocessing C:\tinyos\cygwin\opt\tinyos-1.x\tos\lib\ARanging/AcousticBeaconM.n c preprocessing C:\tinyos\cygwin\opt\tinyos-1.x\tos\sensorboards\micasb/Sounder.nc preprocessing C:\tinyos\cygwin\opt\tinyos-1.x\tos\sensorboards\micasb/SounderM.n c C:/tinyos/cygwin/opt/tinyos-1.x/tos/platform/micaz/HPLCC2420InterruptM.nc: 161: w arning: `CCATimer.start' called asynchronously from `CCA.startWait' C:/tinyos/cygwin/opt/tinyos-1.x/tos/lib/CC2420Radio/CC2420RadioM.nc:115: warning : `Send.sendDone' called asynchronously from `sendFailed' avr-gcc -BC:\tinyos\cygwin\usr\local\lib\ncc -mmcu=atmega128 -Os -Wall -Wshadow -v -finline-limit=100000 -o /cygdrive/c/DOCUME~1/SCE07-~1/LOCALS~1/Temp/ccYJ3Yx4 .o -c build/micaz/app.c Reading specs from /usr/local/lib/gcc-lib/avr/3.3-tinyos/specs Configured with: ./configure --target=avr --disable-nls Thread model: single gcc version 3.3-tinyos /usr/local/lib/gcc-lib/avr/3.3-tinyos/cc1.exe -quiet -v -isystem C:/tinyos/cygw in/usr/local/lib/ncc/include -D__GNUC__=3 -D__GNUC_MINOR__=3 -D__GNUC_PATCHLEVEL __=0 build/micaz/app.c -quiet -dumpbase app.c -mmcu=atmega! 128 -auxbase-strip /cy gdrive/c/DOCUME~1/SCE07-~1/LOCALS~1/Temp/ccYJ3Yx4.o -Os -Wall -Wshadow -version -finline-limit=100000 -o /cygdrive/c/DOCUME~1/SCE07-~1/LOCALS~1/Temp/ccAzUXbl.s ignoring nonexistent directory "C:/tinyos/cygwin/usr/local/lib/ncc/include" GNU C version 3.3-tinyos (avr) compiled by GNU C version 3.2 20020927 (prerelease). GGC heuristics: --param ggc-min-expand=64 --param ggc-min-heapsize=65406 ignoring nonexistent directory "NONE/include" ignoring nonexistent directory "/usr/local/avr/sys-include" #include "..." search starts here: #include <...> search starts here: /usr/local/lib/gcc-lib/avr/3.3-tinyos/include /usr/local/avr/include End of search list. C:/tinyos/cygwin/opt/tinyos-1.x/tos/lib/ARanging/OutsideRangingSensorM.nc: In fu nction `OutsideRangingSensorM$process': C:/tinyos/cygwin/opt/tinyos-1.x/tos/lib/ARanging/OutsideRangingSensorM.nc: 239! : w arning: unused variable `range' C:/tinyos/cygwin/opt/tinyos- 1.x/tos/lib/ARanging/OutsideRangingSensorM.nc:240: w arning: unused variable `tmp' C:/tinyos/cygwin/opt/tinyos-1.x/tos/lib/ARanging/OutsideRangingSensorM.nc: 241: w arning: unused variable `z' C:/tinyos/cygwin/opt/tinyos-1.x/tos/lib/ARanging/OutsideRangingSensorM.nc: 242: w arning: unused variable `i' C:/tinyos/cygwin/opt/tinyos-1.x/tos/lib/ARanging/OutsideRangingSensorM.nc: 242: w arning: unused variable `j' C:/tinyos/cygwin/opt/tinyos-1.x/tos/lib/ARanging/OutsideRangingSensorM.nc: 243: w arning: unused variable `pos' C:/tinyos/cygwin/opt/tinyos-1.x/tos/lib/ARanging/OutsideRangingSensorM.nc: 244: w arning: unused variable `neg' C:/tinyos/cygwin/opt/tinyos-1.x/tos/lib/ARanging/OutsideRangingSensorM.nc: 245: w arning: unused variable `a' C:/tinyos/cygwin/opt/tinyos-1.x/tos/lib/ARanging/OutsideRangingSensorM.nc: 245: w arning: unused variable `b' C:/tinyos/cygwin/opt/tinyos-1.x/tos/lib/ARanging/OutsideRangingSensorM.nc: 245: w arning:! unused variable `x' C:/tinyos/cygwin/opt/tinyos-1.x/tos/lib/ARanging/OutsideRangingSensorM.nc: 245: w arning: unused variable `y' C:/tinyos/cygwin/opt/tinyos-1.x/tos/lib/ARanging/OutsideRangingSensorM.nc: 245: w arning: unused variable `sum' C:/tinyos/cygwin/opt/tinyos-1.x/tos/lib/ARanging/OutsideRangingSensorM.nc: 245: w arning: unused variable `average1' AcousticLocalizationM.nc: In function `AcousticLocalizationM$AcousticRangingSens or$receiveDone': AcousticLocalizationM.nc:127: warning: unused variable `randTime' C:/tinyos/cygwin/usr/local/lib/ncc/avr/3.3-tinyos/as.exe -mmcu=atmega128 -o /cy gdrive/c/DOCUME~1/SCE07-~1/LOCALS~1/Temp/ccYJ3Yx4.o /cygdrive/c/DOCUME~1/SCE07-~ 1/LOCALS~1/Temp/ccAzUXbl.s /usr/local/lib/gcc-lib/avr/3.3-tinyos/../../../../avr/bin/ld.exe -m avr5 -Tdata 0x800100 -obuild\micaz\main.exe /usr/local/lib/gcc-lib/avr/3.3-tinyos/../../../ ../avr/lib/avr5/crtm128.o -L/usr/local/lib/gcc-lib/avr/3! .3-tinyos/avr5 -L/usr/lo cal/lib/gcc-lib/avr/3.3-tinyos -L/usr/loca l/lib/gcc-lib/avr/3.3-tinyos/../../../ ../avr/lib/avr5 -L/usr/local/lib/gcc-lib/avr/3.3-tinyos/../../../../avr/lib /cyg drive/c/DOCUME~1/SCE07-~1/LOCALS~1/Temp/ccYJ3Yx4.o -lm -lgcc -lc -lgcc compiled AcousticLocalizationC to build/micaz/main.exe 14144 bytes in ROM 2811 bytes in RAM avr-objcopy --output-target=srec build/micaz/main.exe build/micaz/main.srec avr-objcopy --output-target=ihex build/micaz/main.exe build/micaz/main.ihex No virus found in this incoming message. Checked by AVG Free Edition. Version: 7.5.503 / Virus Database: 269.17.1/1181 - Release Date: 12/11/2007 5:05 PM
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